PROGRAM EXECUTION In the On-line state, data is exchanged between the
computer and robot device as appropriate for the control,
A program may be run with the robot devices and
workcell on-line, when the sensor information completes
the control loops, or off-line, using positional data, etc.,
derived from graphical simulation.
The run sequence may be started from the Run menu
while a robot edit window has the screen focus and only
the particular robot program will be obeyed, beginning at
the current cursor line and looping back to the start. If
the program is started when the Main workcell edit
window or one of its subroutines has the screen focus,
the complete program is run from the beginning, calling
the whole or parts of the robot programs in the
sequences determined by the workcell program
statements.
Clip 70 : The Run menu for the Mentor robot window.
The program may be run from a dialogue box, in a
continuous mode of operation or single-step, halting
between each program command until instructed to
continue or not. The single-step mode is valuable during
program development.
Alternative Run Menu Selections
These may be summarised as :-
On-Line ~ On-line or simulated
response
Start (Robot) Sequence ~ Running a robot program in
line sequence, repeatedly
Single Step (Robot) Sequence ~ Running a robot
program one step at a time
Start Walli Sequence ~ Running the Walli program
from the beginning
Single Step Walli Sequence ~ Running the Walli
program one step at a time
On-Line or Simulated Response
On-line is one of two alternative states, On or Off line,
which may be selected for a Device, once it is
established by the Walli application that the device is
connected to the computer, through either a parallel or
proprietary RJ45 serial interface to the ISA bus in the PC
host computer. The particular device edit window must
have the screen focus for the state to be switched. If the
device is not connected or switched off, the not-
connected state imposes the off-line condition and a
simulated response from the device.
WALLI for WINDOWS. Revision A
but positional information is returned to the computer to
drive the graphics presentation, whether within the
control loop or not. Off-line, or not connected, the data
exchange is simulated by the computer.
The state is switched between on and off-line by
successive selection from the Run menu, or by using the
short cut keys, Ctrl+O. The current state is displayed in
brackets beside the window title.
The Main workcell program may be switched off-line
also, providing it, or one of its sub-routines has the
screen focus. In this state, all response from the devices
and the sub-devices connected to them, is simulated.
On-line is the default state, providing an electrical
connection can be established, otherwise off-line is
assumed.
A graphical execution may be selected for the CNC
devices, without cutting a work-piece, by placing the Mill
or Lathe off-line from the Run menu. This presents a
new window as an overlay to the workcell window stack
which has its own menu bar, from which the size of the
work-piece that is shown may be set, and for the Lathe,
its own set of controls for running the program. This is a
valuable feature during CNC program development since
it has the error checking facilities to avoid damaging the
tools and workpiece. The CNC machines are run under
open loop control and consequently a graphics
representation of the machining as it occurs on-line, is
not implemented.
Running a Program
Selecting Start Sequence from the Run menu, or using
the short cut key, F5, will start program execution but its
effect in running a program will differ, depending on
which edit window has the screen focus.
If any of the robot device windows has the focus,
program execution will start on the current cursor line of
that device program, progress to the end of the program
statement and loop back to the start again, endlessly
until halted. This is the same response to the Run
command, whether the device is on-line or not.
The program for a robot may be written in such a way
that the action of obeying successive lines is entirely
relevant, as in the continuous mode of simulator program
control, but it will be normal to divide the program into
subroutines which are called from the Workcell program.
In the latter case, point-to-point control across
subroutine boundaries, may result in strange or even
hazardous movements.
If the Main workcell window has the screen focus,
program execution will start from the beginning of the
program, at the first non comment line, and progress
through the logic of its program control statements until
the end, or until it is halted. Again this is true whether
the cell is on-line or off-line, when the action of all sub-
devices will be simulated.
If the cell is on-line and some of the devices which it's
program addresses are not, the system software asks
permission to run on-line through a dialogue box, and if
USE of WALLI page 52
given, it places the devices currently off-line, on-line
again before commencing program execution.
If any of the devices are switched off or not connected,
the workcell program is prevented from being run on-
line.
Which ever window has the screen focus, the selection
of a run mode will bring a dialogue box to the screen,
through which the run may be terminated, paused or
brought to an emergency stop.
An emergency stop may be invoked at any time with
the use of the space bar on the keyboard.
Clip 71 : Execution of the Walli workcell program.
Single Step Execution
Selecting Single Step from the Run menu, or using the
short cut key, F8, will start the program executing one
step at a time, awaiting manual intervention from the
dialogue box that is presented between statements. The
actual effect will differ, depending on which edit window
has the screen focus, a device window or a workcell
window, in much the same way that it does for normal
execution.
Clip 72: Single step execution of the same Walli program
When the program is running, the program may be
moved on one line at a time from the dialogue box that is
presented when each step has been completed, as in
Clip 72, a box which is super-imposed on the Run
dialogue box.
WALLI for WINDOWS. Revision A
For the Main workcell window, the program will start at
the beginning and progress through the logic of its
program control statements until the end.
For a Robot window, the program will be executed,
