Basic Programing S4.ppt

7/18/2019 Basic Programing S4.ppt

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AB

BMalaysia-1-

Jun

16,

2015

S4CPlus Robot

Basic Programming

Training


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BBasicProgrammingTraining-2-

Jun

16,

2015

Syllabus

1.1 System Overview

General

Manipulator

ontroller

Teac! Pen"ant

#a$ety


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16,

2015

Syllabus (cont 1)

1.2 Basic Operation

#tarting t!e #ystem

&or'ing (it! &in"o(s

Jogging t!e )o*ot +sing Joystic' &or'ing on Program

Automatic Mo"e

rror

./ #ignal


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ABBBasicProgrammingTraining--

Jun

16,

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Syllabus (cont 2)

2.1 Robot Coordinate System Tool oor"inate #ystem

&or' /*ect oor"inate #ystem

reating TP

ali*ration an" ounter +p"ate

Bac'up )estore


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ABBBasicProgrammingTraining-5-

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16,

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Syllabus (cont 3)

2.2 Program Structure and Overview

Program

Program Memory

Mo"ule

#ystem Mo"ule

)outine

3ata

Pat! Programming

nstruction 4pression

Proce"ure an" unctions


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Syllabus (cont 4)

.1 Programming

Basic nstruction

Moe7

MoeJ

.2 !ntermidiate !nstruction

Moe

Procall

Moe (it! /$$set

&aitTime


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ing-;-

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Syllabus (cont 6)

.4 #dvance !nstruction

&97-3/

/)

T#T

G/T/ #T/P A:3


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General

Controller$anipulator

# robot is a combination o% two principal

parts& Controller and $anipulator


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T!e Manipulator

$anipulator'

!RB24((

Please observe eac) a*es+ movement

direction o% t)e manipulator.


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T!e Manipulator

3egrees o$ ree"om

Joints

A4is 1?

A4is %?

A4is 2?

A4is ?

A4is 5?

Base rotates @1;0

7o(er Arm @80

)oll @%00

Pitc! @120

+pper Arm 105 -2;

,e%inition o% Robot #*es&

Robot #*es&

A4is 6?)oll @%00


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ing-1-

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Teac! Pen"ant an" /perator Panel

Teac) Pendant Operator Panel

T)e teac) pendant and operator panel areused to communicate wit) t)e robot.


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T!e ontroller

S4C Control System

T)e controller is consist o% 4 principal

parts.


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Control ,escription

Control Panel# ontroller

=C #&T9

#-TO Production $ode/

$#0-# Teac) $ode/

$#0-# 1(( Teac) 3ull Speed/

T)e Controller


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/peratorDs Panel

#-TO$#T!C $O, Production $ode/

$#0-# R,-C, SP, $O, Programmingmode/

E+se" to run $or Pro"uctionFEJogging ro*ot is not-allo( in t!is mo"eF

E+se" to "o programming, moe to ro*ot manually, an"

parameter setting

E:ee" to press t!e ena*ling "eice to actiate t!e ro*otDsmotorsF


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ing-1;-

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16,

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/peratorDs Panel

$#0-# 3- SP, $O,

Testing mode' Optional/

+se" to test run t!e ro*ot program at $ull programme"

spee"F:ee" to press t!e ena*ling "eice an" 9ol"-To-)un to

actiate t!e ro*otDs motorsF


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Control ,escription


an illuminate" pus!-*uttonH is use" to start t!emotors in A+T/ mo"eF &!en lit, it in"icates t!at t!e ro*ot

motors are /:F &!en t!e *utton is $las!ing t!e motors are o$$F

T!is *utton is also use" to reset mergency Stopcon"itionsF

$OTORS O0


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Control ,escription


pus!-*uttonH imme"iatelystops ro*ot operation regar"less o$ preious states

an" operational mo"eF :o oltage is transmitte"

to t!e motors in t!e mergency #top con"itionF

$R50C6 STOP

T)e Controller


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Control ,escription


T!e is use" to 'eep trac' o$operational !ours t!at t!e ro*ot !as ranF T!is

meter is use" $or maintenance sc!e"ulingF

7O-R $TR

T)e Controller


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16,

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na*ling "eice

mergency #top

9ol"-to-)un

Joystic'

73 3isplay

Teac) Pendant


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Jun

16,

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Teac! Pen"ant

nabling device %or sa%e operation/ na*ling "eice is a press s(itc! (it! t!ree positions

T!e s(itc! must *e in t!e mi""le in or"er to actiate" t!e

motors in manual mo"e

All ro*ot moement (ill imme"iately stop i$ t!e s(itc! is

release" or presse" to t!e *ottom

mergency stop

T!e ro*ot stops I regar"less o$ (!ic! state ormo"e t!e system is in I imme"iately t!e

emergency stop *utton is presse"F


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Teac! Pen"ant (cont 2)

8oystic9

T!e oystic' is use" to og moeH t!e ro*ot manually eFgF

(!en programming t!e ro*otF

,isplay

3isplay all in$ormation "uring programming, to c!angeprogramsF

an accommo"ate 16 linesF

ac! line can accommo"ate 0 c!aractersFF


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Teac) Pendant :eys Overview


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;indows :eys to select a window to wor9 wit)/

8ogging

+se" to og t!e ro*otF

Program

+se" to program an" testF

!nputs"Outputs

+se" to manually operate t!e input an" output signals

connecte" to t!e ro*otF

$isc

Miscellaneous ot!er (in"o(s, iFeF t!e #ystem Parameters,

#erice, Pro"uction an" ile Manager (in"o(sF


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0avigation :eys to move t)e cursor/

ist Press to moe t!e cursor $rom one part o$ (in"o(

to anot!erF

Previous"0e*t Page

Press to see t!e ne4t.preious pageF

-p and ,own arrows

Press to moe t!e cursor up or "o(nF

e%t and Rig)t arrows

Press to moe t!e cursor to t!e le$t or rig!tF


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BBBasicProgrammingTraining-2;-

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16,

2015


0avigation :eys to move t)e cursor/

$otion -nit Press to og t!e ro*ot or ot!er mec!anical units

$otion Type

Press to select !o( t!e ro*ot s!oul" *e ogge", reorientationor linearF

$otion Type

A4is *y a4is moementF 1Ka4is1-%, 2Ka4is-6

!ncremental

ncremental Jogging on.o$$


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BBBasicProgrammingTraining-2>-

Jun

16,

2015


Ot)er :eys

Stop #tops program e4ecutionF

Contrast

A"usts t!e contrasts o$ t!e "isplayF

$enu :eys Press to "isplay menus containing arious comman"sF

3unction :eys

Press to select t!e arious comman"s "irectlyF

,elete 3eletes t!e "ata selecte" on t!e "isplayF

nter

Press to input "ata


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BBBasicProgrammingTraining-%0-

Jun

16,

2015


Programmable :eys

unctions to *e "e$ine" *y t!e userF


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Jun

16,

2015

#a$ety

Sa%ety 3unctions

mergency #topF

na*ling 3eice

#a$ety #top

)e"uce" #pee"

nterloc'

9ol"-to-run-control


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#tarting t!e #ystem

Be$ore s(itc! t!e system on, ma'e sure

t!at no one insi"e t!e sa$eguar"e"

space aroun" t!e ro*otF

#(itc! t!e mains s(itc! onF T!e ro*ot is

t!en automatically c!ec'e"F

A$ter t!e system !as *een c!ec'e" an"no errors are locate", t!e (elcomemessage appears on t!e "isplayF

$ains Switc)

;elcome Screen


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A


Jun

16,

2015


#ccessing t)e !nputs"Outputs ;indow&

1F Press t!e !nputs"Outputs(in"o( 'eyF


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A


Jun

16,

2015


2F T!e (in"o( $or manual ./ is s!o(n on t!e

"isplayF &!en a "igital output is selecte", its

status can *e c!ange" using t!e $unction 'eysF

;indows %or manual !"O )andling


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A


Jun

16,

2015


%F Cou can moe aroun" t!e (in"o(s *y pressing 'eys *elo(?

$ovement Select

/ne line up Arro( +p

/ne line "o(n Arro( 3o(n

To t!e $irst line in t!e list 5oto top$rom t!e ditmenuTo t!e last line in t!e list 5oto bottom$rom t!e ditmenu

:e4t Page :e4t page

Preious Page Preious page

#elect a speci$ic line in t!e list 5oto$rom t!e ditmenu entert!e "esire" line num*er an"press OK


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F &in"o(s are sometimes "ii"e" to 2 *y a "ou*le lineF

5F #elect an output, t(o $unction 'eys (ill *e "isplaye"F

6F Turn On"O%%t!e output *y pressing t!e


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BBBasicProgrammingTraining-%>-

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2015


;F T!ere are $our (in"o( 'eys on t!e teac! pen"antF

>F &!en you press a (in"o( 'ey, t!e actie (in"o( (ill *e

!i""en un"er t!e ne( (in"o(F

T)e %our window 9eys


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BBBasicProgrammingTraining-0-

Jun16,

2015

Jogging t!e )o*ot +sing Joystic'

inear 8ogging

1F Turn t!e operating mo"e selector to t!e

L250mm.s positionF

2F !ec' t!at t!e Robot motion -nitD

an" inearmotion -nit+are selecte"F

Robot

inear

&it! t!e Motion unit'ey, you can c!oose

*et(een operating t!e ro*ot or ot!er

e4ternal unit connecte" to controllerF

&it! Motion type'ey, you can c!oose

ro*ot to moe in?

aF 7inear moement

*F )eorientation o$ particular en" e$$ector

cF A4is-*y-a4is moement


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BBBasicProgrammingTrai

ning-1-

Jun16,

2015


inear 8ogging

&!en linear type motion is selecte", t!e ro*ot (ill moe as

s!o(n in $igure a*oeF

T)e Robot Coordinate System


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BBBasicProgrammingTraining-2-

Jun16,

2015


inear 8ogging

T!e Tool Center Point TCP/ (, is t!e point t!at moelinearly, along t!e a4es o$ t!e coor"inate systemF

