DENSO Robotics Advanced Training Manual - olympusftp.com Training Manual - 9-1-09... · 2015. 7....

DENSO Robotics

Advanced Training Manual

DENSO Robotics

Section 1

Palletizing

Chapter 2 Program Flow

2.5.2 Palletizing LibraryThere is no special instruction for palletizing in the PAC language. Butpalletizing operation can be realized using a program prepared as a library.A library can be added for palletizing to a project by using the program bank.When the system executes “New system project,” if [1-palletizing] is selected inthe column [EQuipment type] of the dialog box [New project], a library programis automatically registered in the program project from the beginning of thelibrary.

Fig. 2-11 [New Project] Dialog Box

2.5.2.1 Palletizing

Palletizing is used to place parts on a pallet or pick them up in order from apallet with partitions as shown in Fig. 2-12.A library program for palletizing is created so that the robot executes palletizingoperation only when the number of partitions and positions of the 4 corners aretaught.The palletizing program changes the pick-up position on the pallet every timethe program is called.

Fig. 2-12 Pallet with Partitions

Select [1-palletizing].

[ 1 ] Palletizing Parameter

Figs. 2-13 to 2-15 and Table 2-3 show the required parameters for palletizing.

The PAC language stores these parameters as the values of variables.

Fig. 2-13 Top View of Pallet

Fig. 2-14 Side View of Pallet

Fig. 2-15 Pallet Layer Drawings

P4P3

P2P1

N pcs.

M pcs.

Robot

H3mm

APR H1 DEP H2

Robot motion path

H1 orH2mm

K layers


Table 2-3 Parameters Required for Palletizing

Symbol Name Meaning Unit

Palletizingnumber

Palletizing index number None(Integer)

N Number ofside partitions

Number of partitions in the directionfrom P1 to P3

Pc (Integer)

M Number oflengthwisepartitions

Number of partitions in the directionfrom P1 to P2

Pc (Integer)

K Number oflayers

Number of pallet layers Pc (Integer)

H1 Approachlength

Approach length when the robotgets access to a pallet.

mm (Singleprecision real)

H2 Depart length Depart length when the robot leavesthe pallet.

Mm (Singleprecision real)

H3 Pallet height Height of one pallet layer Mm (Singleprecision real)

However, H1 and H2 must satisfy the following conditions.

H1 > [H3 × (K-1)] + 5

H2 > [H3 × (K-1)] + 5

P1

P2

P3

P4

The relative position of the 4 corner points on the pallet shown in Fig. 2-13 cannot be exchanged.

The robot figure taught at position P1 is maintained at all points.

N Number of side partitionsShows the number of partitions in the pallet side direction.Fig. 2-13 shows 3 partitions.

M Number of lengthwise partitionsShows the number of partitions in the pallet lengthwise direction.Fig. 2-14 shows 5 partitions.

K Number of layersShows the number of pallet layers.Fig. 2-15 shows 3 layers.

H1 Approach lengthShows the approach length when the robot gets access to a pallet.Every time the palletizing program is called, the same approach length is used.

H2 Depart lengthShows the depart length when the robot leaves a pallet.Every time the palletizing program is called, the same depart length is used.

H3 Pallet heightShows the 1 pallet layer height.If the number of layers increases, enter a positive value.If the number of layers decreases due to removal of pallets, enter a negativevalue.If the number of layers does not change, enter 0.

Note: H1 and H2 must satisfy the following conditions.

H1 > {H3 ×××× (K-1)} + 5

H2 > {H3×(K-1)} + 5

If these conditions are not satisfied, an error occurs during

initialization. These are provided so that the robot does not

collide with a pallet. They are used to set an approach point and a

depart point that are 5 mm higher than the maximum number of

layers. Even if the number of layers increases or decreases, the

approach and depart points are the same as shown in Fig. 2-16.

Fig. 2-16 Change of Layer Number and the Approach and Depart Points.

Points P1, P2, P3, and P4 at the 4 corners of the pallet show the positions ofparts. Fig. 2-17 shows each point and the respective execution sequence.

Fig. 2-17 Palletizing Sequence

Approach and depart points Approach and depart points Approach and depart points

H1 or H2

H3

N pcs.

M pcs.

P1 P2

P3 P4

Executes in the sequenceof (1) ~ (15)


[ 2 ] Parameter Value Setting

Set the parameter values such as the numbers of side and lengthwisepartitions and the layers in palletizing by calling “pltInitialize” from the programlibrary.If you select [1-palletizing] in [Equipment type] in the [New project] dialog boxwhen “New system project” is executed, the program “PRO2” titled “palletizinginitialization template 1” is automatically registered in the library. Since thisprogram is called “pltInitialize”, change the values of the arguments in theCALL statement to the proper ones before using.

'!TITLE ”palletizing Initialization template 1”

#DEFINE pltIndex 0

PROGRAM PRO2

CALL pltInitialize(pltIndex, 4,3,1,50,50,50,52,53,54,55) 'Initializes palletizing

'number 0.

END

Fig. 2-18 Library Program “Palletizing Initialization Template 1”

CALL pltInitialize(pltIndex, 3, 5, 3, 50, 50, 10, 52, 53, 54, 55) in parameterdescription

1st Palletizing program No. (pltIndex)

2nd Number of side partitions (3)

3rd Number of lengthwise partitions (5)

4th Number of layers (3)

5th Approach length (50mm)

6th Depart length (50mm)

7th Pallet height (10mm)

8th P1 position (P52)




Fig. 2-19 Description of Parameter “pltInitialize”

The meaning of this parameter can be seen with the tool “Command builder” inthe PAC manager of WINCAPSII.

Designate only a number for type P variable.}

[ 3 ] Palletizing Counter

In palletizing the robot counts the number of partitions and stores the countvalues as variables.There are 4 types of counters; side direction (N), lengthwise direction (M),height direction (K) and total (cnt).These counters are defined in “pltKernl” which is the nucleus program forcontrolling palletizing operation.The library program “pltMove” adds a value of 1 to the total counter every timeone operation is finished and adjusts the values of the other counters.The library program “pltDecCnt” subtracts 1 from the total counter value everytime calling is made, and each counter value is adjusted by subtraction.Up to 30 palletizing programs can be created as the initial setting.Therefore, there are 31 sets of palletizing counters. To change the number ofpalletizing programs, refer to “2.5.2.2.1 Palletizing Program Customization.”

Count Rule

The palletizing counter adds a value of 1 to the total counter every time“pltMove” is executed and adjusts the values of the other counters. As a resultof this the next pallet position is ensured.If 1 is added to the total counter, the position of the lengthwise counter (M)moves to the next. If the lengthwise counter (M) reaches the end and itbecomes the maximum value, then the side direction counter (N) moves to thenext and the lengthwise counter (M) becomes its minimum value. If theposition of the widthwise counter (N) reaches the end and becomes themaximum value, the position of the vertical direction counter (K) moves to thenext and the widthwise counter (N) becomes the set minimum value.If a palletizing program is stopped during processing and is then restarted, therobot moves to the next position because the value of the counter variable iscounted up.The contents of the palletizing counter are stored even if the power is turnedoff. If the system is not initialized after being rebooted, the robot proceeds withpalletizing from the previous counter value.

Note: If an execution program is loaded after compiling, the valuesof variables are initialized.


When N=3, m=5, and K=3,Point a is N=1, m=1, K=1Point b is N=2, m=2, K=2Point c is N=3, m=4, K=3

Fig. 2-20 Relation between Palletizing Position and Counter

Counter Initialization

When pallets are replaced or all partitions are not used the counters need to beinitialized.In the initialization of the counters all palletizing counters are set to “1.”All the palletizing counters can be initialized at once by using “pltResetAll” ofthe library program.For example, if all counters of pallet number 1 are initialized, describe asfollows.

CALL pltResetAll(1)

If each palletizing counter is independently initialized, use “pltLetN1,”“pltLetM1,” “pltLetK1” and “pltLetCnt.”For example, if the N counter of pallet number 1 is initialized, describe asfollows.

CALL pltLetN1(1, 1)

Note: The variables are inifialized after compiling by loading theexecution program.

End Signal of Palletizing Program

The palletizing program sets a one layer finish flag or all layer finish flag if onelayer or all layers are finished.To obtain the one layer finish flag status, use the library program“pltGetPLT1END.” To obtain the all layer finish flag status, use the libraryprogram “pltGetPLTEND.”To reset (0) the 1 layer finish flag, use the library program “pltResetPLT1END.”To reset (0) the all layer finish flag, use the library program “pltResetPLTEND.”

P3 P4

P1 P2

c

b

a

c

b

a

M

N

K

2.5.2.2 Palletizing Program

A practical palletizing program varies in special situations depending on theapplication. However, the standard procedure for assembling the program bythe use of the library is prepared in the program “PRO1” of the title “PalletizingTemplate 2.”Use this “Palletizing Template 2” as a model and add the required items for theapplication to make full use of program development.Fig. 3-21 shows the program “PRO1” of the title “Palletizing Template 2.”This example is based on the following assumptions.

• The points of palletizing are P50-P55.• In the prepared program, the robot moves to fixed position P50 and

executes the palletizing program 0. Then it moves to assemblingposition P51 to unchuck. It checks the layer finish and if the finish signalis output, it changes the pallet accordingly. If there is no workpiece thenit terminates the motion.

“Palletizing Template 2” with the program name “PRO1” and “Palletizinginitialization template” with the program name “PRO2” are automaticallyregistered if “Palletizing” is selected in the item “Equipment type” of the “Newproject” dialog box when a new project is created with WINCAPSII. Refer top.2-14 “2.5.2 Palletizing library.”

' !TITLE "Palletizing Template 2"

' !AUTHOR "Denso Robot Engineering Dept.

#DEFINE pltIndex 0 ' Palletizing program No.

' Any numeric value from 0 to 30 is available forselection. #DEFINE ChuckNG 40 ' Number of pick up inspections IO.

' Any numeric value is available for selection.

PROGRAM PRO1 ' Change the name to the proper one.

MOVE P, P50 ' Moves to fixed position P50.

' Moves to palletized P50.

IF IO[ChuckNG] = ON THEN ' Pick up inspection for the previous time.

CALL pltDecCnt(pltIndex) ' Subtract 1 from the total counter.

END IF

CALL pltMove(pltIndex) ' Executes palletizing number 0.

MOVE P, P51 ' Moves to assembling position P51.

' Moves to palletized P51.

'<--- Insertion such as unchuck motion --->

CALL pltGetPLT1END(pltIndex,0) ' Obtains a finish signal for the 1st layer in I[0].

' The second argument "0" is an array number of "I"

' that is decided on the next line.

IF I[0] THEN ' When this is ON (e.g. when <>0)

'<--- Insertion of pallet change motion --->

CALL pltResetPLT1END(pltIndex) ' Clears the finish signal for the 1st layer.

END IF

END

Fig. 2-21 Program Name “PRO1” and “Palletizing Template 2”


[ 1 ] Palletizing Program Customization

Q. How do you change a palletizing program to execute to 1?A. Change the value of “pltIndex” in “PRO1” and “PRO2” to “1.”

Q. How do you change the menber of palletizing partitions to 5 for side and 3 for lengthwise?

A. Change “3” and “5” of the second and third parameters of “pltInitialize” to“5” and “3” respectively. * CALL pltInitialize (pltIndex, 5, 3, 3, 50, 50, 10, 52, 53, 54, 55)

Q. How do you change the number of palletizing programs available?A. Change “31” of “#DEFINE mcPaltMax 31” the in “pltKernel” program to any

number you like and the number of palletizing programs can be set.

Q. How do you set a palletizing dodge point?A. If you add a dodge point of X = 10, Y = 10, Z = -10 to the approachdirection, add a command to move a point with parallel deviation “(10, 10, -10)H” added to a point P[mcNextPos] in the file “paltmove1. pac”.

* MOVE P, P[mcNextPos] + (10, 10, -10)H 'Moves to the dodge point of'X=10, Y=10, Z=-10.

Q. How do you obtain N1, M1 and K1?A. Add the program libraries “pltGetK1”, “pltGetM1”, and “pltGetN1.” * call pltGetK1(Index, iValue) * call pltGetM1(Index, iValue) * call pltGetN1(Index, iValue) 'Index . . . Palletizing program No. 'iValue. . . Number of type I variable to which K1, M1, and N1

values are returned.

Example) #define pltIndex 0 'Palletizing program No.

Program Exmp

DefInt Index, iValue

Index = pltIndex 'Inserts a palletizing program'number into Index register.

call pltGetK1(Index, iValue) 'Returns the value of

'K1 to the type I

'variable

'designated with

'iValue.

call pltGetM1(Index, iValue) 'Returns the value of

'M1 to the type I

'variable

'designated with

'iValue.

call pltGetN1(Index, iValue) 'Returns the value of

'N1 to the type I

'variable

'designated with

'iValue.

End

Q. How do you chAnge N1, M1 and K1?A. Add the program libraries “pltLetK1”, “pltLetM1”, “pltLetN1”.

* call pltLetK1(Index, iValue)

* call pltLetM1(Index, iValue)

* call pltLetN1(Index, iValue)

'Index . . . Palletizing program No.

'iValue. . . Enter this value into K1, M1, and N1.


Program Exmp


Index = pltIndex 'Inserts the palletizing

'program number

'into the Index register.

iValue = 10 'Enters values in K1, M1, and

'N1.

call pltLetK1(Index, iValue)

'Enters the value of iValue

'into K1.

call pltLetM1(Index, iValue)


'into M1.

call pltLetN1(Index, iValue)


'into N1.

End

Q. How do you obtain the total counter?

A. Add the program library ”pltGetCnt.”

*call pltGetCnt(Index, iValue)

'Index ....Palletizing program No.

'iValue ...Number of type I variable to which the value

of the total counter is returned.


Program Exmp



'program number into Index

'register.

call pltGetCnt(Index, iValue)

'Returns the value of the

'total counter to the type

'I variable specified with

'iValue.

End


Q. How do you change the total counter?

A. Add the program library “pltIncCnt.”

* callpltLetCnt(Index, iValue)

'Index . . . Palletizing program No.

'iValue. . . This value is entered in the total counter.


Program Exmp



'program No.

'into the Index register.

iValue = 0 'Enters a value into the

'total counter.

call pltLetCnt(Index, iValue)

'The value of iValue is

'entered into the total

'counter.

End

Q. With what timing does the total counter count?

A. It counts up when “pltKernel (Index, -15, mcNextPos, ndErr)” is executed.Therefore, if the program library “pltGetNextPos,” “pltMove” and

“pltMove0”are executed, the total counter will count up.

* call pltMove(Index)

* call pltMove0

* call pltGetNextPos(Index, NextPos)

'Index . . . . Palletizing program No.

'NextPos . . . Type P variable number where

the position of the next

position is entered

4 PalletizingDescribes the libraries for palletizing functions.

pltDecCnt (Library)

Function

Decreases the count of the total palletizing counter.

Format

pltDecCnt (<Palletizing number>)

Explanation

The total palletizing counter, designated with a palletizing number, decreasesby one (-1).By editing the palletizing counter, you can palletize a hounds tooth pattern oran arbitrary step pattern.

Related Terms

pltGetCnt, pltIncCnt, pltKernel, pltLetCnt

Example

CALL pltDecCnt(1) 'Decreases total palletizing counter No. 1 by'one (-1).

pltGetCnt (Library)

Function

Obtains the total palletizing counter.

Format

pltGetCnt (<Palletizing number>, <Cnt save integer variable number>)

Explanation

Obtains the total palletizing counter of a designated palletizing number.

Related Terms

pltDecCnt, pltIncCnt, pltKernel, pltLetCnt

Example

CALL pltGetCnt(1, 0) 'Assigns the current counter to I[0].

CALL pltLetCnt(1, I[0] - 1) 'Decreases the counter by 1.

pltGetK (Library)

Function

Obtains palletizing set value K.

Format

pltGetK (<Palletizing number>, <K save integer variable number>)

Explanation

This statement obtains palletizing set value K of a designated palletizingnumber.

Related Terms

pltGetK1, pltLetK, pltKernel

Example

CALL pltGetK(1,10) 'Assigns palletizing value K of palletizing No. 1

'to integer variable 10.

pltGetK1 (Library)

Function

Obtains palletizing counter K1.

Format

pltGetK1 (<Palletizing number>, <K1 save integer variable number>)

Explanation

This statement obtains palletizing counter K1 of a designated palletizingnumber.

Related Terms

pltGetK, pltLetK1, pltKernel

Example

CALL pltGetK1(1,10) 'Assigns palletizing counter K1 of palletizing

'No. 1 to integer variable 10.

pltGetM (Library)

Function

Obtains palletizing set value M.

Format

pltGetM (<Palletizing number>, <M save integer variable number>)

Explanation

This statement obtains palletizing set value M of a designated palletizingnumber.

Related Terms

pltGetM1, pltLetM, pltKernel

Example

CALL pltGetM(1,10) 'Assigns palletizing value M of palletizing No. 1


pltGetM1 (Library)

Function

Obtains palletizing counter M1.

Format

pltGetM1 (<Palletizing number>, <M1 save integer variable number>)

Explanation

This statement obtains palletizing counter M1 of a designated palletizingnumber.

Related Terms

pltGetM, pltLetM1, pltKernel

Example

CALL pltGetM1(1,10) 'Assigns palletizing counter M1 of palletizing


pltGetN (Library)

Function

Obtains palletizing set value N.

Format

pltGetN (<Palletizing number>, <N save integer variable number>)

Explanation

This statement obtains palletizing set value N of a designated palletizingnumber.

Related Terms

pltGetN1, pltLetN, pltKernel

Example

CALL pltGetN(1,10) 'Assigns palletizing value N of palletizing No. 1


pltGetN1 (Library)

Function

Obtains palletizing counter N1.

Format

pltGetN1 (<Palletizing number>, <N1 save integer variable number>)

Explanation

Obtains palletizing counter N1 of a designated palletizing number.

Related Terms

pltGetN, pltLetN1, pltKernel

Example

CALL pltGetN1(1,10) 'Assigns palletizing counter N1 of palletizing


pltGetNextPos (Library)

Function

Obtains the next position.

Format

pltGetNextPos (<Palletizing number>, <Next position obtaining position typevariable>)

Explanation

This statement obtains the next position. When this library is executed, thepalletizing counter increases.Therefore, when you obtain the next position but do not execute it, you mustdecrease the pltDecCnt and so on.

Related Terms

pltMove, pltKernel

Example

CALL pltGetNextPos(1,10) 'Assigns a position immediately following

'palletizing No. 1 to integer variable 10.

pltGetPLT1END (Library)

Function

Obtains a palletizing 1-row completion flag.

Format

pltGetPLT1END (<Palletizing number>, <1-row completion flag save integernumber>)

Explanation

Stores a palletizing 1-row completion flag into I[<1-row completion flag saveinteger number>].

Related Terms

pltGetPLTEND, pltResetPLT1END, pltKernel

Example

CALL pltGetPLT1END(1,10) 'Assigns a 1-row completion flag of palletizing


pltGetPLTEND (Library)

Function

Obtains a palletizing all-row completion flag.

Format

pltGetPLTEND (<Palletizing number>, <All row-completion flag save integernumber>)

Explanation

This statement stores a palletizing all row completion flag into I[<All-rowcompletion flag save integer number>].

Related Terms

pltGetPLT1END, pltResetPLTEND, pltKernel

Example

CALL pltGetPLTEND(1,10) 'Assigns an all-row completion flag of palletizing


pltIncCnt (Library)

Function

Increases the total palletizing counter.

Format

pltIncCnt (<Palletizing number>)

Explanation

This statement increases the total palletizing counter of a designatedpalletizing number by +1 from the current value.By editing the palletizing counter, you can palletize a hounds tooth pattern orarbitrary step pattern.

Related Terms

pltDecCnt, pltGetCnt, pltKernel, pltLetCnt

Example

CALL pltIncCnt(1) 'Increases the total palletizing counter of

'palletizing No. 1 by one (+1).

pltInit1 (Library)

Function

Palletizing initialization template 1.

Format

pltInit1

Explanation

This is an example of pltInitialize.

For the meanings of arguments, refer to the arguments used with thepltInitialize commands.

Related Terms

pltInitialize

pltInitialize (Library)

Function

Palletizing initialization

Format

pltInitialize (<Palletizing number>, <Lateral partition number>, <Longitudinalpartition number>, <Pile number>, <Approach length>, <Depart length>,<Pallet height>, <Pallet 4-corner type 1P variable number>, <Pallet 4-cornertype 2P variable number>, <Pallet 4-corner type 3P variable number>, <Pallet4-corner type 4P variable number>)

Explanation

This statement is an initialization program for defining palletizing motion.It is more effective to use this program rather than the pltResetAll Library, if youinitialize only the palletizing counter.

Note: Without execution of pltInitialize, no palletizing motion will beexecuted.

Macro Definition

mcApprVal : F type variable number to assign the approach length.McDepVal : F type variable number to assign the depart length.McPltH : A type F variable number to assign the pallet height.

Note: If these definitions compete with the user’s variable number,define the macro again.

Related Terms

pltKernel

Example

CALL pltInitialize(0,4,3,1,50,50,50,52,53,54,55)

'Initializes palletizing parameters; Palletizing number:0,'Lateral partition number:4, Longitudinal partition number:3'Pile number:1, Approach length:50 mm, Depart length:50 mm,'Pallet height:50 mm, Pallet 4-corner type 1P:52, 2P:53,'3P:54, 4P:55.

pltKernel (Library)

Function

Palletizing motion (kernel)

Format

pltKernel (<Palletizing number>, <Action number>, <Action argument>, <Errornumber>)

Explanation

This statement is a kernel program for palletizing motion. This library isrequired to use all other palletizing libraries.

Note: This program is not automatically executed by multitaskingoperation. If you execute this by multitasking, you need to changethis for synchronization using a semaphore.

Macro Definition

mcPaltMax: Maximum pallet numberYou can easily increase pallets in number by defining this macro again.

Note: If you increase the number of pallets, the system consumes thelocal variable area.

Related Terms

pltInitialize

Remarks

• Only other libraries call this library. The user does not directly call this.• For directly using this, you should fully understand the contents of the

program.

pltLetCnt (Library)

Function

Sets the total palletizing counter.

Format

pltLetCnt (<Palletizing number>, <All counter setting values>)

Explanation

This statement can set the total palletizing counter of a designated palletizingnumber.By editing the palletizing counter, you can palletize a hounds tooth pattern orarbitrary step pattern.

Related Terms

pltDecCnt, pltGetCnt, pltIncCnt, pltKernel

Example

CALL pltLetCnt(1,12) 'Sets the total palletizing counter of palletizing

'No. 1 to 12.

pltLetK1 (Library)

Function

Sets the palletizing counter K1.

Format

pltLetK1 (<Palletizing number>, <K1 setting value>)

Explanation

This statement can set the counter K1 of a designated palletizing number.By editing the palletizing counter, you can palletize a hounds tooth pattern orarbitrary step pattern.

Related Terms

pltGetK1, pltKernel

Example

CALL pltLetK1(1,1) 'Sets palletizing counter K1 of palletizing No. 1 to 1.

pltLetM1 (Library)

Function

Sets the palletizing counter M1.

Format

pltLetM1 (<Palletizing number>, <M1 setting value>)

Explanation

This statement can set the counter M1 of a designated palletizing number.By editing the palletizing counter, you can palletize a hounds tooth pattern orarbitrary step pattern.

Related Terms

pltGetM1, pltKernel

Example

CALL pltLetM1(1,4) 'Sets palletizing counter M1 of palletizing No. 1 to 4.

pltLetN1 (Library)

Function

Sets the palletizing counter N1.

Format

pltLetN1 (<Palletizing number>, <N1 setting value>)

Explanation

This statement can set the counter N1 of a designated palletizing number.By editing the palletizing counter, you can palletize a hounds tooth pattern orarbitrary step pattern.