starting from the line which currently has the cursor and
will execute the succeeding lines to move the robot,
disregarding any program divisions into subroutines
which would otherwise be called from the workcell
program, until the end of the program is reached, moving
on step by step through the dialogue box.
Single Step execution of CNC programs on-line is not
permitted, only as a graphical execution when off-line.
FILE ACCESS
The Walli3 for Windows software is distributed in a form
where the full range of robotic and CNC devices and
their peripheral sub-devices is supported without
restrictions for automated working within a Workcell,
irrespective of the equipment that has been ordered.
The software is installed into a applications directory in
the PC’s Root directory, WALLI3, with a sub-directory
DEMODIR containing write protected copies of
demonstration program files for all the devices and a
number of suitable project files. All of these
demonstration programs are copied by the Walli system
into the WALLI3 directory when the application is called
from the Program Manager window and it is this copy of
a file that may be loaded and run. If any amendments
are made to the program which the user wishes to
preserve, it should be saved with a change of name to
avoid it being overwritten subsequently by the original
copy.
The File menu provides access to the means of creating
new program files, opening existing files and saving
programs to file, but also to a number of ancillary system
functions, such as to the Printer.
Start-up and File Menu Access
When the application is selected from the Program
Manager window, the initially blank Walli screen is
overlaid by a dialogue box as shown below in Clip 73.
Clip 73 : File type list at start of Walli application.
In this the file selection is pre-loaded to the project files
with extension [.wal] at the head of a drop-down list of
the alternative file types which may be scrolled through,
each type associated with a device or the Cell Definition.
USE of WALLI page 53
If one of the projects is selected, such as Demo_m1, the
component programs for the cell definition, devices, the
Main workcell routine and it’s subroutines are loaded into
their respective windows.
The File menu that is presented for further changes is as
shown below. In this access is given to the project file
handling and to files of the type MENTOR, because the
device window is loaded with a Mentor component
program and it has the screen focus.
Clip 74 : File menu when robot window has screen focus.
If the workcell Main window has the screen focus,
access is given only to project file handling. If again, the
Workcell Definition window has the screen focus, as
when selected from the Window menu or a new file is
selected, the File menu allows access to Cell Definition
files with extension [.def], the last in the list of available
file types.
Creating a New Project
Selecting a New Project from the File menu has the
effect of restoring the initial state to the edit windows,
with a single blank line in the Main workcell window and
an empty Cell Definition window with the screen focus,
ready for a statement of the content of the workcell. This
is shown below with the File menu recalled.
Clip 75 : File menu for New project.
If code has been created (or edited) previously as the
current program before calling for a new project, a
reminder to save to file is displayed in a dialogue box,
before the windows are cleared from the screen.
Any of the individual edit windows may be cleared of
code at any time during program development, using the
Clear option from the Edit menu, but not the Cell
Definition window.
WALLI for WINDOWS. Revision A
Opening an Existing Project or Program File
Walli uses the standard Windows procedure and
dialogue box for opening an existing file and loading it
into the application.
The default path name is initialised to the applications
directory as {C:\walli3} or to the directory last used in the
application.
The default file extension is appropriate to the window
that has the screen focus, that is [.wal] for project files, a
device extension, e.g. [.men], or [.def] for the Cell
definition window.
Saving a Project or Program to File
In keeping with standard Windows practice, if the current
project or program has been named, it is saved directly
to file when Save is selected from the File menu, and
only the hour-glass icon is used to indicate that the save
is in progress.
If the current project or program has not been named,
the "Save As" procedure and dialogue box are entered.
The distinction between project and program at this point
is whether the Walli Main window, or one of its
subroutines, has the window focus, when the project
extension [.wal] is the default. If it is a device window
that has the focus, the contents of the window are saved
to file as a program, with the default extension a three
letter short form of the device name.
Saving and Naming a New Project or Program
If the Save As option is selected from the File menu, the
standard Windows procedure for naming and saving
work created in an application is used for Walli, but with
a modified dialogue box.
Clip 76 : Modified “Save As” dialogue box.
The default path name is either initialised to the
applications directory as {C:\walli3} and the default file
extension is [.wal], or it will be to the last directory used
for opening/saving, but still using the same default
extensions, [.wal] for projects, a device extension or the
[.def] extension for Cell Definitions.
The file type or extension option is limited to the choice
that is presented, if it is to be recalled through the list
presented in the Open Project option.
Loading and Saving Robot Programs
USE of WALLI page 54
Programs written for the individual robots, either as
stand-alone devices or as part of a project using the
robot in a workcell, may be saved to file and
subsequently reloaded as a component program for
another project. Walli identifies the robot files with a file
extension derived from the robot name and in general
presents a drop down list of such file types in the Load
and Save dialogue boxes which are presented when
these selections are made from the file menu. However
when a particular robot edit window has the screen
focus, only files of the appropriate type with the correct
extension may be accessed. This ensures that the
content of the robot files cannot be confused one with
