I'm writing an xml path template to create extra loctions, set the Tool Name and Workobject etc.
With fixed Tool and Workobject names that is not a problem. I can even generate a fixed list to pick from in the Apply Path Template window.
But that is not what I want.
Just like in the path editor I would like to choose from the, in that specific robot, defined Tool Data and WorkObjects.
I've been trying something along this line:
<Param Name="Tool2" ValueType="TxObject" Default="">
I've tried to fill in several names for Tx??????????? , but none seemd to work
Anybody managed to do this or has an idea??
You can find pick types in "C:\Program Files\Tecnomatix_13.1.2\eMPower\TecnomatixSDKHelp\Tecnomatix.Net.Chm", they are basically classes and interfaces avaliable in TX assemblies, but i'm not really sure if they'll exist as you need and if all classes work on pick type property.
Have you tried for example, TxTool or ITxTool? Because this is an existing class related to Tools. And is "WorkObject" also a tool object?
Check out the "RoboticsCustomizedUIManual.pdf" in your eMPower\Robotics\OLP folder.
Search for "Pick Type" and you will find the information about Tecnomatix SDK help as mentioned by FredCastro.
You can select any TX API class or interface.
E.g. TxGun, TxWeldLocationOpeartion...
But if you want to get information from ToolData or WorkOject, you can work with specific OLP information from Path Editor.
Create dynamic parameters like this: <Item Type="dynamicParameter">Tool Name</Item>
Instead of Pick Type you can also try to use "TxValidatorType" (also in the pdf). Here you have a list of defined types.
I'm afaid I wasn't clear enough. Both solutions did not work or should I say I can't get it to work.
I have solved it by declaring my requested info in the customized motion file like this.: e.g.:
<Param Name="TCP1_pick_old" ValueType="TxObject" TxValidatorType="Frame"/>
<Param Name="TCP1_pick_new" ValueType="TxObject" TxValidatorType="Frame"/>
<Param Name="ScopeType" ValueType="string" Default="All"/>
Which works nice because I can pick predefind frames in my grippers and fixtures and I used:
<Param Name="ToolDataPick1" ValueType="string" Default=""/>
<Param Name="WobjDataPick1" ValueType="string" Default=""/>
<Param Name="ToolDataPick2" ValueType="string" Default="- Optional -"/>
<Param Name="WobjDataPick2" ValueType="string" Default="- Optional -"/>
This solution works, but is not so nice since I have to enter all values manualy. In this case I would have liked to be able to retrieve all basic info from the robot.
Then I have a path template that call for the data. e.g.:
<Param Name="Tool Data" Dynamic="True" Expression="![CDATA[('ToolDataPick1')]]"/>
<Param Name="ToolDataPick1" remove="True"/>
<Param Name="Wobj Data" Dynamic="True" Expression="![CDATA[('WobjDataPick1')]]"/>
<Param Name="WobjDataPick1" remove="True"/>
So all in all I have a workable solution, but I still would like to be able to retreive the info from my robot. I'm lazy and I don't like typing and a typo is easely made.
I´m not sure if this will help you but with this option there is no need to use a temp variable to get Wobj or Too information.
In your action try to use the following:
<PARAM name="Tool Nr" dynamic="True" />
this is just what I'm looking for.
However I get an error message when I check the xmls.
I now have no Custonized Motion file and the path template (just for test) looks like this:
<RobotController Name="Abb-Rapid" Version="All">
<Action Name="ParamChangePick1" LocRange="first" Description="Add/change Params">
<Param Name="Tool Data" Dynamic="True">
When I do the check I get this error:
What am I doing wrong?
thanx for the help!
Now with the new released Tecnomatix v14.0 it is supported!
<Action Name="GetRobotToolBase" LocRange="All" Description="" >
<Param Name="Tool Nr" Dynamic="True" />
<Param Name="Base Nr" Dynamic="True" />