Just wondering if anyone had tried sending Joint Axis Positions from ABB IRC5 controller to a PLC?
I currently use the below and it seems to work on the simulator but does not appear to be real-time. It has a lag to update the Joints but has anyone tried similar methods or code changes to the below to make it work more real-time?
PROC main() VAR jointtarget joints; VAR num jt; WHILE TRUE DO joints := CJointT(); jt := joints.robax.rax_1; SetAO J1_DAT,jt; WaitTime 0.05; ENDWHILE ENDPROC
Any help or example code appreciated.