another, the different axes, range of movement, etc.
In the example, the Gryphon program from the
demonstration project DEMO_G1. wal is being saved to
a separate Gryphon file with extension [ .gry]
Clip 77 : Saving the robot program from a project.
Loading and Saving CNC Programs
Programs written previously in the G&M Code format
may be loaded into the appropriate edit window from the
Load Cyber selection in the File menu, for the Mill or
Lathe. Programs in other formats may also be loaded
using the Import selection from the File menu, as
described in the earlier section on Programming the
Cyber Mill.
Clip 78 : Dialogue to load Cyber Mill files.
Programs written using the edit window for the CNC
device or imported files which are converted
automatically to the G&M Code format, may be saved to
file using the Save Cyber selection from the File menu.
The standard Windows procedure for naming and saving
work created in an application is used for Walli, but with
a modified dialogue box, as when the Save As option is
selected from the File menu.
The default path name is either initialised to the
applications directory as {C:\walli3} or it will be to the last
WALLI for WINDOWS. Revision A
directory used for opening/saving, but in either case only
with the appropriate extension, [.ncm] for the Mill and
[.ncl] for the Lathe.
Programs in the CNC edit window may also be exported
to file using the Export selection, as an ASCII text file
which includes the standardised address characters for
each of the fields.
The standard Windows procedure and dialogue box for
saving to file is used as before, but with the file extension
shown appropriate to the file type as [.txt].
The default path name is initialised to the applications
directory as {C:\walli3} as before also, or it will be to the
last directory used for opening or saving files.
PRINTER ACCESS
The File Menu also provides access to the printer for a
hard copy of Walli programs, or to Write word
processor.
Printing
Selecting the Print option from the File menu allows the
complete program or sections of it, as it appears in each
of the edit windows, to be printed using the default
printer setting, unless this has been changed.
The selection for printing is displayed in a dialogue box,
with check boxes for each of the edit windows
corresponding to the devices that have been declared in
the Cell Definition. In the illustration all of the windows
have been selected in a print from the demonstration
program DEMO_G1.WAL.
Clip 79 : Print dialogue.
The state of the printer is tested to determine if it is
connected and supplied with paper. The printing will not
proceed unless both are true, in which case a warning
message is given to check the connection and paper
supply.
Printer Set-up
The Printer Set-up selection from the File menu has the
effect of displaying a dialogue box through which all the
printer options may be set. This is the same dialogue as
presented through Windows Control Panel for the
USE of WALLI page 55
Printers utility and any changes will have a global effect
on other applications.
In this illustration the default printer is currently set to
{HP LaserJet 4/4M on LPT1}. Paper orientation is set by
default to Portrait and paper size to A4.
Clip 80 : Printer Set-up dialogue.
The alternative specific printer is set to an Epson LX-
800, and this may be selected using the radio button.
The choice of printers will be of necessity from what is
available to the user, providing there are also
corresponding Windows print drivers installed.
The graphics mode for the printer is set though the
Options button and accesses another dialogue box. This
has the default settings of {HP-GL/2}, high graphics
photographic image half-toning, and printer default print
quality.
MISCELLANEOUS FACILITIES
The File menu also provides facilities for changing the
appearance of the screen and to exit from the application
in a tidy manner.
Changing the Screen Colours
The effect of choosing the Colour item from the File
menu is to run a modified version of the Windows
Control Panel, Colour application, presenting a simplified
selection screen, comprising only the screen element
selection bar and the colour selection palette which is
normally accessed though the Colour Palette button.
The colour palette is identical to that presented by the
Control Panel application but the content of the element
list has been expanded to include additional screen
features.
WALLI for WINDOWS. Revision A
Clip 81 : Colour selection for the screen elements.
The choices made within Walli for these standard widows
items will be applied, however, to all other applications
which may be running, or may subsequently run, in the
same Windows session, in the same way that a change
of printer has a global effect.
The graphics windows for the robotic devices are not
standard items and the colour selection is set separately,
using a dialogue box which may be entered by double
selecting one of the two graphics windows with the
mouse button. The selection is specific to the robot,
allowing the colours to be selected for each of the
component links or axes.
Clip 82 : Robot graphics colour selection.
When a new Windows session is entered, the default
colour settings apply, but Walli retains any colour
choices that have been made and these will be re-
instated when Walli is re-called and the project colours
option has been selected .
Note :
When making a colour selection using the palette,
move to the chosen colour using the cursor keys,
then select the colour with the space bar, before
entering the choice with the return key.
Selecting the Font for Displays
Should the user wish to change the character font that is
used for the edit and information display windows in the
Walli application, this may be done by selecting the Font
item from the File menu.
Clip 83 : Standard font selection dialogue used in Walli.
This has the effect of displaying the standard Windows
font selection dialogue box.
USE of WALLI page 56
 Quitting Procedure This will produce an entry on Sheet 1, which is also
shown below. The entry details relate to program
If any edit changes have been made to the current statements in Wall’s edit windows and they are
program, selecting Exit from the File menu will have the referenced through the relevant dialogue boxes.
effect of calling the dialogue box for the Save procedure,
where the choice to save or not may be made at the
users discretion.

