Component: Robot Arm v2 (AllCode)
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Jump to navigationJump to search| Author | Matrix TSL |
| Version | 1.0 |
| Category | AllCode |
Contents
Robot Arm v2 component
Drives the Matrix Robot Arm v2 hardware via the AllCode API. Allows connections via USB, Bluetooth and WIFI.
Component Source Code
Please click here to view the component source code (Beta): FC_Comp_Source_RA2_ComponentSource.fcsx
Detailed description
No detailed description exists yet for this component
Examples
No additional examples
Macro reference
|
SetWIFIPort |
| Sets the WIFI port number | |
 - UINT
|
Port |
| Default 1245 | |
 - VOID
|
Return |
|
|
WhileMoving |
| Blocking call that waits up to 10 seconds for the current movement operation to complete. Returns when complete. Return of 1 indicates movement complete, 0 indicates timeout. | |
 - BOOL
|
Return |
|
|
SetWIFIPassword |
| Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change. | |
 - STRING
|
Password |
| Password String, Max 32 Characters | |
| - VOID
|
Return |
|
|
SetCalibrationLengths |
| Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates | |
 - FLOAT
|
LengthA |
| - FLOAT
|
LengthD |
| - VOID
|
Return |
|
|
SetMovementSpeed |
| Controls the movement speed of the arm and the ramping increment | |
| - UINT
|
Speed |
| Range 0-10000 default 8000 | |
| - UINT
|
Increment |
| Range 0 to 5000, default 50 | |
| - VOID
|
Return |
|
|
GetPLCInputs |
| Reads the inputs on the secondary grove connector used to connect to outputs from a connected PLC or other external switch. | |
 - BYTE
|
Return |
|
|
SetGripper |
| Sets the new position of the gripper | |
| - BYTE
|
Position |
| 0 = Closed, 255 = Fully Open | |
| - VOID
|
Return |
|
|
SetCalibrationPosition |
| Called when the arm gripper is in the calibration position of X0 Y300 Z5 Reconfigures the kinematics calculations based on this. Performed in factory to calibrate the arm, warning calling this function will effect factory calibration. | |
| - VOID
|
Return |
|
|
StoreAngles |
| Stores the specified joint angles into an internal none volatile memory location. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - FLOAT
|
AngleA |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleB |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleC |
| Range 0.0 to 359.0 | |
| - VOID
|
Return |
|
|
GetWifiIP |
| Collects the IP address of the robot arm WIFI connection. | |
| - STRING
|
Return |
|
|
GetColourSensor |
| Samples and returns the RGB values read by the colour sensor | |
| - BYTE
|
RGB |
| Byte Array To Hold the RGB sensor values | |
| - VOID
|
Return |
|
|
SetMotor |
| Sets the step position of a single motor | |
| - BYTE
|
Motor |
| 0=A, 1=B, 2=C | |
| - UINT
|
Position |
| - VOID
|
Return |
|
|
ResetToBoot |
| Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro, | |
| - VOID
|
Return |
|
|
IsMoving |
| Checks to see if the robot arm or gripper is moving. Returns 0 if the arm is not moving and 1 if the arm is still in transit. | |
| - BOOL
|
Return |
|
|
SetAngle |
| Sets the angle of a single motor | |
| - BYTE
|
Motor |
| 0=A, 1=B, 2=C | |
| - FLOAT
|
Angle |
| Range 0.0 to 359.0 | |
| - VOID
|
Return |
|
|
SetXYZ |
| Moves the machine so that the end tool is in the specified XYZ position. Returns 1 if the coordinates are within range of the Arm else returns 0. | |
 - INT
|
X |
| - INT
|
Y |
| - INT
|
Z |
| - BOOL
|
Return |
|
|
SetBluetoothPin |
| Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change. | |
| - STRING
|
Pin |
| Pin String, 4 Numeric Characters e.g. "1234" | |
| - VOID
|
Return |
|
|
HomeAll |
| Function to automatically home all motors. Macro blocks until complete. | |
| - VOID
|
Return |
|
|
SetRelay |
| Allows the vacuum relay to be switched on and off. | |
| - BOOL
|
State |
| - VOID
|
Return |
|
|
SetCalibrationRadius |
| Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates | |
| - FLOAT
|
Radius |
| - VOID
|
Return |
|
|
SetAngles |
| Sets the angle of all motors | |
| - FLOAT
|
AngleA |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleB |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleC |
| Range 0.0 to 359.0 | |
| - VOID
|
Return |
|
|
GotoPosition |
| Recalls a position from the selected internal none volatile memory location. Performs linear interpolated movement to the selected position. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - VOID
|
Return |
|
|
SetWifiMode |
