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S7PLCSIM Advance connection problem
Hello Sir,
Currently I have added the PLC Advance interface to my project. Also successfully to run the PLCSim advancedCoupler.exe. But after that, it shows that PLCSIMAdvance runtime not available. Can you please help on this
realvirtual.io Digital Twin Assistant update
Hi, thomos, please update assistant when i try to fix some problems its not using recent knowdge.
thanks
combining MUs
Hello,
is there a way to combine two or more MUs ?
for example: MU1 (main part) is on a transport surface. At some point it stops and MU2 (smaller part) should be fixed onto MU1. They continue moving on transport surface together without falling apart. I tried to do this by attaching the fixer script to MU1 and unset the gravity of MU2. But with the fixer script MU1 is not moving anymore.
best regards
Carsten
Bug in Sensor (Script) when disabling display status
Hi Thomas,
there seems to be a bug in Sensor (Script).
If I disable "Display Status" I see a purple graphical error only in game mode.
I tested this in "DemoGripping" version 2022.13.
Webgl Export wird in WinCC Unified nicht angezeigt
Hallo, ich habe das Demoprojekt von Realvirtual.io als Webgl 1 exportiert und möchte es als Custom Web Control in WinCC Unified einbinden. Die Schnittstelle ist erstmal egal, weil es im DemoModus läuft.
In Projektierungsmodus kann ich das Modell auch sehen. In der Runtime kommt leider ein weißes Fenster mit einem kleinen "Sorry" Icon oben links in der Ecke
S7 Connection with TIA V19
Hi team please update S7 Connection Tutorial in youtube with new TIA19 and if possible update on PLCSIMAdvance v6 too
An error message occurred during WebGL packaging
Hello,
I'm trying to package the webgl project now, but after I deleted the relevant folder as required, the build still gets the error, please how can I fix it.
Building Library\Bee\artifacts\WebGL\build\debug_WebGL_wasm\build.js failed with output:
emcc2: error: '"D:/Program Files/2021.3.32f1c1/Editor/Data/PlaybackEngines/WebGLSupport/BuildTools/Emscripten/binaryen\bin\wasm-opt" --strip-dwarf --post-emscripten --no-exit-runtime -O3 --low-memory-unused --zero-filled-memory --strip-debug --strip-producers Library/Bee/artifacts/WebGL/build/debug_WebGL_wasm/build.wasm -o Library/Bee/artifacts/WebGL/build/debug_WebGL_wasm/build.wasm --mvp-features' failed (3221226505)
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)
BuildFailedException: Incremental Player build failed!
UnityEditor.Modules.BeeBuildPostprocessor.PostProcess (UnityEditor.Modules.BuildPostProcessArgs args) (at :0)
UnityEditor.WebGL.WebGlBuildPostprocessor.PostProcess (UnityEditor.Modules.BuildPostProcessArgs args) (at /Volumes/jenkins1/sharedspace/ra_2021.3/PlatformDependent/WebGL/Extensions/Unity.WebGL.extensions/BuildPostprocessor.cs:179)
UnityEditor.Modules.DefaultBuildPostprocessor.PostProcess (UnityEditor.Modules.BuildPostProcessArgs args, UnityEditor.BuildProperties& outProperties) (at :0)
UnityEditor.PostprocessBuildPlayer.Postprocess (UnityEditor.BuildTargetGroup targetGroup, UnityEditor.BuildTarget target, System.Int32 subtarget, System.String installPath, System.String companyName, System.String productName, System.Int32 width, System.Int32 height, UnityEditor.BuildOptions options, UnityEditor.RuntimeClassRegistry usedClassRegistry, UnityEditor.Build.Reporting.BuildReport report) (at :0)
UnityEngine.GUIUtility:ProcessEvent(Int32, IntPtr, Boolean&)
Unity Physics and Kinematics
I've been using realvirtual.io for a week. But I'm struggling with kinematics links modeling.
As I see in your documentation, you are using either parenting or dynamics on game objects.
The thing is, for certain kinematics chains, neither technique worked...
There is futher example of mechanism i need to model :
There is a way to model complex kinematics chains (Without using mass and force)?
Hi Michael,
There are several approaches you can take to achieve this:
- Position Control via End Element: You can manage the positioning by moving only the endpoint. Although this endpoint is not a real drive, you can connect it to the actual drive using Unity Physics joints. This setup ensures precise endpoint control. While the joints in between might exhibit some shaking, this should not affect the overall functionality.
