Na uczelni miałem dwa stanowiska na których używaliśmy staubli. podaje instrukcje bo tam też są polecenia programowe
" RX " and " RX changed to RXB " family
CS7B - CS7 MB
OPERATOR MANUAL
C
Copyright 1999 by STÄUBLI FAVERGES
D.280.096.04.B - 06/00
1st edition 99.07
OPERATOR MANUAL
DIFFERENT CATEGORIES OF ROBOTS
GEOMETRICAL CONFIGURATIONS
36
108
48
CARTESIAN COORDINATES
POLAR COORDINATES
OPERATOR MANUAL
PRESENTATION and FUNCTIONALITIES OF
THE STAUBLI ROBOT SYSTEM
Alphanumerical
or graphic terminal
Teach pendant
Main switch
Axis 4
Controller
(V+ langage)
Axis 3
Axis 6
Axis 5
Axis 2
Axis 1
RX ARM
INTERFACE AWC
Board
Amplifiers
CS7B / CS7 MB GENERAL STRUCTURE
OPERATOR MANUAL
V+ LANGUAGE
The V+ language is adapted to the robotics and allows the robot arm or outputs to execute specific tasks.
The V+ language has its owner syntaxis which commands its structure.
Some definitions :
A PROGRAM is a sequence of instructions which will be executed the ones after the others.
The VARIABLES are the datas on which these instructions work; there ara 3 types:
• the LOCATIONS
positions stored in arm work envelope used to define the motion of the arm;
• the REALS
digital values used for calculations;
• the STRINGS OF CHARACTERS
messages in text form which are displayed on terminal screen.
OPERATOR MANUAL
CONTENTS
PAGE
CHAPTER 1 - SAFETY ........................................................................................... 1.1
CHAPTER 2 - ROBOT START-UP ........................................................................ 2.1
2.1.
INTRODUCTION ........................................................................................................... 2.3
2.2.
CONTROL POWER-UP ................................................................................................ 2.3
2.3.
2.3.1.
2.3.2.
ARM POWER-UP ......................................................................................................... 2.3
AUTOMATIC MODE...................................................................................................... 2.3
MANUAL MODE ........................................................................................................... 2.4
2.4.
CUTTING OFF POWER ON ARM ................................................................................ 2.4
CHAPTER 3 - TEACH PENDANT USE ................................................................. 3.1
3.1.
GENERAL ..................................................................................................................... 3.2
3.2.
3.2.1.
3.2.2.
3.2.3.
3.2.4.
3.2.5.
PRESENTATION OF TEACH PENDANT KEYS ............................................................
USER KEYS.................................................................................................................
FUNCTION KEYS .........................................................................................................
DATA ENTRY KEYS ....................................................................................................
MODE SELECTION KEYS ...........................................................................................
MANUAL CONTROL KEYS ..........................................................................................
3.3
3.4
3.5
3.8
3.9
3.12
3.3.
3.3.1.
3.3.2.
3.3.3.
3.3.4.
ROBOT MANUAL MOTION MODES ............................................................................
JOINT MODE ................................................................................................................
FREE MODE ................................................................................................................
BREAK RELEASE MODE ............................................................................................
COORDINATES SYSTEM MODES...............................................................................
3.13
3.13
3.13
3.14
3.15
3.3.4.1.
3.3.4.2.
PRELIMINARY .............................................................................................................................. 3.15
COORDINATE SYSTEM IN RX ROBOTS ..................................................................................... 3.17
3.3.5.
HOW TO VISUALIZE THE CURRENT POSITION OF THE ARM ................................... 3.18
WHERE ........................................................................................................................................ 3.19
D28009604 - 0600
I
OPERATOR MANUAL
PAGE
CHAPTER 4 - EXECUTION AND CONTROL OF A PROGRAM ........................... 4.1
4.1.
HOW TO TRIGGER EXECUTION OF A PROGRAM..................................................... 4.2
4.2.
HOW TO ADJUST ROBOT SPEED.............................................................................. 4.5
4.3.
HOW TO EXECUTE A PROGRAM STEP BY STEP ..................................................... 4.6
4.4.
HOW TO FOLLOW THE EXECUTION OF A PROGRAM ............................................. 4.7
4.5.
HOW TO EXECUTE A SINGLE INSTRUCTION ........................................................... 4.8
4.6.
HOW TO STOP A PROGRAM DURING EXECUTION.................................................. 4.9
4.7.
4.7.1.
4.7.2.
HOW TO RESTART A PROGRAM............................................................................... 4.10
STOP BY ABORT......................................................................................................... 4.10
STOP BY RUN/HOLD OR MAN/HALT ON TEACH PENDANT ...................................... 4.10
4.8.
MULTITASKS PROGRAMS ......................................................................................... 4.11
STATUS ........................................................................................................................................ 4.12
KILL .............................................................................................................................................. 4.13
CHAPTER 5 - EDITOR ........................................................................................... 5.1
5.1.
PRELIMINARY ............................................................................................................. 5.2
5.2.
5.2.1
5.2.2.
HOW TO EDIT A PROGRAM ....................................................................................... 5.3
LINE EDITOR: EDIT ...................................................................................................... 5.3
FULL-PAGE EDITOR: SEE ........................................................................................... 5.4
5.3.
5.3.1.
5.3.2.
5.3.3.
5.3.4.
5.3.5.
EDITING FUNCTION KEYS OF THE SEE EDITOR.......................................................
CURSOR CONTROL .....................................................................................................
EDIT MULTIPLE PROGRAMS ......................................................................................
SEARCH, FIND AND REPLACE ...................................................................................
TO QUIT EDITOR ..........................................................................................................
EDITOR ENVIRONMENT PROBLEMS .........................................................................
D28009604 - 0600
5.7
5.7
5.8
5.9
5.9
5.9
II
OPERATOR MANUAL
PAGE
CHAPTER 6 - DECLARATION OF VARIABLES AND
OPERATIONS ON MEMORY.......................................................... 6.1
6.1.
REAL VARIABLES ....................................................................................................... 6.3
6.2.
STRING VARIABLES ................................................................................................... 6.4
6.3.
6.3.1.
6.3.2.
6.3.3.
LOCATION VARIABLES ..............................................................................................
CARTESIAN LOCATIONS / PRECISION LOCATIONS ..................................................
DEFINE A LOCATION IN MONITOR COMMAND MODE...............................................
HOW TO MOVE THE TOOL REFERENCE SYSTEM ...................................................
6.5
6.5
6.5
6.6
TOOL ............................................................................................................................................ 6.7
6.3.4.
HOW TO DEFINE A LOCATION BY TEACHING ........................................................... 6.8
6.4.
INDEXED VARIABLES:ARRAYS .................................................................................. 6.9
TEACH ......................................................................................................................................... 6.11
6.5.
MEMORY OPERATIONS.............................................................................................. 6.12
DIR ...............................................................................................................................................
LIST ..............................................................................................................................................
COPY ............................................................................................................................................
RENAME ......................................................................................................................................
DELETE .......................................................................................................................................
ZERO ............................................................................................................................................
6.13
6.14
6.16
6.17
6.18
6.19
CHAPTER 7 - SOME MOTION PROGRAM INSTRUCTIONS ............................... 7.1
MOVE ............................................................................................................................................
MOVES .........................................................................................................................................
APPRO .........................................................................................................................................
APPROS .......................................................................................................................................
DEPART .......................................................................................................................................
DEPARTS .....................................................................................................................................
OPENI, CLOSEI ...........................................................................................................................
OPEN, CLOSE .............................................................................................................................
DELAY ..........................................................................................................................................
BREAK .........................................................................................................................................
TYPE ............................................................................................................................................
PROMPT ......................................................................................................................................
7.2
7.4
7.6
7.7
7.8
7.9
7.10
7.11
7.12
7.13
7.14
7.16
CHAPTER 8 - DIGITAL INPUTS AND OUTPUTS ................................................. 8.1
8.1
EXTERNAL OUTPUTS (on/off) .................................................................................... 8.2
SIGNAL ......................................................................................................................................... 8.3
RESET ......................................................................................................................................... 8.4
8.2
EXTERNAL INPUTS ..................................................................................................... 8.5
IO .................................................................................................................................................. 8.6
WAIT ............................................................................................................................................. 8.7
D28009604 - 0600
III
OPERATOR MANUAL
PAGE
CHAPTER 9 - DISKETTE OR DISC SAVING OPERATIONS ............................... 9.1
9.1.
WHY YOU SHOULD USE A DIRECTORY..................................................................... 9.2
9.2
WHY YOU SHOULD SAVE PROGRAMS ..................................................................... 9.2
9.3
COMMANDS ASSOCIATED WITH COMPACT FLASH OR FLOPPY DISK DRIVE .... 9.3
FDIRECTORY ..............................................................................................................................
DEF D=... or CD ...........................................................................................................................
STORE, STOREP, STOREL, STORER, STORES .......................................................................
LOAD ............................................................................................................................................
FDIRECTORY/C ...........................................................................................................................
FDIRECTORY/D ...........................................................................................................................
FLIST ............................................................................................................................................
FCOPY .........................................................................................................................................
FDELETE .....................................................................................................................................
FRENAME ....................................................................................................................................
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11
9.12
9.13
CHAPTER 10 - CONTROL OF ROBOT CONFIGURATION .................................. 10.1
READY .........................................................................................................................................
ALIGN ...........................................................................................................................................
ABOVE - BELOW ..........................................................................................................................
RIGHTY - LEFTY ..........................................................................................................................
FLIP - NOFLIP ..............................................................................................................................
13.2
13.3
13.4
13.5
13.6
APPENDIX .............................................................................................................. A.1
A.1
SAFETY NOTICE.......................................................................................................... A.2
A.2.
A.2.1.
A.2.2.
A.2.3.
A.2.4
TRANSFORMATION ELEMENTS .................................................................................
X, Y, Z VALUES ...........................................................................................................
YAW (y) .......................................................................................................................
PITCH (p) ......................................................................................................................
ROLL (r)........................................................................................................................
A.3
LINE EDITOR ............................................................................................................... A.8
(.) EDIT .........................................................................................................................................
(?) E (EXIT) ...................................................................................................................................
(?) C (CHANGE) ...........................................................................................................................
(?) D (DELETE) ............................................................................................................................
(?) I (INSERT) ...............................................................................................................................
(?) L (LAST) ..................................................................................................................................
(?) S (SEARCH) ...........................................................................................................................
(?) P (PRINT) ................................................................................................................................
(?) R (REPLACE) .........................................................................................................................
(?) T (TEACH) ...............................................................................................................................
(?) TS (TEACH STRAIGHT) ..........................................................................................................
D28009604 - 0600
A.4
A.4
A.5
A.6
A.7
A.9
A.10
A.11
A.12
A.13
A.14
A.15
A.16
A.17
A.18
A.19
IV
OPERATOR MANUAL
CHAPTER 1
SAFETY
D28009604 - 0600
1.1
OPERATOR MANUAL
CHAPTER 1 - SAFETY
RULE No. 1
Check that no-one is within the robot work envelope when switching arm
power on. Always take tool offset into account.
the cell must be closed.
RULE No. 2
During resumption of cycle or after an operation in cell, always start up the
robot at slow speed. After complete execution of a cycle, you can always
increase the speed gradually until final required value is reached.
RULE No. 3
Each time that the robot is moved using the teach pendant, select a low
speed (speed potentiometer, SLOW key).
RULE No. 4
Before any maintenance on the arm or in the controller, switch off the power
to the arm then to the controller.
RULE No. 5
Controller door must be kept closed.
1.2
D28009604 - 0600
OPERATOR MANUAL
CHAPTER 2
ROBOT START-UP
D28009604 - 0600
2.1
OPERATOR MANUAL
Emergency
stop
Error
acknowledge
arm power-up
pushbutton
key switches
EDIT
CLR
ERR
DISP
Fault light
PROG
SET
CMD
WORLD
TOOL
power light
JOINT
FREE
DEV 2
USER
MAN
HALT
-- +
X
1
PANIC
Emergency stop
Y
2
RUN
HOLD
Safety switch
( " Dead Man " )
F1
J7-J12
F2
DEV
F3
COMP
PWR
REC
DONE
NO
YES
RX
4
7
SLOW
DIS
PWR
8
9
RY
5
4
5
6
RZ
6
1
2
3
T1
0
.
