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v6.0.0.0

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@github-actions github-actions released this 12 Jul 18:08
· 11 commits to main since this release
v6.0.0.0
9aab244

RMI: complete API rewrite

The RMI client has been redesigned from scratch. The previous method-per-instruction API is replaced by an instruction object model that is easier to extend and closer to how the controller actually works.

Instruction pipeline

Each call to SendTpInstruction now returns an RmiInstructionResponse that you can poll or block on:

RmiInstructionResponse r = robot.Rmi.SendTpInstruction(new LinearMotionTpInstruction
{
    SpeedType = RmiLinearSpeedType.MmSec,
    Speed = 100,
    TermType = RmiTerminationType.Fine,
    Target = new CartesianPositionWithUserFrame(500, 200, 300, 0, 90, 0, 1, 0)
});

// Wait for the controller to confirm execution
r.WaitForCompletion();
Console.WriteLine(r.Status); // Completed or Error

The client manages the 8-slot controller buffer automatically. Instructions that exceed the limit are held in a local queue and sent as soon as a slot becomes free.

New instruction classes

All instruction types now have dedicated classes:

Class TP equivalent
LinearMotionTpInstruction L P[] mm/sec FINE
LinearRelativeTpInstruction L P[] mm/sec FINE INC
JointMotionTpInstruction J P[] % FINE
JointRelativeTpInstruction J P[] % FINE INC
CircularMotionTpInstruction C P[] P[] mm/sec FINE
CircularRelativeTpInstruction C P[] P[] mm/sec FINE INC
LinearMotionJRepTpInstruction L P[] mm/sec FINE (joint-angle target)
LinearRelativeJRepTpInstruction incremental, joint-angle target
JointMotionJRepTpInstruction J P[] % FINE (joint-angle target)
JointRelativeJRepTpInstruction incremental, joint-angle target
SplineMotionTpInstruction S P[] mm/sec CNT (requires MajorVersion >= 7)
SplineMotionJRepTpInstruction spline, joint-angle target
WaitDinTpInstruction WAIT DI[n] = ON/OFF
WaitTimeTpInstruction WAIT t(sec)
SetUFrameTpInstruction UFRAME_NUM = n
SetUToolTpInstruction UTOOL_NUM = n
SetPayloadTpInstruction PAYLOAD[n]
CallProgramTpInstruction CALL program

New admin methods

  • Initialize(groupMask, rtsa, pltzMode): starts RMI_MOVE with optional multi-group, singularity avoidance, and palletizing header support.
  • AutoSetNextSequenceId(): reads GetStatus() and re-synchronizes the local sequence counter when the controller checks sequence IDs.
  • GetExtendedStatus(): returns drive state, control mode, and speed clamp.
  • ReadNumericRegister / WriteNumericRegisterAsInteger / WriteNumericRegisterAsDouble: read and write numeric registers (R[]).
  • ReadVariable / WriteVariableAsInteger / WriteVariableAsDouble: read and write system variables.
  • SetPayloadValue(...): define payload mass and center of gravity for a schedule.
  • SetPayloadCompensation(...): define payload compensation.
  • SetPayloadSchedule(scheduleNumber): activate a payload schedule immediately (command, not instruction).
  • ReadIOPort / WriteIOPort: read and write any IO port type (DI, DO, AI, AO, GO, RO, FLAG, RI, UI, UO).
  • ClearCompletedInstructions() / ClearLocalQueuedInstructions(): manage the tracked instruction list.

New events

  • ConnectionTerminated: fired when the controller closes the session.
  • SystemFaultReceived: fired on a controller fault; argument is the faulted sequence ID.
  • RecordedCartesianPositionReceived / RecordedJointPositionReceived: fired when the RMI Position Record menu sends a position.

Hold state detection

IsInHoldState is now a property. The client sets it automatically when the controller returns status "HOLD" or error "invalid sequence ID". Call Reset() to exit the hold state.

FTP: FtpExistsBehavior on upload methods

UploadFileToController now accepts a FtpExistsBehavior parameter:

robot.Ftp.DirectFileHandling.UploadFileToController(
    @"C:\Programs\MyPrg.tp",
    "md:/MyPrg.tp",
    existsBehavior: FtpExistsBehavior.Skip);
Value Behavior
NoCheck Skip existence check. Use only when the file is guaranteed not to exist.
Skip Do nothing if the file already exists.
Overwrite Replace the file (default).
Append Resume a partial upload by checking the current file size.
AppendNoCheck Append without checking whether the file exists first.

CGTP: fix file download on some controllers

Fixed a bug where downloading files via CGTP could fail or return incomplete data on controllers that close the HTTP connection before sending the end-of-response marker. The response body is now fully buffered before the connection is released.

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