Class Task

This class represents a RAPID Task.

Inheritance

System.Object

NamedObject

SDKBase

SDKControllerBoundBase

Task

Implements

System.IComparable

System.IDisposable

IRapidSymbol

INamedObject

Inherited Members

SDKControllerBoundBase.Controller

SDKBase.Dispose()

SDKBase.Dispose(Boolean)

NamedObject.Equals(String)

NamedObject.Equals(NamedObject)

NamedObject.Equals(Object)

NamedObject.CompareTo(String)

NamedObject.CompareTo(NamedObject)

NamedObject.CompareTo(Object)

NamedObject.GetHashCode()

NamedObject.ToString()

NamedObject.Name

Namespace: ABB.Robotics.Controllers.RapidDomain

Assembly: ABB.Robotics.Controllers.PC.dll

Syntax

public sealed class Task : SDKControllerBoundBase, IComparable, IDisposable, IRapidSymbol, INamedObject

Properties

Cycle

Get/Sets execution cycle.

Declaration

public ExecutionCycle Cycle { get; set; }

Property Value

Type	Description
ExecutionCycle

Enabled

Gets or sets the Enabled state of the Task. 'Enabled' is also referred to as activated/deactivated in the user interface. Returns true if the task is activated in the task selection panel and will react to start requests. Returns false if the task is deactivated and will not react to start requests.

The Enabled state can only be changed by a local controller client and is not allowed by remote clients.

RobotStudio connects to virtual controllers, that belongs to a station, as a local client. In all other scenarios, only the FlexPendant is connected as a local client. Other clients are remote.

Declaration

public bool Enabled { get; set; }

Property Value

Type	Description
System.Boolean

Remarks

The Enabled state can only be changed by a local controller client and is not allowed by remote clients.

Set requires controller to be in auto mode. Requires Mastership.

Exceptions

Type	Condition
ModeRejectException

See Also

Start()

ExecutionStatus

Gets the execution status of the task.

Declaration

public TaskExecutionStatus ExecutionStatus { get; }

Property Value

Type	Description
TaskExecutionStatus

ExecutionType

Gets the current execution type.

Declaration

public ExecutionType ExecutionType { get; }

Property Value

Type	Description
ExecutionType

Motion

Returns true if task is a motion task.

Declaration

public bool Motion { get; }

Property Value

Type	Description
System.Boolean

MotionPointer

Gets the current position of the motion pointer.

Declaration

public ProgramPosition MotionPointer { get; }

Property Value

Type	Description
ProgramPosition

ProgramPointer

Gets the current position of the program pointer.

Declaration

public ProgramPosition ProgramPointer { get; }

Property Value

Type	Description
ProgramPosition

RemainingCycles

Gets/Sets the remaining cycle counter.

Declaration

public int RemainingCycles { get; set; }

Property Value

Type	Description
System.Int32

TaskType

Gets the task type, i.e. Normal, Static or Semi-static.

Declaration

public TaskType TaskType { get; }

Property Value

Type	Description
TaskType

Type

Gets the kind of symbol, i.e. Record, Persistent, Constant, Parameter, Trap, Task etc.

Declaration

public SymbolTypes Type { get; }

Property Value

Type	Description
SymbolTypes

Methods

CheckProgram()

Checks the modules in the task for syntactic and semantic errors

Declaration

public CheckProgramResult CheckProgram()

Returns

Type	Description
CheckProgramResult

DeleteModule(String)

Delete a RAPID module from the task in the robot controller.

Declaration

public void DeleteModule(string moduleName)

Parameters

Type	Name	Description
System.String	moduleName	The name of the RAPID module to delete.

Remarks

Requires mastership of RAPID domain.

DeleteProgram()

Deletes the RAPID program of the task from the controller program memory.

Declaration

public void DeleteProgram()

Remarks

All program modules of the task will be deleted from program memory. If they have been saved they will however remain in the controller file system.

Requires mastership of RAPID domain.

Requires the LoadRapidProgram grant.

Use DeleteProgram(Int32)if you want to load another program directly after the deletion.

DeleteProgram(Int32)

Deletes the RAPID program of the task from the controller program memory. Returns as soon as the execution of the RESET event routine is ready.

Declaration

public void DeleteProgram(int timeout)

Parameters

Type	Name	Description
System.Int32	timeout	Milliseconds used as timeout.

