Hello all,
I'm wondering how can I write a program to convert the robot position data to digital output so that it can be communicated through Modbus TCP protocol?
or any command i should be using?
Thanks in advance! Much appreciation!
Hello all,
I'm wondering how can I write a program to convert the robot position data to digital output so that it can be communicated through Modbus TCP protocol?
or any command i should be using?
Thanks in advance! Much appreciation!
Why do you want to use Karel? It's possible without that
Create a program without motion writing the following system variables:
$SCR_GRP[1].$MCH_POS_X
$SCR_GRP[1].$MCH_POS_Y
$SCR_GRP[1].$MCH_POS_Z
$SCR_GRP[1].$MCH_POS_W
$SCR_GRP[1].$MCH_POS_P
$SCR_GRP[1].$MCH_POS_R
to the GOs (also multiplying by 1000), you like, and then run the program in BG.
Than at the PLC side just divide the values by 1000, and you have everything as you wanted.
That's it.
Have fun!
Display MoreWhy do you want to use Karel? It's possible without that
Create a program without motion writing the following system variables:
$SCR_GRP[1].$MCH_POS_X
$SCR_GRP[1].$MCH_POS_Y
$SCR_GRP[1].$MCH_POS_Z
$SCR_GRP[1].$MCH_POS_W
$SCR_GRP[1].$MCH_POS_P
$SCR_GRP[1].$MCH_POS_R
to the GOs (also multiplying by 1000), you like, and then run the program in BG.
Than at the PLC side just divide the values by 1000, and you have everything as you wanted.
That's it.
Have fun!
Thanks for the reply! I will take a look into your method.
The reason I want to use Karel is to communicate the positions data from Roboguide to NX MCD for virtual commissioning via Modbus TCP or TCP. that's why i'm thinking about converting real to byte and assign them to DO so that it can be read from MCD side.