Add a Program for Distance Sensor Logging
To adjust the parameters (ProportionalGain, IntegralGain, DifferentialGain), you need to check the measured data of the laser displacement meter during execution of the distance tracking function.
Measured data of the laser displacement meter can be acquired by the following sample program.
Add ★ to the program created below.
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Integer fileNum ' ★ Declare a file number
Function AIOTrackingSample
'============================================================
' Program to record the measured value of the distance sensor during execution of the distance tracking function.
'============================================================
'------------- Robot configuration ---------------
Motor On
Power High
SpeedS 30
AccelS 300, 300
Tool 1
'--------- Create a CSV file for recording ------------------
fileNum = FreeFile ' ★ Acquire a file number
WOpen "AIO_Monitor.csv" As fileNum ' ★ Save to Project folder
' ------------- Motion part ---------------
Move P1 ' Move to start point
Xqt AIO_Monitor ' ★ Start to record the measured value by distance sensor
AIO_TrackingSet 1, -1, 0, -3, 3, 0, 2 ' Sets the distance tracking function
Wait 2AIO_TrackingStart 1, 10, 0, 0 ' Starts the distance tracking function
Move P2 ' Starts the distance tracking function
AIO_TrackingEnd ' Ends the distance tracking function
Wait 2
Quit AIO_Monitor ' ★ Quit recording the values by distance sensor
Close #fileNum ' ★ Close CSV
Motor Off
Fend
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Function AIO_Monitor ' ★
'=======================================================
' Called by AIOTrackingSample.
' Keep recording values input to Ch1 of analog I/O board to CSV.
'=======================================================
Do ' ★
Print #fileNum, AIO_In(1) ' ★
Wait 0.002 ' ★
Loop ' ★
Fend ' ★
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