ProgramPositionEventArgs problem in PC SDK.

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1

Hello eveybody!

I have ProgramPositionEventArgs Problem.

My development environment is,

OS : Windows 10
Develop Tool : Visual Studio 2015
ABBRobot : IRB 120
SDK version : RobotStudio 6.07

My code is,

public event ChangePosition_Delegate CP_Delegate = null;
private event EventHandler progpos_events;

this.scanner = new NetworkScanner();
this.scanner.Scan();
progpos_events = new EventHandler(this.PositionChangeEvent);

ControllerInfoCollection controllers = scanner.Controllers;

…

tRob = controller.Rapid.GetTask(“T_ROB1”);
tRob.ProgramPointerChanged += progpos_events;

public void PositionChangeEvent(object sender, ProgramPositionEventArgs _position)
{
CP_Delegate(_position.Time.Millisecond.ToString());
}

then,

What is the program problem,

ProgramPosition event continue to occur…

ABB Robot move not! but, don’t stop event.

Help me. please!

2

Hi,

maybe you have to use the Invoke method, like as follows:

public void PositionChangeEvent(object sender, ProgramPositionEventArgs _position)
{
if (this.InvokeRequired)
{
this.Invoke(new ProgramPositionEventHandler(PositionChangeEvent), sender, _position);
return;
}
CP_Delegate(_position.Time.Millisecond.ToString());
}

Best regards
Micky

3

It’s not clear what issue you are facing. If you just want to process time/position whenever the program pointer changes, below would be a cleaner approach-

public delegate void ChangePosition_Delegate(string input);

public class MonitorProgramPosition
{
    private Controller _robot;
    private ChangePosition_Delegate CP_Delegate = delegate (string input) { Console.WriteLine(input); };  // Just print input to console for testing
    
    // Event handler
    public void PositionChangeEvent(object sender, ProgramPositionEventArgs e)
    {
        CP_Delegate(e.Time.Millisecond.ToString());
    }

    // Connect to controller and subscribe to event
    public MonitorProgramPosition(Guid robotGUID)
    {
        _robot = new Controller(robotGUID);
        _robot.Rapid.GetTask("T_ROB1").ProgramPointerChanged += PositionChangeEvent;
    }

    // Just keeps program open till any button is pressed
    public void Wait()
    {
        Console.ReadLine();
        _robot.Rapid.GetTask("T_ROB1").ProgramPointerChanged -= PositionChangeEvent;
        _robot.Logoff();
        _robot.Dispose();
    }
}

class Program
{
    static void Main(string[] args)
    {
        var ppMonitor = new MonitorProgramPosition(Guid.Parse(<YourRobotGUID>));
        ppMonitor.Wait();
    }
}
4

Thank you! Micky, DeepakP. I will try!