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Import signals error in Twincat Interface
Hello Thomas，I build a Test program with Twincat3，after I press Active configration button thePLC turns green then I press Import Signals in Unity it shows：TypeLoadException: Could not resolve type with token 0100000a (from typeref, class/assembly I18N.Common.MonoSafeEncoding, I18N, Version=4.0.0.0, Culture=neutral, PublicKeyToken=0738eb9f132ed756) assembly:I18N, Version=4.0.0.0, Culture=neutral, PublicKeyToken=0738eb9f132ed756 type:I18N.Common.MonoSafeEncoding member:(null) signature:
System.RuntimeType.GetConstructors_internal (System.Reflection.BindingFlags bindingAttr, System.RuntimeType reflectedType) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.RuntimeType.GetConstructorCandidates (System.String name, System.Reflection.BindingFlags bindingAttr, System.Reflection.CallingConventions callConv, System.Type[] types, System.Boolean allowPrefixLookup) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.RuntimeType.GetConstructors (System.Reflection.BindingFlags bindingAttr) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.RuntimeType.CreateInstanceImpl (System.Reflection.BindingFlags bindingAttr, System.Reflection.Binder binder, System.Object[] args, System.Globalization.CultureInfo culture, System.Object[] activationAttributes, System.Threading.StackCrawlMark& stackMark) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Activator.CreateInstance (System.Type type, System.Reflection.BindingFlags bindingAttr, System.Reflection.Binder binder, System.Object[] args, System.Globalization.CultureInfo culture, System.Object[] activationAttributes) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Activator.CreateInstance (System.Type type, System.Reflection.BindingFlags bindingAttr, System.Reflection.Binder binder, System.Object[] args, System.Globalization.CultureInfo culture) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.RuntimeType.InvokeMember (System.String name, System.Reflection.BindingFlags bindingFlags, System.Reflection.Binder binder, System.Object target, System.Object[] providedArgs, System.Reflection.ParameterModifier[] modifiers, System.Globalization.CultureInfo culture, System.String[] namedParams) (at <695d1cc93cca45069c528c15c9fdd749>:0)
I18N.Common.Manager.Instantiate (System.String name) (at <6abb78bbc2d24347bb608e81ff4eb73b>:0)
I18N.Common.Manager.GetEncoding (System.Int32 codePage) (at <6abb78bbc2d24347bb608e81ff4eb73b>:0)
System.Reflection.MonoMethod.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at <695d1cc93cca45069c528c15c9fdd749>:0)
Rethrow as TargetInvocationException: Exception has been thrown by the target of an invocation.
System.Reflection.MonoMethod.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.RuntimeType.InvokeMember (System.String name, System.Reflection.BindingFlags bindingFlags, System.Reflection.Binder binder, System.Object target, System.Object[] providedArgs, System.Reflection.ParameterModifier[] modifiers, System.Globalization.CultureInfo culture, System.String[] namedParams) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Text.EncodingHelper.InvokeI18N (System.String name, System.Object[] args) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Text.Encoding.GetEncoding (System.Int32 codepage) (at <695d1cc93cca45069c528c15c9fdd749>:0)
TwinCAT.Ads.Internal.SymbolUploadInfo.get_StringEncoding () (at <23b243ab6b58458a8536a564d2211fbc>:0)
TwinCAT.Ads.TcAdsSymbolInfoLoader.onUploadSymbols () (at <23b243ab6b58458a8536a564d2211fbc>:0)
TwinCAT.Ads.TcAdsSymbolInfoLoader.initializeUploadSymbols (System.Boolean forceReload) (at <23b243ab6b58458a8536a564d2211fbc>:0)
TwinCAT.Ads.TcAdsSymbolInfoLoader.GetSymbols (System.Boolean forceReload) (at <23b243ab6b58458a8536a564d2211fbc>:0)
game4automation.TwinCatAdsInterface.ImportSignals (System.Boolean simstart) (at Assets/game4automation/private/Interfaces/TwinCAT/TwinCatAdsInterface.cs:351)
game4automation.TwinCatAdsInterface.Import () (at Assets/game4automation/private/Interfaces/TwinCAT/TwinCatAdsInterface.cs:747)
System.Reflection.MonoMethod.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at <695d1cc93cca45069c528c15c9fdd749>:0)
Rethrow as TargetInvocationException: Exception has been thrown by the target of an invocation.
System.Reflection.MonoMethod.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Reflection.MethodBase.Invoke (System.Object obj, System.Object[] parameters) (at <695d1cc93cca45069c528c15c9fdd749>:0)
NaughtyAttributes.Editor.NaughtyEditorGUI.Button (UnityEngine.Object target, System.Reflection.MethodInfo methodInfo) (at Assets/game4automation/private/Tools/NaughtyAttributes/Editor/Utility/NaughtyEditorGUI.cs:179)
NaughtyAttributes.Editor.NaughtyInspector.DrawButtons (System.Boolean drawHeader) (at Assets/game4automation/private/Tools/NaughtyAttributes/Editor/NaughtyInspector.cs:188)
NaughtyAttributes.Editor.NaughtyInspector.OnInspectorGUI () (at Assets/game4automation/private/Tools/NaughtyAttributes/Editor/NaughtyInspector.cs:52)
UnityEditor.UIElements.InspectorElement+<>c__DisplayClass59_0.b__0 () (at :0)
UnityEngine.GUIUtility:ProcessEvent(Int32, IntPtr, Boolean&)
My Unity is 2020.3.4 and G4A is Version 2020.15 - February 10, 2022，Thank you Thomas。
could it have to do with some non english letters in the symbol naming. I know that this problem exists and we need to fix it in one of the next releases.
