12-15-2009 12:58 PM
I tried posting this subject yesterday, but it never showed up, so I'll repost. I'm beginning an R&D project to integrate and automate certain robot manufacturing operations. I would like to use LabVIEW to develop the core of the application. Before I purchase a robot, I would like to use my application to drive a robot simulator. Can I use an application developed using the ImagingLab Robotics Library for Denso to drive a Denso robot simulator (such as the Denso WINCAPS III.)
12-16-2009 08:19 AM
You can directly drive the robot via the toolkit in LabVIEW. If you had WinCAPS III running during that process (multi users can connect to a DENSO controller using Multi IP under the comm settings), you could watch it in simulation. You might be able to 'machine lock' (quite literally a button on the teach pendant 'LOCK') the robot, and then, while WinCAPS III is connected you could drive the robot in simulation only. Please note I have never tested it in this way.
12-16-2009 09:34 AM
Good call! I tested what you suggested this morning and it worked like a charm. The one thing to note is that when enabling the machine lock, do not use the 'Servo On-Off' VI because if machine lock is on and you try to turn power onto the robot, that VI will output error 9001, which simply says to disable machine lock.
12-16-2009 02:14 PM
Is it possible to disconnect the robot (I assume it is just an ethernet connection), leave the simulator connected and set something in one of the Denso VIs to make it think the robot is online and thereby drive only the simulator?
12-16-2009 03:03 PM
The link between LabVIEW and the robot is ehternet, you are correct. That links LabVIEW to the robot controller, and then we have a set of specialized cables to connect the controller to the arm. Anytime a DENSO controller is powered up w/o an arm, it will give a set of errors. We can use the same 'LOCK' to let the robot controller know we aren't looking for feedback from the arm. Now, we can clear those errors and navigate thru the DENSO teaching pendant and gather information about the system, make changes, etc... Normally, we'd do this for diagnosis/repair when the system is damaged.
With the arm not attached, we can still have the controller run programs and see them in simulation via WinCAPS (in the "DENSO" world). Your question, if I'm not mistaken, is can LabVIEW do exactly that?
Carlton, I'm not sure if RobSlave will like it if the arm isn't even attacahed. But, you can do essentially the same thing you did this AM with the arm attached and locked, but this time with the primary Motor/Encoder cable disconnected to the arm (make sure system is powered down for at least several seconds before you disconnect/connect this cable). Give me a call if you want and I'll take you thru the process. (my system here is currently in use or I'd try it myself!!)
12-16-2009 04:00 PM
No need to go thru and try this w/o the arm. I believe it will work. However, I just spoke w/Peter at DENSO, who just spoke w/Pat. The end result is you need a controller to do the simulation (but not the arm).
12-16-2009 04:12 PM