Transcript Denso Robotics 201 TP
Denso Training
Braas Company
Denso Training - Agenda • Hardware Overview • Jogging the robot • Teaching Positions (using the Teach Pendant) • Configuring the Robot • Programming (Using the Teach Pendant) • I/O Interfacing (Hardware) • Overview of Development Software • Maintenance
Denso – Hardware Overview -Controller
Denso – Hardware Overview -Joints
Denso – Hardware Overview -Joints
Denso – Hardware Overview – Connections - VSG The VS-G Series is equipped with 2 air inputs, 10 signal lines and 3 solenoid valves.
Denso – Hardware Overview –Connections - VSG There are two air inputs. One feeds the three solenoid valves, one is pass-through.
Denso – Hardware Overview –Connections - VPG The VP Series is equipped with 4 air lines, 9 signal lines and does not have solenoid valves.
Denso – Hardware Overview –Connections - HSG The HS-G Series is equipped with 4 air lines, 19 signal lines.
Denso – Hardware Overview -Pendant
Denso – Pendant Top Screen
Denso – Modes of Operation (Pendant Control) (PLC control) • The Robot has 3 modes of operation.
• Manual- operate the robot from the teach pendant.
• Teach Check – restricted automatic operation • Auto – Allows the robot to operate automatically.
Manual and Teach Check mode speed is limited to 10% of the robot max speed.
Denso – Manual Operation–Joint Mode -VS • Joint Mode allows moving each axis independently
Denso – Manual Operation – X-Y Mode -VS • XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.) (WORK 0)
Denso – Manual Operation – Tool Mode -VS • Tool Mode allows moving the robot in mechanical interface coordinates.
Denso – Manual – Joint Mode -Scara • Joint Mode allows moving each axis independently.
Denso – Manual – XY Mode -Scara • XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.) (WORK 0)
Denso – Manual – Tool Mode -Scara • Tool Mode allows moving the robot in mechanical interface coordinates.
Robot Exercise - Jogging
Robot Exercise - Jogging • Enable Auto Switch to Manual • Pendant Mode Key Switch to Manual Mode • Clear E-Stops • Manual Mode – ARM (Speed 10%) • P(Position) -J(Joint) -T(Transform) buttons -Viewing Current Position using XY coordinates, Joint coordinates or tool coordinates • OpeMode – Selects coordinate System for movement – Motor ON – Joint/Coordinate Movement using J1 through J6 – Move Robot using all three operating modes – Inching the Robot
Denso – Work Coordinates • Up to 7 more work coordinate systems may be specified, WORK 1 – WORK7.
Denso –Tool Coordinates • Multiple Tool coordinate systems may also be defined, TOOL 1 – TOOL 63.
• TOOL 0 is always defined as at the flange of the robot.
(TOOL 0)
Denso – Figures of the Robot -Scara • The two figures for the SCARA robot. Both show the robot at the same location with a lefty and righty figure.
Denso – 6 Axis Robot -Shoulder Figure (1) Shoulder figure The rotary axis of the 1st axis is defined as the boundary between LEFTY and RIGHTY.
When viewed from the normal line on the side of the arm link, if point Pw exists in the left-hand side of the rotary axis of the 1st axis, the figure is LEFTY; if point Pw exists in the right-hand side, it is RIGHTY.
Denso – 6 Axis Robot –Elbow Figure The centerline of the arm link (connecting the shoulder with elbow) is defined as the boundary between ABOVE and BELOW.
If point Pw exists in the + side of the centerline, the figure is ABOVE; if point Pw exists in the -side, it is BELOW.
Denso – 6 Axis Robot-Wrist Figure The rotary axis of the 4th axis is defined as the boundary between FLIP and NONFLIP.
If the normal line on the flange surface tilts up the rotary axis of the 4th axis, the figure is FLIP; if it tilts down the rotary axis, it is NONFLIP.
Denso – 6 Axis Robot-6 th Axis Figure If the rotation angle of the 6th axis is within the range of -180 to 180° around the Z axis in mechanical interface coordinates, the figure is SINGLE; if it is within the range of 180° to 360° or -360° to -180°, the figure is DOUBLE.
