message explicit

    Hello,

    I am working with a R-30iA controller and an AB automaton

    Does anyone know how to write from an explicit message block (PLC) directly to a Register Position.

    I think it must be from the block configuration with instance, attribute and class.

    Under logix5000 I created a block with the different words x,y,z,w,p,r in DINT

    I could not find anything in the fanuc Ethernet Ip documentation

    Yes I had seen but there is only for the Joint mode

    By deduction I suppose that it is necessary to put this configuration but I am in error:

    For the POSREG_T, I used the same thing as on the doc for the chalkboard

    Messaging position registers is only available on R-30ib or newer robots. (v8.1 or newer).

    You need to use regular numeric registers to send the x,y,z,w,p,r values individually to a different register then create a small TP program to set the PR element values to those numeric registers.

    I have already done this task by sending values to 6 different registers and then assigning it to a PR with a TP program. But I think it is possible to write directly to a PR with explicit messaging. On page 128 of the Ethernet Ip manual, it shows the configuration for writing to a PR in Joint mode. On my side at source level I use a block like on page 119, but without success

    From what I understand in the manual.

    This is to simplify the program on the automation side as well as the robot side. So that afterwards you don't need the little program that does R to PR.


    Studio 5000 is in v30 and the robot in V8.3

    Ok thanks for verifying you have v8.3.

    You need to use class 7b for cartesian, not 7c.

    Also, you have Attribute set to 7, which would indicate PR[7] is to be written.

    If changing the class does not fix it then you should review the 44 byte data structure to ensure it matches up exactly as documented.

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