If no changes have been made, the application is quit in

a tidy fashion, returning to the Windows applications icon
window where the Walli icon resides.

LINKS TO OTHER APPLICATIONS

Information may be exchanged between Walli3 and other
applications, typically with spread-sheets. The
information in data fields in the robotic device edit
windows and the workcell Main edit window or it’s
subroutines, may be exchanged in both directions with
the other chosen application, which must be running
concurrently. Clip 85 : Excel spreadsheet for Link example program.

Linking invokes the Windows procedures for Dynamic
Data Exchange, DDE, an advanced subject which
requires a detailed understanding of both applications
and meticulous observation of the syntax required for
stating the parameters of the data exchange.
This syntax will be found to be different, application to
application, but within Wallli, the statements that are
permitted are constrained to entries within dialogue
boxes introduced by selecting the Link option in Walli’s
Edit menu. This produces a dialogue box appropriate to
the edit window that has the screen focus.
Explanation of the Linking procedure is best given by
example, and for this reason a simple example has been
included on the software distribution disc, which
illustrates a link to the Excel spreadsheet application in
the Microsoft Office package. The file [ Link.wal ] should
be loaded into Walli, using the open project dialogue box
from the File menu. This file contains the rudiments of a
project for the Gryphon robot, detailing only what is
necessary for the explanation, as in Clip 84.
Linking from a Robotic Device Program
When Link is selected from Walli’s Edit menu and one of
the robot device edit windows currently has the screen
focus, the Link Options dialogue box presented has two
sections, for the Link Parameters and for the Linked
Rows, as shown in Clip 86.
The terminology of the captions within the dialogue box
is an adaptation of that used in Dynamic Data Exchange,
but some of the options that these procedures present
are either implied or constrained by Walli. In particular,
the Link Mode is effectively for Automatic Transfer,
which occurs when any of the specified data in an
exchange group changes.
There are four entry fields in the Link Parameters
section, one for the Topic and three to specify the
exchange groups, each with check boxes on the left to
enable the exchange.

Clip 84 : Link example Walli program.

The Excel application should also be opened

Clip 86 : Link options dialogue box from robot program.
concurrently and the file [ LinkDemo.xls ] loaded from the
Walli3 directory by typing or selecting the file name in the
Link Parameters ~ Device Program
load dialogue box entered from Excel’s File menu.
Topic