T!e TP0 is locate" at t!e $ront o$ t!e upper arm, in t!e

centre o$ t!e ro*otDs $ace plateF

T)e centre o% t)e %ace plate& TCP (


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inear 8ogging

%F Pus! t!e ena*ling "eice !al$(ay to s(itc! t!e $OTORS O0F

F Jog t!e ro*ot using t!e oystic'F #tan"ing in $ront o$ t!e ro*ot,

t!e TP0 (ill, "epen"ing on !o( t!e oystic' is moe", moelinearly along t!e


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8ogging T)e Robot

$otion Types

)o*ot Maor A4es 1,2,%

Minor A4es ,5,6

7inear . )eorientation Base

&orl"

Tool

&or'o*ect an Jog t!e )o*ot in ncremental stepsF

8oystic9 Control


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8oystic9 Control

7inear )o*ot Motion

8oystic9 Control


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8oystic9 Control

)eorienting t!e Tool

8oystic9 Control


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8oystic9 Control

A4is *y A4is )o*ot Motion

8oystic9 Control


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8oystic9 Control

ti : P


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reating a :e( Program

Press t)e program 9ey to open t)e program window

C)oose ile? :e(

!% t)ere already is an unsaved program' answer t)e

displayed dialog and press ile? :e(again

Speci%y t)e new name %or t)e program

C)oose /=to con%irm

# program wit) only one empty mainroutine iscreated

di i ti


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Jun16,

2015

oading an e*isting program

Press t)e program 9ey to open t)e program window

C)oose ile? /pen

Press -nit until t)e rig)t mass memory unit is

displayed

$ar9 t)e desired program or directory wit) t)e cursorand press nter to select

C)oose /=to con%irm

T)e program will be loaded

$ dP


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$odPos- Mo"i$ying t!e position in a positioning instruction

eFgF Moe7F

$overo*ot to "esire" position

#elect t!e instruction to *e c!ange"press t!e $unction 'ey $odPos

$odPos

C tti


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Cutting- #electing one or more instructions, "eleting t!em

an" placing t!em in memoryF

$ovecursor to instruction or use Mar' to #elect agroup o$ instructions

!oose ,!T & Cut

an t!en *e paste" any(!ere

Cutting

C i


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Copying- #electing one or more instructions, copying

t!em an" placing t!em in memoryF

$ovecursor to instruction or use Mar' to #elect agroup o$ instructions

!oose ,!T & Copy

an t!en *e paste" any(!ere

Copying

P ti


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Pasting- placing (!at eer instructions !ae *een store"

in memory into t!e programF

$ovecursor to instruction (!ere you (is! toplace t!e instruction.s

!oose ,!T & Paste

#ometimes as'e" i$ you (ant to paste *e$ore ora$ter an instruction, "e$ault is a$ter

Pasting

$ 9i


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$ar9ing- #electing one or more instructionsF

$ovecursor to top.*ottom o$ t!e list o$ instructions

!oose ,!T & $ar9

Moe cursor up."o(n until all lines t!at are (ante"are selecte"

an no( Cut, Copyor ,eleteselection

$ar9ing

#utomatic $ode


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#utomatic $ode

#utomatic modeis use" to e4ecute rea"y ma"e programs

Figure 33 Dialog box used to confirm a change from manual to automatic mode

#utomatic $ode


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#utomatic $ode

E Press OKF Cou !ae no( c!ange" to automatic mo"e an"

t!e Production (in"o( appears on t!e "isplay see igure%HF

#utomatic $ode


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#utomatic $ode

E Press t!e Motors /n *utton on t!e operatorDs panelF

E #tart t!e program (it! t!e Start $unction 'eyF

E #top t!e program (it! t!e STOP *utton on t!e teac!

pen"ant unitF

E #(itc! *ac' to manual mo"e

rror $essage


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rror $essage

$ an error occurs, an error message (ill *e "isplaye" in plain

language on t!e teac! pen"ant F $ seeral errors occursimultaneously, t!e error t!at occurre" $irst (ill *e selecte"F

!n error message is dis"la#ed in "lain language as soon as an error occurs

anguages > $essages


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Press OOOOOOO to return to preious pageF7og

g g g

RROR $SS#5S

anguages > $essages


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/perational 1


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T!e pat! t!at (ill ta'e you to t!e $%%&% '&is?

$!SC. & SR@!C & @!; & O5

$isc& Service& @iew& og&

3ile& Save all ogs as&

To #ae rror 7og?

O5A OOOOOOOO o$ error messages is 'ept so you can loo'

att!e last errors t!at t!e system !as !a"F

RROR $SS#5S

anguages > $essages


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Cou can also erase one or more o$ t!e logsF &!ile t!e cursor

is !ig!lig!ting one o$ t!e error categories in t!e log screen,

press

SPC!#& R#S O5 OR R#S #

O5S

$isc& Service& @iew&

2A,ate and Time&

To set system Date and *ime?