DEL
T2
Z
3
Arm power-up
Arm power-off
Auto mode is requested to execute the auto calibration at the startup.
In the case of startup with the switch on MANU position, it creates a V+ error
*robot interlocked* and the arm is not calibrated.
2.2
D28009604 - 0600
OPERATOR MANUAL
CHAPITRE 2 - ROBOT START-UP
2.1. INTRODUCTION
The robot can operate in two modes:
• Automatic mode:
used to execute the production cycle, cell closed, nobody inside; arm movements are controlled by a
program.
• Manual mode:
used to move the arm with the manual control pendant (slow speed); the operator can enter the cell holding
the manual control pendant.
2.2. CONTROL POWER-UP
• Check that the two key switches are set to
(automatic mode) and
(local mode).
• Set to 1 (ON) the general circuit breaker.
• Set to 1 (ON) display console (or start up PC for AdeptWindows PC interface).
Various messages will be displayed on the screen:
• Loading… which indicates that the system is loading its memory.
• The system version numbers.
• Auto calibration… which performs absolute calibration of the arm.
Throughout startup, the FAULT light is on.
Wait until “.” is displayed on the left of the screen indicating that controller startup is completed.
Automatic startup procedure:
In most cases, the application program is triggered automatically by an automatic startup procedure.
This procedure depends on the configuration of the cell (operator terminal or interface on PC).
2.3. ARM POWER-UP
2.3.1. AUTOMATIC MODE (
• On the controller, set key switch to
)
.
• On keyboard, type ENABLE POWER (or EN PO) or press the COMP/PWR key on the manual control
pendant.
The “Press HIGH POWER button to enable power” message is displayed on the screen.
• On the controller, press the green
If you have not pressed
repeated.
D28009604 - 0600
button (flashing) within 15 seconds. The green button stays on.
within 15 seconds, the pushbutton stops flashing and procedure must be
2.3
OPERATOR MANUAL
2.3.2. MANUAL MODE (
)
• On the controller, set key switch to
.
• Take hold of the manual control pendant, press and hold the safety switch ( " Dead man " ).
• Press the COMP/PWR key on the manual control.
The " Push, release, hold MCP enable switch " message is displayed on the screen.
• Within 10 seconds, release then repress and hold the safety switch.
The “Press HIGH POWER button to enable power” message is displayed on the screen.
• On the controller, press the green
If you have not pressed
button (flashing) within 15 seconds. The green button stays on.
within 15 seconds, the pushbutton stops flashing and procedure must be
repeated.
USE IN MANUAL MODE
When the safety switch (“Dead man”) is released, power to the arm is automatically
cut off.
To reactivate it, press and hold the safety switch, then press the COMP/PWR button
on the manual control pendant.
Exceeding the assigned power-up times may trigger an aural signal and an error message may flash on the
manual control pendant.
Before restarting the procedure, press the CLR ERR button. If required, do this several times until the light on
the key goes off.
2.4. CUTTING OFF POWER ON ARM
ROBOT's arm must be static and no robot programs must be in progress.
There are 5 possibilities:
1.
switching on DIS PWR button of the teach pendant.
2.
typing DISABLE POWER (DIS PO) on keyboard.
3.
switching on the " ermergency stop " push button of the controller or of the teach pendant.
4.
switching again on
5.
modifying the
button when the ARM POWER indicator light is on.
switch position.
Cutting off power on arm in manual mode triggers an error on the manual control pendant that must be
acknowledged (by pressing the CLR ERR key).
2.4
D28009604 - 0600
OPERATOR MANUAL
CHAPTER 3
TEACH PENDANT USE
D28009604 - 0600
3.1
OPERATOR MANUAL
CHAPTER 3 - TEACH PENDANT USE
Once the controller has been switched on, there are two ways to move the arm :
- via the teach pendant
- by running a program.
3.1. GENERAL
The controller allows the robot to be controlled from the optional teach pendant (also called manual control
pendant).
To use the pendant, place your left hand in the LH opening of the pendant by keeping the safety switch ( " Dead
man " ) pressed, and, using your left thumb, press the manual travel speed bars. Use your right hand for all the
other functions. The various groups of keys will be explained in this section.
EDIT
CLR
ERR
DISP
WORLD
USER
PROG
SET
CMD
-- +
TOOL
JOINT
FREE
MAN
HALT
PANIC
DEV 2
X
1
Y
2
RUN
HOLD
STEP
COMP
PWR
REC
DONE
DIS
NO
PWR
YES
RX
4
7
8
9
RY
5
F1
4
5
6
RZ
6
F2
1
2
3
T1
DEV
0
.
DEL
T2
SLOW
J7-J12
F3
F2
3.2
Z
3
D28009604 - 0600
OPERATOR MANUAL
3.2. PRESENTATION OF TEACH PENDANT KEYS
Liquid crystal
display (LCD)
User
keys
Predefinied
function
keys
User LED
EDIT
CLR
ERR
DISP
PROG
SET
CMD
WORLD
TOOL
JOINT
FREE
DEV 2
USER
Travel speed
bars
MAN
HALT
-- +
X
1
PANIC
Mode's indication
LEDs
Y
2
RUN
HOLD
SLOW
key
(slow)
DIS
PWR
STEP
COMP
PWR
Z
3
D28009604 - 0600
YES
RX
4
8
9
RY
5
F1
4
5
6
RZ
6
J7-J12
F2
F2
Programmables
function
keys
NO
7
Data
entry
keys
REC
DONE
1
2
3
T1
DEV
F3
0
.
DEL
Mode
selection
keys
T2
STEP
SLOW
Manual
control
keys
3.3
OPERATOR MANUAL
3.2.1. USER KEYS
The user keys without set names under the LCD allow you to make the choices offered by the predefined function
keys below or to choose an option in the menu displayed on the LCD by pressing the corresponding key during
the execution of the application program.
User
key
EDIT
CLR
ERR
DISP
PROG
SET
CMD
WORLD
TOOL
JOINT
FREE
DEV 2
USER
MAN
HALT
-- +
X
1
PANIC
Y
2
DIS
RUN
HOLD
STEP
PWR
COMP
PWR
REC
DONE
NO
YES
RX
4
7
8
9
RY
5
F1
4
5
6
RZ
6
J7-J12
F2
F2
1
2
3
T1
DEV
F3
0
.
DEL
STEP
T2
SLOW
3.4
Z
3
D28009604 - 0600
OPERATOR MANUAL
3.2.2. FUNCTION KEYS
The function keys allow you to start specific operations.
There are two types: predefined and programmable.
Predefined
function
keys
EDIT
CLR
ERR
DISP
PROG
SET
CMD
WORLD
TOOL
JOINT
FREE
DEV 2
USER
MAN
HALT
-- +
X
1
PANIC
Y
2
RUN
HOLD
DIS
STEP
PWR
COMP
PWR
REC
DONE
NO
YES
RX
4
7
8
9
RY
5
F1
4
5
6
RZ
6
J7-J12
F2
F2
1
2
3
T1
DEV
F3
0
.
DEL
STEP
T2
SLOW
Programmable
function
keys
Z
3
The pendant has five predefined function keys used in conjunction with the operating system. These keys are
described below.
EDIT
DISP
CLR
ERR
WORLD
PROG
SET
CMD
TOOL
JOINT
FREE
DEV 2
USER
D28009604 - 0600
3.5
OPERATOR MANUAL
EDIT function
The EDIT function key allows the location and real variables to be edited so that they can be modified, if applicable,
by using the numerical teach pendant keys.
SELECT DATA TO MODIFY
REAL
EDIT
LOC
DISP
CLR
ERR
WORLD
PROG
SET
CMD
TOOL
JOINT
FREE
DEV 2
USER
DISP function
The DISP function key is used to display on the teach pendant (from right to left in the figure below), the joint
values, the values according to the WORLD location, the status of the system, the binary I/O status or the last
error message.
JOINT
VALUES
EDIT
WORLD
LOCATION
DISP
STATUS
CLR
ERR
WORLD
BINARY
I /O
LAST
ERROR
CMD
PROG
SET
TOOL
JOINT
FREE
DEV 2
USER
CLR ERR function
Each time an error occurs, the pendant generates an audible warning, displays a flashing error message and
switches on the CLR ERR button LED. In manual mode, no other actions will be accessible while CLR ERR
button LED is on.
*PANIC BUTTON PRESSED*
* POWER DISABLED MANUAL/AUTO CHANGED *
EDIT
DISP
CLR
ERR
WORLD
PROG
SET
CMD
TOOL
JOINT
FREE
DEV 2
USER
Press the CLR ERR button to continue execution. The error message is deleted and the teach pendant returns
to the state it was in prior to the error.
3.6
D28009604 - 0600
OPERATOR MANUAL
CMD function
The CMD function key is used (from left to right in figure below) for automatic start, storing of complete memory
on disk (STORE ALL), or to activate the command programs CMD1 or CMD2) (loading, execution, saving).
AUTO
START
CALIB
EDIT
DISP
STORE
ALL
CMD1
CMD2
CMD
PROG
SET
CLR
ERR
WORLD
TOOL
JOINT
FREE
DEV 2
USER
PROG SET function
The PROG SET function key allows you to select a new program to be executed, set the number of start-up steps,
set the number of program cycles to be executed, adjust the monitor speed and (or) initialize/start the application
program resident in memory.
NEW
EDIT
1
STEP
1
CYCLE
50
SPEED
DISP
CLR
ERR
CMD
WORLD
TOOL
START
PROG
SET
JOINT
FREE
DEV 2
USER
F1, J7-J12/F2, DEV/F3 keys
The three free programmable function keys (F1, F2 and DEV/F3) can be used by any application program for
specific needs (these keys are also used to control the external joints).
F1
5
6
RZ
6
J7-J12
F2
F2
1
2
3
T1
DEV
F3
D28009604 - 0600
4
0
.
DEL
STEP
T2
3.7
OPERATOR MANUAL
3.2.3. DATA ENTRY KEYS
The data entry keys allow you to reply to messages displayed on the pendant LCD. These keys are: +/Yes, /No, Del (delete), the numerical keys 0 to 9 and a decimal point.
REC
DONE
NO
YES
RX
4
7
8
9
RY
5
F1
4
5
6
RZ
6
J7-J12
F2
F2
1
2
3
T1
DEV
F3
0
.
DEL
T2
STEP
SLOW
REC/DONE key
The REC/DONE key behaves in the same way as the terminal keyboard -ENTER- key.
When the LED of this key flashes and the data to be entered are keyed in, press the REC/DONE key to complete
data entry. This key is also used to teach locations.
REC
DONE
NO
YES
RX
4
7
8
9
RY
5
F1
4
5
6
RZ
6
J7-J12
F2
F2
1
2
3
T1
DEV
F3
0
.
DEL
STEP
T2
SLOW
3.8
D28009604 - 0600
OPERATOR MANUAL
3.2.4. MODE SELECTION KEYS
The mode selection keys are the only pendant keys allowing you to change the robot arm movement mode.
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
PANIC
X
1
MAN
HALT
Y
2
RUN
HOLD
DIS
STEP
PWR
COMP
PWR
Z
3
EMERGENCY STOP button
The EMERGENCY STOP button stops the robot by deactivating the arm power supply (which activates the
brakes) and stops the program by creating a system error. This key must be used in case of emergency only.
For easy identification, they are coloured red and yellow.
Regular use of this button (like all system emergency stops) will reduce the life of the motors.
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
PANIC
MAN
HALT
X
1
Y
2
RUN
HOLD
D28009604 - 0600
DIS
STEP
PWR
COMP
PWR
Z
3
3.9
OPERATOR MANUAL
RUN/HOLD key
The HOLD function of this key causes the immediate stop of the robot arm. The program sequence is interrupted
and the message " HOLD " is displayed on the visual display unit.
Then if RUN/HOLD is pressed again, the cycle will continue while the key is pressed (AUTO mode on control
panel).
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
PANIC
X
1
MAN
HALT
Y
2
RUN
HOLD
DIS
STEP
PWR
COMP
PWR
Z
3
DIS PWR key
Create a Disable Power as the monitor command.
