Posts by lostcontrol

Quote from 85cj7boy

Would the GETTOOL / SETTOOL be applicable for this? For example Toolsight allows for modification of a tool file based on feedback from the shifted position after searching in the XY laser crosshairs (usually used for bent welding torch).

I don't think that is available on the XRC controller that we have.

Enabling the FD parameter for TCP enabled the TCPON/TCPOF instructions & selection of different tool sets.

As I have already tested updating the tool file , I should be able to make this work.

Just need to find the time to get back to it..

Quote from 95devils

No, not multiple tool. Doc is talking about about the option (TCP Function) that uses the TCPON and TCPOF instructions.

Ok, so that is a FD parameter. Will have a look at that today.

Quote from 95devils

To change which tool is active for jogging or teaching positions, press and hold SHIFT then press the COORD key. Cursor to desired tool. Press and hold SHIFT to go back to the previous screen.

yeah, have worked that part out

In the job editor, the tool no is displayed as the line changes.

Assume it is not possible to change this with this model?

Quote from Robodoc

There is a purchased option for two tools. Paint applications use it all the time.

Is that the S2C parameter for Tool No. Switching? If so, that is enabled but I cannot change the tool when in the job editing.

So I managed to get a single tool element updated .

Now the next challenge with this controller, is to select between tools inside a job or turn the tool on & off, if possible.?

The other method would be to use multiple jobs, which is part of the consideration anyway.

Quote from 95devils

Not sure what a single index is. I've done projects where through some software program I calculate the tool data. This software will then write a single tool in the proper format of a TOOL.CND and download into the controller.

Single Index = Single Tool .

If I interpret you comment correctly, writing a single tool element would be possible...

I will give it a test to see what it renders.

Quote from 95devils

Not on XRC. Anything newer, yes. The changing of tool data would need to be done manually or by creating the data in the TOOL.CND file and loaded into the controller.

Thanks,

I guess it be the manual calculation method then, as writing to the file seems too much work based on what else we have to do unless a single index can be written. to the .cnd file..?

Is it possible to modify tool data from variable data or similar?

We have an external application reading & writing data, but really would like to modify the tool data.

The preference is to be able to modify tool data individually similar to variable/position data, rather than the complete file set if possible.

The application is best suited to tool usage, but will require the end-user to be able to modify the tool parameters.

If this cannot be done, we will have to do the calculations inside the job (which is not an issue, but just adds something that the controller should be doing natively.)

ok, after getting back to this & doing some validation on the emulator we were testing with, we finally got it working

We can now read / write IO & variable types, as well as changing mode from Play->Teach->Play & also On/Off/Start .

There were a few things not so obvious in the manual, but once it was interpreted & tested it came together.

Still some work to do, but the key is that it is not as foreign as it was!

Am assuming this could be ported to the generic ethernet mode (if the motoman has such) easy enough

ok, so the DLE response I am getting is actually ACK0 based on the binary synchronous spec.

Which is good & I sort of assumed ok that I was getting a response.

So the next part of this, is sending the request & calculating the BCC for this.

The manual says the BCC is between SOH or STX & ETB/ETX & they are included.

So if I send:

<SOH>04,051<STX>7010,3<CR><ETX> BCC

The BCC calculation will be 48+52+44+48+53+49+50+55+48+49+48+44+51+49+51 ?

Quote from 95devils

Which one are you trying to do? DCI, Standalone, or host. I have done at least 2 of the methods. They are done differently depending on which one you are doing.

This sounds promising

All we want to do, is to write variable data from a separate app to the unit. This could be any of the variable data (Byte, integer, Position)

The configured job will then reference this data when needed.

If I am only getting a DLE response, does that indicate the option is not enabled, or XRC not in the right mode (have read the unit must be in remote.?)

Thanks,

That is all in the XRC Data transmission manual

What I am asking, is if anyone has done anything similar to achieve this, even though it is very old controller...

So that is a XRC configured/initiated function, rather than a PC initiated/configured?

Quote from 95devils

Do you have the software option of Visual DCI?

Not sure, what is that?

Hi,

I replied to a similar post about the same thing.

We have a old UP6 that we are wanting to prototype with. As part of this, we want to read/write variable data & maybe other status info, but the key is writing variable data.

According to the data transmission manual, when a 'ENG' is sent, a 'ACK0' should be returned, but it looks like I am getting DLE instead.

After issuing this command, it does appear that we get repeated 'ENQ' that stops once a 'ACK' is sent back.

We know this is an old robot & there are better ways, but at the moment this is what we are stuck with for now.

Does anyone have any examples or similar?

Thanks

LC

Hi,

Did you have any success with this?