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SOFTWARE

KR C...

Robot Sensor Interface (RSI)

Release 2.0

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KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.

Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in

the case of a replacement or service work.

We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies

cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a

regular basis, however, and necessary corrections will be incorporated in subsequent editions.

Subject to technical alterations without an effect on the function.

PD Interleaf

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Contents

Characteristics, program installation

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1.1

Characteristics

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1.2

Installation / uninstallation / update

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Program description

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1

Structure of the RSI program

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2

Method of operation of RSI

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3

RSI objects

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2.3.1

Object components

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1.1 Structure

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2.3.1.2 RSI units

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2

Creating objects

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2.3.3

Linking objects

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2.3.4

Containers

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.5

Changing object parameters

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.6

Debugging

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2.3.6.1 Log file

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.6.2 Error messages

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2.4

Structure of a sensor application

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2.5

Program example

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RSI commands

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1

Structure of command descriptions

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2

General commands

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3.3

Link commands

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3.4

Motion commands

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3.5

RSI objects

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3.5.1

Data objects

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3.5.2

Signal processing objects

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3.5.2.1 Transformations

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3.5.2.2 Logical operations

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3.5.2.3 Comparison operations

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3.5.2.4 Control objects

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3.5.2.5 Additional signal processing objects

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3.5.2.6 Action objects

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3.6

Other objects

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Robot Sensor Interface (RSI)

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Characteristics, program installation

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Characteristics, program installation

The Robot Sensor Interface (RSI) makes it possible to create sensor applications in the

programming language KRL (KUKA Robot Language). It contains a library of standard

functions for sensor applications, such as filters, transformations, control functions, etc.
RSI is object--oriented, modularly structured, and provides a special set of commands for

standard applications.

The program Robot Sensor Interface (RSI) can be used with the following software:
KR C1 Release 4.0 and 4.1, or

KR C2 Release 4.0, 4.1 and 5.1.

1.1

Characteristics

The Robot Sensor Interface (RSI) is an open system with maximum flexibility. This program

makes it possible to integrate any sensor into the KUKA robot controller, and its flexible object

linking means that it can be adapted or expanded to accommodate practically any type of

new sensor. RSI allows quick, easily--managed development of sensor applications.
RSI is object--oriented. This means that no commands are processed; instead, RSI

commands are used to create objects and change their characteristics. Once the objects

have been created and activated, they are then evaluated continuously in parallel with a

running program.
RSI is modularly structured, and is integrated into KRL. The application itself is implemented

in KRL. New solutions and expansions can be developed from existing components. The

range of functions (commands, supported sensors, etc.) is expandable in the form of

libraries.
RSI provides a set of commands for standard applications, for example functions for velocity

and position control, transformations, comparison operations, etc.
The sensor data are evaluated in parallel with a running program, thus making it possible to

monitor the motion sequences. Program creation is largely independent of the sensor being

used and is based on the “object libraries” principle. Complex applications with many different

sensors can be implemented by working with a number of different libraries simultaneously.
Object--independent RSI commands make it possible to standardize the development of

various applications.

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1.2

Installation / uninstallation / update

Technology packages are offered exclusively as add--on software modules.
The installation procedure is the same for all technology packages and is described in

separate documentation module.

The installation, uninstallation, reinstallation and update of technology

packages are described in detail in the documentation “Installation/Uninstalla-

tion/Update of Tech Packages”.

Program description

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Program description

2.1

Structure of the RSI program

RSI provides a uniform interface for various sensor applications. Unlike the usual case,

where the sensor system is connected via external interfaces, here the sensor is integrated

using KRL. The sensor application itself is implemented in KRL.
Solutions based on RSI can be operated in parallel. RSI is modular, i.e. new solutions can

be developed from existing components. Its scope of functions is expandable.
The following diagram shows the structure and integration of RSI schematically.

RSI

KRL

Position

control

Real--time

Not in

real--time

Sensor

driver

Sensor

driver

Object

Lib--

rary

Object

Lib--

rary

I/Os

2.2

Method of operation of RSI

The modularly--structured program RSI operates within the robot controller. RSI provides an

interface to KRL (KUKA Robot Language) by means of which the user, while working on the

KRL level, can access the functions made available by RSI.
Object--independent RSI commands make it possible to standardize the development of

various applications. RSI makes a number of additional internal function interfaces available

internally.
The application itself is implemented in KRL. New solutions and expansions can be

developed on the basis of existing components. The range of functions (commands,

supported sensors, etc.) is expandable in the form of libraries.
RSI is object--oriented. This means that no commands are processed as such; instead, RSI

commands are used to create objects and change their characteristics. Once the objects

have been created and activated, they are then evaluated continuously in parallel with a

running program.
RSI provides a set of commands for standard applications, for example functions for control-

ling velocity and position, transformations, comparison operations, etc.
The sensor data are evaluated in parallel with a running program, thus making it possible to

monitor the motion sequences. Programs can be created largely independently of the sensor

being used, and is based on the “object libraries” principle. Highly complex applications with

many different sensors can be implemented by working with a number of different libraries

simultaneously.

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2.3

RSI objects

2.3.1

Object components

2.3.1.1 Structure

An RSI object essentially consists of:

inputs,

outputs and a

function

Each individual object may contain only inputs, only outputs, or both inputs and outputs. In

each interpolation cycle (IPO cycle), the function evaluates the states or values present at

the inputs, and makes the results available at the corresponding outputs. It is also possible

to assign parameters which determine the characteristics of the object.

Example: Binary ANDing

Input

Output

Function

This example comprises an object with two inputs and one output.
The AND function has the effect that the output is set to logic 1 if both inputs have been

assigned a logic 1. This function is executed in each interpolation cycle.
Object inputs can be either mandatory or optional. Mandatory inputs must be assigned, while

optional ones may or may not. The characteristics “Mandatory” and. “Optional” cannot be

altered subsequently.
Each input and output is assigned a unit, which must correspond to the characteristics of the

object. For example, an input which is linked to a force sensor and receives values in newtons

[N], must not be linked with an AND object, because AND objects expect to receive Boolean

values at their inputs.

The program checks that the units are correct; if an input is linked with an output whose

unit is incompatible, then an error will occur during the program’s run time.

Objects can be created, activated, checked, parameterized, deactivated and deleted.

Creation, linking, activating, deactivating and deleting of objects is carried out by means of

KRL commands. This allows creation of applications within KRL. The execution of created

and activated objects, on the other hand, takes place in parallel with the KRL program, thus

making monitoring and online path correction possible.

Program description (continued)

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2.3.1.2 RSI units

To make the use of RSI units easier and more user--friendly, a number of predefined units

are available in the program. These units are coded as constants in RSI.
RSI contains a set of predefined constants of commonly--used RSI base units:
;RSI SI Units:
RSIUNIT_No

;[--]

RSIUNIT_m

’H1’

;[m] meters

RSIUNIT_kg

’H10’

;[kg] kilograms

RSIUNIT_s

’H100’

;[s] seconds

RSIUNIT_A

’H1000’

;[A] amperes

RSIUNIT_K

’H10000’

;[K] Kelvin

RSIUNIT_cd

’H100000’

;[cd] candelas

RSIUNIT_mol

’H1000000’

;[mol] moles

;End RSI Units
The units are coded by means of 32--bit variables. Four bits are available for each base unit.

