Posts by Vi NTT

Hi everyone,
I’m debugging a program with the following code

if (watch(diLatch == true, 20) == false) {
    popUpMsg("Error: Waiting for signal");
    wait(diLatch == true);
}
if (diLatch == true) {
    setLatch(diLatch);
    delay(0.2);
    bLatch = watch(getLatch(jPosition) == true, 5);
}

Will it work or not?
Can someone give me advice?

Thank you for your help.
Best regards,
Vi

Hi everyone,
I have a signal trigger connected to the fast input J212 of the Controller CS9 for the Staubli TX2 90.
Then I wrote the following program to capture the robot's position:

setLatch(diLatch) 
delay(0)
bLatch = watch(getLatch(jPosition) == true, 5)

Previously, I used a button simulating trigger (turn on and off), and it worked fine.

Now, when I use an actual signal (as shown), it doesn’t work. Could it be that the signal is too fast, and the duration is too short for the robot to read and capture the position in time?

Do you have any advice for me?

Thank you for your help.
Best regards,
Vi

Thanks Psyril,

I used your method and it worked well.

Best regard,

Vi

Hello everyone,

I am using a TX2-90 robot with a CS9 controller. I created a cell and its associated programs. Now, I would like to copy this cell for reuse, make some changes. When I copy it, I change its name. However, I encounter an error when I check it through VAL 3. It indicates that the cell cannot be found.

Could you please advise me on how to resolve this issue?

Thank you for your help.

Best regards,
Vi

Hi Psyril,

I really struggle to understand TCP/IP communication between devices.

In my project, the robot acts as a client, sending the position sSend = sClient into the TCP client socket, while the Polygonia software acts as the server that reads this data.

So, when you mentioned it, I didn't understand which is the server and which is the client for testing. For instance, it could be communication between two virtual controllers, between a virtual and a real controller, or between two applications within the same cell. Therefore, I’m unsure where to place the two programs you provided.

Once again, thank you very much for your help. I think I need to read the documents more carefully

Best regard,

Vi

I did two tests :

1. I have a Client program that saves the sSend string to the sClient socket. Then, I created a other cell called Server and used your code in the "start" section.

“begin

sMessage = sioServer

popUpMsg(sMessage)

end”

I loaded it into the real controller using the "transfert manager". After running the Client to send sSend, the Server didn’t display sMessage.

2. I created the Server_Client cell and two new applications: Client and Server. The Client application displayed sSend, but the Server application didn’t show sMessage.

Regarding your statement “Thus, you can use an emulator to "talk" to a controller over TCP/IP”, I’m wondering if "emulator" means a controller emulator and if "talk to a controller" refers to a real controller.

Thanks for your help.

Best regard,

Vi

I still don't quite understand your point. Previously, you mentioned that the SRS and controller are just applications and don't exchange data. So, with the command you provided, I'm not sure how to proceed. Will it display on the controller or the SRS?
I'm just someone who's exploring and learning, so I may ask some questions that seem a naive. I hope you understand.
Thank you so much for your continued support and assistance.

Hi Psyril,

Thank you for the clarification regarding the SRS programming environment for Stäubli Robots. I was really confused until your explanation.

Is it true that the variable values, after being executed and stored on the controller, cannot be saved on the computer using the SRS software?
I have assigned sClient = sSend, but I’m unsure if there’s a way to verify that this data has been saved to the sClient socket and can be read by the server.

Best regard,

Vi

Hi everyone,

I have created a subprogram "Move" to move a robot from point A to point B and another subprogram "Recup_Pos" to capture the robot's position as it moves from A to B. While the robot is moving, I also want to simultaneously collect the position data and update a variable to store and send it.

How can two programs run simultaneously?

Do you have any suggestions for me?

Thank you for your help.
Best regard,

Vi

Hi Psyril,

Sorry to bother you again.

On the controller, I created a socket sClient and in the program I wrote sClient = sSend, where sSend contains a string of values j1,...j6 from jLatchedPosition, which were converted to strings using toString. I saw this value displayed on the controller when the program ran. My question is: has this value (from sClient) also been updated on SRS 2019? If not, how can I save this value to the PC?

I also have the Polygonia software (a tool for collecting 3D scan data from a scanning device) installed on the same computer as SRS 2019. I'm not sure if there’s a way for this software to receive the data I’ve sent via TCP/IP?

Thanks for your help,
Vi

Thanks for the explanation. That really clarifies. I’ll try it.

