Adam
8701074979
- Add rsi_config/RSIPI_Minimal.src: RSI test program with no $TECH dependency, mirroring KUKA's RSI_Ethernet example (issue #1) - Add docs/controller-setup.md: KRC4 install/network/troubleshooting guide cited against the KST RSI 3.3 V5 manual - Relicense AGPL-3.0 -> Apache-2.0 (LICENSE, badges, classifiers) - Add CITATION.cff, README How to Cite + Support sections, FUNDING.yml - Fix author metadata typos; contact email is now contact@otherworld.dev - Remove KUKA-proprietary TestServer.exe and stale egg-info from tracking; move internal planning docs out of the public tree
75 lines
2.8 KiB
Plaintext
75 lines
2.8 KiB
Plaintext
&ACCESS RVP
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&REL 1
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DEF RSIPI_Minimal()
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; =========================================================================
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; RSIPI Minimal Test Program
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; =========================================================================
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; Bare-bones RSI check with NO dependency on the Technology package:
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; - no $TECH.C[] / $TECH.T[] variables
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; - no digital I/O, no $SEN_PREA
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;
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; It only verifies that:
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; 1. The RSI context (RSIPI_Full.rsi) loads -> RSI_CREATE
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; 2. RSI activates and the UDP link comes up -> RSI_ON
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; 3. Corrections streamed from Python are applied -> RSI_MOVECORR
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;
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; Use this first if RSIPI_Test.src reports "variable not defined" on
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; $TECH lines (Technology package missing/not licensed) or to prove
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; the network link before running the full test.
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;
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; Python side: any correction sender works, e.g.
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; examples/example_02_send_cartesian.py
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; started AFTER RSI_MOVECORR is reached (robot waits, holding position).
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;
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; To stop: cancel the program on the pendant, or stop the Python side
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; and let the ETHERNET object time out (motion stops, RSI reports a
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; communication error - this is expected and safe).
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;
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; See docs/controller-setup.md for installation and troubleshooting.
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; =========================================================================
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DECL INT ret, CONTID
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INI
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; BCO run to the current position
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PTP $POS_ACT
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; -- Load RSI signal flow configuration -----------------------------------
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; RSIPI_Full.rsi must be in Config\User\Common\SensorInterface
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ret = RSI_CREATE("RSIPI_Full.rsi", CONTID, TRUE)
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IF (ret <> RSIOK) THEN
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MsgNotify("RSI_CREATE failed - check SensorInterface files", "RSIPI_Minimal")
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HALT
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ENDIF
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; -- Activate RSI ----------------------------------------------------------
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; RELATIVE corrections in the default #IPO_FAST sensor mode (4ms cycle),
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; exactly like KUKA's own RSI_Ethernet example (KST RSI 3.3 manual, 8.1.3).
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; Do not pass #IPO here: in IPO mode corrections only apply to LIN/CIRC
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; path motions and function generator 1 must be free (manual 4.1, 7.1.4).
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ret = RSI_ON(#RELATIVE)
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IF (ret <> RSIOK) THEN
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MsgNotify("RSI_ON failed - check network config", "RSIPI_Minimal")
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HALT
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ENDIF
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MsgNotify("RSI active - start the Python sender now", "RSIPI_Minimal")
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; -- Sensor-guided motion --------------------------------------------------
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; The robot holds position and applies RKorr corrections streamed from
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; Python. Blocks until the program is cancelled or RSI stops.
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RSI_MOVECORR()
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; -- Clean up ----------------------------------------------------------------
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ret = RSI_OFF()
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IF (ret <> RSIOK) THEN
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MsgNotify("RSI_OFF warning", "RSIPI_Minimal")
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ENDIF
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ret = RSI_DELETE(CONTID)
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MsgNotify("RSIPI_Minimal complete", "RSIPI_Minimal")
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END
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