robot

Open or close a connection to a robot via TCP/IP or serial port

Contents

Last date of modification : 2010/10/18

Syntax

Inputs	Description	VALUE
IP-ADRESS	IP-adress of the robot in the network	'192.168.0.2' '192.168.0.3'
PORT	Port-Number of the robot with the IP-adress	40000, 40001, 40002,...
COM-PORT	Serial portadress of the robot	'COM1', 'COM2', 'COM3',...

Description

robot opens or closes a connection to a robot, and returns an integer robot-identifier. This handle is zero, if opening a connection failed.

After a robot is opened, it is in this state :

Property	Value
Velocity[mm/s]	100
Speed[%]	50
Acceleration[%]	50
Deceleration[%]	50
Accuracy[mm]	1
Continues-path mode	OFF

Examples

Opening a connection to a Kawasaki- and a KUKA-robot

Kawasaki = robot('open', 'Kawasaki', 'tcpip', '192.168.0.2', 40000);
Kuka = robot('open', 'Kuka', 'serial', 'COM3');
if Kawasaki && Kuka
   disp('Successfull connection');
else
   disp('Connection failed');
end

Closing the connection of the Kawaski- and KUKA-robot

robot('close', Kawasaki, Kuka)

Back to the Robotic-Toolbox-Index

Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010

Published with MATLAB® 7.11