Stäubli robot integration — VAL3 TCP socket plug-in

On the Stäubli SP2 teach pendant, a new client is registered via IO > Socket > TCP Clients. Set Name: Aive, Port: 1470, Server IP: 192.168.0.30, and verify the connection with Ping Test. On success the IP is printed; on failure a 'Destination host unreachable' message appears.

In the VAL3 program, AIVE protocol strings are assigned directly to the sAive variable and sent. e.g. sAive = "<C1>" (motor ON), sAive = "<L1>" (lighting ON). The AiveManual function takes n_mm, n_hz, n_sec, assembles the <P1NNN> and <P2NN,NN> strings, and waits the run time with delay().

Provided VAL3 programs: AiveManualWork (direct vibration), AiveLightON/OFF (lighting), AiveMotion / AiveMotionReady (stored motion). VAL3 requires padding via toString() to convert numbers to strings.

RoboEye vision integration was built on the same TCP Clients socket structure. Unlike AIVE control (command-out only), vision is bidirectional — sending a trigger and receiving coordinates. Stäubli VAL3 sends a capture trigger to the RoboEye server, which returns the recognized coordinates.