Two Robot Targets

[PhantomStaubli]

Robot Targets

Can you please the simplest example?

[visose]

You can use simple digital input and output signals for this.
Lets say you want robot A to move to a particular target, and when it reaches that target robot B then starts moving.
Connect a digital output from robot A to a digital input in robot B.
In robot B create a program where a target will have a WaitDI command. When you run this program after the robot reaches this target it will start waiting until a signal is received before continuing the program.
In robot A create a program with a target that has a SetDO command. When you run this program and the robot reaches that target it will turn on the signal which will cause robot B to start moving.
This is the simplest example.

[PhantomStaubli]

[visose]

No, it's much more simple than that. This is out of the scope of this plugin, but should be easy to Google.

[PhantomStaubli]

I found the physical requirements for the time-based synchronization...

But for the Robots Plugin to work, do I need to add an "Init Command" to the Input of the "Create Program" component?

or would I just need to add a "Set DO" component (DO = 1, Value = 1) to the input of the "Command" in the Create Target of Robot A (master/server) and "Wait DI" component (DI = 1) to the input of the "Command" in the Create Target of Robot B (slave/client)?

Thanks in advance for your time spent. :-)

[PhantomStaubli]

I'd appreciate a short update on this. I have had no success running the input commands for the DO and Wait DI. Do I need to modify the XML for the specific robot I am using such as below? If so, how about GH components? I appreciate if you could share the plugin info.

</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO></RobotSystem>

[visose]

The signal names should match the ones in the controller. See the Bartlett library for examples of Staublis with the default names.

[PhantomStaubli]

[visose]

The xml data should match the controller data. Don't change the xml if you are not changing the robot base in the controller, etc.

[PhantomStaubli]

[visose]

There's no Base component. Maybe you mean the Base input of the Load RobotSystem component. This input is a Plane parameter which has a position and rotation.

[PhantomStaubli]

[visose]

Can you take another picture of the pendant screen expanding the +DInputs and +Douputs? Also share the xml of the robot library you are using.
My guess is the IO names in the xml are not correct.

[PhantomStaubli]

[PhantomStaubli]

[PhantomStaubli]

[PhantomStaubli]

[visose]

The IO's in the xml seem correct based on the screenshots, but I think the error you posted is from a different program that the one you attached above.

[visose]

I think you can also use the name in parenthesis at the right, like bOut0
Consider also if the signal is inverted, so false will be true and viceversa.

[PhantomStaubli]

[PhantomStaubli]

link to the program here. https://www.dropbox.com/scl/fo/szsmh69a9qeoicfjl1953/h?rlkey=q4hpk7q2081oh5zylhcao9ncq&dl=0

[visose]

Can you attach the grasshopper file that generates a program that causes the error you posted previously?

[visose]

Now, how do I change the program component to spit out 0-15 instead of the entire IO names (e.g. BasicIO-1%Q1)?

Edit the xml and just rename the IO names to "0,1,2,3,4". But there was probably a reason it was set up like that.

[PhantomStaubli]

Did you have a chance to see the GH? I got stuck here.

[PhantomStaubli]

[visose]

There would be little value to change the code of this plugin for this. You can write VAL3 code and optionally a separate script (in C#, Python, etc) to communicate with the robot. If you still want to integrate the VAL3 part with the program autogenerated from this plugin you can use the Custom Command and/or Custom Program components.

[visose]

If I was you, I would edit the generated code using components to change/replace text to add the links to sio, and feed the modified code to the Custom Code component. Then use the Custom Command to add VAL3 code on specific targets.

[visose]

Use the multifile input of the Create Program component to split into more files.

[PhantomStaubli]

It will create a separate code file per integers but gives error for Strings. Is there a way to modify the indexes with custom names (e.g. 0_init.pgx, 1_io.pgx...etc)?

[PhantomStaubli]

[visose]

Closing this long thread with the consolidated answer. For simple two-robot synchronization, use controller IO: one robot sends SetDO, the other waits with WaitDI, and the IO names in the XML must match the controller or use useControllerNumbering="true" on the IO element. PulseDO is not implemented for Staubli, so use SetDO plus Wait commands. Multi-File Indices accept integer split points only; custom output file names are not supported by that input. For socket/serial communication or VAL3-specific setup, use Custom Command/Custom Code or a separate script outside the built-in command set.