Staubli CS& V_TRAJSIG
Staubli CS& V_TRAJSIG
(OP)
Checking thread277-123312, Whats the Current Status of the Offline V_TRAJSIG Software, Current Applications now have V_PAINT a graphical interface which helps with the the parameter file of speeds and segment types, the file managments of trajectoires etc.. I belive this could be done better via a Serial commands on aPC on the Serial Line





RE: Staubli CS& V_TRAJSIG
I think I saw something on the Staubli website about a "VAL_TRAJSIG" application. But the path capability of the TX/CS8/VAL3 robot system is so good, what's the point?
TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering
www.bluetechnik.com
RE: Staubli CS& V_TRAJSIG
The main reason is to try and update Staubli systems using old Vtrajsig, it requires a lot of re-editing of the parameter program per Trajectory for custom speed Etc..
Remember how VTRAJSIG started out, A PC connected to a Puma 700 and calculated a point every 2 mm.
RE: Staubli CS& V_TRAJSIG
The only 3rd-Party user interface for V_TRAJSIG that I ever saw was RELIABOT from SHAFI Inc. But they are out of business now. Again, Staubli & V+ don't exist anymore, so SHAFI probably wouldn't support it either. It was a bit clunky, anyway.
But the bigger issue here is the window of support for Staubli V+ robots is rapidly closing. Those are obsolete arms and the day is coming when you'll no longer be able to get parts or support for them. You should consider upgrading.
TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering
www.bluetechnik.com
RE: Staubli CS& V_TRAJSIG
COSIMIR, EASY-ROB, seems a possible as they output V+ Code. VISUAL COMPONANTS outputs their own style of code, which can then be proproceeced in to any code, and for me it could be VAL2,V+ or the Kawasaki AS
RE: Staubli CS& V_TRAJSIG
(1) Select CAD entities to define a path
(2) Create a robot path with your desired path point spacing.
(3) Normally the output is Cartesian point data in the particular robot's native format. Is also a simple matter to output joint angles for each corresponding Cartesian point.
(4) Generates a delimited text file of joint angles for most 6-axis robots.
(5) Build your app from this data.
Learn more from www.robotworks-eu.com.
TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering
www.bluetechnik.com
RE: Staubli CS& V_TRAJSIG
RE: Staubli CS& V_TRAJSIG
I am rebuilding one and I have it about 95% done. I have collected an impressive set of college and even high school project reports because they all had some tidbit of technical data about the system.
Is there anyone out there who is familiar with the 506C and the CS4-SB controller?
Specifically I am working through a repair/replacement of the 5 ¼ floppy drive unit right now. 3D path control and the Alter/Supervisor interfaces were next on the list.
I will eventually begin upgrades but not before I get this working in 'vintage' condition and the document – document – document.....
Thanks
-Mike
RE: Staubli CS& V_TRAJSIG
RE: Staubli CS& V_TRAJSIG
If you would be willing to share some source code I could translate the VB6 to vb.net
Looking over my captured conversations I have decoded this much by hand. As you can see I am still trying to get the protocol together. If you can not send the source code, a secret decoder ring for this number jumble would be fantastic also.
(Puma was recorded in Decimal, Floppy in Hex. It helped me separate the two)
Puma:
d001 (SOH) <- LSI-11 asks for "VALI.I.560C"
d079 O
d086 V
d065 A
d076 L
d073 I
d046 .
d073 I
d046 .
d053 5
d054 6
d048 0
d067 C
d004 (EOT)
Floppy:
%10 (DLE) <- floppy sends some sort of ACK
Puma:
001 (SOH) <- LSI-11 sends what appears to be "READY"
082 R
004 (EOT)
Floppy:
%10 (DLE) <- floppy begins it's dump
%02 (STX) <- These three bytes are
%01 (SOH) <- always the same
%00
%08 Number of Bytes in packet?. Packets limited to 254?
%00
%EA ?
%F4 ?
%80 Somewhere in here I think there is a Checksum or other file information.
%01 ?
%98 ?
Every packet has 259 bytes including the (DLE STX SOH) header
The ones with less than 254 bytes are padded with zeros.
%00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 %00 < - - - Every packet ENDS with 2 zero bytes.
(First 2 packets are 8 bytes but one capture has a 4 byte 2nd packet.
Puma:
001
082
004
F:
%10
%02
%01
%00
%08 Again 8 bytes...
%00
%CA
%F4 ...and some more mystery numbers...
