34175-E0_Robot5250_User.pdf

Automation and RoboticsServo Robot System Model 5250 Printed in Canada User Guide 34175-E0 |3034175E00511`~ AB No part of this publication may be reproduced. MAY 2004 Printed in Canada November 2005 . Legal Deposit – Second Trimester 2004 ISBN 2-89289-712-2 SECOND EDITION. in any form or by any means. without the prior written permission of Lab-Volt Ltd.AUTOMATION AND ROBOTICS SERVO ROBOT SYSTEM MODEL 5250 by the Staff of Lab-Volt Ltd. All rights reserved. Copyright © 2004 Lab-Volt Ltd . Foreword The Lab-Volt Servo Robot System. Before you connect and use the training system. especially in a real working environment. it is important for you to read this manual. Through the curriculum and hands-on experience gained in working with the Servo Robot System. you will learn to create automated work cells ideal for Flexible Manufacturing Systems (FMS) and Computer-Integrated Manufacturing (CIM). provide complete and affordable training in the programming and operation of industrial style robots. We hope that your learning experience with the Servo Robot System will be the first step of a successful career in robotics. III . Safety is an important issue. Models 5200 and 5250. IV . 3-1 3-2 3-2 3-3 3-3 3-3 3-3 3-3 3-3 3-3 3-3 3-3 3-4 3-4 3-4 3-4 3-4 3-4 3-4 3-5 3-5 3-5 3-5 3-6 3-6 3-6 3-6 3-6 3-6 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Save Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CNC 2 . . . . . . Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 External Devices . . . 7 Moves the point beside the cursor under the next point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Shoulder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control Editor . . . . . . . . . . . TTL Input . . Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Table of Contents Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CNC 1 . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Section 3 Hand-Held Terminal . . . . Ch 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Servo Robot . . . . . . . . Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Moves the point beside the cursor over the preceding point . . . . . . . . . . . . x Clears all points. . . . . . . Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ch 1 . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Space Required . . . . . . . . Point Editor . . . . . . . . . . . . . . . . . . . TTL Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Elbow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Description . . . . . . . . . . . Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C Deletes the point beside the cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 Section 2 Installation and Connections . 1-1 Description . 2-2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Save Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed . . . . Point Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Robot Controller . . . . . . . . . . . . Wrist P . . . . . . . . . . . Main Menu . . . . 1-5 Hand-Held Terminal . . . . . . . . . . . . . . .1-7 Emergency Stop Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Section 1 Overview of the Servo Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wrist R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Configuration . . . . . . 3-13 TTL Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 Clear Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 CNC 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 Save ABS Point . . . . . . . . . . . . . . . . . 3-13 Base CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Hard Home . . . . . . . . . . . . . . . . . . 3-8 Set Soft Home . . . . . . . . . . . . . . . . . . . . . . 3-12 Gripper Close . . . . . . . . . . . . . . . . . . 3-12 Gripper Open . . . . . 3-13 TTL Input . . . . . . . . . . . 3-8 Soft Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Soft Limits ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Torque Motors . . . . . . 3-12 Wrist CW . . . 3-12 Wrist Pitch Up . . . 3-15 VI . . . . 3-9 Ch 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 Shift Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Shldr Pitch Up . . . 3-13 Shldr Pitch Down . . . . . . . . 3-9 Hardware Reset . . . . . . . . . . 3-7 Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Grip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Time Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Run Forever . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 CNC 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Table of Contents (cont’d) Task Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Ch 1 Forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Wrist CCW . . . . . . . . . . 3-10 Save Config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Clr Soft Home . . . . . . . . . . 3-9 Ch 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 Load from Disk . . . . . . . . . . . . 3-8 Free Motors . . . . 3-6 Run Once . . . . . . . . 3-15 Save Control (point) . . . . . . . . . . . . . . . . . . 3-12 Elbow Pitch Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Ch 2 Backward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Base CW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 Speed Control . . . . . . . . . . 3-12 Elbow Pitch Down . . . . . . . . . 3-9 Soft Limits OFF . . . . 3-12 Wrist Pitch Down . . . . . . . . . . . . . . . . . . 3-9 Key Click . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Ch 1 Backward . 3-7 Save to Disk . . . . . . . . . . . 3-7 File Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 Save REL Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Ch 2 Forward . . . . . . . . . 3-10 Teach Menu . . . . . . 3-6 Trace Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Run Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Set Bookmark . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Duplicate . . . . . . . . . . . . . . . . . . . . . . . 4-5 Menu Bar . . . . . . . 4-7 Cut . . . . . . . . . . . . . . . . . . . . . 4-9 Hard Home . . . . . 4-8 Go to Bookmark . . . . . . . . . . . . . . . . 4-7 Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 Point Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Introduction . . . . . . . . . . . . . . 4-5 Open . . . 4-8 Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Find . . . . . . . . . . . . . . 4-10 VII . . . . . . . . . . . . . . . . . . . . 4-5 File . . . . . 3-15 Section 4 Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Soft Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Clear . . . . . . . . . . . . . . . . . . . . . .Table of Contents (cont’d) Resuming the Servo Robot System after an Emergency Stop . . . . . . . . . 4-7 Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Clear Soft Home . . . . . . . . . . . . . . . . . 4-7 Redo . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Main Window . . . . 4-5 New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 Task Editor . . . . . . . . . . . . . . . . . . . . . 4-7 Print Setup . . . . . . . . . . . . . . . . . . . 4-7 Paste . . . . . . . . . . . . . . . . . . . . . 4-7 Save . . . . . . . . . . . . . . . . . 4-8 Find Next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Save As . . . . . . . . . . 4-7 Print . . . . . . . . . . . . . . . . . . . . . . . 4-6 Close . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Replace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Go to Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Computer Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Search . . . . . . 4-9 Set Soft Home . . . . . . . . . . . . . . . . . . . . . . 4-8 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Shutdown . . . . . . . . . . . . . . . . 4-8 Select All . . 4-9 Torque Motors . . . . . . . . . . . . 4-1 Familiarization with Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Revert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Undo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Download From . 4-9 Free Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Belt Tension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimize All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Help . . . . . . . . . Annotating a Task Program . . . . . . . Close All . . . . . 6-1 Lubrication . . Tile Horizontal . . . . . . . . . . . . . . . . . . . . . Adding Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Copying Points from the Point Editor into the Task Editor . . . . . . . . . . . . . . . . . . . . . Controller Status . . . . . . . . Online . . Contents . . . . . . . . . . . . . . . . . . . . . . . Tile Vertical . . . . . . . . . Task Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CNC Software . . . . . . . . . . . . . . . . Running a Task Program Editing a Task Program . . . . . . . . . . . . . . . . . . . . . . Environment . . . . . . . . . . . . Task Commands . . . . . . . . . . . . . . 6-2 VIII . . . . . . . . About . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . File Server . . . . . . . . . . . . . . . . . Deleting Code . . . . . . . Release Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Active Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . In the Robot Section of the Point Editor in Teach Mode . . . . . . . . . . . . . . . Cascade . . . . . Window . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 4-10 4-10 4-11 4-11 4-11 4-11 4-12 4-13 4-14 4-15 4-15 4-15 4-15 4-15 4-15 4-15 4-16 4-17 4-22 4-22 4-22 4-22 4-22 4-23 4-24 4-24 4-24 4-25 4-26 4-27 4-27 4-27 4-27 4-28 4-28 4-28 4-29 4-29 4-29 Section 5 Safety Procedures . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 Section 6 Care and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . New Task Editor . . . . . . . . . . 5-1 Safety Procedures . . . . . . . . . . . . . . . . . . . . . . . In the Point list Section of the Point Editor and Task Editor Windows . . . . . . . . . . . . . . . . Point Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Point-to-Point Programming . . . . . . . . . . . . . Copying Points from the Robot Controller Memory into the Task Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Context-Sensitive Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Restore All . . . . . . .Table of Contents (cont’d) Upload to . . . . . . . . . Point Editor . . . . . . . . . . . . . . . . . Programming Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Toolbar . . . . . . . . . . . . . . . . . In the Left Column of the Task Editor Window . . . . . . . . . . . . . . . Table of Contents (cont’d) Appendices A B C D E F G H I Hand-Held Terminal Menus Robotics Menus Task Commands Rotary Carousel. Model 5210 Gravity Feeders. Model 5208 Belt Conveyor. Models 5122 and 5142 Linear Slide. Models 5119 and 5121 Pneumatic Feeders. Model 5209 Error Codes of Firmware 5250 IX . X . Section 1 is an overview of the Servo Robot System. instructors. Section 2 explains how to install and connect the equipment. The appendices show the various menus with their shortcuts. Section 4 explains how to install and use Robotics to operate the training system. The user guide is divided into five sections. XI . describe the task commands. It is intended for students. Section 3 explains how to use the Hand-Held Terminal. and explain how to connect and use the optional devices.Introduction This user guide is designed to provide all the information required to install and use the Lab-Volt Servo Robot System. and Section 5 describes the care and maintenance required by the Servo Robot. and the personnel in charge of the laboratory equipment. XII . is controlled using the Hand-Held Terminal or the Robotics® software via the Robot Controller. Grids. and gripper. wrist. The shoulder rotates on the base. The lower end of the upper arm carries the gears and pulleys that drive the forearm. The base supports the arm mechanisms. Work Surfaces. It can also rotate in a 360-degrees clockwise or counterclockwise direction. The fingers of the gripper move in an open and close motion. The servo motors of the Servo Robot have a device called an Optical Encoder that provides feedback to the Robot Controller. A servo motor turns a shaft that is attached to a worm gear. the fingers open or close. Robotics to control the Servo Robot from a host computer. 1-1 . The upper arm and forearm have up and down motions. The wrist moves up and down to control the two-finger gripper. Servo Robot The overall mechanical layout of the Servo Robot is shown in Figures 1-2 and 1-3. These components are shown in Figure 1-1. Robot Controller. It houses the motors associated with the gears and belts that move the other sections of the arm. One end of the forearm is attached to the upper arm and the other end is attached to the wrist. and all the accessories required to perform the hands-on exercises of the student manual. The term Servo Robot comes from the type of motors used by the robot: servo motors. The operation of the Servo Robot. Emergency Stop module. It houses the motor that provides shoulder rotation. The fingers are joined to the spur gears and as the gears rotate. The worm gear then drives two spur gears. also called manipulator or manipulator-arm robot. Hand-Held Terminal. The wrist and gripper work together to pick up parts and move them to the required locations.Section Overview of the Servo Robot System 1 Description The Lab-Volt Servo Robot System consists of the Servo Robot. Overview of the Servo Robot System MOUNTING BASE SERVO ROBOT ROBOT CONTROLLER METALLIC CAN FILM CANISTERS WORK SUFACE p/n 6309 GRID SHEET CABLE p/n 95028 EMERGENCY STOP MODULE CABLE p/n 95921 HAND-HELD TERMINAL CABLE p/n 93017 CABLE p/n 95922 CABLE p/n 93236 CABLE p/n 95451 Figure 1-1. Main components of the Servo Robot System. 1-2 . Overview of the Servo Robot System GRIPPER FOREARM ELBOW WRIST UPPER ARM SHOULDER BASE Figure 1-2. 1-3 . Mechanical layout of the Servo Robot (View A). The Robot Controller compares the control signal to the feedback signal to ensure that the position is correct at all times. The light changes are converted into electrical pulses and sent back to the Robot Controller. Mechanical layout of the Servo Robot (View B).Overview of the Servo Robot System MOTOR DRIVE INPUT MOTOR FEEDBACK OUTPUT Figure 1-3. 1-4 . The optical encoder consists of a LED (Light Emitting Diode) that sends light through a finely screened code wheel that is rigidly mounted onto the motor shaft as shown in Figure 1-4. A receiver (phototransistor) detects the light changes (light/dark). Optical encoder of a servo motor. LED WHEEL PHOTOTRANSISTOR MOTOR SHAFT Figure 1-4. and status indicator (LED). This button must be pressed when powering up the system. It is a specialized computer with ports. As Figure 1-5 shows. the front panel of the Robot Controller includes the following: C Hand-Held Terminal connector to connect the Hand-Held Terminal. It contains the inputs and outputs required to send and receive TTL (Transistor-Transistor Logic) signals to/from the external devices and CNC (Computerized Numerical Control) machine tools. C A floppy disk drive to save and load programs. switches. C Motor Enable/Disable pushbutton is used to enable and disable the servo motors of the Servo Robot. The Robot Controller is operated from the Hand-Held Terminal or from Robotics. C Motor Disabled (LED) indicator. C TTL inputs and status indicators (LED). and programming capabilities that enable it to function as a controller. They are enabled (torqued condition) when the button is pressed. The LED of a relay lights when it is activated. C Relays. 1-5 . Each Relay includes a set of normally open (NO) and normally closed (NC) contacts. The LED lights when the servo motors of the Servo Robot are disabled (not torqued condition). The LED of a TTL input lights when the level is high.Overview of the Servo Robot System Robot Controller The Robot Controller is the brain of the Servo Robot System. The LED of a TTL output lights when the level is high. C TTL outputs and status indicators (LED). It also includes the main power connector. external devices (CH 1 and CH 2). Robot Controller . the rear panel of the Robot Controller includes the connectors required to connect the host computer (serial port). Servo Robot Motor Feedback.Overview of the Servo Robot System HAND-HELD TERMINAL MOTOR DISABLED INDICATOR STATUS INDICATOR (LED) TTL INPUTS TTL OUTPUTS RELAYS TTL M TTL [ 20 mA MAX.] [ 30 V − − 500 mA MAX. 1-6 . Servo Robot Motor Drive. Robot Controller . MOTOR DRIVE OUTPUT EMERGENCY STOP SERIAL PORT MOTOR FEEDBACK INPUT CNC 1 CNC 2 CH 1 CH 2 5250 5250 CNC 1 CNC 2 CHANNEL 1 CHANNEL 2 MAIN POWER CONNECTOR POWER SWITCH FUSE ACCESS PANEL Figure 1-6.] 