Transcript Denso TrainingI_RC8.ppt

Denso Training
Braas Company
Denso Training - Agenda
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•
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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
Denso – Hardware Overview -Controller
Number
1
-
Label
Name
2
-
Expansion board slot (2 slots)
3
4
5
6
7
8
9
10
11
12
MINI I/O
HAND I/O
PENDANT
POWER
INPUT AC
LAN
USB
RS-232C
VGA
P (POWER)
R (RUN)
E (ERR)
ENC
SLOT1, SLOT2, SLOT3, SLOT4
Mini I/O user, system connector
Hand I/O connector
Pendant connector
Power switch
Intake filter
Power connector
Ethernet connector
USB connector (2 lines)
Serial communication connector
VGA connector
13
14
15
16
Purpose
Safety I/O
Install expansion board.
PCI board is installed to upper slot and PCI Express board to lower slot.
Install teach pendant and mini-pendant.
Used for power ON and OFF of controller.
Prevent invasion of dust to inside controller. 3 locations.
Connect power cable.
Use for communication with outside device through Ethernet circuit.
Connect with USB memories or USB devices.
Use for serial communication with outside devices.
Use for output images.
Status display LEDs
Encoder connector
Motor connector
Earth terminal (protective earth)
Connect encoder cable.
Connect motor cable.
Protect from electric shock.
Denso – Hardware Overview -Joints
Denso – Hardware Overview -Joints
Denso – Hardware Overview – Connections - VS
CN21
Connector for hand signals Use
attached connectors for wiring.
AIR2
Directly connected to AIR2 on
the connector panel. (M5)
Not available for clean room
types.
Valve output
Air piping joint for hands (M5)
Denso – Hardware Overview –Connections - VSG
Connector name
CN20
CN22
CN24
AIR1
AIR2
VALVE OUT
BATTERY
BRAKE
ETHER
Description
Connector for hand signals Connected to CN21 on the tool wiring
panel.
Connector for motor & encoder cable
Connector for hand signals Connected to the signal wiring connector
on the communication interface flange.
Joint for air to be supplied to solenoid valves. (PT 1/4) (* 1)
Directly connected to AIR2 on the tool wiring panel. (PT 1/4)
For clean room type, exhaust port of solenoid valves
Connected to an external battery unit.
Connected to a brake release unit.
Connected to the Ethernet cable. (*2)
Connected to the air purge unit.(PT 1/4)
PURGE / VACUUM
For clean room type, exhaust port of solenoid valves.
GROUND
Grounding terminal (Functional ground)
Remarks
Use attached connectors for wiring. Not provided on robots having no signal lines or
air piping.
Use attached connectors for wiring. Provided on robots having a communication
interface flange-A
Not provided on robots having no signal lines or air piping.
Not provided on robots having no signal lines or air piping.
Required to install exhaust treatment piping
Provided on robots having a communication interface flange-A
Provided on protected type robots (IP67). The source air pressure is 0.01 to 0.03 MPa.
(* 3)
Recommended vacuum flow rate.
40 - 55liter / min ( VS050, 060 )
60 - 75liter / min ( VS068, 087 )
M5
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 – Hardware Overview - Status Bar
№
Name
-1 Move mode
-2 Executable Token
-3 Program running
Description
Auto mode
Manual mode
Teach check mode
Mode is not selected
Direct mode
Transmitting to PC
Receiving from PC
Read data in USB memory
Write data into USB memory
Arbitrary
COM
EtherNet
I/O
Teach Pendant
Program is under suspension.
Program is executing
Supervisory task is executing
Program and supervisory task are executing
Message output
Vicinity of the singular point
№
Name
Description
Pseudo input unused
-4 Pseudo input I/O lock
Pseudo input used
Normal
-5 System state
-6 Switch input state
-7 Robot selection button
-8 Move mode
-9 Work coordinate
-10 Tool coordinate
-11 Velocity button
EMG
AUTOEN
PROTECT
DSW
Abnormal
・Battery warning
・Encoder system is down
・Catastrophic failure
Emergency stop state
Auto enable state
Protective stop state
Deadman switch state
Select and display the robot type
J : Each axis
P : X-Y
mode is displayed
T : Tool
Selected work number.
