How to do 24v output for RC8 robot controller from ROS

[yo4hi6o]

Currently, we are thinking of using a hand that controls the solenoid valve and operates the air chuck.

The controller uses RC8. The model number is VS050A3-AV6-NNN-NNNAN-NNNN. Looking at the manual, it seems that it can be output from pin 17 of Hand I/O, but could you tell me how to output using ROS?

[DensoWaveRobot]

Pin17 of hand I/O is + common output. Please use terminal No.1-8. No.1-8 are connected with IO variable[64-71]. https://www.fa-manuals.denso-wave.com/en/usermanuals/005274/

You can operate IO Port or contoroller variable using bcapservice node.

Following sample is for operating P Variable 1.Do the follows ubuntu@roslaunch denso_robot_bringup sim:=false ip_address:=<ROBOT's IP Address> 2.Do the follows on new terminal ubuntu@roslaunch bcap_service bcap_service.launch ip_address:=<ROBOT's IP Address> 3.Do the follows on new terminal ubuntu@rosservice call /bcap_service '{func_id: 3, vntArgs: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }' 4."controller handle" is returned as follows HRESULT: 0 vntRet: vt: 19 value: "controller handle" 5.Getting P[0] variable handle ubuntu@rosservice call /bcap_service '{func_id: 9, vntArgs: [{vt: 3, value: ""}, {vt: 8, value: "P0"}, {vt: 8, value: ""}] }' 6."Variable handle" is returned as follows HRESULT: 0 vntRet: vt: 103 value: "" 7.Reading P[0] Value ubuntu@rosservice call /bcap_service '{func_id: 101, vntArgs: [{vt: 3, value: ""}] }' 8.Writing P[0] Value ubuntu@rosservice call /bcap_service '{func_id: 102, vntArgs: [{vt: 3, value: ""}, {vt: 8195, value: "100,-44.5,100,180,0,180"}] }'

Various operations are available with bcapservice. Please refer this documentation in your ORiN installed folder. "C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC8\Doc\b-CAP_Guide_RC8_en.pdf"

[yo4hi6o]

@DensoWaveRobot

Thank you very much. I'll try. I'll report back here on the situation.

[yo4hi6o]

@DensoWaveRobot As a result of following the procedure, an error occurred stating that it cannot be executed in slave mode. The timing at which an error is detected occurs during writing. the procedure is

1

rosservice call /bcap_service '{func_id: 3, vntArgs: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }'
HRESULT: 0
vntRet: 
  vt: 19
  value: "152"

2

rosservice call /bcap_service '{func_id: 9, vntArgs: [{vt: 3, value: "152"}, {vt: 8, value: "P0"}, {vt: 8, value: ""}] }'  
HRESULT: 0
vntRet: 
  vt: 19
  value: "153"

3

rosservice call /bcap_service '{func_id: 101, vntArgs: [{vt: 3, value: "153"}] }'
HRESULT: 0
vntRet: 
  vt: 8196
  value: "244.7381,-37.75574,688.9542,-0.9151886,-14.48771,0.1397858,5"

4

rosservice call /bcap_service '{func_id: 102, vntArgs: [{vt: 3, value: "153"}, {vt: 8196, value: "100,-44.5,100,180,0,180"}] }'
HRESULT: -2091904974
vntRet: 
  vt: 0

After this the following error occurs.

[ERROR] [1662612121.404709305]: Failed to write (80000900)
[ERROR] [1662612121.425164998]: Automatically change to normal mode.
[ERROR] [1662612121.495696391]:   [2] スレーブモードでは実行できません。 (83501032)
[ERROR] [1662612121.496659186]:   [1] スレーブモードでない時にSlvMoveコマンドを実行しました。 (83500121)

I am operating vs050a3 using slave mode via ROS, but is it not possible to perform write operations in slave mode? Thank you.

[yo4hi6o]

An issue was raised here. Change to normal mode and try again. I will also direct the situation here.than kyou.

[yo4hi6o]

For the time being, I have completed the hand I/O operation by terminal operation, so I will fill it in.

// T1
roslaunch bcap_service bcap_service.launch 

// T2

//  1. Controller Connect & Get Controller Handle

rosservice call /bcap_service '{func_id: 3, vntArgs: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }'
HRESULT: 0
vntRet: 
  vt: 19
  value: "controller handle "

// 2. Get Variable Handle

rosservice call /bcap_service '{func_id: 9, vntArgs: [{vt: 3, value: "controller handle ""}, {vt: 8, value: "IO064"}, {vt: 8, value: ""}] }'  
HRESULT: 0
vntRet: 
  vt: 19
  value: "valiable handle"

// 3. Get Valiable

rosservice call /bcap_service '{func_id: 101, vntArgs: [{vt: 3, value: "variable handle"}] }'                     
HRESULT: 0
vntRet: 
  vt: 11
  value: "0"

// 4. Put Valiable

rosservice call /bcap_service '{func_id: 102, vntArgs: [{vt: 3, value: "variable handle"}, {vt: 4, value: "1"}] }'  
HRESULT: 0
vntRet: 
  vt: 0
  value: ''

[DENSO-FASupport]

Dear @yo4hi6o san, Thank you for using the DENSO Robot.

I was wondering if I could be of further assistance to you regarding what you were discussing the other day. If the issue has been resolved by here, could you close this issue? I'm sorry to trouble you, but I appreciate your cooperation. Thank you very much!