Fanuc PCDK 文档

【实例截图】

【核心代码】

Table of Contents
Robot Server Overview ...................................................................................................................................................................... 7
Using the Robot Object Interface.................................................................................................................................................... 7
Connection Performance Tips..................................................................................................................................................... 7
Working with Variables ................................................................................................................................................................... 7
Reading and Changing Variables ............................................................................................................................................... 7
Working with I/O ............................................................................................................................................................................. 8
Monitoring I/O ............................................................................................................................................................................. 8
Reading and Changing Position Variables ..................................................................................................................................... 9
Checking Reachability ................................................................................................................................................................ 9
Using Pipes for High Performance Data Acquisition ....................................................................................................................... 9
Activating a Pipe ......................................................................................................................................................................... 9
Handling Errors ............................................................................................................................................................................ 10
FRCRobotErrorInfo ................................................................................................................................................................... 10
Robot Neighborhood Overview ........................................................................................................................................................ 11
Working With the Robot Neighborhood Structure ......................................................................................................................... 11
Populating the Robot Neighborhood ......................................................................................................................................... 11
Robot Object Interface ..................................................................................................................................................................... 13
Robot ........................................................................................................................................................................................... 13
FRCRobot ................................................................................................................................................................................ 13
FRELanguageConstants........................................................................................................................................................... 16
FRERemoteMotionMasterConstants ......................................................................................................................................... 17
FRERobotErrors ....................................................................................................................................................................... 17
FRESaveOptionConstants ........................................................................................................................................................ 22
Programs ..................................................................................................................................................................................... 23
FRCProgram ............................................................................................................................................................................ 23
FRCPrograms........................................................................................................................................................................... 26
FRCTPProgram ........................................................................................................................................................................ 31
FREAttributeConstants ............................................................................................................................................................. 32
FREAccessModeConstants ...................................................................................................................................................... 33
FREProgramTypeConstants ..................................................................................................................................................... 34
FREProtectionConstants .......................................................................................................................................................... 34
FRERejectModeConstants ....................................................................................................................................................... 34
FRETPSubTypeConstants ........................................................................................................................................................ 35
Tasks ........................................................................................................................................................................................... 36
FRCTask .................................................................................................................................................................................. 36
FRCTasks ................................................................................................................................................................................ 42
FREExecuteConstants ............................................................................................................................................................. 43
FREHoldConditionConstants .................................................................................................................................................... 44
FREStepTypeConstants ........................................................................................................................................................... 46
FRETaskAttributeConstants ..................................................................................................................................................... 46
Variables ...................................................................................................................................................................................... 50
FRCCommonAssoc .................................................................................................................................................................. 50
FRCRegNumeric ...................................................................................................................................................................... 51
FRCRegString Object Properties .............................................................................................................................................. 52
FRCVar .................................................................................................................................................................................... 53
FRCVars................................................................................................................................................................................... 62
FRESaveClassConstants ......................................................................................................................................................... 68
FRETypeCodeConstants .......................................................................................................................................................... 69
Positions ...................................................................................................................................................................................... 71
FRCAxesCollection................................................................................................................................................................... 71
FRCConfig ................................................................................................................................................................................ 72
FRCCurGroupPosition .............................................................................................................................................................. 73
FRCCurPosition ........................................................................................................................................................................ 75
FRCGroupPosition ................................................................................................................................................................... 77
FRCIndGroupPosition ............................................................................................................................................................... 78
FRCIndPosition ........................................................................................................................................................................ 80
FRCJoint .................................................................................................................................................................................. 81
FRCMotionErrorInfo .................................................................................................................................................................. 82
FRCPosition ............................................................................................................................................................................. 83
FRCSysGroupPosition .............................................................................................................................................................. 90
FRCSysPosition ....................................................................................................................................................................... 92
FRCSysPositions ...................................................................................................................................................................... 94
FRCTPPosition ......................................................................................................................................................................... 98
FRCTPPositions ..................................................................................................................................................................... 100
FRCTransform ........................................................................................................................................................................ 102
FRECurPositionConstants ...................................................................................................................................................... 102
FREOrientTypeConstants ....................................................................................................................................................... 103
Alarms........................................................................................................................................................................................ 103
FRCAlarm ............................................................................................................................................................................... 103
FRCAlarms ............................................................................................................................................................................. 107
FREAlarmSeverity Constants ................................................................................................................................................. 108
I/O .............................................................................................................................................................................................. 112
FRCIOConfig .......................................................................................................................................................................... 112
FRCIOConfigs ........................................................................................................................................................................ 114
FRCxxxIOSignal ..................................................................................................................................................................... 117
FRCIOSignals......................................................................................................................................................................... 138
FRCxxxIOType ....................................................................................................................................................................... 141
FRCIOTypes .......................................................................................................................................................................... 164
FREIOTypeConstants ............................................................................................................................................................. 164
