Connecting C# and Rapid Mastership problem.

Gabel

Hello, im working on getting some basic communicion between C# and Rapid. But im having some truble whit the Mastership class. Note in the code "This is where my problem is", im getting "An unhandled exception of type 'ABB.Robotics.GenericControllerException' occurred in ABB.Robotics.Adapters.IRC5.dll".

Im working in microsoft visual studio professional 2012.

Here is my code:

using System;

using ABB.Robotics;

using ABB.Robotics.Controllers;

using ABB.Robotics.Controllers.Discovery;

using ABB.Robotics.Controllers.RapidDomain;

class Program{

        

        static void Main(string[] args){

            NetworkScanner scanner = new NetworkScanner();

            scanner.Scan();

            ControllerInfoCollection controllers = scanner.Controllers;

            foreach (ControllerInfo controllerInfo in controllers){

                Console.WriteLine("IPAddress: " + controllerInfo.IPAddress.ToString()+"\n");

                Console.WriteLine("System Name : " + controllerInfo.SystemName + "\n");

                Console.WriteLine("Controller Name: " + controllerInfo.ControllerName + "\n");

            }

            Console.WriteLine("Connected to ip: " + scanner.Controllers[0].IPAddress.ToString());

            Controller _controller = new Controller(scanner.Controllers[0].SystemId);

            _controller.Logon(UserInfo.DefaultUser);

            //int i;

            //for (i = 0; i < 10; i++)

            //{

            //    Console.WriteLine(_controller.MotionSystem.ActiveMechanicalUnit.GetPosition().ToString() + "\n" + "i= " + i);

            //   // System.Threading.Thread.Sleep(500);

            //}

            Bool boolRunning;

            RapidData rd = _controller.Rapid.GetRapidData("T_ROB1", "Module1", "running");

            if (rd.Value is ABB.Robotics.Controllers.RapidDomain.Bool)

            {

                boolRunning = (ABB.Robotics.Controllers.RapidDomain.Bool)rd.Value;

                //assign the value of the RAPID data to a local variable

                bool boolValue = boolRunning.Value;

                Console.WriteLine("The RAPID bool is: " + boolValue);

                //Assign new value to .Net variable

                boolRunning.Value = false;

                //Request mastership of Rapid before writing to the controller

                //Mastership master = Mastership.Request(_controller.Rapid); 

                Mastership m = Mastership.Request(_controller.Rapid); //This is where my problem is

                Console.WriteLine(m.IsMaster.ToString());

                //Change: controller is repaced by aController

                rd.Value = boolRunning;

                //Release mastership as soon as possible

                m.Dispose();

            }

            Console.ReadLine();

        }

}

joman

Could you catch the exception and see if there is any more information to be seen from it?

Gabel

The problem was that mastership was given to someone else, rebooted the VC and it was fine.