Exercise 2-2. Programming, Using the Teach Pendant EXERCISE OBJECTIVE

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1 Exercise 2-2 Programming, Using the Teach Pendant EXERCISE OBJECTIVE In this exercise, you will learn new terms used in the robotics field. You will learn how to record points and use them to edit a robot program. DISCUSSION Refer to the introductory section DISCUSSION OF FUNDAMENTALS of Unit 2 to review the principles for performing this exercise. Appendix C of this manual lists the Teach Pendant's commands used to make the robot perform actions. For detailed information on the Teach Pendant's menus and commands, refer to Section 3 of the Lab-Volt User Guide Robot System Model 5150 (part number E). EQUIPMENT REQUIRED Refer to the Equipment Utilization Chart, in Appendix A of this manual, to obtain the list of equipment required to perform this exercise. Procedure Summary In the first part of this exercise, you will record points and use them to create a program that makes a robot dip a part into a tank, thus simulating a painting or finishing process. In the second part of the exercise, you will create a program that makes the robot move a part from a location to another without colliding into an obstacle. In the last part of the exercise, you will create a program that makes the robot grasp parts placed at three different locations and drop them into a storage can. PROCEDURE CAUTION! When you are working with moving equipment, make sure you are not wearing anything that might get caught in the equipment, such as a tie or jewelry. If your hair is long, tie it out of the way. Pay particular attention to keeping your hands, other body parts, or anything attached to your body out of the mechanisms of the robot while the robot is moving. 2-19

2 Dipping a Part Into a Tank to Simulate a Painting or Finishing Process Setting up the system G 1. On the Work Surface, position the robot as indicated in Figure 2-3 (position R0,C7). Then, put the objects shown in Figure 2-3 (film canister and metallic can), making sure to position them as indicated in the figure. Note: Figure 2-3 is in the introductory section DISCUSSION OF FUNDAMENTALS of Unit 2. G 2. Connect the equipment as shown in Figure B-2 of Appendix B. This figure shows the connections to make between the robot, the Teach Pendant, and the Power Supply. Recording points G 3. In the following steps, you will record a list of points used to make the robot perform the following tasks in sequence (refer to Figure 2-4 in the introductory section of Unit 2): a. Grasp the film canister placed at the starting point (R8,C5). b. Raise it above the Work Surface and move it in a straight path right over the metallic can. c. Lower the film canister a certain distance within the can. This simulates, for example, a part being dipped into a tank of paint for finishing. d. Withdraw the film canister from the can and return it, through the reverse path, to the initial point. Note: If, while recording the points, you find that a recorded point is erroneous (i.e., the location of a point you stored is wrong), it is suggested, in this unit, that you delete all the points stored in memory and then record all the points again. To delete all the stored points, use the following steps: press the Main Menu key, and then key 3 (Initialize) to access the Initialize Menu. Then, press key 3 (Clear Points), and then key 1 (Yes) to delete all the points. (Note that it is possible to re-record an erroneous point within the list; the procedure used to do this will be described in Unit 3.) Moreover, if, while moving the robot's articulations in order to record a point, you exceed the mechanical limits, you will have to perform a hard home positioning and then move the end effector to the desired point again. Failure to do a hard home positioning when the mechanical limits are exceeded will cause all the points recorded subsequently to be erroneous. All the points stored in the Teach Pendant's memory are erased when the Power Supply is turned off. 2-20

3 G 4. Turn on the Power Supply. Perform a hard home positioning of the robot. It is not necessary to record a point for the home position here: this point is already (default) recorded as point 1 (HOME point) in the Teach Pendant's memory. G 5. On the Teach Pendant, press the Teach Menu key to access this menu. Open the robot gripper fully, using the Grip + key. Then, press the DATA key to record the point (point 2). G 6. The speed for the robot motions is currently set to set to 99 (default setting). Set this speed to 80: press the Set Speed key of the Teach Pendant to access the Set Speed menu, and then enter 80. This speed will be that used for the next points you will record. Note: Each time a new speed setting is made, this setting will be saved for (and therefore will apply to) the next points saved. G 7. On the Teach Pendant, use the motion keys of the robot articulations to move the gripper right over the starting point (R8,C5) at about 140 mm (5.5 in) from the Work Surface. Record the point (point 3) by pressing the DATA key. G 8. Set the speed to 20 (approach speed). G 9. Move and position the gripper so that it is ready to grasp the film canister. Record the point (point 4). G 10. Set the speed to 80. G 11. Using the Grip key of the Teach Pendant, close the robot gripper fully to grip the canister. Then, record the point (point 5). G 12. Raise the film canister until its bottom is about 140 mm (5.5 in) above the Work Surface (and, therefore, over the metallic can). Record the point (point 6). G 13. Taking care to avoid collisions, move the film canister over the approximate center of the metallic can. Record the point (point 7). G 14. Set the speed to

