The controller software has been designed to allow the full range of methods for initiating application program execution from manual point-and-click program selection, to semi-automatic hardware push-button start, to fully automatic operation on power-up.
In this section, the capabilities available in the semi-automatic and automatic modes are described along with the steps required to configure these options. In the semi-automatic and automatic modes, the system can execute a number of built-in, simple application programs in addition to GPL procedures. These built-in, “Auto Execution Mode” programs are supplied solely as a convenience. The functionality that they contain can be easily replicated and expanded upon by writing GPL code.
The following table summarizes the available Auto Execution Modes. Each of these modes is described in greater detail in later sections.
| Mode | Auto Execution Mode | Description |
|---|---|---|
|
0 |
No auto execution |
No program is automatically executed. |
|
1 |
In this mode, a specified GPL application procedure can be either manually or automatically executed. |
|
|
2 |
This mode implements a simple “teach-and-repeat” application using "MotionBlocks". A series of motion end points are stored with their speed and acceleration parameters in a group of MotionBlocks. When a hardware or software digital input is triggered, a specified MotionBlock or sequence of MotionBlocks is executed. |
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|
3 |
An analog input channel is periodically sampled and its value dictates the velocity set point for an axis. This method is primarily intended for single axis controllers. It permits the controller to replicate the behavior of a dumb amplifier operating in velocity control mode. |
|
|
4 |
An analog input channel is periodically sampled and its value dictates the torque command for an axis. This method is primarily intended for single axis controllers. It permits the controller to replicate the behavior of a dumb amplifier operating in torque control mode. |
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|
5 |
An external encoder signal is read and its position is offset and scaled and used to generate the position set point for an axis driven by the controller. This method is primarily intended for single axis controllers. It permits the controller to implement electronic gearing or to replicate the interface of a stepper motor controller while providing the benefits of a servomotor. |
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|
6 |
In this mode, commands for moving the robot are received via the CANopen protocol via the CAN network interface. While CANopen provides some facilities for directing multi-axis controllers, CANopen is primarily designed for single axis controllers. Consequently, this mode is only supported on single axis versions of the system at this time. (Not yet implemented.) |
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|
7 |
In this mode, commands for moving the robot are received via the high-level CANopen protocol transmitted over the serial RS232 line using a custom low-level communication protocol. While CANopen provides some facilities for directing multi-axis controllers, CANopen is primarily designed for single axis controllers. Consequently, this mode is only supported on single axis versions of the system at this time. (Not yet implemented.) |