Hello!
I'm trying to create a program for my robot that will move the robot, wait for a signal from my computer, move the robot, wait for a signal from my computer... etc. Ideally I would like it to interact directly with the python program I will be running on my computer. I have been trying to look into the possibility of using the inputs and outputs, but having read every manual I can get my hands on, I have not been able to figure out how to send or receive signals from my computer. I am using an AX 10 controller with a S300F-02 robot and a windows computer. The robot has an ethernet connection that has been used to transfer files to the controller. If anyone has an idea of how I can trigger the robot's program to continue from my computer I would love to hear it.
Thanks!
Sending I/O signals from computer
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Technosmith -
July 10, 2018 at 6:20 PM -
Thread is marked as Resolved.
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Not sure but could try using combination of Socket Communication-Usertask to send Integer Variable data to AX from PC and then converting this information to logical signal
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Thanks! I'll look into it.
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There is an API interface to Nachi robots over an ethernet socket called Open-NR, you require a license to use the library.
We reverse engineered the packets that the library sent to the robot and sent them using our own program.
The FD On Desk simulator will respond to the same commands as the real robot controller so you don't need a real robot to test this.
The API allows everything from setting robot variables, moving the robot, stopping starting programs, turning motors on...
Otherwise you have to write your own usertask and use the socket communication to create your own interface with the robot.
The Usertask syntax isn't very nice especially compared to any high level language. Even simple things like splitting up a string is cumbersome.
We reverse engineered all the functions in the OpenNR API that we required including turning motors on and off, selecting and starting programs, setting and reading all variables and signals, move absolute joint and Cartesian, move relative joint and Cartesian.
Inquire with your local Nachi distributor regarding purchasing a license to use the API.