Write to RAPID variable from C# PC SDK

RobotStudio
1

Hello, i’am trying to write to the RAPID variable from my PC SDK App written on C# (Visual Studio 2017).

Here is a piece my code where the problem occurs:

double val;
RapidData rd = this.controller.Rapid.GetRapidData(“T_ROB1”, “Module1”, “val_try”);
if (rd.Value is ABB.Robotics.Controllers.RapidDomain.Dnum)
{
val = (ABB.Robotics.Controllers.RapidDomain.Dnum)rd.Value;
val = 1.25;
using (Mastership.Request(this.controller.Rapid))
{
rd.Value = val; //here I have an error which says that it is not possible to convert the type double to ‘ABB.Robotics.Controllers.IRapidData’
}
}
I have tried this with a bool variable and it works fine, but Ido not understand how to change the number value from C# in RAPID code running on the controller.

Thanks in advance,
Nazar

2

Hello,

Have you tried searching the forum before writing your post?

I did a quick search and found this post: ABB Robotics Community - Maintenance

Is it perhaps all you need?

3

Hi,
Dnum is structure so casting or setting directly the value won’t work.
You can fill the Dum from string like following

Dnum dn = new Dnum();
dn.FillFromString(newValue);
_rapidData.Value = dn;
or at Dnum constructor give the double value, so no need to fill from string. (Like: Dnum dn = new Dnum(val):wink:
There is also method dn.FillFromDnum(val) but don’t use it as documentation said it is obsolete

Mika

4

Hello Maxim and Mika, first of all thanks for your answer.

I have already used API from the link like a base for my code project, and finally, after modifying some assignments I have solved the problem of writing on variables.

My solution is using the following method:

//After establishing comunication with controller i am asigning tasks
aTask = controller.Rapid.GetTasks();
//After that i am updating my RapidData variables :

void update_values()
{
rdice = aTask[0].GetRapidData(“Module1”, “dice_txt”);
rangle = aTask[0].GetRapidData(“Module1”, “angle_txt”);
rx = aTask[0].GetRapidData(“Module1”, “x_txt”);
ry = aTask[0].GetRapidData(“Module1”, “y_txt”);
if ((rdice.Value is ABB.Robotics.Controllers.RapidDomain.Num)
&&(rangle.Value is ABB.Robotics.Controllers.RapidDomain.Num)
&& (rx.Value is ABB.Robotics.Controllers.RapidDomain.Num)
&& ((ry.Value is ABB.Robotics.Controllers.RapidDomain.Num)))
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rdice.Value;
val.FillFromNum(arr[0]);
val = (ABB.Robotics.Controllers.RapidDomain.Num)rangle.Value;
val.FillFromNum(arr[1]);
val = (ABB.Robotics.Controllers.RapidDomain.Num)rx.Value;
val.FillFromNum(arr[2]);
val = (ABB.Robotics.Controllers.RapidDomain.Num)ry.Value;
val.FillFromNum(arr[3]);
Mastership m;
using (m = Mastership.Request(controller.Rapid))
{
rdice.Value = val;
rangle.Value = val;
rx.Value = val;
ry.Value = val;
m.Release();
}

}

At this point everything is working fine if the update_values(**) is executing ones, for example by clicking on the button.
But If I try to execute it periodically (every 500ms), using a timer:

private void timer1_Tick(object sender, EventArgs e)
{
update_values();
}
I have another problem related to the mastership. It says that there is another request holding on. Can it be robotstuido fault? It will be a problem with the real controller?
Thanks in advance,
Best regards,
Nazar