Hi Psyril,

I am working on a project involving a sensor device (Kreon KZ25) that measures the shape of external objects and is mounted at the end of a robot arm. This device operates by sending signals to its controller and requires the robot's position data. The software then uses this information to display point clouds of the object. The device sends a square wave signal to the port J212 to receive the robot's position data.

I found a command called “setLatch” in the documentation, which is supposed to send the robot's position data when it receives the square wave signal. I've written a program based on this, and I need to verify if my program is correct. However, I am unsure where to read this result. In the .dtx file, I always see a value consisting of zeros, with no updated values.

Thank you for your help.
Best regards,
Vi

Hi everyone,

1/ I've noticed that in SP2, on the CS9 controller with the TX2-90 Staubli at my laboratory, there is a TCP client (siClient) and a TCP server (siServer) from a previous project. If I create a new project and want to continue using these SIOs, what should I do?

2/ In the "socket edition" section, for a client-type socket, can I leave the server IP address at the default value, or can I use any value?

3/ I have a square wave input signal connected to J212. I'm using "setlatch" to capture the robot's position when a signal is detected at J212. How should I read the captured data for future use?

Thank you for your help.

Best regards,
Vi

Hi Klausi,

I want to capture the robot’s position when it receives a trigger from an external device. So, it requires using 'Setlatch'.

With Setlatch, I have already received the X, Y, Z, Rx, Ry, Rz values. I stored them in the sSend string and I want to send it to siClient for transmission. So, I want to use the formula sSend = siClient. Is there any other way to handle this without using the formula sSend = siClient? When this data is sent back, has it been stored on the SRS software and can the software read it if there is a TCP/IP connection?

Thanks for your help.

Best regards,

Vi

Hi everyone,

I want to create a program to capture the actual position of the robot's end effector. Then, send this position to an external device's software.

I have some doubts while creating the program

1. SetLatch enables the robot position latch on the next rising edge of the input signal, whereas herej() returns the current arm joint position. So, does SetLatch return the current arm joint position? If I have used the SetLatch command, is it still necessary to use herej()?

2. Can string variables and socket variables (sio) use formulas, for example, siClient = sSend?

3. The robot's position value (via the SetLatch command) is sent to the SRS software via TCP/IP socket. Where will it be displayed? Can it be sent to other software?

4. If I have numeric variables like n1 = 100, n2 = 200, n3 = 300, … (approximately 100 variables), is there a way to create a data file without having to define each variable individually?

5. Does anyone know about the commands $movejSync, $movejSyncState, $movejSyncBegin, $movejSyncEnd? They don't appear to be mentioned in the documentation.

Thank you for your help,

Best regard,

Vi

Thank you so much Psyril. I have solved my problem.

Hi Psyril,

Thank you so much for your time in answering.

I tried to create a cell in SRS2019. Then, I pasted all the files (.pjx, .dtx, .pgx) in C:...\Controller1\usr\usrapp...

In SRS2019, I added a project (.pjx), and it worked. However, when I used the Val 3 tool to perform a “Syntax check”. I encountered an error: “Non-existent application”. I don’t know how to resolve this problem.

Do you know a solution to this issue?

Thanks in advance,

Vi

Hello Psyril,

Thanks a lot, Psyril.

1/ As you mentioned, the functions put(), putln(), get(), getKey(), isKeyPressed(), title(), gotoxy(), cls(), setTextMode(), and getDisplayLen() are no longer supported. Therefore, in my program, these functions are present. To use it with the CS9 controller, Can I delete them? What equivalent functions are there that can be replaced?

2/ For the sio.cfx, paste it into the CS9 controller in the same location as the application programs: C:...\Controller1\usr\usrapp...?

Have a good day,

Vi

Hi everyone,

I have a program version 2016, using controller CS8. My version is 2019, controller CS9. It says that old versions (2016) cannot be opened. So, I opened it with Notepad to see the program inside and redo the new program. But there are a few commands that seem to be used only for controller CS8.

My questions are:

1/ Is there a way to open the 2016 version with the 2019 version? What are the major differences between controller CS8 and CS9?

2/ I also have a “sio” file (.cfx). I only know it is a file used to communicate. But I don't know how to use it and how to program it to redo?

I'm just starting to learn programming and I haven't had any robot training yet.

I look forward to your help.

Thanks a lot.

Best regard,

Vi

Thanks, Psyril. I have solved my problems thanks to you.