A. Our MEP-Pi supports 8 digital IO inputs and 8 digital IO outputs. The controller internally scans 8 IO inputs at 100 Hz and controls 8 IO outputs at 100Hz. Thus, users can have up to 10 ms delay time when controlling or reading IO.
A. You can use up to 4.0 Mbps through MRS library provided by MINTROBOT. The MRS library also provides MINTBUS master, such as MODBUS RTU.
A. The motion controller in Pal series supports multiple clients. However, for safety purposes, only one device is given control of the robot. User can create and use any monitoring programs user wants through the given communication protocol.
A. MRS tutorial example source supports to check robot behavior through ROS gazebo. Like the 'ur_modern_driver' package, it has its own Beta version of the package, but it is on hold for safety reasons. If the user creates an ROS package through the MRS library, it will be possible.
A. Tool setting includes the location of the Tool Center Point (TCP), the center of gravity of the tool, and weight. The rotation of the tool is based on this TCP. In addition, the center of gravity information ensures that the tool does not fall under gravity through proper gravity compensation during direct teaching. And this information is also used for stable control of the robot. Therefore, it is best to set the tool setting as accurately as possible.
A. When a total of three links from the base are called link one, link two and link three, the three-axis robot is singularity when links one and link two overlap due to its mechanical properties. Near this singularity, once used functions such as MoveLinearAbs, MoveLinearRel, etc., each joint may move at a very fast rate to meet the speed of TCP defined by the user.
Therefore, it is recommended that you use the MoveJointAbs or MoveJointRel functions that controls each joint instead of using the functions such as move MoveLinearAbs and move MoveLinearRel that specify the path of TCP.
In addition, Task Jog is also a function which is specifying the path of TCP. This is also likely to cause joints to spin rapidly at a singularity to maintain the speed of TCP, so you should teach with observing robot's movements near the singularity. If you find it annoying to consider singularity during teaching, you can use Joint Jog or direct teaching functions.