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Path Template with variable Tool Name and WorkObject

Hello,


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:

 

<RoboticParams>
<Param Name="Tool2" ValueType="TxObject" Default="">
<PickTypes ShowList="True">
<PickType>Tx???????????</PickType>
</PickTypes>
</Param>
</RoboticParams>

 

I've tried to fill in several names for Tx??????????? , but none seemd to work

 

Anybody managed to do this or has an idea??

 

Thanx

8 REPLIES

Re: Path Template with variable Tool Name and WorkObject

Genius
Genius

Hello

 

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? 

 

Regards

 

 

 

Re: Path Template with variable Tool Name and WorkObject

Siemens Legend Siemens Legend
Siemens Legend

Hi,

 

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. 

 

 

Best regards

Patrick

Re: Path Template with variable Tool Name and WorkObject

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="ToolDataPick1"/>
          <Param Name="Tool Data" Dynamic="True" Expression="![CDATA[('ToolDataPick1')]]"/>
          <Param Name="ToolDataPick1" remove="True"/>
          <Param Name="WobjDataPick1"/>
          <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.

 

Re: Path Template with variable Tool Name and WorkObject

Siemens Legend Siemens Legend
Siemens Legend

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.
&nbsp;
In your action try to use the following:
<PARAM name="Tool Nr" dynamic="True" />


Best regards
Patrick</OBJECT>

Re: Path Template with variable Tool Name and WorkObject

Hello Patrick,

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">
    <ActionList>

        <Action Name="ParamChangePick1" LocRange="first" Description="Add/change Params">
            <Param Name="Tool Data" Dynamic="True">
                    <ComboDef LinkTo="Robot.Frames"/>
            </Param>
        </Action>

    </ActionList>
</RobotController>

 

When I do the check I get this error:

 

 

2017-08-16_12-36-51.jpg

What am I doing wrong?

 

thanx for the help!

Re: Path Template with variable Tool Name and WorkObject

Siemens Legend Siemens Legend
Siemens Legend
Hi,

Sorry this was my fault.
This function not supported in your version or any other currently released version.

Best regards
Patrick

Re: Path Template with variable Tool Name and WorkObject

OK, thanks anyway.

I can do with what I have now.

 

If it wil be supported please let us know.Smiley Very Happy

Re: Path Template with variable Tool Name and WorkObject

Siemens Legend Siemens Legend
Siemens Legend

FYI.

 

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" />
 </Action>

 

 

Best regards

Patrick