These 4 bits specify the power of the unit; a 0 (zero) indicates that the unit is not present.
This is illustrated in the following diagram:

mol

not assigned

Meters

kilograms

seconds

amperes

Kelvin

candelas

moles

Material

quantity

Light

intensity

Temper-- Current

intensity

Time

Mass

Length

MSB

(Most Significant Bit)

LSB

(Least Significant Bit)

ature

The unit “meter” [m] thus corresponds to 1 or “H1”, and “kilogram” [kg] to 16 or “H10”.

Composite units are formed by combining other units. Of these, the following are

provided:

;RSI composite Units:
RSIUNIT_N

’HE11’

;[N] newtons

RSIUNIT_Nm

’HE12’

;[Nm] newton--meters

RSIUNIT_V

’HFE12’

;[V] volts

RSIUNIT_Pa

’HE1F’

;[Pa] pascals

;End RSI composite Units

N = kgm/s

= ’H10’ + ’H1’ + ’HE00’ = ’HE11’

kg + m

+ s

= N

For example, the composite unit “newton” [N] is as follows:

In this manner it is possible to code any unit up to a power of +/-- 8.

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2.3.2

Creating objects

Each object is created according to the specific case, but the structure of the commands is

basically identical. The command to create an object looks essentially like this:
Return value

Object name(Handle, ContainerID,
[{ObjHandle, Output}], [{Parameter}])

The following definitions apply here:
Return value

The return value indicates whether the object was created

successfully.

If the object was created successfully, then ENUM RSI_OK

is returned; otherwise another one corresponding to

the error will be returned.

Object name

Name of the object to be created, for example “ST_AND”

Handle

A variable which is written when the object is created.

The handle is used for subsequent access to the object.

ContainerID

Number of the container in which the object is created.

ObjHandle

A handle defining the object with which the created object

is linked.

The link is made via the output of the object defined by the parameter
Output.

Output

Specifies the output of the object selected using ObjHandle.

The parameters ObjHandle and Output can be used repeatedly

if more than one link is present.

Parameter

Additional parameters required for the object’s function, for

example the gain factor of a P controller.

Example: ST_AND
An AND object is created in container 2 and linked with the objects GREATID1, output 1 and

GREATID2, output 1.
Example

AND object

err=ST_AND(ANDID, 2, GREATID1, 1, GREATID2, 1)

An AND object

is created in container 2,

and linked with the objects GREATID1, output 1

and GREATID2, output 1

...

AND

GREATID1

GREATID2

Output “X” indicates the number of the output.

Input “X” indicates the number of the input.

Container 2

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2.3.3

Linking objects

Objects can be linked to one another – by linking outputs with inputs. The mandatory links

are part of the KRL command for creating the objects.
To create optional links, the command “ST_NEWLINK” is available. The command

“ST_DELLINK” is used to delete these links. In addition, the command “ST_CHANGELINK”

can be used to redirect a link.
In all three commands, a link is defined from the output of one object to the input of another

object. In order to create, change, or delete a link, the following conditions must be met:

the object IDs of the objects must be valid; the objects must actually exist;

the corresponding inputs and outputs must be present;

the units must be the same;

the number of links to other objects must not exceed 24 per object.

Each of these conditions is checked by the program. If one of these conditions is not

fulfilled, the robot is stopped and the corresponding error message is generated.

The following diagram shows in schematic form the functions of “ST_NEWLINK”,

“ST_DELLINK” and “ST_CHANGELINK”.

...

(orid)

AND

(andid)

NOT

(notid)

Output “X” indicates the number of the output.

Input “X” indicates the number of the input.

Link

-- create with ST_NEWLINK

-- delete with ST_DELLINK

Link

-- change with ST_CHANGELINK

Syntax of the command “ST_NEWLINK”

err=st_newlink(notid, 1, andid, 3)
In this example a link is created from the NOT object “NOTID”, output 1 to the AND object,

input 3.

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Syntax of the command “ST_DELLINK”
err=st_dellink(notid, 1, andid, 3)
The link from the NOT object “NOTID”, output 1 to the AND object, input 3 is deleted.

Syntax of the command “ST_CHANGELINK”
err=st_changelink(notid, 1, andid, 3, orid, 3)
The link between the NOT object “NOTID”, output 1 and the AND object, input 3 is cancelled

and instead a link is created to the OR object “ORID”, input 3.

2.3.4

Containers

A container does not provide any function of its own, but is rather used for logical

management of objects. The objects in a single container can be activated, deactivated and

deleted together.

The total number of RSI objects is 100.

The KRL commands for a container are the same as the corresponding commands for

objects:
ST_ENABLE

activates the group of objects present in the container;

ST_DISABLE

deactivates the group of objects present in the container;

ST_DELOBJ

deletes the container and the group of objects present in it.

Using these commands always affects both the container and all of the objects it

contains.

The container makes it possible to edit a group of objects simultaneously. This makes it easy

to switch on and off functions consisting of a group of interlinked objects.
If a container is deactivated or deleted, and an object in the container is linked with another

object outside that container, and if the link is mandatory, then an error will occur during the

program’s run time.
When the system is started a container with the ID 0 (zero) is created automatically.

Container 0 is always activated, and the objects it contains are evaluated.
Further containers (1, 2, etc.) are created during run time by means of the command

“ST_CONTAINER”. These containers (and thus their contents) are initially always

deactivated, and are activated by means of the command “ST_ENABLE”. The objects

always acquire the status of the container.

Deactivation or deletion of an object causes an error during program run time if the

outputs of the object in question are linked with the inputs of another object.

Program description (continued)

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2.3.5

Changing object parameters

Object parameters are required for an object’s function. They can be – but do not have to

be – identical to the parameters set when the object is created.
During run time of an object, object parameters can be read using the command

“ST_GETPARAM”, and written using the command “ST_SETPARAM”. These two

commands can be used for any object which contains object parameters.
Example
The gain factor of a proportional--action object (P object) will be changed from 0.01745 to

a value of 0.5.

The P controller is created as follows:

err=st_p(propid,1, posid, 2, 0.01745, 0)

(P object “ST_P”)

(gain factor)

In the above example the designation “PROPID” is the handle of the P object, and the

“1” specifies that the first parameter will be altered.

If there is more than one parameter they are numbered sequentially from 1 to n.

Once the P controller has been created, the gain factor (0.01745) can be changed to the

value 0.5 by means of the command

err=ST_Setparam(propid,1,0.5) 0)

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2.3.6

Debugging

2.3.6.1 Log file

RSI keeps a log file as an aid in troubleshooting. This file is named “RSIALL.LOG”, and is

located in the directory “...\KRC\ROBOTER\LOG”.
The log file contains extensive information, for example regarding when the individual objects

were created and what other objects they have been linked to. In addition, all errors which

occur are saved in this file, for example incompatible units when linking objects.