4 G 15. Lower the bottom of the canister down into the can (bottom quarter of the canister level with the top of can). Record the point (point 8). G 16. Withdraw the canister from the can so that its bottom is out of the metallic can [about 140 mm (5.5 in) above the Work Surface]. Record the point (point 9). G 17. Set the speed to 80. G 18. Move and position the canister so that its bottom is about 140 mm (5.5 in) above the starting point (R8,C5). Record the point (point 10). G 19. Set the speed to 20. G 20. Lower the canister until its bottom touches the Work Surface at the starting point (R8,C5). Record the point (point 11). G 21. Set the speed to 80. G 22. Open the robot gripper fully to release the canister. Record the point (point 12). G 23. Raise the gripper to 140 mm (5.5 in) above the Work Surface. Record the point (point 13). G 24. Perform a soft home positioning: press the key Main Menu to access this menu, then press key 3 (Initialize Menu), and then key 2 (Move Home). Note: It is not necessary to record a point here, as the program will automatically return the end effector to the home position (point 1) once it has gone to the last point in the list when the program is executed. Testing the recorded points G 25. Verify that the list of points is correct, and that the end effector moves according to the path shown in Figure 2-4. Press the Main Menu key, and then key 1 (Points) to access the Points Menu. Test each point by using the steps below: Note: In the following steps, the end effector is moved by using the Move command of the Points Menu. This can also be performed by using the Drive command of this menu. 2-22

5 a. In the Points Menu, press key 5 (Move) to access the Move to Point menu. b. Using the Up ( ) and Down ( ) arrow keys, select point 2 of 13 in the list, then press the DATA key to initiate motion of the end effector and verify that the end effector performs the required motion. c. Press the Up ( ) arrow key to select the next point to test in the list (Point: X of 13, X being the point currently selected), then press the DATA key to initiate motion of the end effector, and verify that the end effector performs the required motion. d. Once the motion is performed, test the next point. Once all the points have been tested, perform a soft home positioning. Then, proceed with the next section of the exercise. Note: If one or more points are erroneous, do the following: Delete all the stored points: press the Main Menu key, and then key 3 (Initialize) to access the Initialize Menu. Then, press key 3 (Clear Points), and then key 1 (Yes) to delete all the points. Record the points by performing steps 5 through 24 again. Then, test the points by performing step 25. Executing the program Note: As points are recorded with the Teach Pendant, a point-topoint program is automatically created by the Teach Pendant. Note: As already mentioned, all the points stored in the Teach Pendant's memory are erased when the Power Supply is turned off. Since you will need these points to perform Unit 3, it is recommended that you save them as a program file by using a computer that runs the 5100/5150 File Server software (provided on the Lab-Volt RoboCIM 5150 CR-ROM or available by accessing the Lab-Volt web site: The saved program can then be downloaded into the Teach Pendant's memory in order to be executed or modified. For detailed information on how to use the 5100/5150 File Server software, refer to Section 4 of the Lab-Volt User Guide "Robot System Model 5150", part number E. G 26. Execute the point-to-point program stored in the Teach Pendant's memory. a. Press the key Main Menu, then press key 2 (Execute) to access the Execute Menu. b. Press key 1 (Once) to execute the program one time only. Observe the operation of the end effector as it reaches each point in the sequence of motion (these points being displayed on the Teach Pendant). 2-23