Related Terms

pltGetN1, pltKernel

Example

CALL pltLetN1(1,3) 'Sets palletizing counter N1 of palletizing

'No. 1 to 3.

pltMain1 (Library)

Function

Palletizing template 1

Format

pltMain1

Explanation

This statement is the basic work statement to pick up a part and move it to theassembling position.

Macro Definition

pltIndex palletizing number

Related Terms

pltMain2

Remarks

You may modify the template to meet your needs.

pltMain2 (Library)

Function

Palletizing template 2

Format

pltMain2

Explanation

This statement is the basic work statement to pick up a part and move it to theassembling position. Before picking up a part, the robot checks that theprevious pick-up was correctly done.

Macro Definition

pltIndex : palletizing numberChuckNG : pick-up NG signal (DIO number)

Related Terms

pltMain1

Remarks

You may modify the template to meet your needs.

pltMove (Library)

Function

Standard palletizing template 1

Format

pltMove (<Palletizing number>)

Explanation

This statement executes standard palletizing, as defined with pltInitialize.You can insert a bypass point according to comments.

For Controller System Version 1.2* or earlier, use ndVcom contained in theversion 1.2 compatible class. If in Version 1.2* or earlier ndVcom not in theversion 1.2 compatible class but in classes 1 to 6 is used, a compilation errorwill result.

To check the controller software version, refer to the SETTING-UP MANUAL,Chapter 5, Section 5.7, [F6 Set]–[F6 Maint.]–[F2 Version].

Macro Definition

mcNextPos : A type P variable number to store the next positionmcApprLen : A type F variable number to store the approach lengthmcDepLen : A type F variable number to store the depart length


Related Terms

pltInitialize, pltMove0, pltKernel

Remarks

The palletizing counter counts when the system obtains the next position.Therefore, when the system obtains but does not operate, you need to usepltDecCnt to decrease the counter.

Example

CALL pltMove(1) 'Carries out palletizing motion of palletizing No. 1.

pltMove0 (Library)

Function

Standard palletizing motion 1

Format

pltMove0

Explanation

This statement is a specialized program to Index=0 of pltMove (Index).

If you change the motion of each pallet, add this program to change the line of#DEFINE pltIndex 0 to the pallet number and then change the program name.

For Controller System Version 1.2* or earlier, use ndVcom contained in theversion 1.2 compatible class. If in Version 1.2* or earlier ndVcom not in theversion 1.2 compatible class but in classes 1 to 6 is used, a compilation errorwill result.

To check the controller software version, refer to the SETTING-UP MANUAL,Chapter 5, Section 5.7, [F6 Set]–[F6 Maint.]–[F2 Version].

Macro Definition

mcNextPos : A type P variable number to store the next positionmcApprLen : A type F variable number to store the approach lengthmcDepLen : A type F variable number to store the depart length


PltIndex : pallet number

Related Terms

pltInitialize, pltMove, pltKernel

Remarks

The palletizing counter counts when the system obtains the next position.Therefore, when the system obtains but does not operate, you need to usepltDecCnt to decrease the counter.

Example

CALL pltMove0 'Carries out palletizing motion of palletizing No. 0.

pltResetAll (Library)

Function

Resets all palletizing counters.

Format

pltResetAll (<Palletizing number>)

Explanation

This statement resets all palletizing counters.This has almost the same meaning as pltLetCnt (<Palletizing number>, 0).However, this library also resets the row completion flag.When redefinition of palletizing motion is not required and only a counter isreset, use this library. Do not use pltInitialize.

Related Terms

pltInitialize, pltResetPLTEND, pltKernel

Example

CALL pltResetAll(1) 'Resets all palletizing counters of palletizing No. 1.

pltResetPLT1END (Library)

Function

Resets a palletizing 1-row completion flag.

Format

pltResetPLT1END (<Palletizing number>)

Explanation

This statement resets a palletizing 1-row completion flag.

Related Terms

pltGetPLT1END, pltResetPLTEND, pltKernel

Example

CALL pltResetPLT1END(1) 'Resets a palletizing 1-row completion flag of

'palletizing No. 1.

pltResetPLTEND1 (Library)

Function

Resets a palletizing all-row completion flag.

Format

pltResetPLTEND1 (<Palletizing number>)

Explanation

This statement resets a palletizing all-row completion flag.

Related Terms

pltGetPLTEND, pltResetPLT1END, pltKernel

Example

CALL pltResetPLT1END1(1) 'Resets a palletizing all-row completion flag of

'palletizing No. 1.

Lesson 16 Palletizing

16.1 What is palletizing?

Palletizing refers to placing parts in/removing parts from a partitioned pallet(shown below) in programmed order.

You can easily use library programs for palletizing. To use these programs you

have to only know the number of partitions provided in the pallet and the

positions of each of the 4 corners of the pallet, and teach this information to therobot.

The palletizing programs update the partition information as each position is

called to enable the robot to know which partition it should place the next partin/remove the next part from.

Figure 16-1 Partitioned pallet

Palletizing Program "PRO1"

Using the library, you can find a typical procedure to build a program in program

"PRO1" under the title "Palletizing template 2," although there would actually be

many different possible programs for palletizing depending on the applicationsand the circumstances in which they are being used.

Use this "palletizing template 2" effectively as your template by adding/deletingthe items necessary for your applications.

Listed below is a sample template program named "PRO1."

This sample template assumes that

• the palletizing points should be at P50 to P55, and

• the program to be built would control the robot to move to the position P50

which is the work pick-up position, to run the palletizing program "0", to

move to the position P51 which is the work piece mount position, to

unchuck the work piece, to check end of the pallet, to replace the pallet if

end of work signal detected and if needed, and to end the program if nowork piece remains.

When you create "New Project" by selecting "Palletizing" in "Device Type," the

system manager will automatically register the "Palletizing template 2" with

program name "PRO1" and the "Palletizing initialization template 1" withprogram name "PRO2."

' !TITLE "Palletizing template 2"

' !AUTHOR "DENSO CORPORTION"

#DEFINE pltIndex 0

#DEFINE ChuckNG 40

PROGRAM PRO1 ' Rename PRO1 as desired.

TAKEARM ' Obtains the arm semaphore.

MOVE P, P50 ' Move to the position P50.

' Move to the palletizing position P50.

IF IO[ChuckNG] = ON THEN ' Check status of previous picking-up.

CALL pltDecCnt(pltIndex) ' Subtract by 1 for the total counter.

END IF

CALL pltMove(pltIndex) ' Execute palletizing 0.

MOVE P, P51 ' Move to the mount position P51.

' Move to the palletizing position P51.

'<--- Insert unchucking or other operations here --->

CALL pltGetPLT1END(pltIndex,0) ' Acquires the end of 1st pallet signal on I[0].

IF I[0] THEN ' If ON (that is when <>0),

'<--- Insert pallet replacing or other operations here --->

CALL pltResetPLT1END(pltIndex) ' Clears the end of 1st pallet signal.

END IF

GIVEARM ' Releases the arm semaphore.

END

Figure 16-2 Program [PRO1], "Palletizing template 2"

Palletizing parameters

Figure 16-3, 16-4, 16-5 and Table 16-1 show the parameters needed forpalletizing.

PAC language retains these parameters as value sets of variables.

Figure 16-3 Upper view of pallet

Figure 16-4 Side view of pallet

Figure 16-5 Stacked pallets

P4P3

P2P1

N

M

Robot

H3mm

H1 or H2 mm

Kth

APR H1·DEP H2

Path of robot motion

Table 16-1 Parameters needed for palletizing

Symbol Name Description Unit

Palletizing number Index of palletizing None (Integer)

N No. of row parts Number of partitions from P1 to P3 Count (Integer)

M No. of column parts Number of partitions from P1 to P2 Count (Integer)

KNo. of stackedpallets

Number of stacked pallets Count (Integer)

H1 Approach clearanceApproach clearance where the robot approachesa pallet

mm (Singleprecision FPT)

H2 Depart clearanceDeparture clearance where the robot departsfrom a pallet

mm (Singleprecision FPT)

H3 Height of a pallet Height of a palletmm (Singleprecision FPT)

Where H1 and H2 satisfy the conditions below.

H1 > {H3 x K-1)}+5

H2 > {H3 x K-1)}+5

P1P2P3P4

Positions of the 4 corners of the pallet as shown in Figure 16-3.

It is not possible to exchange the relative positioning of any of the corners.

The robot maintains its orientation from where the position P1 was taught previously, for allpoints in the program.

N Number of partitions in row

Expresses the number of partitions in each row of the pallet.

If this is 3, it reflects 3 rows as in the example in Figure 16-3.

M Number of partitions in column

This expresses the number of partitions in each column of the pallet.

If this is 5, it reflects 5 rows as in the example in Figure 16-4.

K Number of stacked pallets

This expresses the number of pallets in the pallet stack.

If this is 3, it reflects 3 stacked pallets as in the example on Figure 16-5.

H1 Approach clearance

Expresses the length of the approach path as the robot approaches the pallets.

A program applies the single approach path length at every call of the same

palletizing program.

H2 Departure path clearance

Expresses the length of the departure path as the robot departs from the pallets.

A program applies the single departure path length at every call of the same

palletizing program.

H3 Pallet unit heights

Expresses height of each pallet.

For every pallet added to a stack, a plus unit value is added.

For every pallet removed from a stack, a minus unit value is added.

If the stack is not changed, 0 is added.

Caution: H1 and H2 shall satisfy the conditions below.

H1 > {H3 x (K-1)} + 5H2 > {H3 x (K-1)} + 5

If not, an error will occur during initializing. These restrictions ensure the robot

does not crush the pallet in operation by ensuring the robot approaches or

departs from the stacked pallets at 5 mm higher than the topmost pallet in astack.

As shown in Figure 16-6, changing stack height does not affect theapproach/departure points of the robot in same palletizing program.

Figure 16-6 Relationship between the stack height and approach/departure points

Four corner points P1, P2, P3 and P4

These points represent the parts position for each of the 4 corner partitions ofthe pallet. Figure 16-7 depicts in what order the robot palletizes these parts.

Figure 16-7 Palletizing order

Approach/Departure point Approach/Departure point Approach/Departure point

H1 or H2

H3

Done in order ➀- 15 .N

M

P P2

P3 P4

Setting palletizing parameters

To set the parameter values such as the number of row and column partitionsand the number of pallets in a stack, first call the “pltInitialize” module from theprogram library.

If you select [1-palletizing] in [Device type] in the [New project] dialog box whenyou want to create "New system project," the System Manager will automaticallyregister the program “PRO2” titled “Palletizing initialization template 1” in thelibrary. Since this program is to call “pltInitialize” module, modify the values ofthe indexes in the CALL statement to the ones you want to use.

'!TITLE “Palletizing initialization template 1”

' !AUTHOR "DENSO CORPORTION"

PROGRAM PRO2

CALL pltInitialize(0,4,3,1,50,50,50,52,53,54,55) 'Initializing palletizing No. 0.END

Figure 16-8 Library program "Palletizing initialization template 1"

Descriptions on parameters of CALL pltInitialize (0, 3, 5, 3, 50, 50, 10, 52, 53, 54, 55) 1st . . . Palletizing program number (0)

2nd . . . Number of row partitions (3) 3rd . . . Number of column partitions (5)

4th . . . Number of stacked pallets (3)

5th . . . Approach clearance (50mm) 6th . . . Departure clearance (50mm)

7th . . . Pallet height (10mm)

8th . . . P1 position (P52) 9th . . . P2 position (P53)

10th . . . P3 position (P54) 11th . . . P4 position (P55)

Figure 16-9 Parameters of "pltInitialize"

You can also find descriptions on the above parameters in the "Command

builder" tool provided in the PAC Manager of WINCAPSII.

Designate only the indexes of the positionvariables.

Palletizing Counter

In palletizing, the robot counts the number of partitions as they change andretains the counts in the variables.

There are four types of counters; number of partitions in the row (N), number ofpartitions in the column (M), number of stacked pallets (K) and total (cnt).

These counters are defined in “pltKernl” which is the kernel program forcontrolling palletizing operation.

The library program “pltMove” adds 1 to the total counter every time a palletizingoperation is completed and aligns the values of the other counters.

The library program “pltDecCnt” subtracts 1 from the total counter every time it iscalled and aligns each counter.

You can create up to 30 palletizing programs as the initial setting. Therefore, thesystem may provide 31 sets of the palletizing counters.

Count Rules

The palletizing counter adds 1 to the total counter every time “pltMove” is run

and aligns the counts of the other counters so as to ensure the next palletposition.

If adding 1 to the total counter, the position of the pallet column indicated by the

column counter (M) moves to the next column. If the pallet column position

indicated by the column counter (M) reaches the end and becomes the

maximum count, then the row counter (N) counts up by 1 to indicate the next

row of the pallet and the column counter (M) becomes its minimum value. If the

position of the row counter (N) reaches the end of the pallet row partition and

becomes the maximum value, the stacked pallet counter (K) counts up by 1 andthe row counter (N) becomes the set minimum value.

If you halt a palletizing program during operation and restart it, the robot movesto the next partition because the value of the counter variable is added to.

The system retains the contents of the palletizing counter even if the power is

turned off. Unless you initialize the system after restarting, the robot will proceedto palletize from the previous counter value.

Caution: When you compile a new task program and load its run time modulethe system will automatically initialize the values of all variables.

If counts are N=3, M=5 and K=3,

position a is at (N=1, M=1 and K=1)

position b is at (N=2, M=2 and K=2)

position c is at (N=3, M=4 and K=3)

Figure 16-10 Relationship between palletizing position and counters

Initializing the Counters

When you replace any pallets or do not want to use any partitions, you need toinitialize all of the counters.

The systems substitute 1 into all of the counters to initialize them.

If you use the library program "pltResetAll" you can initialize all the palletizingcounters at once.

For example, if you want to initialize all counters for pallet number 1, write asfollows.

CALL pltResetAll(1)

If you want to initialize each palletizing counter independently, use the libraryprograms “pltLetN1,” “pltLetM1,” “pltLetK1” and “pltLetCnt.”

For example, if want to initialize the N counter for pallet number 1, write asfollows.

CALL pltLetN1(1,1)

Caution: The second argument is the value to substitute into the N counter.You can also choose any number instead of 1.

Ending palletizing program process

Upon finishing the palletizing for one of the stacked pallets or for the whole pallet

stack, the palletizing program sets a stacked pallet end flag or whole pallet stackend flag, respectively.

To obtain the one stacked pallet finish flag status, use the library program

“pltGetPLT1END.” To obtain the whole pallet stack finish flag status, use thelibrary program “pltGetPLTEND.”

To reset the one stacked pallet finish flag to (0), use the library program

“pltResetPLT1END.” To reset the whole pallet stack finish flag to (0), use thelibrary program “pltResetPLTEND.”

P3 P4

P1 P2

c

b

a

c

b

a

M

N

K

16.2 Simplified Palletizing

Palletizing is explained in the “16.1 What is palletizing?”. For simpler

palletizing, this section provides you with a simplified palletizing template using

a palletizing library.

Simplified Palletizing Program "PRO1"

(1) Program name

‘!TITLE “Simplified palletizing program sample”

‘

‘Approach clearance 50mm, Depart clearance 50mm

‘Palletizing target position variable P[40]

‘Palletizing counter I[10]

‘Stacked-pallets counter I[11]

‘N= 3 M= 5 K=20mm

‘ M

‘ N P[54]---------P[55]

‘ / / |

‘+ P[52]-------P[53]|

‘K | | /

‘- -------------/

'

PROGRAM PRO1

TAKEARM

‘------- Get palletizing positions from P[40] -------

‘Order of parameters N,M,Stacked pallet height mm,P1,P2,P3,P4,Palletizing points numbers,

‘Palletizing counter, Stacked-pallets counter

CALL xdGetPalt(3, 5, 20,P[52],P[53],P[54],P[55],P[40],I[10],I[11])

‘-------------- Palletizing ----------------

APPROACH P,P[40],@0 50 ‘Approaching P[40] 50mm upwards

MOVE L,@0 P[40] ‘Move down to P[40]

DEPART L,50 ‘Move up by 50mm

‘-------------- Count up counters ------------

I[10] = I[10] + 1 ‘Increment palletizing counter by one

if I[10] > (3 * 5) then ‘If palletizing a layer of pallets (3 rows x 5 columns) finishes

I[10] = 1 ‘then reset palletizing counter to initial value

I[11] = I[11] + 1 ‘Increment stacked-pallets counter by one

IF I[11] >= 5 THEN ‘If palletizing 5 layers of pallets finishes

I[10] = 1 ‘then reset stacked-pallets counter to initial value

END IF

END IF

‘------------------

END

(2) Call library

(3) Approaching

(4) Down-movement

(5) Up-movement

(6) Count up palletizing counter

(7) Check completion of

palletizing of a layer

of pallets

(8) Reset palletizing counter

(9) Count up stacked-pallets counter

(10) Check completion of palletizing

of 5 stacks

(11) Reset stacked-pallets counter

Simplified palletizing program "PRO1"

In palletizing explained in the “16.1 What is palletizing?”, you need to executethe pltInitialize library before starting palletizing.

This simplified palletizing program requires no execution of that library. Justexecuting PRO1 will start palletizing operation.

In simplified palletizing, you need to specify addition and resetting of thepalletizing counter and stacked-pallets counter, while in conventional palletizingthose counters are automatically controlled inside libraries.

Variables used in PRO1

Palletizing target position variable (Position variable, P40 in this example)

Palletizing counter variable (Integer variable, I10 in this example)

Stacked-pallets counter (Integer variable, I11 in this example)

Corner partition variables (Position variables, P52 to P55 in this example)

What to do before execution of PRO1

Before start of PRO1, you need to:

- Assign the initial value "1" to each of the palletizing counter I10 and stacked-pallets counter I11 and

- Teach the positions of four corner partitions in the pallet to corner partitionvariables P1 to P4.

On the following pages are detailed explanation of each part of the program

PO1.

Setting the following parameters to the called library will assign the target

position to the palletizing target position variable specified by the 8th

parameter.

1st parameter No. of rows, which should be 1 or greater.

(3 rows in this example)

2nd parameter No. of columns, which should be 1 or greater.

(5 columns in this example)

3rd parameter Height of stacked pallets in mm.

Specify a positive value when increasing the layers of pallets;

a negative value when decreasing them.

(20 mm specified in this example)

4th to 7th parameters Position variables to which four corner partition

positions of the pallet are assigned.

(P52 to P55 in this example)

8th parameter Palletizing target position variable to which the target position

will be assigned. This position may be calculated from the

current counter values.

(P40 in this example)

9th parameter Palletizing counter, which should be 1 or greater and M*N or

less. According to this value, the corner partition positions

may be specified.

10th parameter Stacked-pallets counter, which should be 1 or greater.

According to this value, the layer number may be specified.

(1) Program name

(2) Call library

‘

PROGRAM PRO1

TAKEARM

‘------- Get palletizing positions from P[40] --------

‘Order of parameters N,M,Stacked pallet height mm,P1,P2,P3,P4,Palletizing points numbers


CALL xdGetPalt (3, 5, 20,P[52],P[53],P[54],P[55],P[40],I[10],I[11])

Change the program name

As a result of execution of "(2) Call library," the palletizing target position is

assigned to P40. Then some operations should be carried out to P40.

Usually, during those operation, chuck and unchuck processes will be inserted.

(3) Approaching

(4) Down-movement

(5) Up-movement

‘------- Palletizing -------------------------

APPROACH P,P[40],@0 50 ‘Approaching P[40] 50mm upwards

MOVE L,@0 P[40] ‘Move down to P[40]

DEPART L,50 ‘Move up by 50mm

This part of the PRO1 counts up the palletizing counter and stacked-pallets

counter and checks the completion of palletizing operation for a layer of pallets.

Unlike usual palletizing programs, the simplified palletizing program uses

integer variables (I10 and I11 in this example) as a palletizing counter and

stacked-pallets counter.

According to the values assigned to I10 and I11, the "(2) Call library" calculates

the palletizing target position and assigns it to P40.


(7) Check completion of palletizing of a layer of pallets

(8) Reset palletizing counter

(9) Count up stacked-pallets counter

(10) Check completion of palletizing of 5 layers of pallets

(11) Reset stacked-pallets counter

‘------- Count up counters-----------------







END IF

END IF

1 2 3

6 7 8 9 10

11 12 13 14 15

4 5

1 2 3

6 7 8 9 10

11 12 13 14 15

4 5

1 2 3

6 7 8 9 10

11 12 13 14 15

4 5

M columns

N rows

Palletizing counter value

(I10 in this example)

Stacked-pallets

counter value

(I11 in this example)

I11=1

I11=2

I11=3

For a single layer of pallet, you may simplify the program further as shown below.

Relationship between the palletizing positions and countervalues in the simplified palletizing program

If each pallet consists of 3 rows x 5 columns (N=3, M=5), palletizing counter isI10 and stacked-pallets counter is I11, then

Position : I10=1, I11=1



Delete these lines for a single layer of pallet.

‘------- Count up counters-----------------







END IF

END IF

Applications of the simplified palletizing program

--- Special-purpose palletizing examples ---

(1) Alternate checker-pattern palletizing

Alternate checker-pattern palletizing refers to palletizing to every other

partitions as illustrated below. Programming for this is very easy.

1 3

7 9

11 13 15

5

M columns

N rows

2

6 8 10

12 14

4

M columns

N rows

‘----------- Count up counters -----------------



‘--------- Count up counters -----------------

I[10] = I[10] + 2 ‘Increment palletizing counter by 2

‘------ Count up counters -------------





‘------Count up counters -----------

I[10] = I[10] + 2 ‘Increment palletizing counter by 2


I[10] = 2 ‘then reset palletizing counter to second value

You need to assign "1" topalletizing counter I[10]with the teach pendantbeforehand.

You need to assign "2" topalletizing counter I[10]with the teach pendantbeforehand.

(2) Skipped palletizing

Skipped palletizing skips arbitrary partitions in palletizing.

The above palletizing operation seems complicated, but you may easily

program such palletizing just by changing the palletizing counter value that will

pass to the library.

PROGRAM PRO1

TAKEARM

‘------- Get palletizing positions from P[40] ------




PROGRAM PRO1

TAKEARM

SELECT CASE I[10]

CASE 2 ‘If palletizing counter I[10]=2

I[10] = 3 ‘then set the counter to 3

CASE 8,9 ‘If palletizing counter I[10]=8 or 9

I[10] = 10 ‘then set the counter to 10

CASE 11 ‘If palletizing counter I[10]=11

I[10] = 12 ‘then set the counter to

END SELECT

‘------- Get palletizing positions from P[40] ------




1 2 3

6 7 8 9 10

11 12 13 14 15

4 5

M columns

N rows No palletizing to 2nd, 8th, 9th or 11th partition.

DENSO Robotics

Section 2

Tool Coordinate System

[ 2 ] Tool Coordinates

A 6-axis robot has tool coordinates that make it easy to express the position and

moving path of an end-effector mounted on the robot flange.

The tool coordinates are defined based on the mechanical interface coordinates. This

section begins with an explanation of the mechanical interface coordinates.

[2.1] Mechanical interface coordinates

The mechanical interface coordinates refers to 3-dimensional Cartesian coordinates

whose origin is at the center of the flange surface as shown in Figure 4-3. X, Y, and Z

axes in mechanical coordinates are expressed as Xm, Ym, and Zm as shown in Figure

4-5.

The Xm, Ym, and Zm are identical with X, Y, and Z in Tool mode explained in Section

3.2.1, "Running the Robot Manually," [ 3 ] Tool Mode."

