Posts by Divvet

Divvet · RSI $SEN_PINT variable not updating Divvet March 21, 2022 at 4:16 PM

Ah right ok, that would make sense as its two programs working in parallel. I think I was over estimating what RSI does but I am guessing a lot of checks needs to be implemented manually. I will try this and see what happens.

Thank you for the help and putting up with my rambling!

Divvet · RSI $SEN_PINT variable not updating Divvet March 21, 2022 at 3:29 PM

I always seem to figure something out after right after I post. I just removed the MAP2SEN_PINT from my RSI flow and the SEN_PINT value stays stable.

This begs the question, in my current setup I have SEN_PINT going to the input 1 of Ethernet object and MAP2SEN_PINT in the output 1, both with the same XML tag in the Ethernet config. The idea was that changing the value in the KRL would send the value into MAP2SEN_PINT.

The problem I have, is that RSI is setting MAP2SEN_PINT to 0, the same time as SEN_PINT is changed in the KRL program. I thought about seperating these in the ethernet config to senpintIn and senpintOut but the problems I have then is by default RSI is sending 0 values to senpintOut. So when my KRL program sets SEN_PINT to 1, the RSI is setting it back to 0 before it has a chance to update its value.

How do I overcome this?

Hope that makes sense!

Divvet · RSI $SEN_PINT variable not updating Divvet March 21, 2022 at 2:57 PM

After some further testing, it definitely appears that the controller is re-setting the value after the first RSI cycle. It goes:

Cycle 1: Controller: Sends SEN_PINT=1

Cycle 1: Client: Receives SEN_PINT=1, Echos back SEN_PINT=1

Cycle 2: Controller: Sends SEN_PINT=0

Cycle 2: Client: ReceivesSEN_PINT=0, Echos back SEN_PINT=0

Cycle 3: Controller: Sends SEN_PINT=1

Cycle 3: Client: ReceivesSEN_PINT=1, Echos back SEN_PINT=1

Cycle 4: Controller: Sends SEN_PINT=0

Cycle 4: Client: ReceivesSEN_PINT=0, Echos back SEN_PINT=0

The KRL program is simply:

Code

&ACCESS RVP
&REL 4
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF gdhhj( )

; Declaration of KRL variables
DECL INT ret    ; Return value for RSI commands
DECL INT CONTID    ; ContainerID

;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
;FOLD SPOTTECH INI
USERSPOT(#INIT)
;ENDFOLD (SPOTTECH INI)
;FOLD GRIPPERTECH INI
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPERTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

PTP {A1 0, A2 -90, A3 90, A4 0, A5 45, A6 0}

; Create RSI Context 
ret = RSI_CREATE("ValueTests.rsi",CONTID,TRUE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Start RSI execution
ret = RSI_ON(#RELATIVE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF


IF $SEN_PINT[1] == 0 THEN
$SEN_PINT[1]=1   
ENDIF

WAIT SEC 5


PTP {A1 0, A2 -90, A3 90, A4 0, A5 45, A6 0}

END

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Edit: picture of the RSI monitor

HELP PLEASE!

Divvet · RSI $SEN_PINT variable not updating Divvet March 21, 2022 at 2:22 PM

Getting closer to resolving. What I stated above seems to be correct and I have made changes to my code, however I have the problem now where the variable keeps switching back and forth between 1 and 0 when changed (Shown below in the section of the logs)

Code

[2022-03-21 13:17:18,370] DEBUG    source.src.RSIRI.server       get_robot_data() 80 {'Senpint': '1', 'IPOC': '2839674'}
[2022-03-21 13:17:18,370] DEBUG    source.src.RSIRI.server           send_reply() 92 {'Senpint': '1', 'IPOC': '0'}
[2022-03-21 13:17:18,374] DEBUG    source.src.RSIRI.server       get_robot_data() 80 {'Senpint': '0', 'IPOC': '2839678'}
[2022-03-21 13:17:18,374] DEBUG    source.src.RSIRI.server           send_reply() 92 {'Senpint': '0', 'IPOC': '0'}
[2022-03-21 13:17:18,378] DEBUG    source.src.RSIRI.server       get_robot_data() 80 {'Senpint': '1', 'IPOC': '2839682'}
[2022-03-21 13:17:18,379] DEBUG    source.src.RSIRI.server           send_reply() 92 {'Senpint': '1', 'IPOC': '0'}
[2022-03-21 13:17:18,382] DEBUG    source.src.RSIRI.server       get_robot_data() 80 {'Senpint': '0', 'IPOC': '2839686'}
[2022-03-21 13:17:18,382] DEBUG    source.src.RSIRI.server           send_reply() 92 {'Senpint': '0', 'IPOC': '0'}
[2022-03-21 13:17:18,385] DEBUG    source.src.RSIRI.server       get_robot_data() 80 {'Senpint': '1', 'IPOC': '2839690'}
[2022-03-21 13:17:18,386] DEBUG    source.src.RSIRI.server           send_reply() 92 {'Senpint': '1', 'IPOC': '0'}

I haven't quite worked out if this is my code causing it yet, so I was wondering if anyone knows from a controller perspective why this would happen?

