Change I/O signal

tarsle14

Hi, I'm currently working on Robotstudio 5.12 I tried to do the following: install a robot with a gripper to grip an object, attach the object to the gripper, and then move it to somewhere else. However I face the following problems:
1. How can we adjust the orientation and the location of the object (let's say it is a box), so that it fit nicely to the gripper?
2. I've made some station signal like open, close, opened, and closed. When I click open, the gripper will open and release the box, and change the signal opened to one, and vice versa with the close signal. This works well manually (I click the signal through the I/O simulator). However, when I tried to do it automatically (maybe through some action instruction in path, or through SetDO in the RAPID), I couldn't access the signal. When I write the signal name, it cause error( the name is not recognized). Does anyone how to solve this?
3. I also want to do the above problems through some add-in from C#, is there any suitable code for that?

Thank you very much!

Klaus

Hi.

 

You cannot use station signals directly in your rapid code. You have to setup your signals in your robotsystem. You can only ude controller signals in your rapid code.

 

To use station signal you have to setup IO connection in "Station Logic" between station signals and controller signals.

 

 

tarsle14

Hi,

Thanks for the reply, it really helps. =D Do you know how I can adjust the position of the box, so that it fit nicely to the gripper? And is there any way to detect when the gripper touch the box, then attach the box to the gripper?

Thank you!

Regards,

Teguh S.L.

Anders S

Hi,

I recommend that you take a look at the Smart Component tutorials on the Community, and download the "SC tutorial station" as an example.

Klaus

Hi again.

 

See the tutorial that Super Anders Spaake have mad showing how to attach and deattach part in gripper.

I use the seem principel. Then you just move your robtarget before you grip your item

tarsle14

Is the smart component only available in Robot studio 5.13? Because I'm using version 5.12, and I can't find it anywhere. THank you!

Anders S

Yes, Smart Components was released in RS 5.13.

Klaus

Hi.

Why not upgrade.

 

SC is the best new thing that have been released for many years in RS.

These to simulation you can find here could not be done with out SC.

http://www.youtube.com/results?search_query=cadalysator&aq=f.

 

Like frish air. Simply can't live with out it LOL

 

 

tarsle14

Yes, I've just upgraded it. Thanks a lot for the helps!=D

Klaus

No thanks to me.

Just give me a bear at Skybar, La plaza in vestrA?s if we meet at partner seminary

tarsle14

Hee? where is vestras?haha...

I encounter another problem: in the last tutorial,

Smart Component - Setup Simulation (5:12 min)

at 02:40, suddenly it use a digital output from IRB6620, which is doNewBox. I cannot even see IRB6620 from the drop-down list, and moreover I don't remember creating a doNewBox signal for IRB6620, do you know where it is? I've been following the tutorial since the beginning, including the other three smart components tutorial.

tarsle14

Hmm it seems that we need to create a system with name IRB6620, then add some input/output manually to the system, which is not shown in the tutorial , am I right?

Henrik Berlin

That's right!

tarsle14

Hi Henrik,

Do you know how to create a system signal (not station signal) through c# API? I can do it in RObotstudio, but not in c#

Henrik Berlin

Perhaps it can be done through the PC-SDK. (Moving the topic to Developer Tools forum).