%06
%7F
%B4
----Trailing zeros left off---
(This next block appears to be the first packet of actual data
the 5th byte is FE (254) that happens to be the number
of data bytes that are in the packet after the 5th byte
Including the 2 trailing zeros.
Bytes 7 and 8 (00 A0 in this packet) increment by 248
with each packet. If That means that 248 bytes of data
Are transferred then 6 bytes are not part of the data.
If the trailing zeros are 2 of said total,
Byte locations 7 and 8 are another 2,
then Bytes 9 and 10 - - OR - -
bytes 251 and 252 must make up some sort of checksum.
I tried CRC-16, 2s complement and just rolling 8 bit. But
I have not found a match yet.
This is the entire packet so it should math-magic-ly solve to a checksum that is
contained in the packet... some-how...some-where...
Puma:
001
082
004
F:
%10
%02
%01
%00
%FE
%00
%00
%A0
%5F %00 %18 %00 %EE %9C %00 %00 %48 %2C %3A %52 %37 %03 %B4 %03 %C0 %03 %31 %04 %A1 %04 %80 %05 %DF %45 %01 %00 %4E %F5 %F7 %15 %82 %00 %DE %FF %DF %55 %01 %00 %4E %F5 %C5 %15 %9A %99 %40 %9F %0A %00 %C0 %0A %C0 %45 %E0 %FF %17 %20 %1A %00 %02 %05 %C0 %E5 %1A %00 %17 %74 %02 %00 %C0 %65 %74 %80 %0A %01 %42 %1C %0A %00 %43 %1D %0A %00 %8B %A4 %02 %02 %D3 %8B %FC %02 %04 %06 %40 %10 %01 %1C %04 %00 %F3 %02 %70 %11 %04 %00 %70 %11 %06 %00 %40 %1D %04 %00 %75 %10 %04 %00 %75 %10 %06 %00 %05 %10 %D8 %02 %77 %00 %00 %00 %DF %55 %01 %00 %4E %F5 %E6 %15 %0C %00 %6E %88 %56 %88 %C0 %15 %C8 %56 %C1 %15 %2C %80 %C3 %15 %12 %00 %50 %14 %C2 %7E %C0 %15 %EC %56 %C1 %15 %39 %00 %10 %0A %42 %7E %37 %0A %C8 %5F %08 %88 %37 %10 %48 %53 %C1 %15 %48 %63 %C1 %E5 %00 %37 %57 %74 %FA %FF %40 %E0 %17 %74 %FC %FF %80 %0A %80 %0C %37 %10 %30 %53 %68 %88 %37 %10 %2C %53 %08 %03 %C0 %E5 %00 %06 %17 %74 %FC %FF %80 %0A %80 %0C %37 %60 %18 %53 %F7 %09 %98 %84 %F7 %09 %64 %02 %F7 %27 %00 %00 %D4 %9B %0E %03 %DC %00 %00
(Here is the start of the next few packets
just to confirm that the 7 and 8 bits
count up by (F8) 248.
%10 %02 %01 %00 %FE %00 [%F8 %A0] %F7 %09
%10 %02 %01 %00 %FE %00 [%F0 %A1] %F7 %09
%10 %02 %01 %00 %FE %00 [%E8 %A2] %02 %03
%10 %02 %01 %00 %FE %00 [%E0 %A3] %37 %8A
%10 %02 %01 %00 %FE %00 [%D8 %A4] %4A %63
%10 %02 %01 %00 %FE %00 [%D0 %A5] %85 %15
%10 %02 %01 %00 %FE %00 [%C8 %A6] %F0 %0B
%10 %02 %01 %00 %FE %00 [%C0 %A7] %8B %20
%10 %02 %01 %00 %FE %00 [%B8 %A8] %06 %00
%10 %02 %01 %00 %FE %00 [%B0 %A9] %08 %00
Thanks
Mike@theatronics.com
RE: Staubli CS& V_TRAJSIG
I then worked on my own graphic user friendly version used in welding and grinding for big turbines repair and machining for the shoe industry. Absolutely same version can be connected to PUMA Val II robots, STAUBLI V+ robots and FANUC KAREL robots, of course with different performances
At that time it ran on Dos 6 based PC machines , more than 120 robots worldwide used it.
I started to port it to Windows, I reached 90% of the development, but seeing no market, I stopped and retired.
I'm open to reactivate this project if needed.
Alain Riaud
alain.riaud@ieee.org
RE: Staubli CS& V_TRAJSIG
RE: Staubli CS& V_TRAJSIG