ABB robot SDK（VB）

【实例截图】

【核心代码】

Imports ABB.Robotics
Imports ABB.Robotics.Controllers
Imports ABB.Robotics.Controllers.Discovery
Imports ABB.Robotics.Controllers.RapidDomain
Imports ABB.Robotics.Controllers.IOSystemDomain
Public Class Form1
    Private scanner As NetworkScanner = Nothing
    Private controller As Controller = Nothing
    Private networkWatcher As NetworkWatcher = Nothing
    Dim signals As SignalCollection
    Dim StateUnit As ABB.Robotics.Controllers.IOSystemDomain.Unit
    Dim sig As ABB.Robotics.Controllers.IOSystemDomain.DigitalSignal
    Private Sub Form1_Load(sender As System.Object, e As System.EventArgs) Handles MyBase.Load
        Me.scanner = New NetworkScanner
        Me.scanner.Scan()
        Dim controllers As ControllerInfoCollection = Me.scanner.Controllers
        Dim controllerInfo As ControllerInfo = Nothing
        Dim item As ListViewItem
        For Each controllerInfo In controllers
            item = New ListViewItem(controllerInfo.IPAddress.ToString())
            item.SubItems.Add(controllerInfo.Id)
            item.SubItems.Add(controllerInfo.Availability.ToString())
            item.SubItems.Add(controllerInfo.IsVirtual.ToString())
            item.SubItems.Add(controllerInfo.SystemName)
            item.SubItems.Add(controllerInfo.Version.ToString())
            item.SubItems.Add(controllerInfo.ControllerName)
            Me.ListView1.Items.Add(item)
            item.Tag = controllerInfo
        Next
    End Sub

    Private Sub ListView1_DoubleClick(sender As Object, e As System.EventArgs) Handles ListView1.DoubleClick
        Dim item As ListViewItem = Me.ListView1.SelectedItems(0)
        If item.Tag IsNot Nothing Then
            Dim controllerInfo As ControllerInfo = DirectCast(item.Tag, ControllerInfo)
            If controllerInfo.Availability = Availability.Available Then
                If Me.controller IsNot Nothing Then
                    Me.controller.Logoff()
                    Me.controller.Dispose()
                    Me.controller = Nothing
                End If
                Me.controller = ControllerFactory.CreateFrom(controllerInfo)
                Me.controller.Logon(UserInfo.DefaultUser)
                If controller.Connected Then
                    MessageBox.Show("已经登录成功！")
                End If
            Else
                MessageBox.Show("Selected controller not available.")
            End If
        End If
        '/////////////////////////////////
        Dim aSigFilters As IOFilterTypes = IOFilterTypes.Digital Or IOFilterTypes.Input Or IOFilterTypes.Unit
        StateUnit = controller.IOSystem.GetUnit("ErrorState")
        AddHandler StateUnit.SignalChanged, AddressOf StateUnit_SignalChanged
        '////////////////////////////////
        sig = controller.IOSystem.GetSignal("error0")
        AddHandler sig.Changed, AddressOf sig_Changed
    End Sub
    Private Sub sig_Changed(sender As Object, e As SignalChangedEventArgs)
        If e.NewSignalState.Value = 1 Then
            MessageBox.Show("error0 changed!")
        End If
    End Sub
    Private Sub Button1_Click(sender As System.Object, e As System.EventArgs) Handles Button1.Click
        If Me.controller IsNot Nothing Then
            Me.controller.Logoff()
            Me.controller.Dispose()
            Me.controller = Nothing
        End If
    End Sub

    Private Sub Button2_Click(sender As System.Object, e As System.EventArgs) Handles Button2.Click
        ListView2.Items.Clear()
        Dim aSigFilters As IOFilterTypes = IOFilterTypes.Digital Or IOFilterTypes.Input Or IOFilterTypes.Unit
        StateUnit = controller.IOSystem.GetUnit("ErrorState")
        signals = controller.IOSystem.GetSignals(aSigFilters, StateUnit.ToString())
        Dim item As ListViewItem
        For Each signal As Signal In signals
            item = New ListViewItem(signal.Name)
            item.SubItems.Add(signal.Type.ToString())
            item.SubItems.Add(signal.Value.ToString())
            ListView2.Items.Add(item)
        Next
    End Sub
    Private Sub StateUnit_SignalChanged(send As Object, e As UnitSignalChangedEventArgs)
        MessageBox.Show("value changed")
    End Sub
End Class