Execute a Robot-Routine

Forum Forums Visual Components 4.1 .NET Addon Programming Execute a Robot-Routine

This topic contains 4 replies, has 2 voices, and was last updated by TSy TSy 2 months, 2 weeks ago.

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  • #18367
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    CaptainFeature
    Participant

    Hy,

    if try to execute a specific robot-routine via C#. -> Thereby the Simulation is already running.

    The following code is already working, but the robot “jumps” to the statement…

    What is the most efficient way to do this? The robot should execute the routine with no jumps:

    Thank you & Best Regards

    Feature

    0
    #18396
    TSy
    TSy
    Participant

    See these methods in IStatementExecutor
    void SetProgramPointer(int statementIndex, IStatementScope scope);
    void JumpToScope(IStatementScope scope);
    bool ExecuteStep(bool immediate);

    1+
    #18398
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    CaptainFeature
    Participant

    Saves my day! 😎

    Thx TSy

    0
    #18407
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    CaptainFeature
    Participant

    Hy again,

    another queston in this context.

    If I Execute a Statement via “ExecuteStep(bool immediate)” the Events like:

    fire emideatly not when the robot reaches his new position.

    For recomendations I would be happy.

    Thx & Best Regards

    Feature

    0
    #18459
    TSy
    TSy
    Participant

    That might be related to the need to execute few motion statements ahead of the actual motion for motion planning.

    You may need to add “Set Binary Output” statements for signaling and use ISignalMap to get connected ISignal, which provides a SignalTrigger event.

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