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Robot start signals

Valued Contributor
Valued Contributor
Hi

I would like to customize all the robot start,program mirror etc. used in CEE line simulation. Is this possible if so could I have an idea of where to start.

Thanks
7 REPLIES

Re: Robot start signals

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

 

Can you give more details? Do you need help to start with the Tecnomatix .NET API or you already work on specific workflow?

 

 

Re: Robot start signals

Valued Contributor
Valued Contributor
Hi

I need to know how for example when the robot signal emergency stop signal is switch on and the robot stops how exactly this occurs. I would like to make my own custom signals. I have looked through the sdk chm file and i can find nothing. I have also looked throught the main sdk dlls and also can find nothing.

Thanks

Re: Robot start signals

Valued Contributor
Valued Contributor
Hi

In the robot signals form there is a combo box called signal funtion. This is what i would like to add my own signal and functionality

Thanks

Thanks

Re: Robot start signals

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

 

For signals creation check ITxPlcSignalCreation interface. It is implemented by TxPlcProgram class and provides methods for signals creation. For robot signals use CreateFromRobotSignal and CreateToRobotSignal. The Signal Function is set when you associate a signal with the robot using the properties of TxRobot - EmergencyStopSignal, ProgramElementNumberSignal, StartProgramSignal, ProgramPauseSignal, ProgramEndedSignal,RobotReadySignal and more.

Re: Robot start signals

Creator
Creator

Hi Diana or anyone,

 

im doing like you said. 

 

private void CreateDefaultSignalsForRobot()
{
TxRobot robot = m_robot01picker.Object as TxRobot;

TxPlcProgram plcProgram = TxApplication.ActiveDocument.PlcProgramRoot.CurrentPlcProgram;

TxPlcFromRobotSignalCreationData createDataFromRobotSignal = new TxPlcFromRobotSignalCreationData(robot.Name + "_startProgram")
{
TargetRobot = robot,
PrivateName = "startProgram"
};

plcProgram.CreateFromRobotSignal(createDataFromRobotSignal);

}

 

So my problem is that code creates signal with correct name, but the robot is not in Resource.

Is this not possible or am I doing something wrong?

 

In picture first signal is created with API and second in simulate with Robot Signal.

 

Tomaz K.

 

robot_signal.jpg

 

Re: Robot start signals

Creator
Creator

Hi,

 

After you create the signal, you need to set it to the corresponding default signal property of the robot.

 

For your example, first note that "startProgram" is a ToRobotSignal, not a FromRobotSignal.  After correcting this, then you should be able to make the change below to the last line of your code:

 

robot.StartProgramSignal = plcProgram.CreateToRobotSignal(createDataToRobotSignal);

I assume the above will work, but in my code the signal is set to a variable of type TxPlcToRobotSignal, then later set to the default signal property, so if the above doesn't work, try the code below:

 

 

TxPlcToRobotSignal newToRobotSignal = plcProgram.CreateToRobotSignal(createDataToRobotSignal);
robot.StartProgramSignal = newToRobotSignal;

 

 

Re: Robot start signals

Creator
Creator

Thank you, that works.

 

Tomaz K.