Posts by Zenigata

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.

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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?

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

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}

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

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]")

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