Arexx MRAI-999HB, Руководство по оборудованию

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1
IMPORTANT:
As only 8 relays are available to control the 5 motors of the Robot
Arm via the controller, we used a trick. Normally we would have
planned 5 relays to control the 5 motors and supply 4.5V positive
or negative to the motors (All motors use a common ground).
As a consequence of this trick, the motors cannot turn all at the
same time. Some relays control two motors at the same time and
these motors can only turn in the same direction when they are
addressed at the same time.
The software makes sure that the motors are driven in sequence
during conflicts.
Within one program line you can pull together several actions and
processes (see example)
1 ACTION, BS(CW=5), EL(UP=2)
2 ACTION, BS(CCW=5), EL(DWN=2)
3 ACTION, SH(UP=5), WRST(LEFT=2)
4 ACTION, GR(OPEN=9)