FRETPOutSignalConstants .................................................................................................................................................... 167
Packet Events ............................................................................................................................................................................ 167
FREPacketEventConstants .................................................................................................................................................... 167
Pipes .......................................................................................................................................................................................... 168
FRCPipes ............................................................................................................................................................................... 168
FRCPipe ................................................................................................................................................................................. 169
FRCPipeFields ....................................................................................................................................................................... 170
FRCPipeField ......................................................................................................................................................................... 172
FREPipeStateConstants ......................................................................................................................................................... 174
Scattered Access ....................................................................................................................................................................... 174
FRCScatteredAccess Object Overview ................................................................................................................................... 175
FRCScatteredAccess Methods ............................................................................................................................................... 175
Applications ............................................................................................................................................................................... 178
FRCApplications Object Overview .......................................................................................................................................... 178
FRCApplications Properties .................................................................................................................................................... 179
FRCApplications Methods ...................................................................................................................................................... 180
System Information .................................................................................................................................................................... 180
FRCFeature ............................................................................................................................................................................ 180
FRCFeatures .......................................................................................................................................................................... 181
FRCSynchData ....................................................................................................................................................................... 181
FRCSysInfo ............................................................................................................................................................................ 182
FREStartModeConstants ........................................................................................................................................................ 192
Robot Neighborhood Object Interface ............................................................................................................................................ 195
FRCRobotNeighborhood ............................................................................................................................................................ 195
FRCRobot Neighborhood Properties ...................................................................................................................................... 195
FRCRNRobots ........................................................................................................................................................................... 196
FRCRNRobots Properties ....................................................................................................................................................... 196
FRCRNRobot ............................................................................................................................................................................. 198
FRCRNRobot Properties ........................................................................................................................................................ 198
FRCRNVirtualRobot ................................................................................................................................................................... 200
FRCRNVirtualRobot Methods ................................................................................................................................................. 200
FRCRNRDMResponses ............................................................................................................................................................. 202
FRCRNRDMResponses Properties ........................................................................................................................................ 202
FRCRNRDMResponses Methods ........................................................................................................................................... 203
FRCRNServices ......................................................................................................................................................................... 203
FRCRNServices Properties .................................................................................................................................................... 203
FRCRNService .......................................................................................................................................................................... 204
FRCRNService Object Overview ............................................................................................................................................ 204
FRCRNService Properties ...................................................................................................................................................... 205
FRCRNService Events ........................................................................................................................................................... 205
FRURNSelect ............................................................................................................................................................................ 206
FRURNSelect Properties ........................................................................................................................................................ 206
Constant Enumerations .............................................................................................................................................................. 206
FRERNErrorConstants ........................................................................................................................................................... 206
FRERNServiceIDConstants .................................................................................................................................................... 207
FRERNServiceStateConstants ............................................................................................................................................... 208
FRERNStartModeConstants ................................................................................................................................................... 208
FRERNRDMFlagConstants .................................................................................................................................................... 209
Optimizing Data Access ................................................................................................................................................................. 213
Optimizing Data Access ............................................................................................................................................................. 213
Optimizing Variable Access ........................................................................................................................................................ 213
Special Variable Types ........................................................................................................................................................... 213
Scattered Access ....................................................................................................................................................................... 214
Scattered Access Overview .................................................................................................................................................... 214
KAREL Builtins .............................................................................................................................................................................. 217
Robot-PC Communication KAREL Built-ins ................................................................................................................................ 217
PacketEvent KAREL Built-Ins ..................................................................................................................................................... 217
SEND_DATAPC Built-In ......................................................................................................................................................... 217
ADD_REALPC Built-In ............................................................................................................................................................ 218
Data Acquisition KAREL Build-Ins .............................................................................................................................................. 219
DAQ_CHECKP Built-In ........................................................................................................................................................... 219
DAQ_WRITE Built-In .............................................................................................................................................................. 220
DAQ_STOP Built-In ................................................................................................................................................................ 221
DAQ_UNREG Built-In ............................................................................................................................................................. 222
TPP Macros ................................................................................................................................................................................... 225
Send Data() Macro ..................................................................................................................................................................... 225
Using FTP ..................................................................................................................................................................................... 227
Starting an Internet Session ....................................................................................................................................................... 227
Reading a File Directory into a Collection ................................................................................................................................... 228
Legacy Support ............................................................................................................................................................................. 233
Robot Manager Overview ........................................................................................................................................................... 233
Managing Connections ........................................................................................................................................................... 233
Special Features ..................................................................................................................................................................... 235
Robot Manager Object Interface ................................................................................................................................................ 236
RobotManager ........................................................................................................................................................................ 236
Connections ........................................................................................................................................................................... 237
Limitations .................................................................................................................................................................................. 243
FRCAxesCollection is not updated when extended axes added .............................................................................................. 243
Problems loading invisible programs over visible & vice versa ................................................................................................ 244
Index ............................................................................................................................................................................................. 245