programming epson robots_part1

7/27/2019 Programming Epson Robots_Part1

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Programming Epson Robots

ME 4135 Fall 2011

Dr. R. Lindeke


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Operating Ideas for EpsonEnvironment


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Overview

Safety and Movement

Developing A First Program

Some Cool Tools

Pallets

SubRoutines

Etc.

Proofing w/ the Simulator

Running the Robots


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Safety And MovementCommands

For Robots to be operated safely theoperator must clear the workspace

Each defined location must bemoved to at slow speeds beforeinserting into programs

Programs must be proofed step bystep at reduced speed


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Motion is Either:

Point to Point where the robot travels

from a pose to a pose and then stopsbefore executing its next move

CP (continuous path) where the robottravels thru an intermediate as itdoesnt execute a completedeceleration to a stop before heading toa new point


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Operator sets both Speed andAcceleration levels

In interpolated movements theyfollow SPEEDS and ACCELS rates

MOVE, BMove or ARC

For other motions they follow SPEEDand ACCEL rates

GO, JUMP or BGo


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PTP:

CP:


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The Epson RC 5.0 languagesupports the following motion

commands: GO: (pnt-to-pnt or CP) joint motion

from current pose to defined target

pose MOVE: (pnt-to-pnt or CP) linear

interpolated motion from current Poseto a defined target pose


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Epson also includes Relative motioncommands:

BGo XY(0,0,15,0,0,0) which moves TCP relativein base system by 15 units in Z0 direction;TGo(0,0,15,0,0,0) is relative move in current toolframe

BMove XY(0,30,15,0,0,0) moves TCP linearly inBase Frame 30 (Y0) by 15 (Z0) units; TMoveXY(0,30,15,0,0,0) moves TCP linearly in toolFrame


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Safety and MotionCommands

Motion along a Spline Path(previously defined in a CURVE

statement) can be executed usingthe CVMove motion command


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It is always best to approach objects withoutslewing and at controlled rates

To accomplish this, Epson has included Jump (SCARA)

Jump3 (6 Axis Art Arm)

These commands are combinational motions that can

be executed either PTP or CP They use ARCH table from how high to Jump during

the motion


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Using A connection, and the Robot Manager tools we can access and setthe values of the ARCH setting for use with the Jump and Jump3 Jump3CD

commands


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It is seen that the motion is in 3 parts:

movement away from the current position to a clear planedepart is set in ARCH table

movement toward the target position drop to the target position from the clear plane approach

motion also in ARCH table


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ARC and ARC3 are circularinterpolated motion from the current

position They require a midpoint and end

point to be specified

They can operate PTP or CP


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Examining Syntax Go:


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Safety and MovementCommands

Examining Syntax for Move:


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Safety and MovementCommands

Examining Syntax forBGo or TGo:


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Examining Syntax for BMove orTMove:


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Examining Syntax for JUMP and JUMP3


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Examining Syntax for ARC and ARC3


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Motion Commonalities

All require some formof geometry as a target

In common use, theseare defined as storedpoint targets either as

P#s or point labels.


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Defining Points:

If known apriori (though IKSing

Robot Maps) They can be directlyentered into the robot point tables


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Defining Points

Points can also be defined using theTeach and Jog Mode in the Teach

Pendent


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As seen earlier when connected we can use the Robot Manager tool to jog therobot about and define point geometry as well. If points are already defined, thejog & teach tab of manager also allow the user to drive the robot among and

around points using the various motion types


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Defining a New Project

Epson RC 5.0+ uses projects tobundle the various parts of a robot

executable program together. It couples Points with Programs and

simulations or Vision Tools

It includes all of the various main andsub-routines needed to completetasks


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Simply click Project Tab select new and then give project a name and filelocation. After saving the project a build window (as seen here) is generated


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Once it is initialized it contains all ofthe standard files and a main function

for our use

From here it is mandatory that we dosome planning (flow charting) of thedesired activity; develop a map of theexpected solution identifying relevantpoints; and finally an I/O map for use

with the solution.

And only then do we start to build theprogram and sub-routines, tills and

traps


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Defining a New Project

We pre-define variables names (up to 32characters in length):

Integers (as singles or arrays)

Longs (as singles or arrays)

Strings (as singles or arrays) & up to 255 characters

Booleans (as singles or arrays)

Reals (as singles or arrays) Double (as singles or arrays)

Byte

Global variables that can be used anywhere in

program must be declared outside of functions

programming epson robots_part1

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