RELIANCE ELECTRIC WR-D4007 对象存储RAPID数据的路径

RapidDomain命名空间允许访问机器人系统中的RAPID数据。

有许多FlexPendant SDK类代表不同的RAPID

数据类型。还有一个UserDefined类用于引用RECORD

RAPID中的结构。

ValueChanged事件在持续时启用来自控制器的通知

RAPID数据已更改

共享模块中的lared

如果您的应用程序要与多移动系统一起使用（具有一个

控制器和几个运动任务/机器人），可能会发生RAPID实例

您需要访问的是在-Shared RAPID模块中声明的。这样的模块可以

被所有任务使用，T_ROB1、T_ROB2等等。

以下示例显示了如何创建一个RapidData对象，该对象引用

实例“reg100”，它是在共享模块中声明的。

表示RAPID数据值

RapidData对象存储RAPID数据的路径。但这还不够

如果你想访问它的值（至少如果你想修改它的话）。要做到这一点，你

需要创建另一个对象，该对象表示RAPID数据的值。

在RapidDomain名称空间中，有代表不同RAPID的类型

数据类型。要创建表示RAPID数据值所需的对象

使用RapidData属性Value并将其强制转换为相应的类型，用于

例如Num、Bool或Tooldata。

The RapidDomain namespace enables access to RAPID data in the robot system.

There are numerous FlexPendant SDK classes representing the different RAPID

data types. There is also a UserDefined class used to reference RECORD

structures in RAPID.

The ValueChanged event enables notification from the controller when persistent

RAPID data has changed

lared in a shared module

If your application is to be used with a multi-move system (a system with one

controller and several motion tasks/robots), it may happen that the RAPID instance

you need to access is declared in a -Shared RAPID module. Such a module can

be used by all tasks, T_ROB1, T_ROB2 and so on.

The following example shows how to create a RapidData object that refers to the

instance “reg100”, which is declared in a shared module.

epresenting the RAPID data value

The RapidData object stores the path to the RAPID data. But this is not enough

if you want to access its value (at least not if you want to modify it). To do that you

need to create another object, which represents the value of the RAPID data.

In the RapidDomain namespace there are types representing the different RAPID

data types. To create the object needed to represent the RAPID data value you

use the RapidData property Value and cast it to the corresponding type, for

example Num, Bool or Tooldata.