07-Chapter_7_Work_Cell_and_Robot_Programming_Final.pdf
- 1. SKEM4153 ROBOT TECHNOLOGY FOR AUTOMATION CHAPTER 7 Work Cell and Robot Programming Prof. Dr. Shamsudin H.M. Amin Ir. Dr. Mohd Ridzuan Ahmad (mdridzuan@utm.my)
- 2. Contents: • Work Cell Controller Programming • Programming Sequential Cell Activity • Robot Language Development • Language Classification • Robot Program Fundamentals – V+ Programming Language – Program Creation, Location Creation – Creating and Altering Programs – Motion and Cycle Times – Relative Locations – Sample Programs 2
- 3. 1. Work Cell Controller Programming The 3 categories of work cell control software –Software Developed In-house –Application Enabler Software –OSI (Open System Interconnected) Solution 3
- 4. 1. Work Cell Controller Programming - Software Developed In-house • Written by end user using C or VB. • Advantage – provide opportunity for tight integration of information and data. • Disadvantage – development time and cost is high, inability to change the software easily when the cell hardware or configuration changes. 4
- 5. 1. Work Cell Controller Programming - Application Enabler Software • Enabler software provides a set of software productivity tools for the development of control programs for CIM cells. • Products such as Plantworks from IBM, Industrial Precision Tool Kit from HP etc. help reduce the difficulty in developing cell control and management applications. • The enablers have a library of driver programs to permit exchange of data and information. • In addition, they offer LAN and serial data communication support etc. • Advantage – tenfold improvement in cell control and ease of program development. • Disadvantage – the cell control is tied to a third party software solution. 5
- 6. 1. Work Cell Controller Programming - OSI (Open System Interconnected) Solution • MMS (manufacturing message specification) is most often used. It is an ISO 9506, for network communication between intelligent devices in a production environment. • MMS has 3 parts: service spec, protocol spec, robot interface & protocol spec. • Advantage – MMS is a common communication standard, not a third party vendor. • Disadvantage – only a limited number of equipment vendors agreed to support the standard. 6
- 7. 2. Programming Sequential Cell Activity In most applications, sequential control is performed by PLCs. In some cases, the robot controller provides the control function. 7
- 8. 2. Programming Sequential Cell Activity Sequential programming languages: • Ladder logic – used with PLCs • Instruction list – based on assembly language • Structured text – similar to C • Sequential function chart – a structured language based on the French GRAFCET language • Function block diagrams – looks like electrical schematics with ladder logic elements 8
- 9. 3. Language Classification • Programming Levels • Level 1 Joint control languages • Level 2 Primitive motion languages • Level 3 Structured programming languages • Level 4 Task-oriented languages • Industry practice • Manual lead-through programming • Powered lead-through programming • Textual languages 9
- 10. 3. Language Classification 10 Task-oriented languages Structured programming languages Primitive motion control Joint control languages Level 4 Level 3 Level 2 Level 1 Move Joint 1 120 Move Joint 2 45 Approach pickup, 100 Moves pickup Departs pickup, 100 If angle eq alfa then begin cycle … … … else Place workpart A on Tray 1
- 11. 3. Language Classification Origin Level2 Level 3 Level 4 ABB Adept RAPID V V+ Cincinnati Milacron GMFanuc IBM T3 KARL AML, AML/E AUTOPASS Kawasaki McDonnell Douglas Panasonic Rhino Sankyo Seiko Unimation RoboTalk VAL AS MCL PARL-1 Sankyo language DARL II VAL II 11 Brief Survey on Programming Languages by Level
- 12. 3. Language Classification Industry practice Manual lead-through programming Powered lead-through programming Textual languages 12
- 13. 3. Language Classification Manual lead-through programming requires the programmer to physically hold the robot arm and end-effector, and manually move it through the desired motion cycle. A down sized model of large and heavy robot is used to manipulate the motion. Teach buttons located near the wrist, are depressed and the brakes will be released to enable robot movement for teaching the robot. 13