- Integrated Drives with Gears or CAMS: Another method involves equipping all joints with drives and synchronizing them through the use of gears or CAMs. This setup mimics the movement based on a "Master" Drive, which aligns with the position of the actual drive. For more details, you might find these resources helpful:
- Defining CAMs: Defining CAMs Documentation
- Drive Behavior: Drive Behavior Documentation
- Using Unity Physics for Kinematics: Employ Unity Physics and Unity Joints (details at Unity Joints Documentation) to handle forward kinematics. In cases requiring purely linear movements, consider using Articulation Bodies (Articulation Body Documentation). Be aware that Unity Physics can be somewhat unstable or jittery, which can be mitigated by reducing the Physics fixed timestep at the cost of performance.
For complex scenarios not involving parallel kinematics, which are typically challenging and unstable with Unity Physics, you might explore using AGX from Algoryx (see https://doc.realvirtual.io/extensions/agx-physics9. This is a more robust solution for accurately simulating complex physics interactions, although it is not free and the definition of kinematics is on my point of view more complicated).
In general, whenever feasible, we prefer to resolve these issues using non-physical forward kinematics, whether it’s a straightforward kinematic chain of a robot or something that can be easily managed with defined cams or gears.
I hope this helps! Let me know if you need further assistance.
Best,
Thomas
Adding kinematics on pendulum like Object
Model-Pose1
Yesterday, I tried to dive deeper into the kinematics of more "complex" objects in Unity. However, I reached my limits when working on the kinematics of the model in the attached image, and I wanted to ask for your assessment of the complexity involved.
From my experience, chaining linear and independent movements doesn't seem to be a problem. However, combining rotational and linear movements appears to be more complex.
The model is actually a relatively simple construction. On a base-plate, there is a rotatable and driven turret. At the top of this turret, there is a shaft driven by a motor, which, through a connecting rod-like mechanism, is supposed to exert a linear movement on the "sleeve" around the turret. I have illustrated this with two images.
I have tried various combinations of kinematic chains and also tested the use of Unity's internal joints like the "Hinge Joint." I always got to the point where I still needed to add the linear movement of the sleeve. However, I couldn't implement this final step under the conditions of the existing movements.
In general, I have the following questions:
- Is it possible to use the joints provided by Unity in combination with the drives from Realvirtual?
- Are there any similar "joints" from Realvirtual that constrain kinematic movement (i.e., without additional drive)?
- I had the feeling that a functioning kinematics heavily depends on the hierarchical arrangement of the game objects. It seems that the linear constraint of the sleeve to the turret doesn't work due to the hierarchy. Do you have any tips or rules that need to be followed, and is such a kinematic chain as desired in the model even possible?
I have also attached the STEP file of this model and would appreciate any feedback.
We recognize that despite the significant changes made in the last release to ensure the drive fixed update sequence for cams and gears, there is still a bug affecting functionality.
After investigation, we have identified the solution. To resolve this issue, please modify the Drive script by adding !issubdrive around line 880. This fix will also be included in our upcoming release.
how to use the interface for commands?
I want to interface the realvirtual digital twin with a c# application. The c# application already exists and controls resources like motors with resource commands. The commands are already expressed in a message that is send via TCP. No PLC is used.
An example message would be:
- message type -> eg resource command request
- object id -> eg Xaxis
- command id -> eg move
- parameters -> eg position, speed, acceleration and deceleration parameters
The individual parameters in the message are extracted from the message by a decoding procedure.
I would like to use an industry standard like MQTT (or OPC UA) to interface with the digital twin. Therefore the TCP message has to be converted to a MQTT message.
I have limited knowledge in this area, but from what I understand is that the digital twin requires signals. Drive_DestinationMotor for example requires 5 PLC outputs and 4 PLC inputs, the PLC outputs/inputs should be mapped to signals, signals should be connected to MQTT topics, each MQTT topic represents 1 signal. Am I right?
I can understand how to convert the TCP message to multiple MQTT messages, but how can I make sure that parameters like position and speed signals are received all at once or before the actual "start drive" signal?
Are there examples available on how to do this or should I use a different approach? What would happen when I replace Drive_DestinationMotor by a controller with states? Are there examples of such a controller?
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