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 M M MOTOR ENABLE/DISABLE PUSH-BUTTON FLOPPY DISK DRIVE Figure 1-5. CNC machines (CNC 1 and CNC 2).rear view. As Figure 1-6 shows.front view. and Emergency Stop module. power switch and fuse access panel. the LED indicator lights. ESC DEL 8 9 SPACE ENTER SHIFT 0 Figure 1-7. LCD SCREEN FUNCTION INDICATORS RUN TEACH ERROR SUSPD FUNCTION KEYS ESC Teach Menu Main Menu Clear Error Suspd Oper. All keys are labeled for a specific task. A F B G C H D I E J K P L Q M R N S O T U X V Y W Z ? / − + ( # ) * 1 2 3 4 5 6 7 . 1-7 . The Hand-Held Terminal is shown in Figure 1-7. all operations are halted. A key is required to release the stop switch to resume operation. . Emergency Stop Module As Figure 1-8 shows. Hand-Held Terminal. the Suspd (suspend operation) indicator on the Hand-Held Terminal lights. the Emergency Stop module contains a pushbutton and a LED indicator. The procedures to resume operation are explained in Sections 3 and 4 of this guide. and the Emergency Stop window in Robotics opens (if Robotics is used). When the pushbutton is pressed.Overview of the Servo Robot System Hand-Held Terminal The Hand-Held Terminal communicates with the Robot Controller to control the Servo Robot and external devices. and create programs. and a LCD (Liquid Crystal Display) to view the instructions entered and the resulting executions. The functions of the Hand-Held Terminal are explained in Section 3 of this guide. it contains the keys which are used for entering alphanumeric characters and selecting special functions. External Devices External devices such as a Rotary Carousel (Model 5208). Belt Conveyor (Model 5210). Gravity Feeders (Models 5119 and 5121). 1-8 . The operation of these optional devices is described in the appendices of this guide. and Linear Slide (Model 5209) can be added to the Servo Robot System. Emergency Stop module.Overview of the Servo Robot System KEY RELEASE PUSH-BUTTON LED INDICATOR Figure 1-8. Pneumatic Feeders (Models 5122 and 5142). Simply position and snap the Servo Robot to the Work Surface. When using the perforated Work Surfaces. First. C9 R6 R7 R8 R9 R10 R11 C11 R7. When using the Grids. when it is asked in a procedure to place a film canister at position (R7. The row and column numbers are used to locate the equipment.C9). the center of the film canister must be placed at the intersection of the eighth row from the top of the Grid (or of the Work Surface). position the mounting base on the Grid by centering the small perforations on the base at the desired row and column intersections. As an example. do not use the mounting base.Section Installation and Connections 2 Installation The Servo Robot System is supplied with two Grids and two Work Surfaces to help you to position the equipment at specific locations. the rows and columns are numbered from R0 to R11 and from C0 to C11 respectively. the Servo Robot must be snapped to the mounting base (steel plate) supplied with the Servo Robot System. 2-1 . As Figure 2-1 shows. C9 35828-01 C10 C9 C8 C7 C6 C5 C4 C3 C2 C1 C0 GRID WORK SURFACE Figure 2-1. then snap the Servo Robot to the mounting base. Layout of the Grid and Work Surface. the Grids and Work Surfaces have 12 rows and 12 columns. To do so. On the Grids. align the push-lock fasteners with the perforations of the mounting base then firmly push on the fasteners. R0 R1 R2 R3 R4 R5 R7. and the tenth column from the right. The Work Surfaces are designed to be used on top of a table. Connections This section describes how to connect the components of the Servo Robot System. Two Work Surfaces can be joined using the handles (p/n 30036) supplied with the Servo Robot System. To allow a secure operation. The work envelope of an articulated-arm robot as the one of your training system is shown in Figure 2-2.Installation and Connections Although the Servo Robot is designed to be used with both the Grids and Work Surfaces. Space Required The path of points that can be reached by a robot is called the work envelope. 2-2 . or within 750 mm (30 in) from the base of the Servo Robot in any direction. it is strongly recommended to use the Work Surfaces. Note: The position of the Servo Robot is determined relative to the position of the push-lock fasteners. no wall or obstacle should be present in the work envelope. Position the Servo Robot and Robot Controller as shown in Figure 2-3. They are simple to use and less subject to undesirable movements. TOP VIEW SIDE VIEW Figure 2-2 Work envelope of the Servo Robot. ensure that the power switch on the rear panel of the Robot Controller is at the off (O) position. C Connect the Robot Controller to an AC power outlet using the cable p/n 95451. CAUTION! Do not make or remove any connections to/from the Robot Controller while the power is on.Installation and Connections R0. This could damage the module. 2-3 . C4 Figure 2-3. Location of the equipment on the Work Surface. C Connect the Emergency Stop module to the Emergency Stop connector on the Robot Controller. Perform the following steps: C Connect the Motor Feedback Output on the base of the Servo Robot to the Motor Feedback Input on the Robot Controller using the cable p/n 95922. Note: To ensure correct operation. Refer to Figure 2-4 if necessary. make sure the connector is all the way in before it is screwed. C7 R6. C Connect the serial port on the Robot Controller to the host computer serial port using the cable p/n 93017. Before making any connections. C Connect the Motor Drive Input on the base of the Servo Robot to the Motor Drive Output on the Robot Controller using the cable p/n 95921. C4 ROBOT CONTROLLER R6. ESC DEL 8 9 SPACE ENTER SHIFT 0 Figure 2-5. A F B G C H D I E J K P L Q M R N S O T TTL U X V Y W Z ? / − + TTL [ 20 mA MAX.] M ( # ) * 1 2 3 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 M M 4 5 6 7 .] [ 30 V − − 500 mA MAX. 2-4 . Refer to Figure 2-5 if necessary. Connection of the Hand-Held Terminal. . HAND-HELD TERMINAL ROBOT CONTROLLER (FRONT VIEW) RUN TEACH ERROR SUSPD ESC Teach Menu Main Menu Clear Error Suspd Oper. CNC 2 SERIAL PORT CNC 1 CHANNEL 1 CHANNEL 2 MOTOR DRIVE OUTPUT EMERGENCY STOP MOTOR FEEDBACK INPUT MOTOR DRIVE INPUT MOTOR FEEDBACK OUTPUT ROBOT CONTROLLER (REAR VIEW) TO AN AC POWER SUPPLY SERVO ROBOT EMERGENCY STOP MODULE TO COMPUTER SERIAL PORT Figure 2-4. Connections.Installation and Connections C Connect the Hand-Held Terminal to the Hand-Held Terminal connector on the front panel of the Robot Controller using the cable p/n 95028. Refer to the appendices of this guide to learn how to connect external devices to the training system. 2-5 .Installation and Connections All cables are now connected and should be securely fastened. 2-6 . C Main Menu: Displays the Main menu from where all support menus for the Servo Robot are accessed. A F B G C H D I E J K P L Q M R N S O T U X V Y W Z ? / − + ( # ) * 1 2 3 4 5 6 7 . C Teach Menu: Displays the Teach menu and activates the keys to manipulate the Servo Robot and external device(s) connected to CH 1 and CH 2. .Section Hand-Held Terminal 3 Description The Hand-Held Terminal is used to control the operation of the Servo Robot and external devices. The name and function of the five white keys at the top of the Hand-Held Terminal keypad are as follows: C ESC: Backs up one step from the current position in the menu. LEDs and a LCD screen. This is also in the Teach menu where the position and control points are saved. as shown in Figure 3-1. 3-1 . and Delay. Relays. The menus appearing on the LCD screen are quite similar to the menus in Robotics (described in Section 4). CNC outputs. ESC DEL 8 9 SPACE ENTER SHIFT 0 Figure 3-1. and sets the TTL inputs. TTL outputs. CNC inputs. It is a menu driven device that includes tactile touch keys. and create programs. LCD SCREEN FUNCTION INDICATORS RUN TEACH ERROR SUSPD FUNCTION KEYS ESC Teach Menu Main Menu Clear Error Suspd Oper. Hand-Held Terminal. place the cursor beside the desired option using the arrow keys and press the Enter key. C Suspd Oper. you can press the shortcut key (the character beside the option). The Error indicator lights when the system is halted by pressing the emergency stop button. the Point Editor menu will open. the Control Editor menu will open. or by pressing the Main Menu key. If the point is a control point. If the point is a position point. Error must be cleared to resume operation. 3-2 . You can return to this menu by pressing the Esc key once or several times depending on your menu location. The Main menu appears at the end of the start-up process. A table showing the structure of the HandHeld Terminal menus is shown in Appendix A. A point list may contain two types of points: position and control points. The arrow keys at the bottom of the Hand-Held Terminal are used to move through a list of menu options (when present). Note: To select an option in a menu. Alternatively. The description of each Hand-Held Terminal menu is as follows: Main Menu The Main menu is the home base that can link you to all the support menus.: Suspends any operation being executed. you can edit and modify the settings of the point beside the cursor by pressing the E key. Refer to this table to facilitate your learning of the various menus of the Hand-Held Terminal.Hand-Held Terminal C Clear Error: Clears the Error indicator on the Hand-Held Terminal. MAIN MENU 1 POINT MANAGER 2 TASK MANAGER 3 FILE MANAGER 4 MOTION CONTROL 5 CONFIGURATION 9 SHUTDOWN 1 Point Manager: Displays the list of the points stored in the Robot Controller memory. Once a point list is displayed. Relative means that the position coordinates are determined relative to the previous position. 5 Shoulder: Shows the shoulder axis coordinates. F Flags: Indicates if the coordinates of the point are absolute or relative. Note: Press the Shift key to access the characters in the dark blue section of the keys (where present). Absolute means that the coordinates are determined relative to a predetermined position (hard home position). It is also possible to save the new settings by placing the cursor beside the Save Changes option and pressing the Enter key. 4 Elbow: Shows the elbow axis coordinates. and the alphanumeric character keys to enter the new settings. 2 Wrist R: Shows the wrist axis coordinates relative to the rotation. then press the Enter key. place the cursor beside the parameter. Press the Enter key to confirm your changes then press the 0 key to save the new settings. The speed can be set between 0 and 99. you can enter a different name (maximum 8 characters). 1 Gripper: Shows the gripper coordinates. Using the arrow keys to move the cursor. Use the arrow keys to move the cursor. This menu is accessed by pressing the E key while the cursor is beside a position point in the point list. 3-3 . S Speed: Displays the speed setting.Hand-Held Terminal Point Editor: Changes the settings of a position point. POINT EDITOR NAME:_____ FLAGS:ABSOLUTE/RELATIVE SPEED:0-99 GRIPPER:_ WRIST R:_ WRIST P:_ ELBOW:_ SHOULDER:_ BASE:_ CH 1:_ CH 2:_ SAVE CHANGES N F S 1 2 3 4 5 6 7 8 0 Note: To modify the settings of a position point. N Name: Displays the name of the position point. 3 Wrist P: Shows the wrist axis coordinates relative to the pitch (up and down motion). N Name: Displays the name of the control point. 7 CH 1: Shows the coordinates of the device connected to CH 1 on the Robot Controller. The setting is displayed in the NEW row. 0 Save Changes: Saves the current settings. then press the Enter key. Use the arrow keys to move the cursor and the alphanumeric character keys to enter the new settings. Press the Enter key to confirm your changes then press the 0 key to save the new settings. It is also possible to save the new settings by placing the cursor beside the Save Changes option and pressing the Enter key. you can enter a different name (maximum 8 characters). and sets the level at which the TTL outputs will be after this instruction line is executed. TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X Note: The character X indicates that no level has been assigned. CONTROL EDITOR NAME:_____ TTL OUTPUT TTL INPUT RELAY CNC 1 CNC 2 DELAY SAVE CHANGES N 1 2 3 4 5 D 0 Note: To modify the settings of a control point. This menu is accessed by pressing the E key while the cursor is beside a control point in the point list. 8 CH 2: Shows the coordinates of the device connected to CH 2 on the Robot Controller. Control Editor: Changes the settings of a control point. 3-4 . place the cursor beside the parameter. 1 TTL Output: Displays the current level (L low or H high) of the TTL outputs in the OLD row.Hand-Held Terminal 6 Base: Shows the base axis coordinates. The level is set by pressing the TTL output number on the keypad. Using the arrow keys to move the cursor. The setting is displayed in the NEW row. The status is set [H (activated) or L (deactivated)] by pressing the Relay number on the keypad. The setting is displayed in the NEW row.Hand-Held Terminal 2 TTL Input: Displays the current level (L or H) of the TTL inputs in the OLD row. CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X 3-5 . The level is set by pressing the CNC 1 input or output number on the keypad. CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X 5 CNC 2: Displays the current level (L or H) of the CNC 2 inputs and outputs in the OLD row. The level is set by pressing the CNC 2 input or output number on the keypad. and sets the level at which the TTL inputs must be before proceeding with the next instruction line in the program. The level is set by pressing the TTL input number on the keypad. Also sets the level at which the CNC 2 outputs A to D will be when this instruction line is executed. TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X 3 Relay: Displays the current status (activated or deactivated) of the Relays in the OLD row. and sets the level at which the CNC 2 inputs 1 to 4 must be before proceeding with the next instruction line in the program. The setting is displayed in the NEW row. Also sets the level at which the CNC 1 outputs A to D will be when this instruction line is executed. The setting is displayed in the NEW row. RELAY KEY 1 2 3 4 OLD L L L L NEW X X X X 4 CNC 1: Displays the current level (L or H) of the CNC 1 inputs and outputs in the OLD row. and sets the level at which the CNC 1 inputs 1 to 4 must be before proceeding with the next instruction line in the program. and sets the status at which the Relays will be after this instruction line is executed. 6: Moves the point (position or control) beside the cursor over the preceding point. CLEAR ALL POINTS ARE YOU SURE ENTER TO CONTINUE ESC TO ABORT C: Deletes the point beside the cursor. x: Clears all points stored in the Robot Controller memory. 0 Save Changes: Saves the current settings.Hand-Held Terminal D Delay: Sets the amount of time in seconds the system will pause before proceeding with the next instruction line in the program. TASK MENU RUN ONCE RUN FOREVER TRACE POINTS CLEAR POINTS 1 2 3 4 1 Run Once: Executes the current program once. Press the Esc key to abort execution. EXECUTE POINTS RUN ONCE _____ PRESS ESC TO ABORT 2 Run Forever: Executes the current program over and over. 2 Task Manager: Runs point-to-point program or clear points. 7: Moves the point (position or control) beside the cursor under the next point. EXECUTE POINTS RUN FOREVER:_ _____ PRESS ESC TO ABORT 3-6 . Press the Enter key to complete the process. OVERWRITE TASK ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 3-7 . you can enter a different name for the program (maximum 8 characters). SAVE FILE ENTER FILENAME >SAMPLE_ 2 Load From Disk: Loads an existing program from the floppy disk into the Robot Controller memory. When the last instruction line is executed. Press the Enter key to complete the process. Press the Enter key then use the arrow keys to select a file. When the Save File window opens. or load a program from the floppy disk drive. the Servo Robot returns to the home position.Hand-Held Terminal 3 Trace Points: Executes an instruction line of the current program each time the Enter key is pressed. EXECUTE POINTS TRACE MODE _____ PRESS ESC TO ABORT 4 Clear Points: Delete all points stored in the Robot Controller memory. FILE MENU 1 SAVE TO DISK 2 LOAD FROM DISK 1 Save to Disk: Saves the current program in the Robot Controller memory to the floppy disk. the cursor is placed beside the default name SAMPLE suggesting to enter a number. Using the arrow keys to move the cursor. CLEAR ALL POINTS ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 3 File Manager: Enables you to save the program in the Robot Controller memory to the floppy disk drive. It is the position the Servo Robot starts its movements from. press the Enter key within 6 seconds to execute the Hard Home instruction. MOTION CONTROL SOFT HOME SET SOFT HOME CLR SOFT HOME HARD HOME FREE MOTORS TORQUE MOTORS HARDWARE RESET SOFT LIMITS OFF SOFT LIMITS ON 1 2 3 4 5 6 7 8 9 1 Soft Home: Moves the Servo Robot to the position that you assigned as soft home using the Set Soft Home instruction. 