RROR $SS#5S


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Coordinate Systems


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Coordinate Systems

4

y

Base rame

4

y

&orl" rame4

y

P

&or' /*ect

y

4

Tool rame

+#,)

/BJ,T

y

4

&rist rame

Programme"

position


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Coordinate systemsCoordinate systems

TOO COOR,!0#TS

OB8CT COOR,!0#TS

B#S COOR,!0#TS

;OR, COOR,!0#TS

6

6

6

6

6

-SR COOR,!0#TS

Coordinate Systems Bene%its


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y

Tool Coordinate System

Defnes the TCP and orientation o a tool

Necessary to run the robot (the TCP) in linear movements The tooldata may be changed, reecting a orn tool

!a"es it #ossible to change tool, ithout changing the#rogram

!a"es tool relative movements #ossible

$or" %b&ect Coordinate System Defnes the or" #lace or the robot

!a"es it #ossible to move the hole or"#lace (a f'ture)ithout changing the #rogram

!a"es it easy to use a #rogram, made on one robot, inanother robot ith dierent or"#lace Change theor"ob&ect, not the #rogram

* #rogram or an ob&ect may be dis#laced ith searchunction, to fnd the current location

Tool Centre Point


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Tool Centre Point

D

Tool Mounting

lange

)elatie 3irections


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Tool Centre Point

Position moement o$ ro*ot al(ays relate" to TPF

3e$ine" as *eing some(!ere at t!e en" o$ t!e toolF

Many can *e "e$ine" *ut only one actie at any one timeF

an *e programme" manually *ut only i$ accurate "ataF

:ormally use ro*ot to "e$ine TPF

$ tool is "amage" or replace", "onDt c!ange program ust re"e$ine t!etoolF

Tool Centre Point


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Tool Centre Point

% Met!o"s o$ tool 3e$inition

point TP (it! approac! pointsF

5 point TP N (it! approac! points an" 1 elongatorpoint to "e$ine N "irection o$ toolF

6 point TP N< (it! approac! points 1 elongator $or N"irection 1 $or < "irection F

4 Point TCP


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4 Point TCP

:o rotation a*out


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E Point TCP

direction de%ined

E Point TCP F Spray gun


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E Point TCP Spray gun

direction de%ined

G Point TCP ;elding gun


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G Point TCP ;elding gun

Bot! < an" N "e$ine"

G Point TCP A ;ater =et #pplication


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G Point TCP ;ater =et #pplication

.TCP Water jet

TCP ,e%inition A Simple


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1

2

4

1

2

Plan ie(

4

TCP ,e%inition Simple

TCP ,e%inition A Comple*


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N

C-

Jun16,

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!n T)e Program ;indow

$enu & @iew & ,atatypes

ursor to tooldataan" press nter /F Press t!e unction =ey 0ewF

Press nter/to name your tool an" t!en press O:F

Press ,ecl, ist :ey / an" moe your cursor "o(n to input massin 'g, t!en O:TwiceF

$enu & Special & ,e%ine Coordinates Press nter /to c!oose TP met!o" 4, Eor Gt!en O:F

ist :ey / "o(n, you can no( enter your positions *y moving t)e robot an"pressing $odPosF

Press O:an" note t!e $eanan" $a* error, *elo( 1$or eac! is pre$era*leF Press O:F

!n T)e 8ogging ;indow. ursor to Tool, pressnter /, select your TP an" t!en

pressO: to actiate your TPF

,e%ining TCP By -sing T)e Robot


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g y g

Jog t!e ro*ot to t!e $i4e" tip (it! $our "i$$erentorientations an" in "i$$erent "irections not in same

plane as in $igH?

,e%ining TCP By -sing T)e Robot


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g y g

/pen (in"o( *y using @iew& ,ata Types

#elect t!e type tooldataan" press nter

!oose #pecial? ,e%ine Coord

Mo"i$ie" K Position "e$ine"

- K :o Position "e$ine"

$ error is accepta*le press OK

$ error is too large, press Cancelan" re"e$ineF

;or9 Ob=ect Coordinate System


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p10

Base

&o*0

= y

y

4

(900, 60, 500)

(0,0,0)

All program positions are attac!e" to a (or' o*ect

&o*0 is t!e "e$ault coor"inate system

t is a"isa*le to use custom (or' o*ects

;or9 Ob=ects


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ustom &or' /*ect

=

&or' /*ects contain *ot! +ser an" /*ect rames

+ser

$rame

/*ect

$rame

1

&orl"

;or9 Ob=ect 3rames


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2015

+ser

/*ect

&orl"

p10

=

(200, 0, 450)

(400, 0, 50)

(300, 60, 0)

;or9 Ob=ects and *ternal #*is


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=

&or'o*ect "isconnecte" $rom ro*ot (orl"

an" attac!e" to mec!anical unit

/*ect $rame may *e transpose"

$rom its +ser $rame

,e%ining a ;or9 Ob=ect %rames


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+ser an" /*ect oor"inate #ystems are usually *ot! "e$ine"

at t!e same positionF

&orl"

;orld

;or9 Ob=ects


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WObj1

WOb

j2

6

6

;or9 Ob=ects


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;Ob=,atais use" to "escri*e t!e area t!at t!e ro*ot

(el"s, processes, moes (it!in etcF $ position 3ata is entere" manually, t!e alues can *e

ta'en $rom a "ra(ingF

Programs can *e reuse" Quic'ly $ollo(ing c!anges in

t!e ro*ot installation eFgF i$ a $i4ture is moe", ustre"e$ine user coor"inate systemF

Rariations in !o( t!e &or' /*ect is attac!e" can *ecompensate" $or using searc! an" a sensorHF

