VERSION 5.00 Begin VB.Form frmRobot BorderStyle = 1 '固定(実線) Caption = "Robot" ClientHeight = 11355 ClientLeft = 45 ClientTop = 330 ClientWidth = 8670 MaxButton = 0 'False MinButton = 0 'False ScaleHeight = 11355 ScaleWidth = 8670 StartUpPosition = 3 'Windows の既定値 Begin VB.CommandButton cmdExit Caption = "Exit" Height = 405 Left = 7320 TabIndex = 6 Top = 10800 Width = 1215 End Begin VB.Frame Frame2 Caption = "RobMaster" Height = 9615 Left = 120 TabIndex = 8 Top = 1080 Width = 8415 Begin VB.TextBox txtApproach Height = 315 Left = 5880 TabIndex = 79 Text = "1" Top = 4590 Width = 825 End Begin VB.CommandButton cmdRobMaster Caption = "Go!" Height = 375 Index = 8 Left = 7050 TabIndex = 77 Top = 5640 Width = 1215 End Begin VB.TextBox txtDepart Height = 315 Left = 4920 TabIndex = 76 Text = "1" Top = 5670 Width = 825 End Begin VB.ComboBox cmbDepartComp Height = 300 ItemData = "Robot.frx":0000 Left = 2280 List = "Robot.frx":000A Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 75 Top = 5640 Width = 735 End Begin VB.ComboBox cmbDepartPath Height = 300 ItemData = "Robot.frx":0016 Left = 4060 List = "Robot.frx":0023 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 74 Top = 5670 Width = 735 End Begin VB.CheckBox chkNEXT Caption = ",NEXT" Height = 225 Index = 4 Left = 5940 TabIndex = 73 Top = 5730 Width = 1095 End Begin VB.CommandButton cmdRobMaster Caption = "Go!" Height = 375 Index = 7 Left = 7050 TabIndex = 71 Top = 5040 Width = 1215 End Begin VB.TextBox txtApproachVarIndex Height = 315 Left = 4080 TabIndex = 70 Text = "1" Top = 4590 Width = 825 End Begin VB.ComboBox cmbApproachComp Height = 300 ItemData = "Robot.frx":0032 Left = 2280 List = "Robot.frx":003C Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 69 Top = 4590 Width = 735 End Begin VB.ComboBox cmbApproachPath Height = 300 ItemData = "Robot.frx":0048 Left = 5040 List = "Robot.frx":0055 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 68 Top = 4590 Width = 735 End Begin VB.ComboBox cmbApproachVarType Height = 300 ItemData = "Robot.frx":0064 Left = 3240 List = "Robot.frx":0071 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 67 Top = 4590 Width = 735 End Begin VB.CheckBox chkNEXT Caption = ",NEXT" Height = 225 Index = 3 Left = 7080 TabIndex = 66 Top = 4650 Width = 1095 End Begin VB.ComboBox cmbSuf Height = 300 ItemData = "Robot.frx":007E Left = 2280 List = "Robot.frx":0094 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 57 Top = 3960 Width = 1005 End Begin VB.OptionButton optSuf Caption = "Option1" Height = 195 Index = 1 Left = 1980 TabIndex = 56 Top = 4020 Width = 255 End Begin VB.OptionButton optSuf Caption = "Option1" Height = 195 Index = 0 Left = 1980 TabIndex = 55 Top = 3570 Width = 255 End Begin VB.CheckBox chkNEXT Caption = ",NEXT" Height = 255 Index = 2 Left = 7080 TabIndex = 54 Top = 3540 Width = 975 End Begin VB.CheckBox chkNEXT Caption = ",NEXT" Height = 225 Index = 1 Left = 5940 TabIndex = 53 Top = 2970 Width = 945 End Begin VB.CheckBox chkNEXT Caption = ",NEXT" Height = 225 Index = 0 Left = 5940 TabIndex = 52 Top = 300 Width = 1095 End Begin VB.TextBox txtReply Height = 435 Left = 120 Locked = -1 'True TabIndex = 51 Top = 8010 Width = 8115 End Begin VB.CommandButton cmdRobMaster Caption = "Execute" Height = 375 Index = 9 Left = 7080 TabIndex = 48 Top = 7590 Width = 1215 End Begin VB.TextBox txtCommand Height = 435 Left = 120 TabIndex = 47 Text = "10004, 1, 1" Top = 7080 Width = 8115 End Begin VB.TextBox txtRotDeg Height = 315 Left = 5310 TabIndex = 46 Text = "30.0" Top = 3510 Width = 615 End Begin VB.TextBox txtV Height = 315 Index = 2 Left = 3900 TabIndex = 45 Text = "3" Top = 3510 Width = 465 End Begin VB.TextBox txtV Height = 315 Index = 1 Left = 3210 TabIndex = 44 Text = "2" Top = 3510 Width = 465 End Begin VB.TextBox txtV Height = 315 Index = 0 Left = 2520 TabIndex = 43 Text = "1" Top = 3510 Width = 465 End Begin VB.CommandButton cmdRobMaster Caption = "Rotate" Height = 375 Index = 6 Left = 7080 TabIndex = 41 Top = 3930 Width = 1215 End Begin VB.TextBox txtV Height = 315 Index = 3 Left = 6150 TabIndex = 40 Text = "0" Top = 3510 Width = 525 End Begin VB.ComboBox cmbRotAt Height = 300 ItemData = "Robot.frx":00B3 Left = 4560 List = "Robot.frx":00C0 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 39 Top = 3510 Width = 735 End Begin VB.ComboBox cmbDrvAt Height = 300 ItemData = "Robot.frx":00CD Left = 3210 List = "Robot.frx":00DA Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 38 Top = 2940 Width = 735 End Begin VB.ComboBox cmbJn Height = 300 ItemData = "Robot.frx":00E7 Left = 4060 List = "Robot.frx":00F4 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 37 Top = 2940 Width = 735 End Begin VB.TextBox txtDrvDeg Height = 315 Left = 4920 TabIndex = 35 Text = "30.0" Top = 2940 Width = 825 End Begin VB.CommandButton cmdRobMaster Caption = "Drive" Height = 375 Index = 5 Left = 7080 TabIndex = 34 Top = 2910 Width = 1215 End Begin VB.CommandButton cmdRobMaster Caption = "Speed" Height = 375 Index = 4 Left = 7080 TabIndex = 31 Top = 2370 Width = 1215 End Begin VB.TextBox txtSpeed Height = 315 Left = 4920 TabIndex = 30 Text = "80.0" Top = 2400 Width = 825 End Begin VB.CommandButton cmdRobMaster Caption = "Decel" Height = 375 Index = 3 Left = 7080 TabIndex = 28 Top = 1830 Width = 1215 End Begin VB.TextBox txtDecel Height = 315 Left = 4920 TabIndex = 27 Text = "50.0" Top = 1860 Width = 825 End Begin VB.CommandButton cmdRobMaster Caption = "Accel" Height = 375 Index = 2 Left = 7080 TabIndex = 25 Top = 1290 Width = 1215 End Begin VB.TextBox txtAccel Height = 315 Left = 4920 TabIndex = 24 Text = "50.0" Top = 1320 Width = 825 End Begin VB.CommandButton cmdRobMaster Caption = "Change" Height = 375 Index = 1 Left = 7080 TabIndex = 22 Top = 750 Width = 1215 End Begin VB.TextBox txtChange Height = 315 Left = 4920 TabIndex = 21 Text = "1" Top = 780 Width = 825 End Begin VB.ComboBox cmbChange Height = 300 ItemData = "Robot.frx":0101 Left = 2280 List = "Robot.frx":010B Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 20 Top = 780 Width = 1125 End Begin VB.CommandButton cmdRobCancel Caption = "Cancel" Height = 375 Left = 7080 TabIndex = 19 