2.3.6.2 Error messages

RSI run time errors caused by incorrect programming are indicated by the error message

“Error when Function X was running”.

Here “X” stands for the corresponding error code. The following table provides a list of the

numeric codes and their meanings. For example, code “11” signifies that an error has oc-

curred in the function “ST_Container”.

For detailed information on errors which may have occurred, please refer to the log file

“RSIALL.LOG”, which is located in the directory “...\KRC\ROBOTER\LOG”.

Table of error messages

Code

Error in object/function

INT _ST_RESET

INT _ST_DELOBJ

INT _ST_GETPARAM

INT _ST_TESTOBJ

INT _ST_TESTMODULE

INT _ST_SETPARAM

INT _ST_NEWLINK

INT _ST_DELLINK

INT _ST_CHANGELINK

INT _ST_CONTAINER

INT _ST_DISABLE

INT _ST_ENABLE

INT _ST_SN2TTS

INT _ST_SN2BASE

INT _ST_SN2WORLD

INT _ST_AND

INT _ST_OR

Program description (continued)

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Code

Error in object/function

INT _ST_XOR

INT _ST_NOT

INT _ST_EQUAL

INT _ST_LESS

INT _ST_GREATER

INT _ST_VEL

INT _ST_POS

INT _ST_P

INT _ST_PD

INT _ST_I

INT _ST_PID

INT _ST_SUM

INT _ST_AVERAGE

INT _ST_FIR

INT _ST_STOP

INT _ST_MAP2VAR

INT _ST_SETOUT

INT _ST_RESETOUT

INT _ST_MAP2OUT

INT _ST_SN2TOOL

INT _ST_ACTPOS

INT _ST_PATHCORR

INT _ST_DIGIN

INT _ST_ANAIN

INT _ST_GENTRANS

INT _ST_ACTAXIS

INT _ST_AXIS_CORR

INT _ST_PT1

INT _ST_PT2

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2.4

Structure of a sensor application

An application is defined by the data flow between its objects. Each object provides a specific

function. Within each function, the data at the object’s inputs are read, processed in the

object itself, and the results are made available at the object’s outputs.
Functions can be combined in almost any manner desired by linking the corresponding

inputs and outputs. The following diagram provides an illustration of functions and data flow.

Sensor

Transformation

Path correction

Comparison 1

Comparison 2

Stop

Container 1

Container 2

Container 0

This example shows an application which uses sensors to monitor the motion of the robot

and makes the appropriate path corrections. Monitoring of the sensor data takes place at the

same time. The function of the object executing path correction controls the position of the

robot by evaluating the sensor data present at the object’s inputs.
In the example shown, the data received from the sensor are transformed by a

transformation object and passed on to the path correction object. Since the data flow

between the three objects is evaluated parallel to the running KRL program in each

interpolation cycle, the data received from the sensor can be used to correct the path

immediately.
Applications can be structured more clearly through the creation of “Containers”. Containers

have no functions of their own, but serve rather to bring objects together into groups. In

addition, containers can be used to activate or deactivate groups of objects.
Two containers are defined in our example (containers 1 and 2), each of which contains one

comparison object (Comparison 1 and Comparison 2) and one stop object. These can be

used to check the size of the value received from the sensor, for example. If the value

received from the sensor exceeds a specified value, then the robot is stopped.
If within a single application a number of comparisons using different monitoring values are

required, for example depending on the position of the robot or other specific circumstances,

containers can be created to allow simple switching between the threshold values which

must be used in each case. This is done by activating or deactivating the appropriate

containers.
This method can be used to group all the objects required for path correction, as well as any

additional containers, in a single container (Container 0 in the example shown); it is thus

possible to switch the path correction function on or off at any time.

Program description (continued)

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Creation, linking, activating, deactivating and deleting of objects is carried out by means of

KRL commands. This allows creation of applications within KRL. The execution of created

and activated objects, on the other hand, takes place in parallel with the KRL program, thus

making monitoring and online path correction possible.

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2.5

Program example

Traversing the robot with the aid of a force--moment sensor
The robot moves along a programmed path which will be corrected by means of a force--

moment sensor. The data from the force--moment sensor are evaluated and the calculated

correction values trigger the appropriate path correction. The correction values are

superposed on the programmed values.

Originally programmed

Path after sensor correction

path

A force acts on the sensor between 1 and 2. This force triggers the appropriate path

correction, thus shifting the path. This shift remains even after the force ceases to act on the

sensor, i.e. after the correction, because the sensor values have been integrated.
The program for this example is structured as follows:
;------ Variable declarations ------
decl RSIERR err
int dlrid, pid[3], skalid[6], skalkrft

...

;------ Programming of the sensor task ------
;------ Define sensor ------
err=ST_DLRSENS(dlrid,0)
;------ Define object for Cartesian position correction ------
err=ST_PATHCORR (skalkrft,0)
;------ Define integrators to allow large distances to be covered

;------ One integrator with one force value is linked each direction (X, Y and Z)

;------ of the sensor
err=ST_I (skalid[1],0,dlrid,1,0.0001,0)
err=ST_I (skalid[2],0,dlrid,2,0.0001,0)
err=ST_I (skalid[3],0,dlrid,3,0.0001,0)
;------ Adjust units over P adapter
err=ST_P (pid[1],0,skalid[1],1,1,1)
err=ST_P (pid[2],0,skalid[2],1,1,1)
err=ST_P (pid[3],0,skalid[3],1,1,1)
;------ Link the position correction object with the P adapters
err=ST_NEWLINK (pid[1],1,skalkrft,1)
err=ST_NEWLINK (pid[2],1,skalkrft,2)
err=ST_NEWLINK (pid[3],1,skalkrft,3)
; Switch on the RSI
err=ST_ON()

Program description (continued)

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;------ Robot motion program ------
...

;------ The corrections made by the sensor are superposed on the motions
LOOP
LIN_REL

{x 100}

LIN_REL

{y 100}

LIN_REL {x -100}
LIN_REL {y -100}
ENDLOOP
...

Graphic representation of objects created

1(Fx)

1 X

2(Fy)

2 Y

3(Fz)

3 Z

4(Mx)

4 A

5(My)

5 B

6(Mz)

6 C

Force--

moment

sensor

(DLRID)

Position

correction

(SKALKRFT)

I controller

SKALID[1]

I controller

SKALID[2]

I controller

SKALID[3]

Output “X” indicates the number of the output.

Input “X” indicates the number of the input.

Description of the program

ST_DLRSENS(dlrid,0)

“St_DLRSENS” creates a sensor object which is used to access the force--motion

sensor.

The handle “dlrid” is a variable defined by RSI. This makes it possible to access the

object later in the program.

“0” (zero) signifies that the sensor object is created in Container 0 (zero).

ST_PATHCORR (skalkrft,0)

“ST_PATHCORR” is an object used for Cartesian correction of the robot position.

Position correction allows path correction while robot motions are being executed.

The handle “skalkrft” allows subsequent access to the position correction object.

“0” (zero) signifies that the correction object is created in Container 0 (zero).