)o*ot can *e ogge" along t!e a4es o$ t!e (or' o*ectF

;or9 Ob=ect ,e%inition $et)od


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!n T)e Program ;indow

@iew & ,atatypes

ursor to ;ob=dataan" press ReturnF

Press t!e unction =ey 0ewF

Press Returnto name your (or' o*ect an" t!en press O:T(iceF

Special & ,e%ine Coordinates

Moe cursor up an" "o(n an" press Return to c!oose point met)od $or -seran" 0oC)angeOb=ectF

ist :ey "o(n, you can no( enter your positions *y moing t!e ro*ot an"pressing $odPosF

Press O:F

!n T)e 8ogging ;indow. ursor to ;ob=, press Return, select your (or' o*ect an" t!en press O:to

actiate itF

Robot Calibration


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)o*ots "eliere" (it! all a4is motor cali*rate"F

Motor resoler alue is store in Manipulator system

parameter Manipulator -S Motor ali*rationH

t is recor"e" on )esoler alue stic'er on

manipulator T(o type o$ cali*ration proce"ure to ro*ot (!ic! is

ine ali*ration an" )eolution ounter +p"ate

CalibrationCalibration


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CalibrationCalibration

ine ali*ration

ali*rate (!en resoler alue c!ange *y !ange."ismentle motor

!ange gear*o4.gear

)eolution ounter +p"ate

ounter up"ate (!en resoler alue c!ange *y

Battery "isc!arge"

)esoler error )esoler signal interrupt

)o*ot a4is moe" (it! control system"isconnecte"

Calibration H!A$ar9H


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Revolution Counter -pdate


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Press t!e $isc.&in"o( 'ey

#elect Servicein t!e "ialog *o4 s!o(n on t!e "isplay

Press nter, an" t!en c!oose @iew? Calibration

T!e ro*ot (ill *e in -nsyc)roniIedstatus i$ one o$ t!ea4is resoler counter is not up"ate"

!oose Calib& Rev. Counter -pdate

Press $unction 'ey #llor !ncl.to select not up"ate" a4is Jog ro*ot to cali*ration !Amar9 position attac!e"H

on$irming *y pressing O:an" press O:again to startt!e up"ate process

!ec' t!e cali*ration *y using instruction $ove#bs8

$ove#bs8


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reate routine rCalib

in" t!e instruction in !P2' $otion #dv nsert instruction,

$ove#bs8 J' v1(((' IE(' tool(

Moe t!e cursor to *loc' t!e J an" c!oose dit& @alue

!ange all t!e oint a4es "ata to ero H(H/ Press O:to con$irm t!e c!anges

#(itc! to Testmo"e an" moe t!e PPto t!e a*oeinstruction

4ecute t!e instruction *y press 3;, A$ter ro*ot go to it cali*ration position, c!ec' ro*ot !A

$ar9


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&!at is a ProgramU


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A program consists of

instructionsand data, programmed in the RAPID

programming language, which controlthe robot and peripheral equipment in aspecied way.

Ea main routine

Eseeral su*routines

Eprogram "ataF

In addition to this, the program

memory contains system modules.

ET!e program is usually ma"e up o$ t!ree

"i$$erent parts?

reating a ne( program


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hoose File: New.

If the robot is already loaded witha program which has not beensa!ed, a dialog bo" appears andyou will be as#ed whether youwant to sa!e it or not.

$pecify the new name of theprogram in the dialog bo" thatappears.

hoose OKto conrm.

A program with only one emptymain routine is created.

Press 9ereV

7oa"ing an e4isting program


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hoose File: Open.

If necessary, change the massmemory unit by pressing Unituntil the correct unit is displayed.

$elect the desired program.%o!e up or down in the directoryby using either &..' (up), or the

desired directory (down) andpress *nter .

hoose OKto conrm.

9ereV

Ti#+If there is an error in the

program, this error will bedisplayed if you choose File:Check Program

9ereV

;)at is a $oduleK


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Program Memory

Program Module(s)

Program Data

Main

RoutineRoutines

Program Data

Routines

System Module(s)

;)at is a $oduleK


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Program Data

Routines

Program Memory

Program Module(s)

Program Data

Main

RoutineRoutines

Program Data

Routines

System Module(s)

T)e !nternal Structure o% $odules


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WWW

R)#/:?1

7A:G+AG?:G7#9

WWW

$O,-F>1Y,X0F56805>,0F0568,0F;21588,0F02211;Y,X0,0,-

/:#T ro*target p2?KXX1280F88,->%F8;,%;6F1%Y,X0F568081,0F0558,0F;2158,0F02211Y,X-1,0,-

/:#T ro*target p1?KXX1%12F,-1%2F16,%;1F%>Y,X0F568088,0F05%1,0F;2156;,0F0220>Y,X-1,0,-

PROC mainH

Moe7 p1,1000,$ine,tool0

Moe7 p2,1000,$ine,tool0

Moe7 p,1000,$ine,tool0

0,PROC0,$O,-

$odules


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A mo"ule is a group o$ routines an" "ataF

A program mo"ule t!at contains a main routine is t!e main

program mo"ule, ot!er(ise ust a su* program mo"uleF #ystem mo"ules are al(ays present in memory an" can *e

use" to sae your "e$ault "ata an" routinesF

ilename e4tensions are?


