[539] Sensor Interface
26 Product Specification RobotWare Options for BaseWare OS 4.0
[539] Sensor Interface
The Sensor Interface option can be used to integrate sensor equipment for adaptive
control, like path correction or process tuning. The option includes a driver for serial
communication with the sensor system using a specific link protocol (RTP1) and a
specific application protocol (LTAPP). The communication link makes it easy to
exchange data between the robot controller and the sensor system, using predefined
numbers for different data like x,y,z offset values, gap between sheets, time stamp etc.
Features
• Interrupt routines, based on sensor data changes.
• Read/write sensor data from/to sensors using RAPID functions.
• Store/retrieve sensor data as a block to/from a mass memory.
• Seam tracking functionality, when combined with option Advanced Motion, based
on using the contour tracking (path correction) functionality.
Application
In any application where it is wanted to read/control a sensor during execution, and to
react on changes in certain data, like path offset or process supervisory data, thus
making adaptive seam tracking and process control possible.
Requirements
External sensors communicating with the robot controller via serial links.
RAPID instruction included in this option
IVarValue Used to order and enable an interrupt when the value of a
variable accessed via the serial sensor interface has been
changed
ReadBlock Used to read a block of data from a device connected to the
serial sensor interface
ReadVar Used to read a variable from a device connected to the serial
sensor interface
WriteBlock Used to write a block of data to a device connected to the serial
sensor interface
WriteVar Used to write a variable to a device connected to the serial
sensor interface
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