Introduction to Industrial Robot
Programming
Kurtuluş Erinç Akdoğan
[email protected]
What is an industrial robot?
An industrial robot is a robot system used for manufacturing.
They can be programmed to perform dangerous, dirty and/or
repetitive tasks with high
◦ speed,
◦ precision,
◦ accuracy and.
◦ endurance,
Typical applications of robots include
◦ welding,
◦ painting,
◦ assembly,
◦ pick and place for printed circuit boards,
◦ packaging and labeling,
◦ palletizing,
◦ product inspection,
◦ and testing
Our robot: Stäubli TX90XL
6 axis articulated robot arm
High-speed, high-resolution servo motors
with absolute position sensors at each
axis
Nominal payload: 5 𝑘𝑔
Repeatability: ∓0.04 𝑚𝑚
Weight: 116 𝑘𝑔
Arm reach: 1.5 𝑚
Our robot: Stäubli TX90XL
Robotic Systems Manual control:
Pendant
Cabinet
Robot arm
KOL Elbow
(Dirsek)
Wrist
(Bilek)
Shoulder
(Omuz)
Base/feet
(Taban/Ayak)
5
Cabinet : The Controller
The CS8C controller is made up of a processor
(5), the intelligent part of the installation.
The processor controls the robot via digital
power amplifiers (1) dedicated to each axis of
the arm.
The electrical power is converted by the PSM (7)
power section, the RPS (2) power supply, and the
ARPS (3).
To disconnect the system from the power supply,
set the master switch (6), located on the front
panel of the controller, to 0. Before doing so, you
must stop the arm operations and switch off arm
power supply.
Pendant
The MCP (Manual Control Pendant) can be
used to enable arm power supply and
control its movements.
ROBOT CELL
Robot
system is
always
installed in
a security
cell
8
OPERATORS SECURITY
Do not enter in the cell if the arm power is on
Robot might move very fast
Robot may make unpredictable move depending on
the program
Robot may damage itself and its surronding.
Robot may cause serious engineering.
Do not work in the cabinet if the
power is on.
9
Pendant
Safety
Always operate the robot arm at low
speed (%10 speed) at first
Be ready to stop arm motion:
◦ Emergency stop (the big red button),
◦ Arm power off,
◦ Move/hold key,
◦ Dead man’s switch.
Safety
Do not use the robot pendant without
supervision.
Do not run your program without
supervision.
WORKING MODES
INTRODUCTION
AUTOMATIC (production mode )
◦ The Robot cell is closed, nobody inside.
The robot is under program control.
Motions can be done at very high
speed.
MANUAL (Trajectory teaching,
Manual motion to the start position)
◦ This robot is controlled by the
operator with teach Pendant in hands
◦ The speed is limited to 250 mm/s
maximum
◦ The operator can be close to the robot
WORKING MODES
No working mode
selection from MCP
Command by a key outside
the robot cell
ROBOT STARTUP
2 Wait for main menu
An application can be automatically loaded and/or manually
3 executed.
SYSTEM STOP
1 Arm power off
2 Main switch OFF 16
Manual Mode is
ARM POWER ON (MANU) selected.
1 MCP on park MCP on hands
Cell opened
2 Remove and place it on Release and maintain
if > 15 seconds Dead Man
if > 15 seconds
3 Arm power ON butonu
After pressing power button if the enable button (deadman) has been put into its middle
position in the last 15 seconds or if the MCP has been placed on its holder in the last 15
seconds.
17
Manual movement
Joint move: Moves the robot by rotating the
individual joints
◦ Cannot do linear movement
◦ Is not subject to singularity
Frame move: Moves the robot in a specified
coordinate frame
◦ Can do linear movement
◦ Subject to singularity
Tool move: Moves the robot with respect to
the tool coordinate frame
◦ Can do linear movement
◦ Subject to singularity
Manual movement with the
joint move
Manual movement with the frame
move: Coordinate system
Manual movement with the
frame move: Translation
Manual movement with the
frame move: Rotation
Manual movement with the
tool frame: Coordinates
Manual movement with the
tool frame:
Creating applications with VAL3:
Need:
◦ VAL3 installed
◦ A ‘cell’ defined (controller, robot, tool)
◦ Licence (licence flash-disk attached to the
computer)
Click here for new
application
Name your application:
DeneyGrup(your group
number)
Write your program here
Double click here
FUNCTIONS
VARIABLES
Applications: Structure
Variable types:
◦ pointRx: a point location in cartesian
coordinates (p1, p2, p3, ...)
◦ jointRx: a joint location in joint coordinates
(jStart)
◦ tool: a tool defined by the user (tTool)
◦ trsf: a transformation (trAApl)
◦ mdesc: motion descriptor (mNomSpeed)
Applications: Structure
Functions:
◦ movej(joint, tool, mdesc): move to a (point or
joint) coordinate with specified tool and
motion descriptor
◦ movel(point, tool, mdesc): move linearly a
point coordinate with specified tool and
motion descriptor
◦ appro(point, trsf): calculate a transformed
point by using a point and a transformation
◦ waitEndMove: wait for the current movement
to end.
Movement with movej
Movement with movel
Motion descriptor parameters:
blend
Example program:
Move to the starting location
Approach to point1
Move to point 1
Move to point 2
⋮ Use as many points
as necessary
Move to point 10
Move to point 1
Approach to point1
Move to the starting location
Wait for the movement to end
Adding variable definitions:
Right click on
the variable to
add (p2), select
add, new data
Adding variable definitions:
Select the
appropriate variable
type from the list
Editing mdesc and trsf
Right click on a variable and select ‘Go to definition’
to edit the variable. Edit only mdesc and trsf this
way.
mdesc: mNomSpeed
trsf: trAApl
Applications: using pendant
Applications: Teaching with pendant
Applications: Teaching with pendant
Applications: Teaching with pendant
Move to the desired
position
by using the manual
control
Applications: Teaching with pendant
Move to the desired
position
by using the manual
control
Elements of the jog interface
Re-teaching an existing point:
Re-teaching an existing point:
Re-teaching an existing point:
Re-teaching an existing point:
Running applications:
Running applications:
Slow running
