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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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Safety And MovementCommands
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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Safety And MovementCommands
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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Safety And MovementCommands
PTP:
CP:
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Safety And MovementCommands
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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Safety And MovementCommands
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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Safety And MovementCommands
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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Safety And MovementCommands
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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Safety And MovementCommands
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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Safety And MovementCommands
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Safety And MovementCommands
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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Safety and MotionCommands
Examining Syntax for BMove orTMove:
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Safety and MotionCommands
Examining Syntax for JUMP and JUMP3
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Safety and MotionCommands
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Safety and MotionCommands
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