- 14. 3. Language Classification Powered lead-through programming Most commonly implemented today. Teach pendant/ teach box is used to power drive and control the robot joints. The motion points are stored in the memory for playback during the work cycle. 14
- 15. 3. Language Classification Textual languages Use an English-like language to establish the logic and sequence of the work cycle Program instructions are entered via keyboard. The teach pendant is used to define the locations of the various points on the work space. The robot programming language names the points as symbols in the program, and these symbols are subsequently defined by showing the robot the locations. Advantages: permits the computations, allows more detailed logic flows, subroutines are allowed in the programs, and the greater use of sensors and communication. 15
- 16. 4. Robot Program Fundamentals We will now attempt to learn the V+ Advanced Robot Programming Language 16
- 17. V+ Language 17 World State All movement is parallel to the World coordinates in the direction of X, Y, and Z. It is also possible to rotate about the world coordinates by using the keys RX, RY, and RZ. The gripper is selected by pressing T1 and operated by pressing either the + or - Speed Bar keys. Robot States Y X Z World coordinate system
- 18. V+ Language 18 Tool State All movement is parallel to the Tool coordinates in the direction of X, Y, and Z. It is also possible to rotate about the Tool coordinates by using the keys RX, RY, and RZ. The gripper is selected by pressing T1 and operated by pressing either the + or - Speed Bar keys. NOTE: Tool X is in the direction as indicated by the joint 6 reference mark Robot States Z Y X Tool coordinate system
- 19. V+ Language 19 Joint State Individual joint rotation on axis 1 to 6. Rotation can be either positive or negative in direction. The gripper is selected by pressing T1 and operated by pressing either the + or - Speed Bar keys. Robot States Axis 1 Axis 2 Axis 3 Axis 4 Axis 6 Axis 5
- 20. Program Creation Types of Programs V+ program is a collection of instructions that the Adept operating system follows to move a device, activate external/internal signals, perform computations, record data and display information. – Robot Control Program • directly controls the robot – Process Control Program • Can execute asynchronously, independently, and concurrently along with the robot control program. Often used to monitor and control external processes via external digital signal lines. – Monitor Command Program • Consists entirely of monitor commands rather than program instructions. 20
- 21. Location Creation Location Types • Transformation • Precision Points 21
- 22. Location Creation 22 Location Types • Transformation Six values of a transformation are labelled below, with the lower case characters representing “y=yaw”, “p=pitch”, “r=roll”. x y z y p r 0 950 1500 0 120 30 Position Orientation (Cartesian space) Yaw, Pitch, Roll (end-effector) Transformation Values Y X Z World coordinate system Z Y X Tool coordinate system
- 23. Location Creation 23 Location Types • Precision Points For applications where joint orientation is critical, where exact trace of joints, elbow, wrist is critical. For a 6 DOF robot, the six values of the joints are: Jt1 Jt2 Jt3 Jt4 Jt5 Jt6 0 0 0 0 0 0 (Pose 1) 90 0 0 0 0 0 (Pose 2) 90 0 -90 0 0 0 (Pose 3) 90 90 -90 0 0 0 (Pose 4) Joint Values for Precision Points Y X Z World coordinate system Z Y X Tool coordinate system
- 24. Creating and Altering Location Variables Commands to be typed in creating and altering location variables HERE Monitor Command First, move the robot (via Teach Pendant) to the desried location, then type HERE loc_name e.g. HERE pickuppt HERE hole#1 TEACH Monitor Command Often used to create multiple locations in a sequence and placed into a one dimensional array. TEACH loc_name e.g. TEACH pickuppoint Each time “REC/DONE” button on the Teach Pendant (MCP-Manual Control Pendant) is pressed, a location is created. Continue the procedure (i.e. move the robot to a location, the press the “REC/DONE” button) until you are finished. Then when finished, press the RETURN key. 24
- 25. Motion and Cycle Times Motion Path Types Joint Interpolated Motions The new joint angles are calculated, and the motion is executed by driving those angles without regard to any specific path. The motion is very fast. This is also called jogging. E.g. 11m/s for RX90 25
