2 research outputs found
Software implementation of input/output signal processing module in a general purpose robot controller
U radu je opisan programski modul za obradu ulazno/izlaznih signala kod industrijskog robotskog kontrolera opÅ”te namene. Koncept asinhronog praÄenja promenljivih spoljnih signala i uslova uz istovremeno izvrÅ”avanje robotskog programa je iskoriÅ”Äen kao metod komunikacije robotskog sistema s okolinom. Razmotrene su razliÄite moguÄnosti pristupa ulazno/izlaznim signalima iz korisniÄkih programa napisanih na robotskom programskom jeziku RL, koji je ugradjen u kontroler. Opisane su moguÄnosti rekonfiguracije ulazno/izlaznog modula sistema u sluÄaju promene radnog okruženja ili vrste aplikacije. U diskusiji o trenutnim performansama realizovanog sistema sa stanoviÅ”ta obrade ulazno/izlaznih signala, ukazano je na moguÄnosti nadgradnje i proÅ”irenja sistema.The program module for input/output (I/O) signal processing in a general purpose industrial robot controller is described. The concept of asynchronous scanning of external signals and conditions simultaneously with the robot program execution is used as a method of robot system communication with the environment. Various alternatives of accessing I/O signals from user programs, written in the controller's built-in robot programming language are considered. The I/O module reconfiguration capabilities are described for the case of various application and/or environment changes. The system extension possibilities are discussed from the I/O signal processing viewpoint
A system for programming the UMS-7 industrial robot
The paper gives an overview of some characteristic features of the software support of the controller for the UMS-7 industrial robot. The software is intended for textual robot programming and is implemented on a microprocessor based system