June 18, 2019, 03:16:02 PM
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 external motion interface

normal_post Author Topic:  external motion interface  (Read 2616 times)

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June 11, 2014, 11:22:33 PM
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wes_mcgee


Anyone know any resources with info on this? A few files popped up while searching in WoV and now I am intrigued.

specifically

in the file motiondrv.ini, and I am sure the .o file is on the controller.

[EMI_DRIVER]
RSI_MOVECORR,mdrStandStill.o
MY_EMILY, mdrEmily.o


Also the function

MD_CMD

Today at 03:16:02 PM
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June 12, 2014, 04:14:40 AM
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Fubini


Hi,

EMI is a standardized interface to provide external motion control. Basically you have a driver which generates the path you want to drive. How this is done depends on the driver. I know of drivers that simply interpolate the command values for each axis stored in a Textfile table. But there a many different drivers for different purposes.

MD_CMD is a genaralized interface function to communicate with motion drivers (like EMI, RSI, Conveyor Driver, ...) from you KRL program.  Again the supported commands depend on the specific motion driver.

Fubini

June 12, 2014, 01:43:06 PM
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wes_mcgee


Is the mdrEmily.o a built in? And is their documentation on that specific driver? I have some code someone gave me that uses it, but it would help to see the functions. For example the RSI.src file documents most of the commands used in the interface. I know that it loads a path table, but I don't have an example of this.

June 13, 2014, 04:12:32 AM
Reply #3
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Fubini


Here is a KRL example code a colleague of mine did quite some time ago. Don't konw if it still works on a KRC4. As far as I understood the code it first creates a recording EMINEM.EMI and then replys it.
« Last Edit: June 13, 2014, 04:14:33 AM by Fubini »


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