Hey Guys,
I want to control my robot controller (YRC1000) in combination with some script. The robot has an job on itself were some movement is pre teach. However due to the constantly changing enviroment around him i want to give the robot one variable position. the position comes from an external device. Trough the manuals and the forum I became clear it can be done by using Ethernet or Ethernet/IP. The robot I want to use has only the Ethernet option. So I searched further to see how it is possible. By reading the manual for ethernet I saw the opportunity to use EHSS (High-Speed-Ethernet-Server). It also describes quite nice how to configure the ethernet option.
So this would solve the problem for the connection. I am going to use Ethernet (High-Speed version). Now my next question would be, how would it be possible to control an robot by an script (prefferd Python languange)? I have read something about MotoCom or MotoPlus but I find it quite difficult to see what is the difference. Also those are for C# or C++. furthermore those are paid products and I want to know if there would be an (free) option to make my robot work by using sending an coordinate to the controller by a script
I hope some of u could help me with those questions? Your feedback would really be appreciated!
Thanks in advance
Posts by Dafke
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All the programs are deleted and in Dir won't show anything up
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I don't mind. The only thing I want to do is to load my programs, interface I have created in K-roset
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Could not find the RAM data (were should this been seen?)
It's a second handed robot so there would been a save file from an other laptop been loaded it think -
It keep saying used in programs. The same problem occurs now also in autostart.pc
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yes the ~ has been gone
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Alright, in Krterm hoofd is not saved in this file but the precision point is
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Is it maybe the ~?
what does this mean? -
It did not work
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prog is the latest
I just tried to delete all the joint positions but it kept saying that some are used in programs. -
Alright, thanks for the joints delete.
For your question
This is one of the problems. Program main has only a step recorded and program hoofd is a empty program. However both can't be deleted....
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Sorry for the late reaction,
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At my company we bought a second handed robot. Because of this I want to delete every program, variable, point and string. At the moment most of this is completed. However there are two programs that I can't delete. It keeps saying that the are used in programs. I think by myself: which one, because there are no more program's were I can select of. So are there secret programs. So the the next thing it went to check is to type in KR- Term: list/p [Program] and it it shows a program with no steps....
How can I delete or find were this program is used.One thing I noticed is when I save the data is save a certain precion point. But I cannot find this were this would be in the AS file.
The same problem occurs with the joint movements. I cannot delete these. Same responds --> used in program
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Do you still have problem with the lamps?
No, it worked at the moment quite well. Thanks for asking
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Thanks. It worked, I see were the problem in the beginning started. Thanks!
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I have been trying to make a program were a subroutine is called. The problem that I keep getting is that the variable is not defined. How can I define this, because it is a point. Do I need to write this in the .Trans piece or in the .Real piece. I Already have tried to do it in the .Trans piece but then I am not getting what I want?
The code I have tried to run is:.PROGRAM Positions(.&a)
Point Position = a
SPEED 10 ALWAYS
ACCURACY 1 ALWAYS
JMOVE home1
SPEED 1
LMOVE position
JMOVE home1
.END
.PROGRAM main()
SPEED 10 ALWAYS
CALL Positions(&Positionb)
Call Positions(&Positiona)
.END
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In which conditions the lamps will go off?
If the cycle of one of the pallets has finished it will turn off the lights and go back to the start of the program.
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Alright, I understand know what it means. I think I also see your little mistake. Sneaky, I have overlooked that. but I see that you made another one :).
Thanks Again! Really helpfull! -
Alright I get it little by little. I understand what you doing in your code, but I cannot load it, it keeps saying that it needs the full spelling of the command.
Also what type is mi.ifp.ip[1]? Is it a vector. I find it quite interresting -
I try to explain it a little bit better:
On the screen you can see place A till L. These are places were a Pallet can fit.The buttons that you see are the push buttons with the lamp function on it. I Would like to make a program were the operater first need to fill in were the pallets need to be placed
For example: Place A,E,D,K and L.
If the operator push the buttons the lamp should go on.
Then the program react on the signal number of the lamp, not the push button.
The problem that I have is that I don't know/understand/find out how to connect the two signals to each other.
Take for example Place A. This button with lamp has two signals 2100 (SWITCH) and 2120 (LAMP)How can I connect these two so that IF the Switch is pressed the Lamp goes on and stays on.
In the REALS. I have set the following initialisatie
Position= 2100Palletplace=2120