Objective. steps. Tutorials Robot Programming External TCP

Transcription

1 Tutorials Robot Programming External TCP External TCP 1/6 Related files ExternalTCP.vcp Description Component package that contains some ready made components to aid in the External TCP tutorial. Objective The objective of this tutorial is to program a simple robot sequence with an external Tool Center Point, TCP for short. The External TCP function allows the programming of robots where the tool point is stationary and the robot moves the workpiece, as is the case in many deburring and polishing applications. steps Step 1 - Load the External TCP layout Double click the ExternalTCP.vcp file to extract a set of components and one ready-made layout. The layout does not contain any robot programming information, just a layout configuration for reachability purposes. The component package contains the following components and layout files: External TCP Tutorial Layout External tool Part Robot Table The layout can be found from the ecat - Local Components/Tutorials/External TCP and it should look as follows: Step 2 - Define base and tool data For this tutorial, we need to define two sets of base and tool data. One for picking the part from the table, and the other one to perform the external TCP actions. Go to the Teach tab page and select the robot program. Make sure the right selection type is selected for you to be able to see the robot program

2 Tutorials Robot Programming external tcp 2/6 From the Robot configuration, select the BASE[1] and TOOL[1]. Make sure the BASE[1] is attached to the Table node, this keeps the base locked to the table. To do this click on the options arroe of the base data Base[1] and select Set Node... A dialog pops up then select the Table component by clicking on screen or form the dropdown menu. The Tool data node should be the mountplate, which comes preconfigured, as well as its location. From the Tool data options in similar fashion choose form option arrows menu Set node option. Make sure the mountplate is pre-selected as below. Once set [1] is configured, select BASE[2] and TOOL[2]. The BASE[2] node should be the connected to component Part. This will allow the robot program to store the processing points in relation to the part and not the robot geometry. Follow the same procedure as before to change the options of the node. Now select the TOOL[2] to be connected to the Feeder. Remember that the selection can be done in the 3DWorld by simply clicking on it. So again from tool options select Set Node, and set the selection as below.

3 Tutorials Robot Programming external tcp 3/6 The location of the TCP is wrong at this moment. The TCP has to be positioned on the bottom tip of the feeder s tool. This is just a simple geometry, and it does not represent a reall tool, but we will use it for representative purposes. The translation of the tool can be achieved by selecting from the tool options Translate, You can enable the snapping tools, above the 3D world. And then just snap to the center of the tool by picking. The end result of the translation should be something similar to the following picture. This will allow the robot to use that point as an external TCP for the programs. Save the layout for backup purposes, in general its good to do this periodically. Step 3 - Create a simple robot program Now we can start by creating a simple robot program that will debur the edges of the part. Select the Main routine of the robot and add a motion statement to define the home position. Make sure the BASE[1] and TOOL[1] are selected. To navigate the tool position use snap to point and make sure the snap to surfaces and snap orientation options are on, then click on the middle of the part box. The robot should now be in position to pick the box.

4 Tutorials Robot Programming external tcp 4/6 Add a linear motion statement to record the position. For the robot to reach this point, it needs an approaching trajectory, so translate the the robot upwards along the Z axis and add a linear motion statement to record the position. The actual distance moved is irrelevant for the example but makes the movement more believable. Move the latest recorded position to the second position in the RSL sequence, so that the order of approach is right. Add a signal statement by setting Binary Output 1 to true, this sends the robot a signal to pick up the piece or grasp it. Record another motion statement in the same position as P3 for the lift motion. Add a Halt the simulation statement to test the sequence. Press reset and run the simulation. After the first grasping sequence, we need to move the part so that the edges are in contact with the external TCP. For this, we need to use Translate along vector to connect one of the top corners of the part with the external toolpoint. Click on Translate along Vector and click the top corner of the part as shown in the picture. For the second selection, click on the lowest face of the external toolpoint, this should snap the cube corner to this point. Use snap filters to aid picking points. Add a linear motion statement to record the position. Move the Halt the simulation statement to the end of the sequence, and test it by running the simulation. Create a new sequence and name it ExternalTCP. Grouping things like this makes it easier to read and reuse parts of the robot program.

5 Tutorials Robot Programming external tcp 5/6 Go to Main sequence and add a Call a subroutine statement that calls the ExternalTCP routine that you have just created. Select the newly created subroutine. Make sure you change the base and tool data to set [2]. This will change the active base and tool to set [2] in the next recorded motion statement. Add a linear motion statement in the same position to activate the new base and tool. Now it is time to create the external TCP program. Use the Trn tool and Snap position to Frame/Vertex/Surface point filters to select one of the corners of the part. This will move the selected corner of the part into contact with the toolpoint. Before recording the position, rotate the tool point -90 degrees in the Z axis, making its total rotation -180 degrees. Make sure the coordinate system is set to Parent, otherwise the orientation will be incorrect. Record the position with a linear statement. Add a Halt the simulation statement to test it. Reset the simulation and run.

6 Tutorials Robot Programming external tcp 6/6 Repeat and add a movement and rotation statement for the other three sides of the part. Follow the same procedure as earlier. Translate the tool with a snap filter to an adjacent corner Rotate the tool -90 degrees about the Z axis Record the position with a linear statement Repeat three times In the end, there should be five linear motions statements - the first one to activate the base and the tool, and four more, one for each side of the part. Delete the Halt the simulation statement from the ExternalTCP sequence. Select the Main sequence to finalize the robot program. From the main sequence, select the P2 statement which has recorded the original position of the part. This will move the robot to that position. Add a motion statement there, so that we define the drop point of the part. When you selected the P2 statement, the BASE[1] and TOOL[1] were selected, and by adding a new statement (in this case P11), the new base and tool were activated. Click on P3 to define the approach point again, and add a new linear motion statement. Move the motion statement before the drop point. Add a Set Binary Output to release the part and set it to false. Make sure it s the same output you used to grasp the part. In this case we used No. 1. Click on P1 to move to the home position, and add a new motion statement. Here you can use a point to point motion statement. Delete the Halt the simulation and the final sequence should look as follows. Reset the simulation and run.