Programming Epson Robots
ME 4135 Fall 2011 Dr. R. Lindeke
Operating Ideas for Epson Environment
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
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 as it doesnt 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 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 Base Frame 30 (Y0) by 15 (Z0) units; TMove XY(0,30,15,0,0,0) moves TCP linearly in 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
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 IKSing 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