Remarks

THIS METHOD ONLY WORKS WITH RW 5.12 AND LATER!

All program modules of the task will be deleted from program memory. If they have been saved they will however remain in the controller file system.

Requires mastership of RAPID domain.

Requires the LoadRapidProgram grant.

When a RAPID program has been deleted the controller program server executes a RESET event routine a short while. This method returns as soon as the program server is ready to load another RAPID program.

Exceptions

Type	Condition
TimeoutException	The method did not finish within the specified time limit.

GetJointTarget()

Get JointTarget from task.

Declaration

public JointTarget GetJointTarget()

Returns

Type	Description
JointTarget	JointTarget object JointTarget.

GetModule(String)

Returns the requested module.

Declaration

public Module GetModule(string name)

Parameters

Type	Name	Description
System.String	name	Name of module.

Returns

Type	Description
Module	Module.

GetModules()

Returns the modules defined in the task.

Declaration

public Module[] GetModules()

Returns

Type	Description
Module[]	A Module array.

GetRapidData(RapidSymbol)

Gets a RapidData object from a RapidSymbol.

Declaration

public RapidData GetRapidData(RapidSymbol symbol)

Parameters

Type	Name	Description
RapidSymbol	symbol	Symbol to get data for.

Returns

Type	Description
RapidData	RapidData object.

GetRapidData(String[])

Gets a RapidData object that references a RAPID data instance in the robot controller.

Declaration

public RapidData GetRapidData(params string[] rapidData)

Parameters

Type	Name	Description
System.String[]	rapidData	An array of strings, which specifies where in the RAPID domain the RAPID data is declared.

Returns

Type	Description
RapidData	A RapidData object. If the RAPID data doesn't exist null is returned.

Remarks

If you do not know the name of the module where the data is declared SearchRapidSymbol(...) can be used.

To access RAPID data in a shared module just send the name of the data as parameter, see the second example below.

NOTE! RAPID data declared in a - Hidden or -Shared -Hidden module cannot be accessed.

Examples

This example utilizes a function that returns the sum of all reg1 variables in the system. Variable reg1 is by default declared in the RAPID module USER.

private int SumOfAllReg1(Controller c)
{
    int result = 0;
    try
    {
        // Get all tasks
        Task[] tasks = _controller.Rapid.GetTasks();

        foreach (Task t in tasks)
        {
            RapidData rdReg1 = t.GetRapidData("user", "reg1");

            result += int.Parse(rdReg1.Value.ToString());
        } 
    }
    catch (ABB.Robotics.Controllers.RapidDomain.RapidModuleNotFoundException ee)
    {
        // TODO: Add error handling
    }
    catch (ABB.Robotics.Controllers.RapidDomain.RapidSymbolNotFoundException ee)
    {
        // TODO: Add error handling
    }
    catch (GeneralException ee)
    {
        // TODO: Add error handling
    }
    catch (System.Exception ee)
    {
        // TODO: Add error handling
    }
    finally
    {
        // Release resources
    }

    return result;
}

This example gets the shared RAPID data nMessageID seen from task T_ROB1.

private RapidData GetMessageID()
{
    RapidData rData = null;
    Task tRob1 = null;
    try
    {
        // Create temporary controller object to get task
        using (Controller c = new Controller())
        {
            tRob1 = c.Rapid.GetTask("T_ROB1");
        if (tRob1 != null)
        {
            rData = tRob1.GetRapidData("nMessageID");
        }
    }
}
catch (GeneralException ee)
{
    // TODO: Add error handling
}
catch (System.Exception ee)
{
    // TODO: Add error handling
}
finally
{
    // Release temporary resources
    if (tRob1 != null)
    {
        tRob1.Dispose();
        tRob1 = null;
    }
}
return rData;

}

Exceptions

Type	Condition
System.ArgumentNullException	rapidData is null or length is less then 1

GetRobTarget()

Gets the current position (as a robtarget using current tool and work object).

Declaration

public RobTarget GetRobTarget()

Returns

Type	Description
RobTarget	RobTarget object RobTarget.

Examples

This is how to get the current RobTarget of all tasks.

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
Task[] allTasks = c.Rapid.GetTasks();
foreach (Task t in allTasks)
{
   if (t.Name.Contains("T_ROB"))
   {
       RobTarget rt = t.GetRobTarget();
       Console.WriteLine("RobTarget: {0}", rt.ToString());
   }
}

GetRobTarget(String, String)

Gets RobTarget of the task using the specified tool and work object.

