IRB 1200

mecoplast

Good evening, I'm new in the forum, my name is Andrea calling from Italy. We have an IRB 1200 programmed via flexpendant making always the same movements, thus, we don't need any pc connected. Sometimes I need to change the value of a variable to adjust some eventual imperfections of the object to take. To do this, I have to turn the key in manual position, change the variable, turn again the key, engage motors, reset robot position etc etc. So, is there a simple way to send a command to change that variable without doing the above actions? Something like an UDP message or something like that.
Many thanks in advance,

Andrea

lemster68

You could connect via the service port with robotstudio and make edits.  You could also view the data on the teach pendant and make changes without changing to manual mode.  You might need to stop program execution for a moment while doing so.

mecoplast

Many thanks, Lee. Sorry for the late in my answer but I was around for work. I would like to avoid the presence of the pendant in order to avoid unwanted touch by workers. I read about the socket mode or writing a file that the controller reads at every start but I didn't find how to do it

lemster68

If you want to work with file based variables, you could FTP the file to the controller and then use the Load command in rapid to load the module which contains the variables that you need changed.

mecoplast

Wow, it looks so easy... but I will need a little more specific hand...

lemster68

Start with an FTP client.  Oh, and make sure that the robot has the option FTP and NFS.  I use Filezilla.  Get connected to the main computer via ethernet connection on the cpu port.  Try to send your file.  Look up in the forum examples for using the load command.  I am pretty sure that I have already posted some examples, as well as have some other users.

mecoplast

How can I check if I have the FTP option?

lemster68

Look inside a backup, there is a folder, BACKINFO, there is a text file inside it, Backinfo.txt.  It will list the installed options.

mecoplast

Ok I will try. Just another question: until now, I've used WaitDI command but how can I check an input without holding the execution? Something like
If DI1=1 then
do something
end if

lemster68

You could do that or TestDI function.  But if the input is not on, it is not on regardless of how you check for it.  If you must wait, then you must.  But if it is the case that you can do something else instead of wait doing nothing, then your suggestion would be best.

mecoplast

I'm sorry but I don't have the TestDI function on my pendant? Where it would be? And, I have to check only if it on and do an operation only if so. I DON'T want to wait

mecoplast

I've found this https://forums.robotstudio.com/discussion/9380/check-digital-input-value-for-a-duration
I will wait just a second!

lemster68

Read this:
https://forums.robotstudio.com/discussion/11293/testdi-function

mecoplast

Good morning, I didn't find anything about FTP but I have devicenet. At this point I have to use the disk file option. I've connected the IRC5 with the WANport to my ethernet. I've modified the ip settings and I can ping it but I cannot see it as a phisical disk (using windows \\192.168.0.15\). 

lemster68

If you don't have FTP and NFS option you would need the option PC interface to connect RS to the main computer ethernet port.  Otherwise, it is limited to the service port.

mecoplast

I have the pc interface. I've downloaded the trial version of RobotStudio and I can see and sync it. I would like to avoid robot studio and create my own app in order to simplify the operation for any person who need to change that parameter instead of calling me every time.

mecoplast

No more suggestions?

matti

Hallo, option PCInterface includes socket messaging where you can communicate on a permanet ethernet connection using a c/C++ program running on a remote PC. You might use this to transfer data.

lemster68

Do you have screenmaker or flex pendant interface option?  You could whip something up for the pendant to do what you want.  Otherwise, you could be about to go deep into a rabbit hole with learning SDK or other methods of interfacing a computer with the robot.

mecoplast

I have the flexpendant. At the moment I use that to change a constant value that is passed to a variable in the program. So I can change the screen of the flexpendant as I want?

lemster68

If you have the options that I mentioned.

Tompanhuhu

matti said:

Hallo, option PCInterface includes socket messaging where you can communicate on a permanet ethernet connection using a c/C++ program running on a remote PC. You might use this to transfer data.

If you want (and can) make your own PC app, you can use this youtube video + the source code in the comments as a starting point.
https://www.youtube.com/watch?v=VkZsjef6wC8&t=302s

Credit to @Maxim Riabichev for the video + source code. 

mecoplast

Many thanks for the help. I've tried with the screenmaker and has been very useful. Now it's a lot easier...

lemster68

You wrote something up that fast?

mecoplast

Yes, I told you! I need to change only a variable! Screenmaker is quite easy. I'ts similar to VB6. But, now I have another problem: the screen I've created has been succesfully uploaded in my fp, I can see project files in the flexpendant explorer but it doesn't appear in the top left menu as it does in the flexpendant simulation. If I use screenmaker doctor I get an error saying I have to add screenmaker.sys as a module. What does it mean???

lemster68

Sorry, I have not used that myself.  But good job so far.  I am sure that better help will arrive soon.

Tompanhuhu

mecoplast said:

Yes, I told you! I need to change only a variable! Screenmaker is quite easy. I'ts similar to VB6. But, now I have another problem: the screen I've created has been succesfully uploaded in my fp, I can see project files in the flexpendant explorer but it doesn't appear in the top left menu as it does in the flexpendant simulation. If I use screenmaker doctor I get an error saying I have to add screenmaker.sys as a module. What does it mean???

I think these modules should be loaded automatically if the robot is booted correctly.
But you can try to load them manually, you can find the module in the robotware folder.

On my computer the path is 

C:\Users\admin\AppData\Local\ABB Industrial IT\Robotics IT\RobotWare\RobotWare_6.15.1001\options\gtpusdk

mecoplast

Hi, I'm sorry but I've tried with some hints found in this forum but without success. I've searched for that file on my pc and found it under 6.14.1017 release, so I've upgraded flexpendant system hoping it would have been downloaded automatically but nothing. Then I've tried with the mod of sys.cfg in the backup folder but performing a reboot, I receive an error message saying "missing task for screenmaker.sys"

SomeTekk

In the Controller parameter domain the Type Automatic loading of modules has to have an entry. 

The following entry is on many controllers in this facility (though all are running RW 5.15):

RELEASE:/options/gtpusdk/ScreenMaker.sys

Also, in ScreenMaker for the project's properties Display tab, is the ABB Menu section configured?

mecoplast

I've entered that entry this morning but nothing changes. The ABB menu section is properly configured...

mecoplast

I tried configuring it in robot studio. Now I can see under rapid->T_ROB the screenmaker sub menu. If I click it I have

MODULE ScreenMaker(SYSMODULE,NOVIEW)

        

PERS string routineNameToCall := "";

 PROC ScmCallRoutine()

  IF routineNameToCall <> stEmpty THEN

   %routineNameToCall%;      

  ELSE

   TPWrite "Rapid Data must be set before";

   RETURN;

  ENDIF 

  routineNameToCall := stEmpty;

  Stop;

     ERROR

   routineNameToCall := stEmpty;

   RETURN;

     UNDO

   routineNameToCall := stEmpty;

 ENDPROC        

ENDMODULE

but It doesn't start. Do I have to input my screenmaker app name in "routineNameToCall "?