实例介绍
【实例简介】用.net调用ABB机器人的pc sdk，登录机器人控制器，并可以读取机器人变量，同时可以往机器人变量写值。
【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
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