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Programming Epson Robots
ME 4135 – Fall 2012Dr. R. Lindeke
Operating Ideas for Epson Environment
We are currently using this method
Overview
Safety and Movement Developing A First Program Some Cool Tools
– Pallets– SubRoutines– Etc.
Proofing w/ the Simulator Running the Robots
Safety And Movement Commands
For Robots to be operated safely the operator must clear the workspace
Each defined location must be moved to at slow speeds before inserting into programs
Programs must be proofed step by step at reduced speed – physically using moving commands in teach pendent or Robot manager
Safety And Movement Commands
Motion is Either:– Point to Point where the robot
travels from a pose to a pose and then stops before executing its next move
– CP (continuous path) where the robot travels ‘thru’ an intermediate and it doesn’t execute a complete deceleration to a stop before heading to a new point
Safety And Movement Commands
Operator sets both Speed and Acceleration levels
In interpolated movements they follow SPEEDS and ACCELS rates
MOVE, BMove or ARC
For other motions they follow SPEED and ACCEL rates
GO, JUMP or BGo
Safety And Movement Commands
PTP:
CP:
Safety And Movement Commands
The Epson RC 5.0 language supports 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 Pose to a defined target pose
Safety And Movement Commands
Epson also includes Relative motion commands:– BGo XY(0,0,15,0,0,0) which moves TCP
relative in Local (base) system by 15 units in Z0 direction; TGo(0,0,15,0,0,0) is relative move in current tool frame
– BMove XY(0,30,15,0,0,0) moves TCP linearly in Local (base) Frame 30 (Y0) by 15 (Z0) units; TMove XY(0,30,15,0,0,0) moves TCP linearly in current tool Frame
Safety and Motion Commands
Motion along a Spline Path (previously defined in a ‘CURVE” statement) can be executed using the CVMove motion command
Safety And Movement Commands
It is always best to approach objects without “slewing” 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
Using a connection, and the “Robot Manager” tools we can access and set the values of the ARCH setting for use with the Jump and
Jump3 (Jump3CD) commands and note a ‘Z’ or height above distance is specified
Safety And Movement Commands
It is seen that the motion is in 3 parts: movement away from the current position to a clear
plane depart 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
Safety And Movement Commands
ARC and ARC3 are circular interpolated motion from the current position
They require a midpoint and end point to be specified
They can operate PTP or CP
Safety And Movement Commands
Safety And Movement Commands
Examining Syntax Go:
Safety and Movement Commands
Examining Syntax for Move:
Safety and Movement Commands
Examining Syntax for BGo or TGo:
Safety and Motion Commands
Examining Syntax for BMove or TMove:
Safety and Motion Commands
Examining Syntax for JUMP and JUMP3
Safety and Motion Commands
Safety and Motion Commands
Examining Syntax for ARC and ARC3
Motion Commonalities
All require some form of geometry as a target
In common use, these are defined as stored point targets either as P#’s or point labels.
Defining Points:
If known apriori (though IKS’ing Robot Maps) They can be directly entered into the robot point tables
Defining Points
Points can also be defined using the Teach and Jog Mode in the Teach Pendent
As seen earlier, when connected, we can use the Robot Manager tool to jog the robot about and define point geometry as well. If points are
already defined, the jog & teach tab of manager also allow the user to ‘drive’ the robot among and around points using the various motion
types
Defining a New Project
Epson RC 5.0+ uses projects to bundle 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 and sub-routines needed to complete tasks
Simply click Project Tab – select new and then give project a name and file location. After saving the project a build window (as seen here) is
generated
Once it is initialized it contains all of the standard files and a main
function for our use
From here it is mandatory that we do some planning (flow charting) of the desired activity; develop a
map of the expected solution identifying relevant points; and
finally an I/O map for use with the solution.
And only then do we start to build the program and sub-routines,
‘tills’ and ‘traps’
Defining a New Project
We pre-define variables names (up to 32 characters 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
Diving In:
We’ll do it live (– or sorta live)
Taking Baby Steps!