Académique Documents
Professionnel Documents
Culture Documents
4GNCVKXG,QD
(WPEVKQP/CPWCN
Part Number:
Release Date:
Document Version:
Document Status:
133388-1
May 13, 1997
2
Final
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
2003 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
Section
4.3
Page
CONFIRMING RELATIVE JOB INFORMATION.............................26
4.3.1
4.3.2
4.3.3
4.4
Coordinate Confirmation....................................................26
Command Position Confirmation ........................................27
Displaying Differences between Command and Current
Position........................................................................27
EDITING THE RELATIVE JOB ........................................................27
5.2
5.3
5.4
5.5
6.2
ERROR MESSAGES......................................................................... 51
8.2
Page ii
MOTOMAN
LIST OF FIGURES
Figure
Page
Page iii
MOTOMAN
LIST OF TABLES
Table
Page
Table 5-1 Parameter and Values Used in Robot Form Control Methods ..............48
Table 6-1 Alarm Messages ................................................................................ 51
Table 6-2 Error Messages................................................................................. 51
Table 6-3 Messages ..........................................................................................52
Table 7-1 List of Instructions.............................................................................53
Page iv
MOTOMAN
1.0 INTRODUCTION
The relative job function is a software option used when programming a robot offline. It allows a job to be converted from pulse counts to Cartesian coordinates so
that it may be edited off-line with a software package or shifted by a sensor. This
enables the user to develop robot programs without having an in-depth knowledge
of the robot arm configuration and the complicated mathematics required to convert
between joint angles and Cartesian coordinates. It also allows users to create
programs that are independent of the robot arm type (e.g., a program that is written
in Cartesian coordinates for a K10 will also run on a K6 or K30).
Relative Job is used with:
Vision systems
Sensor systems
Off-line programming (Robot Calibration and Tool Calibration should be
performed on robots that are running jobs that have been created off-line.)
Touch Sense
Relative job also has the ability of on-line 3-D shift. Jobs can be created based on a
part frame. Sensor input can be used to make a new frame, and the program can
then be executed for a new part position. Because the positions are based on the
Tool Center Point (TCP) position, updates can be made to the tool information and
translated to the path.
1.1
1.2
Page 1
MOTOMAN
NOTES
Page 2
MOTOMAN
2.0 SAFETY
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA R15.06.
The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: 313/994-6088
FAX: 313/994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not
been trained!
We recommend that all personnel who intend to operate, program, repair, or use the
robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
Page 3
MOTOMAN
2.1
STANDARD CONVENTIONS
This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
DANGER
WARNING
CAUTION
NOTE
Pay particular attention to the information provided under these headings which are
defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent
hazards that, if not avoided, will result in immediate, serious
personal injury or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards
that can result in personal injury or loss of life in addition to
equipment damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE:
Page 4
MOTOMAN
2.2
2.3
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.
Page 5
MOTOMAN
2.4
INSTALLATION SAFETY
Safe installation is essential for protection of people and equipment. The following
suggestions are intended to supplement, but not replace, existing federal, local, and
state laws and regulations. Additional safety measures for personnel and equipment
may be required depending on system installation, operation, and/or location.
Installation tips are as follows:
2.5
Be sure that only qualified personnel familiar with national codes, local codes,
and ANSI/RIA R15.06 safety standards are permitted to install the equipment.
Identify the work envelope of each robot with floor markings, signs, and
barriers.
Position all controllers outside the robot work envelope.
Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
Eliminate areas where personnel might get trapped between a moving robot and
other equipment (pinch points).
Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
PROGRAMMING SAFETY
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written permission
of Motoman will VOID YOUR WARRANTY!
Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. Y O U R
WARRANTY WILL BE VOID if you use these special passwords.
Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any changes
are made to options, accessories, or equipment.
The concurrent I/O (Input and Output) function allows the customer to modify
the internal ladder inputs and outputs for maximum robot performance. Great
care must be taken when making these modifications. Double-check all
modifications under every mode of robot operation to ensure that you have not
created hazards or dangerous situations that may damage the robot or other parts
of the system.
Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
Page 6
MOTOMAN
2.6
OPERATION SAFETY
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are as
follows:
Be sure that only trained personnel familiar with the operation of this robot, the
operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.
Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
Ensure that all safeguards are in place.
Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not
in use.
This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electrical circuits before making
any modifications or connections.
All modifications made to the controller will change the way the robot operates
and can cause severe personal injury or death, as well as damage the robot. This
includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
Page 7
MOTOMAN
2.7
MAINTENANCE SAFETY
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are as
follows:
Page 8
MOTOMAN
3.1
U+
R+
B+
T+
URL-
T-
S+
S-
Figure 3-1
B-
L+
Page 9
MOTOMAN
When teaching points with the programming pendant, the actual position values are
not relevant to the operator. They are, however, relevant to the robot's memory,
enabling the robot to recognize a particular position in space. Coordinate numbers
are also important when any off-line programming is taking place, as the actual
coordinate numbers are defined in the computer before being transferred to the
MRC controller (see Section 5.0 ). If desired, the MRC controller can display the
current or taught robot position as X, Y, and Z coordinates or as encoder pulse
counts for each axis. Downloaded jobs will display positional information with
encoder pulse count values or X, Y, and Z, depending on whether the job is
standard or relative.
Z Axis
X Axis
Y Axis
Figure 3-2
Page 10
MOTOMAN
3.1.1
Coordinate Systems
In relative job, the following three different coordinate systems may be used
(see Figure 3-3), which include base coordinates, robot coordinates, and user
coordinates.
Tool Coordinates
Robot Coordinates
Base Coordinates
User Coordinates
User
Coordinates
Figure 3-3
Page 11
MOTOMAN
3.1.2
WARNING!
If the user coordinate number selection is changed carelessly, it
is possible that the manipulator may not move in the anticipated
direction when executing the job. Use caution when modifying
coordinate systems.
CAUTION!
If the steps taught in MOVJ are shifted, the motion to the
instructed steps might differ. Use caution so that the fixture or
other parts do not interfere with the robot's movement.
If a user coordinate system is being used in the relative job and the ORG, XX, or
XY points are modified, creating a different user coordinate (frame), a shift to the
program will occur. The relative job's programmed positions always remain the
same. Job shifting is accomplished by changing or specifying a new coordinate
location (see Figure 3-4).
Z Axis
Z Axis
Y Axis
Y Axis
X Axis
X Axis
3.1.3
Page 12
MOTOMAN
3.1.4
Page 13
MOTOMAN
3.1.5
Page 14
MOTOMAN
3.2
3.2.1
3.2.2
Job Shift
After a job is taught as a standard job in the standard position, a user frame is set up
and the job is converted to a relative job. If the fixture location is incorrect, during
execution of the job, the user frame can be recreated in the new position, allowing
the robot to continue executing the job. An example follows:
1. Place the work in a standard position and teach the job as usual as usual (see
Figure 3-5). Name the job [STDJOB-1]. (The name of the job should not
exceed 8 characters in length.)
Figure 3-5
2. Create a user frame. Initially teach the frame using the programming
pendant to teach the origin (ORG), X direction (XX), and Y plane (XY).
(See Figure 3-6.)
Page 15
MOTOMAN
Z Axis
Y Axis
X Axis
Figure 3-6
3. Convert the job to a relative job. The actual operation of the job conversion is
as follows: [STDJOB -1] is modified to User Coordinate No. 1, and the relative
job, [RELJOB -1], is created. (See Section 4.0 Relative Job Operation for
keystroke information on converting the standard job.)
4. If the fixture or workpiece is moved, the user frame can be realigned by
teaching the ORG, XX, and XY points. The job can then be executed using the
modified user frame (see Figure 3-7).
User Frame
Before Modification
User Frame
After Modification
Position
During
Teaching
Figure 3-7
Page 16
MOTOMAN
Camera
YA
SN
MR AC
C
Z Axis
Y Axis
c
External Computer,
Vision Controller, etc.
Position Data
of a, b, and c to
MRC Controller
X Axis
Figure 3-8
COMMENTS
MOVJ VJ = 50.0
END
Page 17
MOTOMAN
3.2.3
CAUTION!
In some cases, the robot may not be able to reach all points of
the job. Try to orient the fixture so that the robot can reach all
points without modification.
