RM-501 Commands

ECE 5463 Fall 2014

Read RM-501 Manual on the Course
Website Section 5.5

Types and Possibilities

There are three types of commands
Operation control: 16
I/O control: 6
Program control: 16

Operation Control Commands

1. NT: Move to the nest position in the order of
shoulder
elbow
wrist pitch
wrist roll
waist
2. HO: Set the current position as the home position

Operation Control Commands (continued)

3. OG: go to the home position
4. MI: move immediately by the number of steps
- MI a1, a2, a6 (a6=0)
- MI -1000, -100, 100, 300, 300, 0
5. MO a (1 a 629): move to a specific point
6. IP: increment
move to the previously recorded
position number
7. DP: decrement
8. PS a0, a1, a2, a6: 1 a0 629 which is a position number,
and the rest are joint movement amounts.
Function: set position
9. HE a: store where you are as position a
10. PC a1, a2: clear the positions previously stored between a1
and a2

Operation Control Commands (continued)

11. GP a1, a2, a3 - where 0 (a1, a2) 7, 0 a3 99:
set the gripper pressure
12. GO: open the gripper
13. GC: close the gripper
14. GF a where a=0 gripper open; a=1 gripper close:
set gripper condition for PS
15. SP a - where 0 a 9, and 9 = 400 mm/sec:
set the operating speed in 10 stages
16. TI a - where 0 a 99: stop for 0.1 to 9.9 sec.

The range of each joint

= - 300o
= - 130o
= 90o

As seen
from outside

I/O Control
1. IN: input signal from an external controller (works with OTa)
2. ID: input for a testing bit (works with ODa)
3. OT a: 0 a 255 output for timing to an external controller
4. OD a: 0 a 255 unconditional output of signals set by
parameters via external I/O terminals.
5. TB a1, a2 where 0 |a1| 7, 0 a2 2048: test the a1th bit of
the input data. If true (a1 is positive) step a2 is executed;
when a1 is negative, it is in the opposite sense
6. EF a, where a = 0 or 1: output error signal, when a=0 no
external indication of error is given as output. If a =1,
bit 7 is an indication of error to external devices

Program Control
1. LG a1, a2: jump to step a2 if input is larger than a1
2. EQ a1, a2: jump to step a2 if input is equal to a1
3. SM a1, a2: jump to step a2 if input is smaller than a1
4. NE a1, a2: jump to step a2 if input is not equal to a1
5. GS a: go to subroutine at step a
6. RT: return
7. RC a
work together for repeating cycle a times, 0 a 99
8. NX

Program Control (continued)

9. GT a: go to step a
10. ED: end of program
11. RS: reset
12-16: (see Table 5.5 of the manual page 20)

A Sample Program
1.
2.
3.
4.
5.
6.

RS
- reset any errors
NT
- nest position
SP 6
- set speed at 7/10 of the maximum speed
MI 6000, 0,0,0,0,0 - center the body by moving waist 150o
HO
- call that home position
GF 0
- set gripper open condition when setting
the following positions
7. PS 1 0, -4000, 3600, 1200, -1200, 0 position #1
8. PS 2 0, -400, 0, 0, 0, 0 position #2

A Sample Program (continued)

9. GF 1
- what is this for?
10. PS 3 3600, -400, 0, 0, 0, 0 - position #3
11. SP 7
- 8/10 of max speed
12. GP 6,1,10 - gripper pressure profile
13. GO
- open gripper
14. OG
- go to home position
15. RC 2
16. IP
- go to positions #1 and # 2
17. NX
18. GC
- close gripper
19. SP 3
- 4/10 max speed

A Sample Program (continued)

20. MO 3
- go to position 3
21. MI 3600, 0, 0, 0, 0, 0
- move immediately
22. HE 4
- call it position #4
23. TI 20
- wait for 2 seconds
24. DP
- go to position #3
25. RC 3
26. DP
- go to positions #2, #1 and # 0
27. NX
28. ED
- end of program