Missing features in Omnicore App SDK

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1

Hi !
I am basically re-posting my old question (from 2021) here to Omnicore App SDK developers team as proposal/request. I am waiting already long time for some functionalities from IRC5 Flexpendant SDK to be ported into Omnicore App SDK:

  • ABB.Robotics.Controllers.MotionDomain.MechanicalUnit

    • Tool - Gets or sets the active tool;
    • WorkObjectName - Gets or sets the active work object;
    • GetPosition - Gets the joint target position of the mechanical unit;
    • Getposition(CoordinateSystemType) - Gets the robtarget position of the mechanical unit.

  • ABB.Robotics.Controllers.RapidDomain.Task

    • ResetProgramPointer - Resets the program pointer of this task to its main routine;
    • CallRoutine(String, RegainMode) - Starts executing the specified routine.

  • ABB.Robotics.Tps.Taf.ITpsViewLaunchServices.LaunchView(FpStandardView, Object, Boolean, Object) - Launches a View in the FlexPendant (Jogging).

  • ABB.Robotics.Tps.Windows.Forms.

    • FpToolCalibration - Initializes a new instance of the FpToolCalibration class;
    • FpWorkObjectCalibration -Initializes a new instance of the FpWorkObjectCalibration class;
    • FpRapidData(RapidData) - Initializes a new instance of the FpRapidData class.

Basically, I’m looking for possibiulity to:

  • Get and set active tool and workobject;
  • Get current joint and robtarget position;
  • Call and execute rapid routine by name;
  • Show/open/switch-to standard Flexpendant pages (like Jogging);
  • Show/open standard calibration and data editing dialogs with prefilled variable name.

If some of those possibilities already exist, please point them out to me.
Thank you!
Fritz.

2

Hi @Fritz

Please reach out to your local ABB with these questions/suggestions.

Thanks!

3

  • Get and set active tool and workobject;
    **Solved: **
    GET/POST /rw/motionsystem/mechunits/{mechunit}

  • Get current joint and robtarget position;
    Solved:
    GET /rw/rapid/tasks/{task}/motion/jointtarget
    GET /rw/rapid/tasks/{task}/motion/robtarget

  • Call and execute rapid routine by name;
    Obsolete. Using different approach.

  • Show/open/switch-to standard Flexpendant pages (like Jogging);
    Solved:
    API.INTERACTION.navigateToApp(‘Jog’,‘navigateToPage = JoystickJog & url = None’)
    Does anyone know where “url” parameter values can be found for Flexpendant native applications? This could solve also my last open question.

  • Show/open standard calibration and data editing dialogs with prefilled variable name.
    Open.

4

Call and execute rapid routine by name:
*
await RWS.Mastership.request();
let url = `/rw/rapid/tasks/${taskName}/pcp/routine-from-url`;
let body = `routineurl=/RAPID/${taskName}/${moduleName}/${procedureName}&userlevel=false`;
await RWS.Network.post(url, body).then(() => { Promise.resolve(); } ).catch …… );
await RWS.Mastership.release();
await RWS.Rapid.startExecution({regainMode: “clear”, executionMode: “continue”, cycleMode: “once”});*