Robotino® View2 - Festo Didactic

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Using Robotino® View 3.5 Global variables 14 Global variables can be read and written in every subprobram of a project; in the main program they can be used in the transition conditions. In the main program view the variable management is located on the right side. It enables you to add, remove and rename variables and to assign initial values to them. Main program w ith variable management Global variables store floating point numbers only. Support for other data types will be included in future versions of Robotino View. After creating a variable function blocks for reading and writing the variable are available in the function block library. 3.6 Execute a sub-program After connecting the "Arbitrary Waveform Generator 84 " to the "Counter Up 32 " you can start simulation of the sub-program by clicking „Start" shown in the tool bar 10 . You can display the values generated by the "Arbitrary Waveform Generator " and "Counter Up " by selecting View Show Connector Values or by pressing Ctrl + D. 84 32 © Festo Didactic GmbH & Co. KG
Using Robotino® View You can see the "Arbitrary Waveform Generator 84 " generating values between 0 and 10. "Counter Up 32 " increments its output when the input changes from false (0) to true (>0). At the moment this only happens when starting the sub-program. See type conversion 17 to read how floating point numbers are converted to boolean. Furthermore it is very unlikely that the "Arbitrary Waveform Generator 84 " output matches exactly to 0. To see the counter counting, select square from the "Arbitrary Waveform Generator 84 " dialog. The generated output is now in the range -1 to 1. 3.7 Execute the main program By clicking on „Start" in the tool bar 10 , simulation of the currently visible program is started. If the sub-program "Step1" is visible only "Step1" is simulated. "Step1" is part of the main program, which can be simulated as well. Use the Program selector 9 to make the main program the current program. © Festo Didactic GmbH & Co. KG 15
Page 1: Robotino® View2 EN
Page 5 and 6: Inhalt / Contents / Contenido / Som
Page 7 and 8: 6.5 Local _________________________
Page 9 and 10: 1.3 Changing language Welcome Robot
Page 11 and 12: 2.1.2 Function block library Famili
Page 13: 3.3 Insert function blocks into sub
Page 17 and 18: 3.9 Keyboard shortcuts Function Key
Page 19 and 20: 3.12.1 Browse Robotino Using Roboti
Page 21 and 22: Using Robotino® View After clickin
Page 23 and 24: 3.13.1 Robotino firmware installati
Page 25 and 26: Fig. 1: the complete control progra
Page 27 and 28: Examples To do that, select the ent
Page 29 and 30: To add a new step after the alterna
Page 31 and 32: 4.2.1 Multiplexer 4.2.2 FlipFlop 5
Page 33 and 34: 5.1.1.1 Dialog 5.1.1.2 Example Func
Page 35 and 36: Step2 is also 10s active. 5.1.2 Cou
Page 37 and 38: 5.1.3.2 Example see also Examples L
Page 39 and 40: 5.1.5.1 Dialog 5.1.5.2 Example Inpu
Page 41 and 42: 5.1.6.1 Dialog 5.1.6.2 Example 5.1.
Page 43 and 44: 5.1.8 NAND_FL Function block librar
Page 45 and 46: 5.1.9.1 Dialog 5.1.9.2 Example 5.1.
Page 47 and 48: Inputs Type Defau lt Input 1 bool f
Page 49 and 50: 5.1.14 Sample and hold element Func
Page 51 and 52: 5.2.1.3.1 Dialog 5.2.1.4 Subtractio
Page 53 and 54: 5.2.1.5.1 Dialog 5.2.2 Comparison O
Page 55 and 56: 5.2.2.6 Greater The Output is true,
Page 57 and 58: Function block library Adding point
Page 59 and 60: 5.2.3.3.1 Dialog 7 Outputs Output f
Page 61 and 62: 5.2.4 Arrays The mapping here is y(
Page 63 and 64: Array float empty Array to be acces
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5.3.1.3.1 Dialog 5.3.1.4 Norm ... S
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5.3.2.3 Addition Per element additi
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5.3.3.5 Rotate lt x float 0 x compo
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5.4.1.1 Dialog Function block libra
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5.5.1.1 Dialog ButtonDescription /
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5.5.1.2 Example Function block libr
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5.5.2.1 Dialog Selected segment Min
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5.5.3.1 Dialog Function block libra
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5.5.4.1 Dialog Output imag e Functi
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5.5.5.1 Dialog 5.5.5.2 Example Höh
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5.6.1.1 Dialog The upper part of th
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5.6.3 Timer Outputs Value float, in
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5.8 Navigation This category compri
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Function block library angular velo
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5.8.2 Constant pose In the input bo
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5.8.4.1 Dialog 5.8.5 Path composer
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Function block library Length int 1
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5.8.7.2 Configuration dialog 2 Func
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5.8.7.4 Path view Function block li
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5.8.7.5 Strategy Function block lib
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5.8.7.6 Example 5.8.8 Obstacle avoi
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5.9.1.1 Dialog vx float Velocity in
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In the dialog the slider's range an
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5.10.1.2 Example 5.10.2 Image Write
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6.1 Add and edit Devices When creat
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6.3.2 Dialog manager. The function
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6.3.3.1.1 Dialog Parameter Descript
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Outputs m1 float rpm Speed set-poin
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Devices © Festo Didactic GmbH & Co
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The values of the transfer function
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6.3.3.4 I/O connector 6.3.3.4.1 Rel
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output is 0V. The connector for dig
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Outputs Type Description Devices Va
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Inputs Type Unit Defa ult Room numb
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6.3.3.5.2 Dialog Spot A Intensity o
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Via the boolean constant (true/fals
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Closed bool True if the gripper rea
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Read the position of a joystick's a
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6.5.2.1.1 Dialog The camera dialog
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DI_Port_1 digital Input 1 DI_Port_2
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Bit 0 bool If true the value send t
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Devices © Festo Didactic GmbH & Co
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At server side the communication ch
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6.7.2.1 Dialog Devices Server addre
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6.8.1.1 Checksum If the message is
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6.8.2 Dialog 8-11 INT1 of type INT3
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Devices The writer takes the data t
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Programming The input value "in" is
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- A - ABS 55 absolute value 55 add
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Robotino® View2 - Festo Didactic

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