Q: How should we configure EGM on the controller?

[nqyy]

This is an amazing library. How can we configure EGM correctly on the controller? I'm using a virtual controller on RobotStudio with robotware version 7.x

Thanks!

[FLo-ABB]

Add the EGM option on the controller and be sure UDP UC is enabled on the private network:

[nqyy]

Thanks a lot!

Another question, I was trying the rapid code from example_pose_guidance.py.

MODULE MainModule
    VAR egmident egmID1;
    VAR egmstate egmSt1;
    CONST pose pose0:=[[0,0,0],[1,0,0,0]];
    CONST egm_minmax egm_minmax_lin:=[-1E-9,+1E-9];

    PROC main()
        VAR robtarget pNow;
        pNow:=CRobT();
        ! Before EGM guidance, the robot has to stop on a fine point
        MoveL pNow,v1000,fine,tool0\WObj:=wobj0;
        EGMReset egmID1;
        EGMGetId egmID1;
        egmSt1:=EGMGetState(egmID1);
        IF egmSt1<=EGM_STATE_CONNECTED THEN
            EGMSetupUC ROB_1,egmID1,"default","UCdevice"\pose;
        ENDIF
        EGMActPose egmID1\StreamStart\Tool:=tool0\WObj:=wobj0\DOToSensor:=doEGM\DIFromSensor:=diEGM,pose0,EGM_FRAME_WOBJ,pose0,EGM_FRAME_WOBJ\X:=egm_minmax_lin\Y:=egm_minmax_lin\MaxSpeedDeviation:=4000;
        EGMRunPose egmID1,EGM_STOP_HOLD\NoWaitCond\x\y\RampInTime:=0.05;
        WaitDI diEGM,high;
        EGMStop egmID1,EGM_STOP_HOLD;
    ENDPROC
ENDMODULE

It looks like there's an error from diEGM and doEGM, saying identifier not found.

Here's the exact error when I ran it: CRB15000_5_95/RAPID/T_ROB1/MainModule(18,75): Reference error(128): Reference to unknown entire data doEGM. 3/2/2025 8:02:38 PM General

Appreciate any input here!

[FLo-ABB]

You need to create these signals : configuration -> IO System -> Signal -> Right click (create signal)