NOTE:
In the first example, it is possible to adjust individual points of each job since they are separate
jobs. The second example, however, is a better use of the robot's memory. Each situation and
its usage should be taken into consideration.
Once the manipulator has been taught a job, that job can be shifted to other
positions (see Figure 3-9).
Work
Robot
Figure 3-9
Page 18
MOTOMAN
4. Move the workpiece to another position, and in that position, a different user
coordinate (for example, UF#2) is taught.
5. The job header screen of the relative job created in Step 3 displays the user
coordinate (UF#1) which was taught in Step 1. Edit this to be the user
coordinate which was taught in Step 4 (UF#2).
6. Use the relative job function to convert the job in Step 5 back to a pulse-type
job.
7. If another job needs to be created, repeat Steps 4 through 6 can be used.
One relative job can also be executed in multiple positions. An example of
this follows:
1. Teach a job (for example, ABCDEF) on the fixture.
2. Create user coordinates on the fixture that the above job was taught on; for
example, UF#1.
3. Use the relative job function and convert the job from Step 1 using the user
coordinate frame from Step 2.
4. Set up an identical fixture in a new position and create a different user
coordinate on the fixture; for example, UF#2.
5. You can specify in the CALL instruction which fixture (user frame) to execute
the job on.
EXAMPLE:
NOP
CALL JOB : ABCDEF UF#(2)
END
When the CALL command is executed, relative job ABCDEF, which was taught on
UF#1, works on UF#2.
6. If you need to set up additional user fixtures on which the job needs to be
executed, repeat Steps 4 and 5, creating additional user frames on the additional
fixtures.
3.2.4
CAUTION!
There is a possibility that the robot will not be able to execute
the job in the playback position. Be sure to press FWD/BKWD to
confirm the playback position.
A job that has been taught on one robot can be shifted to other robots on the
production line (see Figure 3-9). An example of copying a job to the next
manipulator follows:
1. Teach the job on robot 1.
2. Set up a user frame (for example UF#1) around the fixture on which the job
was taught.
Page 19
MOTOMAN
3. Convert the job created in Step 1 to a relative job using the user frame in Step 2.
4. Save the relative job to a floppy disk, using the FC1/FC2 floppy disk drive.
5. Set up a user frame using the same user frame number as was used in Step 2 on
robots 2 and 3 on their fixtures.
6. Load the relative job which was saved in Step 4.
7. Convert the job back to a standard pulse job in robots 2 and 3 if desired.
Work
Robot
No. 1
No. 2
No. 3
3.2.5
CAUTION!
Positions that are taught off-line should be verified in Teach
Mode before executing a program in play.
Simplified off-line teaching of the relative job can be executed when using a
FC1/FC2 floppy disk drive or a computer.
1. Load the following data into the computer:
Instructions
2. Convert the data into a program (relative job) for the MRC using the computer.
3. Transfer the relative job to the MRC controller. The following two methods can
be used for data transfer:
Save job data on a floppy disk and transfer to the MRC via the Yasnac FC1
or FC2 floppy disk drive.
Send job data from the computer to the MRC controller with communication
software.
Page 20
MOTOMAN
3.3
3.3.1
CALL/JUMP
CAUTION!
When executing a relative job, the manipulator maintains its
current orientation. For this reason, during teaching, the robot
should be oriented similar to how it will be oriented in the first
step of the relative job. If the position of the robot is extremely
different from that of the robot in the first step of the relative
job, there is a possibility that the robot will not perform the
work as anticipated.
Calling a relative job is executed by using the CALL or JUMP instruction. If the
coordinate number is omitted, the job is automatically executed using the
coordinates on which it was originally converted on, for example:
CALL JOB: JOB -1
JUMP JOB: JOB -1 IF IN#(1)= OFF
If the coordinate system used during teaching is a user coordinate, when the CALL
or JUMP instruction is called up, another coordinate system other than the one used
during teaching can be used. The following is an example:
The relative job [JOB-1], which has been converted in user frame No.
1, can be executed using a different frame by specifying it in the call
instruction. [JOB-1] is executed with the user coordinate value of No. 2.
CALL JOB : JOB - 1 UF# (2)
To enter a CALL or JUMP instruction, follow these steps:
1. While in Teach Mode, move the cursor to Address side of the screen and
press EDIT.