- 26. Motion and Cycle Times Motion Instructions APPRO This instruction initiates an approach to a specified location APPRO loc_name, destination_height It can either be a straight line motion, APPROS or a joint interpolated motion, APPRO loc_name can be precision point (i.e. #loc_name) or transformation (loc_name) that currently resides in memory. destination_height in mm, can be above (+) or below (-) the location along the Tool Z-axis of when the location was defined. Example: APPRO #toolpt1, 100 (approach a location stored as precision point #toolpt1, a distance 100mm above the Z-axis of the Tool when the location was defined) 26
- 27. Motion and Cycle Times Motion Instructions MOVE This instruction initiates a move to a specified location MOVE loc_name MOVES loc_name It can either be a straight line motion, MOVES or a joint interpolated motion, MOVE loc_name can be precision point (i.e. #loc_name) or transformation (loc_name) that currently resides in memory. The robot will assume the position an orientation of the location as it was created. Example: MOVES loc_name (moving in a straight line to a location stored as loc_name) MOVE #loc_name (move in joint interpolated motion i.e. jogging to precision point #loc_name this time using exactly the values of joint angles stored as precision point) 27
- 28. Motion and Cycle Times Motion Instructions DEPART This instruction initiates a depart from a specified location DEPARTS destination_height It can either be a straight line motion, DEPARTS or a joint interpolated motion, DEPART destination_height in mm, can be above (+) or below (-) the location along the Tool Z-axis of when the location was defined. Example: DEPARTS 100 (departing in a straight line motion from a specified location where the robot is currently at, to a distance 100mm, above the Z-axis of the Tool when the location was defined) 28
- 29. Motion and Cycle Times Motion Speed SPEED speed_factor The speed factor values possible are: Minimum = 0.000001 Maximum = use extreme care with values over 100 Normal full speed = 100 Default at start-up = 50 Example: SPEED 5 FINE (defines the speed to be 5, and next commands the robot to do FINE speed, i.e. slow) 29
- 30. Motion and Cycle Times Cycle Times There are 16 built-in timers (in Adept). TIMER(timer_number) = time_value Example 1: Example 2: Setting a timer to zero and Setting timer to zero and timing the move to “pickpoint” then waiting for 5 sec then move to “pickpoint” BREAK BREAK TIMER(1) = 0 TIMER(1) = 0 MOVE pickpoint WAIT TIMER(1) >= 5 BREAK MOVE pickpoint t = TIMER (1) 30
- 31. Relative locations for Palletizing Program 31 x-direc y-direc rotation radius Rectangular Pallet Circular Pallet
- 32. .PROGRAM gettool5() SPEED 75 ALWAYS WAIT SIG(-1036) WAIT SIG(1038) SIGNAL 34 MOVE apprtoolstnd MOVE overtool5 SPEED 45 MOVES griptool5 WAIT SIG(1036) CLOSEI SIGNAL -34, 33 SPEED 45 MOVES tool5pin WAIT SIG(-1038) MOVES frnttool5 MOVE apprtool5 MOVE apprtoolstnd RETURN .END An Example Program for Clock Assembly using V+ Programmimg Language 32 .PROGRAM clock() 1 SPEED 75 ALWAYS RESET CALL gettool5() 2 WAIT SIG(1048) IF count == 12 GOTO 3 CALL woodbase() SIGNAL 48 WAIT SIG(-1048) SIGNAL -48 WAIT SIG(1048) CALL plate() CALL puttool5() CALL getsucker() 3 CALL puttool5() MOVE apprtoolstnd .END
- 33. Locations as defined by the robot controller apprtoolstnd -0.932732344 0.359892339 -0.022089828 0.354187518 0.925977468 0.130831733 0.067540027 0.114207059 -0.991158485 89.412101746 865.715270996 154.966278076 overtool5 0.350352436 0.925255001 0.145452425 0.935987949 -0.35156399 - 0.018145595 0.03434654 0.142499074 -0.989198864 164.168502808 1141.583618164 -110.121070862 griptool5 0.35035795 0.925256193 0.145431384 0.935985684 -0.351570785 - 0.018132156 0.034352537 0.142474443 -0.9892022164.1690979 1141.580444336 -182.095916748 An Example Program for Clock Assembly using V+ Programmimg Language 33
- 34. • Textbook: 1. James A. Rehg: Introduction to Robotics in CIM Systems. Fifth Edition, Prentice-Hall. 2003. • • Reference book: 1. Mikell P. Groover: Automation, Production Systems, and Computer Integrated Manufacturing, Second Edition. 2004. 2. Mikell P. Groover, Mitchell Weiss, Roger N. Nagel, Nicholas G. Odrey: Industrial Robotics: Technology, Programming, and Applications, McGraw-Hill. 1986. 3. Farid M. L. Amirouche: Computer-Aided Design and Manufacturing. Prentice-Hall. 4. Richard K. Miller, Industrial Robot Handbook. Van Nostrand Reinhold, N.Y. (1987). 34 TEXT AND REFERENCE BOOKS
- 35. THANK YOU 35