Gavanderhoorn, perfectly reasonable to close this, I apologize for starting this discussion as an issue when it clearly wasn't an "issue" from the start. In the transmission protocol page should both ROB_1 and UCdevice have the same IP? I've almost certainly configured something incorrectly on the Robotstudio side. At the same time, the commenand egm_interface_->isConnected() returns false.Īfter a short while the virtual Flexpendant says "No data from the UdpUc device" However, when I try to run the driver that I typically use (when I have a robot), the virtual flexPendant will show "Start joint mode", note I'm using stateMachine add in version 1.0. I'm using the EGM samples you linked to in a different issue thread (after changing the Cmake file so they compile against the pure cmake version of egm), and c3_joint_velocity_controller_node just hangs at "Wait for an EGM communication session to start." and nothing changes on the flexPendant. I have no however, gotten EGM to connect. I have gotten RWS to grab whether the motors are on, rapid is running, and whether the robot is in auto mode.
i suspect my problems might have something to do with when the device net connection is made, but i am not sure.Thank you for the quick reply, jontje. The inputs are connected through a device net module from Phoenix contact (ILB DN 24 DI16 DO16). I have to mention that the simple solution would be to not leave any product is the robot in the evening or take everything out in the morning, but people can be idiots and a robot always does what he is told. So what happens is that in the morning after a reboot if there where still product inside they get milled twice and that doesn't always go well. So in my main program i can set the block variable to high after the robot is done milling this product, and when the product is removed the table becomes available again when a new product is put in. The input is connected to a limit switch on the table and detects if a product is present. These variables i use to block a table (i have 6 tables with different product around the robot) from being used. The reason why i have to set them is that during a reboot the inputs are seen as low when they are not, and so my variables get reset when they are not supposed to. the rest of the variables 2 throug 6 are the same so to keep it short i will leave them out. Code IF NOT Tafel_1 THEN Tafel_1 is an input also declared in the config.dat
0 kommentar(er)
