1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
Everywhere
  • Everywhere
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. Zenigata

Posts by Zenigata

  • modify point with Offline system

    • Zenigata
    • May 12, 2020 at 3:41 PM
    Quote from SkyeFire

    DirLoader isn't what you want, I don't think. That's mostly for pulling very large offline-generated programs into the robot, or memory-swapping to get around the KRC4's (frankly ridiculous) small memory capacity.

    You need an actual communications method between the robot and the camera system. Which one depends on what options your robot has, and what your camera system supports. Almost all Cognex machine vision systems, for example, can communicate using ProfiNet or EthernetIP. If your vision system is PC-based, and supports simple communication by strings over TCP/IP, then the EthernetKRLXML (EKI) option option for the robot will make that available. OPC-UA (a subset of the "full" OPC) is possible, but would require adding that option to the robot, and that your vision system support OPA-UA.

    As Panic mentioned, there is a method to access text files from KSS 8.x, but this would have a timing issue -- how would you be able to confirm that the file the robot is pulling data from is the one most recently written by the vision system? This is why you need some sort of bidirectional communication with handshaking.

    You could try KUKAVARPROXY (look in the forum archives), but it's not a supported product, so might not be robust enough for production.

    Also as Panic mentioned, accessing the program files on the hard drive directly is a bad idea. The way KRCs work, is that they load all the operating files from the hard drive during boot, into a RAM drive in the robot's memory. Then, the robot runs from that RAM drive. The files on the hard drive are only updated periodically or on certain events, and the RAM drive is not accessible from the outside.

    ok Thanks.

    the project is still under development so I have all the possibilities to develop it in the best way,

    what do you advise me to use?

  • modify point with Offline system

    • Zenigata
    • May 7, 2020 at 4:38 PM

    Yes, I saw the DirectoryLoader package, i just downloaded the manual,

    can I load a new program from the offline system with this package ?

    thanks I'll start reading the manual

  • modify point with Offline system

    • Zenigata
    • May 7, 2020 at 3:34 PM

    yes, i Can use EthernetKRL or OPC for the comunication.

    change the coordinates of a point is my problem

    I'm testing with officelite to modify a point by opening the .dat file C:\KRC\ROBOTER\KRC\R1\Program

    if I change the coordinates of the point and save the file, the robot reaches the previously saved point(1), not the modified point(2)

    1:

    DECL E6POS Xp1={X 1382.27820,Y 1520.95349,Z 1848.50830,A -13.8077745,B 84.0260620,C -63.7030296,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

    2:

    DECL E6POS Xp1={X 1482.27820,Y 1520.95349,Z 1848.50830,A -13.8077745,B 84.0260620,C -63.7030296,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

  • modify point with Offline system

    • Zenigata
    • May 7, 2020 at 1:41 PM

    I'm a sw developer recently I'm starting to work on a new project, I'm using for the project Officelite KS 8.5.385.

    The robot has to finish a piece that arrives from robotic cells, these pieces don't arrive in the correct position, a system of cameras with a external SW establishes the actual position of the piece and a Offline system recalculates the correct trajectory.

    How can I send a series of points to the controller that's in EXT ? without having to download the program again.

    The offline system can modify add or remove points from the original paths

  • Avviare un programma con CWRITE

    • Zenigata
    • March 17, 2020 at 2:41 PM

    Ho letto l'argomento LEGGI PRIMO pero utilizzo molti robot con Differenti Versioni normalmente KSS8.3 ultimamente STIAMO iniziando ad utilizzare KSS8.5 quindi this Strutture vorrei utilizzarla Su più robot.

    Le sto provando con un simulatore versione KS 8.5.385

    utilizzando il CWRITE volevo modificare come normalmente richiamo i programmi:

    L'operatore quando crea un nuovo programma di pezzo deve andare nel "master pezzo" crea un nuovo CASO e aggiungi il nome del nuovo programma di pezzo che precedentemente ha creato

    VECCHIO:

    DEF Piece_manager ( nPrg : IN )

    DECL  INT nPrg ( DAL PLC )

    INTERRUTTORE nPrg

    ; Colonna 1

    CASO  1

    Program_1 ()

    CASO  2

    PROGRAMMA_2 ()

    CASO  3

    PROGRAM_3 ()

    CASO  4

    PROGRAM_4 ()

    ......

    Nuovo:

    Vorrei usare il CWRITE per non dover creare un CASE di tutti i programmi ma creare una String contenente tutti i nomi dei programmi e poi andarla a richiamare nella funzione

    DEF Piece_manager ( nPrg : IN )

    DECL  INT nPrg ( DAL PLC )

    DECL STATE_T STAT

    DECL MODUS_T MODE

    MODE=#SYNC

    CWRITE ($ CMD, Stat, Modalità, "RUN / R1 / "PrgList[nPrg]")


  • Avviare un programma con CWRITE

    • Zenigata
    • March 17, 2020 at 11:55 AM

    Ciao

    Sto provando a utilizzare la funzione CWRITE per richiamare programmi standard nei miei robot KSS8.3 / 8.5,

    Inizialmente volevo provare a richiamare direttamente il programma "master()" in seguito vorrei provare a inserire una String e eseguire il richiamo di alcuni programmi.

    se la funzione è richiamata sotto SPS riesco a richiamare il programma

    Es:

    ; PLC PIENO UTENTE


        ; Apporta le tue modifiche qui


    IF $ Flag [ 1 ] == true  THEN


    CWRITE ( $ CMD , Stat , modalità , "RUN / R1 / master ()" )


    ENDIF

    se provo a richiamare la funzione in un programma .src questo non funziona

    es:

    Test DEF ( )


     DECL STATE_T STAT


     DECL MODUS_T MODE


    MODE = #SYNC


      SE $ FLAG [ 1 ] == TRUE  THEN


    CWRITE ( $ FCT_CALL , STAT , MODE , "RUN / R1 / MASTER ()" )


      FINISCI SE


     ENDLOOP


    END

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download