| Configures the WIFI mode. When enabled the robot arm can either create its own WIFI network or join an existing WIFI network, | |
| - BYTE
|
Mode |
| 0=Disabled, 1=Host Network, 2=Join Network | |
| - VOID
|
Return |
|
|
HomeAxis |
| Function to automatically home a specific motor. Macro blocks until complete. | |
| - BYTE
|
Axis |
| 0=A, 1=B, 2=C | |
| - VOID
|
Return |
|
|
GetAngles |
| Collects the current joint angles of the motors. | |
| - FLOAT
|
Angles |
| Float Array To Hold the step position return values | |
| - VOID
|
Return |
|
|
DisableMotors |
| Disables all motors | |
| - VOID
|
Return |
|
|
StoreMotors |
| Stores the specified step position into an internal none volatile memory location. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - UINT
|
PositionA |
| - UINT
|
PositionB |
| - UINT
|
PositionC |
| - VOID
|
Return |
|
|
SetCanId |
| Stores the specified CAN ID into an internal none volatile memory location. | |
| - UINT
|
ID |
| - VOID
|
Return |
|
|
GetAPI |
| Gets the API version number | |
| - BYTE
|
Return |
|
|
SetMotors |
| Sets the step position of all motors | |
| - UINT
|
PositionA |
| - UINT
|
PositionB |
| - UINT
|
PositionC |
| - VOID
|
Return |
|
|
SetCanMode |
| Configures the CAN mode. | |
| - BOOL
|
Mode |
| 0=Disabled, 1=Enabled | |
| - VOID
|
Return |
|
|
SetWifiSSID |
| Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change. | |
| - STRING
|
SSID |
| Netword ID String, Max 32 Characters | |
| - VOID
|
Return |
|
|
GetPosition |
| Collects the current step positions of the motors. | |
| - UINT
|
Positions |
| UINT Array To Hold the step position return values | |
| - VOID
|
Return |
|
|
StoreCurrentPosition |
| Stores the current position into an internal none volatile memory location. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - VOID
|
Return |
|
|
GetXYZ |
| Collects the current XYZ position of the end tool. | |
| - INT
|
XYZ |
| INT Array To Hold the X, Y and Z return values | |
| - VOID
|
Return |
|
|
SetBluetoothMode |
| Configures the Bluetooth mode. | |
| - BOOL
|
Mode |
| 0=Disabled, 1=Enabled | |
| - VOID
|
Return |
|
|
Initialise |
| - BOOL
|
Return |
|
|
SetBluetoothName |
| Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change. | |
| - STRING
|
Name |
| Bluetooth Device String, Max 20 Characters | |
| - VOID
|
Return |
Property reference
|
Properties |
|
Simulation Mode |
|
API Settings |
|
|
Comms Method |
| Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC. | |
|
|
COM Port Settings |
|
Autodetect |
| Autodetects the COM port, only works for USB AllCode connection. | |
==Macro reference==
|
|
SetWIFIPort |
| Sets the WIFI port number | |
| - UINT
|
Port |
| Default 1245 | |
| - VOID
|
Return |
|
|
WhileMoving |
| Blocking call that waits up to 10 seconds for the current movement operation to complete. Returns when complete. Return of 1 indicates movement complete, 0 indicates timeout. | |
| - BOOL
|
Return |
|
|
SetWIFIPassword |
| Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change. | |
| - STRING
|
Password |
| Password String, Max 32 Characters | |
| - VOID
|
Return |
|
|
SetCalibrationLengths |
| Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates | |
| - FLOAT
|
LengthA |
| - FLOAT
|
LengthD |
| - VOID
|
Return |
|
|
SetMovementSpeed |
| Controls the movement speed of the arm and the ramping increment | |
| - UINT
|
Speed |
| Range 0-10000 default 8000 | |
| - UINT
|
Increment |
| Range 0 to 5000, default 50 | |
| - VOID
|
Return |
|
|
GetPLCInputs |
| Reads the inputs on the secondary grove connector used to connect to outputs from a connected PLC or other external switch. | |
| - BYTE
|
Return |
|
|
SetGripper |
| Sets the new position of the gripper | |
| - BYTE
|
Position |
| 0 = Closed, 255 = Fully Open | |
| - VOID
|
Return |
|
|
SetCalibrationPosition |
| Called when the arm gripper is in the calibration position of X0 Y300 Z5 Reconfigures the kinematics calculations based on this. Performed in factory to calibrate the arm, warning calling this function will effect factory calibration. | |
| - VOID
|
Return |
|
|
StoreAngles |
| Stores the specified joint angles into an internal none volatile memory location. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - FLOAT
|
AngleA |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleB |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleC |
| Range 0.0 to 359.0 | |
| - VOID
|
Return |
|
|
GetWifiIP |
| Collects the IP address of the robot arm WIFI connection. | |
| - STRING
|
Return |
|
|
GetColourSensor |
| Samples and returns the RGB values read by the colour sensor | |