3 Clr Soft Home: Clears the current soft home position. frees and torques the servo motors. 5 Free Motors: Removes power from the motors. reinitializes the motors. PERFORM HARD HOME ENTER TO CONTINUE ESC TO ABORT Note: A program can be developed to be executed once and then deleted. The default Home point in the point list of the Point Manager changes to Soft Home point when a position is assigned as soft home position.Hand-Held Terminal 4 Motion Control: Controls the home positioning. 4 Hard Home: Moves the Servo Robot to a fixed reference point where the Servo Robot goes to reset all its settings. 2 Set Soft Home: Sets the current Servo Robot position as the soft home position. For this reason. However. 3-8 . In order to repeat a program. and where it will come to rest when you tell it to go home after completing the assigned instruction lines. a hard home positioning must be executed at the beginning of each session. the equipment must be in the same location and orientation as when you created the position points of the program and the Servo Robot must start in the same position. controls the operation of the soft limits. After you press the 4 key to select the Hard Home option. This corresponds to the freed condition (not torqued). The soft home position is the same as the hard home position when no position has been assigned as soft home. it is usually developed to be used more than once. After performing a "Hard Reset" always perform a "Hard Home". Select Servo. L Slide (Linear Slide).Hand-Held Terminal 6 Torque Motors: Applies power to the motors so they will hold their positions. 3-9 . Note: The soft limits are programmed positions that limit the movement of each articulation of the Servo Robot to prevent excessive movements. select Save Config then press the Enter key. 7 Hardware Reset: Reinitializes all motors connected to the Robot Controller. Press the Enter key when the cursor is beside this option to enable the soft limits. The available choices are servo. 9 Soft Limits ON: Enables the soft limits. and none. This corresponds to the torqued condition. place the cursor beside the element. Press the Enter key when the cursor is beside this option to disable the soft limits. 2 CH 1: Selects the device connected to CH 1 on the Robot Controller. 5 Configuration: Enables the configuration of the Servo Robot System. To save the configuration entries. Note: The gripper of your Servo Robot is driven by a servo motor. HARDWARE RESET ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 8 Soft Limits OFF: Disables the soft limits. The default setting is OFF. CONFIG MENU GRIP:_____ CH 1:_____ CH 2:_____ KEY CLICK:_____ SHIFT LOCK: OFF SAVE CONFIG 1 2 3 4 5 S Note: To configure an element in the Config menu. 1 Grip: Selects the type of gripper used. or press the S key. L Slide (Linear Slide). 4 Key Click: Activates or deactivates the beeper of the Hand-Held Terminal. and none. The available choices are Carousel. then press the Enter key as required to obtain the desired parameter. The available choices are Carousel. 3 CH 2: Selects the device connected to CH 2 on the Robot Controller. pneu (pneumatic). and none. elec (electric). Save Config: Saves the current configuration settings. select Save Config then press the Enter key. or press the S key. Linear Slide. The Robot Controller must be restarted to resume the system. When you select the Shutdown option. To save the configuration entries.Hand-Held Terminal 5 Shift Lock: Locks the Shift key in the activated mode. the Message Firmware Shutdown . and Rotary Carousel if you have them. 9 Shutdown: Exits the program (firmware) of the Robot Controller. The default setting is unlock.Turn off Controller is displayed on the Hand-Held Terminal. The other options in the Config menu can be configured whenever you want. Note: The Robot Controller must be configured to detect the Gripper. 3-10 . SAVE ABS POINT # SAVE REL POINT * SAVE CONTROL Note: To move the Servo Robot. TEACH MENU 0 SPEED CONTROL 1 GRIPPER OPEN H GRIPPER CLOSE 2 WRIST CW I WRIST CCW 3 WRIST PITCH DOWN J WRIST PITCH UP 4 ELBOW PITCH DOWN R ELBOW PITCH UP 5 SHLDR PITCH DOWN S SHLDR PITCH UP 6 BASE CCW T BASE CW 7 CH 1 FORWARD Z CH 1 BACKWARD 8 CH 2 FORWARD / CH 2 BACKWARD F TTL OUTPUT G TTL INPUT P RELAY Q TIME DELAY X CNC 1 Y CNC 2 . It allows also the creation of point-to-point programs. then press and hold the Enter key. Alternatively. you can press and hold the shortcut keys. 3-11 . Figure 3-2 shows the characters (shortcut keys) associated with each articulation of the Servo Robot. This figure is also screened on the base of the Servo Robot.Hand-Held Terminal Teach Menu The Teach menu allows the control of the Servo Robot and external devices. select the articulation you want to move in the Teach menu with the up and down arrow keys. or by pressing the shortcut keys. In the Set Speed window. 2 Wrist CW: Rotates the wrist in the clockwise direction. Note: To facilitate the use of the Hand-Held Terminal. use the numeric keys or the up (to increase) and down (to decrease) arrow keys. SET SPEED 1 >------------------+< 099 99 1 Gripper Open: Opens the gripper. use the numeric keys or the arrow keys to set the Speed value.Hand-Held Terminal R FOREARM J I 4 S 3 UPPER ARM SHOULDER WRIST 1 2 5 T 6 GRIPPER H BASE Figure 3-2. To set the tens of units. To set the speed. J Wrist Pitch Up: Raises the wrist. To increase or decrease the speed by one unit. 0 Speed Control: Sets the speed between 0 and 99. press the right or left arrow keys. The speed setting is used for all movements that follow the setting. 3-12 . 4 Elbow Pitch Down: Lowers the forearm. This relation repeats for the third and sixth row. Characters associated with each articulation of the Servo Robot. select the Speed Control option or press the 0 key. or until a new speed setting is made. the movements associated with the keys of the second row are in the opposite direction to those of the fifth row. 3 Wrist Pitch Down: Lowers the wrist. H Gripper Close: Closes the gripper. I Wrist CCW: Rotates the wrist in the counterclockwise direction. TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X G TTL Input: Displays the current level (L or H) of the TTL inputs in the OLD row. Z CH 1 Backward: Moves the device connected to CH 1 in the backward or counterclockwise direction. The setting is displayed in the NEW row. and sets the level at which the TTL outputs will be after this instruction line is executed. and sets the status at which the Relays will be after this instruction line is executed. S Shldr Pitch Up: Raises the upper arm. The setting is displayed in the NEW row. The setting is displayed in the NEW row. The level is set by pressing the TTL input number on the keypad. / CH 2 Backward: Moves the device connected to CH 2 in the backward or counterclockwise direction. 3-13 . 8 CH 2 Forward: Moves the device connected to CH 2 in the forward or clockwise direction. The status [H (activated) or L (deactivated)] is set by pressing the Relay number on the keypad.Hand-Held Terminal R Elbow Pitch Up: Raises the forearm. TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD H H H H H H H H NEW X X X X X X X X P Relay: Displays the current status (activated or deactivated) of the Relays in the OLD row. T Base CW: Rotates the shoulder in the clockwise direction. F TTL Output: Displays the current level (L or H) of the TTL outputs in the OLD row. 6 Base CCW: Rotates the shoulder in the counterclockwise direction. The level is set by pressing the TTL output number on the keypad. 5 Shldr Pitch Down: Lowers the upper arm. 7 CH 1 Forward: Moves the device connected to CH 1 in the forward or clockwise direction. and sets the level at which the TTL inputs must be before proceeding with the next instruction line in the program. The setting is displayed in the NEW row. Also sets the level at which the outputs A to D will be when this instruction line is executed. The setting is displayed in the NEW row. Sets the level at which the inputs 1 to 4 must be before proceeding with the next instruction line in the program. The absolute coordinates are determined relative to a predetermined position (hard home position).Hand-Held Terminal RELAY KEY 1 2 3 4 OLD L L L L NEW X X X X Q Time Delay: Sets the amount of time in seconds the system will pause before proceeding with the next instruction line in the program. CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X Y CNC 2: Displays the current level (L or H) of the CNC 2 inputs and outputs in the OLD row. SAVE POSITION ENTER POINT NAME >POINT1_ 3-14 . CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X C Save ABS Point: Saves the absolute coordinates of the current position of the Servo Robot and external device(s) connected to CH 1 and CH 2. The level is set by pressing the CNC 1 input or output number on the keypad. SET DELAY VALUE IN SECONDS >_ X CNC 1: Displays the current level (L or H) of the CNC 1 inputs and outputs in the OLD row. Sets the level at which the inputs 1 to 4 must be before proceeding with the next instruction line in the program. You can save the point with the default name shown on the display or enter a new name before pressing the Enter key (maximum 8 characters). Also sets the level at which the outputs A to D will be when this instruction line is executed. The level is set by pressing the CNC 2 input or output number on the keypad. The relative coordinates are determined relative to previous position. and to release the switch using the appropriate key. You can save the point with the default name shown on the display or enter a new name before pressing the Enter key (maximum 8 characters). The system is now ready to operate. Press the Enter key. perform the following steps: C Ask your instructor to check your setup to remove any dangerous condition. SAVE CONTROL ENTER POINT NAME >CTRL1_ Resuming the Servo Robot System after an Emergency Stop To resume the Servo Robot System after an emergency stop. The character r is added beside the point name in the point list of the Point Manager to indicate that the coordinates of the point are relative. C On the Hand-Held Terminal: Press the Esc key. CNC inputs. Relays.Hand-Held Terminal # Save REL Point: Saves the relative coordinates of the current position of the Servo Robot and external device(s) connected to CH 1 and CH 2. CNC outputs and delay of the control point. You can save the point with the default name shown on the display or enter a new name before pressing the Enter key (maximum 8 characters). 3-15 . Press the Clear Error key. TTL outputs. SAVE POSITION ENTER POINT NAME >POINT1_ * Save Control: Save the current settings of the TTL inputs. 3-16 . C Choose the Run command in the Start menu of Windows®. C Insert the Robotics CD-ROM in the CD-ROM drive.exe in the command line. To start the installation. C The Welcome to the InstallShield Wizard for Robotics window appears. Pentium II processor 15 Mb of hard drive space 32 Mb RAM Serial port CD-ROM drive Windows® 98 or higher Software Installation Perform the following steps to install Robotics on the hard disk of your computer: C Close all programs on your computer. 4-1 . This section provides the information to install and use Robotics. then click the OK button.Section Robotics 4 Introduction Robotics is a software used to control the operation of the Servo Robot and external devices. or press the Enter key on the keyboard. Computer Requirements The computer requirements are: C C C C C C 233 MHz. The Computer Requirements subsection describes the computer requirements to operate Robotics. and create programs. C Type X:\Setup. click the Next button. The Software Installation subsection deals with the installation of the software on the hard disk of your computer. Note: Replace the X by the letter associated with your CD-ROM drive. The Familiarization with Robotics subsection explains how to use the application. Setup will install Robotics in the folder shown. To accept the default folder (recommended). C The Choose Destination Location window appears. then select the desired folder. click the Browse button. 4-2 . click the Yes button. Read the license agreement terms carefully.Robotics C The License Agreement window appears. To select a different folder. click the Next button. If you accept the terms. Setup will add program icons to the program folder listed below. click the Next button to start copying files.Robotics C The Select Program Folder window appears. or select one from the existing folder list. then click the Next button. C The Start Copying Files window appears. Type a folder name in the Program Folder field. If you are satisfied with the settings shown. 4-3 . Robotics C The InstallShield Wizard Complete window appears when the installation is completed. To launch the application. enter your folder path). and click the OK button or press the Enter key on the keyboard. Note: Replace the X by the letter associated with your hard disk drive. Robotics allows the manipulation of the Servo Robot through a visual interface. The Hand-Held Terminal is not required to operate the Servo Robot when using Robotics. click the Robotics icon appearing on the desktop or choose the Run command in the Start menu of Windows®.exe (if you did not accept the default folder. 4-4 . and type X:\Program Files\Lab-Volt\Robotics\Robotics. However. large programs are often developed with Robotics in conjunction with the Hand-Held Terminal. Click the Finish button to exit the installation process. Familiarization with Robotics Robotics is now ready to use. The Robot Controller must be turned on and connected to the computer to use Robotics. 4-5 . It includes a menu bar.Robotics The Hand-Held Terminal is used for the precise moves where you must be placed near the device to record the points. File New: Opens the Program Information window to create a Robotics file (filename. Main window. Note: The Servo Robot System must be configured. Main Window The Main window is the first window you see when Robotics is launched.A4). and Robotics for the moves that can be seen from the computer and for editing purposes. Refer to the Options menu described in this section. Menu Bar The description of each option in the menu bar is as follows: Note: A table showing the structure of the Robotics menus is shown in Appendix B. a tool bar and a status bar. It is not required to use every points in the right column when designing the task program. closes the Program Information window. This includes the name of the author. Open: Opens an existing Robotics file. The Program Information window is used to enter general information about the task program. and comments.Robotics Program Information window. revision number. project name. Task Editor Window The Task Editor window is where task programs are created. and opens the Task Editor window. Task Editor window. Up to 10 files can be open simultaneously. The right column is where the points are copied from the Point Editor window (described in the Point Editor Window section). 