proctor@cme.nist.gov (Fred Proctor) (08/03/90)
Has anyone used the Cincinnati Milacron Remote Real Time Interface on a T3 646 robot (version 5 control) or other similar Cinci robot? I'm having a problem using the Send Joints command, which instructs the robot controller to send its current robot joint positions to the host. I have the DDCMP link established, and I've gotten the robot to send some joints out, but the data is really suspicious--it should be IEEE 4-bit floating point data, but half of each 4-byte set is ALWAYS zero. Does anyone have any idea what may be going on? The Cinci tech support guys are really being slow in answering this one. Thanks in advance for any replies. Fred Proctor Nat'l Inst of Standards and Technology proctor@cme.nist.gov
hollombe@ttidca.TTI.COM (The Polymath) (08/04/90)
In article <5536@durer.cme.nist.gov> proctor@cme.nist.gov (Fred Proctor) writes: }Has anyone used the Cincinnati Milacron Remote Real Time Interface on a T3 }646 robot (version 5 control) or other similar Cinci robot? ... }... it should be IEEE 4-bit floating point data, but half }of each 4-byte set is ALWAYS zero. ... I'm not familiar with the IEEE FP format, or the Cinci interface, but it seems possible you're seeing an artifact of the robot's precision limits. Do your numbers make sense in that context? i.e.: Are the positions reported correct as far as they go? My robots (CRS Plus) only report to four decimal places, though I think they keep full precision internally. Just an off-hand thought. -- The Polymath (aka: Jerry Hollombe, M.A., CDP, aka: hollombe@ttidca.tti.com) Head Robot Wrangler at Citicorp(+)TTI Illegitimis non 3100 Ocean Park Blvd. (213) 450-9111, x2483 Carborundum Santa Monica, CA 90405 {csun | philabs | psivax}!ttidca!hollombe