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    This document provides instructions for controlling the motion of a parallel robot from MATLAB using an ActiveX control. It explains how to connect to the control, set prescale values and timer frequencies for each axis, set pulse values for each motor, and start the robot motion.

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    This document provides instructions for controlling the motion of a parallel robot from MATLAB using an ActiveX control. It explains how to connect to the control, set prescale values and timer frequencies for each axis, set pulse values for each motor, and start the robot motion.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
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    9 views1 page

    NPR Doc

    Uploaded by

    Trịnh Trung Kiên
    This document provides instructions for controlling the motion of a parallel robot from MATLAB using an ActiveX control. It explains how to connect to the control, set prescale values and timer frequencies for each axis, set pulse values for each motor, and start the robot motion.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
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    of 1

    Parallel Robot motion control from MATLAB. 1. Run MATLAB. 2. From the MATLAB prompt or script h=actxcontrol('RobotControl.RobotControlCtrl.

    1') this string provides connection with ActiveX control and returns h as a handle. Use this handle for calling functions from ActiveX control. 3. invoke(h, 'PrescaleX', 1); - Sets prescale value for X axis. invoke(h, 'PrescaleY', 1); - Sets prescale value for Y axis. (possible values 1,2,4,8) invoke(h, 'TimerX', 65534); - Sets timer frequency for X axis; invoke(h, 'TimerY', 65534); - Sets timer frequency for Y axis; 4. Set amount of pulses for each motor: invoke(h, invoke(h, invoke(h, invoke(h, invoke(h, invoke(h, 'Motor1X', 'Motor1Y', 'Motor2X', 'Motor2Y', 'Motor3X', 'Motor3Y', 10000); 0); 0); -10000); 10000); 0); - Motor 1, axis X; - Motor 1, axis Y; - Motor 2, axis X; - Motor 2, axis Y; - Motor 3, axis X; - Motor 3, axis Y;

    5. invoke(h2, 'SendData');

    - Starts robot motion.

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