B-82604EN/01 OPERATION 7.APPENDIX
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The robot objects objRobot1, objRobot2, and objRobot3 is assigned
to the three robots, R-2000I_165F, R-2000I_165CF, and
R-2000_165R, placed in Layout1.
Set objView = robgraph.screens.currentview
objView.X = -26
objView.Y = -17
objView.Z = 77
objView.RX = 1220
objView.RY = 86
objView.RZ = -3250
objView.ScaleV = 18
objView.VGDistance = 250
The view point of ROBOGUIDE is changed to the specified
parameters.
To get the parameters for the property X, Y, Z, RX, RY, RZ, ScaleV,
and VGDistance, click the View button on ROBOGUIDE window.
The text file C:/ROBOGUIDE/view.txt is created. In this text file
shows the view point parameters.
robgraph.topmost = True
ROBOGUIDE window is always displayed over CIMPLICITY
screen.
In OnTimer1( ), ROBOGUIDE is given the current robot positions.
Here, OnTImer1( ) is automatically called every 250ms, so the robots
displayed in the ROBOGUIDE window move like the real robot
motions.
For i = 0 To 5
joint1(i) = PointGet ("CUR_POS_J" & Cstr(i+1))
joint2(i) = PointGet ("CUR_POS_J" & Cstr(i+1) & "_2")
joint3(i) = PointGet ("CUR_POS_J" & Cstr(i+1) & "_3")
Next i
Joint1( ), joint2( ), and joint3( ) is set the current position of three
robots.
Here, the points CUR_POS_J1 to CUR_POS_J6 are assigned to the
current position of R-2000i/165F in the joint format. CUR_POS_J1_2
to CUR_POS_J6_2 and CUR_POS_J1_3 to CUR_POS_J6_3 are also
assigned to the current positions of R-2000i/165CF and R-2000i/165R
in the joint format.
If Not(objRobot1 Is Nothing) Then
objRobot1.SetJoint joint1()
Else
Set objRobot1=
objLayout.PlacedObjects.Item("R-2000i_165F")
End If
ROBOGUIDE is given the values in joint1( ).
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