Selected tool number.
Setting and display of the external speed.
Denso – Hardware Overview - Shortcut
Denso – Modes of Operation
(Pendant Control)
(PLC control)
(PC 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 – Modes of Operation
Changing Executable Token
Access: [F6 Setting, F5 Communication and Token, F1 Executable Token]
Denso – Manual Operation–Joint Mode -VS
• Joint Modeallows moving
each axis
independently
Denso – Manual Operation – X-Y Mode -VS
•
(WORK 0)
XY Mode- allows
moving the robot
arm in base
coordinates (The
origin is located at
the center of the
base.)
Denso – Manual Operation – Tool Mode -VS
•
Tool Modeallows moving
the robot in
mechanical
interface
coordinates.
Denso – Manual – Joint Mode -Scara
•
Joint Modeallows moving
each axis
independently.
Denso – Manual – XY Mode -Scara
•
(WORK 0)
XY Mode- allows
moving the robot
arm in base
coordinates (The
origin is located at
the center of the
base.)
Denso – Manual – Tool Mode -Scara
•
Tool Modeallows moving
the robot in
mechanical
interface
coordinates.
Robot Exercise - Jogging
Robot Exercise - Jogging
• Pendant Mode Key Switch to Manual Mode
• Clear E-Stops
• Manual Mode
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–
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–
–
ARM (Speed 10%)
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 - Robot Configuration
Access: [F2 Arm] – [F6 Aux] – [F1 Config]
No
Items
Unit
1
Mass of payload
g
2
Payload center of gravity X
mm
3
Payload center of gravity Y
mm
4
Payload center of gravity Z
mm
5
Payload moment of inertia Ix
kgcm^2
6
Payload moment of inertia Iｙ
kgcm^2
7
Payload moment of inertia Iｚ
kgcm^2
8
Control set of motion optimization
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10
Floor-mount, or Overhead-mount
-
Default
Description
Mass of end-effector and object to be mounted
at the end of the robot arm.
X component of payload center of gravity
0
(consisting of end-effector and object)
Y component of payload center of gravity
80
(consisting of end-effector and object)
Z component of payload center of gravity
100
(consisting of end-effector and object)
Moment of inertia around X axis (consisting of
0
end-effector and object)
Moment of inertia around Y axis (consisting of
0
end-effector and object)
Moment of inertia around Z axis (consisting of
0
end-effector and object)
0: None
1: PTP
0
2: CP
3: PTP・CP
0: Floor-mount
1: Overhead-mount
0 2: Wall-mount（under-face）
3: Wall-mount（Right-face）
4: all-mount（Left-face）
4000
Denso – Preparation for Programming
• To program we need to understand:
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–
–
–
Variables
Interpolation Control
Confirming Reach Position
Basic Programming Commands
• TAKEARM, MOVE, APPROACH, DEPART, SET,
RESET, DELAY, WAIT
Denso – Variables (Global)
Access: [F3 Variables]
Denso – Variables (Global)
*All vars
configured to
200 on demos.
*Please only
use variables
numbered
greater than
100 for the
class
Denso –Interpolation Control -Point to Point
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•
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
Place Point
Approach
Pick Point
Pick
P100
Place
P101
Denso – Programming Exercise
Teach two Points into P100 & P101
Denso – Programming Exercise
Create New Program
Access: [F1 Program] – [F1 NewProg.] – [Program OK]
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[<ArmGroupNumber>][<KEEP=DefaultValue>]
– Note:
• TAKEARM command must be issued before any
command that may effect robot arm, Ex: SPEED
Denso – Programming Exercise
Press [F1 CreateNew] and type in the APPROACH command
Denso - Programming
• APPROACH (Statement)
– Function
• The robot moves to a position away from the <Base
position> by <Approach length> in the Z direction of the
tool coordinate system.
– Format
• APPROACH <Interpolation method>, <Base
position>,[<Path start displacement>]<Approach
length>[,Motion option>][,NEXT]
– Example:
• APPROACH P ,P1,@0 F1,S=100
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 or @C
– is determined when the encoder feedback value is within a
designated window around the destination position.
• @E – all encoders are within 20 counts of destination
• @C – tool position is within 0.1mm and 0.1 deg of destination
Denso –Confirming Reach Position
End Motion, @##
•
PROGRAM END_MOVE
– TAKEARM
– MOVE L, @11 P2
– MOVE L, @E P3
– END
11mm
P2
Speed
Time
P2
P3
P3
Denso –Confirming Reach Position
Pass Motion, @P
•
PROGRAM PASS_MOVE
– TAKEARM
– MOVE P, @P P2
– MOVE P, @E P3
– END
P2
Speed
Time
P2
P3
P3
Denso –Confirming Reach Position
Encoder Check Motion, @E
•
PROGRAM ENCODER_MOVE
– TAKEARM
– MOVE L, @E P2
– MOVE L, @E P3
– END
P2
Speed
Time
P2
P3
P3
Denso – Programming Exercise
Press [F1 CreateNew] and type in the MOVE command
Denso - Programming
• MOVE (Statement)
– Function
• Moves the tip of the tool to the specified coordinates.
– Format
• MOVE <Interpolation method>,[@<Path start
displacement>]<Pose>[,[@<Path start
displacement>]<Pose>…][,<Motion option>][,NEXT]
– Examples:
• MOVE P, @P P50
• MOVE L, @E P1,S=75
• MOVE P, @0 (740,0,480,180,0,180,5),NEXT
• MOVE C, P100, @P P101
Denso – Programming Exercise
Press [F1 CreateNew] and type in the RESET command
Denso - Programming
• RESET (Statement)
– Function
• Sets an I/O port to OFF.
– Format
• RESET <I/O variable>[,Output time>]
– Example:
• RESET IO66
Denso – Programming Exercise
Press [F1 CreateNew] and type in the SET command
Denso - Programming
• SET (Statement)
– Function
• Sets an I/O port to ON.
– Format
• SET <I/O variable>[,Output time>]
– Example:
• SET IO66
Denso – Programming Exercise
Press [F1 CreateNew] and type in the DELAY command
Denso - Programming
• DELAY (Statement)
– Function
• The program processing stops until the time designated
by <Delay time> elapses. <Delay time> is expressed in
ms, however, the actual delay time changes in
increments of 1/60. If multiple tasks are processed at the
same time, the delay time may possibly be longer than
the designated value.
– Format
• DELAY <Delay time>
– Example:
• DELAY 120
Denso - Programming
• WAIT (Statement)
– Function
• The program processing stops until <Conditional expression> is
satisfied. If a <Timeout time> is set, controls stops the execution
of a wait statement after the designated time elapses and
proceeds to the next command. The WAIT command will assign
TRUE(1) or FALSE(0) to the designated <Storage variable> if
control passes out of the WAIT by the satisfied <Conditional
expression or by timeout.
– Format
• WAIT <Conditional expression> [,<Timeout time> [,<Storage variable>]]
– Examples:
• WAIT IO10 = ON
• WAIT IO134 = OFF, 2000, I1
Denso – Programming Exercise
Press [F1 CreateNew] and type in the DEPART command
Denso - Programming
• DEPART (Statement)
– Function
• The robot moves by <Depart length> distance from the
current position in the Z direction of the tool coordinate
system.
– Format
• DEPART <Interpolation method>,[<Pass start
displacement>]<Depart length>[,<Motion option>][,NEXT]
– Example:
• DEPART L,125,S=F123
Denso – Programming Exercise
Highlight the APPROACH command, press and hold the shift
key, scroll down to the DEPART command then press Copy
Denso – Programming Exercise
With the DEPART command highlighted, press paste
Denso – Programming Exercise
Modify the program to match the following:
Denso – Programming Exercise- Teach Check
•
•
•
•
•
•
Save Program (F6)
Set the Pendant to TEACHCHECK Mode
Hold “deadman” switch on
Select the program from the Program List
[F4-CycStart]
To make motion press and hold the “OK”
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 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
Global
US & Europe
Standard
Japan Only
I/O
Mode
Compatible
OLD RC3
Standard
RC7
Denso -Mini 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 -Mini I/O Connector
Each row is
a twisted
pair in the
cable.
Denso – I/O Command Details
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
PLC
DeviceNet
Denso – Ethernet/IP
• 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
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 - 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 – Robot Training
• Thank you!
Please fill out the evaluation.