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ST_I (skalid[1...3],0,dlrid,1...3,0.0001,0)

“ST_I” is an integrator. Three integrators are defined for the purpose of integrating the

force values in X, Y and Z.

The handles of these integrators are saved in the variables “skalid[1...3]”.

The integrators are created in Container 0.

The handle “dlrid” with the output number (1...3) creates the link between the sensor

object and the integrator. This link gives the integrator access to the corresponding

force values.

The value “0.0001” in this example is the gain factor for the integrator.

The final “0” (zero) signifies that the force values are superposed continuously (for more

information on this topic, please refer to the description of RSI command “ST_I” in

Section 3.5.2.4 of this documentation).

ST_NEWLINK (skalid[1...3],1,skalkrft,1...3)

“ST_NEWLINK” is used to create a link from an integrator (1...3) to an input of the position

correction object.
In this example, the handles “skalid[1],1,skalkrft,1” have the following meaning:

A link is created from output 1 of the object “skalid[1]” to input 1 of the object “skalkrft”.

The position correction object can thus access the superposed force values and make the

corresponding corrections to the robot position.

At this point the RSI objects have been created and linked to each other, but they are still

not active, and therefore have no effect within the robot controller.
Activation is carried out using the command:

ST_ON()

The command “ST_ON” initiates RSI program execution. From this point onwards the RSI

objects are evaluated in each interpolation cycle.

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RSI commands

This section contains a description of the RSI commands supplied with

the program on delivery (standard version).

3.1

Structure of command descriptions

The tables on the following pages are structured as follows:

ST_...

Name of the RSI command. RSI commands always begin with “ST_”.

Description

Name of the RSI command, its function and any instructions which must

be observed.

Parameters

Parameters are used to create RSI objects.
Example:
IN (INT): ID1

Object ID of the object which is linked with the

input.

IN (INT): CHANNEL1

Index of OBJ1
ID1 and CHANNEL1 indicate the output of the object

which is linked with the input.

Object inputs

Inputs of the object during run time.
Example:
1 (INT):

Value

Object outputs

Outputs of the object which are available during run time. These outputs are

available for use by other objects.
Example:
1 (REAL):

X position in Base [mm]

Object

parameters

Parameters which can be altered during program run time. These are used with

the commands “ST_SETPARAM” and “ST_GETPARAM”.

Object Enums

Expansion of the individual parameters.

Return value

Value returned when the object is created.
Example:
RSIOK:

Successful

The RSI object was saved successfully.

Object parameters

Object input

Object output

Example: The command “ST_P”

The corresponding command is as follows:
ST_P (object ID[handle], container ID, input object ID, index of the input object ID, control

parameters, unit)

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3.2

General commands

General RSI commands are described in this section. Further information on this topic can

be found in Section 2.

ST_ON

Description

Initiates RSI program execution. Once RSI has been started, all RSI objects are

executed in the specified sequence in each sensor cycle.

Parameters

None

Return value

RSIOK:

Successful

ST_OFF

Description

Terminates RSI program execution.

Parameters

None

Return value

RSIOK:

Successful

ST_RESET

Description

Deletes all RSI objects.

Parameters

None

Return value

RSIOK:

Successful

ST_TESTMODULE

Description

Checks whether the module specified by “MODULENAME” has been loaded.

Parameters

IN (CHAR[]): MODULENAME File name of the module

Return value

TRUE:

Module loaded.

FALSE:

Module not loaded.

ST_TESTRSI

Description

Checks whether the RSI basic module has been loaded. If this is not the case,

the corresponding message will be displayed.

Parameters

IN (BOOL): QUITMSG Flag for message display.

TRUE: Message is displayed;

FALSE: Message is not displayed;

Return value

TRUE:

RSI module loaded.

FALSE:

RSI module not loaded.

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ST_SETPARAM

Description

Sets the parameter of an object. The parameter is specified by the parameter ID.

Parameters

IN (INT): OBJID

Object ID

IN (INT): PARAMID

Parameter ID

IN (REAL): PARAM

Value to be set.

Return value

RSIOK:

Successful

RSIINVOBJID:

Invalid object ID.

RSIINVPARAMID:

Invalid parameter ID.

RSIINVPARAM:

Invalid parameter setting.

ST_GETPARAM

Description

Polls a parameter of an object.

Parameters

OUT (REAL): PARAM Supplies the parameter polled.
IN (INT): OBJID

Object ID of the poll.

IN (INT): PARAMID

Parameter ID of the poll.

Return value

RSIOK:

Successful

RSIINVOBJID:

Invalid object ID.

RSIINPARAMID:

Invalid parameter ID.

ST_TESTOBJ

Description

Checks whether an object with the corresponding ID is present.

Parameters

OUT (BOOL): EXIST

Flag of the existing object.

IN (INT): OBJID

Object ID of the query.

Return value

RSIOK:

Successful

RSIINVOBJID:

Invalid object ID.

ST_ENABLE

Description

Activates an RSI object.

Activated RSI objects are executed after “ST_ON” is called in KRL.

Parameters

IN (INT): OBJID Object ID of the RSI object to be activated.

Return value

RSIOK:

Successful

ST_DISABLE

Description

Deactivates an RSI object.

Deactivated RSI objects are not executed in the sensor cycle.

Deactivation is only permissible if the object has no active following object.

Parameters

IN (INT): OBJID Object ID of the RSI object to be deactivated.

Return value

RSIOK:

Successful

RSIINVOBJID: Invalid object ID.

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ST_DELOBJ

Description

Deletes an RSI object.
An RSI object may only be deleted if it has no active following object.

Parameters

IN (INT): OBJID Object ID of the RSI object to be deleted.

Return value

RSIOK:

Successful

RSIINVOBJID: Invalid object ID.
RSIHASSUCC: Deletion prevented by following object.

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3.3

Link commands

Link commands are used to link objects. Links can be created (ST_NEWLINK), deleted

(ST_DELLINK) and changed (ST_CHANGELINK). Further information on this topic can be

found in Section 2.3.3.

ST_NEWLINK

Description

Links the output of an RSI object with the input of a different RSI object and

updates the instructions.

Parameters

IN (INT): OBJFROM

Object ID of the output RSI object.

IN (INT): CHFROM

Index of the output.

IN (INT): OBJTO

Object ID of the input RSI object.

IN (INT): CHTO

Index of the input.

Return value

RSIOK:

Successful

RSILNKOUTOBJ: Invalid output object.
RSILNKINOBJ:

Invalid input object.

RSILNKOUTID:

Invalid output object ID.

RSILNKINID:

Invalid input object ID.

RSILNKSIGNAL:

Input and output signals incompatible.

ST_DELLINK

Description

Deletes the link between the output of an RSI object and the input of a different

RSI object and updates the instructions.

Parameters

IN (INT): OBJFROM

Object ID of the output RSI object.

IN (INT): CHFROM

Index of the output.

IN (INT): OBJTO

Object ID of the input RSI object.

IN (INT): CHTO

Index of the input.

Return value

RSIOK:

Successful

RSIBAD:

Internal error.

RSIINVINPID:

Invalid input object ID.