Denso - Robot Configuration Access: [F2 Arm] – [F6 Aux] – [F7 Config]
Set to 3.
Denso - Robot Configuration Access: [F2 Arm] – [F6 Aux] – [F7 Config]
Set to 1.
Denso – Preparation for Programming • To program we need to understand: – Variables – Interpolation Control – Confirming Reach Position – Basic Programming Commands • TAKEARM, MOVE, APPROACH, DEPART, SET, RESET, DELAY, WAIT
Denso – Variables (Global) Access: [F1 Program] – [F4 Variable]
Denso – Variables (Global) Access: [F1 Program] – [F4 Variable] –[F12 VarsUsed] *All vars configured to 200 on demos.
*Please only use variables numbered greater than 100 for the class
Denso – Variables (Global) Access: [F1 Program] – [F4 Variable] –[F1 Integer] Access: [F1 Program] – [F4 Variable] –[F4 Position]
Denso –Interpolation Control -Point to Point • • PTP (Point to Point) can be defined as the movement from one point to another point. The path on which the robot moves depends on the robot posture and is not always a straight line.
If you designate a Type P or Type T variable as the PTP motion destination position and the designate robot figure, the robot moves so that the robot becomes the designated robot figure. If you do not designate any robot figure it will be the current robot figure.
Denso –Interpolation Control -Continuous Path - Linear • Continuous Path (CP) control manages interpolation so that the path to reach the motion destination position will be a straight line.
• If you designate “L” for designation of the interpolation method with the motion control command, the robot executes the CP motion.
• When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure a error may occur.
• If the first motion of a program is CP control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.
Denso –Interpolation Control - Continuous Path – Circular (ARC) • ARC interpolation control manages interpolation so that the path to reach the motion destination position will be an arc.
• If you designate “C” for designation of the interpolation method with the motion control command, the robot executes the ARC motion.
• When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure an error may occur.
• If the first motion of a program is ARC control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.
Denso – Programming Exercise
Denso – Programming Exercise Approach Pick Point Approach Place Point Pick P100 Place P101
Denso – Programming Exercise Teach two Points into P100 & P101 Access: [F1 Program] – [F4 Variable] –[F4 Position]
P100 P101
Denso – Programming Exercise -Manual • Move between the two Points – Select the position you want to move to – Make sure motor Power is on – From this screen select [F4 Move] – Select PTP or CP movement – Hold OK button to move
P100 P101
Denso – Programming Exercise Create New Program Access: [F1 Program] – [F1 NewProg.] – [Program OK]
Denso – Programming Exercise Remove comment mark from TAKEARM •0001 •0002 •0003 •0004 •0005 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm END
Denso - Programming • TAKEARM (Statement) – Function • Gets an arm group. Upon the execution of this statement, the programmed speed, acceleration and deceleration will be set to 100. If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin.
– Format • TAKEARM[
Denso – Programming Exercise Press [F1 New Line] and type APPROACH •0001 •0002 •0003 •0004 •0005 •0006 •0007 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P1, @0 F1, S=100 END
Denso - Programming • APPROACH (Statement) – Function • The robot moves to a position away from the
– Format • APPROACH
Denso –Confirming Reach Position • Pass Motion, @P – is to pass the vicinity of a taught motion position or relative position • End Motion, @## – is determined if the robot has reached the destination position when the command value of the servo system meets the destination position.
• Encoder Value Check Motion, @E – is determined when the encoder feedback value is within a designated window around the destination position.
Denso –Confirming Reach Position End Motion, @## • PROGRAM END_MOVE – TAKEARM – MOVE L, @11 P2 – MOVE L, @E P3 – END P2 11mm P2 P3 Time P3
Denso –Confirming Reach Position Pass Motion, @P • PROGRAM PASS_MOVE – TAKEARM – MOVE P, @P P2 – MOVE P, @E P3 – END P2 P2 P3 Time P3
Denso –Confirming Reach Position Encoder Check Motion, @E • PROGRAM ENCODER_MOVE – TAKEARM – MOVE L, @E P2 – MOVE L, @E P3 – END P2 P2 P3 Time P3
Denso – Programming Exercise Modify APPROACH command as follows: •0001 •0002 •0003 •0004 •0005 •0006 •0007 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 END
Denso – Programming Exercise Press [F1 New Line] and type MOVE •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE P, @0 P1, @0 P2, S=100 END
Denso - Programming • MOVE (Statement) – Function • Moves the tip of the tool to the specified coordinates.