Top = 6270 Width = 1215 End Begin VB.Timer Timer1 Left = 7920 Top = 9090 End Begin VB.ComboBox cmbVarType Height = 300 ItemData = "Robot.frx":011B Left = 4140 List = "Robot.frx":0128 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 14 Top = 240 Width = 735 End Begin VB.ComboBox cmbPath Height = 300 ItemData = "Robot.frx":0135 Left = 3210 List = "Robot.frx":0142 Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 13 Top = 240 Width = 735 End Begin VB.ComboBox cmbComp Height = 300 ItemData = "Robot.frx":0151 Left = 2280 List = "Robot.frx":015B Style = 2 'ﾄﾞﾛｯﾌﾟﾀﾞｳﾝ ﾘｽﾄ TabIndex = 12 Top = 240 Width = 735 End Begin VB.TextBox txtVarIndex Height = 315 Left = 4920 TabIndex = 4 Text = "1" Top = 240 Width = 825 End Begin VB.CommandButton cmdRobMaster Caption = "Go!" Height = 375 Index = 0 Left = 7080 TabIndex = 5 Top = 210 Width = 1215 End Begin VB.Label Label Caption = "," Height = 255 Left = 4920 TabIndex = 80 Top = 4680 Width = 135 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 10 X1 = 1200 X2 = 8280 Y1 = 5520 Y2 = 5520 End Begin VB.Label Label8 Caption = "DEPART" Height = 375 Left = 1200 TabIndex = 78 Top = 5730 Width = 5175 End Begin VB.Label Label7 Caption = "APPROACH" Height = 375 Left = 1200 TabIndex = 72 Top = 4680 Width = 5175 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 9 X1 = 1200 X2 = 8280 Y1 = 4440 Y2 = 4440 End Begin VB.Label Label6 Caption = ",V" Height = 195 Index = 13 Left = 5970 TabIndex = 65 Top = 3570 Width = 195 End Begin VB.Label Label6 Caption = ",V" Height = 195 Index = 12 Left = 3720 TabIndex = 64 Top = 3570 Width = 195 End Begin VB.Label Label6 Caption = ",V" Height = 195 Index = 11 Left = 3030 TabIndex = 63 Top = 3570 Width = 195 End Begin VB.Label Label6 Caption = "( V" Height = 195 Index = 10 Left = 2220 TabIndex = 62 Top = 3570 Width = 255 End Begin VB.Label Label6 Caption = "(" Height = 195 Index = 9 Left = 3940 TabIndex = 61 Top = 3000 Width = 105 End Begin VB.Label Label6 Caption = "," Height = 195 Index = 8 Left = 4830 TabIndex = 60 Top = 3000 Width = 75 End Begin VB.Label Label6 Caption = ")," Height = 195 Index = 7 Left = 4440 TabIndex = 59 Top = 3570 Width = 105 End Begin VB.Label Label6 Caption = ")" Height = 195 Index = 6 Left = 5790 TabIndex = 58 Top = 3000 Width = 105 End Begin VB.Label Label3 Caption = "Execute : (input with comma separator)" Height = 255 Index = 1 Left = 150 TabIndex = 50 Top = 6840 Width = 8085 End Begin VB.Label Label4 Caption = "Reply : " Height = 255 Index = 1 Left = 120 TabIndex = 49 Top = 7710 Width = 6855 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 8 X1 = 150 X2 = 8280 Y1 = 6750 Y2 = 6750 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 7 X1 = 1170 X2 = 8280 Y1 = 3390 Y2 = 3390 End Begin VB.Label Label6 Caption = " ROTATE" Height = 225 Index = 5 Left = 1110 TabIndex = 42 Top = 3570 Width = 735 End Begin VB.Label Label6 Caption = "DRIVEEx" Height = 195 Index = 4 Left = 1170 TabIndex = 36 Top = 3000 Width = 735 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 6 X1 = 1170 X2 = 8280 Y1 = 2820 Y2 = 2820 