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ABB Robotics Application manual PC SDK

Trace back information: Workspace R12-1 version a4 Checked in 2012-03-15 Skribenta version 875

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English. © Copyright 2010-2012 ABB. All rights reserved. ABB AB Robotics Products SE-721 68 Västerås Sweden

Table of contents Table of contents 1 2 About creating controller applications ................................................................... Documentation and help ..................................................................................... Terminology ..................................................................................................... Overview ........................................................................................................................................... Product documentation, M2004 ....................................................................................................... Safety ................................................................................................................................................ Introduction 1.1 1.2 1.3 Installation and development environment 2.1 Installation overview .......................................................................................... 2.2 How to obtain and install a license key for RAB 5.09 or earlier ................................... 2.3 How to set up your PC to communicate with robot .................................................. 2.4 Development environment .................................................................................. Two development models - virtual and real ............................................................ 2.5 2.6 Conversion of VS 2005 projects to Visual Studio 2008 .............................................. 3 Run-time environment 3.1 Overview ......................................................................................................... Running PC SDK Applications ............................................................................. 3.2 3.2.1 Overview ............................................................................................... 3.2.2 Mastership ............................................................................................. 3.2.3 PC application configuration ...................................................................... 3.2.4 Communication between PC and controller .................................................. 3.2.5 Licence verification - applies only to versions earlier than PC SDK 5.10 ............. Release upgrades and compatibility ..................................................................... 3.3 4 Developing Controller applications Introduction ...................................................................................................... 4.1 Analysis and design ........................................................................................... 4.2 Controller events and threads .............................................................................. 4.3 4.4 User Authorization System .................................................................................. 4.5 Exception handling ............................................................................................ 4.6 How to use the online help .................................................................................. 5 Using the PC SDK 5.1 5.2 5.3 5.4 5.5 Controller API ................................................................................................... Create a simple PC SDK application ..................................................................... Discovery domain ............................................................................................. Accessing the controller ..................................................................................... Rapid domain ................................................................................................... 5.5.1 Working with RAPID data .......................................................................... 5.5.2 Handling arrays ...................................................................................... 5.5.3 ReadItem and WriteItem methods .............................................................. 5.5.4 UserDefined data .................................................................................... 5.5.5 RAPID symbol search .............................................................................. 5.5.6 Working with RAPID modules and programs ................................................ 5.5.7 Enable operator response to RAPID UI-instructions from a PC ........................ IO system domain ............................................................................................. 5.6 Event log domain .............................................................................................. 5.7 5.8 Motion domain .................................................................................................. 5.9 File system domain ........................................................................................... 5.10 Messaging domain ............................................................................................ 3HAC036957-001 Revision: A © Copyright 2010-2012 ABB. All rights reserved. 7 9 11 13 13 15 17 19 19 22 23 25 27 29 31 31 32 32 33 35 38 39 40 43 43 44 47 50 52 54 55 55 57 64 66 72 72 80 82 83 89 94 97 102 108 110 112 115 5

Table of contents 6 PC - Debugging and troubleshooting 6.1 6.2 Debugging ...................................................................................................... Troubleshooting ............................................................................................... 7 Deployment of a PC SDK application 7.1 Overview ......................................................................................................... Index 125 125 129 131 131 133 6 © Copyright 2010-2012 ABB. All rights reserved. 3HAC036957-001 Revision: A

Overview Overview About this manual Usage ABB's PC Software Development Kit (PC SDK) is a software tool, which enables programmers to develop customized operator interfaces for the IRC5 robot controller. The purpose of this manual is to help software developers get started with PC SDK application development. Note Earlier till version 5.12 PC SDK was a part of RAB (Robot Application Builder). PC SDK application manual covers application development using PC SDK. Code samples are written in C# and Visual Basic. Please note that there exists a separate manual (Application Manual - FlexPendant SDK) for FlexPendant application development. Who should read this manual? This manual is mainly intended for software developers, who use PC SDK to create robot applications adapted to end-user needs, and RobotStudio add-ins that communicates with virtual or real controller. It is also useful for anyone who needs an overview of doing controller applications. Prerequisites The reader should • be familiar with IRC5, the FlexPendant, and RobotStudio. • be used to Microsoft Visual Studio and Windows programming. • be familiar with one of the .NET programming languages C# or Visual Basic.NET. • be used to object oriented programming. Organization of chapters The manual is organized as follows: Chapter 1 2 3 Contents Introduction. Terminology. Safety. Installation and setup. Development environment . Virtual robot technology. Software architecture. Run-time environment for PC applications. How clients access controller resources and communicate with the robot controller. Applic- ation configuration. Upgrades and compatibility. Developing PC SDK applications. Analysis and design. Important programming issues: controller events and threads, UAS, exception handling. Online help. Using the PC SDK. How to add controller functionality using the Controller API. Programming issues and code samples in VB and C#. 4 5 3HAC036957-001 Revision: A © Copyright 2010-2012 ABB. All rights reserved. Continues on next page 7

Overview Continued References Revisions Chapter 6 Contents Testing, debugging and troubleshooting PC SDK applications. Using printouts, error codes in exceptions and so on. Checklist for contacting a service organ- ization. Reference Operating manual - IRC5 with FlexPendant Operating manual - RobotStudio Operating manual - Getting started, IRC5 and RobotStudio Technical reference manual - RAPID Instructions, Functions and Data types Technical reference manual - System parameters Application manual - FlexPendant SDK Application manual - Robot communication and I/O Control. Document ID 3HAC 16590-1 3HAC032104-001 3HAC027097-001 3HAC16581-1 3HAC17076-1 3HAC036958-001 3HAC020435-001 Revision - A Description First edition From 5.13 onwards this manual replaces: Application manual - Robot Applic- ation Builder (3HAC028083-001) For information on FlexPendant SDK refer Application manual - FlexPendant SDK Released with RobotWare 5.14.02 Minor corrections. 8 © Copyright 2010-2012 ABB. All rights reserved. 3HAC036957-001 Revision: A

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