Page 140 - Welding Robots Technology, System Issues, and Applications

Robotic Welding: System Issues 127

Considering the specification of commands presented in Table 4.2 the following
are examples of commands and possible answers:

Change the robot operational state to “run”
Command: “motor_on”
Answer: 0

Change the state of robot task “main” to “executing”
Command: “program_run” “main”
Answer: 0

Read back the robot system state
Command: “system_state”
Answer: 0 3 98 3 3
(Means: OK, run, 98% memory free, executing, auto)

Read a variable from the robot
Command: “variable_read” “current” “numeric”
Answer: 0 200

Command: “variable_read” “velocity” “numeric”
Answer: 0 10

Command: “variable_read” “home” “position_orientation”
Answer: 0 x y z q1 q2 q3 q4 cf1 cf4 cfx ex1 ex2 ex3 ex4 ex5 ex6
(Means: OK, Cartesian position, quaternion, configuration matrix, external
axis) [43],[44]

Write to a variable of the robot
Command: “variable_write” “current” “numeric” 210
Answer: 0

Read a IO signal from the robot
Command: “io_read” “wire_feed” “analog”
Answer: 0 0.35

Command: “io_read” “gas” “digital”
Answer: 0 1

Second step – write the TCP/IP socket server program: as mentioned above this
server was implemented using the programming language RAPID to run on an
ABB IRC5 robot controller. This fact does not constitute a limitation, since the
facilities used here are also available in any multitasking operating system capable
of managing and using TCP/IP socket connections. The server code is presented
and commented in Figure 4.12.