– Format • MOVE
Denso – Programming Exercise Modify MOVE command as follows: •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 END
Denso – Programming Exercise Press [F1 New Line] and type RESET •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 END
Denso - Programming • RESET (Statement) – Function • Sets an I/O port to OFF.
– Format • RESET [,Output time>] – Example: • RESET IO66
Denso – Programming Exercise Press [F1 New Line] and type SET •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 •0010 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 END
Denso - Programming • SET (Statement) – Function • Sets an I/O port to ON.
– Format • SET [,Output time>] – Example: • SET IO66
Denso – Programming Exercise Press [F1 New Line] and type DELAY •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 •0010 •0011 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 END
Denso - Programming • DELAY (Statement) – Function • The program processing stops until the time designated by
– Format • DELAY
Denso - Programming • WAIT (Statement) – Function • The program processing stops until – Format • WAIT Denso – Programming Exercise Press [F1 New Line] and type DEPART •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 •0010 •0011 •0012 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 DEPART P, @0 F1, S=100 END Denso - Programming • DEPART (Statement) – Function • The robot moves by – Format • DEPART Denso – Programming Exercise Modify DEPART command as follows: •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 •0010 •0011 •0012 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 DEPART L, @0 75, S=100 END Denso – Programming Exercise Highlight the APPROACH command, press and hold the shift key, scroll down to the DEPART command. •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 •0010 •0011 •0012 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 DEPART L, @0 75, S=100 END Denso – Programming Exercise With the DEPART command highlighted, press copy, then press paste. •0001 •0002 •0003 •0004 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm •0005 •0006 •0007 •0008 •0009 •0010 •0011 •0012 •0013 •0014 •0015 •0016 •0017 •0018 APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 DEPART L, @0 75, S=100 APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 DEPART L, @0 75, S=100 END Denso – Programming Exercise Modify the program to match the following: •0001 •0002 •0003 •0004 •0005 •0006 •0007 •0008 •0009 •0010 •0011 •0012 •0013 •0014 •0015 •0016 •0017 •0018 ‘!TITLE “PRO4” PROGRAM PRO4 TakeArm APPROACH P, P100, @P 75, S=100 MOVE L, @E P100, S=100 RESET IO65 SET IO64 DELAY 100 DEPART L, @0 75, S=100 APPROACH P, P101, @0 75, S=100 MOVE L, @0 P101, S=100 RESET IO64 SET IO65 DELAY 100 DEPART L, @P 75, S=100 END Denso – Programming Exercise • Save Program (F6) • Compile Program (From Program list, “Config”; “Make the specified program active?”, ”OK”; Do you want compile?, “OK”) • Set the Robot control to run off the pendant vs. PLC. – Cancel to the Top Screen – Set Pendant to Manual Mode – [F4 IO] – [F6 Aux] –[F1 Set H/W] – Set Parameter 31 “Single Point of Control” to Internal (0) Denso – Programming Exercise- Teach Check • Set hardwired ‘Enable Auto” Switch to Manual • Hold deadman switch on • Press “Motor” button to enable servos on Robot • Set the Pendant to TEACHCHECK Mode • Select the program from the Program List • [F4-CycStart] • To make motion press and hold the “OK” – If you release the “OK” button, repeat steps 13 thru 15. Denso – Programming Exercise- Auto • Set hardwired ‘Enable Auto” Switch to Auto • Set the pendant to AUTO • Press “Motor” button to enable servos on Robot • Select the program from the Program List • [F4-Start] • Select “Single-Cycle” or “Continuously” Denso – Programming Exercise-Cycle Time • Monitoring Cycle Time – To Enable: • [F1 Program] [F6 Aux.] [F1 Set PRJ] • Parameter 14 – Delete cycle time calculation code – 0 Measure the run time of all programs – 1 Measure the run time of programs in the folder, that can be called through