4-6 . date. Clicking the OK button saves the information. or from the Robot Controller before they are used in the task program. The left column of the window is where instruction lines are written. The Undo function can be repeated as necessary to reverse previous changes. Cut: Cuts the selected text and stores it in the Clipboard. To create a folder in Windows Explorer. A dialog box will open asking you to name the file. the Save command will work as the Save As command. Exit: Closes Robotics. Edit Undo: Reverses the last change. If a file has been modified. You must restart the Robot Controller to resume the system. a dialog box opens asking if you wish to save the changes before closing the Robotics file. the message Shutdown Completed will appear during a few seconds and the program (firmware) in the Robot Controller will end. Shutdown window. Info: Opens the Program Information window that contains the information relative to the active task program. If the current file has been modified. Shutdown: Opens the Shutdown window. Copy: Copies the selected text and stores it in the Clipboard. and a dialog box will open asking you to name the file. a dialog box appears asking you if you wish to save the changes before exiting Robotics. Print Setup: Opens the Printer Setup window. Redo: Reverses the last Undo action. select Folder in the submenu New of the menu File.Robotics Close: Closes the currently open Robotics file. Print: Prints the instruction lines of the active task program. Revert: Deletes the change(s) made to a file by restoring the original version. Save: Saves a file under the current name. 4-7 . If you save a file for the first time. If you click the Yes button. Note: It is recommended to create a folder to save your programs before using Robotics. Save as: Saves a file with a different name. Search Find: Searches for specific words and phrases in the Task Editor window and locates the first match. Robot Run Task: Compiles the active task program and opens the Run Task window. Go to Bookmark: Moves the cursor to the instruction line where a bookmark was set using the Set Bookmark command. Set Bookmark: Sets a bookmark in an instruction line of a task program. Select All: Selects all instruction lines in the Task Editor window. Run Task window.Robotics Paste: Pastes the Clipboard content at the insertion point. The available options in the Current Status and Task Control sections of the Run Task window are: Repeat Task check box: Repeats the task program over and over when enabled (checked). Find Next: Searches for the next occurrence of the specific words and phrases in the Task Editor window and locates the match. Click the Pause button to stop the execution. Go to Line: Moves the cursor to a specific instruction line in the Task Editor window. 4-8 . Clear: Deletes the selected text. Duplicate: Duplicates the selected text. Replace: Searches for specific words and phrases in the Task Editor window and replaces them by new ones. Torque Motors: Applies power to the motors so they will hold their positions. Status: Describes the status of the command which is being executed. Hard Home: Moves the Servo Robot to a fixed reference point where the Servo Robot goes to reset all its settings. The soft home position is the same as the hard home position when no position has been assigned as soft home. and where it will come to rest when you tell it to go home after completing the assigned instruction lines. 4-9 . Set Soft Home: Sets the current position of the Servo Robot and external devices as the soft home position. Reset button: Returns to the first instruction line of the task program and waits. Close button: Closes the Run Task window. Line Number: Indicates which instruction line is being executed. Clear Soft Home: Clears the current soft home position. Free Motors: Removes power from the motors. Run button: Executes the task program once. Pause button: Pauses the task program once the execution of the instruction line is completed. Command: Indicates which command is being executed. Step button: Executes an instruction line each time the Step button is pressed.Robotics Repeat Count: Indicates the number of times the task program has repeated. Motion Control Soft Home: Moves the Servo Robot and external device(s) connected to CH 1 and CH 2 to the position assigned as the home position using the Set Soft Home command. Message field: Displays the messages associated with the execution of the task program or called by a task command. It is the position the Servo Robot starts its movements from. Once the OK button is clicked. a hard home positioning must be executed at the beginning of each session. Once the OK button is clicked. the equipment must be in the same location and orientation as when you created the position points of the program and the Servo Robot must start in the same position. copies the content of the Robot Controller memory into the Point Editor window in Robotics. All current points in the Point Editor window are deleted when the file is uploaded. Download from Task Editor: Opens a Warning window. Point Editor: Opens a Warning window. Point Editor: Opens a Warning window. For this reason. copies the content of the Point Editor window to the Robot Controller memory. However. Warning window. Upload to New Task Editor: Opens the Program Information window. All current points in the Robot Controller memory are deleted when the file is downloaded. copies the content of the Robot Controller memory to a new Task Editor window. In order to repeat a program. Warning window. 4-10 . Once the OK button is clicked. All current points in the Robot Controller memory are deleted when the file is downloaded. it is usually developed to be used more than once.Robotics Note: A program can be developed to be executed once and then deleted. Once the OK button is clicked. copies the active task program in the Task Editor window to the Robot Controller memory. The system is now ready to operate. C Close the Emergency Stop window by clicking on the OK button. The option must be enabled to operate the Servo Robot using Robotics. C Close the Run Task window by clicking the Close button (if active). When the Emergency Stop is activated.Robotics Release Emergency Stop: Releases the Emergency Stop status. Emergency Stop window. C Select Release Emergency Stop in the Robot menu. 4-11 . perform the following steps: C Ask your instructor to check your setup to remove any dangerous condition. Online: Allows communications between the host computer and the Robot Controller when enabled. Options Environment: Opens the Environment folder of the Program Options window. and to release the switch using the appropriate key. and a message appears in the Controller Status window. To resume the Servo Robot System after an emergency stop. the Emergency Stop window appears. Robotics Environment folder in the Program Options window. click the Save button once the settings and selections are completed to save and apply them. Clicking the Cancel button closes the Program Options window without saving the settings. The options that can be set in the Environment folder are: Language: Selects the language. Force Uppercase: Forces upper case letters in the Task Editor when enabled. Robotics will automatically access this folder when saving or opening a file. Data Directory: Selects the folder where the Robotics files are saved. Editor Colors: Sets the foreground and background colors for the text and numbers. Note: For each folder of the Program Options window. They will be used as default settings the next time Robotics is launched. Hardware: Opens the Hardware folder of the Program Options window. 4-12 . Line Numbers: Displays the instruction line numbers in the Task Editor when enabled. and No External Device Connected. and No Gripper Attached. Select Servo Motor Gripper. The approach speed is recommended when the movement requires medium precision. File Server: Opens the File Server folder of the Program Options window. Note: The gripper of your Servo Robot is driven by a servo motor. 4-13 . The default value is 40. Channel 2: Selects the device connected to CH 2. Rotary Carousel.Robotics Hardware folder in the Program Options window. Pneumatic Gripper. and No External Device Connected. Channel 1: Selects the device connected to CH 1. The transit speed is recommended for long distance when precision is not required. Serial Port: Selects the serial port where the Robot Controller is connected (COM1 to COM6). The available choices are Linear Slide. The default value is 75. The available choices are Servo Motor Gripper. The available choices are Linear Slide. Transit: Sets the transit speed between 0 and 99. Approach: Sets the approach speed between 0 and 99. Precision: Sets the precision speed between 0 and 99. Electric Gripper. The options that can be set in the Hardware folder are: Gripper: Selects the type of gripper. The default value is 15. Rotary Carousel. The precision speed is recommended when the movement requires precision. Serial Port: Selects the serial port where the Teach Pendant Controller is connected (COM 2 to COM 7). 4-14 . File Server Program Location: Selects the folder where the File Server software is installed. Model 5100. CNC Software: Opens the folder CNC Software of the Program Options window.Robotics File Server folder in the Program Options window. Data File Directory: Selects the folder where the File Server saves files. The options that can be set in the File Server folder are: Note: The File Server software is used to save and load programs when using the Teach Pendant-Controlled Robot System. when enabled. Run File Server Software: Runs the File Server software when Robotics is launched. Minimize All: Minimizes all Task Editor windows. Tile Vertical: Arranges side by side all open Task Editor windows as tiles so that each one is visible. Restore All: Restores all Task Editor windows. Serial Port: Selects the serial port where the CNC Lathe is connected (COM 1 to COM 6). Close All: Closes all Task Editor windows.Robotics CNC Software folder in the Program Options window. Serial Port: Selects the serial port where the CNC Mill is connected (COM 1 to COM 6). and the window closest to the front is active. Window Cascade: Arranges all open Task Editor windows in a cascade so that each one is visible. This reduces and overlaps all currently open windows to create a look similar to that of a well-organized filing cabinet. The title bars of all windows are always visible. 4-15 . Tile Horizontal: Arranges from top to bottom all open Task Editor windows as tiles so that each one is visible. The options that can be set in the CNC Software folder are: CNC Mill Program Location: Selects the folder where the Mill Software is installed. CNC Lathe Program Location: Selects the folder where the Lathe Software is installed. CNC 1 Inputs: Shows the status of the CNC 1 inputs. and a red LED corresponds to a low level. Note: A green LED corresponds to a high level. Controller Status window. Outputs: Shows the status of the TTL outputs. The status of a relay can be changed by clicking the corresponding LED. Note: The Controller Status window will not open if the Online option in the Robot menu is disabled. CNC 1 Outputs: Shows the status of the CNC 1 outputs. The level of an output can be changed by clicking the corresponding LED. 4-16 . and a red LED corresponds to a non activated status. This window displays the status of the inputs and outputs of the Robot Controller. CNC 2 Inputs: Shows the status of the CNC 2 inputs. Relays: Shows the status of the Relays.Robotics Controller Status: Opens the Controller Status window. The level of an output can be changed by clicking the corresponding LED. Note: A green LED corresponds to the activated status. The Controller Status window shows the following elements: Inputs: Shows the status of the TTL inputs. or if the Robot Controller is not configured. Warning Messages: The following warning messages are displayed when applicable. The level of an output can be changed by clicking the corresponding LED. CNC 2 Outputs: Shows the status of the CNC 2 outputs. The Point Editor window is an interface from where the Servo Robot is controlled and where position and control points are created. Edit button: Switches the Point Editor window in Edit mode.: Indicates that the Servo Robot has not been hard homed. Point Editor in Teach mode. The Point Editor window can be viewed in Teach mode and Edit mode. place the cursor on the arrows representing the desired movement while pressing and holding the left button of the mouse. and to release the switch using the appropriate key.: Indicates that the emergency stop button has been pressed.Robotics Robot has not been hard homed. The arrows named Open and Close control the gripper. and edited. Teach Mode: In this mode. Point Editor: Opens the Point Editor window. saved. and to save position and control points. 4-17 . the Point Editor window is used to control the Servo Robot and external device(s) connected to CH 1 and CH 2. A hard home positioning must be executed at the beginning of each session. Emergency stop is Activated. Speed: Sets the speed of the Servo Robot and external device(s) connected to CH 1 and CH 2 between 1 and 99. To do so. The description of each function in the window is as follows: Movement Arrows: Moves the articulated sections. Ask your instructor to check your setup to remove any dangerous condition. and the CH 1 and CH 2 arrows control the devices connected to these ports. The articulated section will move as long as the left button is held pressed or until a limit switch is activated. and the Servo Robot moves directly to the point without executing the intermediate points. and all points are executed as shown in the list. Clicking the Replace button when the cursor is beside a position point opens the Save Position Point window. Save Position Point button: Opens the Save Position Point window to save the position coordinates of the current position. This window is described in this section. click the point where you want the Servo Robot to move then click the Move button. Drive button: Executes a group of points. The Run Point window appears and the group of points is executed starting with the first selected point. Clicking the Replace button when the cursor is beside a control point opens the Save Control Point window. from top to bottom. The Run Point window shows the status of the instruction that is executed and the name of the current point. Move Up button: Moves the position or control point beside the cursor over the preceding point. Note: To select a group of points. select the group of points you want to execute. or by clicking the first and last point of the list while holding the Shift key pressed. If an obstacle is present between the current position and the selected point. This window is described in this section. a collision will occur. Execute button: Executes all points in the point list. Move Down button: Moves the position or control point beside the cursor under the next point. To do so. Clicking the Execute button opens the Run Point window. highlight the points by clicking each point while holding the Ctrl key pressed. The Run Point window appears. if any. The elements that can be set in the Save Position Point window are: 4-18 . then click the Drive button.Robotics Replace button: Replaces the point beside the cursor in the point list. Move button: Moves the Servo Robot from the current position to a point in the point list. Delete button: Deletes the selected point(s) in the point list. To do so. Run Point window. The elements that can be set in the Save Control Point window are: Name: Names the control point. will cause the Servo Robot and external device(s) to move simultaneously. Accept the default name or enter a new name in the Name field. also allows a new name to be entered. The default setting of the check boxes is Robot enabled and External Device disabled. Save Position Point window. Inputs: Sets the level at which the TTL inputs must be before proceeding with the next instruction line in the program. Note: The Robot and External Device check boxes allow independent operation of the Servo Robot and external device(s) connected to CH 1 and CH 2. External Device check box: Saves the coordinates of the external device(s) connected to CH 1 or CH 2. 4-19 . Saving a point when both check boxes are enabled.Robotics Name: Displays a default. Robot check box: Saves the coordinates of the Servo Robot. Set Control Point button: Opens the Save Control Point window. Save Control Point window. Sets the status of inputs and outputs. Cancel button: Closes the window without saving any changes. Save button: Saves the point with the name shown in the Name field. Save button: Saves the current settings with the name shown in the Name field. a red LED corresponds to deactivated. CNC 1 Inputs: Sets the level at which the CNC 1 inputs must be before proceeding with the next instruction line in the program. Outputs: Sets the level at which the TTL outputs will be after this instruction is executed. CNC 2 Outputs: Sets the level at which the CNC 2 outputs will be after this instruction line is executed. Delay: Sets the amount of time in seconds the system will pause before proceeding with the next instruction line in the program. Edit Mode: In Edit mode. CNC 2 Inputs: Sets the level at which the CNC 2 inputs must be before proceeding with the next instruction line in the program. Cancel button: Closes the window without saving any changes. CNC 1 Outputs: Sets the level at which the CNC 1 outputs will be after this instruction line is executed.Robotics Note: The level is set by clicking the corresponding LED. A green LED corresponds to activated. click the corresponding LED. a red LED corresponds to a low level. and a blue LED indicates that no status is assigned. and a blue LED indicates that no level is assigned. Relays: Activates or deactivates the Relays. the Point Editor is used to change the characteristics of a position or control point. A green LED corresponds to a high level. 