API: RsIrc5Controller

RobotStudio
1

Hi again!

Is there any possibility to create an RsIrc5Controller with the API?
I can access the active Irc5Controllers via station.Irc5Controllers, but I can’t find any possibility to add a new Controller to a new station.
This is what I do to create a new station:

Station station = new Station();
Project.ActiveProject = station;

GraphicControl gc = new GraphicControl();
DocumentWindow dw = new DocumentWindow("dw", gc, "myView");
gc.RootObject = station;

GraphicComponentLibrary gcl = GraphicComponentLibrary.Load(@"C:....",true);
station.GraphicComponents.Add(gcl.RootComponent.CopyInstance ());
dw.Visible = true;

UIEnviroment.Windows.Add(dw);

This snippet creates a new station with a (geometry of a) robot in it.
Now I need to know how to attach a new Controller to the station.
It would be very nice if someone could help me.

Best regards, Matthias

2

Perhaps you should have a look at “ABB.Internal.RobotStudio.API.ControllerHelper” :

RsIrc5Controller controller = ABB.Internal.RobotStudio.API.ControllerHelper.CreateIrc5Cont roller();
RsTask task = ABB.Internal.RobotStudio.API.ControllerHelper.CreateTask();

ABB.Internal.RobotStudio.API.ControllerHelper.AddIrc5Control lerToStation(station, controller);
ABB.Internal.RobotStudio.API.ControllerHelper.AddTaskToContr oller(controller, task);
ABB.Internal.RobotStudio.API.ControllerHelper.AddTaskToStati on(station, task);

3

It’s called “Internal” for a reason. E.g. it’s undocumented, and not guaranteed to work in future versions. Just so you know :wink:

4

Thanks for the hint apox.
This is what I did:

Station station = new Station();
Project.ActiveProject = station;

GraphicControl gc = new GraphicControl();
DocumentWindow dw = new DocumentWindow("dw", gc, "myView");
gc.RootObject = station;

GraphicComponentLibrary gcl = GraphicComponentLibrary.Load(@"C:....",true);
station.GraphicComponents.Add(gcl.RootComponent.CopyInstance ());
dw.Visible = true;

UIEnviroment.Windows.Add(dw);

RsIrc5Controller ctrl = ABB.Internal.Robotstudio.API.ControllerHelper.CreateIrc5Cont roller();
RsTask task = ABB.Internal.Robotstudio.API.ControllerHelper.CreateTask();
ABB.Internal.Robotstudio.API.ControllerHelper.AddIrc5Control lerToStation(station, ctrl);

ABB.Internal.Robotstudio.API.ControllerHelper.AddTaskToContr oller(ctrl, task);
ABB.Internal.Robotstudio.API.ControllerHelper.AddTaskToStati on(station, task);

station.ActiveTask = task;

There are no errors so far, but the controller doesn’t appear in the bottom right hand corner in RobotStudio.

When I try to restart the Controller with ABB.Internal.Robotstudio.API.ControllerHelper.Restart(ctrl, ABB.Internal.Robotstudio.API.ControllerRestartMode.Cold);
Robotstudio crashes.

I can’t figure out why this doesn’t work.
Any suggestions?

Best Regards, Matthias