User InterfacesΒΆ
Since the robot arm does not have encoders, position limit switches, or other position sensors, there is no ability to determine position. The controls for the robot are provided through these 6 PVs:
| EPICS PV name | PV RTYP | values |
|---|---|---|
xxx:A1:led_onoff |
bo | OFF=0, ON=1 |
xxx:A1:base_move |
mbbo | STOP=0, CW=1, CCW=2 |
xxx:A1:shoulder_move |
mbbo | STOP=0, UP=1, DOWN=2 |
xxx:A1:elbow_move |
mbbo | STOP=0, UP=1, DOWN=2 |
xxx:A1:wrist_move |
mbbo | STOP=0, UP=1, DOWN=2 |
xxx:A1:grip_move |
mbbo | STOP=0, CLOSE=1, OPEN=2 |
These client interfaces have been demonstrated: