This chapter will allow you to enable the communication between the Simuamtik Gateway and RoboDK, including robot axis data and I/O signals.
The first step is to create a new project by opening RoboDK and then load a robot by clicking the World icon button and picking the previously mentioned robot by clicking on the Download button.
Next, we can proceed to rename the robot by double-clicking in the robot icon and typing the new name. In this example, it has been called "Robot".
The Name property must be the same as in Simumatik's robot_controller component, being "Robot" the default one
Robot axis data is automatically exchanged. The following steps are only needed for the I/O signals.
Next, let’s create the different I/O variables. To do so, you can right-click on the project, called in this case New Station (1), and choose the option Station parameters.
In this case, 1 byte for the inputs and 1 byte for the outputs are going to be created. Therefore, 16 variables (8 input bits and 8 output bits) need to be created by clicking the Add button. In the following screenshot, 2 inputs and 2 inputs variables are added as an example.
There must be as many variables as individual bit for the selected I/O bytes
In RoboDK, bits can not be directly map every to a byte, so variables for the proper I/O bytes must be created. These variables are the ones that will be exchanged with Simumatik.
The Name property must be the same as in Simumatik's robot_controller component, being "inputs" and "outputs" the default ones.
You can have as many I/O bytes as you want.
In order to map these bits to their bytes variables, a Python script is used. Therefore, the next step is to create a new script in by left-clicking the Python button in the main bar as shown below.
Once created, right-click it and click on Edit Python script. This will open a lateral window on the right side with an example code.
Now let’s remove all the code, and then write-down the code of the screenshot below. This code will convert the individual bits to the resulting decimal number and save it in the outputs variable. For the inputs variable, the opposite operation is performed.
from robolink import * # RoboDK API from robodk import * # Robot toolbox RDK = Robolink() while True: inputs = int(RDK.getParam('inputs')) in0 = 1 if inputs & 1 else 0 in1 = 1 if inputs & 2 else 0 in2 = 1 if inputs & 4 else 0 in3 = 1 if inputs & 8 else 0 in4 = 1 if inputs & 16 else 0 in5 = 1 if inputs & 32 else 0 in6 = 1 if inputs & 64 else 0 in7 = 1 if inputs & 128 else 0 RDK.setParam('in0', in0) RDK.setParam('in1', in1) RDK.setParam('in2', in2) RDK.setParam('in3', in3) RDK.setParam('in4', in4) RDK.setParam('in5', in5) RDK.setParam('in6', in6) RDK.setParam('in7', in7) outputs = 0 outputs += RDK.getParam('out0') * 1 outputs += RDK.getParam('out1') * 2 outputs += RDK.getParam('out2') * 4 outputs += RDK.getParam('out3') * 8 outputs += RDK.getParam('out4') * 16 outputs += RDK.getParam('out5') * 32 outputs += RDK.getParam('out6') * 64 outputs += RDK.getParam('out7') * 128 RDK.setParam('outputs', outputs)
Use the same names in the script as the variables declared in the previous steps. If you use more bytes, more logic will need to be added to the script.
Finally, double-click on the Python script, called by default Prog1 to start it. It will now remain running in the background updating the values of every I/O signal. Always check that the script is running when connecting RoboDK to Simumatik, otherwise, the I/O signals will not be updated.
If your Simumatik system is not working as expected, double check that the script is running. Otherwise, the bits will not be updated.