rteach
Teaching and saving positions of a Kawasaki FS003N
Last date of modification : 2010/10/18
Contents
Syntax
- POS = rteach( [HANDLE]
| Inputs | Description | VALUE |
| HANDLE | robot-identifier | integer > 0 given by robot |
| POS | a structure with the teached positions | a structure given bei rpoint |
Description
rteach reads the current position of the robot and saves them in a returned structure.
Before running rteach, you have to do that:
1. On the robot-controller take option (1) and create a serversocket
2. On the MATLAB®-prompt create a connection to this server
3. On the robot-controller take option(5) and end the startserver-routine
4. Switch on the teach-mode of the robot on the controller
5. Run p = rteach( h ) on the MATLAB®-prompt.
6. Move the robot with panel and read positions as much as you want
7. Switch teach-mode off on the controller
8. Run startserver again, through the panel, by pressing the green button or by typing ex startserver
Example
POS = rteach( h ) ;
...
rmove(h, POS);
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Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010