Declaration

public RobTarget GetRobTarget(string tool, string workobject)

Parameters

Type	Name	Description
System.String	tool	Tool
System.String	workobject	Work object

Returns

Type	Description
RobTarget	RobTarget object RobTarget.

LoadModuleFromFile(String, RapidLoadMode)

Loads a RAPID module to the task in the robot controller.

Declaration

public bool LoadModuleFromFile(string filePath, RapidLoadMode mode)

Parameters

Type	Name	Description
System.String	filePath	Path to the file containing the RAPID module. Valid extensions for a RAPID module file are .mod and .sys. For RW >= 7.1 .modx and .sysx are also valid.
RapidLoadMode	mode	Specifies the RapidLoadMode of the operation.

Returns

Type	Description
System.Boolean	True if loading succeeds without any errors, otherwise false.

Remarks

Requires mastership of RAPID domain. Requires the LoadRapidProgram grant.

LoadProgramFromFile(String, RapidLoadMode)

Loads a RAPID program to the controller program memory

Declaration

public bool LoadProgramFromFile(string filePath, RapidLoadMode mode)

Parameters

Type	Name	Description
System.String	filePath	Path to the file containing the RAPID program. Valid extension for a RAPID program file is .pgf.
RapidLoadMode	mode	Specifies the RapidLoadMode of the operation.

Returns

Type	Description
System.Boolean	True if loading succeeds without any build errors, otherwise false.

Remarks

Requires mastership of RAPID domain.

Requires the LoadRapidProgramgrant.

Use LoadProgramFromFile(String, RapidLoadMode, Int32) if you need to make another call to the RAPID program server, eg. Start() , directly after having loaded the program.

LoadProgramFromFile(String, RapidLoadMode, Int32)

Loads a RAPID program to the controller program memory. Returns as soon as the execution of the RAPID RESET event routine is ready.

Declaration

public bool LoadProgramFromFile(string filePath, RapidLoadMode mode, int timeout)

Parameters

Type	Name	Description
System.String	filePath	Path to the file containing the RAPID program. Valid extension for a RAPID program file is .pgf.
RapidLoadMode	mode	Specifies the RapidLoadMode of the operation.
System.Int32	timeout	Milliseconds used as timeout.

Returns

Type	Description
System.Boolean	True if loading succeeds without any build errors, otherwise false.

Remarks

THIS METHOD ONLY WORKS WITH RW 5.12 AND LATER!

Requires mastership of RAPID domain.

Requires the LoadRapidProgram grant.

The program server will be busy executing a RAPID event routine a short while after the program has been loaded. This method returns as soon as the controller program server is ready for another call.

Exceptions

Type	Condition
TimeoutException	The method did not finish within the specified time limit.

ResetProgramPointer()

Resets the program pointer of this task to the main entry point.

Declaration

public void ResetProgramPointer()

Remarks

Requires mastership of RAPID domain. Requires the ExecuteRapid grant. Requires Auto mode.

SaveProgramToFile(String)

Saves the current RAPID program at the specified path.

Declaration

public void SaveProgramToFile(string filePath)

Parameters

Type	Name	Description
System.String	filePath	Controller path to save program at.

Remarks

Requires the BackupController grant.

SearchRapidSymbol(RapidSymbolSearchProperties)

General RapidSymbol search method. Searches the task for symbols that match the specified criteria.

Declaration

public RapidSymbol[] SearchRapidSymbol(RapidSymbolSearchProperties searchProperties)

Parameters

Type	Name	Description
RapidSymbolSearchProperties	searchProperties	Properties for search.

Returns

Type	Description
RapidSymbol[]	All matching symbols.

SearchRapidSymbol(RapidSymbolSearchProperties, RapidDataType)

Searches the task for RapidSymbol of the specified data type.

Declaration

public RapidSymbol[] SearchRapidSymbol(RapidSymbolSearchProperties searchProperties, RapidDataType type)

Parameters

Type	Name	Description
RapidSymbolSearchProperties	searchProperties	Search properties.
RapidDataType	type	Data type to match.

Returns

Type	Description
RapidSymbol[]	All matching symbols.