4-20 . To activate a relay. If the selected point is a position point. Make the desired changes. then click the Teach button to save the settings and return the Point Editor window in Teach mode. then click the Edit button. the elements in the Control Point section are edited and can be modified by clicking the LEDs. Enter the new settings in the field beside the parameter to change.Robotics Point Editor in Edit mode. then click the Teach button to save the settings and return the Point Editor window in Teach mode. and/or entering a new Delay value. In the Point Editor window in Edit mode. the elements in the Robot and External Device sections are edited and can be modified. The elements that are editable are: Speed Gripper Wrist Pitch Wrist Rotation Elbow Shoulder Base Channel 1 Channel 2 TTL inputs TTL outputs CNC 1 inputs CNC 1 outputs CNC 2 inputs CNC 2 outputs Relays Delay To change the characteristics of a point. If the selected point is a control point. Edit button: Edits the various settings to allow changes. double click the point name in the point list to select it. 4-21 . The description of each function in this window is as follows: Teach button: Saves the current settings and switches the Point Editor window in Teach mode. click the Edit button to enable the edition mode. Toolbar The description of each button of the toolbar is as follows: Exit: Refer to the description given in the File subsection of the Menu Bar section. indicates that the point coordinates are relative. Save: Refer to the description given in the File subsection of the Menu Bar section. Open: Refer to the description given in the File subsection of the Menu Bar section. Absolute Position check box: When enabled. Move Down button: Refer to the description given in the Teach Mode section. About: Opens a window which provides general information about Robotics. Move button: Refer to the description given in the Teach Mode section. Move Up button: Refer to the description given in the Teach Mode section. This means that the coordinates are determined relative to the previous position. Drive button: Refer to the description given in the Teach Mode section. indicates that the point coordinates are absolute.Robotics Delete button: Refer to the description given in the Teach Mode section. Help Contents: Enters the Robotics Help. When disabled (not checked). 4-22 . External Device check box: Refer to the description given in the Teach Mode section. Robot check box: Refer to the description given in the Teach Mode section. Execute button: Refer to the description given in the Teach Mode section. Reset button: Cancels the changes without closing the window. This means that the coordinates are determined relative to a predetermined position (hard home position). Active Tasks: Displays the files that are currently open (maximum 10). It also describes the function of the buttons and options in the menus. Copy: Refer to the description given in the Edit subsection of the Menu Bar section.Robotics Info: Refer to the description given in the File subsection of the Menu Bar section. Contents: Enters the Robotics Help. Cut: Refer to the description given in the Edit subsection of the Menu Bar section. Undo: Refer to the description given in the Edit subsection of the Menu Bar section. 4-23 . Print: Refer to the description given in the File subsection of the Menu Bar section. the content of each field is as follows: C The first field gives information about the operation of the system. Paste: Refer to the description given in the Edit subsection of the Menu Bar section. Run Task: Refer to the description given in the Robot subsection of the Menu Bar section. Go to Line: Refer to the description given in the Search subsection of the Menu Bar section. Status Bar The Status bar is shown at the bottom of the Main window. Find: Refer to the description given in the Search subsection of the Menu Bar section. It contains 5 fields showing information about the operation of Robotics. Find and Replace: Searches for specific words and phrases in the Task Editor window and replaces them by new ones. From left to right. Find Next: Refer to the description given in the Search subsection of the Menu Bar section. C The second field indicates if the Robot Controller is Online or Offline. The transit speed is used for long distance when precision is not required. Approach and Precision Speed values can be changed. Speed: Transit: Sets the speed at 75. Refer to the description of the Save Position Point button given in the Teach Mode subsection of the Point Editor Window section. Save Control Pt. Refer to the description of the Save Position Point button given in the Teach Mode subsection of the Point Editor Window section. The approach speed is used when the movement requires medium precision. Speed: Approach: Sets the speed at 40. C The last field shows the typing mode: Insert or Overwrite. Save Relative Pt. The commands available in the context-sensitive menus are: In the Robot Section of the Point Editor in Teach Mode Speed: Maximum: Sets the speed at 99. Refer to the description given in the Options subsection of the Menu Bar section. 4-24 . Context-Sensitive Menus Context-sensitive menus are available in Robotics. Save Point: Saves the absolute coordinates of the point. Speed: Precision: Sets the speed at 15. The precision speed is used when the movement requires precision.Robotics C The third field indicates the current position of the cursor in the Task Editor window (horizontally and vertically). Note: The Transit. Set Soft Home: Refer to the description given in the Motion Control subsection of the Robot section. The commands available in the context-sensitive menus depend on the window sections on which the mouse pointer is placed when the button is clicked. In the Point List Section of the Point Editor and Task Editor Windows Move Up: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. They are displayed by clicking the right button of the mouse.: Saves the relative coordinates of the point. C The fourth field indicates if the file was modified since the last save operation.: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Drive To: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. In the Left Column of the Task Editor Window Edit Redo: Refer to the description given in the Edit subsection of the Menu Bar section. Copy: Refer to the description given in the Edit subsection of the Menu Bar section. Move to Bottom: Moves the point beside the cursor to the bottom of the point list. Replace: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Set Active: Moves the cursor beside the highlighted point. The active point is the point beside the cursor. Paste: Refer to the description given in the Edit subsection of the Menu Bar section. Delete: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Duplicate: Duplicates the selected point. Move Home: Refer to the description given for the Soft Home option of the Motion Control subsection of the Robot section. Move To: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Move to Top: Moves the point beside the cursor to the top of the point list (next to the home or soft home). Execute: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Cut: Refer to the description given in the Edit subsection of the Menu Bar section.Robotics Move Down: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. 4-25 . Rename: Opens the Save Position Point or Save Control Point window depending on if the cursor is beside a position or a control point to enter a new name for the point. 4-26 . Tools Clear Undo Buffer: Deletes the content of the Clipboard.Robotics Duplicate: Refer to the description given in the Edit subsection of the Menu Bar section. Find Next: Refer to the description given in the Search subsection of the Menu Bar section. Clear: Refer to the description given in the Edit subsection of the Menu Bar section. Set Bookmark: Refer to the description given in the Search subsection of the Menu Bar section. Select All: Refer to the description given in the Edit subsection of the Menu Bar section. Print Setup: Refer to the description given in the File subsection of the Menu Bar section. Replace: Refer to the description given in the Search subsection of the Menu Bar section. Go To Bookmark: Refer to the description given in the Search subsection of the Menu Bar section. Programming Principles Two types of programs can be developed with your Servo Robot System: Point-toPoint programs and Task programs. Clear All (without undo): Deletes the selected instruction line(s) but does not save to the Clipboard. It is not possible to recall the deleted line(s). Go To Line: Refer to the description given in the Search subsection of the Menu Bar section. Print: Refer to the description given in the File subsection of the Menu Bar section. Search Find: Refer to the description given in the Search subsection of the Menu Bar section. Task Programming Task programs consist in a list of instruction lines. Then. Note that once the execution is launched. Copying Points from the Robot Controller Memory into the Task Editor To copy points from the Robot Controller into the Task Editor. select New in the File menu. They can be created with both the Hand-Held Terminal and Robotics. To copy a single point. Then the Task Editor window will open. select New Task Editor in the Upload to submenu from the Robot menu and follow the instructions. they are copied into the Task Editor window where they are associated with task commands. click the point and drag it to the right column of the Task Editor window. The instruction lines include task commands and points. The Program Information window will appear. Note: Once the points are copied in the Task Editor.Robotics Point-to-Point Programming Point-to-point programming means moving the Servo Robot (or external device(s) connected to CH 1 and CH 2) through a series of positions (points) and recording the coordinates of each point. Task programming is not possible when using the Hand-Held Terminal alone. the sequence of points is executed as listed in the point list. Enter the information and click the OK button. 4-27 . the position points are first determined using Robotics or the Hand-Held Terminal. Copying Points from the Point Editor into the Task Editor You can copy a single point or a group of points from the Point Editor to the Task Editor. save the file. To copy a group of points. All task commands are inserted in the Task Editor window. the program executes all points. To create a task program. It is good practice to save the file as soon as the points are copied into the Task Editor. Note: To open the Task Editor window. The same methods apply when you copy points in the opposite direction: from the Task Editor to the Point Editor. Pointto-point programs may consist in a list of position points and control points. Once all points are recorded. use the Shift or Ctrl key to select the desired points. Click the last point while pressing the Shift or Ctrl key and drag the group to the right column of the Task Editor window. and an error message. When the task program is free of errors. If syntax errors are present.. you must use the Point Editor to manipulate the Servo Robot to create and save new points. Editing a Task Program Like the Point Editor. The description of the task commands available in Robotics is shown in Appendix C. C Correct the error and select Run Task again. the Compile Task window will appear identifying the line where the problem is.. the Run Task window appears. 4-28 .Robotics Task Commands Once the points are copied into the right column of the Task Editor window. Note: For adding points. they must be selected and copied into the left column where they will be associated with task commands to form a program. the Task Editor has editing capabilities. The task commands are entered by placing the cursor beside a line number and by typing the task command. click the Run button. When you are confident with each instruction line. It is not necessary to use every point in the right column. Running a Task Program Run the task program by performing the following steps: C Select Run Task in the Robot menu. Click the Step button in the Run Task. and typing the name of the point: MOVETO POINT3 as an example. Compile Task window. window if you desire to execute the instruction lines one-by-one. The name of the point must be exactly the same as the spelling of the point in the right column. The Step button allows you to see how each instruction line is executed. inserting a space. Robotics has a powerful set of task commands. If the annotation is well done. Deleting Code To delete characters. To delete a line space. Annotating a Task Program A good practice is to annotate the purpose of the major instruction lines. You can make comments any place in your task program by preceding the comment with a backslash (\). delete and add instructions. or press the Delete key on the keyboard or the Scissors icon.Robotics Using the Task Editor you can annotate instruction lines. Adding Code You can add code to the task program by placing the cursor where required and typing the code. 4-29 . place the cursor at the beginning of the open line then press the Delete key on the keyboard. select the required character or group of characters then select Clear in the Edit menu. you will be able to make modifications and improvements more easily. 4-30 . Section Safety Procedures 5 Safety Procedures Caution! Follow these recommendations scrupulously when using the training system. should be made by two people. stop using it immediately and report the problem to the instructor. C Safety glasses must be worn at all times while operating the equipment. If your hair is long. 5-1 . C The installation of heavy equipment such as the Servo Robot. C The Emergency Stop module must be easily accessible by the operator at any time. tie it out of the way. C The equipment must be installed and connected as described in this guide. C No food or drink is allowed in the laboratory. C No wall or obstacles should be present within 750 mm (30 in) from the base of the Servo Robot. C Make sure you are not wearing anything that might get caught. C The power source must be in accordance with the applicable codes. C The instructor should visually check the Servo Robot and work area to identify hazardous conditions before using the system. such as a tie or jewelry. Linear Slide and Rotary Carousel. C If the equipment does not appear to be operating properly or malfunctions. 5-2 . apply one drop of general-purpose lubricating oil at each location shown in Figure 6-1. If you are uncertain about what may be wrong. Lubrication Once a week.Section Care and Maintenance 6 The Servo Robot of the Servo Robot System requires little maintenance. it is important to maintain the gear and belt system clean to insure many hours of trouble-free operation. However. Over lubrication does not help the operation. If a problem occurs. do not try to service it yourself as you may void your warranty. Note: Applying the correct amount of lubricating oil is important. 6-1 . call your sales representative or the Lab-Volt technical support department. Care and Maintenance Figure 6-1. Lubrication points. Belt Tension Proper tension on each belt is required to obtain precision. The arm on the robot moves as a result of pulleys and belts working together. Through normal use, belts may develop slack due to normal wear. If an articulation seems loose, one or more belts may need to be tightened. To do so, identify which belt(s) are slack, and loosen the screws of the belt tensioners on both sides of the arm. The belt tensioners are located in Figure 6-2. Move the tensioner until the belt slack is removed, then tighten the screws. The cover of the shoulder must be removed to access some of the belt tensioners. 