WALLI for WINDOWS. Revision A USE of WALLI page 57


The entry states the linked application and the link’s
application file with an appropriate extension. In this
case, the delimiter between application and file is [ | ]
or upper case [ \ ] , without any separating spaces.
This syntax must be observed although it is unlikely
to be the same if Excel is not the application. Correct
syntax must be ascertained from the documentation
for the particular application to which the link is made.
Grid Data from Walli
The check box to the left enables the transfer when it
is selected and marked by a cross.
The phrase in the entry box refers to the grid space or
data cells allocated for the information in the linked
application file, where :
r refers to row
c refers to column
: is the delimiter between end grid positions,
without spaces.
The syntax of the entry is particular to Excel.
Equating the caption “Grid Data from Walli” with the
legend “Gryphon data (Set by Walli)” on Sheet1, the
parameter phrase { r8c2:r8c10 } refers to a range of data
cells in row 8, from column 2, or B, to column 10, or J,
which can accommodate one line statement from the
Walli device program window.
Note :
These are actual row and column numbers, not
the headings.
Space for more than one line of program may be
allocated with the second part of the parameter phrase,
i.e. { ....:r8c10 } , adjusted to the last column of the last
row of the allocated space.
Grid Data to Walli
The check box to the left enables the transfer.
Using the same notation and equating the caption “Grid
Data to Walli” with the legend “Gryphon data (Sent to
Walli)” on Sheet1, the parameter phrase { r10c2:r10c10 }
refers to a range of data cells in row 10 from column 2,
or B, to column 10, or J, which could be used to transfer
data from the Excel application to a line of program in
the Gryphon’s edit window. As before, space for more
than one line of program may be allocated by adjusting
the second part of the parameter phrase to include the
equivalent number of rows.
Now Data from Walli
The check box to the left enables the transfer.
Using the same notation as before and equating this
time the caption “Now Data from Walli” with the legend
“Now data (Set by Walli)” on Sheet1, the parameter
phrase { r9c2:r9c10 } refers to a range of data cells in
row 9, from column 2, or B, to column 10, or J, which
may be used to accept data transferred in this case from
WALLI for WINDOWS. Revision A
specifically the Now row, at the bottom of the edit
window, which displays the feedback information from
the robot axes at all times, unless it is off-line, when it is
the current program line during edit or off-line execution.
Space for one line of Walli data only is required.
Typically, the transfer could be used to allow the Excel
application to log movement of the robot, Gryphon in this
example.
Linked Rows ~ Device Program
There are two entry boxes, against each of the captions
Transmit and Receive.
Transmit
The numbers entered here refer to the lines in the
device program that will be transferred to the linked
application data cells from Walli. The two boxes are
for respectively, the start line and the end line, but
since in this example, space has only been allocated
for one row in the Excel Sheet1, these numbers are
necessarily the same. In this case, line 1 in the Walli
Gryphon program will be transferred to the Excel
Sheet1, row 8. The data stated in the program and
the spreadsheet may be seen to be the same.
Receive
Similarly, the two boxes are for the start and end
lines of the device program, that may be loaded from
the linked application. Again, since only space for one
equivalent row in Sheet1 has been allocated, the
numbers entered are the same and in this case, line
2 has been designated as able to receive program
data from Excel Sheet1, row 10.
There is clearly no need for a statement of linked row for
the Now data, it is implied.
Information entered into the Linked Rows section will
always be in terms of the lines of a Walli robotic device
program and the syntax will be the same for all linked
applications, that is actual line numbers in the device
program, regardless of how they are labelled in the
program, by name or by number. To avoid the need to
count lines, the device program actual line numbers may
be transferred to the Linked Rows section entry boxes,
by using a mouse selection in the left hand side of the
program’s line field for the appropriate program line,
when a tick symbol will appear indicating that the actual
line number will be entered automatically.
Linking from the Workcell Main Program or it’s
Subroutines
If the Workcell Main edit window, a Walli subroutine or
the edit window for one of the CNC devices has the
screen focus when the Link option is selected from
Walli’s Edit menu, the Link Option dialogue box
displayed is as shown below, with only one section for
the Linked Parameters, with selection check boxes
against two of the three entry captions, as in Clip 87.
USE of WALLI page 58