Divvet · RSI $SEN_PINT variable not updating Divvet March 21, 2022 at 12:13 PM

Actually I think I may have figured this out, just working on the required changes. Essentially I have been using the RSI Test server to just echo the RSI requests. I am guessing it is echoing back 0 values to the variable so it's instantly changing from 1 to 0. Will update when confirmed.

Divvet · RSI $SEN_PINT variable not updating Divvet March 21, 2022 at 11:58 AM

Morning,

So... I have the monitor working correctly and think I have spotted the problem, but not sure why its happening. When I set the SEN_PINT variable to "1", it instantly changes back to "0" (See RSI Monitor below). I don't think this is typical behavior?

Divvet · RSI $SEN_PINT variable not updating Divvet March 17, 2022 at 4:07 PM

Ok makes sense! I wont be in front of the robot until tomorrow, possibly Monday so I will update when I do. Thanks for now!

Divvet · RSI $SEN_PINT variable not updating Divvet March 17, 2022 at 2:32 PM

Quote from SkyeFire

Step 1: add a connector directly from SEN_PINT Out1 to MONITOR1 Input 3.

Doh! Of course! That explains the monitor, any thoughts on why the RSI isn't updating?

Divvet · RSI $SEN_PINT variable not updating Divvet March 17, 2022 at 11:58 AM

I have a very basic RSI setup to test out how to use KRL variables over Ethernet. In this instance I am trying to use the $SEN_PINT variable to send single digit integers from the KRL to the test server. I have my RSI configured and data is exchanging but when I change the $SEN_PINT variable in the KRL program, the value is not being sent over RSI to the test server. The variable does change in the KRL program because an IF statement doesn't work when I manually change it, but I don't see these changes communicated in RSI. I have hooked up a monitor to this variable as well but this also doesn't show any changes (however this could be due to me not using the monitor correctly)

My setup is as follows:

KSS version: V8.3.22

RSI Version: 3.3.5

controller type: Kuka C4

robot type: Kuka KR16-2

My RSI Context:

My RSI Ethernet Config:

Code

<ROOT>
   <CONFIG>
      <IP_NUMBER>10.10.10.10</IP_NUMBER>   
      <PORT>64000</PORT>                      
      <SENTYPE>ImFree</SENTYPE>            
      <ONLYSEND>FALSE</ONLYSEND>       
   </CONFIG>
   <SEND>
      <ELEMENTS>
         <ELEMENT TAG="Senpint" TYPE="LONG" INDX="1" /> 
         <ELEMENT TAG="Digout.o1" TYPE="BOOL" INDX="2" />
      </ELEMENTS>
   </SEND>
   <RECEIVE>
      <ELEMENTS>
         <ELEMENT TAG="Senpint" TYPE="LONG" INDX="1" HOLDON="1" />    
         <ELEMENT TAG="Digout.o1" TYPE="BOOL" INDX="2" HOLDON="1" />          
      </ELEMENTS>
   </RECEIVE>
</ROOT>

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My KRL program

Code

&ACCESS RVP
&REL 29
&PARAM DISKPATH = KRC:\R1\Program\AMorgan\RSIRI
DEF variable_tests( )

; Declaration of KRL variables
DECL INT ret    ; Return value for RSI commands
DECL INT CONTID    ; ContainerID

;FOLD INI
  ;FOLD BASISTECH INI
  BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
;FOLD SPOTTECH INI
USERSPOT(#INIT)
;ENDFOLD (SPOTTECH INI)
;FOLD GRIPPERTECH INI
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPERTECH INI)
  ;FOLD USER INI
    ;Make your modifications here
  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

; Move to start position
;FOLD PTP P1 Vel=100 % PDAT1 Tool[2]:Adam Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,100)
PTP XP1 
;ENDFOLD

; Move to home
;FOLD PTP P6 Vel=100 % PDAT4 Tool[2]:Adam Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:, 5:100, 7:PDAT4
$BWDSTART=FALSE
PDAT_ACT=PPDAT4
FDAT_ACT=FP6
BAS(#PTP_PARAMS,100)
PTP XP6 
;ENDFOLD

; Create RSI Context 
ret = RSI_CREATE("ValueTests.rsi",CONTID,TRUE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Start RSI execution
ret = RSI_ON(#RELATIVE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Test section
IF $SEN_PINT[1] == 0 THEN
$SEN_PINT[1] = 1   
;FOLD LIN P3 Vel=2 m/s CPDAT2 Tool[2]:Adam Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:2, 7:CPDAT2
$BWDSTART=FALSE
LDAT_ACT=LCPDAT2
FDAT_ACT=FP3
BAS(#CP_PARAMS,2)
LIN XP3 
;ENDFOLD
ENDIF 
WAIT SEC 10

; Turn off RSI 
ret = RSI_OFF()
IF (ret <> RSIOK) THEN
  HALT
ENDIF 

; Move to end position
;FOLD PTP P1 Vel=100 % PDAT1 Tool[2]:Adam Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,100)
PTP XP1 
;ENDFOLD

END

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What I see on the test server

Code

<Rob Type="KUKA">
<Senpint>0</Senpint>
<Digout o1="1">
<IPOC>4181589</IPOC>
</Rob>

Thanks for any help!

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