6-2 Care and Maintenance BELT TENSIONERS BELT TENSIONER Figure 6-2. Location of the belt tensioners. 6-3 6-4 Moves the point beside the cursor under the next point.Appendix Hand-Held Terminal Menus Main Menu N Name:_ Absolute F Flags: Relative S Speed:_ 1 Gripper:_ 2 Wrist R:_ Point Editor 3 Wrist P:_ 4 Elbow:_ 5 Shoulder:_ 6 Base:_ 7 Ch 1:_ 8 Ch 2:_ 0 Save Changes N Name:_ TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD X X X X X X X X NEW X X X X X X X X TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD X X X X X X X X NEW X X X X X X X X RELAY KEY 1 2 3 4 OLD X X X X NEW X X X X CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD X X X X X X X X NEW X X X X X X X X CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD X X X X X X X X NEW X X X X X X X X A 1 TTL Output 1 Point Manager 2 TTL Input 3 Relay Control Editor 4 CNC 1 5 CNC 2 D Delay:_ 0 Save Changes CLEAR ARE ENTER ESC ALL POINTS YOU SURE? TO CONTINUE TO ABORT X C 6 7 Deletes the point beside the cursor. Moves the point beside the cursor over the preceding point. EXECUTE POINTS RUN ONCE ____ PRESS ESC TO ABORT EXECUTE POINTS RUN FOREVER: _ ____ PRESS ESC TO ABORT EXECUTE POINTS TRACE MODE ____ PRESS ESC TO ABORT 2 Task Manager 1 Run Once 2 Run Forever 3 Trace Points A-1 . Hand-Held Terminal Menus CLEAR ARE ENTER ESC ALL POINTS YOU SURE? TO CONTINUE TO ABORT 4 Clear Points 1 Save to Disk _ 3 File Manager 2 Load From Disk SAVE FILE ENTER FILENAME OVERWRITE TASK ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 1 Soft Home 2 Set Soft Home 3 CLR Soft Home PERFORM HARD HOME 4 Hard Home ENTER TO CONTINUE ESC TO ABORT 4 Motion Control 5 Free Motors 6 Torque Motors HARDWARE RESET ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 7 Hardware Reset 8 Soft Limits OFF 9 Soft Limits ON Servo Pneu 1 Grip Elec None L Slide 2 Ch 1 Carousel None 5 Configuration 3 Ch 2 L Slide Carousel None ON 4 Key Click OFF ON 5 Shift Lock OFF S Save Config 9 Shutdown Teach Menu 0 Speed Control SET SPEED >------------------+< 1 099 99 1 Gripper Open H Gripper Close 2 Wrist CW I Wrist CCW 3 Wrist Pitch Down J Wrist Pitch Up 4 Elbow Pitch Down R Elbow Pitch Up 5 Shldr Pitch Down A-2 . Hand-Held Terminal Menus S Shldr Pitch Up 6 Base CCW T Base CW 7 Ch 1 Forward Z Ch 1 Backward 8 Ch 2 Forward / Ch 2 Backward TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD H H H H H H H H NEW X X X X X X X X RELAY KEY 1 2 3 4 OLD L L L L NEW X X X X SET DELAY VALUE IN SECONDS >_ CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X SAVE POSITION ENTER POINT NAME >POINT1_ SAVE POSITION ENTER POINT NAME >POINT1_ SAVE CONTROL ENTER POINT NAME >CTRL1_ F TTL Output G TTL Input P Relay Q Time Delay X CNC 1 Y CNC 2 C Save Abs Point # Save Rel Point * Save Control A-3 . A-4 . Release Emergency Stop Online Hard Home Task Editor Point Editor New Task Editor Point Editor B B-1 .. Upload to..Appendix Robotics Menus New Open Close Save Save As File Revert Info Print Print Setup Shutdown Exit Undo Redo Cut Edit Copy Paste Duplicate Clear Select All Find Find Next Search Replace Go To Line Go To Bookmark Set Bookmark Run Task Soft Home Set Soft Home Motion Control Clear Soft Home Free Motors Torque Motors Robot Download from... Robotics Menus Environment Options Hardware File Server CNC Software Cascade Tile Horizontal Tile Vertical Window Close All Minimize All Restore All Controller Status Point Editor Help Contents About B-2 . Appendix Task Commands C TASK COMMANDS . waits for TTL input x high(1) or low(0) then stops the carousel Waits for CNC x (1 or 2). line y to high (1) or low (0) Delays the execution for xxx seconds Repeats a series of line instructions for a set count Executes all points in sequence from active to named point Branch point for false condition in IF statement Ends the task Ends of IF conditional Halts task execution and display a custom error msg Transfers execution to the named subroutine Moves to the soft home position Branch execution on conditional expression Waits for TTL input x high(1) or low(0) Download via the CNC Lathe Software Displays a custom message on the task window Download via the CNC Mill Software Executes a specified point Sets TTL output x to high(1) or low (0) Activates or deactivate Relay x Ends the WHILE loop statement list Restarts the task program at the first command Ends of the current subroutine Executes a specified point at max speed Sets an override speed for all subsequent point Defines the start of a subroutine Ends the DO loop statement list Begins a loop of statements when <expr> is true C-1 .y) CNCOUTPUT(x. line y high (1) or low (0) Sets the CNC x (1 or 2).y) DELAY DO DRIVETO ELSE END ENDIF ERROR GOSUB HOME IF INPUT(x) LATHE MESSAGE MILL MOVETO OUTPUT(x) RELAY(x) REPEAT RESTART RETURN RUNTO SPEED SUB UNTIL WHILE <[0|1]> <[0|1]> <[0|1]> <0-999> <1-9999> <point> none none none <msg> <name> none <expr> <[0|1]> <filename> <msg> <filename> <point> <[0|1]> <[0|1]> none none none <point> <0-99> <name> none <expr> Starts carousel on CH 1 or CH 2.QUICK REFERENCE TABLE Command Parameters Function CAROUSEL CNCINPUT(x. <integer 1-8>) <[HIGH | LOW]> The Carousel command is used to control the operation of the Rotary Carousel. <[CLOSE | OPEN]>. CNCINPUT Syntax: Parameters: Description: CNCINPUT(<integer 1-2>.Task Commands COMMAND DESCRIPTION CAROUSEL Syntax: Parameters: Description: CAROUSEL(<integer 1-2>. First. 0001: 0002: 0003: CAROUSEL(1.2) HIGH RESTART Note: Example: This program shows a simple control loop that might be used with CNC equipment. or <[1 | 0]>. Usually a channel is used to directly interface with other automation or CNC equipment. line 1 waits for CNC 1. The values in parentheses indicate the channel (1 or 2) where the Rotary Carousel is connected and the TTL input (18) to read. The parameter that follows indicates the desired level of the TTL input.2) HIGH GOSUB LOAD_PART CNCOUTPUT(1. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. This command will block and suspend task execution until the read value matches the command parameter. 0001: 0002: 0003: 0004: CNCINPUT(1. This command will suspend the rotation of the Rotary Carousel if the level matches the command parameter. It causes the Rotary Carousel to rotate one turn or less if the status of a specified TTL input corresponds to a desired level. or <[1 | 0]>.1) HIGH MOVETO POINT1 END Note: Example: Line 1 causes the Rotary Carousel to rotate one turn or less if the level detected at TTL input 1 is high.<integer 1-4>) <[HIGH | LOW]> This command reads the specified input on CNC 1 or CNC 2. <[CLOSE | OPEN]>. C-2 . input 2 to be high. The value in parentheses indicates the channel (1 or 2) and the input (1-4) to read. Then the program executes POINT1 and ends. 2) HIGH GOSUB LOAD_PART CNCOUTPUT(1. line 1 waits for CNC 1. Finally. CNC 1. 0001: 0002: 0003: 0004: CNCINPUT(1. CNCOUTPUT Syntax: Parameters: Description: CNCOUTPUT(<integer 1-2>. the process is restarted. or <[1 | 0]>. Usually a channel is used to interface with other automation or CNC equipment. CNC 1. First. The user then clicks the Run button and the HOME C-3 . <[CLOSE | OPEN]>. Once the stock is loaded. then a subroutine that loads a piece of stock into the machine executes.Task Commands then a subroutine that loads a piece of stock into the machine executes. the process is restarted. The value in parentheses indicates the channel (1 or 2) and the output (1-4 or A to D) to change. Once the stock is loaded.2) HIGH RESTART Note: Example: This program shows a simple control loop that might be used with CNC equipment. input 2 to be high. output 2 (or B) is set at high. The parameter that follows indicates the desired status of the output. output 2 is set at high. Line 3 executes POINT2 and then the delay stops execution. DELAY Syntax: Parameters: Description: DELAY <integer 0-999> Delay task execution for the value expressed in seconds. then the task execution is paused until the user clicks the Run button in the Run Task window. Finally.<integer 1-4>) <[HIGH | LOW]> This command controls the specified output on CNC 1 and CNC 2. If the parameter value is 0. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. 0001: 0002: 0003: 0004: 0005: 0006: MOVETO POINT1 DELAY 10 MOVETO POINT2 DELAY 0 HOME END Example: This program executes POINT1 then delays the execution for 10 seconds. Normally. and then the END command is executed. DO Syntax: Parameters: Description: DO <integer 1-999> This command indicates the start of a series of commands that are to be executed repeatedly. This demonstrates that the only way to stop the execution of the DO loop is by user abort or by inserting an END. Finally the program terminates at the END command. RESTART or ERROR command into the loop. formatting the instruction lines of the program makes it easier to read. This program executes POINT1. you would start the execution of a long sequence of points by first calling the MOVETO command with the first point in sequence and then follow that command with a DRIVETO C-4 . See also: UNTIL DRIVETO Syntax: Parameters: Description: DRIVETO <string point name> This command operates as a shortcut instead of repeating multiple MOVETO commands.Task Commands command executes. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: DO 5 IF INPUT(3) = LOW END ELSE MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 ENDIF UNTIL Example: Note: As shown in this example. POINT2 and then POINT3 in order. this command will execute every point between the current active point and the point named in the command parameter. 5 times in a row unless TTL input 3 goes low. To execute a series of points from the associated point list. The points will be executed in the order that they exist in the point list. The parameter indicates the number of repetitions that the instruction lines between the DO and UNTIL commands are run. Line 4 then checks if TTL output 2 is low. then the execution will jump to the instruction line that follows the ELSE command. this program will first execute POINT1. The DRIVETO command will then execute every point between POINT1 up to and including POINT4. This can simplify the task program when a large number of movements must be executed in order.Task Commands command that indicates the last point in the sequence. Line 3 checks if TTL input 1 is high and if so. which calls a GOSUB to actually run the loading routine. If the IF command detects that the external device on TTL output 2 is high. and POINT4 are defined in the point list in that order. See also: IF. If the IF command detects that the external device on TTL output 2 is low. Changing the point list will modify how this command executes. POINT3. ELSE Syntax: Parameters: Description: ELSE None This command indicates the end of the instruction lines that are executed when a TRUE condition is evaluated by a previous IF command. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: MOVETO POINT1 MOVETO POINT2 IF INPUT(1) = HIGH IF OUTPUT(2) = LOW MESSAGE Turn on the conveyor! ELSE GOSUB LOAD_FROM_CONVEYOR ENDIF ENDIF END Example: This program shows how to use the IF command and also shows that you can nest IF commands within each other. Conversely. executes the next instruction line. Warning: The points execute in the order they exist in the point list. then the message on line 5 is displayed. POINT2. The instruction lines that follow the ELSE command are executed in the event that the associated IF command evaluated a FALSE value. ENDIF C-5 . 0001: 0002: 0003: MOVETO POINT1 DRIVETO POINT4 END Example: Assuming that POINT1. For each IF command there must be exactly one matching ENDIF command. executes the next instruction line. each one must have a matching ENDIF command. If the IF command detects that the external device on TTL output 2 is high. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: MOVETO POINT1 MOVETO POINT2 IF INPUT(1) = HIGH IF OUTPUT(2) = LOW MESSAGE Turn on the conveyor! ELSE GOSUB LOAD_FROM_CONVEYOR ENDIF ENDIF END Example: This program shows how to use the IF command and also that you can nest IF commands within each other. then the C-6 . Conversely. Line 3 checks if TTL input 1 is high and if so.Task Commands END Syntax: Parameters: Description: END None This command ends the execution of the current task. If the Repeat Task check box is checked in the Run Task window. the program will restart execution at the beginning of the program. all instruction lines past the END command will never be executed. This command can be placed anywhere in the task program but unless you are defining subroutines. If the IF command detects that the external device on TTL output 2 is low. Line 4 then checks if TTL output 2 is low. 0001: 0002: 0003: MOVETO POINT1 MOVETO POINT2 END Example: See also: MOVETO ENDIF Syntax: Parameters: Description: ENDIF None This command indicates the end of an IF-ELSE-ENDIF block of codes and the execution continues with the next instruction line. then the message on line 5 is displayed. If there are multiple nested IF commands. ELSE ERROR Syntax: Parameters: Description: ERROR <string message> This command will halt the execution of the current task program and the string message provided as a parameter will be displayed in the message area of the Run Task window. GOSUB LOAD_STOCK ENDIF END SUB LOAD_STOCK MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 RETURN Example: C-7 . The status will be set to display ERROR. GOSUB Syntax: Parameters: Description: GOSUB <string name> This command calls the named subroutine. Execution will return to the instruction line that follows the GOSUB command when the subroutine completes execution. See also: IF.Task Commands execution will jump to the instruction line that follows the ELSE command. 0001: 0002: 0003: 0004: 0005: IF INPUT(1) = LOW ERROR No stock is available ELSE GOSUB LOAD_STOCK ENDIF Example: This program checks if TTL input 1 is low and if the condition tests true. which calls a GOSUB to actually run the loading routine. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: IF INPUT(1) = HIGH MESSAGE Loading stock from conveyor. the error message appears in the Message field of the Run Task window and the program execution is suspended. You can call subroutines from within other subroutines. Use this command if you want to generate an error in your program if an unexpected condition occurs. This is the position that is defined by the point named HOME in the point list associated with this task. Lines 7 through 9 are then executed and the RETURN command in line 10 will return execution back to the instruction line that follows the GOSUB command that called this subroutine. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: MOVETO POINT1 MOVETO POINT2 IF INPUT(1) = HIGH IF OUTPUT(2) = LOW MESSAGE Turn on the conveyor! ELSE GOSUB LOAD_FROM_CONVEYOR ENDIF Example: C-8 . 0001: 0002: 0003: MOVETO POINT1 HOME END Example: This program executes POINT1 and then returns to the HOME position. This command is functionally equivalent to calling MOVETO HOME. then the GOSUB routine transfers execution to the instruction line that follows the SUB command. and where it will come to rest when you tell it to go home. the execution continues after the next ELSE command (if used) or ENDIF command. If the expression is FALSE. It is the position the Servo Robot starts its movements from. HOME is defined as the first point in the point list. RETURN HOME Syntax: Parameters: Description: HOME None Tells the Servo Robot to move to the assigned soft home position. IF Syntax: Parameters: Description: IF <expression> If the expression evaluates to TRUE. the execution continues normally with the next instruction line.Task Commands This program shows how to define and call subroutines. See also: SUB. If TTL input 1 is high. You can modify the point coordinates using the Set Soft Home and Clear Soft Home functions. The value in parentheses indicates the input to read and the parameter that follows the command indicates the desired status. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. C-9 . The filename parameter is passed as a parameter to this program so that the CNC Lathe software will automatically download the file to a CNC Lathe. Conversely. <[CLOSE | OPEN]>. 