6 Note: The program execution can be paused at any time by pressing any key on the Teach Pendant. Once the program is paused, press any key on the Teach Pendant to resume execution of the program. (Pressing the ESC key will cause execution of the program to be aborted.) c. Once the execution of the program is completed, and the Teach Pendant's display has returned to the Main Menu, press key 2 (Execute), and then key 2 (Forever) to execute the program continuously. Observe the operation of the end effector as the program is executed over and over. Stop program execution by pressing the ESC key. Then, perform a soft home positioning. Moving a Part From one Location to Another Without Colliding Into an Obstacle Note: Before proceeding with the next steps, clear all points currently recorded in the Teach Pendant's memory. G 27. On the Work Surface, put the objects shown in Figure 2-5 (film canister and metallic can). Be sure to position them as indicated in the figure. Note: Figure 2-5 is in the introductory section DISCUSSION OF FUNDAMENTALS of Unit 2. G 28. Record a list of points that will make the robot perform the following tasks in sequence (refer to Figure 2-5): a. Starting from the home position, lower and position the gripper a certain distance over the film canister (R9,C10), then open the gripper fully. b. Lower the gripper and grasp the film canister. c. Raise the film canister above the Work Surface and metallic can and move it in a straight path right over point (R7,C3). d. Lower the film canister, then place it on the Work Surface at point (R7,C3). e. Fully open the gripper to release the film canister. f. Raise the end effector, then return it to the home position. G 29. Verify that the list of recorded points is correct, using the Move command of the Move to Point menu. Correct the points if necessary. Then, execute the program and verify that the robot operates according to the sequence described in step 28. If you are using the 5100/5150 File Server software, save your program. 2-24

7 Grasping Parts at Different Locations and Dropping Them Into a Storage Can Note: Before proceeding with the next steps, clear all points currently recorded in the Teach Pendant's memory. G 30. On the Work Surface, put the objects shown in Figure 2-6 (robot, film canisters, and metallic can). Be sure to position them as indicated in the figure. Note: Figure 2-6 is in the introductory section DISCUSSION OF FUNDAMENTALS of Unit 2. G 31. Record a list of points that will make the robot perform the following tasks in sequence (refer to Figure 2-6): a. Starting from the home position, lower and position the gripper so that it is ready to grasp film canister 1 (R6,C1). b. Grasp film canister 1, raise it above the Work Surface, move it over the metallic can, then drop it into the can. c. Move the gripper over film canister 2. Then, lower and position the gripper so that it is ready to grasp this canister. d. Grasp film canister 2, raise it above the Work Surface, move it over the metallic can, then drop it into the can. e. Move the gripper over film canister 3. Then, lower and position the gripper so that it is ready to grasp this canister. f. Grasp film canister 3, raise it above the Work Surface, move it over the metallic can, then drop it into the can. g. Return the end effector to the home position. G 32. Verify that the list of recorded points is correct. Correct the points if necessary. Then, execute the program and verify that the robot operates according to the sequence described in step 31. If you are using the 5100/5150 File Server software, save your program. Shutdown Procedure G 33. Perform the following shutdown procedure. a. Make sure there is nothing inside the robot gripper (if an object is present within the gripper, open the gripper to release this object.) 2-25

8 b. Clear the area around the robot, so that it will not hit anything when it moves. c. Perform a soft home positioning. On the Teach Pendant, press the key Main Menu, then press key 3 (Initialize Menu), and then press key 2 (Move Home). d. Turn off the Power Supply. e. Disconnect the system and return the equipment to its storage location. CONCLUSION In this exercise, you learned how to record points and then execute a program, using the Teach Pendant. To record the points, you used the lead-through method. This method requires that the end effector be led through a certain number of points defining the path the robot will have to follow to perform its tasks without collisions. Meanwhile, the points are recorded to memory to form a point-to-point program that can be executed to control the robot motions. REVIEW QUESTIONS 1. What is the work cell of a robot? When working with the Lab-Volt Robot System, what are the elements that make a work cell? 2. What is the work envelope of a robot? 3. What does the term "end effector" mean? List some types of end effectors used in the industry. 2-26

9 4. Name four methods commonly used to program a robot, and briefly describe each of them. 5. Why must the movements of the robot all be related to the same reference position (home position), and all the equipment be kept at the same location as when the program was edited? 2-27

Exercise 2-1. Programming, Using RoboCIM EXERCISE OBJECTIVE

Exercise 2-1. Programming, Using RoboCIM EXERCISE OBJECTIVE Exercise 2-1 Programming, Using RoboCIM EXERCISE OBJECTIVE In this exercise, you will learn new terms used in the robotics field. You will learn how to record points and use them to edit a robot program.