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

Previewing pages*1, 2, 3, 4*of 11 page document

**View the full content.**## RM-501-Commands-FA2014

Previewing pages *1, 2, 3, 4*
of
actual document.

**View the full content.**View Full Document

## RM-501-Commands-FA2014

0 0 104 views

- 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

View Full Document