Clip 87 : Link options dialogue box from workcell
program.
Linked Parameters ~ Workcell Program
Topic
The entry here repeats that made for the topic in the
Link Parameters for the device program, specifying
the same application and application file. It need not
be the same file or the same application.
Status Data from Walli
The check box to the left enables the transfer of
information.
Using the same notation as has been used previously
and equating the caption “Status Data from Walli” with
the two legends “Flags & Counters (Set by Walli)”, the
parameter phrase { r2c2:r3c11 } refers to the cell data
space in two rows on Sheet1, row 2 column 2 to row 3
column 11, which may be used to receive data in the
form of logic states for all of Walli’s ten Flags and ten
Counters.
Status Data to Walli
The selection box to the left enables the transfer of
information.
Equating the caption “Status Data to Walli” and the two
legends “Flags & Counters (Sent to Walli)”, the
parameter phrase { r5c2:r6c11 } refers to the cell data
space on Sheet1 that may be used to transfer logic
information to set Walli’s ten Flags and ten Counters.
The bounds of the statement will always be the same,
that is to include all flags and counters, regardless of the
syntax of the entry phrase, and clearly there is again no
need to specify what is sent, it is implied and constant.
The response to the one line in the Walli Main program,
to SET FLAG 1, is shown in the spreadsheet as [ -1 ]
entered in both row 2 column 2 and in row 5 column 2.
The remaining flags are not set as indicated by 0 and the
counters are all initialised to zero.
Note :
To avoid DDE error messages, it is best to inhibit
all the data exchanges in the boxes to the left of
the captions in the dialogue boxes before closing
WALLI for WINDOWS. Revision A
the Walli application or the linked application, at
the end of a session.
Data Logging
The Linking procedure accessed from the Edit menu
allows the exchange of information between Walli and
other applications, typically with spread-sheets.
Walli also provides the means of recording information
into spread-sheet form at the workcell command level,
into a specified sheet in Excel, to use the same example,
but this is strictly a one way exchange. In both types of
exchange, the Spreadsheet application should be
running concurrently.
There are three commands, one to initiate the logging to
the spread-sheet application, which must be running
concurrently with Walli, and two others to log two
essentially different forms of data, from the workcell and
from the robotic devices.
Both of the logging commands have the effect of
incrementing the current row in the spread-sheet, each
time they are obeyed, and each row is date and time
stamped, in the first two columns.
Start Log File Command
The syntax of this command
Start Log file to [ text ] row [ n ]
allows the data to be sent to any Spreadsheet
application by stating the name of the application
separated from the sheet number as in Excel|Sheet1,
starting at any row except the first, which has been
reserved for column titles.
The command may also be used to switch between one
sheet and the next, but it should be remembered that the
current row number is not retained, so it would be
inappropriate to switch back again, unless the danger of
overwriting data is accepted.
Log Command
The syntax of this command,
LOg [ software / hardware device n ] to column
[m]
allows the value of any of the ten program counters
and the logic state of any of the ten flags, as software
devices, the values from the height and width gauges
and the analog sensors or the logic state of the digital
sensors, all of which have been declared as
hardware sub-devices for the workcell, to be logged
to a column position on the spreadsheet.
The column position is a single statement, which means
that the data specified will occupy the numbered column
position as the only variable statement on the current
row accompanied by the date and time stamps in
columns 1 and 2. Multiple data items which are
required to be recorded at the same point in program,
must be called therefore by multiple Log commands, in
sequence. Providing the sequence is not too long, it is
USE of WALLI page 59
likely that the data items will all have the same time
stamp.

Counter values are whatever the program requires them

to be, but one use for flags other than to steer the
program flow, it to set and reset them around sections of
workcell activity, such as the milling of a component, so
the time taken may be recorded with the Log command.

Log Feedback Command

The syntax of this command,

Log [ robot n ] Feedback starting at column [ m ]

allows all the information of a particular robots axis

positions, as given in the NOW row at the bottom of
the robot edit window, and all of the XYZ Cartesian
co-ordinates of the tip of the gripper, its elevation,
rotation and closed state, as displayed below the
robot graphics window, to be recorded across the
width of a row, starting at the designated column
position.

Depending on the number of axes, this could be as

many as 12 columns which are filled each time the
command is obeyed.

When placed after a robot Move command, the Log

Feedback command will record the positional information
at the end of the programmed move. Since this will be
the position determined by the program, it is not
especially interesting except to record any deviation from
the intended position, but it will be information derived
from the system NOT absolute spatial information.

The information in the NOW and XYZ windows is

continuously updated while the robot is being moved
from one position to the next, however, and it is possible
to record the trajectory of the move by running a loop
containing the Log Feedback command, within a parallel
subroutine. This technique would typically produce up to
as many as 15 rows of data, depending on the extent of
the move and also on the degree of other concurrent
activity in the workcell, which the host processor is
monitoring.

These Logging commands are discussed here within the

context of Linking with other Applications, but see also
the Appendix 4 ~ Data Logging and Analysis for a more
detailed explanation of their use.

WALLI for WINDOWS. Revision A USE of WALLI page 60