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
PANIC
MAN
HALT
X
1
Y
2
RUN
HOLD
3.10
DIS
STEP
PWR
COMP
PWR
Z
3
D28009604 - 0600
OPERATOR MANUAL
COMP/PWR key
The PWR (POWER) function of this key is to authorize arm power-up (equivalent to ENABLE POWER).
The COMP (COMPUTER) function of this key is to authorize execution of programs.
When this button is pressed, the
15 seconds the system is desactived).
press button blinks and the system is waiting for an action on it (after
If the execution of a program is requested and the COMP/PWR key is inactive (MAN/HALT key activated),
the *COMP MODE DISABLED* message is displayed on the terminal screen and the program is stopped.
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
PANIC
X
1
MAN
HALT
Y
2
RUN
HOLD
DIS
STEP
PWR
COMP
PWR
Z
3
MAN/HALT key
The MAN/HALT function of this key causes the immediate stop of the robot arm. The execution of the program
is interrupted and the *COMP MODE DISABLED* message is displayed on the visual display unit.
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
PANIC
MAN
HALT
X
1
Y
2
RUN
HOLD
DIS
STEP
PWR
COMP
PWR
Z
3
The MAN function of this key is to enable selection of manual motion mode. In manual mode, all motion
instructions given via the system terminal keyboard have no effect on the robot arm (*COMP MODE DISABLED*
message).
The manual mode is accessible only from the computer mode (COMP) and when the arm is powered. The system
remains in manual mode until ARM POWER is deactivated or the COMP/PWR key pressed.
D28009604 - 0600
3.11
OPERATOR MANUAL
The system is in WORLD mode when manual mode is pressed for the first time after switching on the system.
Once in manual mode, press the MAN/HALT key successively to select required mode (WORLD — & gt; TOOL —
& gt; JOINT — & gt; FREE and return to WORLD). If you quit then return to manual mode (without switching off the
controller), last activated status is automatically chosen.
NOTE : To comply with safety standards, the FREE MODE is no longer operative.
Use of all thes motion modes is described in paragraph 3.3
3.2.5. MANUAL CONTROL KEYS
The keys on the RH side are the manual control keys. Once in manual mode, these keys allow you to select
the direction of each joint for manual motion: X/1, Y/2, Z/3, RX/4, RY/5, RZ/6. These keys are described later
in the robot motion modes.
Speed bars
The speed bars allow you to select the speed and manual motion direction. Robot motion is started by pressing
the speed bars with your left thumb. You can select a fast or slow speed in the two motion directions (+/-).
Fast
Move direction
WORLD
TOOL
JOINT
FREE
DEV 2
USER
-- +
X
1
MAN
HALT
PANIC
Y
2
RUN
HOLD
Slow
DIS
PWR
STEP
COMP
PWR
Z
3
Fast
SLOW key
The SLOW key allows you to select between two different speed bar ranges. You can select a normal or very
slow travel speed.
3.12
REC
DONE
NO
YES
RX
4
7
SLOW
8
9
RY
5
D28009604 - 0600
OPERATOR MANUAL
3.3. ROBOT MANUAL MOTION MODES
3.3.1. JOINT MODE
Joint motion is made around the axes of the various joints 1, 2, 3, etc. Rotational direction is given by the +
or - speed bar keys.
Motion around
Joint 3
3.3.2. FREE MODE
For safety reasons, the FREE key is no longer operational. To free the joints, use the brake release selector
located on the rear of the robot arm.
D28009604 - 0600
3.13
OPERATOR MANUAL
3.3.3. BRAKE RELEASE SYSTEM
The controller is power on. Put the button of joints selection (1) on the joint concerned. Make sure that the arm
and the load are well fixed in relation with this joint. Pressing the brake release push button (2), the selected joint
is totally free. Take care to the fall of some axes under the gravity action. As soon as the button is released, the
motor is braked again and the joint blocked.
The arm must then be supported manually.
RX
Motion of joint 3
by User
90
R
1
1
2
Note: • Take care of joint 4 and 6 over rotation
• Joint 5 is not reversible
3.14
D28009604 - 0600
OPERATOR MANUAL
3.3.4. COORDINATES SYSTEMS
3.3.4.1 PRELIMINARY
- To locate a point in space (3D), we use a coordinate system.
- The coordinate system is represented by origin and 3 axis called X Y Z all perpendicular " in between " .
- The orientation of these 3 axis follows the " rule of the 3 fingers " of the RIGHT HAND.
Where
X: Thumb
X: Index finger
Y: Index finger
OR
Y: Middle finger
Z: Middle finger
Z: Thumb
!!! Right hand !!!
Example :
!!! Right hand !!!
Z
Y
loc_a
5
2
loc_b
1
-2
0
4
X
REF 1
In the coordinate system REF 1:
- Location loc_a has for coordinates (4, 2, 5)
- Location loc_b has for coordinates (-2, 1, 0)
D28009604 - 0600
3.15
OPERATOR MANUAL
Translation
A move in the direction of axis X will be called X+ and in the opposite direction of axis will be called X -. Same
for Y (Y+, Y-) and Z (Z +, Z-).
Rotation
RX represents a rotation around axis X.
To determine the sign of the rotation, when you do the move of rotation, if you screw on in the direction of the
axis X, you are doing RX+, else RX- (rule of the SCREW or CORK-SCREW). Same for Y (Y+, Y-) and Z (Z+ , Z).
X
SCREW ON = RX+
X
UNSCREW = RX-
3.16
D28009604 - 0600
OPERATOR MANUAL
3.3.4.2. COORDINATE SYSTEM IN RX ROBOTS
WORLD Coordinate system (WORLD mode on the teach Pendant)
All translation motions are parallel to the WORLD coordinates. The RX, RY and RZ rotations are made with
respect to the WORLD coordinates. The motions are made by pressing the + or - speed bar keys.
Z+
X-
Z+
BASE Cartesian
Coordinate System
(WORLD fixed)
Y+
Y+
X+
X+
Z-
TOOL Coordinate System (TOOL MODE on the teach Pendant)
All motions are parallel to the TOOL coordinates. Joint X is attached by the groove in tool attachment clamp.
The RX, RY and RZ rotations are also made with respect to the TOOL coordinates. The motions are made by
the + or - speed bar keys.
ZYX+
X
Y
X-
Z
Y+
Z+
D28009604 - 0600
3.17
OPERATOR MANUAL
3.3.5. HOW TO VISUALIZE THE CURRENT POSITION OF THE ARM
X
Z+
Y
Y+
X+
Z
A point located in space will always be represented by 6 parameters, X, Y, Z, y, p, r.
- Value of X, Y, Z will be expressed in mm and represents the distance between the tool flange center and the
origin of the base Cartesian coordinates. These values represent the robot position.
- Value y, p, r will be expressed in degrees and represents the orientation of the local tool coordinates.
See definitions in Appendix (A2).
3.18
D28009604 - 0600
OPERATOR MANUAL
WHERE
EFFECT
Gives robot position and status of the hand at time when this command is declared.
SYNTAX
WHERE value
If " value " given is none zero, the values are permanently displayed.
Press ^C (Ctrl C) to stop it.
NOTE
Points are displayed in Cartesian and revolute values.
EXAMPLE
WHERE
Position %
X
Y
base ref. in mm
45.53
35.28
Angular position
Jt1
in degrees
D28009604 - 0600
Jt2
Z
y
p
r
-28.42
90
-85.32
17.427
Jt3
Jt4
Jt5
Jt6
Hand
6.438
5.87
1.000
-3.47 -85.983 84.728 -69.46
3.19
OPERATOR MANUAL
CHAPTER 4
EXECUTION AND CONTROL OF A PROGRAM
D28009604 - 0600
4.1
OPERATOR MANUAL
CHAPTER 4 - EXECUTION AND CONTROL OF A PROGRAM
4.1. HOW TO TRIGGER EXECUTION OF A PROGRAM
We will consider that the program was produced by an integrator or an in-house programmer, but, prior to
this, we will give the writing conventions that we will use throughout this document.
For reasons of simplicity, we will use BOLD UPPER CASE characters to describe the commands or instructions.
Mandatory parameters will be given in bold lower-case characters.
Optional parameters will be given in ordinary lower case characters.
Example:
EXECUTE prog name, number of loops, step
EXECUTE PROG, 3, 2
means that program name PROG is mandatory, but 3 and 2 are optional.
NOTE
Certain instructions may be entered with a minimum syntax.
For example, EXECUTE -- & gt; EX, EDIT -- & gt; ED
However, we request that this is only used after a certain amount of experience has been gained
in programming to avoid all ambiguities and interpretation errors.
To start a program, the following command is used:
EXECUTE prog name, number of loops, 1st loop step
Example: EX TOTO, 3, 4
We wish to execute the program TOTO, 3 times successively, (a negative number would lead to the execution
of an unlimited number of loops) from program step No. 4, for execution of 1st loop only.
Example : EX TOTO, 1, 2
We require execution of TOTO program once only from step No. 2 (for first loop).
Example : EX TOTO, 1 or EX TOTO
Execution of program TOTO once only from step No. 1.
REMARK
If execution has already been performed once and you wish to execute the same program,
simply enter EX.
4.2
D28009604 - 0600
OPERATOR MANUAL
The name of a program must always:
Start by a letter and never a number.
Include a maximum number of 15 characters, alphabetical (a - z), digits (0 - 9), underlined characters (-), and
possibly points (.), and be entered as upper case or lower case characters. V+ language always displays program
names in lower case letters.
No other characters or spaces are permitted.
Example :
However,
Correct program name:
TOTO.PROG
TOTO.12
TOTO_Num1
1TOTO or TOTO+ is incorrect
PI is incorrect (it is a key word).
The rules above are also valid for the names of the locations and real
variables etc.
Also, there is a risk that certain names may be confused with certain reserved
words which are given in the list that you can consult at the end of this manual.
Before triggering a program for the first time, comply with the following
conditions :
- Prohibit all access to the area where the robot is working.
- Always do a no-load simulation standing by to intervene on the emergency
stop pushbutton.
- Perform the first cycles at slow speed (SP 2 to SP 15 depending on
application). You will always have the time to increase speed gradually.
- Save your application program on disk or floppy.
D28009604 - 0600
4.3
OPERATOR MANUAL
We can mention here that there are two other system prompts; these are [*] and [?].
The table below summarizes the three base indications.
Indication given by
robot
Mode
Action
.
Command
Only commands of DIR, FDIR, FORMAT type
etc. can be given to the robot.
*
Execution
Commands of AB, PANIC type etc. can
be given.
?
Edit
Only editor instructions or commands can
be given (editor EDIT).
Remark: Command mode includes a buffer of 15 commands which can be selected using the
keys on the keyboard.
and
It is possible to move from one MODE to another as follows :
COMMAND MODE
(Mode by default)
Used by ROBOT
(.)
Press F4 (for SEE)
EX name.prog
Stop prog
EXECUTION MODE
(*)
SEE name.prog
EDITOR MODE
4.4
D28009604 - 0600
OPERATOR MANUAL
4.2. HOW TO ADJUST ROBOT SPEED
To specify on arm motion speed, you must use the SPEED command.
SYNTAX
.SPEED value
" value " represents the robot maximum speed percentage
(value must be between 1 and 100)
This speed adjustment is called “monitor speed”
EXAMPLE
.SPEED 50 or SP 50
.EXECUTE TOTO
Starts the TOTO program with arm motions limited to 50% of maximum speed.
NOTE
There is no need to stop execution of program in progress to modify arm motion speed.
Example
.SPEED 10
.EXECUTE TOTO
SPEED 50
command mode
execution mode
Never specify a speed greater than the one recommended by the application.
NOTE
For certain applications (insertion, assembly, etc.), motions can be made at low speed in
spite of a high monitor speed setting. Indeed, by program, a lower speed can be specified.
D28009604 - 0600
4.5
OPERATOR MANUAL
4.3. HOW TO EXECUTE A PROGRAM STEP BY STEP
By the following command:
XSTEP prog name, number of loops, Step
The description of the parameters and the action of this command are the same as the EXECUTE command that
we discussed previously except that only one instruction is executed at the time.
To execute the next step, simply type X then hit the RETURN key.
a
A
MOVE a
X R
b
B
MOVE b
X R
c
C
MOVE c
X R
d
D
MOVE d
PS : ® corresponds to hitting the - RETURN - key on the programming keyboard (or - ENTER - depending
on type of keyboard).
