Software Development to Control the Scorbot ER VII Robot
Contents
1. Changes the robot s speed to 30 Robot SpeedA 30 void __ fastcall TFormMain Button16Click TObject Moves Sender for unsigned int 1 0 1 lt 4 i Robot Move Pos1 for unsigned int 1 1 1 lt 16 i Robot Move Pos2 Controller gt SetOutput i true cout lt lt wait while the robot moves lt lt endl cout lt lt Press a key to finish the programme lt lt end getch Switches the RS232 channel off Robot Disconnect for unsigned int 1 1 1 lt 16 i Controller gt SetOutput i false catch Scorbot Exception amp E cerr lt lt E What lt lt endl In order to open or close the gripper to do the homing and to switch the motors on or off it must be written the following code Controller gt Open Controller gt Close Controller return 0 gt Home Controller gt MotorsOn i Controller gt MotorsOff Table 3 Example of developed code in VCC 6 2 Development of a graphical application 7 Scorbot ER VII robot control using using Borland C Builder h Taiernei We use this example to develop the graphical Figure 17 shows the implementation of the control application presented in figure 16 After the construction of the window and the inclusion of the of the Scorbot ER VII robot using the Internet The ScorbotAPI library in the BCB project it is component TServerSocket2. which encapsulates the windows API and deals with the TCP IP communications was used The event OnClientRead was developed in order to read and interpret the clients data These data in then transmitted to the robot trough the ScorbotAPI necessary to include in the main formulary the class responsible for the communication with the robot s controller Scorbot ER VII SERVER WinATS ScorbotAPI Internet Internet CUSTOMER 1 CUSTOMER n Fig 17 Robot s control through the Internet In order to control the robot from o client PC it is necessary to activate the RS232 channel in the winATS and to give a value to the access port as shown in figure 18 Pica Esai Piste eom THI w o PT Connect at Bitz Siop Elis Fay Lardichad ic 5 kar am a m Hae Pde eaba egi A e RITSACTS l p i E 7 be Link i 9 tap E 2 bh Spaz o Sowell E Eraba mea Geach prear laipha TEFAF arrer Pal 7000 Fig 18 Window that allows to activate the RS232 channel The windows operating system s client telnet was used It is necessary to choose from the desktop menu Start gt Execute in order to connect to the server and then to write telnet lt IP address of the server gt lt port gt as shown in figure 19 Pun E Tage Ehe fie OF a poya foley docu or Internet resource and Aindces wall open for wou Gpen belnst 192 1083 45 1000 Fig 19 St
3. winATS was developed This users friendly software runs in the windows 95 98 NT 2000 and XP environments Furthermore the users programmes do not need to be in the robot s controller memory once the programmes can be run from the PC It is possible to develop C robot s programmes in the winATS and execute them on the PC Nevertheless winATS also allows the development of robot s programmes to be run from the robot s controller It is also possible to have a hybrid solution having programmes running from the PC and others running from the robots controller either individually or simultaneously In this way the reduced processing power and memory of the controller are not an obstacle to the development of more complex robot s programmes In this way the robot s controller can be freed to other tasks 2 The Scorbot ER VII robot s controller The controller of the Scorbot ER VII robot is a multi task system allowing the execution of up to 20 simultaneous programmes It has an interpreter for the ACL language developed by the robot s manufacturer 1 and 4 The controller can control 8 axes expansible up to 11 Five of these 8 are used to control the robot s 5 axis 4 The others can be used to control peripheral equipment such as conveyer belts motors etc Figure 3 shows the axes controller diagram gt o gt ea gt a gt gt eon gt TT s o o conais Fig 3 Robot s ax
4. be used for that The two presented projects run at the PC level not at the robot s controller level These two simple examples show the way to overcome the limitations of the original software 6 1 Development of a new project using the Visual C Table 3 shows the code that allows the robot to execute a given path in its work space This code shows that using the developed ScorbotAPI controlling the robot is an easy task To do that the communications must be configured and then sending robot s commands to the robot s controller include lt iostream gt include lt conio h gt include Scorbot Scorbot hpp using namespace std using namespace Scorbot int main int argc char argv Controller Robot two robot s work space points Struct Scorbot Controller Joint_t Coordinate_Pointl 8848 7375 15031 22476 struct Scorbot Controller Joint_t Coordinate_Point2 24867 15577 28952 16096 7177 ic try Communication port configuration Robot Setup COM1 Switches the RS232 channel on Robot Connect Defines two points in the controller s memory Robot DefinePosition Pos1 Coordinate_Point1 Robot DefinePosition Pos2 Coordinate_Point2 Fig 16 Window for controlling the robot The code associated to the Outputs button that allow to test the 16 outputs of the controller is described bellow Swhitchs the motors on Robot MotorsOn
