Hallo,

ich arbeite mit realvirtual Pro und nutze die Inverse Kinematik, um Roboterpfade zu programmieren. Dabei fällt mir auf, dass ich nach jeder Verschiebung eines Targets mehrfach auf „Set Correction“ klicken muss, da sonst eine erhebliche Abweichung entsteht. Besonders problematisch wird dies, wenn die Abweichung so groß ist, dass das Ziel nicht mehr erreichbar ist.

Liegt der Fehler in meiner kinematischen Kette?

Ich verwende einen KUKA-Roboter, den ich in realvirtual nachgebildet habe. Dazu habe ich die Roboter-Vorlage von realvirtual genutzt und die Achspositionen entsprechend angepasst. Die Positionen habe ich in meinem CAD-Programm gemessen. Anschließend habe ich die Körper hinzugefügt. Das beigefügte Bild zeigt die Abweichung ohne Korrekturdaten.

Was könnten Gründe für die großen Abweichungen sein?

Falls dieses Verhalten normal ist: Gibt es einen Weg den "Set Correction"-Vorgang zu Automatisieren, zum Beispiel mit dem selection-manager? (Habe nämlich bereits gut 100 Targets und es werden mehr werden...)

Viele Grüße,

Nico

Hi,
I am using realvirtual.io pro and Unity version 2022.3.12f1. I received a question from a customer asking if I can perform simulations where Siemens telegrams are used.
Is it possible, and which is the best interface to use for this?
They also mentioned that the speed needs to be less than 4ms. This is all new to me, so I would like your opinion.

Telegrams:

Telegram 1, Frequency converters

Telegram 105, Servos

Telegram 83, Pulse encoders

Telegram 750, Additional Torque Data

How can we prevent a 100% CPU usage, when no plc is connected ?

My setup requires PLC to come in and out of the network, and every time the PLC goes out of the network, the CPU reaches 100% within 2 minutes. 

I want to use a Drive action on a behavior subgraph, but I don't know when and how to instantiate the drive. With drive on the blackboard of the subgraph, the drive will not be instantiated.

maingraph

subgraph

NullReferenceException: Object reference not set to an instance of an object

realvirtual.DriveToAction.OnStart () (at Assets/realvirtual/BehaviorGraph/DriveToAction.cs:27)

I have to override Axis in the main graph to create an instance of the drive:

But this is not what I want. I want to use the subgraph for a specific drive, without telling the subgraph all the time which drive. How can I create it?

I have created a scene based on a prefab by importing a CAD model. I decorated this prefab by adding groups of objects and colliders. Furthermore I created a kinematic structure that references to the groups.

Later on my CAD model had some changes and I wanted to reimport the CAD model. After the reimport all groups and colliders are gone. And I was also not able to undo the reimport ...

Is this how it should work? What workflow should I use to reimport CAD models that prevents loosing groups and colliders?

I'm currently working on a project with a 1518TF-4 CPU which we activated on an IPC. I can establish a connection between Unity and the PLC but the signals then doesn't recieve any values and stay 0 or FALSE.

The signals I need access for are inside a DB. I've created the Signals in the S7 interface by hand and I made sure the address is correct. 
Example of a signal I created:

I also made sure, that all the settings specified here S7 TCP | realvirtual.io are done. So that there's full access and PUT/GET communication is allowed. I tried establishing a connection to signals inside a DB and Q signals. My only goal is to read signals, no need to write them. 

I've tried it with realvirtual 2022.19.6148 and 2022.15.5414. The Unity version I'm using is 2022.3.39. I also tried a simple test siemens project but that also didn't work. 

I know that it already worked at some point last year, but I can't figure out why it doesn't anymore. 

This is what my S7 config looks like: 

I've also tried all kinds of varieties of settings, so different values for max pdu length, with reverse high low bytes and more. 

I don't know if this has any relevance but I did notice that sometimes, when reverse high low bytes is activated, some Bool signals randomly jump between FALSE and TRUE, some Ints sometimes jump to 265 and back to 0 and Floats will do the same to 2.350989E-38.

Does anyone have an idea, why I cannot get the signal values in Unity? I've run out of ideas. 

I'm working on some digital twin of a 6 axis arm robot and would like to use the IK.
I actually have something that's currently working fine, but we've found out that some of the joints are reverse and that one of them needs an offset. However - once I fix all that the IK breaks.
I saw in the documentation that there are some strict limitations.
I just wanted to understand where am I still free to play around, and if it's possible to fix the IK somehow:
1. Can I reverse the joint's direction (the bottom two are fine but the rest need reversing)?
2. Can I add an offset so that when the 3rd joint is at 0 angle the robot will be at 90 degrees?

3. If not - is there some recommended method to convert the values so that they would fit the real values?

Dear Sir/Madam,

When i open the sample demo and i found the demo has became pink color.

I tried to reinstall the unity and it is still the same. 

Can you help to advice on it? Thanks

Hi there,

May I know how do i add box collider on a curve safeguard so that i can ensure my carton box move within the conveyor?

Thanks.

Hello, I have a question. If there are a lot of devices with a lot of IP, the PLC that is not turned on will be reconnected over time, and reconnecting the PLC over time will cause the program to stall, which will greatly affect the use. May I ask how to solve the problem of reconnecting over and over?