4.6
D28009604 - 0600
OPERATOR MANUAL
4.4. HOW TO FOLLOW THE EXECUTION OF A PROGRAM
In command mode (.), type the following command:
ENABLE TRACE (EN TRACE)
The various instructions will be displayed and scrolled on the screen as execution progresses. This allows
the running of the program to be followed.
To return to normal mode, use the following command:
DISABLE TRACE (DIS TRACE)
MOVE A
MOVE B
Etc...
D28009604 - 0600
4.7
OPERATOR MANUAL
4.5 HOW TO EXECUTE A SINGLE INSTRUCTION
EFFECT
All the program instructions that we will examine can be executed in command mode
if prefix " DO " is added.
SYNTAX
DO instruction
NOTE
If a DO instruction is given alone when a DO instruction has already been executed,
the new DO will be equivalent to the previous DO.
EXAMPLE
MOVE a can be executed in command mode, if you write:
DO MOVE a
Otherwise " illegal monitor command " will be displayed.
EXAMPLE
DO b = (a * 4) / 7 + 4 - 2 ((3 + 8 - 2) / 4) - 3 (Return)
The result calculated immediately when - Return - key is pressed will be assigned to
variable b.
If DO (Return) is typed now, the machine will repeat all the calculations and assign
them to b thus avoiding retyping of the complete formula.
4.8
D28009604 - 0600
OPERATOR MANUAL
4.6. HOW TO STOP A PROGRAM DURING EXECUTION
- Press the RUN/HOLD pushbutton on the teach pendant if you wish to immediatly stop the arm and the
program,
or
- Enter ABORT via keyboard if stop is to be made at end of execution of instruction in progress,
or
- By typing PANIC via keyboard if immediate stop is required.
This command has the same function as pressing the MAN/HALT pushbutton.
Under internal software control, it causes immediate stop in the robot motion and stops the execution program
from the screen/keyboard.
ABORT
ax
b
STOP robot
motion
PANIC or HOLD
b
ax
Immediate STOP
of robot motion from
the keyboard
D28009604 - 0600
4.9
OPERATOR MANUAL
4.7. HOW TO RESTART A PROGRAM
Two cases can occur.
4.7.1. STOP BY ABORT
Either RETRY or PROCEED can be used.
ABORT
a
b
RET
PRO
d
c
4.7.2. STOP BY RUN/HOLD OR MAN/HALT ON TEACH PENDANT
RUN/HOLD
a
RET
b
PRO
d
4.10
c
D28009604 - 0600
OPERATOR MANUAL
4.8. MULTITASKS PROGRAMS
The V+ system is able to execute several tasks at the same time.
7 tasks (0 to 6) are available in the standard version and 28 tasks (0 to 27) in the V+ extension version.
The syntax of the declaration in multitasks functionning is the following:
By default num_task=0
EXECUTE
num_task
ABORT
Program name, cycles, step
num_task
PROCEED num_task
RETRY
num_task
Example :
• EXECUTE
traject
• EXECUTE 1
dialog
• EXECUTE 4
io_scrut
Task 0
Task 1
traject is running
dialog is running
D28009604 - 0600
Task 4
…
io_scrut is running
4.11
OPERATOR MANUAL
STATUS
EFFECT
Gives the internal status of the robot, that is:
- The program being executed,
- Program step,
- Number of cycles performed, task status, etc...
SYNTAX
STATUS value
Where value can take value -1, 0 (or positive number)
Value at -1 :
Status of all active tasks are displayed continually until CTRL+C is pressed.
Value at 0 (or positive) :
Indications are shown once only.
NOTE
If value is omitted, indications are shown once only.
EXAMPLE
STATUS
STATUS
4.12
D28009604 - 0600
OPERATOR MANUAL
KILL
TYPE
Instruction or monitor command
EFFECT
Clears the program execution stack and detaches any I/O devices that are attached.
SYNTAX
KILL task.num
PARAMETER
task.num
Integer specifying system task (0, 1, 2, etc.) to be activated. Default value: 0.
REMARK
The KILL command is only valid when the specified program is not being executed
(program terminated or aborted by ABORT task.num).
D28009604 - 0600
4.13
OPERATOR MANUAL
CHAPTER 5
EDITOR
D28009604 - 0600
5.1
OPERATOR MANUAL
CHAPTER 5 - EDITOR
5.1. PRELIMINARY
Before the editor of a program, a great time in developpement of an application is dedicated to the analysis of it.
START
Definition of CLEAR AND
ACCURATE specifications
FLOWCHART (desirable)
Edition of a program using a line or
page editor
EDIT or SEE
Correction of errors with help
from
DEBUGGERS functions
Triggering of program execution
N
More
specifications
?
Y
END
The analysis will permit to write a well structured program, easier to read and understand and easier to maintain.
5.2
D28009604 - 0600
OPERATOR MANUAL
5.2. HOW TO EDIT A PROGRAM
An editor allows you to : - Modify a program.
- Insert new instructions.
- Delete instructions.
- Search for certain instructions, etc..
There are 2 editors :
- A line editor: EDIT
- A full-page editor: SEE
5.2.1. LINE EDITOR: EDIT
This editor is dealt with in the appendix for persons well acquainted with VAL language.
The LINE editor (EDIT prog.name) is less powerful than the PAGE editor (SEE prog.name), but it is the only editor
which allows the robot to be placed in TEACH MODE.
The teach mode allows you to easily teach the robot a trajectory to be followed in its work envelope. To change
to teach mode, proceed as follows:
Enter
EDIT prog.name
When in EDITOR MODE (?) type T name.location ®
(or TS name.location ® to obtain the segments of the straight lines).
Record the instructions and the associated positions which make up the trajectory that the robot must reproduce
by pressing the RECORD pushbutton on the teach pendant (REC/DONE).
To quit the teach mode, press - RETURN - and quit line editor by typing E ®
D28009604 - 0600
5.3
OPERATOR MANUAL
5.2.2. FULL-PAGE EDITOR: SEE
This editor has higher performances.
We shall now look at the main PAGE editor commands.
If you are in command mode (.), go to editing mode by entering:
SEE prog.name
If prog.name is not resident in system memory, you are asked to create it on the bottom of the screen.
«Prog.name» doesn’t exist. Create it ? Y/N
If you reply «Y», the program will be created and the SEE editor cursor will move towards the top of the editing
window automatically entering the line specifying the program name.
. PROGRAM Prog.name ( )
and program creation can start.
If you reply «N» or press the - RETURN - key, you will return to the system and the named program will not be
created.
If «prog.name» is omitted, last edited or executed program is recalled.
ADVICE:
Try to avoid lines exceeding the editing window's width (80 columns), since the whole line will not be visible, and
program flow and readability may be difficult to track.
5.4
D28009604 - 0600
OPERATOR MANUAL
The following page editing window will be displayed:
Cursor
MONITOR
; This is a comment
; You can write all your comments
; after a semi-colomn.
|
|
|
|
|
|
|
|
|
D28009604 - 0600
list of instructions
5.5
OPERATOR MANUAL
The SEE editor has three main editing modes : COMMAND, INSERT and REPLACE.
The COMMAND mode is the mode initially taken by the editor. In this mode, new program code is not
entered, only special editor commands are active.
The INSERT mode allows new characters to be inserted into the program at the position where cursor is
placed. The cursor and existing codes move to the right of the screen.
The REPLACE mode allows existing text to be replaced by new text. The character entered replaces the
one located above the cursor, the cursor moves to the right of the screen.
CHANGE OF MODE
COMMAND
Mode
I
Key
INSERT
Mode
5.6
ESC
Key
ESC
Key
R
Key
REPLACE
Mode
D28009604 - 0600
OPERATOR MANUAL
Note Other LINE EDITOR commands exist, they are given at the end of this manual (appendix).
5.3. EDITING FUNCTION KEYS OF THE SEE EDITOR
5.3.1. CURSOR CONTROL
Num
Look
Caps
Look
This key must be in
off mode
Scroll
Look
Pg.Up.
Num
Look
/
Pg.Dn.
7
8
9
4
5
6
1
Delete
End
2
_
*
3
Home
Insert
+
Enter
0
Deletes a character to right of
cursor in insert mode.
Deletes a character at cursor
location in all modes.
Inserts a line on cursor
line in insert mode.
Inserts a line on cursor
line in insert mode.
Insert
Delete
Pg.Up.
Home
End
Num
Look
/
*
Pg.Dn.
7
8
4
5
6
2
_
9
1
Black Space
3
+
Enter
Shift
Enter
Curseur
Ball
Ctrl
0
Del
Deletes character to left of cursor in
insert mode.
D28009604 - 0600
5.7
OPERATOR MANUAL
5.3.2. EDIT MULTIPLE PROGRAMS
& lt; shift-F3 & gt;
Search in editor
program list
F1
F2
F3
F4
& lt; F2 & gt;
Creates a new program or allows
you to enter the name of an existing
program to be edited.
& lt; F3 & gt;
To create or edit the
program called when
cursor is on CALL instruction.
& lt; shift-F9 & gt;
Cuts line where cursor
is located
& lt; shift-F10 & gt;
Pastes buffer contents at cursor
location
F9
& lt; F9 & gt;
Copies line where cursor is
located
5.8
F10
F11
F12
& lt; F10 & gt;
Pastes last line entered in buffer at
cursor location
D28009604 - 0600
OPERATOR MANUAL
5.3.3. SEARCH, FIND AND REPLACE
& lt; F8 & gt;
Repeats
or
Repeats
Search Replace
& lt; F7 & gt;
Starts
Search Find
F5
F6
F7
F8
& lt; F6 & gt;
Cancels last
Search Replace
& lt; shift-F7 & gt;
Starts
Search Replace
5.3.4. TO QUIT EDITOR
Simply press key F4.
Caution: Make sure that buffer (copy, cut, paste) is empty.
F4
F4
For the robots equiped by a WYSE terminal, press & lt; CTRL-E & gt; , it means press simultaneously " CTRL "
and on key E.
5.3.5. EDITOR ENVIRONMENT PROBLEMS
Key to activate or
deactivate screen scroll
Print
Scrn
Scroll
Look
Pause
If this task has already been used, then display is locked and a red band is displayed on top of the screen.
D28009604 - 0600
5.9
OPERATOR MANUAL
Attempt to exit editor when buffer is not empty.
When you have pressed function key F4, the following will be displayed :
To solve the problem, proceed as follows:
1. Enter number of attached lines
2. Press
Ctrl
+
K
Attempt to change program_name with editor
Function key to solve problem
5.10
D28009604 - 0600
OPERATOR MANUAL
CHAPTER 6
DECLARATION OF VARIABLES AND
OPERATIONS ON MEMORY
D28009604 - 0600
6.1
OPERATOR MANUAL
CHAPTER 6 - DECLARATION OF VARIABLES AND MEMORY OPERATIONS
All programs loaded using the editor are stored by the robot controller in the RAM-CMOS memory.
The same applies to the real variables, locations and string variables associated with the user programs
(still called application programs).
Before triggering the program, you must define the various location variables which make up the program
and initialize the real, string variables, etc. that you will use.
SYSTEM and V+
Language AREA
Protected area inaccessible
to the user
Program area
(Instructions)
Locations area
(geographical locations of the various robots' positions)
(Numeric value single accuracy)
Real Variable Area
(Numeric value double accuracy)
String variable area
(Alphanumeric messages)
Caution: names of LOCATION variables must be different from names of real variables.
Example:
MOVE a
a = 3.14
6.2
use variable b = 3.14
D28009604 - 0600
OPERATOR MANUAL
6.1 REAL VARIABLES
This consists of assigning an integer (eg: 123) or a real value (eg: 1.238) to a name.
V+ considers that integrals are specific real value cases. INTEGERS must be between -16 777 216 and
16 777 215.
Example :
DO a = 12 (Monitor command)
a = 12 means that 12 has been assigned to variable named a (Program instructions).
It also means that 12 is the content of variable a.
In the V+ case, the value must mandatorily be between:
+/-3.4 * 1038 or under the " scientific notation " +/-3.4E + 38
The real values are stored with an accuracy of around 7 digits after the decimal point, however, rounding off
generated by the computer must be taken into account.
Remember that, for example, 2.1 * 106 corresponds to the number 2 100 000 and 2.1 * 10-6 is equal to 0.0000021.