Xm: Normal axis on the center of the flange surface

Ym: Axis passing through the flange center and orientation key hole

Zm: Axis passing through the flange center and crossing Zm and Ym at right angles

Figure 4-5. Definition of Mechanical Interface Coordinates

Unlike the work coordinates or base coordinates, the mechanical interface coordinates

rotate as the robot flange rotates.

Figure 4-6. Rotation of Mechanical Interface Coordinates Following the Flange Rotation

Flangesurface

Center of the flange

Chapter 4 General Introduction to Coordinates and Figures

[2.2] Difference in robot motion when driven in mechanical interface

coordinates and base coordinates

In Manual mode, if you choose Tool mode and TOOL0 (Flange) on the teach pendant,

the robot will run in mechanical interface coordinates. If you choose X-Y mode,

WORK0 (Base) will be automatically selected so that the robot will run in base

coordinates.

For details about TOOL0, refer to [2.5] in this section.

Figures 4-7 and 4-8 show the differences in robot motion when the robot is driven in

mechanical interface coordinates and base coordinates, by using the X, Y, and Z keys

and by using the RX, RY, and RZ keys, respectively.

X-Y mode (in base coordinates) Tool mode (in mechanical interface coordinates)

Figure 4-7. Robot Motion Manually Driven by X, Y, and Z Keys

X-Y mode (in base coordinates) Tool mode (in mechanical interface coordinates)

NOTE: The + rotation is for clockwise and the -direction for counterclockwise with respect to the vector.

Figure 4-8. Robot Motion Manually Driven by RX, RY, and RZ Keys


[2.3] Tool coordinates

Based on mechanical interface coordinates, you may define tool coordinates by

specifying the origin offset distance from the mechanical interface coordinates and the

yaw/pitch/roll angles.

You may define up to 63 tool coordinates (TOOL1 to TOOL63). TOOL0 is defined by

system for mechanical interface coordinates.

The X, Y, and Z axes in tool coordinates are expressed by Xt, Yt, and Zt, respectively,

as shown below.

Figure 4-9. Mechanical Interface Coordinates and Tool Coordinates

Flangesurface

(Orientation direction)

Tool

Tool coordinates

[2.4] Creating tool coordinates

You may create tool coordinates by entering necessary data from the teach pendant or

by writing TOOL command in your program.

The figure below shows the necessary data to be set for creating tool coordinates.

X=

Y= Offset distance components (in mm)

Z=

RX=

RY= Axis rotation angles (in degree)

RZ=

Figure 4-10. Definition Data for Tool Coordinates

The offset distance and the rotation angles should be specified, based on the

mechanical interface coordinates. The rotation order should be RZ, RY, and RX.

RZ=90 deg, RY=90 deg, RX=90 deg

Figure 4-11. Example: Creating Tool Coordinates

Offset

Toolcoordinates

Mechanicalinterfacecoordinates

(1) Turn the RZ.

(3) Turn the RX.

(2) Turn the RY.


[2.5] TOOL0 (Mechanical interface coordinates)

TOOL0 is reserved for mechanical interface coordinates defined by the system. You

cannot define these coordinates.

If expressed in the same way as shown in Figure 4-10, TOOL0 may be defined as

shown in Figure 4-12.

Default settings for TOOL1 to TOOL63 are the same as TOOL0.

NOTE: If you specify undefined tool coordinates, the robot will run in TOOL0

coordinates and no error will occur in the V*-D SERIES, unlike other DENSO robots.

X = 0

Y = 0 Offset distance components (in mm)

Z = 0

RX = 0

RY = 0 Axis rotation angles (in degree)

RZ = 0

Figure 4-12. Definition Data for TOOL0

[2.6] Advantages of tool coordinates

This section describes what advantages you may have by using tool coordinates.

In manual operation or in teaching

When running the robot in tool coordinates, you can directly handle the end-effector

mounted on the flange, making teaching easier.

The figure below shows the comparison of robot moving paths between in mechanical

interface coordinates and in tool coordinates.

In mechanical interface coordinates (TOOL0) In tool coordinates (TOOLn where n is any of 1 to 63)

If X- key is pressed: If Z- key is pressed:

Enables you to move the end-effector to your object point in teaching.

If RX+ key is pressed: If RZ+ is pressed:

Enables you to rotate the end-effector around the Zt axis.

Figure 4-13. Example of Manual Robot Running in Tool Coordinates


In programmed running

(1) Using APPROACH or DEPART command

APPROACH or DEPART command controls the robot movement on the Z axis of the

tool coordinates. You can arbitrarily define the Z-axis orientation in the tool coordinates,

allowing you to easily control the end-effector. The figure below shows an example of

the tool coordinates definition.

For details about APPROACH and DEPART commands, refer to the

PROGRAMMER'S MANUAL, Section 12.1, "Motion Control."

TOOL0 (mechanical interface coordinates) Changing the Z-axis orientation by tool coordinates definition

Figure 4-14. Example of APPROACH (DEPART) Execution in Tool Coordinates

Approach vector

Approach vector

(2) Using ROTATEH command

ROTATEH command controls rotation around the Z axis of the tool coordinates. You

can arbitrarily define the Z-axis orientation in the tool coordinates, allowing you to

easily control the end-effector. Figure 4-15 shows an example of the tool coordinates

definition.

For details about ROTATEH command, refer to the PROGRAMMER'S MANUAL,

Section 12.1, "Motion Control."

TOOL0 (mechanical interface coordinates) Changing the vector orientation and offsetting the coordinate origin by tool definition

Figure 4-15. Example of ROTATEH Execution in Tool Coordinates

Approach vector

Approach vector


[2.7] Tool definition

Tool definition refers to defining arbitrary tool coordinates by specifying the

components listed in the table given below.

The offset distances (X, Y, and Z) are values in mm from the origin of the mechanical

interface coordinates. The rotation angles (RX, RY, and RZ) are values in degree

around the X, Y, and Z axes of the tool coordinates.

Table 4-1. Components Required for Tool Coordinates Definition

Components Description Unit

X Offset distance on the X axis of the mechanical

interface coordinates

mm

Y Offset distance on the Y axis of the mechanical


mm

Z Offset distance on the Z axis of the mechanical


mm

RX Rotation angle around the X axis of the tool

coordinates

degree

RY Rotation angle around the Y axis of the tool

coordinates

degree

RZ Rotation angle around the Z axis of the tool

coordinates

degree

Operating procedure for tool definition

According to the procedure below, you may define arbitrary tool coordinates from the

teach pendant. In this example, TOOL1 is defined. The same procedure would apply to

TOOL2 through TOOL63.

With this procedure, you may also display or modify the current tool coordinates.

From the teach pendant

Step 1 On the top screen of the teach pendant, press [F2 arm].

F2

The Current Robot Position window will appear as shown below.

Step 2 Press [F6 Aux.].

F6

The Auxiliary Functions (Arm) window will appear as shown in Step 3.


Step 3 Press [F4 Tool.].

F4

The Define Tool Coordinates window will appear as shown below.

Step 4 Select the X area of TOOL1 by using the cursor keys or jog dial.

The X area of TOOL1 will become highlighted.

Then press [F5 Change.].

F5

The numeric keypad will appear as shown in Step 5.

Step 5 In the numeric keypad shown below, enter the desired offset distance on the X axis

with the numerical buttons

Step 6 Check the new entry (offset distance on the X axis), and then press the OK button.

The new entry will be entered into the X area of TOOL1 as shown below.

Numerickeypad


Step 7 Repeat Steps 4 through 6 to enter offset values to the Y, Z, RX, RY, and RZ areas of

TOOL1.

Step 8 Press the OK button to finish the procedure of the tool coordinates definition.

Precautions when defining tool coordinates

(1) The CHANGETOOL statement will take effect only in a program that has gotten

robot control by successful execution of the TAKEARM statement.

Execution of the TAKEARM statement will initialize the tool coordinates definition

to TOOL0 (default that is the same as settings for the mechanical interface

coordinates).

(2) From the step where CHANGETOOL statement is written in the programs, the

defined tool coordinates will take effect. The definition will remain valid up to the

step immediately preceding the step where new CHANGETOOL statement is

written.

(3) If no CHANGETOOL statement is written in a program, TOOL0 (mechanical

interface coordinates) will apply.

(4) Once you select tool coordinates on the Select Operation Mode window called up

by the M-MOD key on the teach pendant, it will take effect in Tool mode until it will

be changed.

(5) If TOOL number used for running the robot to the object point and attitude differs

from TOOL number previously used in writing the current point and attitude, the

resulting position and attitude of the robot flange will become different from the

previous ones.

For example, when programming, if you have written the object point and attitude

using the APPROACH command in TOOL0 and you insert TOOLn (n is any of 1

through 63) in any step preceding the APPROACH command, then executing the

program brings the center of the robot flange to a different point and attitude than

those defined in TOOL0, depending upon the contents of those different tool

definitions.

(6) The tool coordinates definitions made in program execution and in manual running

are saved in the same memory location.

If you switch the operation mode from Auto mode to Manual mode, the tool

coordinates definition made in programming will remain in effect.

(7) You may at anytime check the current TOOL number in the status bar on the teach

pendant. Refer to p. 4-27.

For details about commands and tool definitions, refer to the PROGRAMMER'S

MANUAL, Section 12.1, "Motion Control, APPROACH" and Section 9.5, "Tool

Coordinates, TOOL." Also refer to Section 4.1.1, [2.7] Tool coordinates definition in

this chapter.

Sample program for switching defined tool coordinates

Execution of CHANGETOOL 0 will cancel the current tool coordinates definition and

restore the default TOOL0 (mechanical interface coordinates).

TAKEARM statement automatically involves CHANGETOOL 0.

The figure below shows a sample program that switches the defined tool coordinates

from TOOL1 to TOOL2. End-effector 1 and End-effector 2 used in this program are

illustrated in Figures 4-17 and 4-18, respectively. The positional relationship between

the robot unit, End-effector 1, and End-effector 2 is assumed as shown in Figure 4-19.

End-effector 1 is placed at P1 and End-effector 2 is at P2.

PROGRAM TOOL Sample

Tool 1, (0, -49.7, 79.2, 45, 0, 0) 'Defines TOOL1.

Tool 2, (0, -65, 37.5, 90, 0, 0) 'Defines TOOL2.

TakeArm 'Executes CHANGETOOL0 automatically.

'Setting End-effector 1

Approach P, P1, 200

Move L, P1 See Figure 4-19.

Set IO[104] 'Sets End-effector 1.

Depart P, 200

ChangeTool 1 'Switches to TOOL1.

: :

'Releasing End-effector 1

ChangeTool 0 'Restores the default TOOL0.

Approach P, P1, 200 See Figure 4-20.

Move L, P1

Reset IO[104] 'Releases End-effector 1.

Depart P, 200

'Setting End-effector 2

Approach P, P2, 200

Move L, P2 See Figure 4-21.

Set IO[105] 'Sets End-effector 2.

Depart P, 200

ChangeTool 2 'Switches to TOOL2.

: :

Figure 4-16. Switching the Defined Tool Coordinates


Figure 4-17. End-effector 1 Figure 4-18. End-effector 2

In the sample program shown in Figure 4-16, End-effector 1 and End-effector 2 are

defined as TOOL1 and TOOL2, respectively.

Execution of TAKEARM automatically specifies TOOL0, so the robot will move to P1

(where End-effector 1 is placed) on the flange surface basis. As illustrated in Figure

4-19, End-effector 1 will be mounted by "Set IO [104]." "Depart P,200" will make the

robot apart from P1 and CHANGETOOL 1 switches the tool coordinates from TOOL0

to TOOL1.

Figure 4-19. Moving Path for Setting End-effector 1

To replace End-effector 1 with End-effector 2, first release End-effector 1 as follows.

"CHANGETOOL 0" will switch the current tool coordinates from TOOL1 to TOOL0. As shown in Figure 4-20, the robot will move to P1 on the flange surface basis and release End-effector 1 at P1.

Figure 4-20. Moving Path for Releasing End-effector 1

As shown in Figure 4-21, in mechanical interface coordinates, the robot will move to P2 where End-effector 2 will be mounted. "Depart P,200" will make the robot apart from P2. Then TOOL0 will be switched to TOOL2.

Figure 4-21. Moving Path for Setting End-effector 2


Displaying the current tool coordinates

The current tool coordinates are always shown in the status line of the screen on the

teach pendant, independent of the operation modes (Auto, Manual, and Teach check

modes).

Denotes TOOL0

[2.8] End-effector samples and their tool coordinates definitions

The figure below shows end-effector samples (chuck and other tools). Figure 4-23 shows their tool coordinate definitions.

Figure 4-22. End-effector Types and Their Coordinate Origins


The chuck is mounted in parallel A with the orientation vector of the flange.

The chuck is mounted in parallel B with the orientation vector of the flange.

The chuck is mounted at an angle of 45 C to the orientation vector of the flange.

The chuck is mounted at right angles D to the orientation vector of the flange.

E F

Figure 4-23. Tool Coordinates Definition Examples

DENSO Robotics

Section 3

Work Coordinate System


4.1 Coordinates, Interference Check Area, and Figures in V*-D/-E Series

4.1.1 Coordinates

This section describes the coordinates required for correct handling of the robot.

[ 1 ] Base coordinates

[1.1] Base (world) coordinates and work coordinates

The base coordinates are so-called world coordinates which refer to 3-dimensional Cartesian coordinates whose origin is at the center of the robot basement. It has components Xb, Yb, and Zb which are identical with X, Y, and Z in X-Y mode explained in section 3.2.1, "Running the Robot Manually,"[ 2 ] X-Y mode."

The work coordinates are defined relatively in base coordinates. The origin of the work coordinates should be laid at a corner of the cubic envelope of an object piece. It has components Xw, Yw, and Zw. You may define the work coordinates by the number of objects you want to handle in the same timeframe on the single robot.

Work coordinates are 3-dimensional Cartesian coordinates defined for each operation space of work. The origin can be anywhere. Work coordinates are expressed by the coordinate origin (X, Y, Z) corresponding to the base coordinates and the angles of rotation (Rx, Ry, Rz) around X axis, Y axis and Z axis of base coordinates. If work coordinates are not defined, base coordinates go into effect.

Figure 4-1. Base Coordinates and Work Coordinates

Workcoordinates 2

Base coordinates

Workcoordinates 1

Work coordinates 3

[1.2] Position data

Position data refers to a set of data which includes seven components of base

coordinates. Of these seven components, three are robot flange center coordinates

(the end-effector tip coordinates if an end-effector is defined) and four are current robot

attitude components, as shown below.

Position data allows you to represent the current position of the robot flange center and

object points.

Position data:

X

Y Coordinate values (in mm) Defines the position of the robot flange center or the Z end-effector center.

RX Yaw angle: Rotation angle around X axis (in degrees)

RY Pitch angle: Rotation angle around Y axis (in degrees) Defines the robot attitude.

RZ Roll angle: Rotation angle around Z axis (in degrees)

FIG Figure (Value: 0 to 31)

Figure 4-2. Components of Position Data

A set of X, Y, and Z coordinate values represents the position of the robot flange center

(or tip of the end-effector if defined) expressed in base coordinates (Xb, Yb, and Zb) in

units of mm.

As shown in Figure 4-3, the yaw, pitch, and roll angles, which are expressed by RX, RY,

and RZ, refer to rotation angles around the respective axis of Xm, Ym, and Zm defined

in mechanical interface coordinates (refer to Section 4.1.1, [2.1]) whose origin is at the

center of the flange surface. These angles are expressed in units of degree.

With respect to the positive (+) direction on axes of the base coordinates, clockwise

rotation is treated as positive (+).

You should always preserve the rotation order of RZ, RY, and RX. Changing it will

cause the robot to take a different attitude in spite of the same rotation angle defined.

Figure represented by FIG value refers to a figure of robot arm joints. It is explained in

Section 4.1.3, "Figures of the Shoulder, Elbow, and Wrist."


Figure 4-3. Roll, Pitch and Yaw Angles

Pitch angle (RY)

Yaw angle (RX)

Roll angle (RZ)

+Xm

+Ym

+Zm

(Rx, Ry, Rz) = Attitude of (180, 90, 90)

Figure 4-4. Examples of roll, pitch and yaw angle rotation

Attitude: (Rx, Ry, Rz) = (0, 0, 0) (Rx, Ry, Rz) = (180, 90, 90)

(RX, RY, RZ) = (180, 90, 90)

Xm

YmZm

(RX, RY, RZ) = (0, 0, 0)

Xm

Ym

Zm

(RX, RY, RZ) = (0, 90, 90)

Xm

YmZm

(RX, RY, RZ) = (0, 0, 90)

XmYm

Zm

Roll angle Yaw angle

Pitch angle

Rotate 90 degreesaround Z axis

Rotate 180 degrees around X axis

Rotate 90 degreesaround Y axis


[1.3] Defining work coordinates

Two procedures, 3-point teaching and direct value entry, are available for defining work

coordinates.

Defining work coordinates by 3-point teaching

[F2 Arm]—[F6 Aux.]—[F5 Work]—[F4 AutoCalc]

In this method coordinates are created by teaching three points, namely, the origin of

work coordinates, a point on X-axis and a point on X-Y plane.

Defining work coordinates by direct value entry

[F2 Arm]—[F6 Aux.]—[F5 Work]—[F5 Change.]

Enter the coordinate origin (X, Y, Z) corresponding to the base coordinates and rotation

angles (Rx, Ry, Rz) around the X-axis, Y-axis and Z-axis of base coordinates.

Hand of robot

Work coordinate origin

Point on X-Y plane Point on X axis

Defining work coordinates by 3-point teaching

Step 1 On the top screen of the teach pendent, press [F2 Arm].

Step 2 Press [F6 Aux.] in the Current Robot Position window.

Step 3 Press [F5 Work] in the Auxiliary Functions (Arm) window.

The Define Work Coordinates window appears as shown below.

F4

Select the coordinates by using the cursor or jog dial, and then press [F4

AutoCalc].

Step 4 The Work coordinate automatic calculation window appears.

F5

To set a desired position variable name to each of the "Origin of work," "Point on X

axis of work," and "Point on X-Y plane of work," first choose the "Origin of work" row

and press [F5 Change.].


Step 5 The numeric keypad will appear as shown below. Enter a desired position variable

name for the "Origin of work" and press the OK button. The same way, set desired

position variable names to the "Point on X axis of work" and "Point on X-Y plane of

work."

Step 6 Call up the Position Variables assignment window ([F2 Arm]—[F4 Var.]—[F4

Position.]) shown below.

In the Position Variables assignment window, assign the value of the robot arm

position to be taught to each of the three position variables you have set in Step 5.

(1) Place the cursor on the position variable to which you want to assign the robot

arm position value.

(2) In Manual mode, move the tool end of the robot arm to the teaching point.

(3) Press [F6 Get Pos.] in order to read in the current position of the tool end to the

selected position variable.

(4) Carry out Steps (1) through (3) above for each of the "Origin of work," "Point on

X axis of work," and "Point on X-Y plane of work."

NOTE • Teach the "Origin of work" and "Point on X axis of work" precisely.

• Define work coordinates after establishing the tool definition.

Step 7 Press the Cancel button twice to return to the Work coordinate automatic calculation

window.

Step 8 At the bottom of the Work coordinate automatic calculation window, the defined work

coordinates are displayed. If they are satisfactory, press the OK button; if not, press

the Cancel button.

Step 9 If you press the OK button in Step 8, the defined work coordinates will be entered

into the target work number.


Defining work coordinates by direct value entry

Step 1 On the top screen of the teach pendant, press [F2 Arm].

Step 2 Press [F6 Aux.] in Current Robot Position window.

Step 3 Press [F5 Work.] in Auxiliary Functions (Arm) window.

The Define Work Coordinates window appears.

Select the work coordinates to be defined using the cursor or jog dial.

Step 4 Press [F5 Change.] in the Define Work Coordinates window.

The numeric keypad will appear as shown below.

Step 5 Using the numeric keypad, enter the desired numerical values. After checking the

entered values, press the OK button.

DENSO Robotics

Section 4

Interference Areas


[ 8 ] Interpreting a detected area interference as an error

In earlier versions of the main system software, only when the origin of the tool

coordinates invades the interference check area, the system interprets it as an error.

In Version 1.8 or later, the system may detect also when the origin exits from the

interference check area. You may choose either "invading the interference check

area" or "exiting from it." This feature allows you to use the AREA statement for

setting the motion area.

Interpreting a detected area interference as an error

The moment the origin of the tool coordinates interferes with the active interference

area, the system may detect it as an error and cut the motor power off to prevent the

arm from proceeding into the area further.

In Version 1.8 or later, you may choose any of the following items on the Error

Display on Area Interference window.

ItemsThe system will

detect it as an errorwhen:

Error signal output

0: Disable (inside) No

1: Enable (inside) Yes

2: Enable+ManMv (inside)

The robot arminvades the definedarea.

Yes (You may switch toManual mode and operate therobot manually for recovery.)

3: Disable (outside) No

4: Enable (outside) Yes

5: Enable+ManMv (outside)

The robot arm exitsfrom the definedarea.

Yes (You may switch toManual mode and operate therobot manually for recovery.)

Access: [F2 Arm]—[F6 Aux.]—[F6 Area.]

[ 3 ] Defining an interference check area by 2-point teaching



Step 3 In the Auxiliary Functions (Arm) window, press [F6 Area], and the Define Area

window appears as shown below.

F4

Select the desired work coordinates using the cursor or jog dial, and then press

[F4 AutoCalc].

Step 4 The Interference area automatic generation window appears as shown below.

To set the reference work coordinates number (to be used for defining an

interference check area) and unassigned position variable names to be used for

farthest and nearest vertexes, select "Work coordinate," "Interference area vertex

1," or "Interference area vertex 2," respectively, by using the cursor keys or jog dial

and then press [F5 Change.].


Step 5 The numeric keypad will appear as shown below. Enter the desired number and

two position variable names to the "Work coordinate," "Interference area vertex 1,"

and "Interference area vertex 2," respectively.

NOTE: For base coordinates, enter 0 to the "Work coordinate."

Step 6 Call up the Position Variables assignment window ([F2 Arm]—[F4 Var.]—[F4

Position]) shown below.

In the Position Variables assignment window, assign the value of the robot arm

position to be taught to each of the two position variables you have entered for

vertexes farthest and nearest to the origin of the base coordinates in Step 5.

(1) Place the cursor on the position variables set for 2-point teaching.

(2) In Manual mode, move the tool end of the robot arm to the teaching point.

(3) Press [F6 Get Pos.] in order to read in the current position of the tool end to

the selected position variable.

(4) Carry out (1) through (3) above for each of the farthest and nearest vertexes.

NOTE • Define an interface check area after defining tool coordinates and work

coordinates.

• Before teaching the nearest and farthest vertexes, set the Manual mode

in the work coordinates of the reference work coordinated number.

Step 7 Press the Cancel button twice to return to the Interference area automatic

generation window.

Step 8 At the bottom of the Interference area automatic generation window, the defined

interference check area is displayed. If its values are satisfactory, press the OK

button; if not, press the Cancel button.

NOTE: The center of the interference check area is always based on the base

coordinates (Work0). Therefore, the calculated center of position is not the center

of the specified work coordinates.

Step 9 If you press the OK button in Step 8, the defined interference check area values

will be entered into the target interference check area.

The following procedure specifies whether or not to detect the invasion to the

interference check area(s) as an error.

Operating procedure for area interference error detection



Step 3 Press [F6 Area.] in the Auxiliary Functions (Arm) window.

Step 4 Call up the defined interference check area to be modified with the cursor keys or jog

dial.

Step 5 In the Define Area window, select an entry field in the rightmost column of the bottom

line.

F5

Then press [F5 Change.]. The error detection disable/enable screen will appear as

shown on the next page.


Step 6 Select Enable (or Disable), and then press the OK button.

Step 7 The new setting will appear in the selected entry field. Press the OK button.