0001: 0002: 0003: 0004: MOVETO POINT1 INPUT(4) LOW MOVETO POINT2 END Note: Example: This program executes POINT1 and then waits until TTL input 4 is low then POINT2 is executed and the program ends. then the message on line 5 is displayed. then the execution will jump to the instruction line that follows the ELSE command. or <[1 | 0]>. which calls a GOSUB to actually run the loading routine. executes the next instruction line. ENDIF INPUT Syntax: Parameters: Description: INPUT(<integer 1-8>) <[HIGH | LOW]> This command reads the TTL inputs. If the IF command detects that the external device on TTL output 2 is low. Line 4 then checks if TTL output 2 is low.Task Commands 0009: 0010: ENDIF END This program shows how to use the IF command and also shows that you can nest IF commands within each other. If the IF command detects that the external device on TTL output 2 is high. This command will block and suspend task execution until the read value matches the command parameter. Line 3 checks if TTL input 1 is high and if so. LATHE Syntax: Parameters: Description: LATHE <string filenamepath> This command executes the external program associated with the LATHE command set in the Options window. See also: ELSE. CNCINPUT(1. This command does not stop the execution of the program so if you need the user to respond to your message. The filename parameter is passed as a parameter to this program so that the CNC Mill Software will automatically download the file to a CNC Mill. a message is sent to the user in the Message field of the Run Task window. follow this command with a DELAY 0 command. MILL sample_part.Task Commands Example: 0001: 0002: 0003: 0004: GOSUB LOAD_STOCK \Load stock into CNC Lathe LATHE sample_part.m4 \Download the part program to the Mill. 0001: 0002: 0003: 0004: IF INPUT(1) = HIGH MESSAGE Loading stock from conveyor.l4 \Download the part program to the Lathe CNCINPUT(1. and the LOAD_STOCK subroutine is executed. 0001: 0002: 0003: 0004: GOSUB LOAD_STOCK \Load stock into CNC Mill. If the condition tests true. This command is used when integrating the Servo Robot System with CNC Lathe machinery.1) HIGH \Wait for the CNC Lathe to signal completion END This program shows how to use the LATHE command to download a CNC Lathe program. MILL Syntax: Parameters: Description: MILL <string filenamepath> This command executes the external program associated with the MILL command set in the Options window.1) HIGH \Wait for the Mill to signal completion. END Example: C-10 . GOSUB LOAD_STOCK ENDIF Example: This program checks if TTL input 1 is high. MESSAGE Syntax: Parameters: Description: MESSAGE <string message> This command will display the string parameter data in the Message field of the Run Task window. C-11 . 0001: 0002: 0003: 0004: OUTPUT(1) HIGH DELAY 5 OUTPUT(1) LOW END Note: Example: This program sets TTL output 1 at high. 0001: 0002: MOVETO POINT1 END Example: This program executes POINT1 and then terminates. <[CLOSE | OPEN]>. delays for 5 seconds and then sets the output at low. The value in parentheses indicates which relay is being controlled and the parameter that follows indicates the desired status: activated (close) or deactivated (open). This command is used when integrating the Servo Robot System with CNC Mill machinery. The value in parentheses indicates the output to change and the parameter that follows indicates the new status of the output. or <[1 | 0]>.Task Commands This program shows how to use the MILL command to download a CNC Mill program. OUTPUT Syntax: Parameters: Description: OUTPUT(<integer 1-8>) <[HIGH | LOW]> This command controls the status of the TTL outputs. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. RELAY Syntax: Parameters: Description: RELAY(<integer 1-4>) <[CLOSE | OPEN]> This command controls the status of the relays. MOVETO Syntax: Parameters: Description: MOVETO <string point name> This command causes the execution of either a position point or a control point. window. Unlike the END command. and repeat the operation until the stock feeder sets TTL input 4 at low. C-12 .. the instruction lines between the WHILE and REPEAT commands will be executed repeatedly. See also: WHILE RESTART Syntax: Parameters: Description: RESTART None This command instructs the software to abort the current execution of the task and to restart from the beginning of the program. execution will jump back to the associated WHILE command for reevaluation of the original WHILE expression. or <[1 | 0]>.. GOSUB LOAD_STOCK OUTPUT(2) LOW GOSUB MOVE_STOCK OUTPUT(2) HIGH REPEAT END Example: This program shows how you might load stock from a feeder. As long as TTL input 4 remains high. <[HIGH | LOW ]>. delays for 5 seconds and then deactivates the relay. move it somewhere. 0001: 0002: 0003: 0004: RELAY(1) CLOSE DELAY 5 RELAY(1) OPEN END Example: This program activates Relay 1.Task Commands Note: <[CLOSE | OPEN]> can be interchanged with <[ON | OFF]>. When the loop reaches this command. REPEAT Syntax: Parameters: Description: REPEAT None Indicates the end of a WHILE loop. RESTART ignores the status of the Repeat Task check box in the Run Task. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: MOVETO POINT1 WHILE INPUT(4) = HIGH \ Stock is available from feeder. When this command is executed. instruction lines 4 and 5 will never be executed. GOSUB LOAD_STOCK ENDIF END SUB LOAD_STOCK MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 RETURN Example: This program shows how to define and call subroutines. then the GOSUB routine transfers the execution to the instruction line that follows the SUB command. RETURN Syntax: Parameters: Description: RETURN None This command defines the end of a subroutine. Lines 7 through 9 are then executed and the RETURN command in line 10 will return execution back to the instruction line that follows the original GOSUB command that called this subroutine. If the point is a position point. Only one RETURN command is allowed in a subroutine and it must be the last command in the subroutine. C-13 . the subroutine being executed exits and the execution will resume at the instruction line that follows the GOSUB command. If TTL input 1 is high. the movement will be executed at maximum speed.Task Commands Example: 0001: 0002: 0003: 0004: 0005: MOVETO POINT1 MOVETO POINT2 RESTART MOVETO POINT3 END In this program. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: IF INPUT(1) = HIGH MESSAGE Loading stock from the conveyor. See also: GOSUB RUNTO Syntax: Parameters: Description: RUNTO <string point name> This command tells the Servo Robot to execute either a position or control point. The Speed value that was defined for the point is ignored. All position point moves will be executed at this new speed. END SPEED Syntax: Parameters: Description: SPEED <integer 0-99> This command allows you to set an override Speed value for the instruction lines that follow the line containing this command.Task Commands Example: 0001: 0002: 0002: MOVETO POINT1 RUNTO POINT2 END This program will execute POINT1 and POINT2. The speed override in line 3 means that the MOVETO command in line 4 will move at a speed of 20 instead of the previously defined speed of the point. See also: MOVETO. The override Speed value has no effect on control points. All instruction lines that follow this command belong to the named subroutine until the RETURN command indicates the C-14 . 0001: 0002: 0003: 0004: 0005: 0006: 0007: MOVETO POINT1 MOVETO POINT2 SPEED 20 MOVETO POINT1 SPEED 0 MOVETO POINT2 END Example: In this program. overriding the Speed value saved in the position point. END SUB Syntax: Parameters: Description: SUB <string name> This command defines the name and the starting location of a subroutine. See also: MOVETO. If POINT2 is not a control point. The position points that follow a SPEED command set at 0 will be at their own defined speeds. Line 5 will disable the speed override and so the MOVETO on line 6 will move at the speed set in POINT2. the speed will be set at 99 (maximum value). This example assumes that POINT1 and POINT2 are not control points. the first two instruction lines move the Servo Robot to POINT1 and POINT2 normally. Example: 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: DO 5 IF INPUT(3) = LOW END ELSE MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 ENDIF UNTIL C-15 . RETURN UNTIL Syntax: Parameters: Description: UNTIL None This command indicates the end of a DO loop sequence and if the number of passes through the DO loop is less than the DO command parameter. If TTL input 1 is high. See also: GOSUB. the execution continues with the instruction line that follows the UNTIL command. but be warned that an infinite loop can occur when a subroutine calls itself. If the number of passes is greater than the number in the DO command. execution jumps to the original DO command. Subroutines should always be defined after the END command and separate from each other. GOSUB LOAD_STOCK ENDIF END SUB LOAD_STOCK MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 RETURN This program shows how to define and call subroutines. Example: 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: IF INPUT(1) = HIGH MESSAGE Loading stock from conveyor. Subroutines can call other subroutines. then the GOSUB routine transfers execution to the instruction line that follows the SUB command. Lines 7 through 9 are then executed and the RETURN command in line 10 will return execution back to the instruction line that follows the original GOSUB command that called this subroutine.Task Commands end of the subroutine. execution will return to the WHILE command in which the expression will be evaluated repeatedly until the expression fails. See also: DO WHILE Syntax: Parameters: Description: WHILE <expression> This command evaluates the expression. C-16 . and then the END command is executed. As long as TTL input 4 is high when the WHILE command on line 2 executes.. The expression value is only evaluated by the WHILE command. If it is true. up to the REPEAT command. This demonstrates that the only way to stop the execution of the DO loop is by user abort or by inserting an END. it executes the instruction lines that follow. instruction lines . 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: MOVETO POINT1 WHILE INPUT(4) = HIGH \Stock is available from feeder GOSUB LOAD_STOCK OUTPUT(2) LOW GOSUB MOVE_STOCK OUTPUT(2) HIGH REPEAT END Notes: Example: This program shows how you might load stock from a feeder. Changing the status of the inputs/outputs inside this command will not cause the loop to exit immediately. 5 times in a row unless TTL input 3 goes LOW... When the REPEAT command is reached. POINT2 and then POINT3 in order. A simple expression might look like this: IF .. RESTART or ERROR command into the loop.Task Commands This program executes POINT1. See also: REPEAT Conditional Statements The IF and WHILE commands use a parameter called an expression. the instruction lines between the WHILE and REPEAT commands will be executed repeatedly.. TRUE (IF the expression INPUT(1) = HIGH is TRUE as an example) .. move it somewhere. which is a statement that when evaluated will produce a Boolean TRUE or FALSE value. and repeat the operation until the stock feeder sets TTL input 4 at low. y) or CNCOUTPUT(x. In all Robotics expressions. CMD is either the IF or WHILE command. The <conditional> defines how to compare the two expressions. The following values are available: CONDITIONAL STATEMENTS =. RELAY(x). These are the only two commands that support expressions... The <left expression> and <right expression> are both values. All of these commands will return either a 0 or 1 to indicate the current status of the input/output line. instruction lines . the expressions can be the value returned by any of the following commands: INPUT(x). == or EQ <>. OUTPUT(x).y). where the execution would jump to the instruction line following the ENDIF command.. In this example you can see that the instruction lines that fall between the ELSE and ENDIF are not executed because the evaluated expression is true. Additionally. the program will execute the instruction lines following it up to the ELSE command. This form is CMD <left expression> <conditional> <right expression>. ON/OFF. CNCINPUT(x.Task Commands ELSE . != or NEQ <= or LEQ >= or GEQ < or LT > or GT && or AND || or OR XOR NAND Equivalent Not equivalent Less than or equal Greater than or equal Less than Greater than Boolean AND (True if <left> = 1 and <right> = 1) Boolean OR (True if <left> = 1 or <right> = 1) Boolean XOR (Exclusive Or) True only if <left> is not equal to <right> Boolean NAND (Not And) True only if <left> = 0 and <right> = 0 C-17 . ENDIF If the evaluated expression is true. a general form is followed. CLOSE/OPEN).. These can be a direct value of 1 or 0 (or any of the legitimate replacements for these values: HIGH/LOW. C-18 . The Rotary Carousel is also provided with a "cursor" disk. Note: Do not make or modify any connection while the Robot Controller is on. The cursor disk is located over the center of the platter. The Rotary Carousel is provided with a limit switch to detect the presence of objets on the platter. the Rotary Carousel is located using two location pins under the base. Connection The Rotary Carousel connects to CH 1 or CH 2 on the Robot Controller as shown in Figure D-2. The Rotary Carousel is designed to be used with the Grids and the perforated Work Surfaces. When used with the Work Surfaces. Model 5208 Description The Rotary Carousel of the Servo Robot System is shown in Figure D-1. D-1 . CURSOR DISK PLATTER D NORMALLY OPEN TERMINAL NORMALLY CLOSED TERMINAL LIMIT SWITCH COMMON TERMINAL LOCATION PINS [12 V − − 60 mA] Figure D-1. To do so. Model 5208.Appendix Rotary Carousel. It consists of a rotating platter mounted on a base. rotate the cursor disk to align the line on the cursor disk with one of the lines on the platter. Rotary Carousel. It is used to locate a reference position. Rotary Carousel, Model 5208 TO THE TTL INPUTS ROBOT CONTROLLER REAR VIEW CNC 1 CNC 2 CH 1 CH 2 5250 5250 Figure D-2. Connection of the Rotary Carousel. The limit switch contacts connect to the TTL inputs on the Robot Controller. The blue terminal corresponds to the normally closed (NC) terminal of the limit switch, the yellow terminal corresponds to the normally open (NO) terminal, and the black terminals correspond to the common terminal. Configuration Once the connection is made, the Robot Controller must be configured to detect the Rotary Carousel. To configure the Robot Controller when using Robotics, select the Hardware option in the Options menu. Select Rotary Carousel in the selection field of the channel where the Rotary Carousel is connected. Click the Save button to save the configuration. To configure the Robot Controller when using the Hand-Held terminal, press the 5 key in the Main menu to select Configuration. In the Configuration menu, place the cursor beside the channel number where the Rotary Carousel is connected, press the Enter key as required to select Carousel. Press the S key to save the configuration. Operation The Rotary Carousel is driven by a servo motor mounted in the base. The platter can rotate either in the clockwise or counterclockwise direction. Its operation is controlled by clicking the CH 1 or CH 2 arrow in Robotics, or by pressing the 7 or Z key if the Rotary Carousel is connected to CH 1, or the 8 or / keys if it is connected to CH 2 when using the Hand-Held Terminal. The Carousel command can also be used to control the operation of the Rotary Carousel. Refer to Appendix C to obtain more information on how to use this command. D-2 Rotary Carousel, Model 5208 Like the Servo Robot, the Rotary Carousel must be hard homed at the beginning of each session. Make sure that the parts are removed from the platter when executing a hard home positioning. The speed is controllable the same way as the motors of the Servo Robot. The position of the platter of the Rotary Carousel is saved as for the Servo Robot. Clicking the Save Position Point button in the Point Editor window of Robotics, opens the Save Position Point window. There are two check boxes in this window: Robot and External Device. Enable the External Device check box if you are saving the coordinates of the Rotary Carousel. Save Position Point window. The Robot and External Device check boxes allow independent operation of the Servo Robot and external device(s) connected to CH 1 and CH 2. When both check boxes are enabled, the Servo Robot and external devices are controlled simultaneously. It is not possible to save the coordinates of the Servo Robot and Rotary Carousel independently using the Hand-Held Terminal alone. The points created using the Hand-Held Terminal must be