| - BYTE
|
RGB |
| Byte Array To Hold the RGB sensor values | |
| - VOID
|
Return |
|
|
SetMotor |
| Sets the step position of a single motor | |
| - BYTE
|
Motor |
| 0=A, 1=B, 2=C | |
| - UINT
|
Position |
| - VOID
|
Return |
|
|
ResetToBoot |
| Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro, | |
| - VOID
|
Return |
|
|
IsMoving |
| Checks to see if the robot arm or gripper is moving. Returns 0 if the arm is not moving and 1 if the arm is still in transit. | |
| - BOOL
|
Return |
|
|
SetAngle |
| Sets the angle of a single motor | |
| - BYTE
|
Motor |
| 0=A, 1=B, 2=C | |
| - FLOAT
|
Angle |
| Range 0.0 to 359.0 | |
| - VOID
|
Return |
|
|
SetXYZ |
| Moves the machine so that the end tool is in the specified XYZ position. Returns 1 if the coordinates are within range of the Arm else returns 0. | |
| - INT
|
X |
| - INT
|
Y |
| - INT
|
Z |
| - BOOL
|
Return |
|
|
SetBluetoothPin |
| Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change. | |
| - STRING
|
Pin |
| Pin String, 4 Numeric Characters e.g. "1234" | |
| - VOID
|
Return |
|
|
HomeAll |
| Function to automatically home all motors. Macro blocks until complete. | |
| - VOID
|
Return |
|
|
SetRelay |
| Allows the vacuum relay to be switched on and off. | |
| - BOOL
|
State |
| - VOID
|
Return |
|
|
SetCalibrationRadius |
| Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates | |
| - FLOAT
|
Radius |
| - VOID
|
Return |
|
|
SetAngles |
| Sets the angle of all motors | |
| - FLOAT
|
AngleA |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleB |
| Range 0.0 to 359.0 | |
| - FLOAT
|
AngleC |
| Range 0.0 to 359.0 | |
| - VOID
|
Return |
|
|
GotoPosition |
| Recalls a position from the selected internal none volatile memory location. Performs linear interpolated movement to the selected position. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - VOID
|
Return |
|
|
SetWifiMode |
| Configures the WIFI mode. When enabled the robot arm can either create its own WIFI network or join an existing WIFI network, | |
| - BYTE
|
Mode |
| 0=Disabled, 1=Host Network, 2=Join Network | |
| - VOID
|
Return |
|
|
HomeAxis |
| Function to automatically home a specific motor. Macro blocks until complete. | |
| - BYTE
|
Axis |
| 0=A, 1=B, 2=C | |
| - VOID
|
Return |
|
|
GetAngles |
| Collects the current joint angles of the motors. | |
| - FLOAT
|
Angles |
| Float Array To Hold the step position return values | |
| - VOID
|
Return |
|
|
DisableMotors |
| Disables all motors | |
| - VOID
|
Return |
|
|
StoreMotors |
| Stores the specified step position into an internal none volatile memory location. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - UINT
|
PositionA |
| - UINT
|
PositionB |
| - UINT
|
PositionC |
| - VOID
|
Return |
|
|
SetCanId |
| Stores the specified CAN ID into an internal none volatile memory location. | |
| - UINT
|
ID |
| - VOID
|
Return |
|
|
GetAPI |
| Gets the API version number | |
| - BYTE
|
Return |
|
|
SetMotors |
| Sets the step position of all motors | |
| - UINT
|
PositionA |
| - UINT
|
PositionB |
| - UINT
|
PositionC |
| - VOID
|
Return |
|
|
SetCanMode |
| Configures the CAN mode. | |
| - BOOL
|
Mode |
| 0=Disabled, 1=Enabled | |
| - VOID
|
Return |
|
|
SetWifiSSID |
| Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change. | |
| - STRING
|
SSID |
| Netword ID String, Max 32 Characters | |
| - VOID
|
Return |
|
|
GetPosition |
| Collects the current step positions of the motors. | |
| - UINT
|
Positions |
| UINT Array To Hold the step position return values | |
| - VOID
|
Return |
|
|
StoreCurrentPosition |
| Stores the current position into an internal none volatile memory location. | |
| - BYTE
|
PositionIndex |
| Range: 0 to 40 | |
| - VOID
|
Return |
|
|
GetXYZ |
| Collects the current XYZ position of the end tool. | |
| - INT
|
XYZ |
| INT Array To Hold the X, Y and Z return values | |
| - VOID
|
Return |
|
|
SetBluetoothMode |
| Configures the Bluetooth mode. | |
| - BOOL
|
Mode |
| 0=Disabled, 1=Enabled | |
| - VOID
|
Return |
|
|
Initialise |
| - BOOL
|
Return |
|
|
SetBluetoothName |
| Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change. | |
| - STRING
|
Name |
| Bluetooth Device String, Max 20 Characters | |
| - VOID
|
Return |
Property reference
|
|
Properties |
|
|
Simulation Mode |
|
|
API Settings |
|
|
Comms Method |
| Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC. | |
|
|
COM Port Settings |
|
|
Autodetect |
| Autodetects the COM port, only works for USB AllCode connection. | |