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 5 X1 = 1170 X2 = 8280 Y1 = 2280 Y2 = 2280 End Begin VB.Label Label6 Caption = "SPEED" Height = 375 Index = 3 Left = 1170 TabIndex = 32 Top = 2460 Width = 5175 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 4 X1 = 1170 X2 = 8280 Y1 = 6120 Y2 = 6120 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 3 X1 = 1170 X2 = 8280 Y1 = 1740 Y2 = 1740 End Begin VB.Label Label6 Caption = "DECEL" Height = 375 Index = 2 Left = 1170 TabIndex = 29 Top = 1920 Width = 5175 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 2 X1 = 1170 X2 = 8280 Y1 = 1200 Y2 = 1200 End Begin VB.Label Label6 Caption = "ACCEL" Height = 375 Index = 1 Left = 1170 TabIndex = 26 Top = 1380 Width = 5175 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 1 X1 = 1170 X2 = 8280 Y1 = 660 Y2 = 660 End Begin VB.Label Label6 Caption = "CHANGE" Height = 375 Index = 0 Left = 1170 TabIndex = 23 Top = 840 Width = 5175 End Begin VB.Label lblPos Caption = "P(?,?,?..)" Height = 255 Left = 1320 TabIndex = 18 Top = 9270 Width = 6435 End Begin VB.Label lblMoving Caption = "?" Height = 255 Left = 1290 TabIndex = 17 Top = 9000 Width = 1095 End Begin VB.Label Label5 Caption = "Position : " Height = 195 Left = 420 TabIndex = 16 Top = 9300 Width = 885 End Begin VB.Label Label1 Caption = "Moving : " Height = 225 Left = 420 TabIndex = 15 Top = 9000 Width = 885 End Begin VB.Line Line1 BorderColor = &H8000000C& Index = 0 X1 = 150 X2 = 8280 Y1 = 8520 Y2 = 8520 End Begin VB.Label lblMove Caption = "MOVE " Height = 375 Left = 1170 TabIndex = 11 Top = 300 Width = 5175 End Begin VB.Label Label4 Caption = "Robot Status : " Height = 225 Index = 0 Left = 150 TabIndex = 10 Top = 8640 Width = 8055 End Begin VB.Label Label3 Caption = "Command : " Height = 255 Index = 0 Left = 150 TabIndex = 9 Top = 300 Width = 6765 End End Begin VB.Frame Frame1 Caption = "Connection" Height = 855 Left = 120 TabIndex = 0 Top = 120 Width = 8415 Begin VB.CommandButton cmdConnect Caption = "Connect" Height = 375 Left = 5760 TabIndex = 2 Top = 300 Width = 1215 End Begin VB.CommandButton cmdDisconnect Caption = "Disconnect" Height = 375 Left = 7080 TabIndex = 3 Top = 300 Width = 1215 End Begin VB.ComboBox cmbParameter Height = 300 Left = 1320 TabIndex = 1 Top = 360 Width = 4365 End Begin VB.Label Label2 Alignment = 1 '右揃え Caption = "Parameter : " Height = 255 Left = 240 TabIndex = 7 Top = 360 Width = 975 End End Begin VB.Label lblDebug Height = 285 Left = 180 TabIndex = 33 Top = 10920 Width = 7065 End End Attribute VB_Name = "frmRobot" Attribute VB_GlobalNameSpace = False Attribute VB_Creatable = False Attribute VB_PredeclaredId = True Attribute VB_Exposed = False Option Explicit Private caoEng As New CaoEngine Private caoCtrls As CaoControllers Private WithEvents caoCtrl As CaoController Attribute caoCtrl.VB_VarHelpID = -1 Private caoRob As CaoRobot Private caoRobVar As CaoVariable Private caoRobPos As CaoVariable Const CAO_ONMESS_ROBOT_NOTIFY = 9 Private Declare Function GetTickCount Lib "kernel32" () As Long