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Ar4 Movement Commands: Command Line Example

This document describes various movement commands for the AR4 robot including joint moves, linear moves, arc moves, and circle moves. It also provides examples of commands for controlling input/output to either an Arduino Nano IO board using 5V pins or a Teensy board using 3.3V pins. The document concludes by listing AR4 software commands that would allow using the 3.3V input/output pins on the Teensy board instead of the 5V pins on the Nano board.

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130 views3 pages

Ar4 Movement Commands: Command Line Example

This document describes various movement commands for the AR4 robot including joint moves, linear moves, arc moves, and circle moves. It also provides examples of commands for controlling input/output to either an Arduino Nano IO board using 5V pins or a Teensy board using 3.3V pins. The document concludes by listing AR4 software commands that would allow using the 3.3V input/output pins on the Teensy board instead of the 5V pins on the Nano board.

Uploaded by

Kshitij
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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AR4 MOVEMENT COMMANDS

MOVE J (joint move)

Command line example:

Move J [*] X 286.83 Y 0.13 Z 438.45 Rz 179.98 Ry 0.00 Rx 179.98 Tr 0 Sp 25 Ac 10 Dc 10 Rm 50 $ F

Serial cmd example:

MJX286.83Y0.13Z438.45Rz179.98Ry0.00Rx179.98Tr0Sp25Ac10Dc10Rm50WF

MOVE L (linear move)

Command line example:

Move L [*] X 286.83 Y 0.13 Z 438.45 Rz 179.98 Ry 0.00 Rx 179.98 Tr 0 Sp 25 Ac 10 Dc 10 Rm 50 $ F

Serial cmd example:

MLX286.83Y0.13Z438.45Rz179.98Ry0.00Rx179.98Tr0Sp25Ac10Dc10Rm50WF

Move A (arc move – 2 separate points taught consecutively – mid - end)

Command line example:

THE STARTING POSITION OF YOUR ARC IS THE CURRENT POSITION OF THE ROBOT

Move A Mid [*] X 336.68 Y 50.23 Z 438.67 Rz 179.98 Ry 0.00 Rx 179.98 Tr 0 Sp 25 Ac 10 Dc 10 Rm 50 $F

Move A End [*] X 386.65 Y 0.35 Z 438.70

Serial cmd example:

MAX286.83Y0.13Z438.45Rz179.98Ry0.00Rx179.98Ex386.65Ey0.35Ez438.70Tr0Sp25Ac10Dc10Rm50WF
Move C (circle move – 3 points taught consecutively – center of circle – start point – another point on
plane of circle in direction of rotation)

Command line example:

Move C Center [*] X 338.37 Y -0.38 Z 438.46 Rz -179.98 Ry -0.00 Rx 179.98 Tr 0 Sp 25 Ac 10 Dc 10 Rm


50 $ F

Move C Start [*] X 288.36 Y -0.32 Z 438.45

Move C Plane [*] X 338.33 Y 49.67 Z 438.45

Serial cmd example:

MCCx338.37Cy-0.38Cz438.46Rz-179.98Ry-0.00Rx179.98Bx288.36By-
0.32Bz438.45Px338.33Py49.67Pz438.45Tr0Sp25Ac10Dc10Rm50WF

INPUT OUTPUT COMMANDS

NOTE: input output commands can be sent to either the Arduino Nano IO board or the Teensy board. If
using the Nano IO board, the inputs and outputs are handled at 5v, pins 2-7 are available for inputs and
pins 8 – 13 are available for outputs. If using the Teensy board, inputs and outputs are handed at 3.3v,
pins 32 – 36 are available for inputs and pins 37 – 41 are available for outputs.

OUTPUT EXAMPLES:

The command ONX8 would turn output 8 on (Arduino Nano)

The command OFX8 would turn output 8 off (Arduino Nano)

The command ONX37 would turn output 8 on (Teensy)

The command OFX37 would turn output 8 off (Teensy)

INPUT EXAMPLES:

The command WIN2 would wait for input 2 on (Arduino Nano)

The command WON2 would wait for input 2 off (Arduino Nano)

The command WIN37 would wait for input 37 on (Teensy)

The command WON37 would wait for input 37 off (Teensy)


AR4 SOFTWARE COMMANDS FOR IO

(these are what you would change the IO commands to if you want to use 3.3v input and output pins on
the teensy board instead of using 5v pins on the nano board)

##Set Output ON Command for Teensy## (AR4 software command = "ToutOn")

##Set Output OFF Command for Teensy## (AR4 software command = "ToutOf")

##Wait Input ON Command for Teensy## (AR4 software command = "TwaitI")

##Wait Input OFF Command for Teensy## (AR4 software command = "TwaitO")

##If Input On Jump to Tab Teensy## (AR4 software command = "TifOn ")

##If Input Off Jump to Tab Teensy## (AR4 software command = "TifOff")

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