RSIINVOUTID:

Invalid output object ID.

RSIINVINPIND:

Invalid input object index.

RSIINVOUTIND:

Invalid output object index.

RSIINVLNK:

Invalid link.

ST_CHANGELINK

Description

Changes the output connection of an existing link and updates the instructions.

Parameters

IN (INT): OUTOBJID

Object ID of the output object of the link to be changed.

IN (INT): OUTCHID

Index of the output to be changed.

IN (INT): INOBJID

Object ID of the link input (unchanged).

IN (INT): INCHID

Index of the input (unchanged).

IN (INT): NEWOUTOBJID New object ID of the output.
IN (INT): NEWOUTCHID New index of the output.

Return value

RSIOK:

Successful

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3.4

Motion commands

All of the motion commands described below are used to initiate motions which can be can-

celled while the motion is being executed.
Such a cancellation is not, however, part of the motion command in question, but must rather

be programmed separately by setting a special output using the variable “RSI_BREAK”,

which is defined in the file “$CONFIG.DAT”.

Never enter the number of the output here; instead always use the variable

“RSI_BREAK”. This way you can simply change the number of the output being used,

without having to change the program.

In place of the predefined output, you can also use a different variable. To do this, make

the appropriate changes to the signal “RSIBREAK” in the file “RSILIB.DAT” (in directory

“...\KRC\ROBOTER\KRC\R1\TP\RSI”).

;Break a motion with signal
;

SIGNAL RSIBREAK $OUT[8]

Example

Cancellation of a LIN motion.

err=ST_DLRSENS(dlrid,0)

err=ST_LESS (compid[1],0,dlrid,3,0,0,-10,1)
err=ST_GREATER (compid[2],0,dlrid,3,0,0,10,1)
err=ST_OR (orid,0,compid[1],1,compid[2],1)
err=ST_SETDIGOUT (outid,0,orid,1,RSI_BREAK)

err=ST_ON()

;--- LIN motion which is to be cancelled ---

ST_SKIPLIN (P1)

ST_SKIPPTP

Description

Executes a PTP motion to a specified point. This PTP motion can be cancelled

by means of a BREAK signal. In this case, a subsequent motion command will

cause the path to continue towards the destination point of that command.

No reverse motion is executed to the start point of the PTP motion which was

cancelled by the BREAK signal.

Parameters

IN (E6POS): E6P Destination point of the PTP motion.

Return value

None

ST_RETPTP

Description

Executes a PTP motion to a specified point. This PTP motion can be cancelled

by means of a BREAK signal. In this case, reverse motion is executed to the

start point of the PTP motion.

Parameters

IN (E6POS): E6P Destination point of the PTP motion.

Return value

None

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ST_SKIPLIN

Description

Executes a LIN motion to a specified point. This LIN motion can be cancelled by

means of a BREAK signal. In this case, a subsequent motion command will

cause the path to continue.

No reverse motion is executed to the start point of the LIN motion which was

cancelled by the BREAK signal.

Parameters

IN (E6POS): E6P Destination point of the LIN motion.

Return value

None

ST_RETLIN

Description

Executes a LIN motion to a specified point. This LIN motion can be cancelled by

means of a BREAK signal. In this case, reverse motion is executed to the start

point of the LIN motion.

Parameters

IN (E6POS): E6P Destination point of the LIN motion.

Return value

None

ST_SKIPCIRC

Description

Executes a CIRC motion to a specified point. This CIRC motion can be cancelled

by means of a BREAK signal. In this case, a subsequent motion command will

cause the path to continue.

No reverse motion is executed to the start point of the CIRC motion which was

cancelled by the BREAK signal.

Parameters

IN (E6POS): E6P Intermediate point of the CIRC motion.

IN (E6POS): E6P Destination point of the CIRC motion.

Return value

None

ST_RETCIRC

Description

Executes a CIRC motion to a specified point. This CIRC motion can be cancelled

by means of a BREAK signal. In this case, reverse motion is executed to the

start point of the CIRC motion.

Parameters

IN (E6POS): E6P Intermediate point of the CIRC motion.
IN (E6POS): E6P Destination point of the CIRC motion.

Return value

None

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3.5

RSI objects

3.5.1

Data objects

ST_DIGIN

Description

Creates an RSI object which accesses digital inputs.

Parameters

OUT (INT): OBJID

Object ID of the RSI object being created.

IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): INDEX

See object parameter index.

IN (INT): LENGTH

Quantity of bits to be read (0: bit, 1: byte, 2: word)

IN (INT): UNIT

Unit of the input (no unit is required for

bit input).

Object outputs

1 (INT):

Digital input at the selected index.

Object

parameters

0 (INT): Index Value in length units of a digital input

(1--1026 for bit, 1--204 for byte, 1--40 for word).

Return value

RSIOK:

Successful;

RSIINVCONT: Invalid container;

RSIINVPARAM:Invalid object parameter index.

ST_ANAIN

Description

Creates an RSI object which accesses analog inputs.

Parameters

OUT (INT): OBJID

Object ID of the RSI object being created.

IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): INDEX

See object parameter index.

Object outputs

1 (REAL):

Analog input at the selected index.

Object

parameters

0 (INT): Index Index of the analog input (1--8)

Return value

RSIOK:

Successful;

RSIINVCONT: Invalid container;

RSIINVPARAM:Invalid object parameter index.

The appropriate drivers for the analog inputs must be installed. Otherwise this

command will cause an error during run time.

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ST_ACTPOS

Description

Creates an RSI object which supplies the current position of the robot

in the Cartesian coordinate system.

Parameters

OUT (INT): OBJID

Object ID of the RSI object being created.

IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): COSYS

Current position in the Base coordinate system.

Object outputs

1 (REAL): X Position of coordinate axis X [mm]

2 (REAL): Y Position of coordinate axis Y [mm]

3 (REAL): Z Position of coordinate axis Z [mm]

4 (REAL): A Rotation about the Z axis [rad]

5 (REAL): B Rotation about the Y axis [rad]

6 (REAL): C Rotation about the X axis [rad]

Return value

RSIOK:

Successful;

RSIINVCONT: Invalid container.

ST_ACTAXIS

Description

Creates an RSI object which delivers the current position of the robot

in the axis--specific coordinate system.

Parameters

OUT (INT): OBJID

Object ID of the RSI object being created.

IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

Object outputs

1 (REAL): A1 Rotation about axis 1 [rad]

2 (REAL): A2 Rotation about axis 2 [rad]

3 (REAL): A3 Rotation about axis 3 [rad]

4 (REAL): A4 Rotation about axis 4 [rad]

5 (REAL): A5 Rotation about axis 5 [rad]

6 (REAL): A6 Rotation about axis 6 [rad]

Return value

RSIOK:

Successful;

RSIINVCONT: Invalid container.

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ST_MAP2SEN_PINT

Description

Creates an RSI object which maps its input onto the variable “$SEN_PINT[...]”.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.
IN (INT): VARID

Index (see object parameters).

Object inputs

1 (BOOL): Input condition

Object

parameters

0 (INT): Index Index of the variable “$SEN_PINT”

(valid range: 1 ... 20).