SearchRapidSymbol(RapidSymbolSearchProperties, RapidDataType, String)

General RapidSymbol search method. Searches the task for symbols that match the specified criteria.

Declaration

public RapidSymbol[] SearchRapidSymbol(RapidSymbolSearchProperties searchProperties, RapidDataType type, string searchExpression)

Parameters

Type	Name	Description
RapidSymbolSearchProperties	searchProperties	Search properties.
RapidDataType	type	The data type to search for.
System.String	searchExpression	Expression used to match search, regular expression.

Returns

Type	Description
RapidSymbol[]	All matching symbols.

SearchRapidSymbol(RapidSymbolSearchProperties, String)

General RapidSymbol search method. Searches the task for symbols that match the specified criteria.

Declaration

public RapidSymbol[] SearchRapidSymbol(RapidSymbolSearchProperties searchProperties, string searchExpression)

Parameters

Type	Name	Description
RapidSymbolSearchProperties	searchProperties	Search properties.
System.String	searchExpression	Expression used to match search, regular expression.

Returns

Type	Description
RapidSymbol[]	All matching symbols.

SearchRapidSymbol(RapidSymbolSearchProperties, String, String)

General RapidSymbol search method. Searches the task for symbols that match the specified criteria.

Declaration

public RapidSymbol[] SearchRapidSymbol(RapidSymbolSearchProperties searchProperties, string dataType, string searchExpression)

Parameters

Type	Name	Description
RapidSymbolSearchProperties	searchProperties	Instance of RapidSymbolSearchProperties ,which defines the search criteria.
System.String	dataType	Name of the data type to search for. Use string.Empty if not of interest.
System.String	searchExpression	The regular expression to search for. Use string.Empty if not of interest.

Returns

Type	Description
RapidSymbol[]	An array of matching RapidSymbol. If none is found an array of length zero is returned.

Remarks

To search data in Shared module, set RapidSymbolSearchProperties.SearchMethod to SymbolSearchMethod.Scope. See the second example below.

NOTE! RAPID data declared in a - Hidden or -Shared -Hidden module cannot be found.

Examples

This example lists all functions and RAPID data instances of type num declared in task T_ROB1. The name of RapidSymbol and the module where it is declared are added to a listview.

private void btnSearch_Click(object sender,EventArgs e)
{
    try
    {
        Task task = _controller.Rapid.GetTask("T_ROB1");                         

        RapidSymbolSearchProperties sProp = 
        RapidSymbolSearchProperties.CreateDefault();
        sProp.Types = SymbolTypes.Function | SymbolTypes.Data;
        sProp.InUse = false;
        sProp.Recursive = true;
        sProp.SearchMethod = SymbolSearchMethod.Block;

        RapidSymbol[] datas = task.SearchRapidSymbol(sProp, "num", string.Empty);    

        foreach (RapidSymbol rs in datas)
        {
            ListViewItem li = new ListViewItem(rs.Name);

            li.SubItems.Add(rs.Scope[1]);

            // Add item
            listView1.Items.Add(li);
        }
    }
    catch (System.Exception ee)
    {
        // Handle any error here
    }
}

This example shows a simple search method that finds declared data of the type defined by the parameter sDataType. The parameter bSystem determines the scope to search. The search is made from task T_ROB1.

private RapidSymbol[] GetSymbols(string stDataType, bool bSystem)
{
    RapidSymbol[] result = new RapidSymbol[0];
    Task tRob1 = null;
    try
    {
        // Create temporary controller object to get task
        using (Controller c = new Controller())
        {
            tRob1 = c.Rapid.GetTask("T_ROB1");
        if (tRob1 != null)
        {
            RapidSymbolSearchProperties sProps = RapidSymbolSearchProperties.CreateDefault();

            // Setup sProps according to parameter bSystem
            if (bSystem == true)
            {
                // Search data that the task can see in System scope, e.g. Shared data

                sProps.GlobalSymbols = true;
                sProps.InUse = false;
                sProps.LocalSymbols = false;
                sProps.Recursive = false;
                sProps.SearchMethod = SymbolSearchMethod.Scope;
                sProps.Types = SymbolTypes.Data;
            }
            else
            {
                // Search Task scope
                sProps.Types = SymbolTypes.Data;
                sProps.InUse = false;
                sProps.SearchMethod = SymbolSearchMethod.Block;                                 
            }

            // Perform the search
            result = tRob1.SearchRapidSymbol(sProps, stDataType, string.Empty);
        }
        else
        {
            // No task to search from
        }
    }
}
catch (GeneralException ee)
{
    // TODO: Add error handling
}
catch (System.Exception ee)
{
    // TODO: Add error handling
}
finally
{
    // Release temporary resources
    if (tRob1 != null)
    {
        tRob1.Dispose();
        tRob1 = null;
    }
}
return result;

}

SetProgramPointer(ProgramPosition)

Sets program pointer to a position in a RAPID module.

