Need help with connection

vinhvo

I have one robot ABB IRB 1400 , I try to scan the network but I can not find the robot . I notice that the robot has 2 Ethernet connection : one is exposed in front of the controller box labelled "Service", one is hidden inside it. The one which is hidden inside is connected to network and I can connect with ftp server of the robot to transfer file. However, I never can access the controller to control it.(I can scan for the virtual controller)

I know a bit about RAPID, can pc sdk send a command to robot like : MoveL p1,...Something like:

controller.moveL(.....).

Please help me as soon as possible, my deadline is coming really near ...........

carlosmtz2000

You should be able to see the robot if your PC is connected through the Service Port.

In order to see the robot through the LAN port from a PC SDK application, the system must have the RW option 616-1 (PC Interface).

 

There is no PC SDK method to run a Move command. The RAPID engine is in charge of the robot motion. You will need to have a program which is prepared to: (1) gets targets from a PC, (2) takes care of robot configuration.

 

BR

vinhvo

Thanks very much for your reply.

I will try it next Monday, and post the result here. one more thing I would like to ask is : Can the rapid function receive parameter from c# program (pc sdk). For example:

Rapid:

MoveWherever(RobTarget 1){

MoveL (Robtarget,...,tool,wobj);

}

And in the c# code i can pass the target and trigger the function.

Thanks again for your help. By the way my lab's robot is 1400, is it possible to use pc sdk ? 

Laro88

I think it is possible to send a robtarget as a variable ( Messaging domain ) and do as you would like to.

In rapid then write some code to trigger on the RobTarget changing ( actually create a bit to trigger the motion as a one shot...

The documentation for the messaging domain will be a bit confusing, however, it can be brought to work - notice especially the double "" when sending strings

Be careful though, the robot will try to go where you ask it to - through walls, safety doors etc... So if you really want to do pc controlled motions, then consider writing a safety guard in the robot controller that catches any relative motions larger than say absolute 50 millimeters from the present postion - that way a programming logic error  / mistake / IO error / string formatting mistake will be caught. ( this saved my ass once, when manually controlling a CNC machine ) You then to generate multiple continuous targets based on the present position of the robot.

vinhvo

I am so grateful for your guys ' help. 

One last question, can you point me out the document for this part. I know it is kind of spoon-feeding, but i really dont have enough time to dive in the sea of documentation anymore.

Thanks.