2. Press CONTROL (F2).
3. Press JUMP (F1) or press CALL (F2).
4. Press NAME (F1).
5. Move the cursor to Call or Jump Job and press ENTER.
6. Press the ARROW UP soft key.
7. Press UF# (F1).
8. Enter the coordinate number that job will be run on and press ENTER.
9. Press ENTER.
Page 21
MOTOMAN
3.3.2
MFRAME
MFRAME is the instruction used to generate or change user coordinates based on
the position data which has been detected by the sensor, etc. The MFRAME
instruction references points that are stored in position variables. The following is
an example:
MFRAME UF#(2) PX(ORG) PX(XX) PX(XY)
To enter an MFRAME instruction, follow these steps:
1.
2.
3.
4.
5.
6.
7.
NOTE:
Press EDIT.
Press the ARROW UP soft key.
Press ARITH (F2).
Press the ARROW UP soft key.
Press the ARROW UP soft key.
Press MFRAME (F5).
Press CONST (F1) or VAR (F2).
Be sure the User Coord No. used is not already in use because it will be overwritten.
8. Enter the User_coord_no. If you need to create a user coordinate frame, refer
to Creating User Frames.
9. Press ENTER.
10. Press PX(F1), LPX (F2), PX [], or LPX[].
11. Enter the position variable with the origin (ORG).
12. Press ENTER.
13. Enter the position variable with the XX coordinate.
14. Press ENTER.
15. Enter the position variable with the XY coordinate.
16. Press ENTER.
17. Press INSERT.
18. Press ENTER.
Page 22
MOTOMAN
3.3.3
NOTE:
Page 23
MOTOMAN
NOTES
Page 24
MOTOMAN
CAUTION!
When executing a relative job, the manipulator maintains its
current orientation. For this reason, during teaching, the robot
should be oriented similar to how it will be oriented in the first
step of the relative job. If the position of the robot is extremely
different from that of the robot in the first step of the relative
job, there is a possibility that the robot will not perform the
work as anticipated.
CAUTION!
When teaching points in a pulse-type job created for relative job
conversion, the amount of movement between the S-, R-, and Taxis teaching points must not exceed 180. If it does exceed
180, the S-, R-, or T-axis will operate in the opposite direction.
4.1
NOTE:
If ROBOT (F2) was selected, skip step 9. If BASE (F1) or USER (F3) was selected, complete
step 9 before proceeding to step 10.
9. If BASE (F1) or USER (F3) is selected, proceed as follows:
a. Enter User_coord no.
b. Press ENTER.
Page 25
MOTOMAN
4.2
4.3
4.3.1
Coordinate Confirmation
To confirm coordinates during teaching, follow these steps:
1.
2.
3.
4.
5.
6.
Press DISP.
Press JOB (F1).
Press MORE.
Press DIS CHG (F1).
Press HEADER (F1).
To change the user coordinate number from this screen, follow these steps:
a. Display the relative job header screen.
b. Press EDIT
c. Press MORE.
Page 26
MOTOMAN
4.3.2
4.3.3
4.4
Page 27
MOTOMAN
NOTES
Page 28
MOTOMAN
JOB NAME
C, BC, EC, PO, BP, EX
N
t
l, m, n, o, p
X, Y, Z, Rx, Ry, Rz
X0, Y0, Z0
1, 2
YY/MM/DD HH:TT
Command Letter Row
Attribution 1, Attribution 2,...Attribution 16
///FRAME
///GROUP1
///GROUP2
NOP
MOVJ
END
m1, m2, m3
m1, m2, m3
Cxxx BCxxx ECxxx VJ=xxx.x
The pseudo command is distinguished by a single slash. Double, triple, and four
slashes are used to indicate sub-level commands. The levels of commands used are
as shown below in Figure 5-1.
