Hello - I have two questions:
Can anyone who is working with FTPs tell where to send the VAL3 Programs to Staubli CS8 FTP Directory? I can see usr/usrapp but cannot see it on the MCP!
Also, is .PGX is the correct format for the VAL3 Programs?
Thanks so much! 
Hello,
Normally ,all applications are in /usr/usrapp (direct or un subdirectories).
Only the applications in /usr/usrapp are visible for user (MCP).
If you have applications in subdirectory, the "master" application can use it (Library).
Val3 Applications are composed with .pjx (project), .pgx (program) and .dtx (data) files. All are Xml format files.
With Val3, you can read or write other text files (like CSV) for data exchange for example.
Have a nice day..
Hello,
2 possibilities :
- The file is not transfert to the controler (Do you see it with Filezilla ?)
- You don't send the file IN an application : This program need to be declared in the pjx file.
Have a nice Week-end !
As Galet said, there is an entire structure around an application.
The file alone won't be recognised as a valid application to run as a standalone file.
An application is a folder that contains .PGX files, the programs, and the start and stop program must exist.
It also contains a .DTX file, which contains the application data.
A .PJX file pointing to all relevant programs and libraries of the application. Even if you send a new .PGX file to the application folder, it won't be recognised unless stated on the .PJX file.
The .DTX and the .PJX names are the same as the application folder.
BTW all the above files are XML files that you can easily open with Notepad++. I even shared in the past my user-defined language color scheme to read the XML as it was open on SRS.
@Painfull,
If you want an exemple, create an application on the SP1, create a program and some global variable and load it on your Apple.
If you want to change (or copy) an application, be carreful that the name of the directory need to be the same as the application (pjx) and data (dtx) file.
The most difficult is to create new variable (Global in the data file, or Local in directky in the pgx file).
Without Start() and Stop(), the application can be loaded but not started.
...
Hello,
What is the SRC from your controler ?
1 -Tool need to be defined like that in the Datas field from .dtx file :
<Data name="tToolHead" access="private" xsi:type="array" type="tool" size="1">
<Value key="0" x="1" y="2" z="3" rx="4" ry="5" rz="6" fatherId="flange[0]" ioLink="valve1" ioOpen="11" ioClose="12" />
</Data>
2- to Set Payload :
Create a Program like that (with your datas)
begin
l_nMass = 1.0000
l_trGrCenter = {75.0000 , 75.0000 , 75.0000, 0, 0, 0}
l_nMatrix[0,0]=0.0038
l_nMatrix[0,1]=0.0000
l_nMatrix[0,2]=0.0000
l_nMatrix[1,0]=0.0000
l_nMatrix[1,1]=0.0038
l_nMatrix[1,2]=0.0000
l_nMatrix[2,0]=0.0000
l_nMatrix[2,1]=0.0000
l_nMatrix[2,2]=0.0038
setPayload(flange, l_nMass, l_trGrCenter, l_nMatrix)
endAnd call it when you need it :
call YourPayload()That's it !
Hello,
Inertia need to be an array 3,3 of num as defined in my example (create with SRS) :
<Data name="nInertia" access="private" xsi:type="array" type="num" size="3 3" />
...but in my case it does not read it...
What is the issue or the message ? How do you know tha the controller don't read it ?
If you write nError=setPayload... what's the result ?
Have a nice day...
Hello,
Sorry, but you have many problem because you try to program without the good tools or methodology....and you need to learn the VAL3 in the same time.
You add syntax wrong lines to other problem So you lose many time...
I note that you don't want to use SRS. You know that you can make all the programmation on the controler (it's not easy but to begin without syntax error, t's the good way).
So I propose to program directly on the robot to be sure you have good syntax.
Directly on the SP1 :
Create a new application
Create the different variables (Point, Joint, Tool...)
Add in the Start() the line with the command Payload.
Save the application
Load your application on you Apple
Edit it and modify the value
Send it to the controller and try to execute it
...
My question is :
On the SP1, can you add the line setFrame(....) in your start () or not ?
I created a very basic program for you to see. Link here:
I do not see any error in the program yet the CS8 detects the following error:
00:00 (File Test_000 pgx-Line 2) setPayload’ : undefined function
unless I delete the payload parameters which is the following line in the Test_000.pgx file, the error persists:
setPayload(DefaultTool, DefaultTool_W, DefaultTool_C, Inertia)
I try your application with the line on emulator with SRC (Robot Software) 7.11 and it's running without issue.
Can you give me the SRC of your controller (Menu/Control Panel / Controler configuration / Versions / System : sxx.xxx) ?
Hello,
VAL3: s7.0
Ok, i try this version when I found some times.
I lost access to CS8 while I was transferring files to the /sys folder on CS8
I think that you send files like Arm or controller. the tcp connection files and perhaps the Profile files.
It's the risk to use Ftp server like Filezilla ! I warned you about the risks. It's the reasonwhy TransfertManager (SRS) is the best method !
The solution is to call Staubli services : They have special tools and passwords for maintenance.
