The Motoman plugin is to inserted in the Scorpion-Central section (Service-Advanced).

Scorpion interacts when the Plugin and thus the robot in a event driven manner.

Initialize Plugin in Central

• 'Central Start' - Initialize the Plugin - Central Start is executed when Scorpion Starts
• 'Central Stop' - Stop the Plugin - Central Stop is executed when Scorpion Terminates

Connect Plugin to Scorpion System Events

• 'BeforeStart' - activate the trigger - Before Start is called when Scorpion is set in running mode
• 'AfterStop' - deactivate the trigger - After Stop is called by Scorpion when Scorpion exits running mode
• 'AfterInspect' - send results - The After Inspection event is called when the toolbox has been processed

Plugin OnTrigger

• 'OnTrigger' - call the CameraTrigger - The Ontrigger is called when the Robot sends SAVEV Bxxx command