[ 9 ] Defining an interference check area in WINCAPSII

Operating procedure

From the operating panel

Step 1 Start WINCAPSII at programmer level and run Arm Manager.

Step 2 On the Tool menu, select Options. Then select the Area tab.


Step 3 In the Area table, modify the interference check area related parameters.

X, Y, Z: Origin of the interference check area

RX, RY, and RZ: Rotation angles of the interference check area

DX, DY, and DZ: Vectors of the interference check area

IO: I/O signal numbers which will turn on if the tip of the end-effector enters the

interference check area.

POS: Name of a position variable (global variable) to which the position value

of the tip of the end-effector will be assigned when the tip of the end-effector

enters the area.

ERR: Determines whether a detected area interference will be interpreted as

an error. (0: Not interpreted as an error, 1: Interpreted as an error)

ENABLE: Determines whether an area interference will be detected or not.

(0: Not Detected, 1: Detected)

Step 4 After making necessary settings, press the OK button.

Step 5 Connect Arm Manager. On the File menu, select Transfer.

Step 6 Select <Area> and press Transmit>. Immediately after the transmission, the new

parameters will take effect.

[ 10 ] Escaping from the interference check area

[Ver. 1.4 or later]

In Ver. 1.3 or earlier, the robot needs to be manually moved out of the interference

check area whenever the robot enters any of prohibited areas 0 to 7. Entering

prohibited areas will result in error (ERROR2490 to 2497).

In Ver. 1.4 or later, if you set [2: Enable +ManMv] in the interference check area setting,

then you may move the robot out of the interference check area from the teach

pendant or the operating panel in the cases marked with "Available" in the table below.

OperationMode

Motor ON Manual key Variable shift Motor lock Direct

Manual Available Available N/A Available N/A

Teach check N/A - N/A N/A -

Internal auto N/A - - N/A -

External auto N/A - - N/A -

Setting [2:Enable + ManMv]



Step 3 In the Auxiliary Functions (Arm) window, press [F6 Area].

Step 4 Using the cursor keys or jog dial, select the area you want to change.


Step 5 Select the rightmost column of the table. Press [F5 Change.].

F5

Step 6 Select [2: Enable+ManMv] and press OK.

Step 7 You can change all the settings in the window for values you want. If you change any

of them, confirm them and press OK.

9.2 Interference Area Coordinates

AREA (Statement) Interference Area Coordinates

Declare an interference check area.

Syntax AREA <area number>,<position>,<vector>,<I/O number>,<position variable

number for interference position>[,<error output>]

Description This statement declares an area where an interference check should be performed.

<area number> has a range of 0 to 7. Up to eight areas can be declared.

<position> is the center position and angle of an interference check area.

<vector> is an interference check area zone whose side length is twice as long as

each component of <vector>.

<I/O number> is the number of an I/O line that is turned ON by a SET command when

an area interference occurs. The I/O status is maintained until a RESETAREA or RESET is

executed.

In Version 1.8 or later, <I/O number> can be expressed in two forms, e.g., IO104 and

IO[104]. Also, specifying -1 to <I/O number> prohibits output to the I/O line.

<position variable number for interference position> is the number of a

position variable that saves the coordinates where an area interference occurs. If an

area interference is detected (that is, when a SET statement turns the I/O signal ON),

the system will store the origin of the current tool coordinates in work coordinates into

this parameter. Usually, the origin of the tool coordinates lies on the surface of the

cube; however, if the origin lies inside the cube at execution of SETAREA, the system

stores that position into this parameter.

In Version 1.8 or later, <position variable number for interference position>

can be expressed in two forms, e.g., P55 or P[55]. Also, specifying -1 to this parameter

prohibits assignment to the position variable.

<error output> is interference check conditions to be applied when an area

interference is detected.

<Erroroutput>

The system will detect it as an error when:

Error signal output

0 No

1 Yes

2

The robot arm invades the

defined area. Yes (You can switch to Manual mode and operate the robot manually for recovery.)

3 No

4 Yes

5

The robot arm exits from the

defined area. Yes (You can switch to Manual mode and operate the robot manually for recovery.)

To check interference, the system compares the cube defined as an interference check

area with the origin of the currently active tool coordinates. If the origin of the tool

coordinates is inside the interference check area, then the system determines it as an

area interference.

The interference area can be specified either in WINCAPSII or from the teach pendant.

Chapter 9 Declaration Statements

Notes The center position of an area is always based on the base coordinates (WORK0).

Even if work coordinates are changed, the interference check area does not change.

Interference check area

X axis

Position

Vector

Y axis

Z component

Y component X component

Z axis

Related Terms SETAREA, RESETAREA, AREAPOS, AREASIZE

Example

6-/4-axis AREA 2, P50, V10, 104, 55

'Define an area specified by P50 and V10 as #2

SETAREA 2 'Make #2 interference area detection active

RESETAREA 2 'Make #2 interference area detection inactive

6-axis AREA 2, P50+(100, 100, 0, 10, 0, 0), V10, 104, 55

'Define an area specified by P50+

'(100, 100, 0, 10, 0, 0) and V50 as #2



4-axis AREA 2, P50+(100, 100, 0, 10), V10, 104, 55

'Define an area specified by P50+

'(100, 100, 0, 10) and V50 as #2




Tool coordinate origin of WORK0. Tool coordinate origin of WORK1

X axis

Z axis

Vector


X component Y component

Z component

Position

Y axis

DENSO Robotics

Section 5

Current Limiting

Lesson 19 Current Limiting

Current limiting restricts the normal operation current of the servomotor to below the set value. As

the torque of the servomotor is proportional to the applied current, its torque may also be restricted by the limiting of the motor current.

The output thrust of robots can be restricted on the direct drive axis such as the Z-axis (vertical axis)

of the horizontal articulated robot. The ON/OFF or the set value of the current limit can be freely defined by the program.

If the current limit is applied to the vertical axis (Z-axis), damage to the workpiece through insertion

failure and robot overcurrent error can be avoided as shown in the figures below without using the

conventional shock absorbing spring mechanism.

Current Limiting

Conventional

Limits Z-axis output thrust

Current limiting = Limiting of the motor driving current

Shock reduction mechanism needed

Shock absorbing spring

Approx. 30N minimal Approx. 100N maximal

Output thrust

Current limit control parameter setting (CIMT)

Current Limiting

Limits the driving current of Z axis motor (up/down motion)

Z axis has a virtual spring mechanism.

Deletes the need fora conventional

shock absorbing spring mechanism

↓

Current limit commands

Current limit commands are included in the PAC libraries and are roughly grouped

into two libraries; the current limit function library and the deviation allowance value setting library. For details, refer to the Programmer’s Manual.

Shown below are these libraries and the examples of application programs.

� Current limit function library

SetCurlmt Set current limit

ResetCurlmt Reset current limit

SetForce_HM Set current limit for the output torque definition for

Z-axis of HM/HS robots

SetForce_HC Set current limit for the output torque definition for HC

robots

� Deviation allowance value setting library

SetEralw Set deviation allowance value

ResetEralw Reset deviation allowance value

Program examples for setting the current limit

TAKEARM Acquire robot arm semaphore

CALL SetEralw (3, 50) Set deviation allowance value of Z

(3)-axis to 50mm

CALL SetCurLmt (3, 30) Set current limit of Z(3)-axis to 30%

(CALL SetForce_HM (50.0)) Set force of Z-axis of HM robot to 50N

Program examples for resetting the current limit

TAKEARM Acquire robot arm semaphore

CALL ResetEralw (3) Reset deviation allowance value of Z(3)-axis to the initial value

CALL ResetCurLmt (3) Reset current limit of Z(3)-axis (the deviation is also eliminated)

Note: Remember at all times that the set value of the current limit for the robot

output definition in the above examples is only for reference and not a guaranteed value.

SetGravity (Library) (Version1.2 or later)

Function

Compensates for the static load (gravity torque) applied to each joint and attains balance with gravity torque.

Format

SetGravity

Explanation

Each joint of the robot undergoes downward static load (gravity torque) due to earth gravity. The effects of the gravity torque will vary depending upon the mass of payload (end-effector and workpiece), the payload center of gravity, and robot figures.

If you limit the motor output torque by setting its drive current limit so that the limited torque becomes lower than the gravity torque, then the robot will move down towards the earth. To prevent it, this statement compensates the limited torque for the gravity torque, keeping the balance of torque.

Macro Definition

Requires <pacman.h> file.

Related Terms

SetCurLmt, ResetGravity, SetGrvOffset

Notes

(1) Write this command in a TAKEARMed task that has obtained arm-semaphore. If this command is executed without arm-semaphore obtained, Error 21F7 will result.

(2) Set the mass of payload and the payload center of gravity accurately. Otherwise, the robot may move down due to gravity if you set a low current limit value (e.g., less than 30). For the entry procedure of the mass of payload and the payload center of gravity, refer to p.4-15, " 4.7 Setting the Master Control Parameters in User Preferences."

(3) If you do not know the accurate mass of payload or its center of gravity or if the robot moves down in spite of accurate settings, then use the gravity offset function (SetGrvOffset) that compensates for the gravity compensation value.

(4) If you set the gravity offset setting to "1" on the teach pendant, the gravity offset function becomes enabled. The setting made on the teach pendant will take effect immediately following the completion of calibration after the robot controller is powered on.

Example

CALL SetGravity 'Enables gravity compensation function.

Delay 100 'Waits for gravity compensation to take effect.

CALL SetCurLmt (2,30) 'Sets the current limit value of the 2nd axis to 30%.

4

ResetGravity (Library) (Version 1.2 or later)

Function

Disables the balance setting between the limited motor torque and gravity torque, which is made with SetGravity.

Format

ResetGravity

Explanation

This command disables the balance setting between the motor torque limited by the current limit function and gravity torque.

Macro Definition


Related Terms

ResetCurLmt, SetEralw

Notes


(2) If this command is executed when the current limit function is enabled, Error 665b will result. Disable the current limit function and then try it again.

(3) If you set the gravity offset setting to "0" on the teach pendant, the gravity offset function becomes disabled. If you do it when the current limit function is enabled, Error 665b will result, as in step (2).

Example

CALL ResetGravity

4

SetGrvOffset (Library) (Version1.2 or later)

Function

Compensates the torque of each joint programmed with SetGravity for gravity torque.

Format

SetGrvOffset

Explanation

Each joint of the robot undergoes downward static load (gravity torque) due to earth gravity. Although gravity compensation command SetGravity allows you to adjust the balance between the limited torque and gravity torque, the balance may be off-balance due to the difference between the mass of payload you set and the actual one.

This offset function presumes the gravity torque when the robot is on halt and calculates the gravity offset value.

Macro Definition


Related Terms

SetCurLmt, SetGravity, ResetGrvOffset

Notes


(2) This command should be executed when the motor power is on and the robot is on halt. If it is executed when the motor power is off, Error 6006 will result. If it is executed when the robot is in motion, Error 600B will result.

(3) If the robot attitude is greatly changed after execution of this command, execute this command again.

(4) If the current limit reset value in User Preferences is set to any value other than “1”, “3”, “5”, or “7”, the compensation value will be reset to “0” when you turn on the motor power.

Example

CALL SetGrvOffset

4

ResetGrvOffset (Library) (Version 1.2 or later)

Function

Disables the gravity offset function.

Format

ResetGrvOffset

Explanation

Disables the gravity offset function which has been enabled with SetGrvOffset.

Macro Definition


Related Terms

SetGrvOffset

Notes


(2) This command should be executed when the robot is on halt. If it is executed when the robot is in motion, Error 600B will result. This command is executable even when the motor power is off.

Example

CALL ResetGrvOffset

4

SetCurLmt (Library) (Version 1.2 or later)

Function

Sets the limit of motor current to be applied to the specified axis.

Format

SetCurLmt (<AxisNumber>, <Value>)

Explanation

Limits the value of motor current (torque) to be applied to the axis specified by <AxisNumber> to the value specified by <Value>. This command is useful when you want to limit torque that a workpiece will undergo during insertion or butting jobs.

The maximum value of <Value> is 100 which refers to the motor rating current. If any value exceeding the allowable limit for each axis is specified, the value will be automatically limited to that allowable limit.

Set a value of 1 or above. If 0 or a negative number is set, Error 6003 will result.

Macro Definition


Related Terms

ResetCurLmt, SetGravity, SetGrvOffset, SetEralw

4

Notes

(1) When the motor current is limited with SetCurLmt, the robot cannot move at the maximum speed or acceleration. Use SetCurLmt only at steps that need the current limit. When using SetCurLmt, decrease the acceleration.

(2) If a workpiece bumps against something at high speed even if the driving force is controlled by limiting the motor current, the impact is considerable due to the inertia of the workpiece, end-effector and axis. Set the current limit just before the workpiece comes into contact with the object and reduce the speed.

(3) Set the current limit when the robot is on halt. If it is set during a pass motion, an error is likely to occur.


(5) When setting the current limit, be sure to enable the gravity compensation function. If the current limit is set when the gravity compensation function is disabled, Error 665a will result. For the gravity compensation function, refer to SetGravity.

6-axis (6) If the current limit reset value in User Preferences is set to any value other than"1," the current limit will be reset when you turn on the motor power. To make the current limit function effective immediately after switching on the motor power, set the current limit reset value to "1."

6-axis (7) Set the mass of payload and the payload center of gravity accurately. Otherwise, the robot may move down due to gravity if you set a low current limit value (e.g., less than 30). For the entry procedure of the mass of payload and the payload center of gravity, refer to PART 1, Section 5.7, "Setting the Master Control Parameters in User Preferences."

6-axis (8) If the current limit reset value is set to "1," the robot might move down due to gravity the moment you turn on the motor power. Reset the current limit by executing ResetCurLmt when the motor power is off and then switch on the motor power.

6-axis (9) If you do not know the accurate mass of payload or its center of gravity or if the robot moves down in spite of accurate settings, then use the gravity offset function (SetGrvOffset) that compensates for the gravity compensation value.

Example

6-axis CALL SetGravity 'Enables the gravity offset

CALL SetGrvOffset 'Compensates the gravity offset value

CALL SetEralw (2, 20) 'Sets the allowable deviation of the 2nd axis to

'20 degree

CALL SetCurLmt (2, 30) 'Sets the current limit of the 2nd axis to 30%

4-axis CALL SetEralw (2, 20) 'Sets the allowable deviation of the 2nd axis

'to 20 degree

CALL SetCurLmt (2, 30) 'Sets the current limit of the 2nd axis to 30%

5

ResetCurLmt (Library) (Version 1.2 or later)

Function

Resets the motor current limit of the specified axis.

Format

ResetCurLmt (<AxisNumber>)

Explanation

ResetCurLmt releases the drive current limit set for the motor of a joint specified by <JntNumber>. The motor drive current limit and positioning error allowances will revert to the defaults.

[For Ver. 1.4 or earlier] If you set "0" to <JntNumber>, the drive current limit set for all joints will revert to the default.

[For Ver. 1.5 or later] If you set "0" to <JntNumber>, the drive current limit set for all joints involved in an arm group semaphore held by the current task running ResetCurLmt, will revert to the default.

Macro Definition


Related Terms

SetCurLmt, ResetEralw

Notes

(1) When resetting the current limit, this command carries out deviation elimination process. If there is angle deviation due to external force, the time required for deviation elimination process will vary depending upon the set speed and acceleration. To shorten the time, set higher speed and acceleration.

(2) The command can be executed even when the motor power is off. For resetting the current limit when motor power is off, run the following program after finishing the task that is obtaining arm-semaphore.

PRO999

TAKEARM

CALL ResetCurLmt(0)

END

(3) [For Ver. 1.4 or earlier] Write this library in a TAKEARMed task that has got robot arm semaphore. If you specify any joints not in the arm semaphore to <JntNumber>, then error [21F7 Cannot take arm semaphore] will result.

[For Ver. 1.5 or later] Write this library in a TAKEARMed task that has got an arm group. If you specify any joints not included in the arm group to <JntNumber>, then error [27D* Cannot take J* semaphore] will result.

Example

CALL ResetCurLmt(0) 'Resets the current limit of all the axes.

5

SetEralw (Library) (Version 1.2 or later)

Function

Modifies the allowable deviation of the specified axis.

Format

SetEralw (<AxisNumber>, <Value>)

Explanation

Sets the allowable deviation of the axis specified by <AxisNumber>. Use this command if angle deviation occurs due to external force when the current limit function is enabled.

The <Value> is the arm joint angle and specified in degrees.

"Allowable deviation value" refers to the allowable range of the "Error 611*J* Excessive deviation" which will occur for safety if the servo deviation exceeds the specified value.

During assembling operation with the current limit enabled, if servo deviation occurs due to external force, the above error may occur. To avoid this, you may use this command temporarily to increase the allowable deviation value.

This command can also be used to reduce the allowable deviation value for helping quick detection of the downward movement of the robot due to gravity when the current limit function is enabled.

Macro Definition


Related Terms

SetCurLmt, ResetEralw

Notes

(1) Run this command in a TAKEARMed task which has obtained arm-semaphore. If the command is executed without arm-semaphore obtained, Error 21F7 will result.

Example

CALL SetEralw(2,20) 'Sets the permissible deviation of the 2nd axis

'to 20 degrees.

5

ResetEralw (Library) (Version 1.2 or later)

Function

Resets the allowable deviation value of the specified axis to the initial value.

Format

ResetEralw(<AxisNumber>)

Explanation

Resets the allowable deviation value of the axis specified by <AxisNumber> to the initial value. If <AxisNumber> is specified to "0," the allowable deviation values of all the axes will be reset.

[For Ver. 1.4 or earlier] If you set "0" to <JntNumber>, the positioning error allowance set for all joints will revert to the default.

[For Ver.1.5 or later] If you set "0" to <JntNumber>, the positioning error allowance set for all joints involved in an arm group semaphore held by the current task running ResetEralw, will revert to the default.

Macro Definition


Related Terms

ResetCurLmt, SetEralw

Notes

(1) [For Ver. 1.4 or earlier] Write this library in a TAKEARMed task that has got robot arm semaphore. If you specify any joints not in the arm semaphore to <JntNumber>, then error [21F7 Cannot take arm semaphore] will result.

[For Ver. 1.5 or later] Write this library in a TAKEARMed task that has got an arm group. If you specify any joints not included in the arm group to <JntNumber>, then error [27D* Cannot take J* semaphore] will result.

(2) Run this command in a TAKEARMed task that has obtained arm-semaphore. If this command is executed without arm-semaphore obtained, Error 21F7 will result.

(3) Like this command, execution of ResetCurLmt will also reset the allowable deviation values to the initial values.

Example

CALL ResetEralw(0) Returns the allowable deviation values of all axes

to initial values.

DENSO Robotics

Section 6

Compliance

Lesson 20 Compliance Control (For 6-axis robot only)

Compliance control provides compliance for robots by software. This feature may absorb

misalignment errors encountered when parts are mated during assembly operations or loaded into fixture and prevent robots or workpieces from undergoing excessive force.

Two types of compliance control are available: one is a current limit function that sets compliance to

individual joints, and the other is a tip compliance function that sets compliance to individual

elements of the coordinates formed at the end of the robot flange (the mechanical interface coordinates).

NOTE: The current limit function is available for Ver. 1.2 or later. The tip compliance function is

available for the V*-D/-E/-F/-G series, Ver. 1.4 or later.

20.1 Current limit function for individual axes

This function provides compliance for individual axes by limiting the drive torque (current) of each

axis motor. It prevents excessive force from applying to robots or workpieces or avoids robot stops

caused by an overload or overcurrent error.

� Enabling/disabling the current limit function

You may enable or disable the current limit function by executing the current limit library, SetCurLmt

or ResetCurLmt, respectively. For details, refer to the PROGRAMMER'S MANUAL.

Absorbing misalignment errors in handling parts

Concept of current limit function

20.2 Tip compliance function

This function sets compliance to the individual elements of coordinates at the end of the robot

flange (tip) by controlling the drive torque (current) of each axis motor based on the force limit at the

tip. You can select the base coordinates, tool coordinates, or work coordinates to be applied. This

function is used to make the robot follow an external force in a specified direction(s) or to make the

robot touch an object for height check.

� Making the tip compliance function active from the teach pendant

This is one of the extended functions. You need to make extended functions active from the teach

pendant. Once made active, the setting will be retained after the controller power is turned off. For

details, refer to the PROGRAMMER'S MANUAL.

� Enabling/disabling the tip compliance function

You may enable or disable the tip compliance function by executing the compliance control library,

SetCompControl or ResetCompControl, respectively. For details, refer to the PROGRAMMER'S

MANUAL.

Following an external force or touching an object for height check

Concept of tip compliance control

6

SetCompControl (Library) (Version 1.4 or later)

Function

Enables the compliance function (dedicated command for 6-axis).

Format

SetCompControl

Explanation

Enables the compliance function. Enables the compliance conditions set by SetFrcLimit, SetCompRate, and SetFrcCoord.

Macro Definition

<pacman.h> is required.

Related Terms

SetFrcLimit, SetCompRate, SetFrcCoord, ResetCompControl, SetCompFControl

Notes

(1) You will receive an error "60f5 Cannot execute compliance control", when this library is executed while the gravity offset is disabled and the current limiting is enabled. Execute again after you enable the gravity offset and disable the current limiting. See ResetCurLmt and SetGravity for disabling the current limiting and enabling the gravity offset respectively.

(2) The compliance control will not be enabled while motors are off. The compliance control will be disabled when you turned off motors under the compliance control.

(3) Execute this command in a task holding robot control conditions (TAKEARM). If robot control conditions are not held, an error message "21F7 Arm semaphore cannot be fetched." is reported.

(4) Execute while your robot is stopping. Executing this library in a path motion will cause an execution after stop. When you receive an error "600b Robot is in motion" after you execute this library while your robot is in motion, wait until your robot stops after issuing a command such as Delay.

(5) When your robot moves due to an external force, you may receive an error "611* Excessive deviation". If this is the case, change the allowable deviation. Use SetEralw to change the allowable deviation.

(6) Do not execute this library when a force such as a contact force is applied to your robot. Use SetCompControl to enable the compliance control function while a force is applied to your robot.

(7) When a robot posture changes largely after you execute SetCompControl, an error may be generated in the compensation value for the gravity offset and your robot may move toward the direction of gravity. If the posture changes largely in the course of the compliance control, use ResetCompControl to disable the compliance control and execute SetCompControl again to enable the compliance control.

Example

CALL SetFrcCoord (1) 'Sets the force limiting coordinate system

CALL SetFrcLimit (100, 0, 100, 100, 100, 100)

'Sets the force limiting rate

CALL SetCompControl 'Enables the compliance control function

CALL SetEralw (1, 90)'Sets the allowable deviation

6

SetCompFControl (Library) (Version 1.4 or later)

Function

Enables the compliance control function (dedicated command for 6-axis).

Format

SetCompFControl

Explanation

Enables the compliance control function as SetCompControl. However, the gravity offset compensation is not executed as SetCompControl.

Macro Definition

<pacman.h> is required

Related Terms

SetCompControl

Notes

(1) You will receive an error "60f5 Cannot execute compliance control", when this library is executed while the gravity offset is disabled and the current limiting is enabled. Execute again after you enable the gravity offset and disable the current limiting.

(2) The compliance control will not be enabled while motors are off. The compliance control will be disabled when you turned off motors under the compliance control.


(4) Execute while your robot is stopping. Executing this library in a path motion will cause an execution after stop. When you receive an error "600b Robot is in motion" after you execute this library while your robot is in motion, wait until your robot stops after issuing a command such as Delay.

(5) Set the tip load exactly. Your robot may fall in the direction of gravity when the tip load setting and the actual tip load differ. You can execute SetGrvOffset to prevent a fall due to gravity.

