Joints Robot Device Module
This is a special module that can be employed to control up to 12 joints of any type when a kinematic model is not required or does not exist.
Copying the Device Module File to a Boot Disk
In order to control a mechanism, the device module file must be installed in your system file. Refer to Chapter 6 for details on using CONFIG_C to install this device module file in your system file.
If you have a hard drive, the device files will normally be already stored in the c:\system\ subdirectory. Answer 'JTS' to the prompt asking you to enter the name of the device module you want to transfer to your system file.
You can enter a '? to the name prompt and the available device module names will be displayed.
Coordinated Joints Robot Module Description
This module can control up to 12 joints of any type when a kinematic model is not required or does not exist. This module permits the joints of the robot to be moved in a coordinated fashion using precision point joint interpolated motions. An example is:
MOVE #loc. Since no kinematic model is included, destinations specified as transformations and straight- line motions are not permitted and will generate a program error if utilized.
Examples that are not permitted:
MOVE loc or MOVES loc.
Reading the robot's joint angles via HERE or WHERE will return the positions of the joints. Reading the robot's Cartesian location will always return a NULL value independent of the positions of the joints or the setting of the BASE and TOOL transformations.
Module Specifications
Device Module Identification Number: 15
This number is displayed along with the robot serial and model number after the system boots up and whenever the ID monitor command is issued.
Default Start-up Message: 'Coordinated Joint Control Robot'
The start-up message is displayed just after the system boots up.
Default Joint Configuration:
Joint
Axis
Board/Channel
1
1
1/1
2
2
1/2
3
3
1/3
4
4
1/4
5
5
2/1
6
6
2/2
Robot Option Word
This module does not use any bits of the robot option word. You should leave its value at 0.
Variations in Axis Configuration
This module can be configured to control from 1 to 12 coordinated axes.
Geometric Dimensional Constants
There are no dimensional constants associated with this module since no kinematic model exists.
Interpretation of Cartesian Rotations
There are no Cartesian rotation angles for this module since Cartesian motions are not permitted.
Coupling Between Robot Joints and Motors
This module does not allow multiple motors to couple into the motion of any single axis.
Robot Configuration Control Program Instructions
The following robot configuration-control program instructions do not have any effect upon the operation of mechanisms controlled by this module:
ABOVE, BELOW, FLIP, NOFLIP, LEFTY, RIGHTY
Additional Restrictions
Only 'Joint' and 'Free' manual control modes are supported. 'World' and 'Tool' manual control modes are inhibited.
|
Last modified on:
01/25/2006
|
|
|
