I could never have done without your advices. Last thing i want to test before i’ll start to write my PLC on Twincat, is a program where the robot starts a motion and then stops and restarts by tcp message. Is it possible?
Posts by balrog
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Thank you again, i have read about the MC command but didn't understand where i have to put it in the program.
Now my program works: i can enable/disable the motor from a server message and go to home position.
What i can't do is the SETHOME command. In my call program it is present but it doesn't print the home values to change in the terminal and goes directly at the next command HOME.
Any hints?
TIA -
I wrote my simple program and now have only the chat with the EXIT for both client and server. Now, what i want to do is to receive a command from the server to do some actions. First of all, my idea is to do a SCASE for the received string variable and assign at every SVALUE "" a CALL of different motion program. I've started writing a Home positioning program but the terminal said me "(E1095) Cannot execute motion instruction in PC program." How i can realize this idea?
Another thing that i can't understand is if it is possible (and how?) to action the motor from the terminal or program.
TIA -
That number relates to how many times that program has been executed and completed.
- That number will only increment if the program gets to the end.
- If you have a goto at the end, then the program never completes, so the counter will not increment.This number will not prevent it from loading into the simulator/controller/have an adverse effects except if you try and load it into a D or C Controller (those versions of controllers did not have that feature, and therefore will reject it if you try and load in).
You could just delete them from the filesave and it will load in no problems too.Thanks! I want to have clear all the definitions, and I didn't find this on the manual. Thanks!
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THANKS!!! Tomorrow i'll start to study and understand your code!Hi Kwakisaki, today i've started to study the code and create a new one. My first (maybe stupid) question is: What is the #0 or #1 in the .PROGRAM definition? TIA
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Good man....glad the hints helped......My test program is made up of many subroutines and is by far not complete or debugged as there are more things I wanted to do (but ran out of time), but it is not what I would class as a 'novice program', as I do not use a single global variable, I only use local variables which I pass through between subroutines, so error checking is always difficult.
I very rarely post any full code, just snippets as it's easier to follow.......However, I've attached the complete file save so you can dive into it and see how you get on.
You can load this into KROSET (LOAD tcp_client_v2.txt) and then just execute it as a PC task......eg..PCEXECUTE 1:tcp_main and the program should run.
See how you get on with it and if you have any questions, comments then let me know......but trust me, it is not a complete solution.
THANKS!!! Tomorrow i'll start to study and understand your code! -
Now, considering i have started from 0, i am more familiar with TCP/IP Communication thanks to your hints. I have success writing commands in the terminal but now want to write a program. Could you send me your test program to inspire me to write a personal one, please?
TIA -
Have fun......but it can be frustrating...............
Really Thanks! I'm going to finish the AS and TCP manuals, sure that what you sent will help me! -
Can you give more details? What do you want to transfer from PLC to the robot?
The company which proposed me the thesis didn't give any details right now. I know only that i need to communicate with the PLC of an industrial machine. I am the first to use K-ROSET and a Kawasaki robot for this company, so they asked me to investigate if is possibile to simulate this communication, because know I'm working from home.
A small video clip of testing using KROSET and Hercules (KROSET Lite will not restrict you from programming TCP/IP).
- Also, you will want to 'allow' Hercules to execute through any firewall you may have.Thanks, I really appreciate, this will be very useful to me after my TCP's background will be grown
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Thanks! Now I have a lot of materials to study deeply!
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Just received this answer from Kawasaki support :
'Recently, the license of K-ROSET was cracked and We received a report that was illegally used.
For this reason, we are currently temporarily stopping the issue of trial license to free-Email accounts, and students.'
As far as TCP is concerned, you can plug into KROSET using a Telnet app like Hercules.
- KROSET uses IP 127.0.0.1 and Port 9105
- So you can configure TCP/IP comms within the KROSET Project Terminal Window and test/communicate with Hercules.
- You could also develop your own TCP using the KRCC dll (available from Kawasaki).Could you explain me this in details please?
I need to simulate (if is possibile) the communication between PLC and the robot.
TIA -
Yes, send the txt file to the e-mail adress and tell them that you are a student and you want to do your master thesis with kawasaki robots.
Thanks! Just sent. Hope in their answer asap.
Other question: Is it possible to simulate TCP server on K-ROSET?
TIA -
Which version of K-ROSET are you using? I attached you the exe file, usually that exe it is located in the installation folder.
Thanks for the file.
I have the v1.8. Once i have the LicenceInfo.txt, do i send it to support mail? -
A good example you can find it in Kawasaki\K-ROSET\Hisui\documents\K-ROSET Handling Project Manual_EN.pdf page 21.Read both documents and I realized that the Lite version is not enought. Can't find the ScrapeLicenseInfo.exe so, any suggestions to obtain a license (full or trial)? TIA
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Hello,Welcome to the forum.
The tool file must be in .krprj files. If you imported the tool from Solidworks for example, you need to save it with .stl file and add it to the robot. More examples you can find in the K-ROSET folder : Kawasaki\K-ROSET\Hisui\KHIlibraries\Tools
Also, having a lite version you will have a lot of restrictions, therefore is better to have a trial version. Please read this file:
Kawasaki\K-ROSET\Hisui\documents\K-ROSET The Procedure for making License_EN.pdf maybe you will get a trial version which is valid for 2 months.
Thanks Alexandru! I'm going to read the document. I've tried to import a tool which is on the KHIlibraries. The robot is an RS030N and the tool is Hand_G5BM21000B. I did the following step:
select Tool on tree pane,
->NullTool ->Tool Arrow -> disable Lock -> Add -> Environment -> Work -> Select file.What's wrong with it?
TIA
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Hi everybody. I'm new here and i've started to learn K-ROSET for my master degree thesis. I have the Lite version and i can't add a tool(handling) on the robot. Is it a Lite's limitation or i do something wrong?
TIA