Example

CALL SetGrvOffset 'Calculates the gravity offset compensation value

CALL SetFrcCoord (1) 'Sets the force limiting coordinate



CALL SetCompFControl 'Enables the compliance control function

6

ResetCompControl (Library) (Version 1.4 or later)

Function

Disables the compliance control function (dedicated command for 6-axis).

Format

ResetCompContrl

Explanation

Disables the compliance control function.

Macro Definition


Related Terms

SetCompControl

Notes


(2) Execute while your robot is stopping. Executing this library in a path motion will cause an execution after stop. When your robot stops suddenly, and you receive an error "612* Over current" after you execute this library while your robot is in motion, Set 1 to <Set value> or wait until your robot stops after issuing a command such as Delay.

(3) You will receive an error "60f9 Abnormal operation in disabling compliance control", if you execute a step back or a program reset after a momentary stop during executing this library.

(4) When you use SetEralw to change the allowable deviation values while the compliance control is enabled, the allowable deviation values will return to their initial values. The allowable deviation values may not be reset to the initial values when an error occurs while executing ResetCompControl. If this is the case, use ResetEralw to initialize the allowable deviation values after disabling the compliance control.

(5) You may receive an error "608* J* Directed speed limit was exceeded". If this is the case, use aspChange to change the optimal load capacity mode to 2 or 3 before you execute ResetCompControl and resume the optimal load capacity mode to the previous value after the execution.

Example

CALL ResetCompControl 'Disables the compliance control function

CALL ResetEralw 'Initializes the allowable deviation values

6

SetFrcCoord (Library) (Version 1.4 or later)

Function

Selects a force limiting coordinate system (dedicated command for 6-axis).

Format

SetFrcCoord(<Set value>)

Explanation

Selects a coordinate system for force limiting values specified by SetFrcLimit and SetCompRate. You can use a set value 0 for the base coordinate system, a set value 1 for the tool coordinate system, and a set value 2 for the work coordinate system of your robot.

Macro Definition


Related Terms

SetFrcLimit, SetCompRate, SetFrcCoord, ResetCompControl

Notes


(2) This library is not available while the compliance control is enabled. When you execute this library under the compliance control, you will receive an error "60fa Compliance control is enabled".

(3) When you specify 1 for <Set value> to select the tool coordinate system, the tool coordinate will be the tool coordinate for enabling the compliance control (executing SetCompControl). When you use the changetool command to change the tool coordinate while the compliance control is enabled, the force limiting coordinate will not be changed.

(4) When you specify 2 for <Set value> to select the work coordinate system, the work coordinate will be the work coordinate for enabling the compliance control (executing SetCompControl). When you use the changetool command to change the work coordinate while the compliance control is enabled, the force limiting coordinate will not be changed.

(5) The set value will be initialized to 0 (the base coordinate system) after the controller is turned on.

Example

CALL SetFrcCoord (1) 'Sets the force limiting coordinate system to the tool

'coordinate

Changetool 2 'Sets the tool coordinate to tool2



CALL SetCompControl 'Sets the force limiting rate in Y direction of the tool 2

'coordinate system to 0% and enables the compliance control

SetFrcLimit (Library) (Version 1.4 or later)

FunctionSets the force limiting rates (dedicated command for 6-axis).

Format SetFrcLimit (<Limiting rate along X>, <Limiting rate along Y>, <Limiting rate along Z>, <Limiting rate about X>, <Limiting rate about Y>, <Limiting rate about Z>) Setting ranges from 0 to 100. Up to two decimal places are valid.

Explanation Sets the force limiting rates along and about X, Y, and Z axes of a coordinate system specified by SetFrcCoord.

Macro Definition <pacman.h> is required.

Related Terms ResetFrcLimit, SetFrcCoord, SetCompControl

Notes (1) Execute this command in a task holding robot control conditions

(TAKEARM). If robot control conditions are not held, an error message "21F7 Arm semaphore cannot be fetched." is reported.


(3) All the set values for along and around the X, Y and Z axes will be initialized to 100 after the controller is turned on.

Example CALL SetFrcCoord (1) 'Sets the force limiting coordinate system to the tool 'coordinate CALL SetFrcLimit (100, 0, 100, 100, 100, 100) 'Sets the force limiting rates CALL SetCompControl 'Sets the force limiting rate in Y direction of the tool 'coordinate system to 0% and enables the compliance control

PAGE 109

6

ResetFrcLimit (Library) (Version 1.4 or later)

Function

Initializes the force limiting rates (dedicated command for 6-axis).

Format

ResetFrcLimit

Explanation

Initializes the force limiting rates. All rates along and about X, Y, and Z axes are set to 100%.

Macro Definition


Related Terms

SetFrcLimit

Notes



Example

CALL ResetCompControl 'Disables compliance control

CALL ResetFrcLimit 'Initializes the force limiting rates

7

SetCompRate (Library) (Version 1.4 or later)

Function

Sets the compliance rates under the compliance control (dedicated command for 6-axis).

Format

SetCompRate (<Compliance along X>, <Compliance along Y>, <Compliance along Z>, <Compliance about X>, <Compliance about Y>, <Compliance about Z>)

Explanation

Sets the compliance rates along and about X, Y, and Z axes of a coordinate system specified by SetFrcCoord. Setting ranges from 0 to 100 and 0 gives the maximum compliance. Up to two decimal places are valid.

Macro Definition


Related Terms

ResetCompRate, SetFrcCoord, SetCompControl

Notes



(3) All the set values for along and around the X, Y and Z axes will be initialized to 100 after the controller is turned on.

Example

CALL SetFrcCoord (1) 'Sets the force limiting coordinate system to the tool

'coordinate

CALL SetCompRate (100, 0, 100, 100, 100, 100)

'Sets the compliance rate

CALL SetCompControl 'Sets the compliance rate in Y direction of the tool

'coordinate system to 0% and enables the compliance control

7

ResetCompRate (Library) (Version 1.4 or later)

Function

Initializes the compliance rates (dedicated command for 6-axis).

Format

ResetCompRate

Explanation

Initializes the compliance rates along and about X, Y, and Z axes to 100%.

Macro Definition


Related Terms

SetCompRate

Notes



Example

CALL ResetCompControl 'Disables the compliance control

CALL ResetCompRate 'Initializes the compliance rates

Denso Robotics

Section 7

Motion Skip

Chapter 7 Arm Movement

MotionSkip (Library) [Version 1.5 or later]

FunctionAborts running motion commands.

SyntaxMotionSkip

DescriptionMotionSkip aborts motion commands running in the task in which the MotionSkip executes.

Related TermsGetJntData, GetSrvData

Notes• Execute this command in a TAKEARMed task that holds an arm semaphore. If not in a TAKEARMed task,

the error "Not executable" will result.• Executing MotionSkip in a robot motion task will abort robot joint motion commands. Executing it in an ex-

tended-joint motion task will abort extended-joint motion commands.If MotionSkip executes in a motion task holding an arm group involving both robot joints and extended-joints, then both the robot and extended-joint motions will be aborted.

Exampledefjnt lj1defsng lf1

move p,P1,nextlj1=GetSrvState(2) 'Get errors of each joint rotation angle.lf1=ABS(JOINT(2,lj1)) 'Select rotation error of J2.

if lf1 > 10000 thenCALL MotionSkip 'If the rotation error of J2 exceeds 10000

'(in pulses), then abort motion commands.endif

Chapter 7 Arm Movement

MotionComp (Library) [Version 1.5 or later]

FunctionJudges whether execution of running motion commands is complete.

SyntaxMotionComp(<MotionCommandComplete>)

DescriptionIf MotionComp judges that execution of running motion commands is complete, then it returns "1" in <Motion-CommandComplete>.This command checks motion commands running in the task in which the MotionComp executes. It is not ap-plicable to motion commands in any other tasks.If a motion command has an encoder value check option, then MotionComp will interpret the moment when theencoder count is converged within the positioning error allowance as completion of the motion command. Forother operations, if motion control to the servo loop disappears, then MotionComp will judge that the commandis complete.

Related TermsGetJntData, GetSrvData, MotionSkip

Notes• Execute this command in a TAKEARMed task that holds an arm semaphore. If not in a TAKEARMed task,

the error "Not executable" will result.• Executing MotionComp in a robot motion task will judge whether robot motion commands are complete.

Executing it in an extended-joint motion task will judge whether extended-joint motion commands are com-plete.If MotionComp executes in a motion task holding an arm group involving both robot joints and extended-joints, then completion of both the robot and extended-joint motions will be judged.

• When the motion is on Halt, MotionComp will interpret it as operation being in progress.• If you use a local variable for <MotionCommandComplete>, the local variable must be reset to "0" before-

hand.

Exampledefint comp=0 'Initialize motion command completion status.

defjnt lj1defsng lf1move p,P1,next

DOlj1=GetSrvState(2) 'Get error of each joint rotation.lf1=ABS(JOINT(2,lj1)) 'Select the rotation error of J2.

if lf1 > 10000 thenCALL MotionSkip 'If the rotation error of J2 exceeds 10000 (in pulses),

'then abort motion commands and end the loop.EXIT DO

endifCALL MotionComp(comp)

LOOP UNTIL comp=1 'Loop until the end of motion commands.

DENSO Robotics

Section 8

Panel Design Software

ROBOT RC7 CONTROLLER

Teach Pendant Panel Editor

Panel Designer

USER'S MANUAL

Chapter 1 Panel Designer Overview

As of version 2.2*, WINCAPSII includes the Panel Designer, a teach pendant panel

editor for creating teach pendant (TP) panel screen software by simply arranging parts

on the computer screen and then specifying action source code for the events

associated with them.

This chapter outlines the procedures involved.

Creating TP Panel Screens

1.1 Overview of Procedures for Creating TP Panel Data

The procedure for creating TP panel data consists of the following five basic steps.

(1) Load editor

1) Open WINCAPSII PAC manager.

2) Open the Layout window, the editor's simulation of the teach pendant's screen with

the PAC Manager menu command Program|New|Panel.

Note: Also available is the File|Open menu command for opening existing TP panel

data.

PAC Manager Window

Panel Designer Window for New Panel Layout

(2) Create panel layout

Select the necessary parts from the Parts tool bar and arrange them in the Layout

window to create the TP panel screen.

For further details, see Chapter 2 "Creating TP Panels."

(3) Edit action source code

1) Click the Display source code icon in the Layout window to display the Source

Code Edit window.

2) Add to the Source Code Edit window the action source code for when the part is

pressed.

For further details, see Section 2.2.2 "Specifying Action Source Code for Parts."

Parts tool bar Layout window

Display source code icon Source Code Edit window

(4) Compile

Compile the action source code just written to check for syntax, typing, or other errors.

Progress and other messages from the compiler appear in a pane near the bottom of

the main editor window.

(5) Send data to the controller

Send the new TP panel file, together with any other WINCAPSII programs, to the

controller. Note that using the teach pendant as an operating panel requires

reconfiguring the teach pendant.

1.2 Editor Screen Functional Description

The following figure gives the editor screen layout. The following pages describe the

individual components.

Panel Designer Screen Layout

Tool bars(Section 1.2.1)

Parts tree pane (Section 1.2.2)

Properties pane (Section 1.2.3)

Layout window(Section 1.2.4)

Source code edit window(Section 1.2.5)

Compiler messages pane(Section 1.2.6)

1.2.1 Tool Bars

The editor provides the following handy tool bars for creating TP panel data.

(1) Main tool bar

This provides the following buttons.

Name Description

New Create a new TP panel file.

Open... Open an existing TP panel file.

Save Save the current file to disk, overwriting any older version

there.

Cut Move the contents of the selected range to the system

clipboard.

Copy Copy the contents of the selected range to the system

clipboard.

Paste Insert the clipboard contents at the current cursor position.

Undo Reverse the effects of the last operation.

Redo Undo the last undo operation--in other words, repeat the

last operation.

Print Print the current screen.

About Display the About screen indicating the editor's version

number, etc.

(2) Zoom grid tool bar

These buttons change the Layout window magnification, toggle the grid display on and

off, etc.

Name Description

Zoom Change the magnification ratio for the selected region.

Cancel Zoom Cancel zooming and return the Layout window to the

standard (100%) magnification.

Pan Shift the display screen in the specified direction.

Grid Toggle the grid display on and off.

Snap Toggle automatic grid positioning on and off.

(3) Layout tool bar

These buttons assign uniform positioning, spacing, or size to the selected parts.

Name Description

Align Top Align along the upper edge.

Align Middle Align vertical centers.

Align Bottom Align along the lower edge.

Align Left Align along the left edge.

Align Center Align horizontal centers.

Align Right Align along the right edge.

Space across Standardize horizontal spacing.

Space down Standardize vertical spacing.

Same width Standardize width.

Same height Standardize height.

Same size Standardize size.

(4) Parts tool bar

Most of these buttons select a part to add to the panel layout in the Layout window.

Name Description

New panel Create a new panel layout.

Select parts Select a part pointed with this cursor.

Label Add part: label.

Text box Add part: text box.

Numerical

value input

box

Add part: numerical input box.

Group box Add part: group box.

Radio button Add part: radio buttons.

Check box Add part: check box.

Push button Add part: push button.

Illuminated

push button

Add part: illuminated push button.

Pilot lamp Add part: pilot lamp.

Line Add part: line.

Rectangle Add part: rectangle.

Oval Add part: oval.

Function key Add part: function key.

Timer Add part: timer.

Compile Translate the corresponding TP panel file into executable

format.

(5) Move tool bar

These buttons move parts around the panel layout and within the file's part hierarchy.

Name Description

Front Move to the top layer.

Back Move to the bottom layer.

Forward Move forward one layer.

Backward Move backward one layer.

Nudge up Move up.

Simultaneously holding down the Shift key moves 5 pixels

each time.

Nudge down Move down.

Nudge left Move left.

Nudge right Move right.

1.2.2 Parts Tree Pane

This displays the current file's panels and parts in tree format.

(1) Parts Tree pane

The following figure shows a sample Parts Tree pane.

Double-clicking on a part displays its panel layout.

(2) Parts tool bar

This provides the following buttons.

Name Description

Layout form Specify the Layout window as target.

Source form Specify the Source Code Edit window as target.

Layout window Display the target window specified above.

Erase panel Delete a panel layout from the TP panel data.

1.2.3 Properties Pane

This accesses the position, size, and other properties for a part.

The list of properties depends on the part type. For further details, see Section 1.5.1

"Property Lists."

Properties Pane

1.2.4 Layout Window

This window is for designing teach pendant TP panel screen software by placing parts

on this screen and then adjusting their positions and sizes with the cursor keys or

rubber band drag operations.

Clicking on the Display source code icon displays the corresponding Source Code Edit

window.

Display source code icon

Layout Window

Layout window (client area)

1.2.5 Source Code Edit Window

This window is for assigning action source code to events associated with the parts on

the current panel layout.

Source Code Edit Window

(1) Source Code Edit window tool bar

Name Description

Layout window Display the corresponding panel layout.

Indent Shift the selected lines one tab position to the

right.

Outdent Shift the selected lines one tab position to the

left.

Comment out Comment out the selected lines.

Undo comment block Cancel commenting out for the selected lines.

Bookmark Toggle bookmark on the current source code

line.

Next bookmark Move the cursor to the next bookmark.

Previous bookmark Move the cursor to the previous bookmark.

Clear bookmarks Cancel all bookmark definitions.

Find and replace Find the specified string and optionally

replace it.

Note: Setting a bookmark on a code line displays a square marker ( ) to its left.

(1) Source Code Edit window tool bar

(2) Part list box (3) Event list box

(4) Action source code block

(2) Part list box

Select the part for which to assign action source code.

(3) Event list box

This lists the events available for the selected part. Selecting one automatically

generates the corresponding skeleton action source code block on the editor screen.

Example: Skeleton action source code block for pressing Button1

DEF Button1_CLICKED()

END

(4) Action source code block

Flesh out the skeleton with action source code.

Example: Action source code block for pressing Button1


Set IO[128] ' turn I/O variable #128 ON

Run PRO100 ' run PRO100

END

1.2.6 Compiler Messages Pane

This displays progress and other messages from the compiler as it compiles the TP

panel data.

Double-clicking on an error message line displays the corresponding source code in a

Source Code Edit window.

Compiler Messages Pane

1.2.7 Menus

This section lists the editor's menus and menu commands.

(1) File

Menu Command Description

New Create new TP panel file.

Open… Open an existing TP panel file.

Close Close the current file, first displaying the dialog box for

saving if current file edits have not been saved.

Save Save the current file to disk, displaying the dialog box for

saving if the file is new.

Save As… Save the current file to disk under a new name.

Print… Print the contents of the current window: Layout or Source

Code Edit.

Print Preview… Display a print image on the screen instead of sending

data to the printer.

Printer Setting Display the dialog box for specifying printer settings.

Import... Read panel layouts from another TP panel file.

Most recently

used files

This section lists the last few TP panel files saved.

Exit Close the editor.

(2) Edit


Undo Reverse the effects of the last operation.

Redo Undo the last undo operation--in other words, repeat the

last operation.

Cut Move the contents of the selected range to the system

clipboard.

Copy Copy the selected parts or string to the system clipboard.

Paste Insert the clipboard contents at the current cursor position.

Delete Delete the selected parts or string.

Find Display the dialog box for finding (and optionally

replacing) the specified string.

(3) View


Tool bar Toggle display of tool bars.

Status bar Toggle display of status bar.

Tree bar

(Parts tree)

Toggle display of the Parts Tree pane.

Property bar

(Property)

Toggle display of the Properties pane.

Panel layout Display the corresponding panel layout.

Grid Toggle the grid display on and off.

Snap to grid Toggle automatic grid positioning on and off.


Zoom Normal Cancel zooming and return the Layout window to the

standard (100%) magnification.

Zoom Percent Change the magnification ratio for the Layout window

(50%, 75%, 100%, 200%).

(4) Tool


Options… Specify the compiler output version.

Compile Translate the corresponding TP panel file into executable

format.

(5) Window


Close Close the currently selected window.

Close all

windows

Close all open editor windows.

Cascade Display all open windows with the same size and

overlapped with only their title bars visible.

Tile Display all open windows as individual rectangles dividing

up the screen.

Arrange Icons Align the icons for minimized windows in the lower left

corner of the main editor window.

List windows Display a list of all windows.

(6) Help


Help Display the editor's help file.

About Panel

Designer

Display the About screen indicating the editor's version

number, etc.

1.3 Creating and Modifying Panel Layouts

1.3.1 Adding Parts

Adding parts to a panel is a three-step procedure.

(1) Open the Layout window

To create a new panel, choose the File|New menu command or press the tool bar

button New panel.

To modify an existing panel layout, select the Layout form button on the Parts tool bar

and double-click on the corresponding Layout window icon or press the Display panel

button.

(2) Select a part

Selecting a part from the Parts tool bar displays the part mark at the current cursor

position in the Layout window.

(3) Add the part

Clicking in the Layout window adds the part with the default size at that location.

Note: Dragging the part at this point then adjusts the size.

1.3.2 Modifying Panel Layouts

The following methods are available for modifying part positions and sizes in Layout

windows.

(1) Moving parts

1) Drag the part with the mouse (whenever the move cursor is visible)

2) Use a cursor key

3) Use the Move tool bar

4) Modify the position properties x and y

(2) Changing size

1) Drag part frame's rubber band

2) Modify the properties width and height

3) If multiple parts are currently selected, use the Layout tool bar buttons for

standardizing spacing and size

(3) Aligning

If multiple parts are currently selected, use the Layout tool bar buttons for centering

parts or aligning them along the specified edge.

Note: For function keys, the property Index automatically determines the position and

size.

(4) Changing layers

Select the part to reorder and either choose Move on the right-click menu or press a

button in the tool bar's Order section.

Note: Changing the part order automatically updates the Parts Tree pane accordingly.

1.3.3 Changing Part Properties

The Properties pane provides facilities for modifying the parts name, color, and other

properties.

1.3.4 Deleting Panel Layouts

Select the panel layouts to delete on the Parts Tree pane and press the Delete panel

button.

1.3.5 Importing Panel Layouts from Another TP Panel File

Use the following procedure to import panels from another TP panel file, with

extension .pnl.

(1) Use the File|Import menu command to specify the source TP panel file.

(2) Select the panel layouts to import from the list for the file and press the Import

button to add them to the Parts Tree pane.

1.4 Adding Action Source Code

A Source Code Edit window is for specifying the events to take in response to a

CLICKED, RELEASED, or other state change event associated with the corresponding

part on the panel layout.

1.4.1 Writing Action Source Code

(1) Open the Source Code Edit window

Use one of the following methods to open the Source Code Edit window for the part.

1) Double-click on the part in the Layout window.

2) Select the part in the Layout window and press the Display layout button.

3) Select the panel layout on the Parts Tree pane, make sure that the Source form

button is pressed, and press the Display panel button.

(2) Select the part

Check whether the part appears in the Part list box at the top of the Source Code Edit

window. If it does not, select it with the list box.

(3) Select the event

The Event list box gives the events available for the selected part. Selecting one

automatically generates the corresponding 3-line action source code block skeleton on

the editor screen.

Example: Skeleton action source code block for pressing Button1


END

(4) Add action source code

Flesh out the skeleton with action source code.




Set IO[128] ' turn I/O variable #128 ON



END

1.4.2 Checking (Compiling) Action Source Code

Compile the action source code just written to check for syntax, typing, or other errors.

Progress and other messages from the compiler appear in a pane near the bottom of

the main editor window. Double-clicking on an error message displays the corresponding source code in a Source Code Edit window.

1.5 Miscellaneous

1.5.1 Property Lists

The following table lists the position, size, and other properties that can appear in the

Properties pane.

Note: The list displayed in the Properties pane depends on the part type.

Name Description Notes

name Name Unique identifier for the part

type Part type This is fixed for each part.

x x-coordinate

y y-coordinate

Reference position relative to the x- and y-axes within the teach

pendant screen's drawing range

width Width

height Height

Width in pixels relative to the reference corner (x, y)

fg Foreground color

bg Background color

Specify these colors with the list box.

group Group number Group number to which the part belongs

active Active/inactive setting Select with the list box.

style Display style Select with the list box.

caption Display string String to display on part surface

Note: Use the Ctrl+Enter key combination to insert a line break in

multiline text.

fsize Font size 0: Super small, 1: Small, 2: Medium, 3: Large

justify Caption positioning 0: Center, 1: Right-justified, 2: Left-justified

thickness Line width Line thickness in pixels

Note: The 0 setting produces flood fill.

myGroup Group number Unique to a particular group box

state State Select ON, OFF, or other state with the list box.

value Input value Unique to numerical input boxes

text Input text Unique to text boxes

index Function number Unique to function keys

interval Interval Unique to timers

timeout Timeout limit Applicable when no button, line or any other parts are selected.

(A single timeout property per TP panel file can be defined.)

release-mode RELEASED event

execution condition

Applicable when no button, line or any other parts are selected.

(A single release-mode property per TP panel file can be defined.)

[Version 2.32 or later]

1.5.2 Event List

The Event list box is for selecting a CLICKED, RELEASED, or other state change

event associated with the part.

Note: The events available depend on the part type.

Event Description

CLICKED Button pressed

RELEASED Button released

TIMER Interval elapsed

REFRESH Screen refreshed

INITIALIZE Initializable TP panel opened [Version 2.32 or later]

DONE OK button pressed [Version 2.32 or later]

1.5.3 Action Source Code Syntax

Action source code blocks consist of two kinds of statements:

(1) TP panel control commands

Chapter 4 gives TP panel control language syntax; Section 5.1 "List of TP Panel

Control Commands."

(2) Read/write access to part properties

Note: The properties available depend on the part type.

Such accesses use the standard dot notation: part_name.property.

Example 1: Reading the current state for radio button RadioBtn

DEFINT iState

IState = RadioBtn.State

Example 2: Setting button width to 200

Button.Width = 200

1.5.4 Sending Data to Controller

Sending a PAC program to the controller with WINCAPSII automatically sends the TP

panel data specified in the WINCAPSII project.