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&!en a"rogramis sae" using 3! & Save Program, allprogrammo"ules in memory are sae" (it! t!e main program mo"ule into

one amalgamate" $ileF

FP)GH ABB Program Mo"ule

FM/3H 3ra(#Z Program Mo"ule

FM/3H 3ra(Tri Program Mo"ule

ABBFP)G

Opening programs t)at use modules


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&!en a"rogramis opene" using 3! & Open, any mo"ules t!at !aeoriginally *een sae" (it! t!e program are loa"e" in an" separate" outF

T!ey can still *e sae" separatelyF


FM/3H 3ra(#Z Program Mo"ule

FM/3H 3ra(TriProgram Mo"ule

ABBFP)G

Saving $odules


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&!en a moduleis sae" using 3! & Save $odule, t!e selecte" mo"ule inmemory is sae" as a single FM/3 or F#C# mo"ule $ileF


.$O,/ ,rawSL Program $odule

FM/3H 3ra(TriProgram Mo"ule

F#C#H +ser #ystem Mo"ule

3ra(#ZFM/3

Programming


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Adding in +ew Instructions

If a new instruction is added, it is placed after the instruction that isselected.

$elect the place whereyou want the newinstruction to be added.

all up one of the

instruction pic# lists bychoosing the appropriatepic# list from the IPL1orIPL2menu.

If want to call up theinstruction pic# list thatwas used most recently,choose Edit: Show IPL.

Programming 1H


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%o!ing and opying Instructions

$elect the instruction you wish to mo!e or copy. o selectse!eral instruction, choose Edit: ark!

hoose Edit: C"t #mo$e% or Edit: Cop&.

Indicate where you wish to add the new instruction.

hoose Edit: Pa'te.

In the Program Instructionwindow, copy and paste can alsobe selected using a function #ey.

Programming 2H


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A #rocedureis a number of instructions, put together in a -bo"

with a specic name his bo" may be called from the main routine (or any), and the

content of instructions will be e"ecuted

he call of the procedure is li#e an instruction/

%o!e0 p122, !122, 312, tool14

5etchPart4

%o!e0 p112, !122, 312, tool14

A unctionis another -bo" of instructions, used to calculate a!alue/

reg1 /6 Dist (p112, p122)4

outineis the common term for both procedures and functions

Proce"ures an" unctions

Programming %H


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%ore readable program

7etter structured program

he code can be reused in se!eral di8erent parts of theprogram

Program creation is easier, the di8erent routines may becreated and tested separately

he robot may be customi3ed by creating applicationspecic routines

P $t t

Programming H


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FFF

$etc!Opart

leaeOinOmac!ine

processOpart

$etc!O$rOmac!ine

leaeOpart

FFF

Proce"ure main

proce"ure $etc!Opart

grip

release

MoeJ [,ma4,50,tool1

Moe7 [, 1000,%0,tool1

Moe7 [,200,$ine,tool1

grip

Moe7 [,200,%0,tool1

#et gripper

&aitTime 0F%

)eset gripper

&aitTime 0F%

Program $tructure

Programming 5H


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A rapid routine can be/

Procedure, e"/

fetch9part4

$pot0 p122,!ma",spot12,gun:,tool:4

-unction, e"/

reg1/6circ9rad(p1,p;,p


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+ames = identiers

>ariables names must ha!e/

= ma". 1? characters

= rst character must be a letter@

= only letters, digits and underscores

RAPID #eywords cannot be used as !ariable names.It is absolutely desirable to use meaninful names suggesti!e ofthe entity they represent.

Note. +ot case sensiti!e, i.e foobar is equal to 5obAr


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Bhat is a RoutinesC


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here are three types of routines(subprograms)/ Procedures, Functionsand

Trap/

/ Proceduresdo not return a !alue andare used in the conte"t of instructions.

= -unctionsreturn a !alue of a specictype and are used in the conte"t ofe"pressions.

= Tra#routines pro!ide a means of dealingwith interrupts.

Bhat is a RoutinesC 1E


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A routine can contain routine declarations (including parameters),data, a body, a bac#ward handler (only procedures) and an error

handler.

Routine declarations cannot be nested, i.e. it is not possible todeclare a routine within a routine.

Bhat is a RoutinesC ;E


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FFF

$etc!Opart

leaeOinOmac!ine

processOpart

$etc!O$rOmac!ine

leaeOpart

FFF

Proce"ure main

grip

release

#et gripper

&aitTime 0F%

)eset gripper

&aitTime 0F%

proce"ure leaeOpart

proce"ure $etc!O$rOmac!ine

proce"ure processOpart

proce"ure leaeOinOmac!ine

proce"ure $etc!Opart

MoeJ [,ma4,50,tool1Moe7 [, 1000,%0,tool1


grip

Moe7 [,200,%0,tool1

MoeJ [,ma4,50,tool1

Moe7 [, 1000,%0,tool1


release

Moe7 [,200,%0,tool1

Routines


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Be$ore you start to program, you s!oul" t!in' out t!e structure $irstF

)epetitie instruction seQuences t!at occur $reQuently in t!e program,suc! as gripper !an"ling, s!oul" $orm t!eir o(n routinesF

)outines separate t!e program into smaller more easily un"erstoo"parts t!at can t!en *e calle" any(!ere in t!e programF

Cou !ae Ma4 16 c!aracters allo(e" $or naming a routine so yous!oul" gie t!em meaning$ul names suc! as 3ra(ircle, ut#Quare

an" Pic'Part

T!e Program )outines &in"o(


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hoose (iew: )o"tine' toopen the window.

