Hi. I have color sensor on my IRB120. Robot should be something like line follower. I want to ask, which commands in RAPID language are important for me to accomplish this task. Thank you
RAPID language - commands to move
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Tony111 -
April 9, 2016 at 7:38 PM -
Thread is marked as Resolved.
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Probably like a searchL? I imagine that's going to end up being a useful one.
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Thanks. I ve read about searchL command and it really looks that it will be very useful for me. If you have any other ideas, please write
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Can you tell me what sort of data the color sensor is outputting? Like is it just an on/off on whether it sees color? Or does it give positional data, or strength-of-color data?
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Sensor communicate with PLC and it just gives logical 0 or 1 according to if it sees color or not
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Does it straddle the line with two sensors, so that you know which side saw color?
Also, what type of movement are you needing from the robot? -
Problem with moving is solved. I have made simple program and it is enough for my bachelor work. My question is, if exist any function, which saves coordinates of robot in time, for example it will save coordinates into txt file. I dont know if you know what i mean... Thank you
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There is no quick function to do this, but take a look at the commands
MakeDir
isFile
write
crobtand combine these with instructions like the following (very rough, guaranteed syntax errors)
VAR num x;
VAR num y;
VAR num z;
VAR robtarget rCurrent (data stuff);rCurrent:=crobt
x:=rCurrent.trans.x
y:=rCurrent.trans.y
z:=rCurrent.trans.z
y:=crobtopendir
write x
write y
write z -
Thank you. It is really helpful for me