VERSION 5.00 Begin VB.Form Form1 Caption = "Variable" ClientHeight = 7785 ClientLeft = 60 ClientTop = 450 ClientWidth = 4050 LinkTopic = "Form1" ScaleHeight = 7785 ScaleWidth = 4050 StartUpPosition = 3 'Windows ‚ÌŠù’è’l Begin VB.Frame Frm2 BackColor = &H0080FFFF& BorderStyle = 0 '‚È‚µ Height = 5055 Left = 360 TabIndex = 4 Top = 2400 Width = 3255 Begin VB.CommandButton cmdValI_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 31 Top = 600 Width = 855 End Begin VB.CommandButton cmdValF_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 30 Top = 1080 Width = 855 End Begin VB.CommandButton cmdValD_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 29 Top = 1560 Width = 855 End Begin VB.CommandButton cmdValV_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 28 Top = 2040 Width = 855 End Begin VB.CommandButton cmdValP_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 27 Top = 2520 Width = 855 End Begin VB.CommandButton cmdValJ_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 26 Top = 3000 Width = 855 End Begin VB.CommandButton cmdValT_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 25 Top = 3480 Width = 855 End Begin VB.CommandButton cmdValS_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 24 Top = 3960 Width = 855 End Begin VB.CommandButton cmdValIO_Write Caption = "Write" Enabled = 0 'False Height = 365 Left = 1920 TabIndex = 23 Top = 4440 Width = 855 End Begin VB.CommandButton cmdValIO_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 13 Top = 4440 Width = 855 End Begin VB.CommandButton cmdValS_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 12 Top = 3960 Width = 855 End Begin VB.CommandButton cmdValT_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 11 Top = 3480 Width = 855 End Begin VB.CommandButton cmdValJ_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 10 Top = 3000 Width = 855 End Begin VB.CommandButton cmdValP_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 9 Top = 2520 Width = 855 End Begin VB.CommandButton cmdValV_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 8 Top = 2040 Width = 855 End Begin VB.CommandButton cmdValD_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 7 Top = 1560 Width = 855 End Begin VB.CommandButton cmdValF_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 6 Top = 1080 Width = 855 End Begin VB.CommandButton cmdValI_Read Caption = "Read" Enabled = 0 'False Height = 365 Left = 900 TabIndex = 5 Top = 600 Width = 855 End Begin VB.Label lblDsp BackColor = &H80000005& Height = 300 Left = 480 TabIndex = 32 Top = 120 Width = 2295 End Begin VB.Label lblValIO Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "IO128:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 22 Top = 4560 Width = 735 End Begin VB.Label lblValS Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "S1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 21 Top = 4080 Width = 735 End Begin VB.Label lblValT Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "T1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 20 Top = 3600 Width = 735 End Begin VB.Label lblValJ Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "J1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 19 Top = 3120 Width = 735 End Begin VB.Label lblValP Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "P1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 18 Top = 2640 Width = 735 End Begin VB.Label lblValV Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "V1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 17 Top = 2160 Width = 735 End Begin VB.Label lblValD Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "D1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 16 Top = 1680 Width = 735 End Begin VB.Label lblValF Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "F1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 15 Top = 1200 Width = 735 End Begin VB.Label lblValI Alignment = 1 '‰E‘µ‚¦ BackStyle = 0 '“§–¾ Caption = "I1:" BeginProperty