RHINO ROBOTICS LTD.
The Language and Capabilities of
Rhino's Mark IV Controller
and Teach Pendant

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The power of any computer or controller is manifested in the instruction set that it supports. The Mark IV controller from Rhino Robotics Ltd. provides you with the most sophisticated, powerful and comprehensive instruction set ever provided on a robot controller for the educational and research market.

The instruction set can be divided into six major sections:

• System functions
• Motor functions
• Gain functions
• Teach pendant functions
• Configuration functions
• Input/Output functions

Note: All arguments (that the instruction requires) have been omitted to shorten the following instruction descriptions and to make them easier to read and understand.

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CONTROLLER INSTRUCTIONS

The controller functions are as follows:

System Functions Read motor status Read system status Read configuration Execute diagnostics Set delay timer Read usage time Read error stack Read software, hardware versions Read motor mode Execute diagnostics and return results Reset motor current limit Read delay Motor Read Functions Read system acceleration Read destination position Read PWM level and direction Read gripper status Read limit switches Read actual velocity Read soft home position Read global velocity Read actual position Read auxiliary level and direction

Motor Set Functions Set system acceleration Start motors independently Set PWM level and direction Close gripper Open gripper Stop single motor Start single motor Stop all motors Go to soft home Set absolute destination position Execute a hard home Set relative destination position Hard home on limit switches Set global velocity Set soft home position Set auxiliary level and direction Start coordinate move Gain Functions Set proportional gain Read differential gain Set differential gain Set integral gain Read proportional gain Store user gains to EEPROM Restore gains from EEPROM Restore system gains from EEPROM

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TEACH PENDANT FUNCTIONS

The teach pendant functions are as follows:

Return next key code to host Print messages to teach pendant display Give control to host computer Enable/disable teach pendant record files to host Give control to teach pendant Transmit teach pendant record to file to host Execute diagnostics and return results Receive teach pendant record file from host Clear teach pendant cursor position Abort teach pendant program Configuration Functions Set robot type Enable/disable gripper mode Set motor type

Input/Output Functions Read input bit Read input port Read switch bit Set output bit and corresponding LED's Set output port and corresponding LED's Toggle output bit ad corresponding LED's Report output port settings Abort all wait on inputs and switches pending Wait for input to equal valve Wait for switches to equal valve

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These kernel functions are the basic functions that the controller obeys. They are combined as needed to create the higher level languages such as RoboTalk and VAL.

Complete robotic languages can be designed around these commands by the students.

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RHINO ROBOTICS LTD. 5928 State Route 128 Miamitown, OH 45041-0230 Telephone: 513-353-9772 Fax: 513-353-4040