Need Help Connecting to RobotStudio From Unity
I have the professional version of realvirtual.io but I am very new to this type of software. I am trying to connect my unity build to RobotStudio but I cannot figure out how to connect the I/O signals needed. I first followed this YouTube tutorial on defining robot kinematics, so I have my robot set up in Unity.
Now that I finished this tutorial I started following the documentation on connecting to RobotStudio here https://realvirtual.io/documentation/current/abb.html#ABB-RobotStudio
The part I am stuck at is the final steps under "Interface Configuration in Unity" shown here.
I have the SIMITConnection module set up in RobotStudio but I don't know what signals I need to replicate or how to name them based on my configuration. I also don't know if I need the actual program SIMIT or not. Can someone provide a more detailed explanation of the step-by-step process I need to do to complete this setup? Thank you!
I see that ABB is not finding the UnityConnection. It seems that something is wrong configured on the ABB side. Will check tomorrow on the computer in the Office where ABB RobotStudio is installed if I can find our example project and send it to you. My advice would be also to first just start with a very simple config (e.g. just the axis values) and extend this later on as soon as the connection is up and running..
Do you provide a robotic arm demo like the animation on the webpage https://realvirtual.io/en
Hi
I'll begin to develop a robotic arm simulation software and I'm very interested in realvirtual.io. Will you provide a robotic arm demo like the animation on webpage https://realvirtual.io/en? Thanks.
No currently the animation on the webpage is not included with our delivery. In about 2 weeks from now on in our next release we will have an inverse kinematic included in realvirtual.io with 2 examples of two moving robots (ABB and Stäubli).
cant download demo project, link is brocken.
https://realvirtual.io.com/demo/realvirtual.io.zip is not available
Drive with transport surface not working.
Hello,
I have a rotating and lifting transport surface. It takes the carrier when it rotates and lifts, but the carrier doesn't move when I jog forward or backward.
The same carrier works on a different transport unit that is built in the same way, so I know it is not the carrier that is the problem.
The drive chains move with the rotating platform as desired.
I've added pictues to show the turning lift, I hope you can help me with the moving of the carrier problem!
Hi,
if you use a moving transport surface, please make sure that y is the up vector for both objects holding the drive components. To connect a moving transport surface to a further drive use the components kinematic and group. Example below:
Could I write I0.0 into PLCSIM？
Hello Thomas,I can connect Unity to PLCSIM S7-1200 CPU via nettoplcsim,and I can read Q0.0 and write I100.0,but I can't write I0.0,what should I do if I want write I0.0 from Unity to PLCSIM?Thank you very much。I have set Get/Put and export Symbol Table，but I can't write I0.0 into PLCSIM，if Iwant to make a virtual PLC like this，what should I do？
Hi, this issue is not known from our side. Are you sure that you are not overwriting I0.0 from somewhere else?
PLC WinMoD G4A
Hi
I would like to use G4A to get WinMoD behavior signal and then according signal to display in U3D and also get feedback from G4A. WinMoD other side contion a physical PLC.
What kind of automation interface would be best select in G4A side ? OPC-UA?
Coupled IO Disappearing when starting game
Hello,
I am adding IO Using a small attachment to the provided game4automation Scripts (for example in Drive_Simple).
For the drive simple example I use this code:
For my own scripts this works, but not for the provided game4automation scripts. I need to add IO using these functions because we have a lot of IO (+-5000).
When I start the game, the IO is removed from the script (also in the inspector). Is there a way to fix this?
Hi, I think you must Use EditorUtility.SetDirty function.
Please also check page https://realvirtual.io/documentation/current/signalmanager.html and the example script on the page.
First person and orbit controls problem
Hey team! I just had a quick question regarding the cameras in the game4automation demo scene.
I am trying to turn on the first person camera provided to us but unfortunately it is not working properly. What I want is the user to be able to walk around the game4automation scene in first person view and also have the full functionality of the normal orbit controls the scene currently has. May you please give me some instructions on how to do this? There seems to be no documentation about this. If the above is not possible, how can one turn on the first person controls and once a camera is clicked such as 1 or 2, orbit controls are turned on while first person is turned off. Then there needs to be an option to turn first person controls back on again. This is taking me much longer than it should where I believe it should be a simple fix on my end so I truly appreciate the help. Thank you in advance!
1) We did not planned to support jumps. You could build your own logic by changing Assets/game4automation/private/RuntimeUI/FirstPersonController.cs
2) You could use this function and your own custom script for doing this:
https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnMouseDown.html
Allen‑Bradley, Rockwell PLC Framework
Gibt es nativ eine direkte Schnittstelle zum Rockwell PLC Framework?
Ich konnte keine explizierte Erwähnung (wie für Siemens oder Beckhoff)
finden.
All of them have the basic function of signal exchange with the PLC. The functionality essentially depends on what the interface to the PLC of the manufacturer enables.
The most comprehensive - including signal import via the interface - is the TwinCAT ADS interface.
With S7, the signals must be exported from Step7 via a standardized text file and imported into G4A.
With EthernetIP there is no standard for this. The signals must be created manually or imported via a non-standard text file.
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