Exercise 3. Task Programs EXERCISE OBJECTIVE

Transcription

1 Exercise 3 Task Programs EXERCISE OBJECTIVE In this exercise, you will be introduced to task programs and task commands available in Robotics. You will also be introduced to the Task Editor window in Robotics. You will learn to use the Moveto, Speed, and End task commands. In the Procedure section, you will save position points using Robotics. You will also associate task commands with position points to create task programs. DISCUSSION Task Programs Task programs consist in a list of instructions lines containing position points and task commands. The position points are determined using the Hand-Held Terminal or Robotics. Once they are created, the points are transferred in the Task Editor window to form a point list as shown in Figure 3-1. In this figure, the point list (right column) contains 3 points: Home, (R11,C5) and (R8,C8). Figure 3-1. Task Editor window. When writing a program, the points are selected in the point list and copy in the left column of the Task Editor where they are associated with task commands. Note that the name of a point in the left column must be exactly the same as the spelling of the point in the right column. The points in the right column can be used as often as desired, and it is not required to use each of them. 3-1

2 Task commands are entered by placing the cursor beside a line number and by typing the command name. In the task program shown in Figure 3-1, three task commands are used: Moveto, Speed and End. When executing, this task program will cause the Servo Robot to move to the home position, move to point (R11,C5) at a speed of 80, move to point (R8,C8) at a speed of 15. Then the program ends. As Table 3-1 shows, many task commands are available in Robotics. They are described in the exercises where they are used for the first time. They are also described in Appendix C. TASK COMMANDS Carousel(x,y) End Lathe Restart CNCinput(x,y) Endif Message Return CNCoutput(x,y) Error Mill Runto Delay Gosub Moveto Speed Do Home Output(x) Sub Driveto If Relay(x) Until Else Input(x) Repeat While Table 3-1. Task commands. As you will learn in this manual, a task program is much more than just a point list. It includes commands, data, comments, and control information capable of being executed by the Servo Robot and external devices. In task programming, the program is run from the host computer and the file is saved to the hard drive of the computer. Note that you cannot save a point-to-point program in Robotics. If Robotics is closed before a task program is created, all points in the Point Editor window will be lost. Task Commands In this exercise, you will be introduced to the Moveto, Speed, and End task commands. Moveto: This command tells the Robot Controller to execute either a position or a control point. The syntax and the parameters associated with the command are as follows: Moveto <string point name>. Example: MOVETO POINT1. Speed: This command allows you to set an override speed value for all instruction lines that follow the line containing the Speed command. All position point moves will be executed at this new speed. The position points that follow a Speed command set at 0 will be at their own defined speeds. The syntax and the parameters associated with the Speed command are: Speed <integer between 0 and 99>. Example: SPEED

3 End: This command ends the execution of the current task program. It can be placed anywhere in the task program but unless you are defining subroutines, all instruction lines past the End command will never be executed. Programming using the Hand-Held Terminal or Robotics? Both the Hand-Held Terminal and Robotics can be used for point-to-point programming. The advantage in using the Hand-Held Terminal is mobility. You can move to a position to see and locate the equipment with precision. You are not tied to the computer. With Robotics, one of the advantages is the simplicity to develop a program. You basically point and click to move the Servo Robot and select points. The editing and labeling processes are also very convenient. Furthermore, the capabilities of Robotics to create a task program are not available when using the Hand-Held Terminal alone. The use of both systems in the design of a program allows precise movements and simplicity to program. Procedure Summary In the first part of the exercise, Set-up, you will install and connect the equipment. In the second part, Creating a Point-to-Point Program Using Robotics, you will create a point-to-point program using Robotics. You will use these points to create a task program in the fourth part of the exercise. In the third part, Testing a Point-to-Point Program, you will test the point-to-point program using the Move and Execute commands. In the fourth part, Creating a Task Program, you will create a task program using the points saved in the second part and by entering task commands. Then you will execute the program. In the last part of the exercise, Shutdown Procedure, you will shut down the system. 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 CAUTION! When you work with moving equipment, make sure you are not wearing anything that might get caught, such as a tie or jewelry. If your hair is long, tie it out of the way. 3-3

4 Set-up G 1. Install the Servo Robot as shown in Figure 3-2. Figure 3-2. Location of the equipment on the Work Surface. G 2. Place a film canister at positions (R4,C11) and (R8,C11), and a metallic can, with the opening on top, at position (R10,C8). G 3. Make sure that the emergency stop button is released (in the up position) and easily accessible. G 4. Connect the equipment as shown in Appendix B. Refer to the User Guide of your training system for detailed instructions. Note: If the cables have already been installed by your instructor or classmates, verify each connection. 3-4

5 Task Programs Creating a Point-to-Point Program Using Robotics G 5. Turn on the Robot Controller by setting its power switch at the I (on) position. Note: Perform the following steps using Robotics. G 6. Launch Robotics. G 7. Select Online in the Robot menu to enable the control of the Servo Robot from the host computer. G 8. Execute a hard home positioning. G 9. Open the Point Editor window by selecting Point Editor in the Window menu. The Point Editor window must be in Teach mode. G 10. Set the speed at 80. G 11. Fully open the gripper and place it 50 mm (2 in) above the film canister at position (R4,C11) as shown in Figure 3-3. Save the point by performing the following steps: & Click the Save Position Point button. & In the Save Position window, ensure the Robot check box is enabled (checked). Click the Save button if you accept the default name shown in the Point Name field, or enter a new name before clicking the Save button. Figure 3-3. Gripper position. 3-5

