Here is response time while robot is standing still:
And right after you started to go through the program:
Posts by darklord835
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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 -
Hey! I'm not sure about the quality of python code used for that purpose, but looks like it works :).
Thanks for your reply, will try to do what you suggested and get back. -
Hello!
I'm quite new in robotic arm world but I'm fast learner and have quite challenging task to do:
My robot has Program1;Program2;Program3;...;ProgramNI would like to send the program from remote PC to pick the program from the list (python or any other programming language can work for me) and then trigger execution of that program from that PC.
I've already made LAN with my controller via ethernet port and found out that SNPX protocol can be used. I've tried to set DI/DO/Numeric register, but not sure if that is the way to do it. Could you please tell me if SNPX is the best option for that purpose? At this moment we don't have PLC and that is why we communicating directly with robot controller.
Thanks in advance!