How do I export payload information to place into another robot in Roboguide. These robots will be running the payloads and I'd hate to have to configure them all over again. R-2000iB/210F running 7.70.
How to Copy Payload Information to another Robot
-
msuhadolnik -
September 22, 2022 at 9:53 PM -
Thread is Unresolved
-
Try the SYSVARS.SV file, e.g. from an AoA backup.
-
That is correct, bear in mind that the SYSVARS.SV file contains many more things. If you are not sure, I would recommend to manually type in the payload data.
-
Just make sure to take an image first and you should be fine.
Murphy's law says you'll be sure to need it if you don't.
-
You could set them from a TP program.
Code
Display More11: !Program Name: SET_PAYLOAD_VARS ; 12: ! ; 13: !Program Description: Rewrites ; 14: !payload id 1, and sets it. ; 15: !Takes the following arguments: ; 16: ! AR[1] = Weight of payload (kg) ; 17: ! AR[2-4] = CoG (cm). ; 18: ! AR[5-7] = Inertias (kgfcm^2). ; 25: !******************************** ; 26: LBL[1:Start] ; 27: ; 28: !Check arguments ; 29: IF (AR[1]<0 OR AR[5]<0 OR AR[6]<0 OR AR[7]<0),CALL FAULT(1) ; 30: !Payload in kg. ; 31: $PLST_GRP1[1].$PAYLOAD=(AR[1]) ; 32: !Payload CoG in cm. ; 33: $PLST_GRP1[1].$PAYLOAD_X=(AR[2]) ; 34: $PLST_GRP1[1].$PAYLOAD_Y=(AR[3]) ; 35: $PLST_GRP1[1].$PAYLOAD_Z=(AR[4]) ; 36: !Payload inertia in kgfcm^2. ; 37: $PLST_GRP1[1].$PAYLOAD_IX=(AR[5]*980) ; 38: $PLST_GRP1[1].$PAYLOAD_IY=(AR[6]*980) ; 39: $PLST_GRP1[1].$PAYLOAD_IZ=(AR[7]*980) ; 40: PAYLOAD[1] ; -
Nation's method is a great way to do it. No risk of loading sysvars.
I will be using this method going forward.
Even if I only have to do it once or twice during commissioning, I'll never again have to press F4 for YES to the seven prompts of:
"Path and Cycletime will change. Set it?"
Advertising from our partners
