Not sure, maybe the system IO could have it...
Posts by ElEsgalho
-
-
Hi,
I believe uniVAL, PLC or Drive, is a package of instruction for PLC to be able to work with the robot directly from the PLC.
Instead of creating a VAL3 application to communicate with the PLC you send the commands directly to the robot.
Don't know if that will help you either.
-
Compose, will generate a position with a given offset, relative to the given frame coordinate system.
point compose(point pPosition, frame fReference,trsf trTransformation)
When you put the trsf.z = -100 it will move to the position with an offset of -100 according to the tool given frame coordinate system, see image below.
-
Hi,
They are very similar but totally different
Appro, will generate a position with a given offset according to the tool coordinate system.
point appro(point pPosition, trsf trTransformation)
When you put the trsf.z = -100 it will move to the position with an offset of -100 according to the tool coordenate system, see image below.
-
Hi,
I hope you are doing well today,
I'm afraid that would be very difficult.
I know for a fact that Staubli doesn't sell the controller as a stand-alone.
Also, each controller and robot arm have the same serial number, I know it's possible to swap it to some degree but highly not recommended.
Also, the CS8 controller's OS is a version of VxWorks, don't know exactly where would you find something to be compatible...
-
About the ROS interface, I never worked with it.
But you could create TCP sockets to exchange packages with ROS.
-
Hi,
I hope you are doing well today,
Here is the SRS tutorials:
External Content www.youtube.comContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.So VAL3 is just a programming language, probably one of the most powerful comparing with the general industrial robots.
It's possible to run lots of different tasks without having a headache.
If you have SRS, just press F1 and read all the available functions.
If you need any help please feel free to ask me.
-
Hi all,
I created a black background version of the language file for the VAL3 syntax in Notepad++ (for CS8 and CS9) of Psyril.
Also added some collapse to the programs loops.
Please all credit is to Psyril,
-
Hello And,
on the CS9 controller you can find the power hour count on the DSI. Just link an AIO variable to DsiIO\operationCounter.
Thank you for your reply!
-
I know that using VAL3 you need to set you frame before use it, function:
num setFrame(point pOrigin, point pAxisOx, point pPlaneOxy,frame& fResult)
But never used the AIOs for any PLC.
-
What I usually do is to have a task checking the isPowered() Boolean. If you have power continue counting the time otherwise stop the timer.
I know it's not a bullet proof solution, ideal is to have a system variable, but so far I don't know none.
-
Do you have the name of the tool?
Thank you.
-
ROUTINE POW_INT(int_value : INTEGER; pow_value : INTEGER) : INTEGER
VAR
result : INTEGER
BEGIN
--
-- Multiply by itself until reach power of 0, if zero return 1
IF pow_value = 0 THEN
RETURN(1)
ELSE
result = int_value * POW_INT(int_value,pow_value-1)
RETURN(result)
ENDIF
END POW_INT -