I have two questions about using RSI for an application. First of all, can you tell me how I will use our "sensor" with RSI? It is a vision system, and up until now we have transferred the data to the KRC via EthernetKRL. Is this still a feasible way to provide "sensor" data to the KRC? I read the RSI 2.0 manual but did not learn anything about connecting a sensor or how to select which one to use. There are a couple of lines about ST_DLRSENS, and the example says "'ST_DLRSENS' creates a sensor object which is used to access the force--motion sensor", but it's missing from the "RSI Commands" section; it does not have an entry so the comments in the example are the only information about it.
My second question is this: How would we use RSI to run the robot in velocity control? The manual talked about path correction, but I would like to not program a path. I do not want to instruct the robot to go to a certain point and then have RSI adjust this path based on the sensor. Rather I would like to use RSI to get the robot to move in a certain direction at a certain speed. I did not see a new motion command in the RSI manual, just PTP, LIN, and CIRC. Will I have to just provide a dummy target point and keep using path correction to provide the desired direction of motion?
Thanks in advance. I would also appreciate links to or copies of any example code using RSI.