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Recently, a new pit was opened, because of the need for experiments, heavy-duty robots are needed.
But unfortunately, Brother Cheng, a 500kg KUKA robot in the laboratory, is doing development, and the development completion time is far away. . .
So I had no choice but to pick up Gugao's robot, which can be regarded as making up for the unfinished lessons that year.
I was lazy before, and I had my juniors to help me. When I was doing experiments, I waited for my juniors to adjust the robot to the best state before I received it. Now that my juniors have graduated, my experiment has not been completed yet. I have no choice but to do it myself. . . . .
❤ 2022.10.20 ❤
Googo's robot controller, although it is not as good as foreign mature products in terms of other people's use evaluation, it is still in the forefront in China. However, from the user's point of view, they still prefer to use more mature products without considering the cost and feelings. . . .
The controller used (it is said) is the latest technology crystallization of Googol, R688, this control program is actually written in high-level language! ! (Wow! So amazing!), the system is winCE! (Oh!), the development environment is vs2008+Qt4.7! (Oh shit! So strong! Applause!!!)
Keke, although it sounds like the version is a little behind, but industrial equipment, the main thing is to be stable and reliable, and the function is enough.
Even so, people who have studied the ancestral CoDeSys of the laboratory for many years are still crying silently. . .
In fact, I have heard about Googo’s robot controller before, but I only know Googo’s OtoStudio based on the 21131-3 customized codesys kernel, but that is also based on the very old codesys2.3, as for replacing it with For high-level language development, I think from some perspectives, it can get rid of some restrictions of the codesys framework, but for some very basic and mature functions, it may have to be developed from scratch, so it increases the difficulty of development, which is reflected in the use of There will be many bugs in the process. But on the other hand, if we get rid of the core of foreign software and insist on doing our own things, after sufficient iterations and precipitation, Googo's controller should have more powerful functions and a better user experience.
Although it is not so easy to use, I also hope that the domestic robot controller can be better and better~
Regarding the robot body, well, it is Zhenkang's ZK500, 500 kg robot.
Speaking of it, I still admire the company Zhenkang. The boss, Mr. Tang, really has feelings. The RV reducer is built as soon as it is said. As a private enterprise, it dares to think and do it. It has never done a 500 kg robot. Just do it, be responsible and courageous!
But I have to say that compared with the robots of the four major families, domestic robots still have a long way to go during Zhenkang's business trip.
Okay, let's get to the point.
The construction of the development environment and the demonstration case are from Googoo's "Industrial Robot Control System_Development Manual" (v2.0.9.0). I can get started with development, so I don't count as leaking company secrets.
VS 2008 + Qt4.7 development environment setup
△ Software installation
The first is to install the software
According to the content of the development manual, install the required software in sequence
I have to say that the versions of these software are really old enough that many of them cannot be found online. . . Fortunately, with the help of part of the backup during the business trip and the help of my friends, I found the corresponding versions of these required software.
Among them, I encountered some problems when installing GUC_N455_CE6_SDK,
so I searched on Baidu, and probably knew that this development kit is the CE development kit of vs2008. If this error occurs, it is easy to solve, such as this link so
this. . . The problem is really weird, and the solution is really unreasonable. . .
Finally finished installing the software, let's start configuring the environment.
❤ 2022.10.21 ❤
△ Environment Configuration
Open VS2008
to create a new project
and then follow the manual, select this here
but i don't have
So I clicked on the configuration manager and found that I had to set it up and create
a new one here
Then I guess it should be this
Well,
then configure the Qt environment
After clicking in sequence, I encountered a problem.
I installed GUN_N455_CE6_SDK to