5. Software Development to Control the Scorbot ER VII Robot With a ANTONIO FERROLHO Electrical Engineering Department Superior School of Technology of the Polytechnic Institute of Viseu Campus Polit cnico de Repeses 3504 510 Viseu PORTUGAL pod MANUEL CRISOSTOMO Institute of Systems and Robotics University of Coimbra Polo Hf 3030 290 Coimbra PORTUGAL Abstract The objective of the presented work was the development of a software package able to overcome the limitations imposed by the actual Scorbot ER VII robot s controller The developed users friendly winATS software runs in a windows platform such as 95 98 NT 2000 and XP With the winATS it is possible to develop robot s programmes in C being these programmes executed at a PC level not at robot s controller level Nevertheless the winATS also allow the development of programmes to be executed at a robot s controller level Furthermore it is also possible to have programmes running in the PC and in the robot s controller mix solution individually or simultaneously Key Words Robot parallel process C control serial RS232 protocol application software 1 Introduction The Scorbot ER VII robot shown in figure 1 is a medium dimension robot manipulator specially designed to execution of manipulation tasks It is equipped with an electrical gripper but by using another type of gripper it is able to execute tasks such as painting grindin
6. arting the TCP IP connection After that it is possible to control the Scorbot ER VII robot from a client PC 8 Conclus es The developed software winATS allows to the command instructions existing at the Scorbot ER VII robot s controller level be resident at the PC level In this way it is possible to create applications in the PC easily and with the versatility inherent to an open system with a great processing power not possible at the robot s controller level This work allows us to real time control the robot from a PC Some characteristics of the developed software winATS are the editor recognizes ACL language key words including comments and delimiters downloads programmes to the controller s memory easiness of editing programmes and locations easiness of control of concurrent tasks in the controller s memory easiness of set and visualise the state of the outputs and visualise the inputs of the robot s controller virtual Teach Pendant the winATS also allows sending ACL commands through RS232 port execution of ACL basic commands through a simple mouse click online help that recognizes the ACL key words easiness of saving location coordinates either in Cartesian or joint coordinates Control of the Scorbot ER VII robot through the Internet allows the development of robot s programmes in Visual C and Borland C Builder Etc Re
7. ata for later analysis The developed API for the winATS application is based in thread process running simultaneously with the main programme The ScorbotAPI library was developed having in mind the access to the controller s functions as shown in figure 7 This API allows us to communicate with the robot s controller ScorbotAPI Open Run SpeedA Close OnMotorsOff Scorbot ER VII Fig 7 ScorbotAPI Library and the robot The available functions are divided in two groups The first contains the public methods and the second contains the methods representing events Table 2 shows some of these functions Function Description Changes the group A SpeedA pee i STOUp MotorsOff aie off the robot s MotorsOn males on the robot s Close Closes the gripper Open Opens the gripper OnEndHoming ca has activates after This event activates after the execution of the Close function This event activates after the execution of the Open function This event activates after the motors are switched off This event activates after the motors are switched on OnClose OnOpen OnMotorsOff OnMotorsOn Table 2 Some available functions 5 The developed software After starting winATS the communication protocol must be established Figure 8 shows the window for that Reva erode eh eer Lod DERAF Gs h Fig 8 Window for configur
8. ation of RS232 communication After the communication with the robot s controller is established the winATS window as in figure 9 shows up This window has some toolbars with a set of icons These icons can be used for example to switch the motors on and off to open and close the gripper homing the robot to open and create files etc all eee bel He pea ii ARNES De E j ie E ay ejg E el BZ a m s a F F T Ep i H SH dim a g Fi mit Fig 9 winATS window In the left side of the winATS window it is possible to see which programmes and points are in the controller s memory The reserved words for the ACL language are automatically recognized and show up with a different colour The help for a command is done double clicking in that command Figure 10 shows the help window nen a b Fig 10 winATS Programme a Editing mode b Help window The window terminal console shown in figure 11 simulates the ATS software This window has the ATS features and some new features which were added Peale sar el elem a cee aala e n T wt f prp m mr i d ajelclc a oon n im Foam maeman inn bl p Fig 11 Terminal console window Figure 12 shows the developed teach pendant This has multi functions such as abort programmes move the robot switch the motors on and off save robot s l
9. es controller Speed Position and velocity are calculated every 10 ms A PID Proportional Integral and Differential controller is used to control each axis Each of these PID controllers outputs a digital signal to input a digital analogue converter DAC This analogue signal is then converted on a PWM Pulse Width Modulation signal with a frequency of 20 kHz and an amplitude between 5 V e 5 V A power drive is further used to feed the electrical motors at 24 V DC 4 Figure 4 shows the block diagram of the controller for one axis Reference I L Fig 4 Axis controller block diagram 3 RS232 communication RS232 protocol is used to communication between the PC and the robots controller The communication is established trough the transmission of ASCII American Standard Code for Information Interchange code ASCII code is a 7 bit code and a usually 8th bit a parity bit used as a simple error detector In order to establish a bi directional communication between the PC and the robot s controller it 1s necessary to configure several parameters of the serial port according to the table 1 4 9600 bps Handshake Software Xon Xoff Parity None COMI or COM2 Databits 8 Table 1 Configuration parameters 4 Developed C functions and classes The graphical interface construction for this application was developed in Borland C Builder Borland C Builder includes an exten