transferred in the Point Editor of Robotics. Each point must be edited and the check boxes enabled or disabled as required. D-3 D-4 and it uses the same mounting holes as the limit switch. and DIRECTION external inputs connect to the TTL outputs of the Robot Controller. It consists of a belt which is driven by a servo motor. Model 5210 The Belt Conveyor is designed to be used with the Grids and the perforated Work Surfaces. The blue terminal corresponds to the normally closed (NC) terminal of the limit switch. When used with the Work Surfaces. Belt Conveyor.Appendix Belt Conveyor. MOTOR. The Belt Conveyor is provided with a limit switch to detect the presence of parts on the belt. and the black terminals correspond to the common terminal. Model 5210 Description The Belt Conveyor of the Servo Robot System is shown in Figure E-1. The STOP. Connection The Belt Conveyor connects to an AC power outlet. E LIMIT SWITCH LOCATION PIN CONTROL PANEL Figure E-1. It is movable. the location guide must be installed on the Belt Conveyor. E-1 . the yellow terminal corresponds to the normally open (NO) terminal. there are several sets of mounting positions found along both sides of the conveyor chassis. The limit switch contacts connect to the TTL inputs of the Robot Controller. The guide is also movable. motor engage/disengage (MOTOR). LOW [ TTL ] REVERSE [ TTL ] 5210 Figure E-2. the conveyor stops on a high level. When the Logic switch is set at High. The control panel of the Belt Conveyor is shown in Figure E-2. Control panel of the Belt Conveyor. BELT CONVEYOR MOTOR EXT. when the Logic switch is set at Low. The control signals are provided by the TTL outputs of the Robot Controller. E-2 . INPUT SPEED ENGAGE EXT. Speed The SPEED potentiometer controls the speed of the belt from Slow to Fast.Belt Conveyor. Conversely. and belt direction (DIRECTION). Stop The Logic switch is used to select the TTL level required at the input Stop to remotely stop the conveyor. the logic level of the TTL input (STOP) at which the conveyor stops. Model 5210 Operation The Belt Conveyor can be operated either by switches mounted on the control panel. INPUT + + EXT. it stops on a low level. + SLOW FAST DISENGAGE [ TTL ] STOP INPUT LOGIC HIGH FORWARD DIRECTION EXT. the operating parameters that can be controlled on the control panel are the speed (SPEED). At the Slow position. or by control signals applied to its TTL inputs. As the figure shows. the belt of the conveyor is stopped. the conveyor operates as in the Engage mode. when the level is low. Conversely. Input is high. E-3 . it operates as in the Disengage mode. the belt of the conveyor goes from right to left (when facing the control panel). it is in the Reverse mode. Ext.: The operation is controlled remotely by a signal applied to the Ext. Input is high.Belt Conveyor. the motor of the Belt Conveyor is torqued and the conveyor runs if the settings of the Stop section correspond to a run condition. Model 5210 Motor The Motor switch is used to select between three operating modes: C Engage: In this mode. the direction of the belt is in the Forward mode. Disengage: In this mode.: The operation is remotely controlled by a signal applied to the Ext. the motor is stopped and freed (not torqued). when the level is low. If the settings of the Stop section correspond to a stop condition the motor is stopped but remains torqued. Ext. Conversely. the belt of the conveyor goes from left to right. C C Direction The Direction switch is used to select between three operating modes: C C C Forward: In this mode. When the level of the Ext. When the level at the Ext. Input. Input. Reverse: In this mode. E-4 . Models 5119 and 5121 The Gravity Feeders are designed to be used with the Grid and the perforated Work Surfaces. 5 mm (2 x 2 x 1 or 1. F LOCATION PIN MODEL 5119 MODEL 5121 Figure F-1. the Gravity Feeders are located using the location pins at the back of the modules. F-1 . and the Model 5121 is designed to feed cylindrical parts similar in form and dimensions to film canisters. Models 5119 and 5121 Description The Gravity Feeders of the Servo Robot System are shown in Figure F-1.Appendix Gravity Feeders.5 in). When used with the Work Surfaces. Connection The limit switch contacts connect to the TTL inputs on the base of the Servo Robot. Gravity Feeders. the yellow terminal corresponds to the normally open (NO) terminal. The Model 5119 is designed to feed square parts having 50 x 50 x 25 or 37. and the black terminals correspond to the common terminal. The blue terminal corresponds to the normally closed (NC) terminal of the limit switch. Models 5119 and 5121 Operation The Gravity Feeders work on the principle that when a part is removed from the feeder. Usually. the Servo Robot will stop and wait until the feeder is filled before continuing on. The limit switch sends a signal when the feeder is empty. When using the Gravity Feeder.Gravity Feeders. Model 5121. it is suggested to add coins in the film canisters to improve stability. F-2 . the force of gravity will bring the next piece down to where the Servo Robot can grasp it. Appendix Pneumatic Feeders, Models 5122 and 5142 Description The Pneumatic Feeders of the Servo Robot System are shown in Figure G-1.They work very much on the same principle as the gravity feeders but have the advantage of the force of air to propel the parts. Their operation is controlled by the Pneumatic Feeder Controller, Model 5149 (one controller is required for each feeder). STORAGE SECTION G FEEDER SECTION SLIDER PNEUMATIC FEEDER MODEL 5122 PNEUMATIC FEEDER CONTROLLER MODEL 5149 Figure G-1. Pneumatic Feeder and Controller, Models 5122 and 5149. The Pneumatic Feeder, Model 5122, is designed to feed square parts having 50 x 50 x 12.5 mm (2 x 2 x 0.5 in) and the Model 5142 is designed to feed cylindrical parts having a diameter of 19 mm (0.75 in) and a length of 50 mm (2 in). The Pneumatic Feeders are designed to be used with the Grids and the perforated Work Surfaces. When used with the Work Surfaces, the Pneumatic Feeders are located using the location pins under the modules. G-1 Pneumatic Feeders, Models 5122 and 5142 Connection To connect a Pneumatic Feeder, perform the following steps: Note: Do not place any parts in the storage section of the Pneumatic Feeder now. C Connect S1 on the Pneumatic Feeder to input 1 on the Pneumatic Feeder Controller as shown in Figure G-2. PORT A PORT A PORT B INPUT 2 INPUT 1 A S1 S1 S2 PORT B PNEUMATIC FEEDER CONTROLLER SLIDER INPUTS EXTEND PORT A 1 2 RETRACT PORT B SPEED B S2-A S2-B SPEED MAX. MIN. MAX. MIN. A B [12 V − − 60 mA] 5149 SLIDER SPEED CONTROLS PNEUMATIC TUBES Figure G-2. Connection of the Pneumatic Feeders. C C Connect S2-A on the Pneumatic Feeder to input 2 on the Pneumatic Feeder Controller as shown in Figure G-2. Connect port A on the Pneumatic Feeder to port A on the Pneumatic Feeder Controller with a pneumatic tube as shown in Figure G-2. Tighten the connectors. Connect port B on the Pneumatic Feeder to port B on the Pneumatic Feeder Controller with a pneumatic tube as shown in Figure G-2. Tighten the connectors. Connect the Air Supply Inlet on the Pneumatic Feeder Controller to an Air Supply Source as shown in Figure G-3. Note that the Air Supplied Source is not included with the Pneumatic Feeders. Note: Do not apply compressed air to the Pneumatic Feeder now. C C G-2 Pneumatic Feeders, Models 5122 and 5142 PNEUMATIC FEEDER CONTROLLER (REAR VIEW) AIR SUPPLY INLET DC POWER INPUT AIR SUPPLY POWER INPUT TO AN AIR SUPPLY SOURCE (NOT INCLUDED) 275 kPa MAX. 40 PSI MAX. [12 V − − 60 mA] TO AN AC POWER SUPPLY AC-TO-DC ADAPTOR Figure G-3. Connection of the Pneumatic Feeder Controller (rear view). C Connect the AC-to-DC adaptor to an AC power outlet and the other extremity of the lead to the DC Power Input on the Pneumatic Feeder Controller, as shown in Figure G-3. Limit switch S2-B connects to the TTL inputs on the Teach Pendant. Operation Pneumatic Feeders The Pneumatic Feeders, Models 5122 and 5142, have three limit switches to detect the presence of parts: S1, S2-A, and S2-B. Switch S1 detects the presence of parts in the storage section, it is located at the bottom of the storage section. The contact of switch S1 is normally open (NO), meaning that it is open when the storage section is empty. Switch S2-A detects the presence of parts in the feeder section, it is located at the bottom of the feeder section. The contact of switch S2-A is normally closed (NC), meaning that it is closed when the feeder section is empty. Switches S1 and S2-A are used to control the operation of the Pneumatic Feeder Controller. Switch S2-B is located at the bottom of the feeder section. The contact of switch S2B is normally open (NO), meaning that it is open when the feeder section is empty. Switch S2-B is used to control the level of a TTL input. G-3 Pneumatic Feeders. STORAGE SECTION STORED PARTS SLIDER IN THE EXTENDED POSITION AVAILABLE PART FEEDER SECTION S1 S2 PNEUMATIC CYLINDER A B (a) SLIDER IN THE RETRACTED POSITION CYLINDER ROD S1 S2 A B (b) Figure G-4. When the solenoid of the valve is energized. Schematic diagram of the Pneumatic Feeder. Model 5149. G-4 . Models 5122 and 5142 Pneumatic Feeder Controller The Pneumatic Feeder Controller. This causes the slider to extend to push a new part as shown in Figure G-4a. The solenoid of the pneumatic valve is energized only when the contacts of both switches S1 and S2-A are closed as shown in Figure G-5. includes a solenoid operated pneumatic valve. air flows through the valve to port B of the Pneumatic Feeder. The only way to obtain this condition is when the feeder section is empty but not the storage section. This causes the slider to retract as shown in Figure G-4b. air flows through the valve to port A of the Pneumatic Feeder. Model 5122. When the solenoid of the valve is not energized. Electrical diagram of the Pneumatic Feeder Controller. The speed increases with air flow. The SPEED control consists in a flow control valve that controls the air flow which is directed to the cylinder ports.Pneumatic Feeders. The operation is summarized in Table G-1. perform the following steps: C C C C Ensure that the Pneumatic Feeder is connected as described in the Connection section of this appendix. Models 5122 and 5142 INPUTS 1 S1 + − 2 S2-A PNEUMATIC VALVE SOLENOID Figure G-5. To set the extension and retraction speed. Slider movement versus the status of switches S1 and S2-A. Speed Setting The extension and retraction speeds of the slider can be set via the SPEED control knobs on the Pneumatic Feeder Controller. Apply compressed air to the Pneumatic Feeder Controller. Model 5149. Place five parts in the storage section and one in the feeder section. Set the Extend and Retract Speed control knobs at MIN. AIR IS SUPPLIED TO PORT SWITCH S1 SWITCH S2-A SLIDER closed (parts in the storage section) closed (parts in the storage section) open (storage section empty) open (storage section empty) Switch S1 is normally open (NO) open (parts in the feeder section) closed (feeder section empty) open (parts in the feeder section) closed (feeder section empty) B retracts A extends B retracts B retracts Switch S2-A is normally closed (NC) Table G-1. G-5 . Note: With the Speed control knobs at the MIN. position. Models 5122 and 5142 Note: The air pressure applied to the Pneumatic Feeder Controller should not exceed 275 kPa (40 psi). C C C Slowly turn the Extend Speed control knob in the counterclockwise direction to increase the extension speed of the slider. Note: For the Pneumatic Feeder.Pneumatic Feeders. Remove the new part in the feeder section and repeat the last two steps until you obtain a smooth movement in both directions. Once the part is in the feeder section. G-6 . Model 5142. turn slowly the Retract Speed control knob in the counterclockwise direction to increase the retraction speed. the slider will not move or very little. C Manually remove the available part from the feeder section. make sure the part will not be thrown out of the feeder. The Linear Slide is designed to be used with the Grid and the perforated Work Surfaces. Linear Slide. The base is driven by a servo motor via a lead screw. When used with the Work Surfaces. H-1 . The mobile base slides on two transverse shafts via four linear ball bearings.Appendix Linear Slide. MOBILE METALLIC BASE LINEAR BEARING LOCATION PINS Figure H-1. Model 5209 H Description The Linear Slide of the Servo Robot System is shown in Figure H-1. It consists of a mobile metallic base on which the Servo Robot is mounted (screwed). the Linear Slide is located using the location pins under the extremity sections of the module. The servo motor is similar to the ones that drive the Servo Robot and its control is also quite similar. ROBOT CONTROLLER REAR VIEW LINEAR SLIDE CNC 1 CNC 2 CH 1 CH 2 5250 5250 Figure H-2.Linear Slide. Operation The Linear Slide is controlled by clicking the CH 1 or CH 2 arrow in Robotics or by pressing the 7 or Z keys if it is connected to CH 1. Click the Save button to save the configuration. Press the S key to save the configuration. Model 5209 Connection The Linear Slide connects to CH 1 or CH 2 on the Robot Controller as shown in Figure H-2. To configure the Robot Controller when using the Hand-Held terminal. the Robot Controller must be configured to detect the Linear Slide. CAUTION! Make sure the Servo Robot has sufficient free space to execute a hard home positioning in all positions of the Linear Slide. Configuration Once the connection is made. the Linear Slide must be hard homed at the beginning of each session. H-2 . The speed is controllable the same way as the motors of the Servo Robot. place the cursor beside the channel where the Linear Slide is connected. In the Configuration menu. and press the Enter key as required to select L Slide. As the Servo Robot and Rotary Carousel. To configure the Robot Controller when using Robotics. select the Hardware option in the Options menu. press the 5 key in the Main menu to select Configuration. Select Linear Slide in the selection field of the channel where the Linear Slide is connected. Connection of the Linear Slide. Note: Do not make or modify any connection while the Robot Controller is on. or the 8 or / keys if it is connected to CH 2 if you are using the Hand-Held Terminal. Model 5209 Since the position of the Servo Robot depends on the position of the mounting base of the Linear Slide. their positions must be saved simultaneously. H-3 . The Robot and External Device check boxes of the Point Editor in Robotics must always be enabled when saving a position point.Linear Slide. H-4 . This is probably due to a faulty component inside the controller. *LIMIT ERROR*: G=Gripper. 1=External motor #1. P=Wrist Pitch. 2=External motor #2. etc. R=Wrist Rotation. ROBOT ERROR USER ABORT: The user aborted during a programmed task movement by using the ESC button of the teach pendant. This problem happens when a limit switch is activated. This happens when the robot has tried to move an object but has not been able to move it because the object is too heavy. E=Elbow. Turn the key to deactivate it and press "Clear Error" on the Teach Pendant to clear the error. 1=External motor #1. CHECK MOTOR RELEASE SWITCH: This problem happens when then motor drives cannot send signals to the motors. bad positions. E=Elbow. Then turn it on to reboot it. *CONTROL ERROR*: One of the motor controllers has failed to execute a command. B=Base. S=Shoulder. B=Base. Make sure that the button is pushed on the "Enabled" position and that the red LED marked "Disabled" is turned off. R=Wrist Rotation.) or the robot is already executing a task I I-1 . *SYSTEM ERROR*: An illegal instruction has occurred. S=Shoulder. verify the "MOTORS" button on the front panel of the controller. It is normally self-correcting (the robot moves in the opposite direction to clear the limit switch).. To correct this problem. *FILE ERROR*: The teach pendant has not been able to open or save a file. the controller must be turned off. P=Wrist Pitch. If the limit switch is not cleared automatically. To correct this problem.. ROBOT ERROR RUN POINT REFUSED: The programmed point cannot be reached because its information is corrupted (bad speed. use the teach pendant to safely move the axis away from the limit switch. *MOTOR ERROR* MOTOR STALL: G=Gripper. MOTORS APPEAR TO BE FREED. One of the motors has reached a position error causing it to stall. 2=External motor #2.Appendix Error codes of Firmware 5250 *EMERGENCY STOP*: Emergency Stop is pushed. . .