RM-501 CommandsECE 5463 – Fall 2014Read RM-501 Manual on the Course Website – Section 5.5Types and Possibilities• There are three types of commands– Operation control: 16– I/O control: 6– Program control: 16• Operation Control Commands1. NT: Move to the nest position in the order of shoulder elbow wrist pitch wrist rollwaist2. HO: Set the current position as the home positionOperation Control Commands (continued)3. OG: go to the home position4. MI: move immediately by the number of steps-MI a1, a2, …a6(a6=0)- MI -1000, -100, 100, 300, 300, 05. MO a (1 ≤ a ≤ 629): move to a specific point6. IP: increment7. DP: decrement 8. PS a0, a1, a2, …a6: 1 ≤ a0≤ 629 which is a position number, and the rest are joint movement amounts. Function: set position9. HE a: store where you are as position a10. PC a1, a2: clear the positions previously stored between a1and a2move to the previously recorded position numberOperation Control Commands (continued)11. GP a1, a2, a3- where 0 ≤ (a1, a2) ≤ 7, 0 ≤ a3≤ 99:set the gripper pressure12. GO: open the gripper13. GC: close the gripper14. GF a where a=0 gripper open; a=1 gripper close: set gripper condition for PS15. SP a - where 0 ≤ a ≤ 9, and 9 = 400 mm/sec:set the operating speed in 10 stages16. TI a - where 0 ≤ a ≤ 99: stop for 0.1 to 9.9 sec.The range of each joint= - 300o= - 130o= 90oAs seen from outsideI/O Control1. IN: input signal from an external controller (works with OTa) 2. ID: input for a testing bit (works with ODa)3. OT a: 0 ≤ a ≤ 255 output for timing to an external controller4. OD a: 0 ≤ a ≤ 255 unconditional output of signals set by parameters via external I/O terminals.5. TB a1, a2where 0 ≤ |a1| ≤ 7, 0 ≤ a2≤ 2048: test the a1th bit of the input data. If true (a1is positive) step a2is executed; when a1is negative, it is in the opposite sense6. EF a, where a = 0 or 1: output error signal, when a=0 no external indication of error is given as output. If a =1, bit 7 is an indication of error to external devicesProgram Control1. LG a1, a2: jump to step a2 if input is larger than a12. EQ a1, a2: jump to step a2 if input is equal to a13. SM a1, a2: jump to step a2 if input is smaller than a14. NE a1, a2: jump to step a2 if input is not equal to a15. GS a: go to subroutine at step a6. RT: return7. RC a8. NXwork together for repeating cycle a times, 0 ≤ a ≤ 99Program Control (continued)9. GT a: go to step a10. ED: end of program11. RS: reset12-16: (see Table 5.5 of the manual – page 20)A Sample Program1. RS - reset any errors2. NT - nest position3. SP 6 - set speed at 7/10 of the maximum speed4. MI –6000, 0,0,0,0,0 - center the body by moving waist 150o5. HO - call that home position6. GF 0 - set gripper open condition when setting the following positions7. PS 1 0, -4000, 3600, 1200, -1200, 0 – position #18. PS 2 0, -400, 0, 0, 0, 0 – position #2A Sample Program (continued)9. GF 1 - what is this for?10. PS 3 3600, -400, 0, 0, 0, 0 - position #311. SP 7 - 8/10 of max speed12. GP 6,1,10 - gripper pressure profile13. GO - open gripper14. OG - go to home position15. RC 216. IP -17. NX18. GC - close gripper19. SP 3 - 4/10 max speedgo to positions #1 and # 2A Sample Program (continued)20. MO 3 - go to position 321. MI –3600, 0, 0, 0, 0, 0 - move immediately22. HE 4 - call it position #423. TI 20 - wait for 2 seconds24. DP - go to position #325. RC 326. DP -27. NX28. ED - end of programgo to positions #2, #1 and #