Hello guys.
An other solution is to create second tool inside the first one. In this case the coordinates are defined in the first tool system.
I make that when I've a wear on the tool.
If you want to calculate the second tool in the flange, use the Position(...) function !
have a nice day...
Hello,
Normally, all the informations are writed in the log files during the boot.
Have a nice day...
Hello everybody,
The difference is only in the Carriage return. The names are the same.
Other solution to view and modify XML file : Excel !
Have a nice day...
+1 for the answer from Psyril. You just need to instal SRS (Stäubli robotic Suite) without any licence.
The robot's file is available in USR/Configs/J206_EtherCAT directory...
The best solution is to have original version from our Stäubli pertner...
You don't have the new functionalities Consumer and Feeder on SRS2019.
The solution is to create, on SRS, a second (and invisible :)) robot to move the part.
To peek (and place) the part, you can use the gripper's functionalities standard.
Have a nice day...
Ok,I look the video.
I think VC use Soap protocol between VC application and SRS (emulator) to know where is the robot and control the inputs and outputs. You need to ask to Stäubli services or to have a connection with the website to have the description of this protocol. In this case, you don't need other fieldbus.
The second think is to create a visualisation of the robot in your software. You find on the website the file of each robot.
We don't see, on the video, where and how is programming the val3 program. Same question for PLC program.
I know that many developers are working on ROS module for Stäubli robots but I don't know if it's available.
Have a nice day...
Hello mil3K,
There is different connection ti communicate with a robot (Soket, Opc server or Ua, Fieldbus...)
The question is "What do you want realise ?", What type of Visual Component ?
Can you give us the link to your video ?
Have a nice day...
Hello Mil3K,
I think you have a solution with SRS 2022 but I don't remember if it's possible with 2016/2019.
Do you want to detect the virtual part or to receive an external signal to stop the movement ?
I think you want have the same comportment on a palletizing cell, to pick a divider ...
Have a nice day...
Sorry Javaman, but I think that you can't have a credible answer here.
You don't have other solution to call the different manufacturers.
All other answer will be stupid or bad.
As DS186 said, the price is depending of many information.
You need to know that the robot's price is only a small part of the installation, so even if you got an answer, this information will be incomplete.
...
KUKA - KRL, I do not quite know the history, but is still being used and further developed today.
At the beginning, KUKA robots was using SINUMERIC controler from Siemens (RCM). The KRL is issue from the Siemens Language.
Hello Egao,
The organisation of the robot's program is depending to :
- The PLC/Robot functionalities distribution
- The robot controller (manufacturer and type)
- The communication (fieldbus, serial, socket...) between all component of your installation.
- If you need external information (for example post processor to define the trajectories)
- ...and your experience !
Is there a reason to use numbers instead of alpha (or alhpanumeric) names?
+1 with SkyeFire. If you can choose name (clear and logique !) it will be better.
In general, begin with the simpler structure, and think always that an other person need to understand your program. You can try to draw an organigram.
Respect the recommendation of the others programmers, but, if you don't have experience, don't try to standardise.
Have a nice day...
Hello Samu,
Your way is the best one. Val3 don't special function for that. You can control every tool in every frame.
I seem to remember that you have an example on the Stäubli Webside (Cube or spherical).
To be sure that your control will be effective every time (even in manual mode), create a Task at the beginning of the Start(). In this case, only one prerequisites : You application need to be running.
Have a nice day...
Hi,
Your SRC is 6.6.4 so your file is correct.
I try on emulator with this configuration in the iomap.cf : remoteMoveHold = b2In0
and have the result, in the logger : RemoteMoveHold linked to b2In0 !
On modbus :
I try on emulator with this configuration in the iomap.cf : remoteMoveHold = mbItem1
and have the result, in the logger : RemoteMoveHold linked to mbItem1 !
So, the comment at the begining of file is correct :
// To activate a io mapping, remove the comment marks '//'
// and replace the description with the name of a system input or output,
Perhaps, on the real controller (I don't have it), you need do configure other signal to for safety reason.
Have a nice day...
The question I have is, is it possible to configure a profibus dio for a remoteMoveHold and remoteEnablePower and if so, how?
How does it work?
The principle is very simple: the keys of the Stäubli MCP are simulated by digital or analog inputs. A configuration file allows the assignment to each key of a signal replacing the key when the runtime license is activated. The input signals can be originated from the BIO or MIO boards, a field bus or even a Modbus TCP "software" configuration.
The "Remote MCP" software is activated when the Stäubli MCP is replaced with the plug delivered with the controller. As soon as the Stäubli MCP is reinstalled, the software is deactivated and the Stäubli MCP takes control of the arm without the need to reboot the controller, thus making maintenance operations easier.
Depending to the robot arm, for example :
TX2_40 : Connection on forearm (J1203) M9 (BINDER 99 0405 70 03) .
TX2_60 : M16 (BINDER 99 0451 75 14), (Stäubli reference: D610 474 00)...
What is you arm type ?
Ok, I understand 
So, the solution is...to buy the remote access licence...
Hello JosuGaztelu,
The files format is not the same for SRC 5.xx/6.xx and 7.xx.
You can't send SRC 7xxx files to your controller.
You need to install the good emulator on your PC, to create the robot on SRS with the real version.
Call Stäubli services to have the instalator file for that or open an account to load it from the webside...
What is your SRS version ?
To upgrade the SRC version, you need to be sure that the hardware can be receive the new version. To install, you can find, on the Stäubli webside, the procedure and the files.
Have a nice day...
Hello Samu,
The principe of Secret Password is ... to be secret 
The profile Maintenance give the same possibilities of Stäubli's Profile. Have you delete all the profile of your controller ?
Call Stäubli services to have help on this point.
Hello Dominik,
TS2-xxx... use CS9 controller, TS-xxx... use CS8 controller.
For the both, the property autoStart is in the file "usr/configs/cell.cfx" (in the example "StartAppli"
<String name="robotName" value="" />
<autoStart name="StartAppli" location="Disk" />
<String name="initWorkingMode" value="remote" />
Be careful when you change file with ftp connection ...
If your controller is a CS8, you can connect your PC with SRS and RemoteAccess licence ! In this case, it's really easy to change the autoload application without any risk.
Perhaps there is other solution...but I don't know it...
Have a nice day,
Hello,
+1 for Kelidor. If you have external 24V on CS9, try to return in initial configuration (Internal 24V) to be sure that there is no problem. It's the first cause of issue on Safety system...