T!e (in"o( "isplays all t!e

routines in your system an", i$

t!ere is a $unction present, also

t!e type o$ "ata returne" $or t!at

$unctionF

9ereV

reating :e( )outine


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hange the name by pressing F*nter and specify a new name

9ereV

9ereV

hoose (iew: )o"tine' to

open the window. Press $unction 'ey NewF

If you want a normal subroutine

(procedure) without anyparameters, you should nishhere by pressing OK. In cases,the characteristics of the routinemust be dened.

9ereV

reating :e( )outine 1H


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In cases, the characteristics ofthe routine must be dened.

Press the function #ey *ecl+! !ange t!e c!aracteristics o$ t!e

routine *y selecting t!eappropriate $ile"F

9ereV

Routines


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MoeJ [,5,1,tcp

SMuareN

MoeJ [,5,1,tcp

Moe7 [,5,1,tcp

MoeJ [,5,1,tcp

MoeJ [,5,1,tcp

SMuareN

MoeJ [,5,1,tcp

Moe7 [,5,$ine,tcp

Moe7 [,5,1,tcp

Moe7 [,5,1,tcp

Moe7 [,5,1,tcp

CircleN

Moe7 [,5,1,tcp

MoeJ [,5,1,tcp

MoeJ [,100,1,tcp

Moe7 [,5,$ine,tcp

Moe [,[,5,1,tcp

Moe [,[,5,$ine,tcp

Moe7 [,5,1,tcp

MoeJ [,100,1,tcp

$ain SMuare Circle

$ain routine Sub routines

3uplicating a routines


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hoose (iew: )o"tine'.

$elect the routine to beduplicated.

Press the function #ey *"pl!

9ereV

9ereV

hange the name by pressing*nter F and specify a newname

hoose G to be conrm theduplication.

Pat) 3ollowing *ercise


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Start / Fini!

"ire#tion

Start / Fini! Start / Fini!

Pat! Fo$$o%ing &'er#ie

Pat) 3ollowing *ercise


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$ain Routine

$ove8 p7omeN 7ome Position

$ove8 pSa%eN Sa%e position

OutsideN Routine to seal outside edge

OvalN Routine to seal oval s)ape

CircleN Routine to seal circle s)ape

$ove8 pSa%eN Sa%e position

$ove8 p7omeN 7ome Position

3ata


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Data

here are three #inds of data/

(aria,le'

Con'tant'

Per'i'tent'

0ariables / 0*

3ata


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0ariables 0*

A !ariable is an entity used by the program to store !alues in

the computation.

A !ariable can be assigned a new !alue during programe"ecution.

1'am#le/

>AR num mint4

>AR num cherry /6 1224

Constants / C%NST

3ata


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Constants C%NST

E A constant is an entity whose !alue does not change duringprogram e"ecution.

All constant declarations must ha!e an initial !alue.

1'am#le/

+$ string str/6A77 RoboticsH4

Persistent / P1S

3ata


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Persistent P1S

E A persistent can be described as a -persistent !ariable.

An update of the !alue of a persistent automatically causethe initialisation !alue of the persistent declaration to beupdated.

Bhen the program is sa!ed the initialisation !alue of anypersistent declaration reects the current !alue of the persistent.

All persistent declarations must ha!e an initial !alue.

1'am#le/

P*R$ bool dirty/65A0$*4

Note.A persistent may only be declared as module data.

Changing o data

3ata


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g g

System

1vent /2

Data0

$arm/

start

%#en

#rogram

Start

Program(!ovePPto ,out)

Start

Program(*terCycle)

Start

Program(*terSto#)

Start

Program(!ovePPtocursr)

!odPos *ssign/

ment in#rogram

Change

in Data$indo

Constant Jnchang

ed

Initiated Initiated Jnchang

ed

Jnchang

ed

Jnchang

ed

hanged +ot

possible

to

change

hanged

Persistent Jnchang

ed

Initiated Jnchang

ed

Jnchang

ed

Jnchang

ed

Jnchang

ed

hanged hanged hanged

0ariable Jnchanged

Initiated Initiated Jnchang

ed

Jnchang

ed

Jnchang

ed

+ot

possible

to

change

hanged

(not Init

!alue)

hanged

(also Init

!alue

can be

changed)

3nterru#tdefnition

Jnchanged

deleted deleted Jnchanged

Jnchanged

Jnchanged

= = =

S#eed Data

3ata


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S#eed a a

S#eed data is used to s#eciy the velocity at hichboth the robot and the e'ternal a'es move

3t defnes the velocity+

*t hich the tool centre #oint moves

% the reorientation o the tool

*t hich linear or rotating e'ternal move

1'am#le +

0455 6 455 mm7s

8one Data

3ata


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8one Data

8one data is used to s#eciy ho a #osition is to be

terminated, ie 9o close to the #rogrammed#osition the a'es must be beore moving toardsthe ne't #osition

* #osition can be terminated either in the orm o

a sto# #oint or a y/by/#oint

Pat) Programing


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TOP POINT

!eans that the robot and e'ternal a'es must reachthe s#ecifed #osition (stand still) beore #rograme'ecution continues ith the ne't instruction

FLY-BY- POINT

$eans t)at t)e programmed position is never attained.

