Posts by Dang T

Hi all,

Is it possible to control the robot type movement (L, J, C) with PCDK? For instance, how we specify this TP command in PCDK?

J PR[1] 50% FINE    ;

According to what I understand so far, PCDK can define position, and use along with position.Moveto(). But it seems that Moveto() only support Linear movement. Even for Linear movement only, how do we adjust the robot speed, and terminate type in PCDK?

I think I found the solution already. Since layer.Value returns back a dynamic object that does not support RegLong property, I had to transform it back to FRCRegNumeric first.

The solution is:

{
  ...
            FRCVars robot_registers = myrobot.RegNumerics;

            FRCVar layer = robot_registers[6];
            FRCRegNumeric layer_value = layer.Value;
            Console.WriteLine(layer_value.RegLong);
  ...
}

Hi all,

I am trying to access and manipulate FANUC V9.30P/08 controller's registers using PCDK (version V9.30(Rev.B)) in C#. Please help me understanding why the following code does not work:

using System;

using FRRobot;
namespace PCDK_Project_1
{
    class Program
    {
        static void Main(string[] args)
        {

            FRCRobot myrobot = new FRCRobot();
            string ip_str = "127.0.0.1:3002"; 
            myrobot.Connect(ip_str);
            bool is_connected = myrobot.IsConnected;

            FRCVars robot_registers = myrobot.RegNumerics;

            FRCVar layer = robot_registers[6];

            Console.WriteLine("Access Code: " + layer.AccessCode);
            Console.WriteLine("Id: " + layer.FieldName);
            Console.WriteLine("Name_Id: " + layer.VarName);
            Console.WriteLine("Value: " + layer.Value);
            Console.WriteLine("Value: " + layer.Value.RegLong);
            //Console.WriteLine("Value: " + layer.Value.Long); // This one does not work either :(


        }
    }
}

The outputs (belows) indicates that "RegLong" does not exist in "FRCVar" object.

Microsoft.CSharp.RuntimeBinder.RuntimeBinderException
  HResult=0x80131500
  Message='System.__ComObject' does not contain a definition for 'RegLong'
  Source=<Cannot evaluate the exception source>
  StackTrace:
<Cannot evaluate the exception stack trace>

However, I have followed these threads and this seeing that the similar syntax work. Can anyone please help?