stop and execution RAPID program via PCSDK?

lubosko105

hallo, I want to develop an application in C# with some functionality like Flexpendant. How can I start and stop RAPID program in the TASK0. Which conditions must be fulfil? Motros ON? Safety OK? How to check status of motors and safety?

John Wiberg

Hi lubosko,

I recommend going through the  developer center's getting started etc.

http://developercenter.robotstudio.com/DevCenter.aspx?DevCenter=RobotCommunication

Most of what you are asking for is covered in the [Developing Controller applications]  chapter of the application manual.

http://developercenter.robotstudio.com:80/Index.aspx?DevCenter=RobotCommunication&OpenDocument&Url=../RobotCommunicationAppManual/Custom/DevelopingControllerApplications.html&OptTitle=Developing Controller applications

 

Attached is a small sample of a basic scan + start production that I threw together a while ago. In that you can also see some of the conditions etc (mastership & logon).

 

How to find out if motors and safety is ok is by the controller.operatingmode property, you can also subscribe to the Controller.OperatingModeChanged event to see when it changes.

http://developercenter.robotstudio.com:80/Index.aspx?DevCenter=BlobProxy/devcenter/RobotCommunication&OpenDocument&Url=html/af1b5f07-4c9c-3bf6-36e4-ed0e1345169c.htm&OptTitle=Controller Class