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSICONTOVERFLOW: Container overflow.
RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKPARAM:

Invalid object parameter.

ST_MAP2SEN_PREA

Description

Creates an RSI object which maps its input onto the variable “$SEN_PREA[...]”.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.
IN (INT): VARID

Index (see object parameters).

Object inputs

1 (REAL): Value to be mapped

Object

parameters

0 (INT): Index Index of the variable “$SEN_PREA”

(valid range: 1 ... 20).

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSICONTOVERFLOW: Container overflow.
RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKPARAM:

Invalid object parameter.

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ST_MAP2DIGOUT

Description

Creates an RSI object which maps its input onto a digital output.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.
IN (INT): OUTID

Index (see object parameters).

IN (INT): LENGTH Length (see object parameters).

Object inputs

1 (INT): Value for the output.

Object

parameters

0 (INT): Index Index of the digital output to be mapped

(valid range: 1 ... 4096).

1 (INT):

Bit length (0: bit, 1: byte, 2: word)

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSICONTOVERFLOW: Container overflow.
RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKPARAM:

Invalid object parameter (see log file).

ST_MAP2ANAOUT

Description

Creates an RSI object which maps its input onto an analog output.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.
IN (INT): OUTID

Index (see object parameters).

Object inputs

1 (INT): Value for the output.

Object

parameters

0 (INT): Index Index of the analog output to be mapped

(valid range: 1 ... 8).

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSICONTOVERFLOW: Container overflow.
RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKPARAM:

Invalid object parameter (see log file).

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3.5.2

Signal processing objects

3.5.2.1 Transformations

ST_GENTRANS

Description

Creates an RSI object which carries out a general translational and rotational

transformation in accordance with the specified object parameters. An additional

object parameter defines the calculation type of the transformation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID Object ID of the container, in which the RSI object

being created is located.

IN (INT): ID1 Object ID of the object linked with the 1st input.
IN (INT): CHANNEL1 Output index of ID1 which is linked with the 1st input.
IN (INT): ID2 Object ID of the object linked with the 2nd input.
IN (INT): CHANNEL2 Output index of ID2 which is linked with the 2nd input.
IN (INT): ID3 Object ID of the object linked with the 3rd input.
IN (INT): CHANNEL3 Output index of ID3 which is linked with the 3rd input.
IN (INT): ID4 Object ID of the object linked with the 4th input.
IN (INT): CHANNEL4 Output index of ID4 which is linked with the 4th input.
IN (INT): ID5 Object ID of the object linked with the 5th input.
IN (INT): CHANNEL5 Output index of ID5 which is linked with the 5th input.
IN (INT): ID6 Object ID of the object linked with the 6th input.
IN (INT): CHANNEL6 Output index of ID6 which is linked with the 6th input.
IN (INT): CALCTYPE Calculation type (see object Enums).

Object inputs

1 (REAL): X value for transformation.

2 (REAL): Y value for transformation.

3 (REAL): Z value for transformation.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

Object outputs

1 (REAL): Transformed X value.

2 (REAL): Transformed Y value.

3 (REAL): Transformed Z value.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

Object

parameters

0 (REAL): TransX Translation in the X direction.

1 (REAL): TransY Translation in the Y direction.

2 (REAL): TransZ Translation in the Z direction.

3 (REAL): RotZ Rotation about the Z axis.

4 (REAL): RotY Rotation about the Y axis.

5 (REAL): RotX Rotation about the X axis.

6 (INT): CalcType Calculation type (see object Enums).

Object Enums

Calculation type

Inputs/Outputs

0 : 3 inputs 3 outputs -- Rotation and translation

1 : 3 inputs 3 outputs -- Rotation only

2 : 6 inputs 6 outputs -- Rotation and translation for X,Y,Z,A,B,C input.

3 : 6 inputs 6 outputs -- Rotation only for X,Y,Z,A,B,C input.

4 : 6 inputs 6 outputs – Initiates a torque transformation

Fx, Fy, Fz, Mz, My, Mz

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Continuation of ST_GENTRANS

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

RSIINVPARAM:

Invalid object parameter (CalcType).

ST_SN2TOOL

Description

Creates an RSI object for transforming sensor inputs into the

tool coordinate system.

The object parameters define the translation and rotation of the sensor coordi-

nate system relative to the flange coordinate system.

An additional object parameter defines the calculation type of the

transformation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID Object ID of the container, in which the RSI object

being created is located.

IN (INT): ID1 Object ID of the object linked with the 1st input.
IN (INT): CHANNEL1 Index of ID1 which is linked with the 1st input.
IN (INT): ID2 Object ID of the object linked with the 2nd input.
IN (INT): CHANNEL2 Index of ID2 which is linked with the 2nd input.
IN (INT): ID3 Object ID of the object linked with the 3rd input.
IN (INT): CHANNEL3 Index of ID3 which is linked with the 3rd input.
IN (INT): ID4 Object ID of the object linked with the 4th input.
IN (INT): CHANNEL4 Index of ID4 which is linked with the 4th input.
IN (INT): ID5 Object ID of the object linked with the 5th input.
IN (INT): CHANNEL5 Index of ID5 which is linked with the 5th input.
IN (INT): ID6 Object ID of the object linked with the 6th input.
IN (INT): CHANNEL6 Index of ID6 which is linked with the 6th input.
IN (INT): CALCTYPE Calculation type (see object Enums).

Object inputs

1 (REAL): X value for transformation.

2 (REAL): Y value for transformation.

3 (REAL): Z value for transformation.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

Object outputs

1 (REAL): Transformed X value.

2 (REAL): Transformed Y value.

3 (REAL): Transformed Z value.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

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Object

parameters

0 (REAL): TransX Translation of the X sensor relative to the

flange coordinate system.

1 (REAL): TransY Translation of the Y sensor relative to the

flange coordinate system.

2 (REAL): TransZ Translation of the Z sensor relative to the

flange coordinate system.

3 (REAL): RotZ

Rotation about the Z sensor relative to the

flange coordinate system.

4 (REAL): RotY

Rotation about the Y sensor relative to the

flange coordinate system.

5 (REAL): RotX

Rotation about the X sensor relative to the

flange coordinate system.

6 (INT): CalcType Calculation type (see object Enums).

Object Enums

Calculation type

0 : 3 inputs 3 outputs -- Rotation and translation.
1 : 3 inputs 3 outputs -- Rotation only.
2 : 6 inputs 6 outputs -- Rotation and translation for X,Y,Z,A,B,C input.
3 : 6 inputs 6 outputs -- Rotation only for X,Y,Z,A,B,C input.
4 : 6 inputs 6 outputs – Initiates a torque transformation

Fx, Fy, Fz, Mz, My, Mz.

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

RSIINVPARAM:

Invalid object parameter (CalcType).

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ST_SN2BASE

Description

Creates an RSI object for transforming sensor inputs into the

Base coordinate system.

The object parameters define the translation and rotation of the sensor

coordinate system relative to the flange coordinate system.

An additional object parameter defines the calculation type of the

transformation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID Object ID of the container, in which the RSI object

being created is located.