Note: First save any data modifications made with the editor. WINCAPSII compiles the

last saved version, not the version currently in memory.

1.5.5 Important Note on Radio Buttons

Makes sure that only one, the default, has ON in its state property. The editor does not

check sets of radio buttons for multiple ON settings. Sending such data to the controller

produces a TP panel screen with multiple ON settings exactly as specified.

Chapter 2 Creating TP Panels

Chapter 1 "Panel Designer Overview" gave an overview of the procedures for

arranging objects (parts) on panel layouts using mouse operations on the personal

computer screen, assigning action source code, and adjusting their size, position, color,

and other properties.

This chapter gives the detailed procedures for creating TP panels. The teach pendant

provides a clean slate on which to display such user-specified panel layouts. A folder

can have only one TP panel file specifying a series of such panel layouts.

2.1 Configuring Teach Pendant

2.1.1 Enabling TP Panel Operation

Add support for TP panel operation to the teach pendant with the following procedure.

Step 1 From the teach pendant top screen, press [F6 Set]—[F7 Options.]—[F8 Extnsion]

—[F5 Input ID] to display the following screen.

Step 2 Type the password "1453" and press the OK button to display the list of additional

functionality available.

Step 3 Press the OK button to return to the top screen and confirm that the F5 label now

reads Panel.

Press [F5 Panel] to start the TP panel screen software.

Note: Enabling TP panel operation disables the RC5-compatible TP panel operation

assigned to F9.

2.1.2 Specifying the Start Mode of TP Panel Screen Software


Note: For Version 2.31 or earlier, see Section 2.1.3 "Automatically Displaying TP Panel

Screens."

The teach pendant provides the following setting for specifying the start mode of TP

panel screen software.

The four choices of the start mode parameters are available by the combination of

"what starts TP panel screen software--booting the controller or pressing [F5 Panel]"

and "which TP panel screen appears first" as listed below.

Start Mode of TP Panel Screen Software

Start mode

parameter

"0: Panel Start

Setting"

Path of TP panel

screen that

should appear

first

"1: Start-Panel

Path"

a) "What starts TP panel screen software"

b) "Which TP panel screen appears at the start" Remarks

0 -- a) Pressing [F5 Panel]

b) Current directory* of the Program List

1 To be specified a) Booting the controller

b) TP panel screen specified by "Start-Panel

Path"

or

a) Pressing [F5 Panel]

b) Current directory* of the Program List

Select this parameter

to run TP panel

screen software

when the controller

boots.

2 To be specified a) Pressing [F5 Panel]


Path"

Select this parameter

to display the TP

panel screen

predetermined

without changing the

current directory.

3 To be specified a) Booting the controller or Pressing [F5 Panel]


Path"

*The "Current directory of the Program List" refers to the following.

The current directory is displayed here.

Step 1 Press [F6 Set]—[F7 Options.]—[F9 Panel] to display the following screen.

Step 2 Set the "0: Panel Start Setting" parameter to any of 0 to 3 (defined on the previous

page).

Step 3 If the "0: Panel Start Setting" parameter is any of 1 to 3, specify the directory where

the desired TP panel screen is located, to the "1: Start-Panel Path" parameter.

Example: TEST

As shown above, delimit the path with backslash " ". This example calls up the TP

panel screen located in the "TEST" folder.

If the "1: Start-Panel Path" parameter is not specified, the root directory (folder at the

top of the directory tree structure) applies.

Note 1: The "1: Start-Panel Path" parameter can only specify a path. If more than one TP panel screen is

defined, the one that is located at the top when complied with Panel Designer will be displayed at the start of

TP panel screen software.

Note 2: After the teach pendant panel screen is switched to a different one located in the Start-Panel Path

(or in the current directory of the Program List) with the PAGE_CHANGE command, exiting from the TP

panel screen software and restarting it calls up the last TP panel screen.

However, after the teach pendant panel screen is switched to a different one located in the path other than

the Start-Panel Path (and the current directory of the Program List), doing the same calls up the TP panel

screen located in the Start-Panel Path (or in the current directory of the Program List) just as when the

controller boots.

Parameters relating to the startmode of TP panel screen software

The TP panel at the top of the directory tree structure appears when the controllerboots.

Pressing this changes the order of TP panels.

2.1.3 Automatically Displaying TP Panel Screens [Version 2.31 or earlier]

Note: For Version 2.32 or later, see Section 2.1.2 "Specifying the Start Mode of TP

Panel Screen Software."

The teach pendant provides the following setting for automatically displaying TP panel

screen software when the controller boots.


Step 2 Set the first setting to 1 to enable automatic loading and the second (path) to the

folder containing the TP panel screen software.

Step 3 Test by rebooting the controller.

Note: An error message on the teach pendant screen blocks automatic display.

2.1.4 Specifying the Close Mode of TP Panel Screen Software


The teach pendant provides the following setting for exiting the TP panel screen

software.

Close mode parameter

"2: Operation Panel Close Mode" Close mode

0 SHIFT + CANCEL (default)

Pressing the Cancel key with the Shift key held down exits the TP panel screen software.

1 SHIFT + CANCEL + Password

Pressing the Cancel key with the Shift key held down and entering the password exits the TP panel screen software.

The password should be specified with the password entry parameter "3: Mode1: Password."

2 CANCEL

Pressing the Cancel key exits the TP panel screen software.


Step 2 Set the "2: Operation Panel Close Mode" parameter to any of 0 to 2.

0: SHIFT + CANCEL

1: SHIFT + CANCEL + Password (Proceed to Step 3.)

2: CANCEL

Step 3 If the "Operation Panel Close Mode" parameter is set to 1, enter an arbitrary

password to the "3: Mode1: Password" parameter.

Note: The password entry range is from -2147483648 to 2147483647.

When you attempt to exit the TP panel screen software by pressing the Cancel key

with the Shift key held down, the password entry window appears as shown below.

You need to enter the password and press the OK button. If the password entered

here matches the one preset to the "3: Mode1: Password" parameter, the TP panel

screen software exits.

Tip: If you forget the password, enter 273958314 to exit the TP panel screen

software.

Specify the close mode of TP panel screen software.

2.2 Using Parts

2.2.1 Parts and Their Functions

The following table lists the 14 part types available for building TP panel screen

software.

Parts

Part Function Refer to:

(1) Button Functions as a push button. Section 2.2.6 [ 1 ]

(2) Label Displays text. [ 2 ]

(3) Pilot lamp Indicates on/off setting. [ 3 ]

(4) Numerical input

box

Accepts a numerical value from the ten-key pad. [ 4 ]

(5) Text box Accepts text from the keyboard. [ 5 ]

(6) Check box Turns setting on and off. [ 6 ]

(7) Radio button Selects from a group of mutually exclusive choices. [ 7 ]

(8) Group Provides mutually exclusive operation for a group of

radio buttons.

[ 8 ]

(9) Function key Configures a teach pendant function key (F1 to F12)

for use as a push button.

[ 9 ]

(10) Timer

(not shown below)

Triggers action source code at a fixed interval. [ 10 ]

(11) Line Displays a straight line. [ 11 ]

(12) Oval Displays a circle or oval. [ 12 ]

(13) Rectangle Displays a square or rectangle. [ 13 ]

(14) Illuminated push

button

(not shown below)

Combines push button and pilot lamp operation. [ 14 ]

Sample TP Panel Screens

(3) Pilot lamp

(1) Button

(5) Text box

(2) Label

(8) Group (7) Radio buttons (6) Check boxes

(9) Function keys

(4) Numerical input box

(13) Rectangle

(12) Oval (11) Line

2.2.2 Specifying Action Source Code for Parts

A part on a TP panel screen responds to button presses and other events by executing

action source code that reads or modifies part properties and performs other

operations.

Action Source Code Syntax

An action source code block has the following structure.

DEF object_event

desired operations

END

Selecting an object and an event in the editor automatically generates a skeleton

consisting of the first (DEF) and last (END) lines. The developer needs only supply the

source code specifying the desired response.

The table below lists the possibilities.

Note: The events available depend on the part type.

Event Description

CLICKED Button pressed

RELEASED Button released (See Section 2.2.3.)

TIMER Interval elapsed

REFRESH Screen refreshed

INITIALIZE [Version 2.32 or later] Initializable TP panel opened

DONE [Version 2.32 or later] OK button pressed

Action Source Code Statements

Action source code blocks consist of two kinds of statements: TP panel control

commands and read/write accesses to part properties. Accesses use the standard dot

notation: part_name.property.

For a list of part properties and possible values, see Section 3.3.4 "Object Properties."

Action source code blocks can use global variables of type integer, float, double, or

string, local variables, and folder variables.

2.2.3 Specifying the RELEASED Event Execution Condition [Version 2.32 or later]

2.2.3.1 Release-mode property added

The release-mode property is added to the property screen, making it possible to

specify the RELEASED event execution condition. The property provides the following

setting.

Release-mode parameter The RELEASED event executes: Remarks

0 - Post EventEven if a press on the part is released outside

the part.

Default in Version 2.32

or later

1 - No EventOnly when a press on the part is released

within the part.

Fixed to this setting in

Version 2.31 or earlier

Specifying the RELEASED event execution condition

Note: The release-mode parameter can be contained, one per panel file. Changing the parameter applies

to all parts containing the RELEASED event.

Release the press on the part within the part. (1 - No Event)

Release the press on the part outside the part by sliding your finger on the screen surface. (0 - Post Event)

Release-mode property

2.2.3.2 Notes on using the RELEASED event

The RELEASED event cannot be executed if any other screen appears on the current

TP panel screen. The following example using the push-button shows the detail.

What blocks the execution of the RELEASED event

If any of the following conditions arises when the push-button is being pressed, the

RELEASE event cannot be executed.

(1) When an error occurs.

(2) When the PRINTMSG command displays the message.

(3) When the PAGE_CHANGE command switches TP panel screens, using the timer.

If blocking the execution of the RELEASED event with the above conditions raises a

problem, use a workaround in your program as shown on the next page.

Push-button being pressedIf any of the following conditions arises, releasing the

push-button does not execute the RELEASED event:

(1) When an error occurs.

(2) When the PRINTMSG command displays the message.

(3) When the PAGE_CHANGE command switches TP

panel screens, using the timer.

Program example requiring a workaround

The program example given below turns I/O [128] on only when the push-button is

being pressed, so it requires a workaround. (While I/O [128] is on, the external

equipment operates.)

Only when the push-button is being pressed, I/O [128] is on. Program example

DEF PB1_CLICKED() set IO[128] ENDDEF PB1_RELEASED()reset IO[128] END

Workarounds to the occurrence of errors

(1) Workaround 1

With the supervisory task mode or its extension being enabled, run the following

supervisory task that causes a fail-safe operation (that is, turn I/O [128] off) if an error

occurs. (Refer to the SETTING-UP MANUAL, Chapter 3, Sections 3.4.10 and 3.4.11.)

Program TSR1

DEFINT ERRCODE

INITWAITERR 'Initialize WAITERROR data.

WHILE 1

ERRCODE WAITERROR 'Wait until an error occurs.

IF GETERRLVL(ERRCODE)>1 'If Level 2 or higher error occurs,

RESET IO[128] 'turn I/O[128] off as fail-safe operation.


ENDIF

WEND

END

(2) Workaround 2

Use a supervisory task that monitors the deadman switch (Enable switch) state and

add such a process that turns I/O [128] on or off when the deadman switch is pressed

or released, respectively. Accordingly, if an error occurs, releasing the deadman switch

causes a fail-safe operation (turn I/O [128] off).

(3) Workaround 3

Modify the program to turn I/O [128] on for the specified time length when the

push-button is pressed and to cause no change when the push-button is released. This

produces inching-like motion.

Also change the PRINTMSG and PAGE_CHANGE commands to turn I/O [128] on or

off when the switch is pressed or released, respectively.

2.2.4 INITIALIZE Event [Version 2.32 or later]

The INITIALIZE event can be added to each panel. It is used to initialize the TP panel

layout.

The INITIALIZE event will be called when any of the following conditions arises.

(1) When pressing [F5 Panel] starts the TP panel screen software.

(2) When booting the controller starts the TP panel screen software.

(3) When the PAGE_CHANGE command switches the TP panel screen.

Step 1 Select a TP panel file, and the INITIALIZE event only becomes available.

Selecting the INITIALIZE event automatically generates a skeleton consisting of the

first (DEF) and last (END) lines as shown below.

DEF Panel_INITIALIZE()

END

Step 2 Flesh out the skeleton with action source code.

Note: The PAGE_CHANGE command cannot be used for this source code.

Select a TP panel file.

Select INITIALIZE event.

Action source code block

2.2.5 DONE Event [Version 2.32 or later]

The DONE event is added to the "Numerical input box" and "Text box." Pressing the

OK button on the numerical input box or the text box executes the DONE event.

Example: Numerical input box

Step 1 Select one of the numerical input boxes and select the DONE event.

The action source code block in the following skeleton will be executed.

DEF NB1_DONE()

END

DONE event example: "IO=NB1.Value"

In this example, pressing the OK button sets the property value of the selected part

to a global variable.

Pressing OK executes the DONE event.

Pressing CANCEL produces nothing.

Select one of the numerical input boxes.

Select DONE event.

The action sourcecode block executes.

2.2.6 Part Descriptions

[ 1 ] Button

This part has two events: CLICKED and RELEASED.

Button Example

The following example illustrates the procedure for creating two buttons: one (labeled

"I/O operation") that turns I/O variable #24 on as long as it is pressed and another

(labeled "Program_run") that runs a program (Sample pro).

Step 1 Create a panel layout with two buttons.

The buttons can go anywhere within the boundaries of the teach pendant screen.

All parts, not just buttons, have a unique name providing read/write accesses to part

properties from the part itself as well as other parts on the same TP panel. The editor

uses as its default Button plus a number, but the developer is free to change names.

The following example simply uses the default names: "Button1" and "Button2."

Step 2 Label the buttons by changing their caption properties.

Step 3 Adding action source code

A button has separate action source code blocks for the events CLICKED and

RELEASED. The following example shows how to add action source code for these

two events.

Double-clicking the button labeled "I/O operation" opens an empty Source Code Edit

window.

Step 4 Start by adding action source code to turn I/O variable #24 on when the button is

pressed. Selecting the combination Button1 and CLICKED from the Part and Event

list boxes at the top of the Source Code Edit window automatically generates the

corresponding 3-line action source code block skeleton on the editor screen.

Step 5 Flesh out the skeleton with action source code.

Step 6 Similarly add action source code to turn I/O variable #24 off when Button1 is

released (RELEASED) and to run a program (Sample pro) when Button2 is pressed

(CLICKED).

Step 7 When the panel layout is complete, save it to disk, and compile the file to check for

syntax, typing, or other errors.

Step 8 If the compile operation is successful, download the results to the controller with

PAC Manager.

Step 9 Changing button properties

Color, position, and other button properties support read/write access from the part

itself as well as other parts on the same TP panel using the standard dot notation:

part_name.property.

For a list of part properties and possible values, see Section 3.3.4 "Object

Properties."

The following example changes the foreground color (.fg), background color (.bg),

display text (.caption), horizontal position (.x), and vertical position (.y).

Start by loading the editor, adding a button, and opening the corresponding Source

Code Edit window as above.

Step 10 Type in the source code as shown below.

Step 11 Save the edits, compile the file, and download the results to the controller as before.

TP Panel Screen with Button Pressed

[ 2 ] Label

This part simply displays text. It supports no events, so does not accept action source

code.

Label Example

The following example shows how pressing a button on the same screen can change

label properties.

Step 1 Load the editor and place a label and a button on the panel layout.

Step 2 Changing label properties

The label properties for display text, color, font size, and character position support

read/write access using the standard dot notation: part_name.property.

Changing the display text for the part named Label1 to "Off" requires the following

line.

Label1.caption="Off"

Changing the foreground color to yellow, the background color to brown, the font

size to big, and the character position to left-justified requires the following lines.

Label1.fg=yellow Foreground color: Yellow

Label1.bg =brown Background color: Brown

Label1.fsize=2 Font size: Big

Label1.justify=2 Character position: Left-justified

Add the above to the skeleton created in the Source Code Edit window for pressing

Button1.

Step 3 Compiling this panel layout and downloading it to the controller produces the

following display when the button is pressed.

Before pressing button

After pressing button

[ 3 ] Pilot Lamp

This part has two display states (ON and OFF) and generates REFRESH events at

regularly scheduled intervals to allow visual monitoring of some state.

Lamp Example

The following example uses a lamp to monitor an I/O state.

Step 1 Load the editor and place a lamp on the panel layout.


This part generates REFRESH events at regularly scheduled intervals. Use these to

visually monitor I/O variable #25 by turning the lamp ON and OFF as appropriate. In

the Source Code Edit window, select the lamp's REFRESH event and add the

following line to the skeleton automatically created.

This statement means update the lamp state from the IO[25] state.


following displays.

Lamp on

Lamp off

Step 4 Changing lamp properties

The procedures for accessing properties are the same as for all other parts.

[ 4 ] Numerical Input Box

This part is a button that displays a numerical value. Pressing this button switches the

pendant operation screen to ten-key pad input for directly updating that value.

This part has CLICKED and RELEASED events similar to those for buttons.

Note: In Version 2.32 or later, the DONE event is added to this part. For details, see

Section 2.2.5 "DONE Event."

Numerical Input Box Example

Step 1 Load the editor and place a numerical input box on the panel layout.

(Optional) Specify an initial value.


The procedures for adding action source code are the same as for buttons.

Step 3 Changing numerical input box properties

In addition to the color, position, and other properties that this part shares with

buttons, it has the unique properties of a floating-point value (.value) and display

format, decimal or hexadecimal (.style).

This example uses a button press on the same screen to read global string variable

#10 into a text box and store that value in global string variable #11.

Load the editor and place a numerical input box and button on the panel layout.

Open the Source Code Edit window, select Button1 and CLICKED to create the

action source code skeleton, and add the following lines.


[ 5 ] Text Box

This part is a button that displays a string. Pressing this button switches the pendant

operation screen to keyboard input for directly updating that string.


Note: In Version 2.32 or later, the DONE event is added to this part. For details, see

Section 2.2.5 "DONE Event."

Text Box Example

Step 1 Load the editor and place a text box on the panel layout.

(Optional) Specify an initial value.

Step 2 Add action source code


Step 3 Changing text box properties

In addition to the color, position, and other properties that this part shares with

buttons, this part it has the unique property of a display string (.text).

This example uses a button press on the same screen to read global string variable

#10 into a text box and store that value in global string variable #11.

Load the editor and place a text box and button on the panel layout.

Open the Source Code Edit window, select Button1 and CLICKED to create the

action source code skeleton, and add the following lines.


Textbox1.text=S[10]

S[11]=Textbox1.text

[ 6 ] Check Box

This part toggles a setting between on and off. Access to this setting is via the property

state.

This part has other properties similar to buttons and labels.

Check Box Example

Step 1 Load the editor and place a check box on the panel layout.



Step 3 Read/write access to check box properties

This example shows how pressing a button on the same screen can update IO[24]

to IO[26] from a set of check boxes.

Add a button to the panel layout.

Step 4 Open the Source Code Edit window, select Button1 and CLICKED to create the

action source code skeleton, and add the following lines for reading the check box

properties (.state).

IO[24] = checkbox1.state



Compile this panel layout, download it to the controller, and test.

[ 7 ] Radio Button

A group (described below) of these parts provides a set of mutually exclusive settings.

These parts have ON/OFF properties (.state) similar to those for lamps and check

boxes.

Radio Button Example

The following example uses radio buttons for three mutually exclusive settings.

Step 1 Load the editor and place a group with three radio buttons on the panel layout.

Step 2 Set the property group for all radio buttons to the group number for the group to

ensure mutually exclusive operation of the radio buttons within the group. This

example uses group number 0.



Step 4 Changing radio button properties

Radio buttons have properties similar to those for buttons and labels.

This example shows how pressing a button (Button1) on the same screen can

update both the corresponding output (IO[24] to IO[26]) and a numerical input box

from the corresponding global float variable (F[10] to F[12]) based on the current

states of the radio buttons (RadioButton1 to RadioButton3).

Add the button and numerical input box to the panel layout.

Step 5 Open the Source Code Edit window, select Button1 and CLICKED to create the

action source code skeleton, and add the following IF statement branching on the

radio button properties (.state).

If radiobutton1.state=1 then

Io[24] = 1

Numeric1.value = F[10]

Elseif radiobutton2.state=1 then

Io[25] = 1


Elseif radiobutton3.state=1 then

Io[26] = 1


End if

Compile this panel layout, download it to the controller, and test.

[ 8 ] Group

This part provides mutually exclusive operation for a set of radio buttons.

Group Example

The following example demonstrates mutually exclusive operation with two sets of

radio buttons.

Step 1 Place two groups with three and four radio buttons respectively on the panel layout.

Step 2 Assign group number 0 to Group1 and 1 to Group2.

Step 3 Set the property group for all radio buttons to the group number for the group to

which they belong to ensure mutually exclusive operation within the group.

[ 9 ] Function Key

This part resembles buttons in assigning captions to pendant function keys and action

source code to function key presses, but it lacks the position properties of other parts

because the pendant function keys have fixed positions, specified by number (.index).

Note: In Version 2.32 or later, the RELEASED event is added to this part.

Function Key Example

Step 1 Load the editor and place the function key anywhere on the panel layout in the

Layout window. Note, however, that the final result will not appear at this position,

but on the corresponding function key on the teach pendant screen.

Specify "Next panel" as the display text (.caption) for the function key.

Step 2 Specify the desired function key number (0 to 9). This example uses #2.


This part differs from buttons and other parts in supporting only a single event,

CLICKED.

This example responds to the key press by switching to a different panel, Panel2.

Step 4 Changing function key properties

This part differs from other parts in offering only a single property, caption. Access is

the same as for other parts.

[ 10 ] Timer

This part automatically triggers action source code for the TIMER event at the interval

specified by the property interval.

Timer Example

Step 1 Load the editor and place a timer anywhere on the panel layout in the Layout

window. Note, however, that the final result will not appear on the teach pendant

screen.

Step 2 Changing timer properties

The main properties here are active, which controls (and indicates) timer status, and

interval, which controls event frequency.

This example uses buttons to enable and disable a timer which alternately switches

a pilot lamp on and off.

Load the editor and place a timer, two buttons, and a pilot lamp on the panel layout in

the Layout window.


Open the Source Code Edit window, select Timer1 and TIMER, create the action

source code skeleton, and add the following line to switch the lamp ON and OFF.

If Lightbutton1.state = 1 then

Lightbutton1.state = 0

Else

Lightbutton1.state = 1

End if

Add the following lines so that the CLICKED events for Button1 ("Start") and Button2

("Stop") respectively enable and disable the timer.

Timer1.active = 1

Timer1.active = 0

[ 11 ] Line

This part draws a straight line with the specified pattern on the panel layout.

The parts line, oval, and rectangle are for drawing only. They support no events.

Nevertheless, other parts on the same screen can still change their properties.

Line Example

Step 1 Load the editor and place a line on the panel layout.

Step 2 Changing line properties

Like all drawing parts, the main properties here are line type (.style) and line

thickness (.thickness).

The following example uses a button press to change line thickness and style.

Add a second line and a button to the panel layout.

Step 3 Open the Source Code Edit window and add the following action source code for

changing the line 1 thickness to 5 pixels and the line 2 style to dotted line when the

button is pressed.


following displays.

Before button press

After button press

[ 12 ] Oval

This part draws an oval with the specified pattern on the panel layout.



Oval Example

Step 1 Load the editor and place an oval on the panel layout.

Step 2 Changing oval properties




[ 13 ] Rectangle

This part draws a rectangle with the specified pattern on the panel layout.



