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Go to Task Builder
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Create a new task
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Make sure that the RTU 7th Axis Range Extender is properly connected from the MachineMotion to the Cobot Doosan controller Ethernet HUB using an ethernet cable.
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In the command, tab lookup for "custom code"
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Add two CustomCode commands blocks
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One of them has to be next to the GlobalVariables and before the MainSub (this will open the socket IP)
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You can add as many CustomCodes as needed in your task to move the RTU.
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Select the first Custome code to paste the code to open the socket
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Go to the property tab, select script file, and then click on the maximize icon
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Copy and paste this script. You can also import the file.
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Make sure to set the correct IP address and port.
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Click on confirm to save the changes
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Add a CustomCode command
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Go to the property tab and select Script file
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Copy and paste this script. You can also import the file.
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Then click on confirm to save the changes
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Make sure to set the correct IP address and port in the script.
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Make sure to home the RTU every time after powering up or E-Stop the Vention system.
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Go to the Play tab, enable real mode, and run the script.
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Add a CustomCode command in the part of the task that you need.
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Go to the property tab and select Script file
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Copy and paste this script. You can also import the file.
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Then click on confirm to save the changes
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Make sure to set the correct IP address and port in the script
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RTU has to be homed before proceeding to the next step.
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Change the value RTU_distance="700" to the designated position.
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Go to the Play tab, enable real mode, and run the script.
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