Object inputs

1 (REAL): X value for transformation.

2 (REAL): Y value for transformation.

3 (REAL): Z value for transformation.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

Object outputs

1 (REAL): Transformed X value.

2 (REAL): Transformed Y value.

3 (REAL): Transformed Z value.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

Object

parameters

0 (REAL): TransX Translation of the X sensor relative to the

flange coordinate system.

1 (REAL): TransY Translation of the Y sensor relative to the

flange coordinate system.

2 (REAL): TransZ Translation of the Z sensor relative to the

flange coordinate system.

3 (REAL): RotZ

Rotation about the Z sensor relative to the

flange coordinate system.

4 (REAL): RotY

Rotation about the Y sensor relative to the

flange coordinate system.

5 (REAL): RotX

Rotation about the X sensor relative to the

flange coordinate system.

6 (INT): CalcType Calculation type (see object Enums).

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Object Enums

Calculation type

Fx, Fy, Fz, Mz, My, Mz.

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

RSIINVPARAM:

Invalid object parameter (CalcType).

ST_SN2TTS

Description

Creates an RSI object for transforming sensor inputs into the

TTS coordinate system.

The object parameters define the translation and rotation of the sensor coordi-

nate system relative to the flange coordinate system.

An additional object parameter defines the calculation type of the

transformation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID Object ID of the container, in which the RSI object

being created is located.

Object inputs

1 (REAL): X value for transformation.

2 (REAL): Y value for transformation.

3 (REAL): Z value for transformation.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

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Object outputs

1 (REAL): Transformed X value.

2 (REAL): Transformed Y value.

3 (REAL): Transformed Z value.

4 (REAL): Dependent on the calculation type.

5 (REAL): Dependent on the calculation type.

6 (REAL): Dependent on the calculation type.

Object

parameters

0 (REAL): TransX Translation of the X sensor relative to the

flange coordinate system.

1 (REAL): TransY Translation of the Y sensor relative to the

flange coordinate system.

2 (REAL): TransZ Translation of the Z sensor relative to the

flange coordinate system.

3 (REAL): RotZ

Rotation about the Z sensor relative to the

flange coordinate system.

4 (REAL): RotY

Rotation about the Y sensor relative to the

flange coordinate system.

5 (REAL): RotX

Rotation about the X sensor relative to the

flange coordinate system.

6 (INT): CalcType Calculation type (see object Enums).

Object Enums

Calculation type

Fx, Fy, Fz, Mz, My, Mz.

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

RSIINVPARAM:

Invalid object parameter (CalcType).

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3.5.2.2 Logical operations

ST_AND

Description

Creates an RSI object which carries out an AND operation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

Object inputs

1 (BOOL): 1st input (mandatory)

2 (BOOL): 2nd input (mandatory)
Note: A maximum of 10 inputs are supported.

Object outputs

1 (BOOL): AND Result

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

ST_OR

Description

Creates an RSI object which carries out an OR operation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

Object inputs

1 (BOOL): 1st input (mandatory)

2 (BOOL): 2nd input (mandatory)
Note: A maximum of 10 inputs are supported.

Object outputs

1 (BOOL): OR Result

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

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ST_XOR

Description

Creates an RSI object which carries out an exclusive OR operation (XOR opera-

tion).

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

Object inputs

1 (BOOL): 1st input (mandatory)

2 (BOOL): 2nd input (mandatory)

Object outputs

1 (BOOL): XOR Result

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

ST_NOT

Description

Creates an RSI object which carries out an NOT operation.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the input.

IN (INT): CH1

Index of OBJ1 which is linked with the input.

Object inputs

1 (BOOL): Input

Object outputs

1 (BOOL): Logical complement of the input.

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKCYCLE:

The link refers the object to itself (see log file).

RSINOLNKOBJ:

The object cannot be linked (container).

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3.5.2.3 Comparison operations

ST_EQUAL

Description

Creates an RSI object which compares its own input and return values.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

IN (REAL): DEFVAL Value for comparison if the 2nd input is not linked.
IN (REAL): Dev

Permissible deviation for the comparison.

Object inputs

1 (REAL): Input 1 (mandatory)
2 (REAL): Input 2 (if this link is missing, a default value will be used;

see the parameter DEFVAL).

Object outputs

1 (BOOL): Result of comparison operation.

Return value

RSIOK: Successful

ST_LESS

Description

Creates an RSI object which compares its own inputs.

The result is TRUE if the value of the 1st input is less than the value of the 2nd

input.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

IN (REAL): DEFVAL Value for comparison if the 2nd input is not linked.
IN (REAL): HIST

Hysteresis for the comparison.

Object inputs

1 (REAL): Input 1 (mandatory)
2 (REAL): Input 2 (if this link is missing, a default value will be used;

see the parameter DEFVAL).

Object outputs

1 (BOOL): Result of comparison operation.

Return value

RSIOK:

Successful

RSIBAD: RSI Internal error.

RSIIINVLNK:

Invalid link.

RSIINVCONT: Invalid container.

RSICONTOV: Container overflow.

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ST_GREATER

Description

Creates an RSI object which compares its own inputs.

The result is TRUE if the value of the 1st input is greater than the value of the

2nd input.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

IN (REAL): DEFVAL Value for comparison if the 2nd input is not linked.
IN (REAL): HIST

Hysteresis for the comparison.

Object inputs

1 (REAL): Input 1 (mandatory)
2 (REAL): Input 2 (if this link is missing, a default value will be used;

see the parameter DEFVAL).

Object outputs

1 (BOOL): Result of comparison operation.

Return value

RSIOK: Successful

3.5.2.4 Control objects

ST_P

Description

Creates an RSI object with a REAL input, a REAL output, and a special parame-

ter for the P controller.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of ID1 which is linked with the input.
IN (REAL): KR

KR control parameter.

IN (INT): UNIT

Unit for the output.

Object inputs

1 (REAL): Input signal

Object outputs

1 (REAL): Output signal

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ST_PD

Description

Creates an RSI object with “PD” control functionality.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of ID1 which is linked with the input.
IN (REAL): KR

KR control parameter.

IN (REAL): TV

TV control parameter.

Object inputs

1 (REAL): Input signal

Object outputs

1 (REAL): Output signal

ST_I

Description

Creates an RSI object with “I” control functionality.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of ID1 which is linked with the input.
IN (REAL): TI

TI control parameter.

IN (INT): IMODE

Integration mode

-- 0 at rest,

-- 1 in motion.

Object inputs

1 (REAL): Input signal

Object outputs

1 (REAL): Output signal

ST_PID

Description

Creates an RSI object with “PID” control functionality.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of ID1 which is linked with the input.
IN (REAL): KR

KR control parameter.

IN (REAL): TV

TV control parameter.

IN (REAL): TN

TN control parameter.

Object inputs

1 (REAL): Input signal

Object outputs

1 (REAL): Output signal

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ST_PT1

Description

Creates an RSI object with “PT1” control functionality.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of ID1 which is linked with the input.
IN (REAL): KP

KP control parameter.

