1. Introduction to Robo Pro
Principles of EngineeringTM
Lesson 4.5 – Control Systems
RoboPro Software for
fischertechnik®
Project Lead The Way, Inc.
Copyright 2007

2. RoboPro Screen Set to Level 1: Beginners Element Window Toolbar
Program
Window

3. Setting up the Interface
Select the type of interface and port to connect to.

4. Checking the Interface
Inputs
Outputs
Analog Inputs
Interface Status

5. Checking the Interface

6. The Element Window
Function blocks are Icons that, when selected, access Instruction Sets in the RoboPro software to perform the operations identified by the icons. They are located on the left-hand side of the screen.

7. The Flowchart
When function blocks are placed on the screen and connected, a Flowchart is created.

8. Programming Icons Graphic Programming BASIC Programming
Sample Instruction Sets
Icons
500 INIT
510 If E1 = 1 THEN GOTO GOTO 510
530 CALL M1 On
540 END

9. Motor Output
Motor Outputs provide power to devices. The image of the function block can be changed from a motor to an electromagnet, lamp, solenoid, or buzzer to match the physical component that it controls.
Select Interface
Connection
Choose Image
Select Speed,
Brightness, or Intensity
Choose Action

10. Motor Outputs
Output Images

11. Start & End
The Start and End function blocks begin and end a program.

12. The program to control two output devices might look like this.
Outputs
Start Program
The program to control two output devices might look like this.
M1 Output On
M2 Output On
End Program

13. Time Delay The Time Delay is used to introduce a delay in a program.
A time step can be set for seconds, minutes, or hours.

14. Digital Inputs Inputs Examples
The Input function block queries the state of a digital input I1-I8 on the interface.
A digital input can only have one of two states, 0 or 1.
Examples
Pushbutton Switch  Pushed or not pushed
Phototransistor  Light or dark
Reed Switch  Switched or not switched

15. Digital Inputs Input Images Phototransistor (light sensor) Switch
(pressure sensor)
Reed Switch
(magnetic sensor)

16. Digital Inputs
Digital Inputs can represent a variety of switch mechanisms, including a pushbutton switch, phototransistor, or reed switch.
Digital Inputs connect to I1-I8 on the interface.

17. Text
The Text tool is used to display information on the program page.

18. Wait for Input
Wait for Input responds to a digital signal change.

19. Wait for Input Wait for Input is simpler and easier than using the
digital input icon for some applications.

20. Counter Loop
With the Counter Loop, you can execute a specific part of the program several times.

21. Counter Loop This Counter Loop allows a light to
flash on for 2 seconds,
then off for 2 seconds. The sequence will occur
10 times before the program ends.

22. Analog Branch With the Analog Branch, you can compare
the value of an analog
input with a fixed
number. You can branch to
the Yes (Y) or No (N)
exit based upon the comparison.
Set the condition and enter
a comparison value.

23. Analog Branch This Analog Branch uses a photocell sensor to determine
whether the reading (value of AX) is greater than 800. When it is, the light is turned off and the program ends.

24. Additional Programming Options
At times more program options are necessary.
Level 4 provides additional programming options.

25. Variables
Variables are accessed from the element window.

26. Variables A Variable will store a value for use by the program.
It is best to be descriptive when naming the variable so that its function is clear.

27. Commands
Commands are used to change the value of variables.

28. Branch and Wait
Branch and Wait functions make decisions using values entering through the branch or branches on the left.

29. Variables
A Variable can be used to count, as in this example. The variable Dogs is increased by one each time through the loop until its value is greater than 3. The program then ends. The variable blocks are named the same so that the values always match.

30. Inputs and Outputs
Inputs and Outputs are used to provide information to affect variables and to display values.

31. Variables
A Variable can be used to store a value. In this example the value of a photocell is reflected in the variable by means of an Analog Input and is used to determine which way a motor will turn.

32. Operators
Operators allow combining or comparing two variables using mathematics or logic.

33. Panel Elements
Panel Elements are used to build a display or control board to interact with a fischertechnik® model.

34. Displays
Values can be displayed on the screen.

35. Setting up a Display
Text Displays can be customized.

36. Displays
Panel Displays are used to assign the output device.

37. Subprograms
Subprograms are pieces of a program that can be used many times in different places. They can also allow the programmer to isolate different portions of a complex program.

38. Subprograms
Subprograms utilize the Entry and Exit commands.

39. Subprograms
Once saved, the subprogram can be selected from available Loaded Programs.