Rectangle Example

Step 1 Load the editor and place a rectangle on the panel layout.

Step 2 Changing rectangle properties




[ 14 ] Illuminated Push Button

An illuminated push button combines button and lamp operation. It therefore supports

CLICKED, RELEASED, and REFRESH events for adding action source code.

The property state gives the lamp's current state just as it does for lamps and check

boxes.

Illuminated Push Button Example

Step 1 Load the editor and place the button just as you would with a regular button.

Step 2 Changing illuminated push button properties

The following example uses illuminated push buttons to run a program and display

an I/O state. Pressing this button runs a program in the same folder. (This program

waits two seconds and then turns IO[24] on.) The lamp in the button tracks IO[24].

Add the necessary parts to the panel layout.


This part supports three events for adding action source code: CLICKED,

RELEASED, and REFRESH. This example uses only two.

lbutton1.state = io[24] ' copy IO[24] state into Lightbutton1

Step 4 Write the program to run using PAC manager.

Compile this and the panel layout, download them to the controller, and test.

2.3 Interfaces with PAC Language and System

Data exchange between the PAC language and the TP panel is via global and folder

variables.

The interface with the system uses the SYSSTATE command and I/O variables.

2.3.1 Reading and Displaying PAC Variables

A TP panel can access PAC global and folder variables, but not local ones. Folder

variables require EXTERN declarations; global ones do not.

The following examples display such variables on TP panels.

Example Displaying Global Variables

Accessing a global variable uses array notation with the array name indicating the

type: I for integer, F for float, D for double, and S for string. Global integer variable #10,

for example, is I[10].

The following example displays a global variable of each type in a numerical input box

(or text box for the string) when a button is pressed.

Step 1 Load the editor and place a button, three numerical input boxes for displaying the

three numerical variables, and a text box for displaying the string variable on the

panel layout.


when this button is pressed. This example copies global integer variable #10, float

variable #11, and double variable #12 to numerical input boxes and global string

variable #13 to a text box.

Numeric1.value = I[10]


Numeric3.value = D[12]

Textbox1.text = S[13]

Step 3 Compiling this panel layout and downloading it to the controller produces a display

similar to the following when the button is pressed.

Example Displaying Folder Variables

Accessing folder variables in action source code for a button or other part requires first

declaring them with EXTERN plus a reserved word (DEFINT, DEFSNG, DEFDBL, or

DEFSTR) indicating the type. To access folder integer variable itest, for example, the

action source code must first declare it with the following statement.

EXTERN DEFINT itest

The following example displays a folder variable of each type in a numerical input box

(or text box for the string) when a button is pressed.

Step 1 Load the editor and place a button, three numerical input boxes for displaying the

three numerical variables, and a text box for displaying the string variable on the

panel layout.

Note that the layout is identical to that for the global variable example above.


when this button is pressed. This example copies integer ITEST, float FTEST, and

double DTEST to numerical input boxes and string STEST to a text box.

EXTERN DEFINT ITEST

EXTERN DEFSNG FTEST

EXTERN DEFDBL DTEST

EXTERN DEFSTR STEST

Numeric1.value = ITEST

Numeric2.value = FTEST

Numeric3.value = DTEST

Textbox1.text = STEST

2.3.2 Modifying PAC Variables

Modifying PAC variables is simply the write access counterpart of the read access

described in the preceding section.

Example Modifying Global Variables

The following example updates a global variable of each type from the corresponding

numerical input box (or text box for the string) when a button is pressed.

Step 1 Load the editor and place a button, three numerical input boxes for specifying the

three numerical values, and a text box for specifying the string on the panel layout.


when this button is pressed. This example copies the three numerical values to

global integer variable #20, float variable #21, and double variable #22 and the

string to global string variable #23.

I[20]=Numeric1.value

F[21]=Numeric2.value

D[22]=Numeric3.value

S[23]=Textbox1.text

Example Modifying Folder Variables

Accessing folder variables in action source code for a button or other part requires first

declaring them with EXTERN plus a reserved word (DEFINT, DEFSNG, DEFDBL, or

DEFSNG) indicating the type.

The following example updates a folder variable of each type from the corresponding

numerical input box (or text box for the string) when a button is pressed.

Step 1 Load the editor and place a button, three numerical input boxes for specifying the

three numerical values, and a text box for specifying the string on the panel layout.

Note that the layout is identical to that for the global variable example above.


when this button is pressed. This example copies integer ITEST, float FTEST, and

double DTEST to numerical input boxes and string STEST to a text box.

EXTERN DEFINT ITEST

EXTERN DEFSNG FTEST

EXTERN DEFDBL DTEST

EXTERN DEFSTR STEST

ITEST=Numeric1.value

FTEST=Numeric2.value

DTEST=Numeric3.value

STEST=Textbox1.text

2.3.3 Reading I/O States

A TP panel can read robot controller I/O states via global I/O variables or local I/O

variables declared with DEFIO. We postpone discussion of the latter to the local

variable description below.

Example Using Global I/O Variables

Accessing a global I/O variable uses array notation with the array name IO.

This example monitors global I/O variables #24 to #27 with lamps updated at regularly

scheduled intervals.

Step 1 Load the editor and place four lamps on the panel layout.

Step 2 In the Source Code Edit window, select the REFRESH event for one lamp (This

example uses LightButton1.) and add the following action source code for copying

the I/O states to the lamps at regularly scheduled intervals to the skeleton

automatically created.

LightButton1.state = IO[24] ' copy I/O variable #24 state into LightButton1




2.3.4 Modifying I/O States

Use the SET and RESET commands to modify system I/O states.

ON: SET IO[I/O number]

OFF: RESET IO[I/O number]

Example Modifying I/O States

The following example updates I/O variables #28 to #31 from the corresponding check

boxes when a button is pressed.

Step 1 Load the editor and place four check boxes and a button on the panel layout.


updating the outputs from the check boxes.

IO[28]=Checkbox1.state ' update I/O variable #28 from Checkbox1




2.3.5 Reading System Status

The SYSSTATE command reads the system status.

For further details on this and other commands, see Chapter 5 "Command Reference."

Example Reading System Status

The following example lights a lamp when the controller is in automatic mode.

Step 1 Load the editor and place a lamp on the panel layout.

Step 2 In the Source Code Edit window, select the lamp's REFRESH event and add the

following action source code for updating the lamp based on the mode data read

from the controller at regularly scheduled intervals to the skeleton automatically

created. (This example uses the default name LightButton1.)

DEFINT STAT, AUTOSTAT

STAT=SYSSTATE

AUTOSTAT = &H0010 AND STAT

IF AUTOSTAT = 0 THEN

LIGHTBUTTON1.state = 0

ELSE

LIGHTBUTTON1.STATE = 1

END IF

2.4 Switching TP Panels

The PAGE_CHANGE command switches the teach pendant screen to a different TP

panel in the same folder or even one in a different folder. It has the following syntax.

Same folder: PAGE_CHANGE panel_name

Different folder: PAGE_CHANGE path_name.panel_name

Root folder: PAGE_CHANGE \panel_name

2.4.1 Example Switching in Same Folder

The following example has three panel layouts in the same folder with two buttons on

each for freely moving between them.

Step 1 Load the editor, create three panel layouts with two buttons on each, and label the

buttons for the two other panel layouts.

Step 2 Open Source Code Edit windows for the panel layouts and add the appropriated line

from the following action source code to each button's CLICKED event.

PAGE_CHANGE PANEL1 ' switch screen to PANEL1



Compile the panel layouts, download them to the controller, and test.

2.4.2 Example Switching Between Folders

The following example has three panel layouts all in different folders in a 3-level

hierarchy with two buttons on each for freely moving between them.

Step 1 Create the 3-level hierarchy with PAC Manager.

Load the editor, create three panel layouts, one at each level, with two buttons on

each, and label the buttons for the two other panel layouts.

Step 2 Open Source Code Edit windows for the panel layouts and add the appropriated line

from the following action source code to each button's CLICKED event.

PAGE_CHANGE FOLDER1.PANEL1 ' switch screen to PANEL1 in FOLDER1

relative to the current folder

PAGE_CHANGE FOLDER2.PANEL1 ' switch screen to PANEL1 in FOLDER2

relative to the current folder

PAGE_CHANGE FOLDER1.FOLDER2.PANEL1

' switch screen to PANEL1 in

FOLDER1.FOLDER2 relative to the current

folder

PAGE_CHANGE \PANEL3 ' switch screen to PANEL1 in the root folder

using absolute folder reference

Step 2 (continued)

Compile the panel layouts, download them to the controller, and test.

2.5 Flow Control

The TP panel control language has three types of flow control statements: conditional

branches IF... END IF and IF... THEN... ELSE..., SELECT... CASE, and iteration FOR...

NEXT.

The following sections give examples.

2.5.1 Conditional Branching

Example Using IF... END IF

The following IF statement example reads a global variable into a numerical input box if

an I/O condition is met.

Step 1 Load the editor and place a numerical input box and a button to trigger the test on

the panel layout.

Step 2 Open the Source Code Edit window and add action source code updating the

numerical input box from global integer variable #10 only if I/O variable #24 is 1

when this button is pressed.

Compile the panel layout, download it to the controller, and test.

Example Using SELECT... CASE

The following SELECT... CASE example runs a different program according to the

value in a numerical input box when a button is pushed.

Step 1 Load the editor and place a button and a numerical input box on the panel layout.

Step 2 Open the Source Code Edit window and add the following action source code for the

button's CLICKED event.

DEFINT TYPE

TYPE = Numeric1.value

SELECT CASE TYPE

CASE 0

RUN PRO0

CASE 1

RUN PRO1

CASE 2

RUN PRO2

CASE ELSE

RUN PRO10

END SELECT


2.5.2 Iteration

Example Using FOR...NEXT

The following FOR... NEXT example counts the number of zero values in global integer

variables #0 to #99 when a button is pushed and displays the result in a numerical

input box.

Step 1 Load the editor and place a button and a numerical input box on the panel layout.

Step 2 Open the Source Code Edit window and add the following action source code for the

button's CLICKED event.

DEFINT COUNT,ZEROCOUNT=0

FOR COUNT = 0 TO 99

IF I[COUNT] = 0 THEN

ZEROCOUNT = ZEROCOUNT + 1

END IF

NEXT

NUMERIC1.VALUE = ZEROCOUNT


2.6 Local Variables

The TP panel control language supports local variables of type integer, float, double,

string, and I/O.

Declaring a variable inside an action source code block makes it local--that is,

accessible only that block.


Valid range for COUNT and ZEROCOUNT

DEF Button1_CLICKED() DEFINT COUNT,ZEROCOUNT=0

FOR COUNT = 0 TO 99 IF I[COUNT] = 0 THEN ZEROCOUNT = ZEROCOUNT + 1 END IF NEXT NUMERIC1.VALUE = ZEROCOUNT

END

Example Using Local Variables

The following example copies global variables into local ones when a button is pressed,

manipulates the local variables, and copies the results back to the original global

variables.

Step 1 Load the editor and place a button on the panel layout.


* reading global integer variable #10 into a local integer variable, multiplying it by 10,

and writing the result back

* reading global float variable #10 into a local float variable, multiplying it by 20, and

writing the result back

* reading global double variable #10 into a local double variable, multiplying it by 10,

and writing the result back

* reading global string variable #10 into a local string variable, adding "end," and

writing the result back

DEFINT ITEST

DEFSNG FTEST

DEFDBL DTEST

DEFSTR STEST

ITEST = I[10]

FTEST = F[10]

DTEST = D[10]

STEST = S[10]

ITEST = ITEST * 10

FTEST = FTEST * 20

DTEST = DTEST * 10

STEST = STEST + “END”

I[10] = ITEST

F[10] = FTEST

D[10] = DTEST

S[10] = STEST


Denso Robotics

Section 9

Client/Server Devices

Chapter 2 Configuration of the Robot System

2.1 Configurators

The figure below shows configurators of the typical robot system.

Configurators of the Robot System

(1) Robot unit

(4) Robot controlcable

PLC(prepared bycustomer)

I/O cable(option)

RS-232C cable(prepared bycustomer)

Floppy disk drive(option)

Printer(prepared bycustomer)

(11) Powerconnectorfor I/O

(9) Pendantlessconnector (Note 2)

(3) Power cable

µVision board(option)

Note 1: Items (1) to (15) are the standard components listed on page 1.

Note 2: The pendantless connector is attached to the robot controller connector when no teach pendant is connected.

Note 3: The components illustrated above are typical models or parts.

(6) NetwoRCCD

(8) Initializationfloppy disk

WINCAPSII(CD-ROM or FD)(option)

Optional boards

(2) Robotcontroller

Printer cable(prepared bycustomer)

(5) Manuals(12) Direction

indicatorlabel

(13) Warning label

(7) Spare fuses for robotcontroller

(14) Spare output I/Ofor robot controller

(10) Connector set for handcontrol signals

Teach pendant(option)

Personalcomputer(prepared bycustomer)

Controllerprotective box(option)

Monitor(option)

Vision camera(option)

(15) Dowel pins

Mini-pendant(option)

Operating panel(option)

2.3 Names of the Robot Controller Components

The figure below shows the names of the robot controller components.

Connectors for the VM-G series (Encoders connected via bus)

Connector No. Marking Name

CN1 RS-232C Serial Communication connector

CN2 USB USB connector (2 lines)

CN3 PENDANT Connector for teach pendant

CN4 LAN Connector for Ethenet

CN5 Mini I/O Connector for I/O

CN6 INPUT AC Power supply connector

CN7 MOTOR Connector for motor / encoder

CN9 HAND I/O Connector for HAND I/O

CN10 SAFETY I/O Connector for SAFETY I/O

(Only for global type)

Names of Robot Controller Components

Rear panel (Air exhaust side)

Front panel Air intake filter

13.2 Command for RS232C and Ethernet(Server/Client) Port

INPUT (Statement)[Conforms to SLIM]

Function

Obtains data from the RS232C or Ethernet port.

Format

INPUT [#<Circuit number>,]<Variable name>[,<Variable name>…]

Explanation

This statement stores data received via the RS232C or Ethernet port into thevariable designated by <Variable name>.Designate a circuit number to use for <Circuit number>. If <Circuit number> isignored the default value of ch2 is set. Ch1 cannot be designated because it isused for the pendant. (Refer to Section 2.4.1, “ Circuit Number”.)If plural information is received for the same number of variables add a comma(,) between each variable.Designate the baud rate using a system parameter.

Note (1): Execute a FLUSH command to clear the data remaining inthe input buffer of the received data prior to receiving data.

Note (2): If input data exceeds the maximum value of the variable typeto which it has been assigned, the result is the maximumvalue of that type.

Related Terms

FLUSH, PRINT, WRITE

Example

DIM li1 As Integer

DEFSTR ls1, ls2, ls3, ls4

INPUT #1, ls1 'Writes data from ch2 to ls1.

INPUT #1, li1, ls2, ls3 'Writes data from ch2 to li1, ls2, and ls3.

INPUT ls4 'Writes data from ch2 to ls4.

Chapter 13 Input/Output Control Statements

LINEINPUT (Statement)

Function

Reads data to a delimiter through the RS232C or Ethernet port and assigns itto a character string type variable.

Format

LINEINPUT [#<Circuit number>,] <Character string type variable name>

Explanation

All characters, from the data received via the RS232C or Ethernet port to adelimiter (CR or CR + LF), are stored into the variable designated by<Character string type variable name >. Delimiter is not stored into anyvariable.

For <Circuit number>, designate the circuit number of the RS232C or Ethernetport to be used. If <Circuit number> is ignored, the default value of ch2 is set.Ch1 cannot be designated since it is used for the pendant. (Refer to Section2.4.1, “ Circuit Number”.)

Designate the name of the character string type variable for <Character stringvariable name>.

Related Terms

Example

DEFSTR ls1,ls2,ls3

LINEINPUT #0, ls1 'Receives a character string from port 1 and assigns it to ls1.

LINEINPUT #1, ls2 'Receives a character string from port 2 and assigns it to ls2.

LINEINPUT ls3 'Receives a character string from port 2 and assigns it to ls3.

PRINT (Statement)[Conforms to SLIM]

Function

Outputs data from the RS232C or Ethernet port.

Format

PRINT [#<Circuit number>,] <Message> [<Separator> <Message>…][<Separator>]

Explanation

This statement outputs the value of <Message> from the RS232C or Ethernetport to an external device.

For <Circuit number>, designate the circuit number of the RS232C or Ethernetport to be used. If <Circuit number> is ignored, the default value of ch2 is set.Ch1 cannot be designated since it is used for the pendant. (Refer to Section6.1, "Circuit Number.")

A comma (,) or semicolon (;) can be used for <Separator>.

In the case of a comma (,), insert a blank character between the <Message>and <Message>.

If a comma (,) is designated after <Message> but no <Message> is found, adelimiter (CR or CR+LF) is transferred after the final <Message> once output isfinished.

In the case of a semicolon (;), no blank character should be inserted betweenthe semicolon and <Message>.

If a semicolon (;) is designated after <Message> but no <Message> is found, adelimiter (CR or CR+LF) is transferred after the final <Message> and output isfinished.

If pose type data is output, each element is separated for output using a blankcharacter.

Related Terms

WRITE

Example

DEFINT li1, li2

DEFSTR ls1, ls2

PRINT #1, li1, ls1; ls2 'Outputs the values of li1, ls1, and ls2 from ch2.

'(A blank is made between li1 and ls1, and no blankis made between ls1 and ls2.)

PRINT li2 'Outputs the value of li2 from ch2.

Chapter 13 Input/Output Control Statements

WRITE (Statement)

Function

Outputs data from the RS232C or Ethernet port.

Format

WRITE [#<Circuit number>,]<Message>[,<Message>…]

Explanation

This statement outputs the value of <Message> from the RS232C or Ethernetport to an external device.

For <Circuit number>, designate the circuit number of the RS232C or Ethernetport to be used. If <Circuit number> is ignored, the default value of ch2 is set.Ch1 cannot be designated since it is used for the pendant. (Refer to Section6.1, "Circuit Number.")

If plural messages are written, a comma (,) must be used to separate themessages.

The following are the points that differ from the PRINT statement.

(1) Character string data is output in double quotation marks (").

(2) At the end of output information, a delimiter (CR or CR+LF) is added.

(3) Commas (,) separating messages are output as they are.

(4) If pose type data is output, each element is separated for output usinga comma (,).

Related Terms

PRINT

Example

DEFINT li1, li2

DEFSTR ls1, ls2

WRITE #1, li1, ls1, ls2 'Outputs the values of li1, ls1, ls2 from ch2.

WRITE li2 'Outputs the value of li2 from ch2.

FLUSH (Statement)

Function

Clears the input buffer.

Format

FLUSH [#<Circuit number>]

Explanation

This statement clears the input buffer of the RS232C or Ethernet port.Designate a circuit number to clear the input buffer for <Circuit number>.If <Circuit number> is ignored, the default value of ch2 is set. Ch1 cannot bedesignated since it is used for the pendant. (Refer to Section 2.4.1, “CircuitNumber.”)Execute a FLUSH command to clear the data remaining in the input buffer priorto receiving data.

Related Terms

INPUT

Example

FLUSH #1 'Clears the input buffer of the ch2 circuit.

FLUSH 'Clears the input buffer of the ch2 circuit.

Denso Robotics

Section 10

Supervisory Task

Supervisory Task (Software PLC) [Ver. 1.7 or later] Outline of Supervisory Task

System software version 1.7 newly supports a supervisory task (programmable logic control software (software PLC)). This enables the robot controller to centralize control of an entire facility.

If defined as a supervisory task, a task program written in PAC can keep running independently of normal task programs and operation modes. You may define ten supervisory tasks (TSR0.PAC to TSR9.PAC) and operate them with the system software version 1.7 or later. It is useful to define programs described below as supervisory tasks.

For safety, names of supervisory tasks are restricted to TSR0.PAC to TSR9.PAC and any motion-control programs are prohibited in supervisory tasks.

Note: [Ver. 2.2 or later] Enhancement by the folder feature added (1) The folder feature newly added enables supervisory tasks having the same

name to coexist in a robot controller, as long as those tasks are located in individual folders.

The function and operation of supervisory tasks are the same as those in the previous system version, except that the number of supervisory tasks allowed is changed from 10 to 32 (TSR0 to TSR31).

(2) Up to 32 supervisory tasks can run simultaneously independent of normal task programs. If more than 32 supervisory tasks are made active simultaneously, the error "7799: The maximum number of TSR was exceeded." occurs, terminating all programs including supervisory tasks.

Use the following as supervisory tasks: (1) Customizing operation screens on the teach pendant, which can contain up to 500

buttons and 50 screens (Refer to the PROGRAMMER'S MANUAL I, Section 13.5 "Customizing TP Operation Screens.")

(2) Writing programs for automatic recovery process to be followed if an error occurs in facilities or robots

(3) Controlling facilities (As an alternative of sequencer for facility scale of 200 I/O points and approx. 100 steps in a rudder command)

Supervisory tasks feature: (1) Written in PAC language. (Up to 10 programs may be defined and their names. are

fixed to TSR0.PAC to TSR9.PAC.) (2) Arithmetic/logical operation commands, I/O get commands, program control

commands only executable. (3) Highest priority (101) over all other normal task programs (whose priority will be

automatically changed to 102 or more) (4) Limited occupation time frame (Uses 2 ms every 8 ms).

General Introduction to Operation Modes and Additional Functions

Supervisory task start condition parameters (1) Supervisory task enable/disable parameter "Not Use Supervisor TASK" or "Use Supervisor TASK" in the Supervisor TASK

Setting window

(2) INIT run mode parameter, whether or not to involve motor on and CAL "INIT:(not [MOTOR ON + CAL])" or "INIT:(MOTOR ON + CAL)" in the INIT Setting

window

(3) External speed parameter (10 or 100) for INIT run mode "INIT Set SPEED 10" or "INIT Set SPEED 100" in the INIT Setting (SPEED)

window

Starting supervisory tasks Supervisory tasks may be started by any of the following operations or events provided that:- the supervisory task mode has been enabled (by selecting the "Use Supervisor

TASK" in the Supervisory TASK Setting window) and - any supervisory task program (TSR0 to TSR9) exists.

(1) Turning the robot controller on (2) Switching the operation mode from Manual to Auto (3) Pressing the [F1 START] in the Supervisor TASK Setting window (4) Selecting and starting a supervisory task in the Program List window in Auto or

Teach Check mode

If a supervisory task is initiated, the supervisory task icon will appear in the task bar as shown below.

Supervisory task icon

Terminating supervisory tasks Supervisory tasks will terminate if any of the following events occurs:

(1) Turning the robot controller off (2) Pressing the [F6 STOP] in the Supervisor TASK Setting window (3) Loading or compiling a project (4) Error in a supervisory task itself (5) Level 4 error or higher one (6) Reading or writing from/onto a floppy disk (7) Receiving a file from WINCAPSIII

(8) Making the supervisory task mode inactive to delete it from optional features

Supervisory task commands (1) INIT (Initialize the robot controller) This command may turn the motor power on and execute CAL depending upon the

INIT run mode setting. For details about INIT command, refer to the PROGRAMMER'S MANUAL I.


Using Supervisory Tasks [ 1 ] Making the supervisory task mode active The supervisory task mode is an optional feature, so you need to make it active according to the procedure given below.

(1) Calling up the System Extension window Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]—[F5 Input ID] from the top screen

of the teach pendant

(2) Adding a supervisory task mode Enter "1111" from the numeric keypad.

Press the OK button. The supervisory task mode will be added.

(3) Restarting the robot controller Turn the controller off and then on. The supervisory task mode becomes active

and you may make supervisory task settings. On the top screen, press the SHIFT key and check that the S-TASK is displayed in

F8 of the menu bar.

