velocity and coordinate of a tool center point instantaneously

hyacy

Hello everyone,
I would like to write a code to read the speed and coordinates of TCp instantaneously whyle moving and transmit it to my computer 
could you help me please. I will be really happy

daniel72

Hi,

if you have Option PC-Interface you can send to pc via socket. PC will be a socket-client , Robot will act as a socket server

  Socketclose ComSocket;
  SocketCreate ComSocket;
  SocketConnect ComSocket, sPCIP, nPCPort  \Time:=10;

You define a time interrupt of 10ms and in the trap you read TCP and send the valus as formatet string to the socket like this:

TRAP SendPos()
VAR pos tmppos;

tmppos:=CPos();
SocketSend ComSocket \Str:= NumToStr(tmppos.x,2)+ ";" + NumToStr(tmppos.y,2) + ";" + NumToStr(AOutput(aoTCPSpeed),2) + "!";
Delete intno1;
CONNECT intno1 WITH SendPos;
ITimer \Single, nIntervall, intno1;
ENDTRAP

Note aoTCPSpeed must be declared as AnalogOut and linked to system-output "TCP-Speed"

Alternativ you can install a fieldbus-communication card (like HILSCHER CIFX) in your pc.

Good Luck

Daniel

hyacy

Thanks Daniel i will give you a feedback after trying it!

hyacy

hi!
i tryed this code but it ist not working . i dont really know how to work Robotstudio,  so this is what i get and i dont really know how to continue

hyacy

so may be i didn't explain the problem very well so, i have this robot on the picture below , and i just want to get the tcp_Speed (velocity)on anlalog output , while the robot is moving; could you please show me the way from the beginin? I'm really new on this . thanks

DenisFR

Hello,

Is Signal Analyzer Online sufficient for you?

hyacy

Hi Denis  yes i just Need it on Signal analyer