IN (REAL): T1

T1 control parameter.

Object inputs

1 (REAL): Input signal

Object outputs

1 (REAL): Output signal

ST_PT2

Description

Creates an RSI object with “PT2” control functionality.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of ID1 which is linked with the input.
IN (REAL): KP

KP control parameter.

IN (REAL): T1

T1 control parameter.

IN (REAL): T2

T2 control parameter.

Object inputs

1 (REAL): Input signal

Object outputs

1 (REAL): Output signal

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3.5.2.5 Additional signal processing objects

ST_SUM

Description

Creates an RSI object which sums a number of signal inputs together into a

single output.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): OBJ1

Object ID of the object which is linked with the 1st input.

IN (INT): CH1

Index of OBJ1 which is linked with the 1st input.

IN (INT): OBJ2

Object ID of the object which is linked with the 2nd input.

IN (INT): CH2

Index of OBJ2 which is linked with the 2nd input.

IN (REAL): DEFVAL Value to be added if only the 1st input is present.

Object inputs

1 (REAL): 1st signal value to be added (mandatory)

2 (REAL): 2nd signal value to be added
Note: A maximum of 5 inputs are supported.

Object outputs

1 (REAL): Output signal

Return value

RSIOK: Successful

3.5.2.6 Action objects

ST_VEL

Description

Sets the program override “$OV_PRO” to the input value.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.

Object inputs

1 (INT): New override (0 -- 100)

Return value

RSIOK: Successful

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ST_STOP

Description

Creates an RSI object which triggers dynamic braking if the state of the

input is TRUE.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.
IN (INT): MODE

Stop mode (see object Enums).

Object inputs

1 (BOOL): Input condition

Object

parameters

0 (INT): StopMode (see object Enums).

Object Enums

StopMode:

0 : No stop – message only.

1 : Normal stop.

2 : Velocity stop

3 : Quick stop.

Return value

RSIOK: Successful

ST_SETDIGOUT

Description

Creates an RSI object which sets the digital output to TRUE as soon as the input

is TRUE.
Note: The output is not reset (as in “ST_MAP2DIGOUT”) if the input changes

from TRUE to FALSE.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

IN (INT): ID1

Object ID of the object which is linked with the input.

IN (INT): CHANNEL1 Index of OBJ1 which is linked with the input.
IN (INT): OUTID

Index (see object parameters).

Object inputs

1 (BOOL): State for the output.

Object

parameters

0 (INT): Index Index of the digital output to be mapped

(valid range: 1 ... 4096).

Return value

RSIOK:

Successful

RSIINVCONT:

Invalid container.

RSICONTOVERFLOW: Container overflow.
RSILNKOUTOBJ: Invalid output object ID (see log file).
RSILNKOUTINDEX: Invalid index in output object (see log file).
RSILNKSIGNAL:

Input and output signals incompatible

(see log file).

RSILNKPARAM:

Invalid object parameter (see log file).

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ST_PATHCORR

Description

Creates an RSI object which allows access to the robot path correction. This

object makes it possible to use “ST_NEWLINK” to set correction values for the

robot position in each sensor cycle.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

Object inputs

1 (REAL): Correction of X translation in the Base coordinate system.

2 (REAL): Correction of Y translation in the Base coordinate system.

3 (REAL): Correction of Z translation in the Base coordinate system.

4 (REAL): Correction of rotation about Z in the Base coordinate system.

5 (REAL): Correction of rotation about Y in the Base coordinate system.

6 (REAL): Correction of rotation about X in the Base coordinate system.

Return value

RSIOK:

Successful

ST_AXISCORR

Description

Creates an RSI object which allows access to the robot axis correction. This

object makes it possible to use “ST_NEWLINK” to set correction values for the

robot position in each sensor cycle.

Parameters

OUT (INT): OBJID Object ID of the RSI object being created.
IN (INT): AFID

Object ID of the container in which the RSI object

being created is located.

Object inputs

1 (REAL): Correction of rotation about A1.

2 (REAL): Correction of rotation about A2.

3 (REAL): Correction of rotation about A3.

4 (REAL): Correction of rotation about A4.

5 (REAL): Correction of rotation about A5.

6 (REAL): Correction of rotation about A6.

Return value

RSIOK:

Successful

3.6

Other objects

ST_CONTAINER

Description

Creates a container object.

Containers hold a number of RSI objects which can be edited together.

Parameters

OUT (INT): OBJID Provides the object ID of the container being created.

Return value

RSIOK: Successful

Index

Index -- i

Comparison operations, 40
Containers, 12
Control objects, 41
Creating objects, 10

Data objects, 28
Debugging, 14

Error messages, 14

General commands, 22

Installation, 6

Library, 7
Link commands, 25
Linking objects, 11
Log file, 14
Logical operations, 38

Method of operation of RSI, 7
Motion commands, 26

Number of RSI objects, 12

Object components, 8
Object ID, 11
Object library, 7

Objects, 8
Optional links, 11

Program examples, 18

RSI commands, 21
RSI objects, 8, 28
RSI_BREAK, 26
RSILIB.DAT, 26

Sensor application, 16
Signal processing objects, 32
ST_ACTAXIS, 29
ST_ACTPOS, 29
ST_ANAIN, 28
ST_AND, 38
ST_AXISCORR, 46
ST_CHANGELINK, 11, 25
ST_CONTAINER, 12, 46
ST_DELLINK, 11, 25
ST_DELOBJ, 12, 24
ST_DIGIN, 28
ST_DISABLE, 12, 23
ST_DLRSENS, 19
ST_ENABLE, 12, 23
ST_EQUAL, 40
ST_GENTRANS, 32
ST_GETPARAM, 13, 23
ST_GREATER, 41
ST_I, 20, 42
ST_LESS, 40
ST_MAP2ANAOUT, 31
ST_MAP2DIGOUT, 31
ST_MAP2SEN_PINT, 30
ST_MAP2SEN_PREA, 30
ST_NEWLINK, 11, 25
ST_NOT, 39
ST_OFF, 22

Index

Index -- ii

ST_ON, 22
ST_OR, 38
ST_P, 13, 41
ST_PATHCORR, 19, 46
ST_PD, 42
ST_PID, 42
ST_PT1, 43
ST_PT2, 43
ST_RESET, 22
ST_RETCIRC, 27
ST_RETLIN, 27
ST_RETPTP, 26
ST_SETDIGOUT, 45
ST_SETPARAM, 13, 23
ST_SKIPCIRC, 27
ST_SKIPLIN, 27
ST_SKIPPTP, 26
ST_SN2BASE, 35
ST_SN2TOOL, 33
ST_SN2TTS, 36
ST_STOP, 45
ST_SUM, 44
ST_TESTMODULE, 22
ST_TESTOBJ, 23
ST_TESTRSI, 22
ST_VEL, 44
ST_XOR, 39
Structure of a sensor application, 16
Structure of the RSI program, 7

Transformations, 32

Uninstallation, 6
Unit, 8
Update, 6

Document Outline

Characteristics, program installation
- Characteristics
- Installation / uninstallation / update
Program description
RSI commands

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Document Outline