[memo]

Sehen Sie, dass die digitalen Ausgänge an der Robotersteuerung geändert werden? Können Sie uns ein Bild des Controller-Logs zur Verfügung stellen?

Ja, die digitalen Ausgänge werden geändert, ich kann sie über die I/O's ein- und ausschalten. Aber ich kann den Werkzeugausgang nicht ändern [0,1]

[Albert]

The digital outputs on the tool 0 and 1 are mapped to the digital outputs 10 and 11 respectively.

You should change the controller version to 5. You can find more information in this link:
https://robodk.com/forum/Thread-Controll...14#pid6114

[memo]

The digital outputs on the tool 0 and 1 are mapped to the digital outputs 10 and 11 respectively.

You should change the controller version to 5. You can find more information in this link:
https://robodk.com/forum/Thread-Controll...14#pid6114

How do I change the control version to 5?

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The digital outputs on the tool 0 and 1 are mapped to the digital outputs 10 and 11 respectively.

You should change the controller version to 5. You can find more information in this link:
https://robodk.com/forum/Thread-Controll...14#pid6114

and do i have to call the commands TO_11 and TO_10 ?

[Albert]

You should modify the INI file as explained here:
https://robodk.com/forum/Thread-UR-Run-o...732#pid732

And yes, you should then use digital outputs 10 and 11 for the digital outputs on the tool 0 and 1 respectively.

[memo]

You should modify the INI file as explained here:
https://robodk.com/forum/Thread-UR-Run-o...732#pid732

And yes, you should then use digital outputs 10 and 11 for the digital outputs on the tool 0 and 1 respectively.

Thank you, it worked.

Now I have a Stäubli TX2-40 with a Schunk gripper that runs with compressed air. Is it possible to control the gripper via Robodk as well? If so, how?
Many thanks in advance

[Albert]

With Stäubli this may depend on the controller as well.

Did you try using the same method you used with the robot from Universal Robots?

[memo]

With Stäubli this may depend on the controller as well.

Did you try using the same method you used with the robot from Universal Robots?

The stäubli with the I/0= valve1 should be true for open the griper and false to close the gripper. but these I/O dont works.Should i also change the virsion of the Gripper to 5?

[Phillip]

I know for staubli IO needs to be configured ahead of time in a special menu, do you know what version of the controller your running and do you have a sample program(s) for opening and closing the gripper so I can make sure our post processors generate the correct code?

[memo]

I know for staubli IO needs to be configured ahead of time in a special menu, do you know what version of the controller your running and do you have a sample program(s) for opening and closing the gripper so I can make sure our post processors generate the correct code?

The Version of the controller is the CS8C- Controller with the VAL3-Programming.

[Albert]

RoboDK will automatically output the following code when using the Staubli_VAL3 Post Processor (the recommended post processor for Staubli CS8 controllers), example:
Output[5]=true
Is generated when you need to set the Digital Output 5 to On/Active. This can be easily customized with the setDO function of your post processor.

Does it work when using the post processor? If now, do you know what code you need to be executed?

It is better if contact us through the contact form so we can better help you customize post processors:
https://robodk.com/contact