Hey!
My goal is to read robot tcp position in realtime for PC application. What I've done so far and what is the problem:
- I've created BG program which takes $SCR_GRP[1].$MCH_POS_[X,Y,Z,W,P,R], multiply by 10, DIV 1 and then save to six numeric registers.
- I've checked communication via SNPX with python and golang. Both languages gave me 3-10ms for each value reading (X,Y,Z...) so reading entire position (6 values) takes 3-10ms x 6 = 18-60ms.
- I've checked communication via Modbus and python. This time it takes 3-8ms for entire position reading - quite fast I would say and looks good for me, but...
Problem appears when robot start to move or press something on tablet - during that time reading time increase by 3-5 times and sometimes reach 90-120ms per reading.
I've tried to change network port from A to B (found somewhere that it is less dependant on controller load) but it is still looking bad. Any ideas? Will user socket communication also have such problem? I also have profinet card installed in controller but unfortunately I have zero experience with setting it up and no PLC available near by.
My robot is CRX-10ia and controller R-30iB Mini Plus