Private Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long) ' ---------------------------------------------------- Private Sub Form_Load() With cmbParameter .Clear .AddItem "eth:192.168.0.1:4112" ' <- Change this for your controller IP setting. "eth::4112 .AddItem "com:1:38400:N:8:1" ' <- Change this for your controller RS-232C setting. "com:::N:8:1" .ListIndex = 0 End With With cmbComp .Clear .AddItem "P," .AddItem "L," .ListIndex = 0 End With With cmbPath .Clear .AddItem " " .AddItem "@P " .AddItem "@E " .ListIndex = 0 End With With cmbVarType .Clear .AddItem "P" .AddItem "T" .AddItem "J" .ListIndex = 0 End With With cmbChange .Clear .AddItem "TOOL" .AddItem "WORK" .ListIndex = 0 End With txtVarIndex.Text = "100" With cmbDrvAt .Clear .AddItem " " .AddItem "@P " .AddItem "@E " .ListIndex = 0 .ItemData(0) = 0 .ItemData(1) = -1 .ItemData(2) = -2 End With With cmbJn .Clear .AddItem "1" .AddItem "2" .AddItem "3" .AddItem "4" .AddItem "5" .AddItem "6" .AddItem "7" .AddItem "8" .ListIndex = 0 End With With cmbRotAt .Clear .AddItem " " .AddItem "@P " .AddItem "@E " .ListIndex = 0 End With With cmbSuf .ListIndex = 0 End With optSuf(0).Value = True With Timer1 .Enabled = False .Interval = 150 End With cmdDisconnect_Click Set caoEng = New CaoEngine Set caoCtrls = caoEng.Workspaces(0).Controllers End Sub ' ---------------------------------------------------- Private Sub Form_Unload(Cancel As Integer) cmdDisconnect_Click Set caoCtrls = Nothing Set caoEng = Nothing End Sub Private Sub caoCtrl_OnMessage(ByVal pICaoMess As CAOLib.ICaoMessage) Static bLock As Boolean If bLock = True Then Exit Sub bLock = True With pICaoMess If .Number = CAO_ONMESS_ROBOT_NOTIFY Then 'Robot Notify DoEvents ' for [Cancel] can be clicked Sleep 10 ' *** THIS IS HIGHLY IMPORTANT FOR [cmdRobCancel_Click] !!! *** Timer1_Timer ' Update Robot Status on command locking lblDebug.Caption = "ROBOT_NOTIFY_ON " + LStr(GetTickCount()) End If End With bLock = False End Sub Private Sub cmdRobCancel_Click() caoRob.Halt 'for return from command locking mode End Sub ' ---------------------------------------------------- Private Sub cmdConnect_Click() On Error GoTo ErrProc Dim sConn As String cmdDisconnect_Click sConn = "Conn=" & cmbParameter.Text Set caoCtrl = caoCtrls.Add("RC1", "CaoProv.DENSO.NetwoRC", "", sConn) Set caoRob = caoCtrl.AddRobot("RobSlave") Set caoRobVar = caoRob.AddVariable("@BUSY_STATUS") Set caoRobPos = caoRob.AddVariable("@CURRENT_POSITION") 'Unlock all command buttons Dim i% For i = cmdRobMaster.LBound To cmdRobMaster.UBound cmdRobMaster(i).Enabled = True Next i cmdRobCancel.Enabled = True Timer1.Enabled = True Exit Sub ErrProc: MsgBox Err.Description End Sub ' ---------------------------------------------------- Private Sub cmdDisconnect_Click() 'Lock all command buttons Dim i% For i = cmdRobMaster.LBound To cmdRobMaster.UBound cmdRobMaster(i).Enabled = False Next i cmdRobCancel.Enabled = False Timer1.Enabled = False If Not caoRobPos Is Nothing Then Set caoRobPos = Nothing End If If Not caoRobVar Is Nothing Then Set caoRobVar = Nothing End If If Not caoRob Is Nothing Then Set caoRob = Nothing End If If Not caoCtrl Is Nothing Then caoCtrls.Remove caoCtrl.Index Set caoCtrl = Nothing End If End Sub ' Send a command to "RobSlave.pac" program running into the target controller Private Sub cmdRobMaster_Click(Index As Integer) Dim i% Dim sOpt$ 'Lock all command buttons For i = cmdRobMaster.LBound To cmdRobMaster.UBound cmdRobMaster(i).Enabled = False Next i cmdRobCancel.Enabled = True ' Check if "ROBSLAVE" task is running If Not IsRobSlaveRunning() Then MsgBox """ROBSLAVE"" task is not running into the controller !" GoTo DoExit End If On Error GoTo ErrProc Select Case Index Case 0: 'MOVE If chkNEXT(0).Value = 1 Then caoRob.Move LLng(cmbComp.ListIndex + 1), cmbPath.Text & cmbVarType.Text & txtVarIndex.Text, "NEXT" Else caoRob.Move LLng(cmbComp.ListIndex + 1), cmbPath.Text & cmbVarType.Text & txtVarIndex.Text End If Case 1: 'CHANGE caoRob.Change cmbChange.Text + txtChange.Text Case 2: 'ACCEL caoRob.Accelerate LSng(-1), LSng(txtAccel.Text) Case 3: 'DECEL caoRob.Accelerate LSng(-1), LSng(-1), LSng(txtDecel.Text) '-1:Do not care Case 4: 'SPEED caoRob.Speed LSng(-1), LSng(txtSpeed.Text) Case 5: 'DRIVEEx If chkNEXT(1).Value = 1 Then caoRob.Execute "DriveEx", Array(cmbDrvAt.Text & "(" & LLng(cmbJn.ListIndex + 1) & "," & LSng(txtDrvDeg.Text) & ")", "NEXT") Else caoRob.Execute "DriveEx", cmbDrvAt.Text & "(" & LLng(cmbJn.ListIndex + 1) & "," & LSng(txtDrvDeg.Text) & ")" End If Case 6: 'ROTATE sOpt = Trim(cmbRotAt.Text) If chkNEXT(2).Value = 1 Then If Len(sOpt) > 0 Then sOpt = sOpt + ",NEXT" Else sOpt = ",NEXT" End If End If If (optSuf(0).Value) Then ' Vn1,Vn2,Vn3 caoRob.Rotate txtV(0).Text & "," & txtV(1).Text & "," & txtV(2).Text, LSng(txtRotDeg.Text), txtV(3).Text, sOpt Else ' XY,YZ,ZX ... caoRob.Rotate cmbSuf.Text, LSng(txtRotDeg.Text), txtV(3).Text, sOpt End If Case 7: 'APPROACH If chkNEXT(3).Value = 1 Then caoRob.Execute "Approach", Array(cmbApproachComp.ItemData(cmbApproachComp.ListIndex), _ cmbApproachVarType.List(cmbApproachVarType.ListIndex) & txtApproachVarIndex.Text, _ cmbApproachPath.List(cmbApproachPath.ListIndex) & " " & txtApproach.Text, _ "NEXT") Else caoRob.Execute "Approach", Array(cmbApproachComp.ItemData(cmbApproachComp.ListIndex), _ cmbApproachVarType.List(cmbApproachVarType.ListIndex) & txtApproachVarIndex.Text, _ cmbApproachPath.List(cmbApproachPath.ListIndex) & " " & txtApproach.Text) End If Case 8: 'DEPART If chkNEXT(4).Value = 1 Then caoRob.Execute "Depart", Array(cmbDepartComp.ItemData(cmbDepartComp.ListIndex), _ cmbDepartPath.List(cmbDepartPath.ListIndex) & " " & txtDepart.Text, _ "NEXT") Else caoRob.Execute "Depart", Array(cmbDepartComp.ItemData(cmbDepartComp.ListIndex), _ cmbDepartPath.List(cmbDepartPath.ListIndex) & " " & txtDepart.Text) End If Case 9: 'CaoRobot.Execute RobotExecute End Select DoExit: 'Unlock all command buttons For i = cmdRobMaster.LBound To cmdRobMaster.UBound cmdRobMaster(i).Enabled = True Next i cmdRobCancel.Enabled = True Exit Sub ErrProc: MsgBox Err.Description GoTo DoExit End Sub ' ---------------------------------------------------- Private Sub RobotExecute() On