Declaration

public void SetProgramPointer(ProgramPosition pos)

Parameters

Type	Name	Description
ProgramPosition	pos	A program position

Remarks

Any previous execution stack will be cleared.

Requires mastership of Rapid domain.

Requires automatic mode.

Examples

This example sets the program position to 20th row to the routine "MyRoutine" in the module "MyModule".

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
try
{
    Controller controller = new Controller();
    Task[] tasks = c.Rapid.GetTasks();

    if (controller.OperatingMode == ControllerOperatingMode.Auto) 
    {
       using (Mastership rapid = Controllers.Mastership.Request(controller.Rapid))
       {
           ProgramPosition pos = new ProgramPosition("MyModule", "MyRoutine", new TextRange(20));
           tasks[0].SetProgramPointer(pos);
       }
    }
    else
    {
        MessageBox.Show("Setting the program pointer is not allowed in manual mode from a remote client.");
    }
 }
 catch (System.InvalidOperationException ex)
 {
     MessageBox.Show("Mastership is held by another client.");
 }
 catch (System.Exception ex)
 {
    //TODO: Add error handling
 }
}

Exceptions

Type	Condition
System.ArgumentException	Program Pointer is not set because parameter may be invalid.
System.InvalidOperationException	Mastership is held by another client.

SetProgramPointer(String, Int32)

Sets program pointer to a specific row in a RAPID module.

Declaration

public void SetProgramPointer(string module, int row)

Parameters

Type	Name	Description
System.String	module	The name of the module where program pointer should be set.
System.Int32	row	The row number in this module.

Remarks

Set program pointer to another row in the current routine and also to set program pointer to a row in a different routine.

Any previous execution stack will be cleared.

Requires mastership of Rapid domain.

Requires automatic mode.

Examples

This example sets the program pointer to 20th row of the module "MyModule"

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
try
{
    Controller controller = new Controller();
    Task[] tasks = c.Rapid.GetTasks();

    if (controller.OperatingMode == ControllerOperatingMode.Auto) 
    {
       using (Mastership rapid = Controllers.Mastership.Request(controller.Rapid))
       {
           tasks[0].SetProgramPointer("MyModule",20);
       }
    }
    else
    {
        MessageBox.Show("Setting the program pointer is not allowed in manual mode from a remote client.");
    }
 }
 catch (System.InvalidOperationException ex)
 {
     MessageBox.Show("Mastership is held by another client.");
 }
 catch (System.Exception ex)
 {
    //TODO: Add error handling
 }
}

Exceptions

Type	Condition
System.ArgumentException	program pointer is not set because one or both parameters are wrong.
System.InvalidOperationException	Mastership is held by another client.

SetProgramPointer(String, String)

Sets program pointer to the first instruction of a routine (global or local).

Declaration

public void SetProgramPointer(string module, string routine)

Parameters

Type	Name	Description
System.String	module	The name of the module in which the routine is defined.
System.String	routine	The name of the routine to which program pointer will be set.

Remarks

Any previous execution stack will be cleared.

Requires mastership of Rapid domain.

Requires automatic mode.

Examples

This example sets the program pointer to the routine "MyRoutine" in "MyModule".

using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
try
{
    Controller controller = new Controller();
    Task[] tasks = c.Rapid.GetTasks();

    if (controller.OperatingMode == ControllerOperatingMode.Auto) 
    {
       using (Mastership rapid = Controllers.Mastership.Request(controller.Rapid))
       {
           tasks[0].SetProgramPointer("MyModule", "MyRoutine");
       }
    }
    else
    {
        MessageBox.Show("Setting the program pointer is not allowed in manual mode from a remote client.");
    }
 }
 catch (System.InvalidOperationException ex)
 {
     MessageBox.Show("Mastership is held by another client.");
 }
 catch (System.Exception ex)
 {
    //TODO: Add error handling
 }
}

Exceptions

Type	Condition
System.ArgumentException	Program pointer is not set because one or both parameters are wrong.
System.InvalidOperationException	Mastership is held by another client.

