How to unload a module sharing variables and routines with other modules

Luxrobotic

Hi everybody,

I'm facing a problem ! I need to update a module which contain varaibles and routines shared with other modules.

So I want to use UnLoad and Load instructions, but of course, if the module isn't present in the system, I have semantic errors. So I can't execute the Load instruction.

Is there a possibility to Reload the module ?

Any idea ?

Thanks

Forge_Engineering

Hi Cornet, 

You should be able to use Load and UnLoad or StartLoad and WaitLoad, but the module you are unloading needs to have been loaded with a load instruction from within RAPID.
The following code only works because the module to be unloaded was loaded in RAPID to begin with:

There are 3 modules, and it looks like persistents are maintained throughout, although I think variables will be initialised again.

MODULE MainModule
	
	VAR loadsession tempLoad;
	
	PROC Main()
		TPErase;
		! Module must have been initially loaded with load instruction
		Load \Dynamic, "HOME:/RemoveModule.MOD";	
		
		! execute routine 1
		%"Routine1"%;
		
		! load replacement module
		StartLoad \Dynamic, "HOME:/TempModule.MOD", tempLoad;
		! Unload existing module
		WaitLoad \UnloadPath:="HOME:/RemoveModule.MOD", tempLoad \CheckRef;
	
		! execute routine 1
		%"Routine1"%;
		
	ERROR
		TpWrite "Err";
		TRYNEXT;
	ENDPROC

ENDMODULE

 

MODULE RemoveModule
	
	PERS num nVar1;
	VAR string sVar2 := "asd";
	
	PROC Routine1()
		! Do Stuff
		nVar1 := 1;
		TpWrite "set nVar1 to " \num:=nVar1;
	ENDPROC
	
ENDMODULE

MODULE TempModule
	
	PERS num nVar1;
	VAR string sVar2;
	
	PROC Routine1()
		! Do Stuff
		TpWrite " ";
		TPWrite "Value of nVar1 is " \Num:=nVar1;
		nVar1 := 2;
		TPWrite "Set Value of nVar1 to " \Num:= nVar1;
	ENDPROC
	
ENDMODULE

Execute the unload from your main task ideally while there is no other execution to be safe,

Good Luck,

Harry

Tompanhuhu

You can disable "Check unresolved references" then you won't get any syntax error for missing variables och procs. But the program will stop if trying to read / write any missing data.

Luxrobotic

Forge_Engineering said:

Hi Cornet, 

You should be able to use Load and UnLoad or StartLoad and WaitLoad, but the module you are unloading needs to have been loaded with a load instruction from within RAPID.
The following code only works because the module to be unloaded was loaded in RAPID to begin with:

There are 3 modules, and it looks like persistents are maintained throughout, although I think variables will be initialised again.

MODULE MainModule
	
	VAR loadsession tempLoad;
	
	PROC Main()
		TPErase;
		! Module must have been initially loaded with load instruction
		Load \Dynamic, "HOME:/RemoveModule.MOD";	
		
		! execute routine 1
		%"Routine1"%;
		
		! load replacement module
		StartLoad \Dynamic, "HOME:/TempModule.MOD", tempLoad;
		! Unload existing module
		WaitLoad \UnloadPath:="HOME:/RemoveModule.MOD", tempLoad \CheckRef;
	
		! execute routine 1
		%"Routine1"%;
		
	ERROR
		TpWrite "Err";
		TRYNEXT;
	ENDPROC

ENDMODULE

 

MODULE RemoveModule
	
	PERS num nVar1;
	VAR string sVar2 := "asd";
	
	PROC Routine1()
		! Do Stuff
		nVar1 := 1;
		TpWrite "set nVar1 to " \num:=nVar1;
	ENDPROC
	
ENDMODULE

MODULE TempModule
	
	PERS num nVar1;
	VAR string sVar2;
	
	PROC Routine1()
		! Do Stuff
		TpWrite " ";
		TPWrite "Value of nVar1 is " \Num:=nVar1;
		nVar1 := 2;
		TPWrite "Set Value of nVar1 to " \Num:= nVar1;
	ENDPROC
	
ENDMODULE

Execute the unload from your main task ideally while there is no other execution to be safe,

Good Luck,

Harry

Hi,

with some litte customization it works fine.

hanks a lot