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Keep in mind when using the FRROBOT object, you need to chain everything together from the original FRROBOT.IRobot2 interface. In the example screenshots Wedge posted above, I see that he is trying to use an 'Automation Open' block to instantiate the IXyzWpr class. All robot-specific classes must derive from the IRobot2 class, which means that you need a handle (refnum) from the IRobot2 object, which is what you will operate on. The functionality you need for the PR[] access is in the RegPositions collection (at least I think it is a collection, LabVIEW isn't installed on my home PC). Right-click the RegPositions property, and create a new method "Item" (I think). Then wire an Index to get at the specific PR[]. I believe this will be "0" based (i.e. for PR[1], wire in "0" to the Index input). The output from this method node will be a reference to the specific PR[]. From here you need to access the "Format..." method, and supply it with an integer (it's actually an Enum, but I'm not sure it ports over to LabVIEW). Remember to type-cast the output of the "Format..." method with a "Variant to Data" node, supplying for the data type a class-constant of the type you wish to use; i.e. IXyzWpr. This is a little tidbit I learned while trying to use the PCDK--some properties and methods of the FRROBOT object return a Variant, and others return PCDK-specific class refnums; this is to support multiple output types with less effort from the Fanuc developers. These variants will need to be type-cast into the proper class to be able to use them, but you won't be able to use the type-casting functions in the .NET pallette (as I originally tried to do); this is where the "Variant to Data" node comes in. If necessary, I can post an example the next time I am near my LabVIEW development PC. I hope this explains a few things, however. -Ian