Start()

Starts RAPID program execution. Use Start(Boolean) to get an exception if the start fails.

Declaration

public StartResult Start()

Returns

Type	Description
StartResult	Start result. No exception is thrown if start of execution fails.

Remarks

Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode. This method is no longer supported from RobotWare 5.60.

Start(RegainMode, ExecutionMode)

Starts RAPID program execution.

Declaration

public StartResult Start(RegainMode regain, ExecutionMode execution)

Parameters

Type	Name	Description
RegainMode	regain	Regain mode.
ExecutionMode	execution	Execution mode.

Returns

Type	Description
StartResult	Start result.

Remarks

Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode. This method is no longer supported from RobotWare 5.60.

Start(RegainMode, ExecutionMode, ExecutionCycle)

Starts RAPID program execution

Declaration

public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle)

Parameters

Type	Name	Description
RegainMode	regain	Regain mode.
ExecutionMode	execution	Execution mode.
ExecutionCycle	cycle	The number of cycles to execute the program.

Returns

Type	Description
StartResult	Start result.

Remarks

Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode. This method is no longer supported from RobotWare 5.60.

Start(RegainMode, ExecutionMode, ExecutionCycle, StartCheck)

Starts RAPID program execution.

Declaration

public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle, StartCheck check)

Parameters

Type	Name	Description
RegainMode	regain	Regain mode.
ExecutionMode	execution	Execution mode.
ExecutionCycle	cycle	The number of cycles to execute the program.
StartCheck	check	Check to perform prior to start.

Returns

Type	Description
StartResult	Start result.

Remarks

Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode. This method is no longer supported from RobotWare 5.60.

Start(RegainMode, ExecutionMode, ExecutionCycle, StartCheck, Boolean)

Starts RAPID program execution.

Declaration

public StartResult Start(RegainMode regain, ExecutionMode execution, ExecutionCycle cycle, StartCheck check, bool throwOnError)

Parameters

Type	Name	Description
RegainMode	regain	Regain mode.
ExecutionMode	execution	Execution mode.
ExecutionCycle	cycle	The number of cycles to execute the program.
StartCheck	check	Check to perform prior to start.
System.Boolean	throwOnError	True to get exception instead of just Error for "unmapped" start results.

Returns

Type	Description
StartResult	Start result.

Remarks

Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode. This method is no longer supported from RobotWare 5.60.

Start(Boolean)

Starts RAPID program execution.

Declaration

public StartResult Start(bool throwOnError)

Parameters

Type	Name	Description
System.Boolean	throwOnError	True to get exception instead of just Error for "unmapped" start results.

Returns

Type	Description
StartResult	Start result.

Remarks

Requires mastership of Rapid domain. Requires ExecuteRapid grant. Requires Auto mode. This method is no longer supported from RobotWare 5.60.

Stop()

Stops execution after next Cycle.

Declaration

public void Stop()

Stop(StopMode)

Stops execution.

Declaration

public void Stop(StopMode mode)

Parameters

Type	Name	Description
StopMode	mode	Stop mode to use.

UnloadProgram()

Deletes the RAPID program of the task from the controller program memory.

Declaration

[Obsolete("Use DeleteProgram()")]
public void UnloadProgram()

Remarks

All program modules of the task will be deleted from program memory. If they have been saved they will however remain in the controller file system.

Requires auto mode. Requires mastership of RAPID domain.

Requires the LoadRapidProgram grant.

If another program is to be loaded after the deletion you may need to use a short delay, as the controller program server must finish a RAPID event routine before it can do anything else.

Events

MotionPointerChanged

This event is raised when the motion pointer changes.

Declaration

public event EventHandler<ProgramPositionEventArgs> MotionPointerChanged

Event Type

Type	Description
System.EventHandler<ProgramPositionEventArgs>

ProgramPointerChanged

This event is raised when the program pointer changes.

Declaration

public event EventHandler<ProgramPositionEventArgs> ProgramPointerChanged

Event Type

Type	Description
System.EventHandler<ProgramPositionEventArgs>

Implements

System.IComparable

System.IDisposable

IRapidSymbol

INamedObject