Page 29
MOTOMAN
JOB
NAME
POS
NPOS
USER
TOOL
POSTYPE
PULSE
RECTAN
RECONF
INST
Figure 5-1
1. JOB
2. NAME
DATE
COMM
ATTR
FRAME
GROUP1
GROUP2
LVARS
NAME
USER
C : =
BC : =
EC : =
P : =
BP : =
EX : =
Page 30
MOTOMAN
TOOL
N
POSTYPE
Syntax: ///POSTYPE t
Pulse Data : = C | BC | EC | P | BP |
EX
C : = Cxxxx = S, L, U, R, B, T,
E1, E2
BC : = BCxxxx = 1, 2, 3, 4, 5, 6,
E1, E2
EC : = ECxxxx = 1, 2, 3, 4, 5, 6,
E1, E2
P : = Pxxx = S, L, U, R, B, T,
E1, E2
BP : = BPxxx = 1, 2, 3, 4, 5, 6,
E1, E2
EX : = EXxxx = 1, 2, 3, 4, 5, 6,
E1, E2
Cxxxx : = Robot axis teach position
BCxxxx : = Base axis teach position
ECxxxx : = External (station) axis teach position
Pxxx : = Robot axis position variable
Relative Job Function, MRC
Page 31
MOTOMAN
Rectangular Data : C | BC | P | BP |
C : = Cxxxx = X, Y, Z, Rx, Ry,
Rz, E1, E2
BC : = BCxxxx = 1, 2, 3, 4, 5, 6,
E1, E2
EC : = ECxxxx = 1, 2, 3, 4, 5, 6,
E1, E2
P : = Pxxx = X, Y, Z, Rx, Ry,
Rz, E1, E2
BP : = BPxxx = 1, 2, 3, 4, 5, 6,
E1, E2
EX : = EXxxx = 1, 2, 3, 4, 5, 6,
E1, E2
Cxxxx = Robot axis teach position
BCxxxx = Base axis teach position
Pxxx = Robot axis position variable
BPxxx = Base axis position variable
X
= X angular data
Y
= Y angular data
Relative Job Function, MRC
Page 32
MOTOMAN
Z =
Rx =
Ry =
Rz =
Z angular data
Rx-axis rectangular data
Ry-axis rectangular data
l, m, n, o, p
l : = 0 : Flip Position,
m: = 0 : Upper Elbow Position,
n : = 0 : Front Position,
o : = 0 : R < 180,
p : = 0 : T < 180,
4. INST
1 : No-Flip
1 : Lower Elbow
Position
1 : Back Position
1 : R > = 180
1 : T > = 180
YYYY : =
MM : =
DD : =
HH : =
TT : =
Year
Month
Day
Hour
Minute
COMM Function : Shows job commentary.
Syntax : ///COMM Comment Line
Page 33
MOTOMAN
(RO | WO | RW):
RO : =
WO : =
RW : =
RJ : =
CJ : =
VJ : =
Read Only
Write Only
Read/Write
Relative Job
Concurrent Job
Vision Job
FRAME Function: Shows relative job coordinate (frame).
Syntax: ///FRAME C
=
RB1 (Robot 1)
=
RB2 (Robot 2)
=
BS1 (Base 1)
=
BS2 (Base 2)
=
ST1 (Station 1)
=
ST2 (Station 2)
=
ST3 (Station 3)
=
ST4 (Station 4)
=
ST5 (Station 5)
=
ST6 (Station 6)
GROUP2 Function: Second MOVE Control Group (Master side
of coordinated job).
Syntax: ///GROUP2 m1, m2
=
RB1 (Robot 1)
LVARS Function: Shows number of local variables.
