pshell_config/mxsc
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gac-S_Changer
2017-03-22 16:36:55 +01:00
parent 68f1febe24
commit ffdaed047b
4 changed files with 19 additions and 11 deletions
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2
robot/MXLAB/Controller1/usr/configs/cell.cfx
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@@ -54,7 +54,7 @@
<Bool name="parkCheckInAutoMode" value="false" />
<String name="robotName" value="" />
<autoStart name="" location="" />
<String name="initWorkingMode" value="manual" />
<String name="initWorkingMode" value="local" />
<CellDynamicParams>
<VectCart name="gravity" x="0" y="0" z="-9.81" />
</CellDynamicParams>

2
robot/MXLAB/Controller1/usr/configs/controller.cfx
View File

@@ -33,5 +33,5 @@
<Float name="powerShutdownDelay" value="-1" />
<String name="standardFiles" value="" />
<Float name="lliCycleTime" value="-1" />
<Float name="powerHourCount" value="1.501997" />
<Float name="powerHourCount" value="2.001822" />
</controller>

1
robot/MXLAB/MXLAB.cell
View File

@@ -1,4 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<Cell xmlns="http://www.staubli.com/robotics/cell/1">
<File path="Controller1\Controller1.controller" />
<File path="CAD\MXLAB.kxml" />
</Cell>

25
script/RobotSC.py
View File

@@ -1,5 +1,7 @@
run("RobotTCP")
simulation = True
class RobotSC(RobotTCP):
def mount(self, puck, sample):
return self.execute('mount', puck, sample)
@@ -16,21 +18,26 @@ class RobotSC(RobotTCP):
#print "EVT: " + ev
pass
def doUpdate(self):
start = time.time()
RobotTCP.doUpdate(self)
if self.state != State.Offline:
self.get_joint_forces()
for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]:
dev.update()
def doUpdate(self):
#start = time.time()
global simulation
if (!simulation):
RobotTCP.doUpdate(self)
if self.state != State.Offline:
self.get_joint_forces()
for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]:
dev.update()
#print time.time() -start
add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
add_device(RobotSC("robotemulator","129.129.126.174:851"),force = False)
if simulation:
add_device(RobotSC("robot","129.129.126.174:851"),force = True)
else:
add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
robot.setPolling(20)
#robot.set_monitor_speed(20)