Here is code od RobotDK script.

using System;
using UnityEngine;
using Sharp7;
using System.IO;
using System.Collections.Generic;
using System.Linq;
using System.Linq.Expressions;

namespace game4automation
{
public class RoboInterfaceDK : InterfaceThreadedBaseClass
{

[ReadOnly] public string notifybar;
[ReadOnly] public string txtJoints;

public string Adress = "localhost"; //!< The ip adress of the PLC

public Drive Axis1;
public Drive Axis2;
public Drive Axis3;
public Drive Axis4;
public Drive Axis5;
public Drive Axis6;



private RoboDK RDK = null;
private bool starting = true;

// Keep the ROBOT item as a global variable
private RoboDK.Item ROBOT = null;


public bool Check_RDK()
{
// check if the RDK object has been initialised:
if (RDK == null)
{
notifybar = "RoboDK has not been started";
return false;
}

// Check if the RDK API is connected
if (!RDK.Connected())
{
notifybar = "Connecting to RoboDK OK!";
// Attempt to connect to the RDK API

if (!RDK.Connect())
{

notifybar = "Problems using the RoboDK API. The RoboDK API is not available...";
return false;
}


}
return true;
}

public string Values_2_String(double[] dvalues)
{
if (dvalues == null || dvalues.Length < 1)
{
return "Invalid values";
}
// Not supported on .NET Framework 2.0:
//string strvalues = String.Join(" , ", dvalues.Select(p => p.ToString("0.0")).ToArray());
string strvalues = dvalues[0].ToString();
for (int i = 1; i < dvalues.Length; i++)
{
strvalues += " , " + dvalues[i].ToString();
}

return strvalues;
//return "";
}
public void SelectRobot()
{
notifybar = "Selecting robot...";
if (!Check_RDK())
{
ROBOT = null;
return;
}
ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT); // select robot among available robots
//ROBOT = RL.getItem("ABB IRB120", ITEM_TYPE_ROBOT); // select by name
//ITEM = RL.ItemUserPick("Select an item"); // Select any item in the station
if (ROBOT.Valid())
{
ROBOT.NewLink(); // This will create a new communication link (another instance of the RoboDK API), this is useful if we are moving 2 robots at the same time.
notifybar = "Using robot: " + ROBOT.Name();
}
else
{
notifybar = "Robot not available. Load a file first";
}
}

public bool Check_ROBOT(bool ignore_busy_status = false)
{
if (!Check_RDK())
{
return false;
}
if (ROBOT == null || !ROBOT.Valid())
{
notifybar = "A robot has not been selected. Load a station or a robot file first.";
SelectRobot();
return false;
}
try
{
notifybar = "Using robot: " + ROBOT.Name();
}
catch (RoboDK.RDKException rdkex)
{
notifybar = "The robot has been deleted: " + rdkex.Message;
return false;
}

// Safe check: If we are doing non blocking movements, we can check if the robot is doing other movements with the Busy command
/*if (!MOVE_BLOCKING && (!ignore_busy_status && ROBOT.Busy()))
{
notifybar = "The robot is busy!! Try later...";
return false;
}*/
return true;
}

//! Updates all signals in the parallel communication thread
protected override void CommunicationThreadUpdate()
{
if (!Check_ROBOT(true)) { return; }

double[] joints = ROBOT.Joints();
//Mat pose = ROBOT.Pose();

// update the joints
Axis1.TargetStartMove = !Axis1.TargetStartMove;
Axis1.TargetPosition = (float)joints[0];

Axis2.TargetStartMove = !Axis2.TargetStartMove;
Axis2.TargetPosition = (float)joints[1] + 90;

Axis3.TargetStartMove = !Axis3.TargetStartMove;
Axis3.TargetPosition = (float)joints[2] - 90;

Axis4.TargetStartMove = !Axis4.TargetStartMove;
Axis4.TargetPosition = (float)joints[3];

Axis5.TargetStartMove = !Axis5.TargetStartMove;
Axis5.TargetPosition = (float)joints[4];

Axis6.TargetStartMove = !Axis6.TargetStartMove;
Axis6.TargetPosition = (float)joints[5];

string strjoints = Values_2_String(joints);
txtJoints = strjoints;

}


public override void OpenInterface()
{

if (RDK == null) { RDK = new RoboDK(); }
base.OpenInterface();
}


public override void CloseInterface()
{
//if (!Check_RDK()) { ;}
// Force to stop and close RoboDK (optional)
// RDK.CloseAllStations(); // close all stations
// RDK.Save("path_to_save.rdk"); // save the project if desired
//RDK.CloseRoboDK();
RDK = null;

base.CloseInterface();
}

private void Update()
{
//Check_RDK();
/*if (Check_RDK()) { starting = false; }

if (!Check_RDK() && !starting)
{
RDK = new RoboDK();

}*/


}
}
}

Here is solution for S7PLC connect to PLCSIM Compact, comment in S7Interface disconection timeout.