Error GoTo ErrProc Dim vCmd As Variant Dim vReply As Variant Dim vTmp As Variant vCmd = Split(txtCommand.Text, ",") Dim vaCmd() As Variant Dim l As Long ReDim vaCmd(0 To UBound(vCmd)) l = 0 For Each vTmp In vCmd vaCmd(l) = LVar(Trim(vTmp)) l = l + 1 Next vCmd = vaCmd vReply = caoRob.Execute("UserExt", vCmd) Dim sReply$ sReply = LStr(Now) + " : " If IsEmpty(vReply) Then sReply = "(No Return)" Else For Each vTmp In vReply sReply = sReply + LStr(vTmp) + "," Next End If txtReply.Text = sReply Exit Sub ErrProc: txtReply.Text = "ERROR!" MsgBox Err.Description End Sub ' ---------------------------------------------------- Private Sub cmdExit_Click() Unload Me End Sub Private Sub cmbSuf_Click() optSuf(0).Value = False optSuf(1).Value = True End Sub 'Update Robot Status Private Sub Timer1_Timer() 'Moving = True / False If Not caoRobVar Is Nothing Then lblMoving.Caption = LStr(caoRobVar.Value) End If 'Current Position If Not caoRobPos Is Nothing Then Dim vPos As Variant vPos = caoRobPos.Value Dim i%, imin%, imax% imin = LBound(vPos): imax = UBound(vPos) lblPos.Caption = "P( " For i = imin To imax - 1 lblPos.Caption = lblPos.Caption + LStr(Format(vPos(i), "0.0#")) + ", " Next lblPos.Caption = lblPos.Caption + LStr(Format(vPos(imax), "0.0#")) + " )" End If End Sub ' Check if "ROBSLAVE" task is running Private Function IsRobSlaveRunning() As Boolean IsRobSlaveRunning = False Dim Task As CaoTask Dim Var As CaoVariable On Error GoTo ErrExit Set Task = caoCtrl.AddTask("ROBSLAVE") Set Var = Task.AddVariable("@STATUS") If Var.Value = 3 Then 'Running IsRobSlaveRunning = True End If Task.Variables.Remove Var.Index caoCtrl.Tasks.Remove Task.Index Exit Function ErrExit: End Function '----------------------------------------------------------- Public Function LLng(ByRef expression) As Long LLng = CLng(Val(expression)) End Function '----------------------------------------------------------------------------- Public Function LInt(ByRef expression) As Integer LInt = CInt(Val(expression)) End Function '----------------------------------------------------------------------------- Public Function LByte(ByRef expression) As Byte LByte = CByte(Val(expression)) End Function '----------------------------------------------------------------------------- Public Function LDbl(ByRef expression) As Double LDbl = CDbl(Val(expression)) End Function '----------------------------------------------------------------------------- Public Function LSng(ByRef expression) As Single LSng = CSng(Val(expression)) End Function '----------------------------------------------------------------------------- Public Function LBool(ByRef expression) As Boolean LBool = CBool(Val(expression)) End Function '----------------------------------------------------------------------------- Public Function LVar(ByRef expression) As Variant LVar = CVar(Val(expression)) End Function '----------------------------------------------------------- Public Function LStr(ByRef expression) As String On Error Resume Next LStr = expression LStr = LTrim$(Str(expression)) End Function