Font Name = "‚l‚r ‚oƒSƒVƒbƒN" Size = 9.75 Charset = 128 Weight = 700 Underline = 0 'False Italic = 0 'False Strikethrough = 0 'False EndProperty Height = 255 Left = 60 TabIndex = 14 Top = 720 Width = 735 End End Begin VB.Frame Frm1 BackColor = &H0000FF00& BorderStyle = 0 '‚È‚µ Height = 2175 Left = 360 TabIndex = 0 Top = 120 Width = 3255 Begin VB.CommandButton cmdDisconnectRobot Caption = "Disconnect Robot" Enabled = 0 'False Height = 495 Left = 480 TabIndex = 3 Top = 1440 Width = 2295 End Begin VB.CommandButton cmdConnectRobot Caption = "Connect Robot" Enabled = 0 'False Height = 495 Left = 480 TabIndex = 2 Top = 840 Width = 2295 End Begin VB.CommandButton cmdInit Caption = "Init" Height = 495 Left = 480 TabIndex = 1 Top = 240 Width = 2295 End End End Attribute VB_Name = "Form1" Attribute VB_GlobalNameSpace = False Attribute VB_Creatable = False Attribute VB_PredeclaredId = True Attribute VB_Exposed = False Dim caoEng As CaoEngine Dim caoWS As CaoWorkspace ' Robot objects Dim caoCtrl As CaoController ' Robot Controller Dim caoValI As CaoVariable ' for I (Variable) Dim caoValF As CaoVariable ' for F (Variable) Dim caoValD As CaoVariable ' for D (Variable) Dim caoValV As CaoVariable ' for V (Variable) Dim caoValP As CaoVariable ' for P (Variable) Dim caoValJ As CaoVariable ' for J (Variable) Dim caoValT As CaoVariable ' for T (Variable) Dim caoValS As CaoVariable ' for S (Variable) Dim caoValIO As CaoVariable ' for IO (Variable) ' -----------------------------Initialization---------------------------- Private Sub cmdInit_Click() ' Disconnect Robot Call cmdDisconnectRobot_Click ' Create Engine Set caoEng = Nothing Set caoEng = New CaoEngine Set caoWS = caoEng.Workspaces(0) End Sub ' --------------------------------------------------------------- ' Connect with the Robot ' --------------------------------------------------------------- Private Sub cmdConnectRobot_Click() On Error GoTo ErrorProc ' Create object and connect with VRC Set caoCtrl = caoWS.AddController("Robot", "caoProv.DENSO.RC8", "", "Server=192.168.0.1") ' Create object of valiable(I,F,D,V,P,J,T,S,IO) Set caoValI = caoCtrl.AddVariable("I1") Set caoValF = caoCtrl.AddVariable("F1") Set caoValD = caoCtrl.AddVariable("D1") Set caoValV = caoCtrl.AddVariable("V1") Set caoValP = caoCtrl.AddVariable("P1") Set caoValJ = caoCtrl.AddVariable("J1") Set caoValT = caoCtrl.AddVariable("T1") Set caoValS = caoCtrl.AddVariable("S1") Set caoValIO = caoCtrl.AddVariable("IO128") ' Enable command buttons cmdConnectRobot.Enabled = False cmdDisconnectRobot.Enabled = True cmdValI_Read.Enabled = True cmdValF_Read.Enabled = True cmdValD_Read.Enabled = True cmdValV_Read.Enabled = True cmdValP_Read.Enabled = True cmdValJ_Read.Enabled = True cmdValT_Read.Enabled = True cmdValS_Read.Enabled = True cmdValIO_Read.Enabled = True cmdValI_Write.Enabled = True cmdValF_Write.Enabled = True cmdValD_Write.Enabled = True cmdValV_Write.Enabled = True cmdValP_Write.Enabled = True cmdValJ_Write.Enabled = True cmdValT_Write.Enabled = True cmdValS_Write.Enabled = True cmdValIO_Write.Enabled = True Exit Sub ErrorProc: cmdDisconnectRobot_Click MsgBox Err.Description & " : " & Hex(Err.Number) End Sub ' --------------------------------------------------------------- ' disconnect from the Robot ' --------------------------------------------------------------- Private Sub cmdDisconnectRobot_Click() On Error Resume Next ' Disconnect from the controller If Not (caoCtrl Is Nothing) Then If Not (caoEng Is Nothing) Then caoEng.Workspaces(0).Controllers.Remove caoCtrl.Name Set caoCtrl = Nothing End If End If ' Disable command buttons cmdConnectRobot.Enabled = True cmdDisconnectRobot.Enabled = False cmdValI_Read.Enabled = False cmdValF_Read.Enabled = False cmdValD_Read.Enabled = False cmdValV_Read.Enabled = False cmdValP_Read.Enabled = False cmdValJ_Read.Enabled = False cmdValT_Read.Enabled = False cmdValS_Read.Enabled = False cmdValIO_Read.Enabled = False cmdValI_Write.Enabled = False