Posts by klausi

Hi Rs_tech

Theses 'jumps' happen when there is a direction change in the cutting shape. If they happen every path execution, one may think of a backlash somewhere:

• Robot itself , eg. motor fixing on gearboxes axes 1,2,3,4 or in the wrist.
• Tool fixing on the flange
• cutting tool itself.

You can evaluate this assertion by performing a robot data record. You'll need to compare motor's commanded position vs feedback position (SRS software needed for this).

I downloaded the attached document about this recorder feature a (long) while ago when I had access to stäubli technical database.

best regards

Hi there,

As far as I know, the only way to make a full CS9 backup (System and user data) is using the transfert manager utility program belonging to Stäubli Robotics suite software.

A PC with an Ethernet connection to the controller is required.

On USB , you can export single VAL3 applications or event logger.

Hi viNTT,

I got you concerning the use of setLatch - Please note that the trigger signal shall be connected to a Fast input.

The alternative to siClient = sSend is using sioSet instruction.

Quote

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

You cannot interact directly with SRS from your application program, I mean you cannot send data to SRS software over TCP/IP. However, you can view (in SRS) the robot's position that has been captured if you store it in a variable of your application, save the application onto disk and transfert it back to SRS with 'transfert manager' utility.

By the way, another tricky use case would be to have a second robot in your SRS cell. Then you communicate with TCP IP between your real robot and emulator of the second robot.

Originally, you spoke about sending the robot's position to an external device (PLC, PC ...) . FOr a PC, it would be more convenient with TCP/IP. On the other hand, with a PLC, a fieldbus communication would be easier to setup.

regards.

Hi there,

1) SetLatch is used in conjunction with Fast inputs to capture robot's position 'on the fly' at VAL3 level. This is probably not what you need for sending current robot's position to an external device.

2) yes, this is possible to use this syntax although not easiest to handle.

3) SRS get the current robot position (and can display it in 3D scene) with stäubli internal protocol/

4) You may define your own custom datatype (kind of STRUCT like in C/C++)

5) Sorry, never heard about these functions. However they are not standard function since beginning with a $ char.

You are not mentionning if you want to capture robot's position on a trigger or if you 'permanently' would like to get robot's position in your external device.

However 2 solutions, Use Here() intruction and :

Build up a string variable with X,Y,Z,rx,ry,rz and send it over TCP/IP

Copy X,Y,Z,rx,ry,rz onto analog output (EtherCAT,Profinet or whatever ethernet filedbus available)

Note : you may want to use a synchon task if you need deterministic data.

Best regards

Hello,

There are functions like toBinary resp. fromBinary for serializing resp. deserializing bytes into desired format (wordfloart,lreal,dword....)

These functions are usefull if you have defined bytes in your IO interface and want to convert them at val3 level.

You may also define the data format directly at IO level. In the stäubli software used to define your IO interface (SYCON.net) :

Right-clic on your J207J208 RE/EIS device and select 'configuration'

In the left panel , select 'Signal Configuration'

Right-clic on one assembly (e.g Output_assembly) and select 'Edit Signal'

There, you can define the format of the signal in your IO interface

It is slightly tricky to handle this utility software especially if you want to mix several types of signals (bits/bytes/words....) . Basically you need to NOT select 'apply as array' and use 'Edit Signal' and 'Merge Signal' menus

Do not forget to clic on apply for updating your format change.

Best regards

Hi,

It's probably late but here attached is a description of J111 connector.

Hi Amartin

I have uploaded the eds file for the EthIP slave available on J207J208 connectors.

This file used to be located on the DVD delivered with the robot in a folder called something like 'Fieldbus description file'

Warning : This is a file for a generic EthIP slave. You'll probably need to adjust the data size for the assemblies in your PLC.

Best regards

Hi Danielangos

Very pleased that you go ahead.

You may tag your post as solved.

By the way

I provide you with the server settings I have used.

unizp and copy the attached file in the directory where filezilla server is located.

Hi

Configuring the filezilla server is quite straightforward.

I guess the mentioned 127.0.01 address is the window's title as there:

This is normal since the server is running on your machine. You cannot change this. User can be configured from main menu Edit->Users

In the above picture, go to menu 'Shared folders' , select a directory on your win10 machine and do not forget to select 'set as Home Dir '

On CS9 controller, in the field 'DireccionIP', you must enter the IP address of your Win10 machine (you can get it from windows command line with following command: ipconfig)

Hi DanielAngos

From your picture, it seems basically OK ( maybe you can remove the '/' before FTP).

You have not set any password for the 'anonymous user' have you ?

Have you set a default 'Home directory' in your server for the 'anonymous' user ?

I have only experienced filezilla server in which I usually

- Create a user/password

- Set a 'home dir' in my Win10pc e.g c:\temp

and have following setting in CS9 (connecting to c:\temp\test)

I hope it helps

Best regards.

Hi vi ntt

A solution would be to read your excel file ( previously exported as csv format) with dedicated val3 instructions ($fileopen/$fileget) and place them in an array.

Then loop thru this array like this:

For l_i =0 to size(pArrayOfPoint) - 1

Movel(pArrayOfPoint[l_i],tTool,mNomSpeed)

EndFor

Best regards

Igor.

Hi prisma

It is possible to (re)load / save an application on controller by establishing a so called web session.

You can do this with srs from ‘remote access/web session menu’.

An easier way is directly with your web browser by entering :https://ip_address/emulator.html

Unfortunately, this feature is subject to a src runtime licence called remote access.

Best regards.

Igor

Hi danielangos

Basically you’ll have to use a parallel task to perform all functions you have mentioned.

Are you aware of a Siemens robot library with which you can program the robot ( especially a stäubli one) directly in you plc with a bunch of dedicated fbs.

You may google Simatic robot library.

Best regards

Hi ,

Would be nice if you could mention [SOLVED] in the title of the discussion

BR

Hello

On teach pendant , from main menu:

Control panel-> Controller configuration -> versions

There you can find many information about controller's components

Best regards.

Hi milk3k

Please mark this thread as resolved .

BR

Hi

You may use notepad++ with XML tools.

You may need to install XML Tools using your plugin manager in order to get this option in your menu.

Try Plugins -> XML Tools -> Pretty Print

Best regards

Hi,

it seems that something is wrong with wires of the Estop button located on teach pendant (Estop Button itself, cable, connector at CS8c ...)

Your system more likely has an estop, thus 24v2 does not light up. It shows up when armpower is ON. Check on J109 that the Estop channels are open (J109-5/J109-24 and J109-6/j109-25)

I would suggest to :

Switch off controller.

Disconnect SP2 plug from CS8c and connect the short plug (usuallly delivered with the system)

switch on controller

Check again on J109, that system doesn't report Estop state.

If this is the case, the problem comes from SP1 .

I would suggest to carefully open the SP1 and

disconnect Estop button

Check the contacts of the Estop button.

If they are ok, place some thin wires in the connector to short cut the Stopbutton and check that the problem is linked to the cable.

Have fun

regards

Hi

fIn0/fIn1 are supposed to be in I/O->Controller->FastIO and available at J111 connector.

Galet might be right saying that something is wrong in your current controller configuration.

I would suggest you to re-install your SRC version or take that opportunity to upgrade to version s6.8.4.

If you have SRS , you may download this SRC version without access to technical support library

Regards