OSU ECE 5463 - RM-501-Commands-FA2014 (11 pages)

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RM-501-Commands-FA2014



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RM-501-Commands-FA2014

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Pages:
11
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems
Unformatted text preview:

RM 501 Commands ECE 5463 Fall 2014 Read RM 501 Manual on the Course Website Section 5 5 Types and Possibilities There are three types of commands Operation control 16 I O control 6 Program control 16 Operation Control Commands 1 NT Move to the nest position in the order of shoulder elbow wrist pitch wrist roll waist 2 HO Set the current position as the home position Operation Control Commands continued 3 OG go to the home position 4 MI move immediately by the number of steps MI a1 a2 a6 a6 0 MI 1000 100 100 300 300 0 5 MO a 1 a 629 move to a specific point 6 IP increment move to the previously recorded position number 7 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 position 9 HE a store where you are as position a 10 PC a1 a2 clear the positions previously stored between a1 and a2 Operation Control Commands continued 11 GP a1 a2 a3 where 0 a1 a2 7 0 a3 99 set the gripper pressure 12 GO open the gripper 13 GC close the gripper 14 GF a where a 0 gripper open a 1 gripper close set gripper condition for PS 15 SP a where 0 a 9 and 9 400 mm sec set the operating speed in 10 stages 16 TI a where 0 a 99 stop for 0 1 to 9 9 sec The range of each joint 300o 130o 90o As seen from outside I O Control 1 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 controller 4 OD a 0 a 255 unconditional output of signals set by parameters via external I O terminals 5 TB a1 a2 where 0 a1 7 0 a2 2048 test the a1th bit of the input data If true a1 is positive step a2 is executed when a1 is negative it is in the opposite sense 6 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 devices Program Control 1 LG a1 a2 jump to step a2 if input is larger than a1 2 EQ a1 a2 jump to step a2 if input is equal to a1 3 SM a1 a2 jump to step a2 if input is smaller than a1 4 NE a1 a2 jump to step a2 if input is not equal to a1 5 GS a go to subroutine at step a 6 RT return 7 RC a work together for repeating cycle a times 0 a 99 8 NX Program Control continued 9 GT a go to step a 10 ED end of program 11 RS reset 12 16 see Table 5 5 of the manual page 20 A Sample Program 1 2 3 4 5 6 RS reset any errors NT nest position SP 6 set speed at 7 10 of the maximum speed MI 6000 0 0 0 0 0 center the body by moving waist 150o HO call that home position GF 0 set gripper open condition when setting the following positions 7 PS 1 0 4000 3600 1200 1200 0 position 1 8 PS 2 0 400 0 0 0 0 position 2 A Sample Program continued 9 GF 1 what is this for 10 PS 3 3600 400 0 0 0 0 position 3 11 SP 7 8 10 of max speed 12 GP 6 1 10 gripper pressure profile 13 GO open gripper 14 OG go to home position 15 RC 2 16 IP go to positions 1 and 2 17 NX 18 GC close gripper 19 SP 3 4 10 max speed A Sample Program continued 20 MO 3 go to position 3 21 MI 3600 0 0 0 0 0 move immediately 22 HE 4 call it position 4 23 TI 20 wait for 2 seconds 24 DP go to position 3 25 RC 3 26 DP go to positions 2 1 and 0 27 NX 28 ED end of program


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