PCSDK position change event

avicohen

Hi <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

Dose any one know how to get an event when robot move to a new position?

I fond something like: task.MotionPointerChanged,
it indicate about the change of program pointer, but it not always the
situation of motor move.

Thanks

Avi

John Wiberg2012-04-26 14:30:42

John Wiberg

In which context?

I'm going to assume PC SDK?

If so, wouldn't it be better to have RAPID detect that and set a signal or change a variable, then have PC SDK listen to the signal/variable change event?

Like setting up some System Output Signal. You can find them using the RobotStudio help menu and selecting [System Parameters Reference] and the IO chapter.

[code]Auto On.
Backup Error.
Backup in progress.
Cycle On.
Emergency Stop.
Execution Error.
Mechanical Unit Active.
Mechanical Unit Not Moving.
Motors Off.
Motors On.
Motors Off State.
Motors On State.
Motion Supervision On.
Motion Supervision Triggered.
Path Return Region Error.
Power Fail Error.
Production Execution Error.
Run Chain OK.
Simulated I/O.
TaskExecuting.
TCP Speed.
TCP Speed Reference.[/code]

 

Niklas Skoglund

I agree with John.

But just want to inform you that for a Virtual Controller you can use the DataRecorder,

and derive from 
DataRecorderSinkBase to record different data channels, or signals, during simulation.

The RobotStudio Signal Analyzer function uses the same set of APIs.

Niklas Skoglund2012-04-03 07:44:30

avicohen

Thanks for the help.

 

Eventually what I did is to register
to program pointer change event, and after controller state is change to
"Stop" check if joint values has change.

<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />Regards

Avi