Calling local routines

Resident

Hi

Is it possible to call a LOCAL PROC using the FPSDK and callRoutine()? I can successfully call a globally declared PROC but not one declared local.

Resident

So I got around this in a similar way to the runRoutineButton, in that I set a global string indicating the local function to run, i.e. "myModule:myRoutine" and then I call a global routine that just does a late binding routine call on that string.

This is obviously a horrible work around and I'm hoping that there is another option that doesn't require any global routines and variables. I figure that as a routine belongs to a module, there must be some way of passing in the module so that a local routine can be called.

Resident

For anyone that is interested, here is the code I use:

C#:

//Create bindings

Controller controller = new Controller();

Task task = controller.Rapid.GetTask("myTask");

Module runRoutineModule = task.GetModule("runRoutineModule");

RapidData routineName = runRoutineModule.GetRapidData("routineToCall");

//Set string indicating routine to call

routineName.Value = new ABB.Robotics.Controllers.RapidDomain.String("myModule:myRoutine");

//Call global routine

myTask.CallRoutine("runRapidRoutine");

//Dispose bindings

routineName.Dispose();

runRoutineModule.Dispose();

task.Dispose();

controller.Dispose();

RAPID:

MODULE runRoutineModule(SYSMODULE)

PERS string routineToCall := "";

PROC runRapidRoutine()

IF routineToCall <> "" THEN

%routineToCall%;

ELSE

TPWrite "Routine name must be set before call";

RETURN;

ENDIF 

routineToCall  := "";

ERROR

routineToCall  := "";

RETURN;

UNDO

routineToCall  := "";

ENDPROC  

ENDMODULE

Resident2012-01-17 05:04:45