This type of notation is called the scientific notation.
What mathematical operations can be performed on real variables?
OPERATORS
Addition
Subtraction
Multiplication
Division
Modulus
SYMBOLS
+
*
/
MOD
EXAMPLES
x=3+2
x = (3 + 2) - 1
x =((3 + 2) - 1) 4
*
x = ((3 + 2) - 1) / 5
x = 39.3 MOD 7.4 - & gt; x = 2.3
Other operators and functions are available but do not fall within the scope of this course and will be examined
in the level 2 V+ course.
A numerical expression consists of numerical functions, constants and variables.
EG: x = (( 3 + 2) - j) * 3.14
When forming numerical expressions you must bear in mind that certain operations are performed before others
and especially that expressions between the most nested parentheses are always performed first.
EG: a = a + 1 is possible in computer language. It takes the value in memory, perform the calculation and store
the result at the same place. The previous value is lost !
D28009604 - 0600
6.3
OPERATOR MANUAL
6.2 STRING VARIABLES
A string of alphanumerical characters is assigned to a variable preceded by a $ (dollar).
SYNTAX
$name = " alphanumerical characters "
EXAMPLE
$reply = " reply by Yes or No "
NOTE
The name of the variable following the " $ " must not have more than 15 characters
(other characters will be truncated without warning).
Each variable name must start by a letter and can contain only letters, numbers,
points and underlined characters.
Characters can be entered in upper case and/or lower case, the system will display
and consider them as lower case characters.
Avoid using names belonging to the list of keywords as variable names (see appendix
at the end of the document).
The content of a character string must not exceed 126 characters and must not
contain « characters (quotes to avoid confusion with delimiters).
WHAT OPERATIONS CAN BE PERFORMED ON STRING VARIABLES ?
Strings can be concatenated.
EXAMPLE
6.4
$Total.1_compt = " All " + " Is " + " Well " ...» will be equivalent to:
$Total.1_compt = " All is well... "
D28009604 - 0600
OPERATOR MANUAL
6.3. LOCATION VARIABLES
6.3.1. CARTESIAN LOCATIONS / PRECISIONS LOCATIONS
A precision point is a location whose coordinates are not expressed in Cartesian coordinates (in mm with
respect to the X, Y, Z axes, etc.) but in degrees with respect to an absolute position specific to each joint.
It is recognized or declared as a precision point when # is added in front of the location name.
Example :
#a and a are two separate locations.
One is defined in angular coordinates (#a).
The other is defined in Cartesian transform coordinates (a).
#a
JT1
JT2
JT3
JT4
JT5
JT6
18°
-123°
+14°
90°
-90°
0°
a
X
Y
Z
y
p
r
120 mm
12 mm
5 mm
90°
-90°
0°
The advantages of precision points are :
Precision points describes the configuration of the arm.
Precision points prevent axis alignment problems on 6-axis robots (singularity).
The disadvantages of precision points are:
No correlation with the metric system as dimensions are not expressed in mm.
6.3.2. DEFINE A LOCATION IN MONITOR COMMAND MODE
For this, use the POINT variable.name command
Example:
POINT a (Return)
X/JT1
0
Y/JT2
0
Z/JT3
0
y/JT4
0
p/JT5
0
r/JT6
0
p/JT5
0
r/JT6
0
CHANGE ? 10,30, - 15,18 (Return)
X/JT1
10
Y/JT2
30
Z/JT3
-15
y/JT4
18
CHANGE ?(Return)
You have assigned dimensions X, Y, Z, etc. to a location named a.
This instruction is only active in command mode.
This instruction is also available for precision locations.
Example: Definition of the TOOL transformation.
D28009604 - 0600
6.5
OPERATOR MANUAL
6.3.3. HOW TO MOVE THE TOOL REFERENCE SYSTEM
Why move the tool frame to the tool extremity ?
It is always good practice, during an industrial application, to position the tool coordinates not at the centre of
the tool flange (default setting), but to the end of the tooling:
- It makes the teaching of locations easier: minimize the manual motion operations;
- It allows to control the position and the speed of trajectory at the tool extremity;
- When using a cutting tool, it's easier to correct its geometrical characteristics than to teach again all
locations of the application.
If the geometrical and dimensional characteristics of the tool to be fitted to the end of the wrist are known, it will
be easy to move the tool coordinates with the following instruction...
6.6
D28009604 - 0600
OPERATOR MANUAL
TOOL
EFFECT
Moves the tool coordinates from the tool flange center to the end of the tooling.
SYNTAX
TOOL offset
TOOL is one of the rare instructions which can be used in program mode and command
mode.
This instruction is essential to control the actual extemity of the effector.
NOTE
To verify the accuracy of your tool transformation, use manually the Rotations RX, RY, RZ
in tool mode of the teach Pendant.
CAUTION
TOOL NULL cancels previously defined transformation, a NULL transformation
displays the following values
X
0
EXAMPLE
Y
0
Z
0
y
0
p
0
r
0
.POINT offset
(Introduce the transformation values)
offset
X
0
Y
0
Z
0
y
0
p
0
r
0
Z
100
y
0
p
0
r
0
CHANGE ? 0, 0, 100
X
0
Y
0
.TOOL offset
TO
OL
NU
LL
These 2 commands the tool coordinate system will place at 100 mm from the robot flange.
LISTL TOOL gives the displacement values of the current TOOL transformation.
Z
0m
{
10
TO
OL
off
se
t
100 mm
X
X
m
Z
D28009604 - 0600
6.7
OPERATOR MANUAL
6.3.4. HOW TO DEFINE A LOCATION BY TEACHING
Move the robot to the required position and enter via keyboard :
HERE a (Return)
X/JT1
120
Y/JT2
12
Z/JT3
-80
y/JT4
85
p/JT5
-40
r/JT6
0
CHANGE ? (Return)
When the RETURN key is pressed, the current robot arm position coordinates are assigned to location a.
This command is also available for precision locations: HERE #start
Unlike POINT, the HERE instruction is active both in command and program modes.
6.8
D28009604 - 0600
OPERATOR MANUAL
6.4. INDEXED VARIABLES:ARRAYS
Names of real variables or locations or strings can accept square brackets to indicate that they are
dimensioned variables (still called indexed variables). Dimensioned variables can be of orderes 1, 2 or 3.
Example of 2 dimensions array:
Index j
0
5
1
Index i è
0
i=3
j=0
1
}
2
3
4
5
6
7
…
array [i, j] = 5
EXAMPLE
b [1]=56.89
EXAMPLE
HERE c [1,4,7]
EXAMPLE
$a [1,6]= " I’ve understood... "
NOTE
Location, real and especially string indexed variables take up a lot of memory space.
They must only be used when necessary.
These variables are very useful for defining tables of numbers or positions.
D28009604 - 0600
6.9
OPERATOR MANUAL
C3
,1,
C
1
C3
,2,
1
C
2,1
1,
3,3
,1
C
C
C
2,
C
2,
1
C
1,
2,
2,
3,
2
3,
2
1
C
1,
,1
3,
2,3
,1
C
1,
3,
2
1
C
1,
3,
1
We can see that :
The first index between square brackets represents position in height.
The second index represents the width.
The third index represents the depth.
This makes it very easy to locate a packet on a pallet.
Also, a variable or a mathematical expression can be used for the index instead of a numerical value which
can sometimes make the program easier to write.
6.10
D28009604 - 0600
OPERATOR MANUAL
TEACH
TYPE
Monitor Command
EFFECT
Very useful and fast for teaching a lot of locations along a trajectory
SYNTAX
TEACH loc.name[index]
NOTE
index can take any positive integer value
EXAMPLE
TEACH traj[ ]
(RETURN)
traj [0]
traj [4]
traj [10]
The REC/DONE key is blinking on the teach Pendant :
Each time you press the REC/DONE key, the system memorises the location. The index is
automatically increased at each memorization.
X/J1
Y/J2
Z/J3
y/J4
p/J5
r/J6
traj[0]
_
_
_
_
_
_
traj[1]
_
_
_
_
_
_
traj[2]
_
_
_
_
_
_
To exit from teaching, just press ENTER key on the keyboard.
D28009604 - 0600
6.11
OPERATOR MANUAL
6.5. MEMORY OPERATIONS
The following monitor commands will be very useful to manage the system and debug programs.
6.12
D28009604 - 0600
OPERATOR MANUAL
DIR
TYPE
Monitor Command
EFFECT
Display program titles
SYNTAX
DIR
EXAMPLE
DIR
The following will be displayed on the screen:
.PROGRAM a.palet( )
.PROGRAM dialog( )
.PROGRAM io_scrut( )
These are the titles of the various programs and not the contents.
.DIR
TOTO
a.palet( )
dialog( )
TITI
io_scrut( )
TUTU
D28009604 - 0600
6.13
OPERATOR MANUAL
LIST
TYPE
Monitor Command
EFFECT
Display memory contents
This can only be done in command mode (.)
SYNTAX
LISTP to display program contents.
EXAMPLE
LISTP prog3, paint
will display on screen:
.PROGRAM prog3()
1
MOVE a
2
MOVE b
.END
.PROGRAM painting()
1
MOVE k
2
MOVE g
.END
SYNTAX
LISTL to obtain a display of various location coordinates.
EXAMPLE
LISTL #a,b,c, etc..
SYNTAX
LISTR to obtain content of real variables.
EXAMPLE
LISTR x,y,z, etc..
SYNTAX
LISTS to display string variables.
EXAMPLE
LISTS $name, $toto
LISTP TITI
prog3
painting
.Program TITI
a
MOVE A
b
MOVE B
.END
6.14
D28009604 - 0600
OPERATOR MANUAL
NOTE: TERMINAL CONTROL CHARACTERS
(Screen-Keyboard)
These control characters are operative when the CONTROL key and the corresponding alphanumeric key
are pressed. They facilitate reading of programs on screen.
EXAMPLE
For ^C, simply press the " CTRL " key and the C key.
- ^C
Stops execution of DIRECTORY, LISTP, STORE instructions, etc., but not the
execution of the program in progress.
- ^S
Stops scrolling of a program on display.
}
or
SCROLL lock key
- ^Q
Restarts scrolling interrupted by ^S.
- ^W
Slows down scrolling to make contents easier to read.
A second ^W will return you to previous state.
NOTE
The codes above are not active on all terminals.
D28009604 - 0600
6.15
OPERATOR MANUAL
COPY
TYPE
Monitor Command
EFFECT
Copy programs
SYNTAX
COPY new prog name = old prog name
EXAMPLE
COPY TOTO = TUTU
You will obtain a copy of the TUTU program called TOTO.
Mémoire Centrale
Primary storage
TUTU Program
TOTO Program
(The TUTU TUTU existe toujours)
(Le programme program still exists)
6.16
D28009604 - 0600
OPERATOR MANUAL
RENAME
TYPE
Monitor Command
EFFECT
Rename programs, locations, real variables, etc
SYNTAX
RENAME new prog name = old prog name
EXAMPLE
RENAME TOTO = TUTU
After this instruction has been executed, TUTU PROG is called TOTO.
Mémoire Centrale
Primary storage
TUTU program
TOTO program
(Le programme TUTU n'existe plus)
(TUTU program no longer exists)
D28009604 - 0600
6.17
OPERATOR MANUAL
DELETE
TYPE
Monitor Command
EFFECT
Delete programs, locations, real, variables, etc
SYNTAX
DELETE prog 1 [,..., prog n] for programs, locations, associated variables.
EXAMPLE
DELETE prog1,TITI, etc.
SYNTAX
DELETEP prog 1 [,..., prog n] for programs,
EXAMPLE
DELETEP TOTO will delete TOTO.PG
SYNTAX
DELETEL locations [,...locations] for locations.
EXAMPLE
DELETEL A,#P1, B6
Deletes location A, #P1 and B6.
SYNTAX
DELETER real variable [,..., real variable] for real variables.
EXAMPLE
DELETER C,D,A[1].
If we had simply written A [ ], all A[1], A[2],..., A[n] dimensioned variables would have
been deleted.
SYNTAX
DELETES string 1,[,...,] for strings.
Mémoire Centrale
EXAMPLE
DELETE $A,$YU
Primary storage
Prog 1 program
DELETEP Prog1,TITI
DELETEP Prog1, TITI
TITI program
6.18
D28009604 - 0600
OPERATOR MANUAL
ZERO
TYPE
Monitor Command
EFFECT
Dumps total memory contents and external inputs/outputs.
