I am trying to get a handle on the TxRobotSimulationEgine so then i can get the simulation service provider as I need to enable the RegisterOnSignalChanged method as having problems changing signals in the robot using the robot signal mapping using a custome viewer which changes signals. I am seeing the signal change in the Simulation panel., but not seeing the signal change event in the Simulation Monitor at a WAIT FOR signal command (KUKA robot, using the MOP in PLC OLP line simulation mode)
I assume this is per robot but cant seem to find the instance of the class.
I have tried going through TxApplication.ActiveDocument.RoboticProgramRoot and then getting the list of DirectChild programs so then I can get each robot program, and then each robot controller but hit a dead end.
Hi. I have found the problem to this and realised that signals must be attached to a LB to make the signal able to be evaluated in a change event.
I now have a further problem when using the startProgram, programPause and emergencyStop signals that if I activate the emergencyStop signal when the KUKA robot is on a WAIT signal command the simulation timer freezes and cannot be reset or started.