Call a RAPID function using FPSDK
I would like to know if it's possible to call directly a RAPID function using FPSDK.
I need to call the DefAccFrame RAPID function and what I do today : I have a system module with a PROC routine which calls DefAccFrame function. In the module, I declare some LOCAL VAR that I use for the arguments and the result of DefAccFrame.
To call the PROC routine, I use the method CallServiceRoutine of the Task Class, but for this, I need to press the Enabling device of the FlexPendant, what I want to prevent (I don't have motion in my PROC).
And also, I would like to prevent from declaring LOCAL VAR for arguments and result.
Is there a solution?
Thank you!
Herv?.
Comments
-
If the program is stopped, you can move the program pointer to a different routine, but this might be a lot of work to implement.
An alternative might be to call it from a TRAP routine connected to a signal, then use your FPSDK app to allow the user to toggle the I/O signal.
RussD2008-7-28 22:21:56Russell Drown0 -
Hi Herve,
If the robot is in manual, you must have the enabling device. Can you have this code in a background task?
Carlos Martinez
ABB0 -
Hello RussD and carlosmtz2000,
[QUOTE=RussD]If the program is stopped, you can move the program
pointer to a different routine, but this might be a lot of work to
implement.[/QUOTE]
Effectively, the program of the motion task is stopped. I allready tried to move the program pointer and restore it after, but I am in manual mode and I need to press the enabling device. So it's not very smart.
[QUOTE=RussD]
An alternative might be to call it from a TRAP routine connected to
[/QUOTE]
a signal, then use your FPSDK app to allow the user to toggle the I/O
signal.
I think I'm going to use a TRAP routine, but connected to a PERS variable (using IPers), and I will put it in our background task. But we already have a lot of interrupts due to our process and I would have preferred not to add another one. So I think, I will use START/RESTART/STOP/QTOP events to activate/disactivate my new interrupt when I need.
Thanks,
Herv?.
0
Categories
- All Categories
- 5.5K RobotStudio
- 396 UpFeed
- 18 Tutorials
- 13 RobotApps
- 297 PowerPacs
- 405 RobotStudio S4
- 1.8K Developer Tools
- 250 ScreenMaker
- 2.8K Robot Controller
- 314 IRC5
- 60 OmniCore
- 7 RCS (Realistic Controller Simulation)
- 794 RAPID Programming
- AppStudio
- 3 RobotStudio AR Viewer
- 18 Wizard Easy Programming
- 105 Collaborative Robots
- 5 Job listings