SYNTAX
ZERO
The machine will reply : ARE YOU SURE (Y,N) ?
NOTE
ZERO obviously cannot be incorporated into an Autostart program.
V+
x x x x . PG
PROGRAMS AREA
x x x x . LC
POINTS AREA
x x x x . RV
REALS AREA
x x x x . DB
x x x x . ST
D28009604 - 0600
Protected
area
DOUBLE REALS AREA
STRINGS AREA
6.19
OPERATOR MANUAL
CHAPTER 7
SOME MOTION PROGRAM INSTRUCTIONS
D28009604 - 0600
7.1
OPERATOR MANUAL
MOVE
EFFECT
This instruction commands the robot to move to an indicated location along a trajectory
not imposed by the user.
SYNTAX
MOVE location.name
EXAMPLE
MOVE b
b
a
NOTE
The V+ software is based on a multitasking structure.
The software executes, in parallel, an application program including robot arm motions and an input/output
management calculation program.
Also, during execution of the various motion instructions, the robot will not wait for the end of the motion in
progress to analyze and execute mathematical operations, input/output operations, etc. This may lead, if
care is not taken, to the execution of unexpected motion instructions.
Hence, caution :
In the V+ software, remember that if instructions which do not make reference to motions are inserted
between motion instructions, these will be executed in parallel with the motion.
EXAMPLE
7.2
MOVE a1
MOVE a2
x = h + 34.56
SIG 1
t = x + 56
MOVE b
...
;Calculation instruction
;Instruction setting output No. 1 to logic 1
;Calculation instruction
D28009604 - 0600
OPERATOR MANUAL
We can see that instructions x, SIG 1, t will be executed during motion to point a2.
If simultaneous operation is not required, insert a BREAK instruction (see trajectory control chapter).
Hence :
MOVE a1
MOVE a2
BREAK
x = 34.56
SIG 1
t = x + 56
MOVE b
D28009604 - 0600
;Motion instruction
;Calculation instruction
;Instruction setting output No. 1 to logic 1
;Calculation instruction
7.3
OPERATOR MANUAL
MOVES
EFFECT
This instruction commands the robot to move to location along a straight line trajectory.
SYNTAX
MOVES location.name
NOTE
A straight line movement is not the fastest motion despite the fact that the path is
the shortest.
EXAMPLE
MOVES e
B
e
A
a
7.4
D28009604 - 0600
OPERATOR MANUAL
APPRO
EFFECT
This instruction, generally followed by MOVE, allows the robot to approach location by a
value in mm along tool Z-axis.
SYNTAX
APPRO location.name, distance
NOTE
The axis assigned to the distance will always be the tool Z-axis
EXAMPLE
APPRO a,50
APPRO 1,50
APPROA
a,50
X
50
mm
MOVE a
X
a
MOVE A
is
-Ax
L IL
U TZ
OO
ZO
A x eT
TOOL Z-Axis
D28009604 - 0600
7.5
OPERATOR MANUAL
APPROS
EFFECT
Same as previous instruction but location A approach is made along a straight line.
SYNTAX
APPROS location.name, distance
NOTE
The axis assigned to the distance will always be the tool Z-axis
EXAMPLE
APPROS a,50
APPROS a,50
Straight line approach
50 mm
MOVE a
a
-axis
TOOL Z
7.6
D28009604 - 0600
OPERATOR MANUAL
DEPART
EFFECT
This instruction performs the opposite function to the APPRO instruction. It allows the
robot to move from the point where it was located during the execution of the DEPART
instruction, moving along the tool Z-axis by a value given in mm.
SYNTAX
DEPART distance
NOTE
The axis assigned to the distance will always be the tool Z-axis and movement will be
made in relation to the position that the robot occupies at time when this instruction is
executed.
EXAMPLE
DEPART 50
Etc...
DEPART 50
50 mm
X
TOOL Z-axis
Z O U T IL is
A x e TOOL Z-ax
D28009604 - 0600
7.7
OPERATOR MANUAL
DEPARTS
EFFECT
Same as previous instruction, but movement will be made along a straight line.
SYNTAX
DEPARTS distance
NOTE
The axis assigned to the distance will always be the tool Z-axis
EXAMPLE
DEPARTS 50
DEPARTS 50
50 mm
Straight line
depart
TOOL Z-axis
7.8
D28009604 - 0600
OPERATOR MANUAL
OPENI, CLOSEI
EFFECT
Robot solenoïd instructions.
SYNTAX
OPENI
Immediate opening of pneumatic jaws.
CLOSEI
Immediate closing of pneumatic jaws.
NOTE
50 ms delay by default.
EXAMPLE
MOVE a
OPENI
MOVE b
CLOSEI
...
;Immediate opening with breakpoint.
;Immediate closing with breakpoint.
b
B
b
B
OVE
M
A
Ea
OV
M
a
A
Delay of several seconds
before motion restarts
D28009604 - 0600
7.9
OPERATOR MANUAL
OPEN, CLOSE
EFFECT
Gripper motions instruction jaws.
SYNTAX
OPEN
Opening of pneumatic jaws
CLOSE
Closing of pneumatic jaws.
NOTE
It is often preferable to use OPENI, CLOSEI to be sure that there is a breakpoint
ensuring a certain stability in the grip.
EXAMPLE
MOVE a
OPEN
MOVE b
CLOSE
...
;Opening during motion to point B without breakpoint
;Closing of jaws
b
MOVE B
EA
OV
M
a
7.10
b
B
a
A
No stop in motion
D28009604 - 0600
OPERATOR MANUAL
DELAY
EFFECT
Stops the robot for the time stipulated in the instruction. This time must be given in
seconds and cannot be less than 16 ms.
SYNTAX
DELAY time
NOTE
The delay is generated in software form.
CAUTION
The DELAY instruction must be considered as a motion instruction to go nowhere.
EXAMPLE
MOVE a
BREAK
DELAY 180
BREAK
MOVE b
...
MOVE a
a
x
MOVE b
b
Wait 180 seconds
EXAMPLE
D28009604 - 0600
c=2
MOVE a
BREAK
DELAY 30
BREAK
b=3+c
MOVE f
;for b=3+c to be executed at the end of temporization
7.11
OPERATOR MANUAL
BREAK
EFFECT
Switches to DISABLE CP mode only for the next motion instruction. It suspends execution
of the program until the motion has reached its destination.
SYNTAX
BREAK
NOTE
BREAK is prefered to avoid execution of calculation and input/output management
instructions, etc. (other than motion instructions) located between two locations.
EXAMPLE
MOVE a
MOVE b
BREAK
MOVE c
MOVE d
NOTE
7.12
;Breakpoint on b
;as breakpoint recognized during motion to b
Use of this instruction is mandatory to observe the wait time with the DELAY instruction.
D28009604 - 0600
OPERATOR MANUAL
TYPE
EFFECT
This instruction is used to display a message on the screen during the execution of a
program and/or display the content of one or more declared variables.
SYNTAX
TYPE control character, " message " , " variable " ,{etc.}
EXAMPLE
TYPE /B, " VALUE OF x = " ,x
will display value of x = 3 if content of variable x is equal to 3 and terminal bell will
sound.
Some of the most useful control characters are listed below:
/B
Rings terminal bell;
/Cn
Causes n line skips (n times CR and n times LF);
/S
No line skips (no CR’s or LF’s);
/Un
Moves cursor up n lines.
/Xn
Moves cursor n spaces to the right.
CAUTION
EXAMPLES
Control characters do not operate on all terminals.
TYPE /C3, /B, " Hello "
TYPE /X30, " Hello "
& lt; — 30 spaces — & gt;
NOTE
D28009604 - 0600
Hello…
If TYPE includes no parameters, a blank line is generated.
7.13
OPERATOR MANUAL
PROMPT
EFFECT
This instruction is used to enter values assigned to variables via the keyboard.
SYNTAX
PROMPT " MESSAGE " , VARIABLE
The program will be suspended until the operator replies.
The reply can be a real variable or variables and/or a string of characters.
If the user replies to several parameters, these must be separated by a comma.
NOTE
Avoid requesting several values. It is preferable to request different values one after
the other.
EXAMPLE 1
PROMPT " Give me the length of part " , length.
EXAMPLE 2
PROMPT " Give me the programmer’s name " ,$name
EXAMPLE 3
PROMPT " Enter + to increase or - to dicrease: " , $ans
IF ($ans == " + " ) THEN
distance = distance + 1
END
IF ($ans == " - " ) THEN
distance = distance - 1
END
7.14
D28009604 - 0600
OPERATOR MANUAL
CHAPTER 8
DIGITAL INPUTS AND OUTPUTS
D28009604 - 0600
8.1
OPERATOR MANUAL
CHAPTER 8 - DIGITAL INPUTS AND OUTPUTS
8.1
EXTERNAL OUTPUTS (on/off)
These outputs are still called DIGITAL outputs.
Number depends on options selected when purchasing robot (256 max.).
Their addresses are as follows:
1— & gt; output No. 1
2— & gt; output No. 2
3— & gt; output No. 3
4— & gt; output No. 4
etc... until 8
in standard version.
The 7 and 8 outputs are used by default by the solenoid valves of the ROBOT arm.
Programming of outputs :
SIG 1, -2,...,8
RESET
RUNSIG
SIGNAL val1, val2, val3, ...
With different values which can be constants, variables or mathematical expressions.
We shall now look at each of these instructions.
D.C. SUPPLY
24 V
+
BASIC I/O
- 0V
01
SIG1
01
+
OUTPUT N°1
WIRING DIAGRAM
8.2
D28009604 - 0600
OPERATOR MANUAL
SIGNAL
EFFECT
Activates the contact of an external digital output.
SYNTAX
SIG output1, output2,...
NOTE
The outputs remain as such until a new SIG instruction cancels the corresponding output.
This instruction operates in command mode and program mode.
EXAMPLE
SIG 2, -1, 4
Outputs No. 2 and No. 4 will change to logic 1 and output No. 1 will change to logic 0.
EXAMPLE
Sucker = 2
Grip1 = 1
Grip2 = 4
SIG Sucker,-(Grip1),Grip2
This example sets up same condition as previous example.
EXAMPLE
FOR OUTPUT = 1 TO 8
SIG OUTPUT
DELAY 1
BREAK
END
...
In this case, outputs between 1 and 8 will pass to logic 1 in a sequence delayed by a one
second interval.
ROBOT SIG1 Action
24 V
D28009604 - 0600
0V
8.3
OPERATOR MANUAL
RESET
EFFECT
Resets all outputs.
SYNTAX
RESET
NOTE
Switching off the controller also resets all outputs.
This instruction operates in command mode and program mode.
EXAMPLE
SIG 1,5
RESET
Outputs 1 to 5 (and the other outputs at 1) will be reset
BEFORE
Output 1
Output 5
Output 1
Output 5
AFTER
8.4
D28009604 - 0600
OPERATOR MANUAL
8.2. EXTERNAL INPUTS
Number depends on robot configuration when purchased (possible extension).
Their addresses are as follows :
1001
1002
1003
1004
1005
1006
...
1012
etc...
input No. 1
input No. 2
input No. 3
input No. 4
input No. 5
input No. 6
input No. 12
In STANDARD version, 12 inputs are available.
Robot inputs
D.C. SUPPLY
+24V
BASIC
I/0
SIG (1001)
is false
0V
Robot inputs
D.C. SUPPLY
+24V
BASIC
I/0
SIG (1001)
is true
0V
D28009604 - 0600
8.5
OPERATOR MANUAL
IO
TYPE
Monitor command
EFFECT
Displays the current states of the external binary input/output signals and/or
the internal software signals.
SYNTAX
IO sig_group
PARAMETERS
sig_group
Integer which, if specified, selects the binary signals to be displayed.
0
Display of binary output signals.
1
Display of binary input signals.
2
Display of system software signals.
EXAMPLES
Dashes
0
Low signal
1
8.6
Signal not configured.
High signal
D28009604 - 0600
OPERATOR MANUAL
WAIT...
EFFECT
This instruction will interrupt the program until corresponding expression is valid.
SYNTAX
WAIT & lt; condition & gt;
If the result of the operation is «0», the machine considers that the result is false.
