19
Use of the inputs
. INTERACTIVITY
The software makes sure that the motors are driven in sequence
during conflicts.
By the use of suitable sensors you can control the Robot Arm
interactively in its environment.
The sensors are connected to the input of the controller. The
inputs of the controller contain opto-couples that protect all
following circuit parts.
The opto-couple and therefore also the inputs are only activated
(1) by a certain voltage level of about 2 to 5V. If there is no
voltage or a too low voltage present at the input, this input is not
active (0).
1 IF (SSR1=TRUE) THEN 2
2 ACTION, BS(CW=5), SH(UP=5), EL(UP=5), WRST(RIGHT=5), GR(OPEN=4)
3 IF (SSR1=TRUE) THEN 4
4 ACTION, BS(CCW=5), SH(DWN=5), EL(DWN=5), WRST(LEFT=5), GR(CLS=4)
5 GOTO 1
EXAMPLE:
ROBOT SYSTEM WITH SENSOR INPUT
SENSOR INPUT
