Thanks for answering Skyefire,
The 3th question join the 4th. I was asking myself if the association of the 32 bits was able to get the Int position, but yes, math will help me.
5. I see and will make the change, so is there a way to get the position in real time without crashing the SPS ? As i understand, except using ON_ERROR_PROCEED every line, this will not work. Should i put these lines (from SPS.SUB) in an other file call during the process of my program ?
Hi everyone, i'm doing some test with a KRC4 controller V8.3.378 with WorkVisual 6.0.
I'm totally new in KRL and krc4 (curious student),
I'm searching to get in real time, the X,Y,Z position of the robot on my HMI. According to implant these data on my HMI in need them to be on an output and not just as global variable.
That's why i'm searching to assign an output taking the value of $POS_ACT in real time.
So I've read a lot of documentation showing how mapping I/O with WorkVisual but i dont really get how to declare and assign i/O.
So I've export my project from the Smartpad and open the Wws active file on WorkVisual.
I've searched for a file such as iosys.ini in KRC2 with the declaration of I/O and found that WorkVisual is able to map them directly.
According to the I/O panel of WorkVisual, I can see the different digital outputs but no names are attributed, so i go to the var_const.dat to see if some outputs are use or not.
A lot of outputs is shaded, so i guess that they are exchangeable because not uses.
On the robot, the outputs from 2160 to 2271 was already "mapped" (connected and declared but never used). So i'm trying to use these one to get the position.
To assign these outputs, i write this code to the var_const.dat and comment the outputs non used :
GLOBAL SIGNAL POSXact $OUT[2160] to $OUT[2192]
GLOBAL SIGNAL POSYact $OUT[2193] to $OUT[2225]
GLOBAL SIGNAL POSZact $OUT[2226] to $OUT[2258]
;GLOBAL SIGNAL OUT_INT_0 $OUT[2160] TO $OUT[2175]
;GLOBAL SIGNAL OUT_INT_1 $OUT[2176] TO $OUT[2191]
;GLOBAL SIGNAL OUT_INT_2 $OUT[2192] TO $OUT[2207]
;GLOBAL SIGNAL OUT_INT_3 $OUT[2208] TO $OUT[2223]
;GLOBAL SIGNAL OUT_INT_4 $OUT[2224] TO $OUT[2239]
;GLOBAL SIGNAL OUT_INT_5 $OUT[2240] TO $OUT[2255]
;GLOBAL SIGNAL OUT_INT_6 $OUT[2256] TO $OUT[2271]And i also add this code to the SPS.SUB to get these informations in real time :
POSXact = $POS_ACT.X
POSYact = $POS_ACT.X
POSYact = $POS_ACT.XBut there I've some questions without answers…
1. Is the assignement well done ?
2. Is this assignement enough for an output ? Do i have to declare them in the config.dat too ?
3. Is it possible to get the position with boolean outputs ?
4. The coordinate range of each is between 500 and 2500 max for each axe so 32bit is too much ?
5. Is there something more to do ?
I think I missed something, thank you for your indulgence and your time,
Sincerely,
Lucas
Hi Ohm, thanks for advice, its working well (Port KSI)
Hi, i'm searching to connect my KRC4 controller V8.3.378 with WorkVisual 6.0.
After setup my IP to fit with the range of the robot ip and connect my PC to KLI port with a RJ45 cable, i'm able to ping the robot.
Following the KUKA recommandation and Workvisual tutorials, i should be able to connect my robot with WorkVisual.
The problem appear when i try to connect and find the wws project : Browse by Project -> Search -> Filtering by IP (ip robot) -> No cell found.
May be the problem come from my connexion, but i'm able to ping the robot. I try to follow different tutorials and this is the same result...
Thx in advance,
Lucas
