gripper simulation without manual digital Input

xeratule

Hi,

 

I need to pick a part with gripper and drop it in another place. I watched the tutorials but I am still confused to compete the simulation without using I/O. I mean I want the gripper automatically sense the part and grip it. In tutorials we initiate the input and then gripper gets the part. How can I make this simulation without digital input outputs? I don't want to manually give input to the line sensor.

xeratule2012-11-20 08:26:59

Henrik Berlin

The tutorials require the use of I/Os. The tutorial Smart Component - Setup Simulation (5:12 min) connect the I/Os of the Smart Components with the VC (time = 3:33). The corresponding I/O signals of the VC must configured using the Configuration Editor. (The I/Os of the VC must be configured prior to connecting them to the Smart Components).

xeratule

thanks for the tip ... I did the smart component job but I still can't change the digital input signal automatically. when the simulation starts I don't want to change input condition manually. I want it to be changed automatically by the virtual controller.

For example, when robot reaches target 1, di_attach (a digital input) signal state should be changed from 0 to 1 automatically. How can I do that?

  

Henrik Berlin

Try using the RAPID instruction SetDO from your RAPID program. You will find all the details in the RAPID Reference manual at http://www.scribd.com/doc/111665895/RAPID-Instructions-Functions-and-Data-types-Technical-reference-manual-ABB-Robotics

xeratule

Dear Henrik,

 

I already read that document. setdo instruction is used for digital outputs. I don't think there is an instruction to change digital input because it should be externally given in real life.When simulating I want the virtual controller do that job.  In the document there are instructions just to read digital inputs, I couldn't find reverse. 

 

I hope I explained my problem clear :S

Is there something I am missing?

Henrik Berlin

[QUOTE]For example, when robot reaches target 1, di_attach (a digital input) signal state should be changed from 0 to 1 automatically. [/QUOTE]You can make the gripper work independently and grip (="attach") an object as soon as it senses it. But how will the gripper be told when to drop the part without using I/O?

xeratule

I want to use digital I/O. I understand there is no automatic option to change the digital input state when the robot reaches a target. If so, gripper would be told to drop the part when robot reaches drop location (target).  

I want the virtual controller act as a PLC and give the digital input di_attach itself when the object is at its location to be gripped or dropped.

However I have a robotstudio 5.15 demo project named "demo palletizer.rsstn" where I can see the digital inputs change (automatically) when the simulation starts. I want to do the same, but how?  

Anders S

I recommend that you look at the Smart Component tutorials, and then download the Pack & Go "SC Tutorial station RS 5.13" from the community. There will you see how the RAPID code sets digital output signals, and gets the digital input signals back from the Smart Components (grippers etc.).