Syntax: ///LVARS LB, LI, LD, LR, LP,
LBP, LEX
LB
LI
Relative Job Function, MRC
Page 34
MOTOMAN
LD
LR
LP
5.2
5.2.1
Page 35
MOTOMAN
5.2.2
5.2.3
Page 36
MOTOMAN
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0
C0000 = -494.484, -248.122, 1090.264, 52.72, -37.2, 118.41
C0001 = 157.216, -187.240, 1079.290, 84.07, -35.63, 118.76
BC0000 = 0.000, 0.000
BC0001 = 550.647, 485.316
///POSTYPE PULSE
///PULSE
EC0000 = 7103, 27536
EC0001 = 7230, 27577
///INST
///DATE 1993/07/23 18:11
///ATTR SC, RW, RJ
///GROUP1 RB1, BS1, ST1
NOP
MOVJ C0000 BC0000 EC0000 VJ = 25.00
MOVJ C0001 BC0001 EC0001 VJ = 25.00
END
5.2.4
Page 37
MOTOMAN
///PULSE
EC0000 = 7103, 27536
EC0001 = 7230, 27577
///INST
///DATE 1993/07/23 18:11
///ATTR SC, RW, RJ
///GROUP1 RB1, BS1
///GROUP2 ST1
NOP
MOVJ C000 BC000 VJ = 25.00 +MOVJ EC000 VJ = 25.00
MOVJ C001 BC001 VJ = 25.00 +MOVJ EC001 VJ = 25.00
END
5.2.5
Page 38
MOTOMAN
///TOOL 1
C0007 = 920.071, -149.510, 1042.893, 1.41, -25.67, 172.41
///TOOL 0
C0008 = 765.337, 202.936, 1118.673, 0.00, 1.59, 160.42
///TOOL 1
C0009 = 856.025, -93.532, 1134.850, 1.43, -25.69, 172.39
//INST
///DATE 1993/07/23 16:41
///ATTR SC, RW, RJ
///GROUP1 RB1
///GROUP2 RB2
NOP
MOV C000 VJ = 50.00 +MOVJ C0001 VJ = 50.00
SMOVL C0002 V =46.0 +MOVL C0003
SMOVL C0004 V = 46.0+MOVL C0005
MOVL C0006 V = 46.0 +MOVL C0007 V=11.0
MOVJ C0008 VJ = 50.0 +MOVJ C0009 VJ = 50.0
END
5.3
Zb
Base
Coordinate
0b
Yb
Figure 5-2
Page 39
MOTOMAN
Zr
Zb
Robot
Coordinate
Base
Coordinate
Robot Axis Coordinate Value
(Xr, Yr, Zr, RXr, RYr, RZr)
0b
Yb
Yr
Station Axis Pulse
Value (W1, W2)
Xb
Figure 5-3
Xr
Zb
Zu
User
Coordinate
Base
Coordinate
User Axis Coordinate Value
(Xu, Yu, Zu, RXu, RYu, RZu)
0b
Yb
Figure 5-4
Xu
The configuration of position data for a robot axis, robot and station axes, and
robot and base axes is as shown below:
1. ROBOT AXIS
R1 = X, Y, Z, RX, RY, RZ + TYPE
Page 40
MOTOMAN
S1 = W1, W2
The robot has the coordinate value of the specified coordinate system. The
station axis, however, continues to have a pulse value.
5.4
The robot has the coordinate value of the specified coordinate system.
The base axis.
5.4.1
The "R < 180 or R > = 180" method (as shown in Figure 5-6 )
Page 41
MOTOMAN
Flip Position
No-Flip Position
0
B
<= -270
NOTE: is the angle measured from the home position of the R-axis.
Figure 5-5
R >180
R < 180
360
-360
-180 180
-180 < <180
NOTE: is the angle measured from the home position of the R-axis.
Figure 5-6
Angle of R-Axis
Page 42
MOTOMAN
2. The angle at the T-axis for a three-axis wrist robot must be specified as either
greater or less than 180 (see Figure 5-7).
T >180
T < 180
360
-360
-180 180
-180 <
180 <
<180
<-180
NOTE: T is the angle measured from the home position of the T-axis.
Figure 5-7
Angle of T-Axis
The above specifications determine the positions of the R-, B-, and T-axes. This
operation is required for L, K, and V type six-axis robots.
5.4.2
Page 43
MOTOMAN
S-axis Turned at 0
BACK POSITION
Figure 5-8
FRONT POSITION
FRONT POSITION
These specifications are required for K and V type six-axis robots. They are,
however, not applicable for Type L robots because they always take the front
position.
2. Specify the form of the L-and U-axis as seen from the right. The upper elbow
position (A) and lower elbow position (B) are shown below in Figure 5-9.
This specification is required for V type six-axis robots. This is not applicable for
L or K type robots because they always take the upper elbow position.
Figure 5-9
Page 44
MOTOMAN
5.5
5.5.1
+
0
Page 45
MOTOMAN
If the angle of the B-axis moves past 0, this method will control the robot's arm to
move the R-axis 180 in the opposite position so that the B-axis does not deviate
from "+" or "-" (see Figures 5-11 and 5-12).
