Hi!
I have a staubli Tx2 160 conencted through profinet to a SIemens S7-1500 PLC, i already stabilished the connection and have the working GSDML.
I would like to continously read the robots position but so far i am only able to read it by sending the robot position to the profinet variables when executing the "Here instructions":
//Get actual tcp position
tcp_pos=here(tcpvision,world)
V210=tcp_pos.trsf.x
V211=tcp_pos.trsf.y
V212=tcp_pos.trsf.z
V213=tcp_pos.trsf.rx
V214=tcp_pos.trsf.ry
V215=tcp_pos.trsf.rz
Does anybody know if there is like a db/fb of communication that continously read the robots position?
Also, does anybody know know if there is a way for the PLC to read if the robot is in manual/auto/remote auto?
For example with fanuc you can read the current robot position, and also the robot operating state as well as some other variables, i am wondering if staubli has something similar or i have to do it myself with the parallel tasks.
I am also trying to find a way to select the programs to execute through the PLC so that later with an HMI i can choose them, in fanuc you have a variable to assign the prorgams and depending of the value you send through the PLC, then it selects the associated program, does Staubli have a similar function?
Thank you very much!