RSMoveMecha

This is a RobotStudio Smart Component to update Mechanism from controller axes.

What you have to do before compiling:

• Update ABB.Robotics.* References to Good RobotStudio SDK Version path with Project - Add Reference - Browse.
• On Project Properties:
  • Application: Choose good .NET Framework version.
  • Build Events: Post Build Events: Replace with the good LibraryCompiler.exe Path.
  • Debug: Start External Program: Replace with the good RobotStudio.exe Path This not work if project on network drive, let it clear.
• In \RSMoveMecha\RSMoveMecha.en.xml:
  • Replace xsi:schemaLocation value with good one.
• Same for \RSMoveMecha\RSMoveMecha.xml.

If your project path is on network drive:

To get RobotStudio load it:

• In $(RobotStudioPath)\Bin\RobotStudio.exe.config file:
  • Add in section <configuration><runtime>
    • <loadFromRemoteSources enable="true"/>

To Debug it:

• Start first RobotStudio to get RobotStudio.exe.config loaded.
• Then attach its process in VisualStudio Debug - Attach to Process..

Usage

Properties

• Controller:
  The Controller to get data. (Simulated or Real if connected)
• CtrlMechanism:
  The Controller Mechanism to get data.
• CtrlSpecAxis:
  Specify which only one axis to take value. 0 will take all.
• Mechanism:
  The Mechanism to update.
• MechSpecAxis:
  Specify which only one axis to update. 0 will update all.
• NumberOfAxesStatus:
  Status of Number of Axes updated.
• AllowUpdate:
  To Allow updating in Simulation.

Signals

• Update:
  Set to high (1) to update the Mechanism with Controller axes values.