1.1. Introduction

1.1. Introduction

 

The online tracking has a function of applying a user’s command to a robot’s controller in real time by means of the UDP/IP communications so as to enable any robot motions. If a user plans, creates and transmits an incremental command of a robot position from an external PC directly to a robot controller, the robot receives and applies the incremental command to a motion plan, and at the same time, feeds the robot’s current position in the rectangular coordinates back to the external PC.

If using this function, the user may attach any sensors to the external PC if necessary and plan and apply any motions for a specific job. However, in order to realize the external PC’s sensor interface or UDP/IP communications, the user shall match it for the use in person. In addition, the robot controller performs the UDP/IP communications exactly every 5 msec and applies incremental commands of positions to motions within 5 msec; therefore, the external PC shall plan motions exactly every 5 msec and perform the UDP/IP communications so as to make the robot move smoothly.

During the UDP/IP communications, the robot serves as a client; the external PC as a server. With respect to the UDP/IP communication program that is realized on the external PC, Chapter 3.2 provides the example of the program built in the C language on the user’s request. So, please refer to the example of the program and contact our A/S center to ask relevant questions.

 

 

Figure 1.1 Example of System Configuration of Online Tracking Function