Posts by Psyril

Hello cone_0777,

First, why do you add your request in a thread that is not related to your problem (not even same controller).

Second, what do you mean by “the CPU turns off”?

Third, what are you doing or what is the system doing when this problem happens?

Fourth, is it a new cell or is this cell in production since a while?

Hello Vi NTT,

Did you use the option "Save copy as..." in SRS or how did you do the copy?

It doesn’t’ matter which is the client and which the server. The communication goes both ways. Important is to have one of each. So, one device is the server, and one device is the client. Device can be:

• a real controller
• an emulated controller which is running in SRS
• any software that uses TCP/IP for communication
• many more

Writing

begin
	sMessage = sioServer
	popUpMsg(sMessage)
end

without a loop means that your timing must be suuuuuper precise in order for your code to work. You should use a loop as I already explained and showed in my code snippet. I’m really running out of ideas on how to show you this basic concept.

In SRS you can run controller emulators. These emulate the behavior of a real controller. Thus, you can use an emulator to "talk" to a controller over TCP/IP. This could be useful for testing, but by no means I would recommend using this in production.

The instruction popUpMsg displays the message on the pendant on which the code is running (emulator or real controller/pendant).

Example code snippet for server and client:

  do
    if bSend
      sioServer=sMessage
      bSend=false
    endIf
    delay(0)
  until sMessage=="exit"

  do
    sMessage=sioClient
    popUpMsg(sMessage)
    delay(0)
  until sMessage=="exit"

If you just want to test if the values are sent to sClient, you could run an application in SRS emulator that “talks” to the real controller. That way you are sure this is working.

You could use something like:

sMessage = sioServer
popUpMsg(sMessage)

Hello Vi NTT,

have a look into the command taskCreate. That way you can create a parallel task. Keep in mind that if your subprogram "Recup_Pos" doesn’t have a loop the program won’t loop and the task will end after one execution. Also, you should add at least one blocking instruction like “delay(0)” in your loop. This will make sure that both tasks get some CPU time.

There might be a misunderstanding. SRS is the programming environment for Stäubli Robots. The communication between SRS and your controller is to exchange applications, configurations and to debug live. It is not meant to be used in “production” to exchange data.

As you wish to communicate over TCP/IP, you can use any TCP server to communicate with your client. I don’t know what Polygonia software is capable of. If it can’t handle TCP/IP communication, you might have to create a software that does, communicates with the controller and translates the data so that Polygonia software can use it.

To create that software, you can use Python for example. You could even use an emulator of SRS to make that communication, but that wouldn’t be a very clean solution.

Oh, ok. In this case after having used setLatch (which is basically just a configuration), you can use

bAnyNewPosition = getLatch(jLatchedPosition)

bAnyNewPosition will change to true if a new position was latched.
jLatchedPosition will change to the latched position.

If you do that in a loop, you can fill up an array with all the latched positions or send it to another device.

Or you could use the functions enableContinuousLatch() and getContinuousLatch() to use an internal buffer.

Hello Vi NTT,

These AI generated answers are nonsense.

1. You can reuse these or create new ones to communicate over TCP using sioGet(), sioSet() or by writing something like:

   Code

   siServer = ”Hello World!”

   Code

   sMessage = siClient

2. You can do both. As long as the addresses matche your network.

3. With the function here for cartesian position or herej for joint position:

   Code

   l_pCurrentPosition = here(tTool, fFrame)
   l_jCurrentPosition = herej()

Hello NTT Vi,

1. You can find it in the buffer of sClient. You need a socket server that accesses that buffer in order to read it.
2. It is not enough to transfer this code. You should create the socket first. Either directly on the controller or using SRS and transferring sio.cfx to the controller.

Hello Thomas Grizzell

First you need to create a cell with at least one controller. In that controller you can open your application.

In C:...\Controller1\usr\usrapp... you need a folder with the name of your .pjx/.dtx file

• usr
  • usrapp
    • myApplication
      • interface
      • start.pgx
      • stop.pgx
      • myApplication.dtx
      • myApplication.pjx

I suggest you create a new application in SRS and replace the documents you have in that application.

It could look something like this:

1. Since the HMI technology is completely different, there are no replacement functions. The whole HMI concept needs to be rethink and reprogrammed. You might get away by creating an HTML page with a list widget with 15 lines so that you can display the 14 lines + title of the SP1 HMI.
2. The sio.cfx file needs to be paste into usr/configs.

Hello Vi NTT,

I guess you mean SRS2016 and SRS2019. If you have a cell (not just an application) you can open a cell made with SRS2016 in SRS2019. It will convert it when opening the cell. Thus, it is recommended to keep an unconverted backup for reference.

If you do not have a cell, you can just create a cell in SRS2019 and add your application to a controller in the cell.

Now to the difference between CS8 and CS9. These are controller versions. Both can be added to the same cell on the same SRS version. The main difference is the user interface (HMI). CS8 or CS8C use the SP1 with a monochrome LCD screen (SRC version s7.X.X and lower). CS9 uses the SP2 with a HTML based, multicolor and touch display (SRC version s8.X.X). Everything that has to do with the HMI must be reprogrammed. In SRC Version s8 the functions put(), putln(), get(), getKey(), isKeyPressed(), title(), gotoxy(), cls(), setTextMode(), getDisplayLen() are not supported anymore.

The sio.cfx can be configured directly on the real controller, on an emulator or in SRS "Physical IOs" -> "Sockets". If you want to reuse the same file, you can copy it to the new controller, but you must add the serial port to the file. Paste the following into the sio tags:

  <serialPort>
    <String name="name" value="portSerial" />
    <Uint name="baudRate" value="9600" />
    <Uint name="byteSize" value="8" />
    <String name="parity" value="none" />
    <Uint name="nbStopBit" value="1" />
    <Int name="endOfString" value="13" />
    <Float name="timeOut" value="5" />
    <String name="flowControl" value="none" />
  </serialPort>

That is exactly what I gave you.

Hello CrazyHorse,

How to control the tool/gripper highly depends on what type of tool/gripper you are using.

• If you are using a discrete electrical tool/gripper, you need some digital outputs¹.
• If you are using an IO-Link tool/gripper, you would need an IO-Link gateway.
• If you are using a fieldbus tool/gripper, most common fieldbuses can be configured on the CS9.
• If you are using a pneumatic tool/gripper, you can either use the internal valves or use external valves connected to some digital outputs¹.

It also depends on if the tool/gripper must be controlled by the robot controller or by an external system. You could for example connect your PLC through the extension cable in the arm to your tool/gripper.

¹ Be aware that by default the CS9 controller only has 2 digital inputs and 2 digital outputs (Fast-IO). It is possible to add I/Os by connecting an EtherCAT slave module to the EtherCAT Master of the CS9.

Hello Vi NTT,

Hello danielangos,

It is possible to reload an application set to "autostart" by restarting the controller. If a restart of the controller is not your thing, you could use a library. The customer can replace the library on the storage side. In the main application you can use the command alias:libLoad("appData") to load it into memory.

If the frame is a public global variable in a library, you can save the library by using the command alias:libSave().