Is this decompiled workvisual dll? That might be too much work for us right now. Might look into it in the future.
Posts by zitron
-
-
Wow that's smart, we will try it.
Thanks!
-
Hi Guys,
I have a bit of a strange one. We are working on an application using C3 Bridge or directory loader to send file to KRC (KRC4 KSS 8.5). Currently the file transfer part is working, but the problem we have is if the KRL program the operator uploads from our interface has some bug or syntax error, there is no feedback to the operator, they press the start button nothing happens and get stuck. we will have to tell them to go to the teach pendant to check the for a "X" on the program.
Is there some way to get the fact that there is a program with error from a system variable or something so we can send it to the operator interface?
-
-
I'll be interested to know this as well. What I've done for now is to just do the PID myself in my own client program and only send simple corrections to the robot.
-
Just a update: IT WORKS
In the end all I needed to do was make a function that sends INV_POS($TOOL) XYZ to some $SEN_PREAs, and in RSI send the $SEN_PREAS to a ROBOFRAME that takes tool to robroot, which cancels out the inverse tool pos. I run this function every time the tool is changed, works great. Seems really convoluted just to get the flange pos, but whatever.
A nice thing is I can also pass any point defined in the flange frame with INV_POS($TOOL):POSWhatever, and out of RSI I get the POSWhatever transformed into robroot frame.
Thanks for your help. The stuff you can find in this forum is amazing, can't understand why the companies won't officially support this. If the forum goes down, I bet lots of shit will stop working all over the world!
-
Oh.. OK. So I can set the TRAFO_USERFRAME object parameters using SET_PUBLICPAR. I'm guessing I would need to pass INV_POS($TOOL) since there is no way to invert TRAFO_USERFRAME. This is probably better since the sps is not real-time. I'll see if this works, thank you!
-
I originally wanted to use the TRAFO_ROBFRAME, but it has no option to transform from flange, only tool or TTS? Or are you suggesting something else?
-
Thank you! I guess calculating the coordinate transform $BASE:$POS_ACT:INV_POS($TOOL) in the submit interpreter, saving the value in a SEN_PREA thing and reading it from RSI would be a good way to do it? Or would sps not be fast enough?
-
Hi guys,
I have RSI more or less working. I can get $POS_ACT which is great, but there doesn't seem to be a way to get the position of the flange or null frame relative to world/robroot? I am trying to make my RSI independent of the selected tool or base to make my life easier. I mean I could maybe calculate it from the axis angles and DH parameters, but surely there's an easier way?
Thanks,
Z