05 May 2016
Thus, control device axis is a source of values, and robot axis is a receiver, and the robot itself is the executive device. Of course, the scale of values or ranges of robot and control device axes may not coincide. RCML environment automatically brings the values from control device axis to the range of the values of robot axes, maintaining their ratio.
RCML environment gets information on robot axes and the ranges of their values through API from robot module, and thus they must be declared to the documentation for this module, in order for RCML programmers to use them. Similarly for control devices.
This principle can be extended not only to real axis of movement of a robot or a joystick, but to all its functions, which anyhow can have values and change robot status in real time (within the OS capabilities) for example, turning on light indicators, blocking robot movements, etc. The only requirement is that they must be declared in robot module and documentation to it.
Additionally, you can create the so-called discrete axes, which take a small range of values, and each value may correspond to some status of the robot or its mechanism. A special case is – “binary” axes producing or having a value of 0 or 1, similar to “on” or “off”. A striking example may be an ordinary computer keyboard with 101 keys and, respectively, 101 binary axes. In case of a robot, such axis can be switching on of lamps and lights, or making some sound or enabling voice communication mode. Variations are limited only by imagination of designers of robots and control devices, as well as programmers in RCML, which can link the axes of certain devices in any order. Due to the fact that values can be brought to integers, it is possible to link binary axes of both robot and control device with “non-binary” axes of a certain device.
It is important to note that RCML environment has no control over the frequency and variability of transfer of values from control device to the robot. If control device each time sends axis value, then even if it has not changed, this value will be transferred to the robot each time. Module developers are recommended to take this factor into account. In certain cases, developers of modules for control devices should pay attention to the factor of value transfer frequency, because each transfer reaches the robot, and it should have time to respond. Developers of modules for robots are recommended not to lose sight of the fact that it is possible to transfer a series of the same values for a given axis only because it (the series) was transferred by control device.