For all other values, the result will be considered as true.
NOTE
Inputs, outputs, variables, etc. can be tested.
EXAMPLE
WAIT SIG(1001,-1003,1002)
EXAMPLE
WAIT (SIG(1001,-2) OR SIG(1008))
EXAMPLE
MOVE a
WAIT SIG(1001)
MOVE b
...
Motion to a
NO
button (1001)
pressed ?
YES
Motion to b
D28009604 - 0600
8.7
OPERATOR MANUAL
CHAPTER 9
DISKETTE OR DISK SAVING OPERATIONS
D28009604 - 0600
9.1
OPERATOR MANUAL
CHAPTER 9 - DISKETTE OR DISK SAVE OPERATION
9.1
WHY YOU SHOULD USE A DIRECTORY
On account of their high capacities, diskettes or hard disks can contain a high number of files.
If all file names are conserved in a single list, searching for a file may take a long time.
By grouping files of the same type or those relevant to a given theme into subdirectories, you can reduce the
time required to locate a given file. Also, deletion of a " PART1.V2 " file in a given directory will not delete the same
" PART1.V2 " file located in another directory.
RECOMMENDATIONS
Always try to place files of a given application in the same directory.
Various commands will allow you to create, delete and select directories. We will look at these later.
9.2
WHY YOU SHOULD SAVE PROGRAMS
Although the memory is saved, when a program has been written, it should always be saved to avoid having to
reconstruct it again at a later stage.
Saving is made under a file name defined by the user.
The meanings of the suffixes displayed after the file names are as follows:
PRO_NAME.XXX where XXX — & gt; suffix
EXAMPLE
TOTO.PG for application files
TOTO.LC for location files
TOTO.RV for real variable files
TOTO.DB for long real variable files
TOTO.ST for string files
TOTO.V2 for all of the above files.
ASSIGNMENT of a PHYSICAL unit.
The standard version
" 3-1/2 " drive can be added.
includes
a
Compact
Flash.
However,
optionally,
a
second
The V+ language operating system uses designations " A: " , " B: " , " C: " , " D: "
The standard 3-1/2 " disk drive is called " B: " .
The standard hard disk is called " D: " .
When the controller is switched on, the system goes to " D: " by default.
However, the DEFAULT DISK command can be used to temporarily assign required unit or path.
EXAMPLE
9.2
DEF D = B:
DEF D = D:\program\toto\
D28009604 - 0600
OPERATOR MANUAL
9.3
COMMANDS ASSOCIATED WITH COMPACT FLASH OR FLOPPY DISK DRIVE
1. FDIRECTORY
2. DEF D =… OR CD
3. STORE, STOREP, STOREL, STORER, STORES…
4. LOAD
5. FDIRECTORY/C
6. FDIRECTORY/D
7. FLIST
8. FCOPY
9. FDELETE
10. FRENAME
D28009604 - 0600
9.3
OPERATOR MANUAL
FDIRECTORY
TYPE
Monitor command
EFFECT
Displays the files contained on the disk and the available storage space.
SYNTAX
FDIRECTORY
The system gives the following:
Name
Suffix
Number of sectors that the file takes up.
Codes of special attributes.
Date and time when file was recorded.
NOTE
Attribute «P» indicates that the file can be executed, but not edited, displayed or
traced during execution, also, the programs cannot be transferred to disk.
Attribute «R» indicates that the file can be loaded into the memory and that program
contents can be executed and displayed. The programs cannot however be edited or
saved on disk.
Attribute «D» indicates a directory.
EXAMPLE
FDIRECTORY TOTO.*
Displays the information of all TOTO files (TOTO.PG, TOTO.LC, etc.) on the disk
taken by default and the current directory.
Generic characters can be used, for example, if FDIRECTORY f* is written, all files starting by f will be displayed.
F DI
FDIRR
Directory of a:
ALI.V2 26-Mar.93 09:31
ALO.V2 21-Apr.93 04:31
ALA.V2 21-Mar.93 09:32
1281/2847 Sectors
9.4
D28009604 - 0600
OPERATOR MANUAL
DEF D =... or CD
TYPE
Monitor command
EFFECT
Changes the directory, or disk unit and/or diskette.
SYNTAX
DEF D=D:\Directory1\Directory2\etc...
or CD Directory 1
EXAMPLE
DEF D=D:\toto\titi\
NOTE
DEF D=.. moves you back one directory path (adjacent directory).
EXAMPLE
You are in directory D:\TOTO\TITI\
DEF D=.. will transfer you to directory D:\TOTO\
D:\
TOTO
REMARK
TITI
From the recent V+ language versions, the command cd.. is accepted to ensure
compatibility with DOS.
Also: cd D:\TOTO\TITI
cd (or def) also enable to visualize the default directory.
D28009604 - 0600
9.5
OPERATOR MANUAL
STORE, STOREP, STOREL, STORER, STORES...
Monitor command
EFFECT
Stores the programs in the robot’s RAM memory and the associated variables onto disk file.
STÄUBLI
CPU ROBOT MEMORY
TYPE
SYNTAX
STORE File=Prog1,prog2,...,Prog n
If no program is specified, all programs, variables and associated subprograms are loaded
onto disk file.
Use
NOTE
STOREL to save locations only
STOREP for programs
STORER for real variables
STORES for strings
You should not create files with the " .BN* " extension.
STORER generates an xxx.RV and/or xxx.DB file following type of real variables encountered
in the various programs.
EXAMPLE
STORE FICHE=PROG1,...,PRG6
NOTE
The system saves the subprograms associated with the calling programs, it saves all that
is required to run the application...
9.6
D28009604 - 0600
OPERATOR MANUAL
LOAD
Monitor command
EFFECT
Loads the specified disk file into the robot’s RAM memory.
STÄUBLI
Robot's CPU
memory
TYPE
SYNTAX
LOAD File name.suf
LOAD D:pallet loads the " Pallet.V2 " file located on the hard disk c: of the system.
NOTE
The system analyzes the syntax of the programs transmitted during transfer to disk.
EXAMPLE
LOAD pallet.PG
D28009604 - 0600
9.7
OPERATOR MANUAL
FDIRECTORY/C
TYPE
Monitor command
EFFECT
Creates a directory from the current directory.
c :
Main directory
(Root directory)
Deburr
Spoon
Sanding
Fork
Curved
Spoon
Fork
Straight
SYNTAX
FDIR/C
EXAMPLE
To define " Spoon " directory in " Deburr " branch
FDIR/C D:\DEBURR\ (if «Deburr» directory does not exist)
and then:
FDIR/C D:\DEBURR\SPOON\
9.8
D28009604 - 0600
OPERATOR MANUAL
FDIRECTORY/D
TYPE
Monitor command
EFFECT
Deletes a directory from current directory.
SYNTAX
FDIR/D
EXAMPLE
FDIR/D D:\TOTO\TITI\TUTU\
Directory TUTU will be deleted.
D:\
TOTO
D28009604 - 0600
TITI
TUTU
9.9
OPERATOR MANUAL
FLIST
TYPE
Monitor command
EFFECT
Displays the content of the file on the disk(s) or in floppy disk drive.
SYNTAX
FLIST D:\file.V2
NOTE
If the file stipulated does not exist, an error will be indicated.
EXAMPLE
FLIST D:TOTO.V2
Compact Flash
Disque Dur C D
FLIST c:\TOTO.V2
FLIST c: TOTO.PG
9.10
D28009604 - 0600
OPERATOR MANUAL
FCOPY
TYPE
Monitor command
EFFECT
Copies an existing file onto a new file.
SYNTAX
FCOPY file Target=Source file
EXAMPLE
FCOPY D:NEWTOTO.V2=B:OLDTOTO.V2
NOTE
Protected files cannot be copied.
If the source file has a read only attribute, the target file will also have this attribute.
REMARK
FCOPY does not accept the symbol *.V2 for example.
Compact Flash C
Disque Dur D
FCOPY D: TOTO.V2 = D: TUTU.V2
FCOPY c: TOTO.V2 = c: TUTU.V2
D28009604 - 0600
9.11
OPERATOR MANUAL
FDELETE
TYPE
Monitor command
EFFECT
Deletes specified file.
SYNTAX
FDELETE File.name
EXAMPLE
FDELETE *.V2 will delete all files ending with the V2 extension.
Disque Dur C D
Compact Flash
FDELETE c:D:TOTO.V2
FDELETE TOTO.PG
9.12
D28009604 - 0600
OPERATOR MANUAL
FRENAME
TYPE
Monitor command
EFFECT
Changes disk file name.
SYNTAX
FRENAME D:New file name=Old file name
NOTE
The system changes only the file name, the contents are not affected.
EXAMPLE
FRENAME D:NEW.V2=OLD.V2
CompactDur C D
Disque Flash
D28009604 - 0600
9.13
OPERATOR MANUAL
CHAPTER 10
CONTROL OF ROBOT CONFIGURATION
D28009604 - 0600
10.1
OPERATOR MANUAL
READY
EFFECT
Places robot arm in a specific reference position.
SYNTAX
READY
NOTE
Generally this specific position corresponds to the centre of all the axes.
This position may be slightly misaligned to each axis.
EXAMPLE
.DO READY
READY
In order to check the alignment of the marks on each axis, do READY with an RX_B (coordinates adjusted in
factory after V_REGAUTO.
10.2
D28009604 - 0600
OPERATOR MANUAL
ALIGN
EFFECT
Places the tool Z-axis parallel to the nearest axis of the world reference system (X or Y or Z).
SYNTAX
ALIGN
NOTE
This instruction avoids having to perform many handling operations using the teach pendant
to set tool axes parallel with the Z-axis of the WORLD coordinates.
EXAMPLE
. DO ALIGN
ALIGN
Z WORLD
WORLD
Z
Z TOOL
Z OUTIL
+Z
+X
WORLD
D28009604 - 0600
10.3
OPERATOR MANUAL
ABOVE - BELOW
EFFECT
This instruction allows the elbow to be placed in ABOVE or BELOW position whilst
conserving same orientation and same position in space.
SYNTAX
ABOVE and BELOW
NOTE
This instruction is useful for avoiding certain collisions with workcell equipment. Only
effective when moving to transformation locations.
EXAMPLE
.TEST Prog
BELOW
MOVE a
ABOVE
MOVE a
...
ABOVE
a
A
BELOW
a
A
10.4
D28009604 - 0600
OPERATOR MANUAL
RIGHTY - LEFTY
EFFECT
Allows RIGHTY of LEFTY configuration to be set up while conserving same orientation and
position in space.
SYNTAX
RIGHTY and LEFTY
NOTE
This instruction is useful for avoiding certain collisions with workcell equipment. Only
effective when moving to transformation locations.
EXAMPLE
LEFTY
MOVE a
RIGHTY
MOVE a
...
RIGHTY - LEFTY
RIGHTY-LEFTY
RIGHTY
a
A
LEFTY
D28009604 - 0600
10.5
OPERATOR MANUAL
FLIP - NOFLIP
EFFECT
Sets joint 5 configuration whilst conserving same y, p, r angles in WORLD reference
system and same X, Y, Z position.
SYNTAX
FLIP and NOFLIP
FLIP will give negative angle values at JT5
NOFLIP will give positive angle values at JT5.
NOTE
This instruction is useful for avoiding certain collisions with workcell equipment.
EXAMPLE
FLIP
MOVE a
NOFLIP
MOVE a
Z OUTIL
Z TOOL
Z Z TOOL
OUTIL
-
+
a
A
10.6
D28009604 - 0600
OPERATOR MANUAL
APPENDIX
D28009604 - 0600
A.1
OPERATOR MANUAL
A.1. SAFETY NOTICE
The following notice is mandatory reading for all personnel involved with the operation, programming,
maintenance or installation of the robot.
A robot, due to it's flexible, reprogrammable nature, represents a potential danger to personnel. It may not be
possible to predict with any accuracy it's motion at any point in time.
The duty falls therefore upon the personnel involved to ensure the following:
- The area of operation of the robot is safeguarded by suitable physical barriers;
- No personnel can approach the robot whilst it is under program control;
- Reduced speed operations selected prior to personnel being in proximity with the robot arm;
- Adequate training is given to personnel involved in any of the above activities;
- Safe working practises are employed in all dealings with the robot;
- Personnel involved with the robot are aware of guidelines which are provided and details of any local safe working
practises.
