Trouble writing to Analog Value

Developer Tools
1

Every time I run this code I get an exception ‘ABB.Robotics.ModeRejectExecption’.

Friend Function WriteAnalogOutput( sigName as String, sigValue as Double ) as Boolean

Dim aSignal as Signal

Dim signalValue as AnalogSignal

Dim returnValue as Boolean

Try

If _robotController.Connected And _robotController.OperatingMode = ControllerOperatingMode.Auto Then

returnValue = True

aSignal = _robotController.IOSystem.GetSignal( sigName )

signalValue = DirectCast( aSignal, AnalogSignal )

signalValue.Value = sigValue

Else

returnValue = False

End If

Catch ex as Exception

returnValue = False

Finally

If signalValue IsNot Nothing Then

signalValue.Dispose()

End If

End Try

WriteAnalogOutput = returnValue

End Function

Why does this happen?

2

In RSO>Configuration, look at the access level that your signal is configued with. If it has the access level “DEFAULT” you can only write to it in Manual Mode. You can create your own access level that has different permissions and assign the signals you want to modify to use that access level. Note that this is generally preferable to changing DEFAULT because by changing DEFAULT, you will increase the access to every signal this way, instead of the only the ones you care about. This may make your robot less safe.

3

That worked, thanks. It’s for changing motor speed.

(Btw, RSO is a crutch. Real men use the TP.)