Create WCI using Workcell Item Writer.
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WCI can be newly created, or existing WCI can be modified.
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Create new WCI: Add New
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Modify existing WCI: Check one of existing WCI → Edit
Write and modify WCI (General Info)
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Select WCI Category.EndEffector → Gripper
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Enter WCI Name and Description in WCI Info.Modbus_TCPModbus TCP gripper
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Enter the name or Language Code of WCI in Multi-language input field (The name written here will appear on teach pendant).Choose: (none)Enter: Modbus_gripper
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Select WCI icon.gripper
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Enter WCI version.0.1
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Select Visibility Type.Internal
Write and modify WCI (Workcell Item Setting)
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Workcell I/O Component: Communication Component
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DRL Component: Component that writes the functions of WCI Action
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UI Component: Component that provides user input connection function
Workcell I/O Component
1. Add Modbus TCP in Communication Component and enter the Property values as follows.
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IP Adress : 192.168.137.253
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Port Number : 502
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Slave ID : 255
2. Add Output Signal and enter the Property values as follows.
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Write Signal Name : ctrlword
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Signal Type : Write Multiple Registers
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Signal Address Index : 2049
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Signal Initial Value : 0
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Custom Data : 0,0,0,0
3. Add Input Signal and enter the Property values as follows.
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Write Signal Name : statusword
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Signal Type : Red Registers
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Signal Address Index : 1
DRL Component
1. Mandatory WCI Action: Set up essential functions related to WCI.
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Gripper → Grasp
def Grasp():
# get gripper status, split and return the 2,1,0 bit of first byte of the status word .
# 0(0b xxxx.x000): Error
# 1(0b xxxx.x001): Out of specification
# 2(0b xxxx.x010): Maintenace required
# 3(0b xxxx.x011): Ready for operation (= there is no error)
def get_gripper_status(_status_bin):
_status_bin_list = []
for n in _status_bin:
tp_log("pos SW002: " + str(bin(n)[2:]))
_status_bin_list.append(bin(n)[2:])
status_bin_buf = _status_bin_list[0][5:8]
status_bin2int = int(status_bin_buf, 2)
return status_bin2int
set_modbus_output_multi("ctrlword",[int('0000010000000000',2),int('0000001100000000',2),0,0])
wait(0.1)
set_modbus_output_multi("ctrlword",[int('1000010000000000',2),int('0000001100000000',2),0,0]) #grasp
wait(2)
status = get_modbus_input_multi("statusword") #StatusWord
#tp_log("pos SW002: " + str(status))
now_gripper_status = get_gripper_status(status)
tp_log("gripper_status: " + str(now_gripper_status))
while True:
if now_gripper_status == 3:
break
else:
tp_popup("Error: Wrong gripper status!, (CW, 512)", DR_PM_MESSAGE)
2. Mandatory WCI Action: Set up essential functions related to WCI.
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Gripper → Release
def Release():
# get gripper status, split and return the 2,1,0 bit of first byte of the status word .
# 0(0b xxxx.x000): Error
# 1(0b xxxx.x001): Out of specification
# 2(0b xxxx.x010): Maintenace required
# 3(0b xxxx.x011): Ready for operation (= there is no error)
def get_gripper_status(_status_bin):
_status_bin_list = []
for n in _status_bin:
tp_log("pos SW002: " + str(bin(n)[2:]))
_status_bin_list.append(bin(n)[2:])
status_bin_buf = _status_bin_list[0][5:8]
status_bin2int = int(status_bin_buf, 2)
return status_bin2int
set_modbus_output_multi("ctrlword",[int('0000010000000001',2),int('0000001100000000',2),0,0])
wait(0.1)
set_modbus_output_multi("ctrlword",[int('1000010000000001',2),int('0000001100000000',2),0,0]) #release
wait(2)
status = get_modbus_input_multi("statusword") #StatusWord
now_gripper_status = get_gripper_status(status)
tp_log("gripper_status: " + str(now_gripper_status))
while True:
if now_gripper_status == 3:
break
else:
tp_popup("Error: Wrong gripper status!, (CW, 512)", DR_PM_MESSAGE)
3. User Defined WCI Action: Optional functions related to WCI can be added.
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Init_comm_gripper
def init_comm_gripper():
# Initialize Acknowledging,Referencing,Position words
set_modbus_output_multi("ctrlword",[int('0000000100000000',2),0,0,0]) #00 00 00 01 00 00 00 00
wait(0.05)
set_modbus_output_multi("ctrlword",[int('1000000100000000',2),0,0,0]) #10 00 00 01 00 00 00 00
wait(0.05)
set_modbus_output_multi("ctrlword",[int('0000001000000000',2),0,0,0]) #00 00 00 10 00 00 00 00
wait(0.05)
set_modbus_output_multi("ctrlword",[int('1000001000000000',2),0,0,0]) #10 00 00 10 00 00 00 00
wait(0.05)
set_modbus_output_multi("ctrlword",[int('0000010000000000',2),int('0000000000000000',2),0,0])
wait(0.1)
set_modbus_output_multi("ctrlword",[int('1000010000000000',2),int('0000000000000000',2),0,0])
wait(2)
set_modbus_output_multi("ctrlword",[int('0000010000000001',2),int('0000000000000000',2),0,0])
wait(0.1)
set_modbus_output_multi("ctrlword",[int('1000010000000001',2),int('0000000000000000',2),0,0])
wait(2)
status = get_modbus_input_multi("statusword") #StatusWord
tp_log("log SW: " + str(status))
UI Component
Add Line Edit in UI Component and enter the Property values as follows.
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Component Name : Wait Time
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Component Label Name : Wait Time
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Default Value : 0.5
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Value Type : Double
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Double Range
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Min Value : 0
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Max Value : 10000
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Value Type: SI Unit
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Unit Type: Second
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Variable Name
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Component sub-variable name : waitTime
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The following UI Components can be used as user input.
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Label
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Text Edit
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Toggle Switch
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Radio Button
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Button – Define DRL
The following DRL Components can be used
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Global Variable
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Global Function
Write and modify WCI (Workcell Item Setting)
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Save WCI → Confirm
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WCI list can be checked as follows.