The following warnings should be complied with all dealings with the robot system.
DO NOT's:
- DO NOT replace any components or make any adjustments to the equipment with any electrical or pneumatic
supply connected;
- DO NOT attempt to move the robot arm until it has been securely mounted;
- DO NOT block cooling fans when positioning the controller. Ensure that an unobstructed air flow is available;
- DO NOT stop arm motion by using the emergency stop button except under emergency conditions;
- DO NOT stop arm motion by using EMERGENCY STOP control except under exceptional circumstances. Arm
motion should be stopped by aborting program or selecting hold mode;
- DO NOT stop arm motion by turning off cabinet mains control or isolator except under exceptional
circumstances. Arm motion should be stopped by aborting program or selecting hold mode;
- DO NOT connect or disconnect any cables or pneumatic hoses unless all power has been removed from the
system;
- DO NOT operate any equipment with the covers removed or doors open;
- DO NOT approach the arm when it is operating under program controlled conditions;
- DO NOT approach the arm when it is operating under teach conditions unless you personally have control of
the arm via the teach pendant.
DO's:
- DO ensure that operating and maintenance personnel observe all safety precautions;
- DO ensure that the robot working area is enclosed by a suitable physical barrier, which is suitably interlocked
with the robot control system such that entry forces an E-stop on the robot controller;
- DO realise that when establishing the barrier position, consideration should be given to the working envelope
of the robot arm, including all payloads it may carry;
- DO attempt to physically limit the working envelope of the robot arm to the minimum necessary to carry out
it's tasks;
- DO ensure that all possible obstructions are removed from the robot's working area;
- DO ensure that all personnel and obstructions are clear of the arm before applying ARM POWER;
- DO ensure that whenever applying emergency stop a hand is kept near " Emergency stop " or DIS PWR buttons,
such that they can be easily operated should the need arise;
- DO ensure that power is removed before connecting or disconnecting any electrical equipment;
- DO ensure that the power is removed before opening any covers or attempting any mechanical or electrical
maintenance;
A.2
D28009604 - 0600
OPERATOR MANUAL
- Do follow the proper power up sequence when connecting components to line power;- DO start motions at low
speed and only increase speed when paths are fully defined;
- DO realise that the automatic startup program will lead to the execution of a program and possible robot arm motion;
- DO ensure that any tools and loads fitted to the robot meet the payload and inertial requirements of the arm;
- DO realise that operations in excess of V+ speed 100 could cause over load of the motors and drive components
in the robot.
The manualsinvolved in any of the above activities; provided by Stäubli, both for the robot system and the V+
programming language, are not intended as self-teaching guides. Personnel using them are expected to have
undertaken a period of training such as that proposed by Stäubli.
Failure to comply with these and over warnings may rsult in serious injury to personnel and/or damage to the
robot system.
D28009604 - 0600
A.3
OPERATOR MANUAL
A.2. TRANSFORMATION ELEMENTS
A.2.1. X, Y, Z, VALUES
+Z
+Z
TOOL
+X
+Y
z = 125
WORLD
+X
y=
100
+Y
0
x=3
In this example, X = 30, Y = 100, Z = 125, yaw = 0, pitch = 0 and roll = 0.
There is no orientation of the local (TOOL) coordinates with respect to the base (WORLD) Cartesian coordinates.
A.4
D28009604 - 0600
OPERATOR MANUAL
A.2.2. YAW (y)
Yaw is the rotation around the Z-axis of the local coordinates (TOOL coordinates).
The figure below shows yaw rotation through 30°. Note that this is parallel to the base reference system but
centred on any point in space.
+Z
+Z
Local coordinates (TOOL)
+Y
Base Cartesian
coordinates (WORLD)
z = 125
+X
+X
y=
100
+Y
0
x=3
30°
In this example, X = 30, Y = 100, Z = 125, yaw = 30, pitch = 0 and roll = 0.
D28009604 - 0600
A.5
OPERATOR MANUAL
A.2.3. PITCH (p)
Pitch is defined as the rotation around the Y-axis of the local coordinates after yaw rotation has been applied.
The figure below shows pitch rotation of 40°around the Y-axis of the local coordinates.
+Z
+Z
40°
PITCH
+Y
z = 125
+X
+X
y=
100
0
x=3
+Y
30°
In this example, X = 30, Y = 100, Z = 125, yaw = 30, pitch = 40 and roll = 0.
A.6
D28009604 - 0600
OPERATOR MANUAL
A.2.4. ROLL (r)
Roll is defined as the rotation around the Z-axis of the local coordinates after YAW and PITCH rotations have
been applied.
The figure below shows Roll rotation of 20° around the Z-axis of the local coordinates.
+Z
ROLL
Z-axis of local coordinates
after YAW and PITCH have
been applied
+Z
40°
+ : 125
+X
20°
+X
+Y
30°
In this example, X = 30, Y = 100, Z = 125, yaw = 30, pitch = 40 and roll = 20.
D28009604 - 0600
A.7
OPERATOR MANUAL
A.3. LINE EDITOR
The advantage of this editor is that it is simple and compatible with the VAL 2 language editor.
This editor includes a certain number of commands.
NOTE
These commands can be used only in editing mode («?» on LH side) to enter V+ instructions into
the robot.
These commands can be used to :
- Modify a program.
- Insert new instructions.
- Delete instructions.
- Search for certain instructions.
- etc...
We shall now look at these editor instructions.
If you are in execution mode (*) or in command mode (.), go to editing mode by typing : EDIT
A.8
D28009604 - 0600
OPERATOR MANUAL
(.) EDIT
EFFECT
Places the robot in editor mode at specified line number.
SYNTAX
EDIT prog.name, n
n: No. of line on which you wish to be positioned in a previously edited program.
EXAMPLE
EDIT TOTO,7
NOTE
Avoid EDITING a running program as serious incidents may occur.
REMARKS
As this command is frequently used, it is preferable to use ED instead of EDIT.
.
Command
mode
(.)
D28009604 - 0600
EDIT prog.name
E
EDITOR
mode
(?)
A.9
OPERATOR MANUAL
(?) E (EXIT)
EFFECT
Quits editing mode and returns you to robot command mode, that is from (?) to (.).
SYNTAX
E
NOTE
This command is only active when robot is in editor mode.
EXAMPLE
1 ? MOVE a
2 ? MOVE b
3?E
Return to command mode...
This command is used when you have finished writing or modifying a program.
REMARK
You can exit from any program line.
Editor Mode
Command Mode
1 ? MOVE a
2 ? MOVE b
3?E
(.)
Quit editor
E
A.10
D28009604 - 0600
OPERATOR MANUAL
(?) C (CHANGE)
EFFECT
Changes from one program to another without leaving editor mode.
SYNTAX
C NAME, n
n: Line No. to which you wish to go within declared PROG NAME.
If n is not specified, value by default is 1.
EXAMPLE
ED
PROG PROG1
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? C PROG2, 7
— & gt;
PROG PROG2
7 ? MOVE b4
You will go to line 7 of PROG PROG2 (if PROG 2 already exists).
REMARK
Same operation can be obtained by quitting editor mode with E and entering the other
program with EDIT PROG2, 7
but this method is longer...
D28009604 - 0600
A.11
OPERATOR MANUAL
(?) D (DELETE)
EFFECT
Deletes the specified number of lines.
SYNTAX
Dn
n : number of lines.
NOTE
If no value is specified for n, value by default is 1.
EXAMPLE
ED TITI
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? MOVE d
5 ? MOVE f
6 ? MOVE g
If on line 2 ? MOVE b
you type: 2 ? D 3
you will delete line 2 and the 2 following lines.
Hence :
REMARK
A.12
1 ? MOVE a
2 ? MOVE f
3 ? MOVE g
If you are 2 lines before the end of the program and you type D 21, deletion will not go
back to start of program, it always stops at the end of the program.
D28009604 - 0600
OPERATOR MANUAL
(?) I (INSERT)
EFFECT
Inserts one or more lines in a program.
SYNTAX
I
NOTE
To exit insertion mode, simply hit the -Return- key on a blank line.
EXAMPLE
ED TOTO
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? MOVE d
5 ? MOVE e
To insert MOVE c1 and MOVE c2 between lines 3 and 4
Therefore
4 ? MOVE d
4?I
4 ? MOVE c1
5 ? MOVE c2
5 ? (press -Return-)
Result
ED TOTO
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? MOVE c1
5 ? MOVE c2
6 ? MOVE d
7 ? MOVE e
Line numbers are automatically reassigned.
D28009604 - 0600
A.13
OPERATOR MANUAL
(?) L (LAST)
EFFECT
Returns you to previous line.
SYNTAX
L
NOTE
To skip back several instructions, it is preferable to use the editor command S.
EXAMPLE
ED TOTO
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? MOVE d
4? L
3 ? MOVE c
You can only move back one step at the time.
REMARK
A.14
If you enter L when on program line No. 1, you will remain on line No. 1, but this is
nonsensical.
D28009604 - 0600
OPERATOR MANUAL
(?) S (SEARCH)
EFFECT
Searches for required line number.
SYNTAX
Sn
EXAMPLE 1
ED TOTO
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? MOVE d
5 ? S2
2 ? MOVE b
EXAMPLE 2
ED TOTO
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
4 ? MOVE d
5 ? MOVE e
6 ? S 20
20 ? MOVE k
Search backwards
or
Search forwards
REMARK
D28009604 - 0600
where n: line No.
If you specify a number which exceeds program line number, you will simply go to the
end of the program.
A.15
OPERATOR MANUAL
(?) P (PRINT)
EFFECT
Displays a certain number of lines on the screen.
SYNTAX
Pn
REMARK
If P is given alone, only content of line where P command is located will be displayed.
NOTE
Useful for displaying only a limited number of lines on screen.
EXAMPLE
ED TOTO
1 ? MOVE a
1?P3
1 ? MOVE a
2 ? MOVE b
3 ? MOVE c
REMARK
If you are 2 lines off the end of the program and you enter P21, display will always
stop at end of program.
A.16
where n: number of lines.
D28009604 - 0600
OPERATOR MANUAL
(?) R (REPLACE)
EFFECT
Replaces characters in an instruction.
SYNTAX
R characters
REMARK
Blank characters must be considered as ordinary characters.
NOTE
This concerns replacement and not insertion of characters.
Place the R just above the first character to be replaced.
EXAMPLE
ED TOTO
2 ? MOVE a
2?RSa®
2 ? MOVES a
EXAMPLE
ED TOTO
2?
2 ? 30
Do
D28009604 - 0600
MOVE a if you want to obtain:
MOVE a
2?
MOVE a
2 ? R 30 will give the required result:
2 ? 30
MOVE a
A.17
OPERATOR MANUAL
(?) T (TEACH)
EFFECT
Records the coordinates of a set of locations and automatically writes motion order
associated with these locations (each time REC/DONE pushbutton located on teach
pendant is pressed).
Allows robot to be set to teach mode.
SYNTAX
T point.name
NOTE
This mode is useful when a succession of locations is to be recorded.
EXAMPLE
ED TOTO
1 Program TOTO ( )
2 ? T d1
When REC/DONE pushbutton is pressed, the following will be displayed:
2
MOVET d1,0 if grip closed
or
MOVET d1,1 if grip open.
If Record is pressed again, the following will be obtained :
3
MOVET d2,0
etc...
Each time REC/DONE is pressed, location index is automatically incremented.
REMARK
A.18
A location recorded in TEACH mode can be modified later.
D28009604 - 0600
OPERATOR MANUAL
(?) TS (TEACH STRAIGHT)
EFFECT
This command is same as T, except that motions will be straight line motions between
recorded locations.
SYNTAX
TS variable name
NOTE
This mode is useful when a succession of straight line locations is to be recorded.
EXAMPLE
ED TOTO
1 Program TOTO ( )
2 ? TS d1
when REC/DONE pushbutton is pressed, the following will be displayed:
2
MOVEST d1, 0 if grip is closed or MOVEST d1, 1 if grip is open.
If REC/DONE is pressed again, the following will be obtained:
3
MOVEST d2,0
etc.
Each time REC/DONE is pressed, location index is automatically incremented.
REMARK
D28009604 - 0600
T and TS can be mixed within a program, but this is tedious.
A.19