I have a few questions about my particular application and I am hoping someone can help me out here. Essentially I am programming a simple test to prove a concept. I want to move the robot in incremental steps along a base axis (X in this example) and pulse an IO line at every increment (0.1mm in this example). I figured this would be pretty simple. I could use SLIN and $OUT within a for loop using the counter to calculate the position. Something like this:
;Pulse output every .01mm for 10mm
DECL INT counter
FOR counter=1 TO 1000 STEP 1
SLIN{X counter/100}
PULSE($OUT[1],TRUE,0.1)
ENDFOR
There are two issues with this.
First, argument to XLIN needs to be a constant according the the error message I am receiving. How might I move to a calculated position?
Second, if I substitute a constant (for testing) I get an error "KSS01102 Command velocity A4". I can't find any information on this error but I have a feeling it wants some sort of velocity specified. The SLIN command doesn't seem to support a velocity argument according to the documentation I am looking at. Can anyone suggest a reason for this error?
In addition to these questions, though not a priority, I was wondering why I can't simply open a text editor and write a program. That wouldn't work. I had to create a program on the robot, copy it to a flash drive and edit that on my computer. It seems there are some important things hidden like this information at the top of the file:
Or this information hidden within a fold for PTP HOME