0
Page 46
MOTOMAN
5.5.2
Moving R-, B-, and T-Axes to Preserve the Robot's Form of the
Destination Point
CAUTION!
Use caution when using this method with a job shift. Robot
movement can be unpredictable, resulting in personal injury or
damage to equipment.
CAUTION!
When teaching points in a pulse-type job created for relative job
conversion, the amount of movement between the S-, R-, and Taxis teaching points must not exceed 180. If it does exceed
180, the S-, R-, or T-axis will operate in the opposite direction.
Because the encoder which reads pulse position is not used in relative job, the robot
recognizes the position of a job using X, Y, and Z coordinates. In this method, the
B-axis is moved to reach a defined point or changing the sine of the R-axis to
preserve the form of all other axes. Because the form of all other axes is preserved,
this method is especially useful when used with off-line teaching.
Caution should be used when using this method with a job shift. If the teaching
position is too close to the pole changing point, the robot may move in a direction
opposite to that of the anticipated motion. An example follows:
If during teaching, for example, a standard job, the angle of the R-axis is near 90
or less and the position is shifted, the angle of the R-axis may exceed 90. Before
the shift, the wrist is in a flip position. After shifting it is in a no-flip position (see
Figure 5-13).
R Axis
0
Flip
-90
90
No-Flip
Page 47
MOTOMAN
As shown below in Figure 5-14, if the wrist is already in a flip position, when
shifted, the wrist will remain in a flip position. The wrist of the robot will not
deviate between flip and no-flip positions as anticipated. The upper left-hand figure
shows the current robot position. The anticipated motion of the robot is as shown
in the lower figure, however it is possible that the robot's motion may be as shown
in the upper right-hand figure. The tool angle remains the same between the
original and shifted positions, however, the motion is different and may cause
interference with the workpiece or other equipment. Be sure to confirm the motion
of the robot when using this method.
R Axis
0
-90
90
-90
-90
90
90
The parameter and values for the robot form control methods are as shown below in
Table 5-1:
Table 5-1
PARAMETER
INITIAL VALUE
S2C195
Page 48
MOTOMAN
To change the parameter to use either of the above mentioned methods, follow
these steps:
1.
2.
3.
4.
5.
6.
7.
8.
9.
Go to CUST.
Press MORE.
Press ORG.
At the prompt, enter your 8-digit code.
Press ENTER.
Press PMTR.
Choose parameter SC.
Select S2C.
Press SEARCH.
Page 49
MOTOMAN
NOTES
Page 50
MOTOMAN
ALARM MESSAGES
Table 6-1
6.2
Alarm Messages
ALARM #
MESSAGE
MEANING
5760
5960
MFRAME Error
5990
ERROR MESSAGES
Table 6-2
Error Messages
ERROR #
MESSAGE
MEANING
0300
2460
2470
2480
2490
2500
Page 51
MOTOMAN
Table 6-3
Messages
MESSAGE
MEANING
Page 52
MOTOMAN
List of Instructions
MFRAME
FUNCTION
(Make Frame)
CALL
ADDITIONAL
INFORMATION
EXAMPLE OF
USAGE
FUNCTION
ADDITIONAL
INFORMATION
EXAMPLE OF
USAGE
Page 53
MOTOMAN
Table 7-1
JUMP
ADDITIONAL
INFORMATION
EXAMPLE OF
USAGE
Page 54
MOTOMAN
The first TCP is called the Standard Tool, or Tool 0. Robots with one tool are
concerned only with the Standard Tool.
The remaining 23 TCP's are called Universal Tools, or Tools 1-23. Robots
with multiple tools (such as two-handed grippers) use Universal Tools along
with the Standard Tool.
There are two methods for defining the TCP: manual TCP definition and automatic
TCP definition.
8.1
Press TEACH.
Press CUSTOMER.
Press TOOL (F1).
Move the cursor to the first tool dimension.
Press MODIFY.
Using the data keys, input the dimension of the tool relative to the wrist flange.
Press ENTER.
Repeat steps 3 through 6 for each tool dimension.
The TCP is now defined. To ensure accuracy of the TCP, use the rotate-about X,
Y, and Z keys to roll, bend, and twist the tool around the TCP (see Figure 8-1).
The TCP should not move.