T)e direction o% t)e motion is c)arged be%ore t)e position

is reac)ed

Pat) Programing


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&!at is an instructionU


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An instruction denes a specic tas# that is to be carried outwhen instruction is e"ecuted, for e"ample

%o!ing the robot $etting an output

hanging data

Kumping within the program

Instructions comprise an instruction name and a number of arguments.

he name species the principal tas# of the instruction and thearguments specify the characteristics.

*"ample/

!ove: #4,v;55,fne,tool4

Moves the TCP linearly to the positionp1. The arguments, $-../ 0ne and tool1,specify the current speed, position accuracy and tool.

&!at is an instructionU 1H


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Letting more information about an instruction

$electing the desired instruction and press 1nter -

Jun16,

2015

,. Select the Program -ditor choose Tas and Program.

/. Select 0ile and choose 1e$ Program. (Reer to page ,2,)3. Write the name o the program on the numerical eyboard -4/ and press

"5

6. Press the menu ey 7dd 8nstruction.

2. Choose Moe instruction according to the program e*ample (ne*t page)9. The positions p,' : p2' shall be programmed so that $hen e*ecuting the

program the pencil moes linearly on the table e*cept rom p2' to p,'.

;. Select


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P)/ mainH

MoeJ p10, 500, $ine, tool0

Moe7 p20, 500, $ine, tool0

Moe7 p%0, 500, $ine, tool0

Moe7 p0, 500, $ine, tool0

Moe7 p50, 500, $ine, tool0:3P)/

p1(

p2(p(

p4(

pE(

&'er#ie 3

1 ontinue $rom t!e


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Jun16,

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1F ontinue $rom t!e


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6F !ange t!e one argument $rom $ine to %0 $or positions p20, p%0 an" p0F

#et t!e spee" correction -WH to 10W an" run t!e program, $irst step-*y-

step &3H an" t!en in continuous mo"e #tartH

/*sere t!e "i$$erence in moement at t!e %0 positions

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\FF

8F !ange t!e spee" $or position p%0 to %00 an" $or p0 to 1000

)un t!e program (it! "i$$erent spee" correction settings an" c!ec' t!e pat!per$ormance at t!e $ly-*y positionsF

s t!ere a "i$$erenceU

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\F

;F nsert a time o$ (aiting $or 5 secon"s &aitTimeH a$ter t!e instruction $or p0F)un t!e program an" notice t!e ro*ot position (!en t!e (aiting is e4ecute"

&'er#ie 3 2

> )emoe t!e instructions $or t!e (aiting an" p50 $rom t!e program


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Training-15%-

Jun16,

2015

>F )emoe t!e instructions $or t!e (aiting an" p50 $rom t!e programF

)un t!e program again an" notice t!e ne( *e!aiorF

10F !ange t!e instructions $or p20 an" p%0 $rom Moe7 to MoeJ

/*sere t!e moement c!ange (!en e4ecuting t!e program

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\F

11F nsert t!e position p50 again an" put an o*stacle *et(een p%0 an" p0,

(!ic! t!e ro*ot !as to pass in a proper (ay, *y programming $our ne(instructions Moe7H (it! suita*le spee" an" one sieF p60, p80, p;0,

p>0H

)un t!e program an" notice t!e ro*ot position (!en t!e actiation o$ t!e

output startsF

&'er#ie 3 3

12 !ange t!e one argument $or p%0 to $ine


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12F !ange t!e one argument $or p%0 to $ine

)un t!e program again an" (atc! t!e "i$$erence compare" to item 12

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\F

1%F Per$orm a *ac'(ar" e4ecution o$ t!e program B&3H, (atc!ing t!e

moements an" (!at is !appening at t!e logical instructionF

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\FF

1F #ae t!e program (it! t!e ne( name o$


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Training-155-

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2015

1F &!ic! group o$ coor"inate systems are aaila*le in t!e ro*ot systemU

AH \\\\\\\\\\\\\\\

BH \\\\\\\\\\\\\\\

H \\\\\\\\\\\\\\\

3H \\\\\\\\\\\\\\\

H \\\\\\\\\\\\\\FFF

2F )e-open program


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D*

Dy

wob=2

D*

Dy

wob=

&'er#ie 4 2

6 !ange t!e &or'o*ect in Moe instruction $rom (o*2 to (o*%


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Training-158-

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6F !ange t!e &or'o*ect in Moe instruction $rom (o*2 to (o*%

/*sere t!e moement c!ange (!en e4ecuting t!e program

\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\F

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Basic Programing S4.ppt

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Transcript of Basic Programing S4.ppt