Motion Instructions Lab: Difference between revisions
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(Created page with "'''What are Motion Instructions?''' The robot is simply a computer that can interact with the physical world. For it to perform tasks as we desire them, we need to tell the...") |
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== Linear, Joint, and Circular ==
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|[[File:SELECT Page.png|thumb]]
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This screen lists all available programs on the robot. We will be making our own from scratch, so you’ll want to hit the softkey '''CREATE.'''
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|[[File:Naming TP Program.png|thumb]]
|A utility will pop up titled “Create Teach Pendant Program”
The first thing you need to do is name it. On the bottom right, several text-entry options will appear. You will hit “'''Options/Keybd'''”.
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No spaces are allowed in program names, and they must always start with a letter. They can contain letters, numbers, and the underscore character.
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|[[File:Blank Program.png|thumb]]
|Hit the '''EDIT''' softkey (not the physical key) to finish the creation of the new program file. This will open the blank file that is your new program.
Notice the name of your program is at the top, and there’s one instruction in your program, the [End]. End will always be at the end of your program, to tell the controller it is finished.
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|[[File:Default Motion Menu.png|thumb]]
|Hit the '''POINT''' softkey to open a selection of default motion instructions. These are our starting point for adding motion instructions.
''*The default motion options can be edited to make programming points easier, but that process is outside the scope of this lab.''
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''*We use a Joint motion type for the first point because the robot may be at any point in its envelope. A joint move doesn’t have the requirement of moving in a straight line, so it can easily and quickly reach the first point without encountering DCS errors.''
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|[[File:Single Motion Instruction.png|thumb]]
|By selecting that option, we have added a motion instruction to our program.
Notice the position number, P[1] was added to the program.
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<nowiki>*</nowiki>Only jog in X,Y, and Z in this lab, to prevent the tool from changing orientation.
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|[[File:Changing Speed.png|thumb]]
|''*Notice the @ symbol on our line. This means that the robot is currently “at” the coordinates taught to that line. This is useful when stepping through our program later on, to debug or fix bad points.''
Now that we’ve taught that point where we want it, we can look at the rest of the line. 5% speed is pretty low, the robot can move considerably faster than
Select the '''5''' in 5% and type in '''50''' on the number pad.
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Every time a numerical value is entered, you will need to press the '''ENTER''' key to confirm it, or the value won’t be changed in the program.
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|[[File:Termination Type.png|thumb]]
|Once the speed is entered and confirmed, the termination type will be selected. If you were to change it, you would hit the '''[CHOICE]''' softkey and select the new type you want.
Since FINE is the correct choice for this program, we will leave it.
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|[[File:Selecting END.png|thumb]]
|This motion instruction is now complete. If we were to add another instruction now, it would overwrite the one we just placed. To add a second one, select the bottom line of the program, [END]
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|[[File:Adding a second instruction.png|thumb]]
|Once again, hit the '''POINT''' softkey to bring up the default motion menu. This time select one of the lines that begin with '''L''', which is for linear moves.
Set your linear speeds to '''212mm/s''' by selecting the speed variable and typing it in.
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Repeat this process, adding a linear point for every dot on your lab sheet up until you reach the beginning of the half circle.
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|[[File:Adding a bunch more.png|thumb]]
|You should have 5 total lines of motion instructions now. A joint move to the first position, and 4 linear moves to the second through fifth position.
A circular instruction is a bit different than Joint and Linear.
Start by putting down
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|[[File:Changing Motion Type.png|thumb]]
|Select the L in your 6<sup>th</sup> instruction line and press the softkey '''CHOICE'''.
There are 4 motion
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|[[File:Circular first point.png|thumb]]
|Notice the circular instruction contains two separate points. The first point will automatically be filled as the next position number, P[6].
''*The two points are required for the robot’s processor to calculate how big the circle half is and where it will end. To do this, we teach the midpoint and the endpoint. Circular instructions can be used to create up to 180 degrees of a circle.''
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Jog the robot to the '''midpoint''' of the circle, select line 6 (all the way to the left) and hit '''TOUCHUP'''
Select the line after
Set its speed to '''212mm/s.'''
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|[[File:Stepping through program.png|thumb]]
|While we aren’t yet finished with our program, we may wish to test it out just to make sure that circular instruction worked.
'''Scroll''' all the way up to line 1.
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Hold '''SHIFT''', clear all alarms with '''RESET''', and press the '''FWD''' key.
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|The robot will complete one line of instruction each time you strike the '''FWD''' key (while holding SHIFT), and the haptic feedback on the teach pendant will vibrate once it reaches its destination. Pay careful attention to the robot’s path and destination points as you go.
Keep stepping forward with '''FWD''' until you reach the end of the circle, to ensure your program was correctly taught.
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After finishing stepping through, select '''[END]''' again and add another linear '''POINT.'''
''*The last destination point is back to where we started. This means it has already been recorded as P[1], so we don’t have to teach
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|Select '''P[8]''' in that line and type '''1''' on the keypad. Press '''ENTER'''. Set its speed to '''212mm/s.'''
Now the program ends
Once you are sure your program is functioning correctly, hit '''STEP''' to allow the program to run continuously. The Step indicator at the top will turn green. Select '''line 1''' and run it through again.
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