FLANGE COORDINATES
Xf
TOOL COORDINATES
Yf
Zf
Zf
Figure 8-1
Page 55
MOTOMAN
8.2
NOTE:
If calibration points have already been taught, it will be necessary to press DATA CL (F3) and
EXECUTE (F5) in order to clear the old values.
6. Press TEACH on the programming pendant.
7. Enable the programming pendant by pressing ENABLE.
8. Using the axis keys, move the robot towards the pointer until the tip of the wire
touches the tip of the pointer (see Figure 8-2).
TOOL
WIRE
POINTER
Figure 8-2
9.
10.
11.
12.
13.
Pointer
Press MODIFY.
Press ENTER. The first TC point is now programmed.
Press TC down arrow (F1) to select the next point to be programmed.
Repeat steps 8 through 10 for each TC point.
After all five TC points have been programmed, press CALC (F5).
The tool display screen (which shows the newly calculated XYZ dimensions of
the tool) appears.
14. Move the cursor to the right side of the screen to input tool angle dimensions.
Page 56
MOTOMAN
Page 57
MOTOMAN
NOTES
Page 58
MOTOMAN
INDEX
A
OPERATION SAFETY, 7
C
CALL/JUMP, 21
COMMAND POSITION CONFIRMATION, 27
CONFIGURATION OF POSITION DATA, 39
CONFIGURATION OF THE MANIPULATOR, 41
CONFIRMING RELATIVE JOB INFORMATION, 26
COORDINATE CONFIRMATION, 26
COORDINATE SYSTEMS, 11
CREATING USER FRAMES, 23
CUSTOMER SERVICE INFORMATION, 1
D
DISPLAYING DIFFERENCES BETWEEN
COMMAND AND CURRENT POSITION, 27
E
EDITING THE RELATIVE JOB, 27
ERROR MESSAGES, 51
EXAMPLE OF ENTERING TOOL ANGLE DIMENSIONS FOR
A STANDARD TORCH, 57
EXAMPLES OF JOB DATA, 35
EXAMPLES OF RELATIVE JOB USAGE, 15
G
GENERAL SAFEGUARDING TIPS, 5
I
INSTALLATION SAFETY, 6
INSTRUCTIONS USED IN RELATIVE JOB, 21, 53
INTRODUCTION, 1
P
PROGRAMMING SAFETY, 6
R
REFERENCE TO OTHER DOCUMENTATION, 1
RELATIVE JOB DESCRIPTION, 9
RELATIVE JOB FORMAT, 14
RELATIVE JOB OPERATION, 25
RELATIVE JOB TO STANDARD JOB CONVERSION, 26
RELATIVE JOB USAGE, 9
RELATIVE JOB WITH ROBOT AXES AND USER FRAME 3 , 35
ROBOT AXES + BASE AXES (BASE FRAME), 36
ROBOT AXES + BASE AXES + STATION AXES (BASE
FRAME, COORDINATED JOB), 37
ROBOT AXES + BASE AXES + STATION AXES (BASE
FRAME, SYNCHRONOUS JOB), 36
ROBOT AXES + ROBOT AXES (BASE FRAME,
COORDINATED JOB), 38
ROBOT FORM CONTROL METHODS, 45
S
SAFETY, 3
SHIFT FOR DAMAGED TOOL, 15
SHIFT TO MULTIPLE MANIPULATORS, 19
SIMPLIFIED OFF-LINE TEACHING SYSTEM, 29
SIMPLIFIED OFF-LINE TEACHING, 20
SPECIFICATION OF THE BASE THREE AXES, 43
SPECIFICATION OF WRIST ANGLE, 41
STANDARD CONVENTIONS, 4
STANDARD JOB TO RELATIVE JOB CONVERSION, 25
STANDARD PULSE JOB FORMAT, 13
MAINTENANCE SAFETY, 8
MANUAL TCP DEFINITION, 55
MECHANICAL SAFETY DEVICES, 5
MFRAME, 22
MOVING R-, B-, AND T-AXES TO PRESERVE THE ROBOT'S
FORM OF THE DESTINATION POINT, 47
MOVING THE R-AND T-AXES TO PRESERVE THE SIGN OF
THE B-AXIS, 45
MRC TOOL CENTER POINT DEFINITION, 55
MOTOMAN