10. ferences 1 ACL Advanced Reference Guide Edition 1995 2 ACLoff line User s Robotec 2nd Edition 1995 3 ATS Advanced Terminal Software Reference Guide Eshed Robotec Ist Edition 1995 4 Scorbot ER VII User s Manual Eshed Robotec 2nd Edition 1996 5 Moshe Shoham Textbook 1 Fundamentals of Robotics Eshed Robotec 1984 6 David J Kruglinski Visual C Microsoft Press 1997 7 William P Alves C Builder 6 Erica 2002 Control Language Eshed Robotec 4th Manual Eshed The authors wish to thank to their students Mr Nuno Manuel A Loureiro and Mr Henrique Manuel C Cardoso for their valuable contribute in the development of this project
11. g and welding This robot has 5 degrees of freedom corresponding to 5 electrical joints 5 Fig 1 Scorbot ER VII robot The Scorbot ER VII robotic system is composed by the manipulator a teach pendent and the ATS Advanced Terminal Software and ACL Advanced Control Language software as shown in figure 2 Both ACL and ATS run under MS DOS 1 3 The ATS runs on line with the robot The control is done directly from the PC to the controller though the serial RS232 port It is possible for example open and close the gripper do the robot s homing visualise and execute the programmes resident in the memory configure the robot etc 3 The ACL works in a off line mode allowing the development of programmes and its download to the robot s controller though the serial RS232 connection 1 and 2 The robot programme runs in the robot s controller so that a robot programme must be downloaded to the controller before its execution Both ATS and ACL have several limitations concerning programming and robot s control Furthermore they only run in MS DOS environment Scorbot ER VII The maker s software computer operating under DOS ATS ACL Teach Pendant Fig 2 The Scorbot ER VII robotic system The controller has a Motorola 68020 CPU and 128 Kbytes de RAM so that the development of more complex robot programmes is difficult Aiming the overcome of these limitations the software
12. ith the parallel process through the messages placed in the waiting queue being this queue managed by the Operating system A message is immediately processed as soon as it arrives at the parallel process In the case when there are no message in the queue the parallel process enters in a loop waiting for data from the robot s controller An event is generated when data arrive The parallel process 1s activated in the beginning of the communication with the controller When the communication with the robot s controller is finished the resources allocated to the parallel process are returned to the operating system Figure 6 shows the hierarchy structure of the main classes of the developed API The Scorbot BasicThread class is the lower level class and the Scorbot Controller class is the higher level class d i f ri f class Terminal i Ay 1 i i i i class BasicThread i i i i i Fig 6 Hierarchy structure of the API The Scorbot BasicThread class is responsible to deal with the parallel process management The Scorbot Terminal class inherits all methods to control parallel processes form the base Scorbot BasicThread class This class works like a terminal emulator and allows to gather text from the RS232 channel The Scorbot Controller class inherits all the functionalities from the Scorbot Terminal class One of its tasks is sending and receiving d
13. ocations homing etc jer amc hy Perrin Joint Copains E fam a Ei E S547 P 27 A pi h ims Zas F an A fara Pad d aby ae Group Speed ABORT 3 Gre hioa ee 1 i B S E PR 7 8 p 4 F i i a a a aj a al 2 Fig 12 Teach pendant window The developed software allows us to visualize the state of the external inputs and outputs as shown in figure 13 Fig 13 External inputs and outputs window The Task Manager window shown in figure 14 allows us to run to abort to erase to suspend and to resume programmes aici al Cia Gl slain E Be F ol elalolc em lol A yj a Tiik JE E ELJI Pom Fig 14 Task Manager window ee Figure 15 shows the configuration window used to configure the robot s controller The Peripheral setup button is used to do the configuration of the axes 7 e 8 dm 1 G pama Cea E O mp T ky x a b Fig 15 Configuration system a Configuration window b Peripheral setup window Other potentialities were developed in the winATS such as windows to edit create save and modify robot s locations etc An help window was also developed 6 Development of new projects for the Scorbot ER VII robot In this section the developed API ScorbotAPI will be used to develop new projects The Visual C VCC and the Borland C Builder BCB 6 7 will
14. sive library of re used components and a RAD Rapid Application Development tool environment In the low level development of the API Application Programming Interface the Visual C was used 6 A thread process was created in order to poll the serial port An event is generated each time data is presented in the serial port In order to send data to the robot s controller the message is placed in the serial port queue Asynchronous processing will be used to send the message For example in order to open the robot s gripper a data message is placed in the thread queue and further sent to the robot s controller trough the RS232 channel After the delivery of the data a waiting cycle is activated This cycle is waiting for the robot s controller It ends when the robot s controller sends back a prompt gt a timeout error occurs or a cancellation message is sent Figure 5 shows the messages cycle of the thread process MessageN Message2 ioe TaN switch Mensagem_Recebida case MSG_ESPERA ProcessamentoMensagemDeEspera break case Mensagem1 ProcessaMensagem1 break case Mensagem 2 ProcessaMensagem2 break Messagel r I I I I I case MensagemN ProcessaMensagemN break default if Fila_De_Mensagens_Vazia ColocaNaFilaUMSG_ESPERA Message processing loop Fig 5 Messages Cycle of the parallel process The main programme communicates w
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