Code Text
IMA code can now be represented in a textual format. Each program element has its own expression as a separate line. You can familiarize yourself with the syntax of the elements here.
Data Collection
In some cases, data from various devices must be collected continuously, not only while they are being used.
An example would be devices that form representations of the workspace state – sensors. The execution time of a single operation on them is essentially negligible. Operational codes are usually not used in them or are only used to change the configuration of the collected data.
Now a new data collection type (scope) is available for tools – Constant, where statistics update continuously while the robotic complex (RTC) is running, unlike Selected, where data is collected only during tool operation.
This applies to statistical data collection – charts and groups of state items. Register data retrieval is available on demand and may not coincide with the rich statistics (depending on the implementation of a specific module).
Modules Preparation
Meet the palette of operations over STC. Currently, the following are available:
- Files – export external modules to separate files.
- App – export internal modules for embedding into industrial application projects.
- Development – creation of a simple terminal industrial application project with the IndustrialKit library connected, as well as export of the Modules Building Kit.
- More STC operations will be added in the future.
A more convenient module selection – just tap the desired module. Named module build sheets are now linked to specific operation items. The list of sheets themselves is not available for editing by users, to simplify and separate the module selection process.
Code Builder
A special component for fast and convenient code creation is provided within Industrial Builder. Select appropriate code from the palette and populate both module program components and individual listings. The template selection changes according to the purpose of the code synthesis – whether code for kinematics or code for the external Changer module.
External Programs
Control over software components of external modules has been completely redesigned. Now each such component is a mini-server that connects to the industrial application via UNIX sockets. This organization ensures high performance and parallelism.
Before use, external modules must have their program components launched – corresponding functions are implemented in IndustrialKit, and in RCWorkspace we offer a special process manager.
Robot Motion
Calculation of the robot end-effector position during movement no longer relies on SCNAction and operates independently of the softly deprecated SceneKit. This approach will also allow implementing movement methods other than linear.