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◆ RobotCreate() [3/3]

static Robot * RobotCreate ( MotionController * controller,
MultiAxis * multiAxis,
KinematicModelBuilder * builder,
uint32_t motionFrameBufferSize )
controllerA pointer to a MotionController instance.
multiAxisA pointer to a MultiAxis instance containing the axes (joints) to use in the Robot.
builderA reference to a KinematicModelBuilder instance use to construct a kinematic model.
motionFrameBufferSizeThe size of the Robot's trajectory executor point buffer. One point per RMP sample period.
This value (when converted to seconds) must be greater than the joints' MultiAxis::EStopTimeGet() value.
The Robot object.
std::exceptionif MotionController* is null.

Part of the Create and Initialize RapidCode Objects method group.

Important usage instructions for all RapidCode creation methods: All creation methods, such as and Create(), AxisGet(), NetworkNodeGet(), etc. Each return valid pointers to RapidCode objects. These pointers are never null, even when there is an error during object creation.
Error Checking After Creation
Immediately after the creation of a RapidCode object, you need to check if there were any errors during its creation. You do this by calling the ErrorLogCountGet() method on the created object. If ErrorLogCountGet() returns a value greater than zero, it means there were errors during the object creation.
Handling Errors
To handle the errors, you call the ErrorLogGet() method once for each error on the created object to retrieve an RsiError object. You can then inspect the RsiError object to understand more about the error.
Helper Functions
RapidCode also provides helper functions in both C++ and C#, like HelperFunctions::CheckErrors(), that work with all RapidCode objects. These helper functions operate on RapidCodeObject, hence they are compatible with all RapidCode objects. For example:
Notes on creation methods with the C# API (vs. C++)
In the C# API, the pointers are replaced by references due to differences between C++ and C#. The creation methods return a reference to the object instead of a pointer. However, the method calls and error handling procedures remain the same. Null references are not returned by the creation methods in C#. Always check for errors after object creation, as described above.
Object Cleanup Any and all objects created by RapidCode creation methods will be cleaned up by calling MotionController::Delete(). This should be done with your application is finished using RapidCode objects.
See also
ErrorLogCountGet , ErrorLogGet , Delete , HelperFunctions.CheckErrors
GcodeMotion.cs, and PathMotion.cs.