SetPDU to 10 (working not stable and max 5 byte in, 5 byte out)

And using Nettoplcsim-S7o-v-1-2-4-0 program

Some features in configs NetToPlcsim

start.cmd

//

sc stop "S7DOS Help Service"
START /B NetToPLCSim.exe -f=S7Test.ini -s=NO -autostart

TIMEOUT /T 4
sc start "S7DOS Help Service"
TIMEOUT /T 4
"D:\Program Files\Siemens\Automation\S7-PLCSIM V15_1\Bin\Siemens.Simatic.PlcSim.Compact.exe"

S7Test.ini

//

[Station_1]
Name=PLC#001
NetworkIpAddress=192.168.88.50 //External IP of PLCSIM , adress of Ethernet board
PlcsimIpAddress=192.168.0.1   //internal IP of PLCSIM , not change this one
PlcsimRackNumber=0
PlcsimSlotNumber=0
TsapCheckEnabled=False

And now can connect to PLCSIM

Hi,

I am wondering whether G4A includes some way to automatically derive a meaningful object hierarchy and derive relations (e.g. spatial relations such as RCC8 relations). When you import models from CAD, there is often quite a "flat" hierarchy, i.e. most objects will be on the same level (e.g. a screw is on the same level as a motor). But this is usually not what you want, it would be better to have a "higher-level" hierarchy computed based on the positions of objects relative to each other. Similar with the relations like adjacent etc. Is there a way to derive this automatically in G4A? In the documentation I could not find anything.

Best regards,

Christiane

Hi I am using DEMOOPCUA on unity 2020.1.13f1. I am working directly on the demo templates. After switching to a different opc ua server, information are not automatically updated, this is unlike in the original demo template where data are automatically updated. Is it something that i am missing?   

Helo. Im trying to connect s7-1200 with game4automation. I saw the tutorial video and the https://game4automation.com/documentation/current/s7tcpip.html.

I followed all the process but still not working with this signs keep cycling.

I successfully checked the connection and added sdf file as well.

S7 interface plc input write error CPU : Function not available

I don't know how to solve this problem. Thank you.

I've started a project with the game4automation asset. I have a robot connected with the roboDK interface. When I try to open the project with another PC, It appears this error:

ArgumentNullException: Value cannot be null.
Parameter name: String
System.Number.StringToNumber (System.String str, System.Globalization.NumberStyles options, System.Number+NumberBuffer& number, System.Globalization.NumberFormatInfo info, System.Boolean parseDecimal) (at <9577ac7a62ef43179789031239ba8798>:0)
System.Number.ParseInt32 (System.String s, System.Globalization.NumberStyles style, System.Globalization.NumberFormatInfo info) (at <9577ac7a62ef43179789031239ba8798>:0)
System.Int32.Parse (System.String s) (at <9577ac7a62ef43179789031239ba8798>:0)
game4automation.PLCOutputInt.SetValue (System.String value) (at [old PC Path]/PLCOutputInt.cs:58)
game4automation.RoboDKInterface.UpdateSignals () (at [old PC Path]/RoboDK/RoboDKInterface.cs:320)
game4automation.RoboDKInterface.CommunicationThreadUpdate () (at [old PC Path]/RoboDK/RoboDKInterface.cs:537)
game4automation.InterfaceThreadedBaseClass.CommunicationThread () (at [old PC Path]/InterfaceThreadedBaseClass.cs:50)
System.Threading.ThreadHelper.ThreadStart_Context (System.Object state) (at <9577ac7a62ef43179789031239ba8798>:0)
System.Threading.ExecutionContext.RunInternal (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <9577ac7a62ef43179789031239ba8798>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <9577ac7a62ef43179789031239ba8798>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state) (at <9577ac7a62ef43179789031239ba8798>:0)
System.Threading.ThreadHelper.ThreadStart () (at <9577ac7a62ef43179789031239ba8798>:0)
UnityEngine.<>c:b__0_0(Object, UnhandledExceptionEventArgs)

It seems like some paths from the old PC are still remembered by the asset. I have changed the RoboDK Application path and the RoboDK file path, but the error stays. Reinstalling the asset just works, but it is uncomfortable to do it every time I switch to another PC.

Hi，

 Game4automation  2019.08，Unity 2019.4.12f1  . Some cadlink errors when building .

Hi I'm having an issue with the grip script which I placed on a rotary arm on the automatic machine I'm designing, when the PLCOutputBool I use to pick the designated mu goes to true the MU that should be picked up and placed immediately teleports to a different location. My grip works just fine, but the mu will be moved on the location where it was teleported instead of attached to the gripper. I will include some pictures to better explain the issue.
In the first picture the green arrow points to the gripper and the red one to the mu.
In the second one, you can see how the mu (red arrow) is teleported to a different location immediately just as the signal linked to "Signal Pick" is true.

The pivots of the sensor linked to "part to grip", of the gripper and the pivot of the rotary arm correctly set. The Pivot of the game object representing all the automatic machine (highest in the hierarchy) is located also on the red arrow in the secon picture.

How do I fix this issue?

Thanks

H, I'm currently working on my first project. I have added some drive scripts and some Mu and source, it is small at the moment and without any physics, but every time I press the play button to see my scripts in action, unity stops working and it took approx 3 mins to start or close the play mode and all the changes I made will disappear even though I saved them, I am talking about the bottom entity inside the game4automation gameobject. I tried to uninstall unity a couple of times, and this issue is still here only for my projects with the g4a asset on it, all my other unity projects ( even bigger one) will run without any problem. I should also mention that my pc is new and powerful. How can I fix this? I need to work on my final dissertation and like this is impossible.
Thanks