IO. (Roots are named “PRO*”) – 2 Do not measure the run time of programs. Denso Training - Agenda • Hardware Overview • Jogging the robot • Teaching Positions (using the Teach Pendant) • Configuring the Robot • Programming (Using the Teach Pendant) • I/O Interfacing (Hardware) • Overview of Development Software • Maintenance Denso – Control Interfaces • Safety I/O • Hardwired Handshake – Standard – Optional Expansion IO • DeviceNet • Ethernet/IP • Operator Panel Denso – I/O Command Details • To determine which documentation to use look for Hardware Type and I/O Mode . Hardware Type I/O Mode Global US & Europe Compatible OLD RC3 Standard RC7 Standard Japan Only Denso -Safety I/O Connector • E-Stops must be made for Manual, Teach-Check and Auto modes. • The Protective Stop and Enable Auto inputs must be made for Automatic operation. Denso -Safety I/O Connector Each row is a twisted pair in the cable. Denso – I/O Command Details Denso – I/O Command Details – w/Parallel I/O Denso – I/O Allocation Denso – DeviceNet • DeviceNet Option Card – May be ordered with the controller (Recommended) or field installed. – Slave Board, Master Board, Master/Slave Board options – Uses the Extended Command area & Data area implementation • Same as the Expansion IO approach • Same as the RC5 DeviceNet Implementation PLC DeviceNet Denso – DeviceNet • Ethernet/IP Option Card – May be ordered with the controller (Recommended) or field installed. – Slave Board only – Uses the Extended Command area & Data area implementation • Same as the Expansion IO approach PLC Ethernet/IP Denso – Operator Panel • The operator panel is a feature of the operator pendant. It allows the pendant to be used as an operator interface for the robot. Access: [F5 OpePanel] Exit: [[Shift]-[Cancel]] Denso Training - Agenda • Hardware Overview • Jogging the robot • Teaching Positions (using the Teach Pendant) • Configuring the Robot • Programming (Using the Teach Pendant) • • I/O Interfacing (Hardware) Overview of Development Software • Maintenance Denso –Software – WinCaps III Denso – Software • Always upload Robot Configuration from the controller before doing any programming! • Save the settings from the factory and the last programs, so that you can restore what you had. Robot controller Denso – Software – Project Wizard • Wizard for setting up the application Denso –Software – Variable View Denso –Software -DIO View Denso – Software – Arm View Denso –Software – WinCaps III - CAD Import Denso –Software -ArmPlayerPlus • Robot simulation software • Allows the user to: – Visually see the robot cycle – Determine the execution time of a program cycle – Step thru the program to see the time for each step – Build a trial program Denso –Software -ArmPlayerPlus • ArmPlayerPlus -Simulate the robot moving between multiple points and determine the cycle time. Denso – Software - Error Log Access: [F6 –Set] [F2 –Log.] [F1 -ErrLog] Document: error-e.pdf Denso – Software - Operation Log Access: [F6 –Set] [F2 –Log.] [F2 -OprLog] Denso – Maintenance Access: [F6 –Set] [F6-Maint.] Denso – Maintenance Access: [F6 –Set] [F6-Maint.] Denso – Maintenance Some important items to check/replace are: - Backup Batteries: Controller (Memory) Backup Battery – Retains Variables, IO and Arm data. Robot (Encoder) Backup Batteries – Retain Servo Motor Encoder Position data. - Controller Filters: Clean filters regularly. Replace when necessary. Frequency is based on use and environment. - Timing Belts: Check Tension, Replace if Worn or Broken. Manuals are your friends!! Denso – Robot Training Please fill out the evaluation. Denso – Appendix A –Collision Detection • Example Collision Detection Components – Used on Demo Cell – Part Number Quantity – QSAP-25AISOBC31.5 1 – QS-25ANP-T3 – 98506-C103A 1 1 – CXC10R-00-06-NP – CXC10T-00-06-NP – CXC10F-18-150-S – CXC10UAP-BP 1 2 2 2 Description Denso VS6556 to QS25 Adapter Applied Robotics Quickstop PAK-QS25A/CXC10 Adapter AR Robot Tool Adapter Unit AR Tool Adapter Unit AR Tool Support Fixture Plate AR Product Adapter Kit• Thank you!