cmdValF_Write.Enabled = False cmdValD_Write.Enabled = False cmdValV_Write.Enabled = False cmdValP_Write.Enabled = False cmdValJ_Write.Enabled = False cmdValT_Write.Enabled = False cmdValS_Write.Enabled = False cmdValIO_Write.Enabled = False End Sub Private Sub cmdValI_Read_Click() On Error GoTo ErrorProc ' Reading of "I variable" lblDsp.Caption = caoValI.Value Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValI_Write_Click() On Error GoTo ErrorProc ' Writing of "I variable" caoValI.Value = 1 Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValF_Read_Click() On Error GoTo ErrorProc ' Reading of "F variable" lblDsp.Caption = caoValF.Value Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValF_Write_Click() On Error GoTo ErrorProc ' Writing of "F variable" caoValF.Value = 1.23 Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValD_Read_Click() On Error GoTo ErrorProc ' Reading of "D variable" lblDsp.Caption = caoValD.Value Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValD_Write_Click() On Error GoTo ErrorProc ' Writing of "D variable" caoValD.Value = 0.123456789 Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValV_Read_Click() On Error GoTo ErrorProc Dim varV As Variant ' Reading of "V variable" varV = caoValV.Value lblDsp.Caption = varV(0) & "," & varV(1) & "," & varV(2) Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValV_Write_Click() On Error GoTo ErrorProc Dim varV As Variant ' Writing of "V variable" varV = Array(100, 200, 300) caoValV.Value = varV Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValP_Read_Click() On Error GoTo ErrorProc Dim varP As Variant ' Reading of "P variable" varP = caoValP.Value lblDsp.Caption = varP(0) & "," & varP(1) & "," & varP(2) & "," & varP(3) & "," & varP(4) & "," & varP(5) & "," & varP(6) Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValP_Write_Click() On Error GoTo ErrorProc Dim varP As Variant ' Writing of "P variable" varP = Array(500, 0, 350, 180, 0, 180, 5) caoValP.Value = varP Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValJ_Read_Click() On Error GoTo ErrorProc Dim varJ As Variant ' Reading of "J variable" varJ = caoValJ.Value lblDsp.Caption = varJ(0) & "," & varJ(1) & "," & varJ(2) & "," & varJ(3) & "," & varJ(4) & "," & varJ(5) Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValJ_Write_Click() On Error GoTo ErrorProc Dim varJ As Variant ' Writing of "J variable" varJ = Array(0, 39.52, 95.71, 0, 44.77, 0) caoValJ.Value = varJ Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValT_Read_Click() On Error GoTo ErrorProc Dim varT As Variant ' Reading of "T variable" varT = caoValT.Value lblDsp.Caption = varT(0) & "," & varT(1) & "," & varT(2) & "," & varT(3) & "," & varT(4) & "," & _ varT(5) & "," & varT(6) & "," & varT(7) & "," & varT(8) & "," & varT(9) Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValT_Write_Click() On Error GoTo ErrorProc Dim varT As Variant ' Writing of "T variable" varT = Array(500, 0, 300, 0, 1, 0, 0, 0, -1, 5) caoValT.Value = varT Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValS_Read_Click() On Error GoTo ErrorProc ' Reading of "S variable" lblDsp.Caption = caoValS.Value Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValS_Write_Click() On Error GoTo ErrorProc ' Writing of "S variable" caoValS.Value = "DENSO ROBOT" Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValIO_Read_Click() On Error GoTo ErrorProc ' Reading of "IO variable" lblDsp.Caption = caoValIO.Value Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub cmdValIO_Write_Click() On Error GoTo ErrorProc ' Writing of "IO variable" caoValIO.Value = True 'ON ' caoValIO.Value = False 'OFF Exit Sub ErrorProc: MsgBox Err.Description & " : " & Hex(Err.Number) End Sub Private Sub Form_Unload(Cancel As Integer) ' Delete CaoEngine If Not (caoCtrl Is Nothing) Then Set caoCtrl = Nothing End If If Not (caoWS Is Nothing) Then Set caoWS = Nothing End If If Not (caoEng Is Nothing) Then Set caoEng = Nothing End If End Sub