To notify you as accurately as possible, the CloudVPN router continuously asks the variables' values from the PLC. The byte order determines how the bytes in a register are translated to a numerical value. The port number will be entered automatically (Port 502 for Siemens S7).Įnter the Modbus server's slave ID and byte order. Leave empty if you're using an CloudVPN Agent. ![]() The identifier ensures that every data source remains unique, even if they share the same name. Enter the requested information (details below) and click on.Click on the Add a service icon in the left menu, select, and then select.Open the Main menu, go to Devices, and select the concerning device.Go to the CloudVPN Portal Fleet Manager app, which is accessible from the Apps menu in the top right corner if you are currently in a different CloudVPN Portal app.This is the protocol that the CloudVPN router will use to communicate with the PLC. You first have to select a communication protocol. This article shows you how to do this for communication via Modbus TCP/IP. This is done by selecting a communication protocol and defining the variables. The Second step in Cloud Notify is setting up a data source. To verify the data packages are received by Pickit: Check for the V icon next to ‘Robot’ in the top bar of the Pickit interface.Please first activate Cloud Notify (or start the 30 day free trial) if you haven't already. Communication will stop again once the current robot program stops. Press Play on the Universal Robots interface, and communication will start. You can see an example in the Robot_camera_calibration program: To start the communication, on the robot you have to select a Pickit example program which contains the Script instructions for Pickit in the BeforeStart section. Starting and verifying communication consists of 3 steps: Start communication variables are copied to the /programs folder in the original subfolders.Īfter the upload is complete, a green “USB” sign shows up. At this moment, all files with extension. ![]() Insert the USB pendrive into the USB port of the robot controllerĪ red “USB” sign appears in the interface, indicating that the upload is in progress. In order to upload these files onto the robot controller, a USB pendrive containing these files has to be used.Ĭopy all files inside the UR_Pickit folder to the root of the Modifying pickit_communication, pickit_functions or Pickit_transformations should only be considered after talking to a Pickit support engineer. The UR_Pickit folder also contains a few folders, each one corresponding to a different Polyscope software version, containing robot programs that use the mentioned ASCII files.Ī list of available functions can be found here: ![]() Urmagic_upload_programs.sh: This program takes care of the automatic uploading of all Pickit related files to the UR controller. Pickit_transformations: This program is responsible for computing the transform of the robot’s end-effector with respect to the reference frame. Pickit_functions: This program defines basic Pickit functions that allow taking Pickit actions via the robot controller. Pickit_communication: This program is responsible for the low level communication between Pickit and the robot. Once unpacked, the UR_Pickit folder contains the following files: The IP address of the robot can not be the same as the IP address of Pickit. Set the IP address of the robot to 169.254.5.182 which is an IP address in the same subnet as the Pickit IP If this setting is kept, the following has to be done on the Universal Robots controller via Setup Robot > Setup Network: To allow communication between Pickit and the Universal Robots controller both must have an IP address in the same subnet.īy default, the Ethernet port on the Pickit processor labeled ROBOT is configured to have the following static IP address: 169.254.5.180 with a subnet mask of 255.255.0.0. The Internet & MODBUS port of the UR controller. This Ethernet cable should be plugged in: The Pickit processor has to be connected to the Universal Robots controller using an Ethernet cable. Setup the network connection Hardware connection
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