03-24-2023, 02:25 AM
(This post was last modified: 03-24-2023, 02:29 AM by MickeyTen.
Edit Reason: Forgot the attachment
)
Is there a way to access the UR integer, bit, or float registers in RoboDK? The scripting language on the robot uses the form read_input_<datatype>_register(<# of register>). I haven't found anyway to do this inside RoboDK.
Maybe I'm going a bout this the wrong way. Let me explain the project and the methodology I've used and see if there is a better way.
I have created a simulation in python that takes the robot through all of the motions it will need; however, in the real world application a lot of the logic that is currently being handled the python script will be pushed to the robot register via Ethernet/IP. Therefore, my Robot program really just needs to be a loop that looks for a lane to pick a part from (integer register). Once the part is picked it would be placed in 1 of 4 bins. These bins are identical and I have created all of the targets for one bin. Then used a reference frame to translate the bin targets to the appropriate bin (yeah basically rewrote the palletizing routine just so I could understand the software better). These targets are shown in the Layout image attached to help give you an idea of what the setup is.
Now what I'm unsure of, is can I write the program in RoboDK such that it looks at the registers to make it's decisions. In this manner the PLC can keep track of what lane needs to be picked, and which bin the pick part should be placed into. The alternative would be writing the loop on the robot pendant, but I'd really rather do it on the computer as it's more user friendly.
I guess the big question is, am I going about this the wrong way?
Maybe I'm going a bout this the wrong way. Let me explain the project and the methodology I've used and see if there is a better way.
I have created a simulation in python that takes the robot through all of the motions it will need; however, in the real world application a lot of the logic that is currently being handled the python script will be pushed to the robot register via Ethernet/IP. Therefore, my Robot program really just needs to be a loop that looks for a lane to pick a part from (integer register). Once the part is picked it would be placed in 1 of 4 bins. These bins are identical and I have created all of the targets for one bin. Then used a reference frame to translate the bin targets to the appropriate bin (yeah basically rewrote the palletizing routine just so I could understand the software better). These targets are shown in the Layout image attached to help give you an idea of what the setup is.
Now what I'm unsure of, is can I write the program in RoboDK such that it looks at the registers to make it's decisions. In this manner the PLC can keep track of what lane needs to be picked, and which bin the pick part should be placed into. The alternative would be writing the loop on the robot pendant, but I'd really rather do it on the computer as it's more user friendly.
I guess the big question is, am I going about this the wrong way?