Robotino® View2 - Festo Didactic

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6 5.1.13 Latching ____________________________________________________________________________________ relay 48 5.1.14 Sample ____________________________________________________________________________________ and hold element 49 5.2 Mathematics ____________________________________________________________________________________ 49 5.2.1 Arithmetic ____________________________________________________________________________________ operations 49 5.2.2 Comparison ____________________________________________________________________________________ Operations 53 5.2.3 Functions ____________________________________________________________________________________ 55 5.2.4 Arrays ____________________________________________________________________________________ 61 5.3 Vector ____________________________________________________________________________________ analysis 63 5.3.1 Vector ____________________________________________________________________________________ operations 63 5.3.2 Element ____________________________________________________________________________________ operations 66 5.3.3 Transformations ____________________________________________________________________________________ 67 5.4 Display ____________________________________________________________________________________ 69 5.4.1 Oscilloscope ____________________________________________________________________________________ 70 5.4.2 Laser ____________________________________________________________________________________ range finder data display 71 5.5 Image ____________________________________________________________________________________ processing 72 5.5.1 Segmenter ____________________________________________________________________________________ 72 5.5.2 Segment ____________________________________________________________________________________ Extractor 76 5.5.3 Line Detector ____________________________________________________________________________________ 78 5.5.4 ROI ____________________________________________________________________________________ 80 5.5.5 Image ____________________________________________________________________________________ Information 82 5.5.6 Colorspace ____________________________________________________________________________________ conversion 83 5.6 Generators ____________________________________________________________________________________ 84 5.6.1 Arbitrary ____________________________________________________________________________________ waveform generator 84 5.6.2 Constant ____________________________________________________________________________________ 86 5.6.3 Timer ____________________________________________________________________________________ 87 5.6.4 Random ____________________________________________________________________________________ generator 88 5.7 Filter ____________________________________________________________________________________ 88 5.7.1 Mean ____________________________________________________________________________________ filter 88 5.8 Navigation ____________________________________________________________________________________ 89 5.8.1 Position ____________________________________________________________________________________ Driver 89 5.8.2 Constant ____________________________________________________________________________________ pose 93 5.8.3 Pose composer ____________________________________________________________________________________ 93 5.8.4 Pose decomposer ____________________________________________________________________________________ 94 5.8.5 Path composer ____________________________________________________________________________________ 95 5.8.6 Path decomposer ____________________________________________________________________________________ 96 5.8.7 Path driver ____________________________________________________________________________________ 97 5.8.8 Obstacle ____________________________________________________________________________________ avoidance 105 5.9 Input ____________________________________________________________________________________ Devices 106 5.9.1 Control ____________________________________________________________________________________ Panel 106 5.9.2 Slider ____________________________________________________________________________________ 108 5.10 Data ____________________________________________________________________________________ exchange 109 5.10.1 Image ____________________________________________________________________________________ Reader 109 5.10.2 Image ____________________________________________________________________________________ Writer 111 5.11 Variables ____________________________________________________________________________________ 112 6 Devices ____________________________________________________________________________________ 112 6.1 Add and ____________________________________________________________________________________ edit 113 6.2 Show ____________________________________________________________________________________ dialogs 114 6.3 Robotino ____________________________________________________________________________________ 114 6.3.1 Toolbar ____________________________________________________________________________________ 114 6.3.2 Dialog ____________________________________________________________________________________ 115 6.3.3 Function ____________________________________________________________________________________ blocks 115 6.4 Joystick ____________________________________________________________________________________ 137 6.4.1 Dialog ____________________________________________________________________________________ 138 6.4.2 Function ____________________________________________________________________________________ blocks 138 © Festo Didactic GmbH & Co. KG
6.5 Local ____________________________________________________________________________________ camera 139 6.5.1 Dialog ____________________________________________________________________________________ 139 6.5.2 Function ____________________________________________________________________________________ blocks 140 6.6 OPC ____________________________________________________________________________________ Client 141 6.6.1 Dialog ____________________________________________________________________________________ 142 6.6.2 Function ____________________________________________________________________________________ blocks 143 6.7 Data ____________________________________________________________________________________ exchange 145 6.7.1 Server ____________________________________________________________________________________ 145 6.7.2 Client ____________________________________________________________________________________ 148 6.7.3 Function ____________________________________________________________________________________ blocks 152 6.8 UDP ____________________________________________________________________________________ data exchange 152 6.8.1 Protocol ____________________________________________________________________________________ 152 6.8.2 Dialog ____________________________________________________________________________________ 155 6.8.3 Function ____________________________________________________________________________________ blocks 156 6.8.4 Example ____________________________________________________________________________________ 157 7 Programming ____________________________________________________________________________________ 157 7.1 My function ____________________________________________________________________________________ blocks 157 7.1.1 Tutorial ____________________________________________________________________________________ 1 158 Index ____________________________________________________________________________________ 161 © Festo Didactic GmbH & Co. KG 7
Page 1: Robotino® View2 EN
Page 5: Inhalt / Contents / Contenido / Som
Page 9 and 10: 1.3 Changing language Welcome Robot
Page 11 and 12: 2.1.2 Function block library Famili
Page 13 and 14: 3.3 Insert function blocks into sub
Page 15 and 16: Using Robotino® View You can see t
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,
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Function block library Adding point
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5.2.3.3.1 Dialog 7 Outputs Output f
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5.2.4 Arrays The mapping here is y(
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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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