F8 Press [F8 S-TASK]. The Supervisor TASK Setting window appears as shown

below.


[ 2 ] Setting supervisory task parameters (1) Supervisory task enable/disable parameter This parameter enables or disables the supervisory task mode. Access: [F8 S-TASK]—[F7 USE] from the top screen of the teach pendant In the Supervisor TASK Setting window shown below, choose the desired setting

and press the OK. To make no change, press the Cancel.

(2) INIT execution mode parameter This parameter specifies whether or not the execution of the INIT command will

involve turning on motors and performing CAL. Access: [F8 S-TASK]—[F8 Mode] from the top screen of the teach pendant In the INIT Setting (MOTOR ON + CAL) window shown below, choose the desired

setting and press the OK. To make no change, press the Cancel.

(3) INIT external speed parameter This parameter determines whether the external speed will be 10 or 100 at

execution of INIT command. Access: [F8 S-TASK]—[F9 Speed] from the top screen of the teach pendant In the INIT Setting (SPEED) window shown below, choose the desired setting and

press the OK. To make no change, press the Cancel.


[ 3 ] Starting supervisory tasks Turn the robot controller on. Supervisory tasks will start automatically provided that: - the supervisory task mode has been enabled by selecting the "Use Supervisor

TASK" in the Supervisory TASK Setting window and - any supervisory task program (TSR0 to TSR9) exists.

NOTE: Under the above conditions, supervisory tasks will be started even in Manual or Teach Check mode.

To start no supervisory task, turn the controller on while holding down the deadman switch.

Switch the operation mode from Manual to Auto from the teach pendant or an external I/O. Supervisory tasks will start automatically provided that: - the supervisory task mode has been enabled by selecting the "Use Supervisor


Switching the operation mode from an external I/O when the controller is placed in the external mode will also start supervisory tasks. Before doing this, make sure that no normal programs are running. NOTE: Switching to Auto mode by using Enable Auto signal and Robot Error Clear signal will also start supervisory tasks.

Press the START button in the Supervisor TASK Setting window. From the top screen of the teach pendant, choose [F8 S-TASK]—[F1 START] under the following conditions: - the supervisory task mode has been enabled by selecting the "Use Supervisor


Select and start a supervisory task in the Program List window in Auto or Teach Check mode. From the Program List window, choose a desired supervisory task program(s) (TSR0 to TSR9) and start it, provided that any supervisory task program(s) exists.

[ 4 ] Terminating supervisory tasks If any of the following operations takes place or any of the following errors occurs when a supervisory task program is running, then the supervisory task will terminate.

Turn the robot controller off

Press the STOP button in the Supervisor TASK Setting window Access: [F8 S-TASK]—[F6 STOP] from the top screen of the teach pendant

Load or compile a project Access: [F6 Set]—[F1 Load!] from the top screen of the teach pendant orAccess: [F1 Program]—[F6 Aux.]—[F12 Compile] from the top screen of the teach pendant in Manual mode

Error in a supervisory task itself If any error occurs in a supervisory task itself, the supervisory task currently running will terminate.

Level 4 error or higher one If an error at level 4 or above occurs in supervisory tasks, normal tasks, or robot controller system, then the supervisory task currently running will terminate.

Read or write from/onto a floppy disk Reading data stored in a floppy disk to the robot controller or writing data stored in the robot controller to a floppy disk will terminate the currently running supervisory task.

Access: [F6 Set]—[F3 FD.]—[F1 Read.] from the top screen of the teach pendant Access: [F6 Set]—[F3 FD.]—[F2 Write.] from the top screen of the teach pendant

Chapter 3 General Introduction to Operation Modes and Additional Functions

Receive a file from WINCAPSIII Receiving an execution file or parameters from WINCAPSIII terminates the supervisory task currently running.

Make the supervisory task mode inactive to delete it from optional featuresAccess: [F6 Set]—[F7 Options.]—[F8 Extnsion]—[F4 Remove] from the top screen of the teach pendant Note that the supervisory task setting remains enabled.

Restrictions on the Use of Supervisory Tasks The purpose of a supervisory task is to centralize control of an entire facility. It involves placing some restrictions on the use of it.

[ 1 ] Restrictions on the normal program operation (1) No motion commands or vision commands are executable in a supervisory task.

To execute those commands, make a user program containing them and run it as a supervisory task.

(2) A supervisory task may support robot stop and start commands, but not support Temporary stop, Instantaneous stop, Step stop, or Break point stop. It also ignores the SUSPEND command.

(3) If you want to start a supervisory task only when the robot controller is turned on, then use internal I/Os to bypass the overlapped initiation of the supervisory task.

(4) If a supervisory task is started by any other supervisory task, then no priority options or cycle options are supported. This means that these supervisory tasks may conflict with each other.

(5) A supervisory task is so designed that it cannot be self-started repeatedly. To repeat it, use loop commands.

(6) In Teach Check mode, releasing the deadman switch will not stop running supervisory tasks.

(7) A supervisory task does not support Step check or Step back. (8) A HOLD command for a supervisory task will be ignored. (9) A normal task cannot manage any supervisory task by using KILL or SUSPEND

command or other means. (10) During execution of a supervisory task, you may make vision board settings.

However, it may block the operation of the supervisory task. (11) If an error occurs or an emergency stop signal is inputted, a supervisory task

cannot run any normal task.


[ 2 ] Rules for using a supervisory task (1) Avoid using the following commands in a loop to repeat them in a supervisory task.

Otherwise, the supervisory task itself may not terminate. This is because a supervisory task has higher priority over normal task programs.

INIT, RUN, KILL, SUSPEND commands (2) Avoid simultaneous execution of RUN and SUSPEND commands or that of RUN

and KILL commands to a same program in a supervisory task. Doing so may freeze the robot system, skip a Stop command, or cause any other failures. To recover from such states, you need to restart the robot controller.

(3) If a semaphore (priority order) is specified in a supervisory task, there is a possibility that a lower priority task may get a semaphore. This is because using a semaphore may cause a supervisory task to lose highest priority 101.

(4) If a supervisory task that repeats normal tasks runs, then mode switching from the external equipment may become no longer possible.

To recover from such states, stop the supervisory task from the teach pendant. To prevent such states,

- design programs so that they will conditionally start according to Auto mode or External mode, or

- design a supervisory task itself so that it will be terminated from external input. Starting a user program during switching to External mode may issue an alarm.

Correct the program so that it will conditionally start according to the mode, just as above.

[ 3 ] Rules for a supervisory task mode not in use When a supervisory task mode is not in use, programs named TSR0 to TSR9 execute as normal task programs. To debug supervisory task programs, therefore, disable a supervisory task mode and use Teach Check mode or Break Point function.

Supervisory Task Extension [Ver. 1. 95 or later]

Conventional supervisory tasks supported by the main system software version 1.7 or later are designed to terminate if Level 4 error or higher one occurs.

Main system software version 1.95 newly supports the supervisory task extension that prevents supervisory tasks from terminating if Level 4 error occurs except memory errors (errors 7000s).

What is a supervisory task extension? On some occasions, e.g., when the robot controller is controlled by external equipment in RS232C communication, the robot controller is required to operate independently to some extent.

The solution is to use a supervisory task. However, current supervisory tasks will terminate if Level 4 error or higher one occurs so that the communication will stop and the external equipment will no longer monitor the controller status.

To prevent it, the supervisory task extension limits termination to essential occasions only. If the extension is enabled, supervisory tasks will no longer terminate even if Level 4 error such as a servo error, operation error, or I/O error occurs. They will terminate only if a memory error (error 7000s) occurs.

If Level 5 error occurs, supervisory tasks will terminate as they have been.

The table below lists whether supervisory tasks will terminate or not if the following level errors occur.

Error code 7*** 6*** 5*** 4*** 3*** 2*** 1***Level 5 T T T T T

Level 4 T T/R T/R T/R T/R Error level

Level 3 or lower

R R R R R R R

T: Terminate. T/R: Keep running if the supervisory task extension is enabled. R: Keep running. /: Not applicable.


Enabling the supervisory task extension The supervisory task extension is optionally provided. You need to enable the extension from the top screen of the teach pendant according to the steps given below.

(1) Call up the System Extension window. Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]

F5

(2) Press [F5 Input ID]. The numeric keypad will appear where you enter the necessary ID code--1111 for

conventional supervisory task or 1112 for supervisory task extension.

(3) Press the OK button. Your selection will be saved.

(4) Reboot your robot controller to make the new setting go into effect.


Modification of Processing Time Exclusively Occupied by Supervisory Tasks [RC7 Ver. 2.0 or later]

This new feature allows you to modify the processing time exclusively occupied by supervisory tasks in a processing cycle (8 ms) to be applied when the supervisory tasks and user tasks (PAC programs) run concurrently (multitasking).

With this feature, you can switch the priority levels between supervisory tasks and user tasks at the desired timing. This makes it possible to assign higher priority to processing of supervisory tasks during particular operation or vice versa.

What is the processing time exclusively occupied by supervisory tasks?

As shown below, the task processing cycle of the robot controller is 8 ms that is shared by supervisory tasks and user tasks.

When supervisory tasks and user tasks are running concurrently, the processing time exclusively occupied by supervisory tasks is 2 ms by default (because the supervisory tasks are given the highest priority "101" by default).

During the remaining 6 ms, user tasks have higher priority than supervisory tasks (because user tasks are given higher priority than supervisory tasks by default).

Processing Time Exclusively Occupied by Supervisory Tasks in the Processing Cycle (by default)

Choice of processing time periods to be exclusively occupied by supervisory tasks

You can make a choice from the following five processing time periods: 0 ms, 2 ms, 4 ms, 6 ms and 8 ms in an 8 ms task processing cycle

Example: If you select "4 ms," the execution time required for supervisory tasks will be shorter and that for user tasks, longer than ones required by default (2 ms).

Note: If you select "0 ms," supervisory tasks will be processed only when no user tasks are being processed. If there is no free time, no supervisory tasks will be able to be processed.

Note: If you select "8 ms," no user tasks can be processed when any supervisory task is being processed. To process user tasks, you need to insert a process of DELAY or WAIT for getting an arm semaphore in the supervisory tasks.

Modifying the processing time exclusively occupied by supervisory tasks

You can modify the processing time to be exclusively occupied by supervisory tasks in PAC programs or with the teach pendant.

This modification can be made even if any supervisory task is executing and it will immediately take effect.

From the teach pendant

(1) Call up the processing time window (Occupation time setting). Access: [F8 S-TASK]—[F10 Occupy] (2) Select the desired processing time and press [OK].

In PAC programs

Use the SETOCCUPATIONTIME command. Refer to the PROGRAMMER’S MANUAL I.

Syntax SETOCCUPATIONTIME <Processing time>

Coding example SETOCCUPATIONTIME 4 'Set 4 ms/8 ms


Supervisory Task Start Mode [RC7 Ver. 2.2 or later] In system software versions earlier than 2.2, any of the following events activates allsupervisory tasks in the robot controller.(1) Turning the controller power on (2) Switching the operation mode from Manual to Auto mode (3) Pressing [F8 S-TASK]–[F1 START] The supervisory task start mode newly added in version 2.2 or later provides the following three choices: "Start all supervisory tasks," "Start supervisory tasks in a root," and "Do not start supervisory tasks."

Access: [F8 S-TASK]—[F2 Setting]

The Supervisory Task Start Mode window appears.

Start S-TASKs in a route: Selecting this starts only supervisory tasks in the current route when any of the above three events occurs.

S-TASKs is not started: Selecting this starts no supervisory tasks when any of the above three events occurs.

Note: Independent of the current setting of the supervisory task start mode, supervisory tasks can start by selecting them on the Program List or by using a RUN command.

Multitasking Control Statements

Supervisory Task

INIT [Version 1.7 or later] Arm Semaphore

Turns on motors, carrier out CAL, and sets the speed according to the preset supervisory task parameters.

Syntax INIT [,<INIT option>]

Description (1) If the supervisory task is disabled ("Not Use Supervisor TASK" parameter is selected), then the INIT command causes no operation.

(2) If the supervisory task is enabled ("Use Supervisor TASK" parameter is selected), then the INIT command causes the following:

When the INIT run mode is set to "without motor on and CAL":

If the INIT speed has been set to 10 or 100, this command sets the external speed of the robot controller to 10 or 100, respectively.

When the INIT run mode is set to "with motor on and CAL":

If the INIT speed has been set to 10 or 100, this command sets the external speed of the robot controller to 10 or 100, respectively, turns motors on and carries out CAL.

(3) If <INIT option> is "RESULT=variable," the supervisory task does not stop even if an internal error occurs during the execution of the INIT statement. It stores the error code in the variable specified by RESULT. [Ver. 2.6 or later]

Example'!TITLE "Initialization" PROGRAM TSR1 INTN, RESULT=l1 'Turn motors on, execute CAL, and set the speed. 'If INIT fails, store the error code in variable I1 'and proceed to the next line. END

Notes (1) Do not concurrently run robot operation programs and task programs which run only the INIT command in an infinite loop.

(2) During execution of an INIT command, the status display of running programs may show "On standby." Be careful with restart of those programs.

(3) Do not run INIT commands simultaneously in more than one supervisory task.

SETOCCUPATIONTIME (Statement)[RC7 Version 2.0 or later]

Arm Semaphore

Reconfigures the processing time to be exclusively occupied by supervisory tasks.

Syntax SETOCCUPATIONTIME <ProcessingTime>

Description When the supervisory task mode is enabled, SETOCCUPATIONTIME reconfigures the processing time to be exclusively occupied by supervisory tasks to <Processing time>.

<Processing time> 0, 2, 4, 6 or 8 0: 0 ms/8 ms

2: 2 ms/8 ms 4: 4 ms/8 ms 6: 6 ms/8 ms 8: 8 ms/8 ms

This statement can be placed in the execution of supervisory tasks. It immediately takes effect. If it is disabled, this statement produces nothing.

Example The following coding example contains three programs--supervisory task TSR1 and user programs PRO1 and PRO2. In ordinary operations, PRO1 and PRO2 are given higher priority during 6 ms, but in robot motions TSR1 is given higher priority during 4 ms even it sacrifices execution of PRO2 to some degree.

PROGRAM TSR1 'Supervisory task TSR1 checks the robot motion range.

END

PROGRAM PRO1 TAKEARM SETOCCUPATIONTIME 4 'Set 4 ms for supervisory tasks. MOVE P,P0 'Move the robot. SETOCCUPATIONTIME 2 'Restore the processing time to be 'occupied by supervisory tasks to the 'default (2 ms). END PROGRAM PRO2 DO WHILE 1 LOOP END

Notes If you select "0 ms," supervisory tasks will be processed only when no user tasks are being processed. If there is no free time, no supervisory tasks will be able to be processed.

If you select "8 ms," no user tasks can be processed when any supervisory task is being processed. To process user tasks, you need to insert a process of DELAY or WAIT for getting an arm semaphore in the supervisory tasks.


INITWAITERR (Statement) [RC7 Version 2.2 or later]

Arm Semaphore

Initializes the storage of errors detected by WAITERROR. (Exclusive to supervisory tasks)

Syntax INITWAITERR

Description This statement clears errors that have been detected by WAITERROR. It should precede WAITERROR and CURERRSTATUS functions.

If the error storage is not cleared with this statement, the WAITERROR or CURERRSTATUS function may not detect errors normally.

Related Terms WAITERROR, CURERRSTATUS

Example PROGRAM TSR1


WHILE 1 'Start of loop

I1 = WAITERROR 'Detect an occurrence of error. I2 = CURERRSTATUS 'Get current error status.

WEND 'End of loop

END

WAITERROR (Statement)[RC7 Version 2.2 or later]

Arm Semaphore

Detects errors. (Exclusive to supervisory tasks)

Syntax WAITERROR

Description This function waits for an error to occur in the robot controller and returns its error code.

It detects up to recent 32 errors in the order of occurrences.

If not preceded by the INITWAITERR statement to clear the error storage, this function may not detect errors normally.

Related Terms INITWAITERR, CURERRSTATUS





WEND 'End of loop

END


CURERRSTATUS (Statement)[RC7 Version 2.2 or later]

Arm Semaphore

Returns the current error status. (Exclusive to supervisory tasks)

Syntax CURERRSTATUS

Description This function returns whether an error is currently occurring (1) or not (0).

Related Terms INITWAITERR, WAITERROR





WEND 'End of loop

END

Denso Robotics

Section 11

New functions on RC7M

9

SetHighPathAccuracy / ResetHighPathAccuracy

(Library) [Ver. 2.61 or later]

Function

Enable (or disable) the high-accuracy path control that improves the accuracy of the robot motion path in CP motions (linear, arc, and free-curve).

Syntax

SetHighPathAccuracy ResetHighPathAccuracy

Description

(1) This function improves the accuracy of the robot motion path.

(2) This function becomes enabled for a motion command immediately following SetHighPathAccuracy and canceled with ResetHighPathAccuracy.

Macro Definition

Requires a <pacman.h> file.

Example

PROGRAM PRO1

TAKEARM 'Obtain the control priority of the arm group.

MOVE P, @E P1 'Move to P1 in the PTP motion.

CALL SetHighPathAccuracy 'Enable the high-accuracy path control.

MOVE S, 5 'Move the robot arm along path #5

'in free-curve motion under high-accuracy

'path control.

CALL ResetHighPathAccuracy 'Disable the high-accuracy path control.

MOVE P, @0 P5 'Move from P4 to P5 in the PTP motion.

END 'End the program.

Notes

(1) This control should be enabled only for motions requiring high-accuracy path.

(2) Depending on motions or load conditions, some robot motions involve vibration. If it happens, lower the speed or acceleration or disable this control.

(3) Turning the controller or motor power OFF disables this control.

(4) This control does not apply to the extended joints (7th- and 8th-axis).

(5) This control cannot be enabled when the compliance control is enabled. Trying to do so causes an error.

(6) This control cannot be enabled when a motion such as a pass motion is in progress.

(7) The master control parameters (e.g., mass of payload and payload center of gravity) should be accurately specified. Failure to do so may hinder this control.

9

SetSingularAvoid (Library) [Ver. 2.61 or later]

Function

Enable or disable the singular point avoiding function. (for 6-axis robots)

Format

SetSingularAvoid(<ON OFF>)

Description

If <ON OFF> is 1, the singular point avoiding function becomes enabled; if it is 0, the function becomes disabled. Enabling the function suppresses a large 4-axis rotation that is caused when the 5 axis passes through the vicinity of 0 degree in linear, arc or free-curve motion under CP interpolation control.

Macro Definition

Requires a <pacman.h> file.

Example

PROGRAM PRO1

TakeArm 'Obtain the control priority.

MOVE P, P1 'Move to P1 in PTP motion.

CALL SetSingularAvoid (1) 'Enable singular point avoiding function.

MOVE L, P2 'Move to P2 under linear interpolation

'control.

CALL SetSingularAvoid (0) 'Disable singular point avoiding function.

:

:

END

Notes

(1) This function does not take effect in 4- and 5-axis robots.

(2) This function does not take effect under PTP interpolation control.

(3) When this function is enabled, the robot arm may greatly go out of the original path depending on the motion conditions.

9

SetCollisionJnt [Ver. 2.61 or later]

Function

Enable the collision detection for the specified joint.

Format

SetCollisionJnt(<joint#>)

Description

This library enables the collision detection for the joint specified by <joint#>.

Macro Definition

Requires file <pacman.h>

Related Terms

ResetCollisionJnt

Notes

(1) <joint#> should be a robot joint number. If it is a joint other than robot ones, the error message "Excess in effective joint value range" ("Specified joint out of range") appears.

(2) This library cannot be executed when the compliance control is enabled.

Example

TAKEARM 'Get robot control priority

CALL SetCollisionJnt(2) 'Enable collision detection for joint 2

MOVE P, P1, P2 'With collision detection enabled, move

'from point P1 to P2 in PTP motion

CALL ResetCollisionJnt(2) 'Disable collision detection for joint 2

MOVE P, P2, P3 'With collision detection disabled, move


9

ResetCollisionJnt [Ver. 2.61 or later]

Function

Disable the collision detection for the specified joint.

Format

SetCollisionJnt(<joint#>)

Description

This library disables the collision detection for the joint specified by <joint#>.

Macro Definition


Related Terms

SetCollisionJnt

Notes


Example



MOVE P, P1, P2 'With collision detection enabled, move


CALL ResetCollisionJnt(2)'Disable collision detection for joint 2

MOVE P, P2, P3 'With collision detection disabled, move


9

GetCollisionForce [Ver. 2.61 or later]

Function

Get the maximum external force.

Syntax

GetCollisionForce(<joint variable>)

Description

This library assigns the maximum external force detected to a joint variable specified by <joint variable>.

Related Terms

ClearCollisionForce

Notes

(1) The maximum external force can be calculated only for joints whose collision detection is enabled when the corresponding motors are ON, in each of Manual and Auto modes.

(2) In Auto mode, this library assigns the maximum external force calculated in Auto mode; in Manual or Teach check mode, it assigns the one calculated in Manual mode.

Example


CALL ClearCollisionForce 'Initialize maximum external force

stored


MOVE P, P1, P2 'Move from point P1 to P2 in PTP motion

CALL GetCollisionForce(J1) 'Assign maximum external force

calculated

'during move from P1 to P2 to variable J1


stored



calculated


1

ClearCollisionForce [Ver. 2.61 or later]

Function

Clear the maximum external force.

Syntax

ClearCollisionForce

Description

This library initializes the maximum external force stored in a joint variable to "0" (default).

Related Terms

GetCollisionForce

Notes

(1) This library initializes the maximum external forces calculated both in Manual and Auto modes.

Example





stored



calculated


1

SetCollisionLevel [Ver. 2.61 or later]

Function

Specify the collision detection sensitivity level for the specified joint.

Syntax

SetCollisionLevel(<joint#, level>)

Description

This library defines the collision detection sensitivity level specified by <level>for the joint specified by <joint#>. The typical detection sensitivity level is 100. Decreasing the level increases the collision detection sensitivity; increasing it decreases the sensitivity.

Macro Definition


Related Terms

SetCollisionJnt, ResetCollisionJnt

Notes


(2) This library cannot be executed when the compliance control is enabled.

(3) If the robot detects a false collision, increase the detection sensitivity level to decrease the detection sensitivity.

Example


CALL SetCollisionJnt(3) 'Enable collision detection for joint

3

CALL SetCollisionLevel(3,80) 'Set collision detection sensitivity

'level for joint 3 to 80

MOVE P, P1, P2 'With higher detection sensitivity for

'joint 3, move from point P1 to P2 in

PTP motion

CALL SetCollisionLevel(3,120) 'Set collision detection sensitivity

'level for joint 3 to 120

MOVE P, P2, P3 'With lower detection sensitivity for

'joint 3, move from point P2 to P3 in

PTP motion

1

SetExtForceDetect [Ver. 2.61 or later]

Function

Enable/disable detection of external force.

Syntax

SetExtForceDetect(<value>)

Description

This library enables or disables detection of external force if <value> is "1" (default) or "0," respectively.

Macro Definition


Related Terms

SetCollisionJnt, GetCollisionForce

Notes

(1) <value> should be "0" or "1." Any other value results in an error.

(2) The default of <value> is "1" (Enable). Even if <value> is set to "0" (Disable), it will revert to "1" by switching between Manual and Auto modes or by restarting the robot controller.

(3) Unlike SetCollisionJoint or ResetCollisionJoint, this library does not enable or disable collision detection. Disabling detection of external force with this library does not update maximum external forces stored even if the robot detects greater external force than the one stored. Use this library when checking the maximum external force in a particular zone.

Example


CALL SetExtForceDetect(0) 'Disable detection of external forces

CALL ClearCollisionForce 'Initialize the maximum external force



CALL SetExtForceDetect(1) 'Enable detection of external forces



calculated


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