6 G 12. Set the speed at 15. Note: The speed is reduced to help you to position and grip the film canister with precision. G 13. Lower the gripper and grip the film canister as shown in Figure 3-4 without saving the point. Once the gripper position is adjusted correctly, open the gripper. Save the point. Figure 3-4. Gripping the film canister with the gripper. G 14. Set the speed at 80. G 15. Close the gripper to grip the film canister. Save the point. G 16. Raise the film canister 20 cm (8 in) above the Work Surface. Save the point. G 17. Rotate the shoulder of the Servo Robot to move the film canister horizontally above the opening of the metallic can at position (R10,C8). Do not lower the film canister now. Save the point. G 18. Set the speed at 15. G 19. Lower the film canister 25 mm (1 in) above the opening of the metallic can. Save the point. G 20. Set the speed at

7 G 21. Open the gripper to drop the film canister into the metallic can. Save the point. G 22. Raise the gripper 20 cm (8 in) above the Work Surface. Save the point. G 23. Repeat the preceding manipulations to pick and drop the second film canister into the metallic can. Note: Do not forget to reduce the speed when required and to save all significant points. Testing a Point-to-Point Program G 24. Replace the film canisters at positions (R4,C11) and (R8,C11) manually. G 25. Test the validity of your points by performing the following steps: In the point list of the Point Editor, double-click the point named Home to select it, then click the Move button. The Servo Robot will move to the Home position. Note: You can also access the Move instruction using the Context-Sensitive Menu Commands. To do so, place the mouse pointer in the point list of the Point Editor then click the right button of the mouse. Select the Move To option. Refer to the User Guide of your training system to obtain more information about the Context-Sensitive Menu Commands. Once the Servo Robot has completed its movement to the home position, double-click the next point in the point list, then click the Move button. The Servo Robot will move to this point. CAUTION! If you select a point that is not the next point in the point list, the Servo Robot will interpolate the straight-line path to the chosen point and move to the point. If an obstacle is present between the current location and the selected point, a collision will occur. Execute all points sequentially. Note the point where the Servo Robot picks the second film canister. Later in this exercise, you will change the speed in the program at this moment. G 26. Test your point-to-point program by clicking the Execute button in the Point Editor window. This will cause the point-to-point program to be executed once. Note: If you close Robotics now, the point sequence will be deleted. 3-7

8 Creating a Task Program G 27. Until now, you have saved the necessary points, but you have not yet developed a task program that can be executed from the computer. Create a task program from the point listed in the Point Editor by performing the following steps: Select New in the File menu to open the Program Information window. Enter your name in the Author field, and the date in the Date field. Click the OK button to save your entries. The Task Editor window will open. Select all points in the Point Editor window and drag them in the right column of the Task Editor window. Note: To select a group of points, highlight the points by clicking on each point while holding the Ctrl key pressed, or by clicking the first and last point of the list while holding the Shift key pressed. Select all points in the right column of the Task Editor window and drag them in the left column of the Task Editor window while holding the Ctrl key pressed. Note: Holding the Ctrl key pressed while dragging and dropping the points is a shortcut to insert the Moveto task command to the points. Ensure that the Moveto command is inserted at the left of each point name. The first instruction line should be Moveto Home and the last line should be End. Insert a Speed task command after the Moveto Home instruction line. Set the speed at 99. Insert a Speed task command where the Servo Robot picks the second film canister. Set the speed at 20. The Task Editor window should be similar to the one shown in Figure 3-5. The name and number of points may differ. 3-8

9 Figure 3-5. Task Editor window. G 28. Save your task program by selecting Save or Save As in the File menu, as EXE_3_A. G 29. Replace the film canisters at positions (R4,C11) and (R8,C11) manually. G 30. Execute your task program by selecting Run Task in the Robot menu. This will cause the Run Task window to open, and the task program to be compiled. If no errors are present in the program, the message No errors detected will appear in the Run Task window. G 31. Click the Run button to start the execution. G 32. Does the execution of the task program confirm that the Speed command set an override speed for all points that follow? G Yes G No Note: Execute the next step without film canisters. 3-9

10 G 33. Enable the Repeat Task check box to repeat the task program. While the Servo Robot moves from point to point, observe the information displayed in the Run Task window. Describe the information shown in the Run Task window. G 34. Once your observation is completed, click the Pause button to abort the execution. Close the Run Task window. Shutdown Procedure G 35. Make sure that there is nothing inside the gripper. G 36. Clear the area around the Servo Robot so that it will not hit anything when it moves. G 37. Execute a hard home positioning. G 38. Turn off the Robot Controller by setting its power switch at the O (off) position. G 39. Disconnect the system and return the equipment to its storage location. CONCLUSION In this exercise, you learned to create a task program. You operated the Servo Robot using Robotics to create the position points. You copied and saved the position points into the Task Editor window. You inserted the required task commands to create a task program. You tested and saved your task program. 3-10

11 REVIEW QUESTIONS 1. In which window of Robotics are task commands inserted? a. Point Editor window. b. Task Editor window. c. Main window. d. All of the above. 2. Task programs can be designed with both Robotics and the Hand-Held Terminal. G Yes G No 3. Name an advantage of the Hand-Held Terminal over Robotics. 4. Name an advantage of Robotics over the Hand-Held Terminal. 5. Describe what happens when the Speed command is set at