Conditional Braching in Reis Robotics

so you have manual?

well not sure what it is like in Reis but conditional branching can take different form,

the most common one is

IF experssion THEN

; do branch 1

ELSE

; do branch 2

ENDIF

but this is not the only one...it could also be switch (or SELECT as named at some languages(

SWITCH experssion

Case 1

; do banch 1

Case 2

; Do branch 2

Case 3

; Do branch 3

Case 4

; Do branch 4

;... etc...

Default

...

END SWITCH

so if you post manual (or page/screenshot from it) that is confusing, we may be able to offer assistance.

Quote from nith

Here I want to only increment the Z axis. For example Z=0 then Z=1,2

i don't see how is that conditional or branching at all? seem to be only a motion command

no... FOR and WHILE are loops. they repeat same block of code multiple times.

branch diverts the execution to another block of code (without repetition).

conditional branch uses some check to decide which block to process. those are IF and SWITCH/CASE statements.

unconditional branch also moves instruction pointer to another block but of course without condition. example of that is a GOTO statement.

btw moving in small increments and comparing position with some limit is workable but slow. much better way is to use interrupt to check if limit is reached and stop motion

to program some machine, you need to learn its language, there is no way around it.

i never used REIS but from bits and pieces found online it looks like it instruction names are a bit different but look very straight forward.

if i interpret this correctly:

key Contr1 is used to insert program control instructions into code.

LABEL <name> is a label

BRANCH Label: is equivalent to GOTO Label:

then there is a variety of TEST and TEST_BIT instructions which seem to be substitute for IF and SELECT CASE. so using TEST #VARIABLE you can create own loop and repeat what you are doing or continue with something else

VAR is used to declare variables

TRAFO_6D and TRAFO_POS can be used to manipulate position variables
there is also TOPLAYER instruction used in multi layer welding (to select top layer)

etc.

you are welcome...

yet another personal message:

Quote

Is it possible to make a sphere on Reis robotics.

I tried to make a program of incrementing the z axis. But i am confused with putting values for radius. In the bottom part of the sphere can i make radius increasing and upper part to decrease the radius.

let me see if i understand... you want robot to make a sphere... you increment Z in fixed steps and want to do a circle at each Z level. so need a way to to compute circle radius for each Z value?

if so, why not simply apply Pythagorean theorem. it is one of the basic concepts taught around the world and there must be a reason for that.

for top hemisphere with origin at z=0:

r1 = 150 ; mm (an example of sphere radius)

r2 = SQRT( r1*r1-z*z) ;

; for bottom hemisphere with origin at z=r1:

r1 = 150 ; mm (an example of sphere radius)

r2 = SQRT( r1*r1-(r1-z)*(r1-z)) ;

a general case could be (in KRL):

DECL REAL r1,r2,z0,z1,z2,dZ
DECL INT n,steps
DECL FRAME p0,p1,p2

r1=150; mm (sphere radius)
steps = 1000; number of increments 0..r1
dZ = r1/steps
z0 = 225; mm (elevation where center of sphere is)

; set  tool, base, speeds, etc.

FOR n=0 to 2*steps
    ; do the math
     z=z0-r1+n*dZ ; working elevation for each circle
     z2=r1-n*dZ ; vertical distance between z0 and working elevation
     r2=SQRT(r1*r1-z2*z2)

     ; then do the circle
     ; a) initialize points for circle
     p0=$NULLFRAME 
     p0.z=z ; and set elevation
     p1=p0 ; copy to other points
     p2=p0

     ; b) move to first point
     p0.x=z2
     LIN p0

     ; c) do a circle
    p1.y=z2
    p2.x=-z2
    CIRC p1, p2, CA 360
     
END FOR

btw. please don't send me personal message for free advice on robot topics. someone else's robots are not something that i have personal interest in. besides, that would be a blatant attempt to circumvent the idea of an open discussion - which is a whole point of having a forum. to get someone interested in your problems is easy and i am open to have private conversations too - if it benefits ME. an example of that is that money is involved (for me), or topic is something i have personal interest in. someone learning to program, or learn about robots or trying to fix something bought second hand does not qualify, hence my signature as shown in each of posts:

Quote

1) read pinned topic: READ FIRST...

2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

3) read 1 and 2

that example was in KRL

p0,p1,p2 etc are FRAME which is a structure with X,Y,Z,A,B,C elements

A,B,C are rotations about axes Z,Y,X (that is order KUKA uses)

p2=p0 copies all elements of p0 to p2 (X,Y,Z,A,B,C)

so to access only Z element of p0, one can use

p0.Z = new_height

this keeps other elements at their previous value.

$NULLFRAME is a frame where all size elements are zeros. you can accomplish same by

p0 = {X 0, Y 0, Z 0, A 0, B 0, C 0}