Hi everyone, i'm doing some test with a KRC4 controller V8.3.378 with WorkVisual 6.0.
I'm totally new in KRL and krc4 (curious student),
I'm searching to get in real time, the X,Y,Z position of the robot on my HMI. According to implant these data on my HMI in need them to be on an output and not just as global variable.
That's why i'm searching to assign an output taking the value of $POS_ACT in real time.
So I've read a lot of documentation showing how mapping I/O with WorkVisual but i dont really get how to declare and assign i/O.
So I've export my project from the Smartpad and open the Wws active file on WorkVisual.
I've searched for a file such as iosys.ini in KRC2 with the declaration of I/O and found that WorkVisual is able to map them directly.
According to the I/O panel of WorkVisual, I can see the different digital outputs but no names are attributed, so i go to the var_const.dat to see if some outputs are use or not.
A lot of outputs is shaded, so i guess that they are exchangeable because not uses.
On the robot, the outputs from 2160 to 2271 was already "mapped" (connected and declared but never used). So i'm trying to use these one to get the position.
To assign these outputs, i write this code to the var_const.dat and comment the outputs non used :
GLOBAL SIGNAL POSXact $OUT to $OUT GLOBAL SIGNAL POSYact $OUT to $OUT GLOBAL SIGNAL POSZact $OUT to $OUT ;GLOBAL SIGNAL OUT_INT_0 $OUT TO $OUT ;GLOBAL SIGNAL OUT_INT_1 $OUT TO $OUT ;GLOBAL SIGNAL OUT_INT_2 $OUT TO $OUT ;GLOBAL SIGNAL OUT_INT_3 $OUT TO $OUT ;GLOBAL SIGNAL OUT_INT_4 $OUT TO $OUT ;GLOBAL SIGNAL OUT_INT_5 $OUT TO $OUT ;GLOBAL SIGNAL OUT_INT_6 $OUT TO $OUT
And i also add this code to the SPS.SUB to get these informations in real time :
But there I've some questions without answers…
1. Is the assignement well done ?
2. Is this assignement enough for an output ? Do i have to declare them in the config.dat too ?
3. Is it possible to get the position with boolean outputs ?
4. The coordinate range of each is between 500 and 2500 max for each axe so 32bit is too much ?
5. Is there something more to do ?
I think I missed something, thank you for your indulgence and your time,