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Manual Control Pendant User`s Guide
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1. L 2 5 3 2 Q Q S Z 3 3 em d IOI I Figure 2 1 Holding the Programmer s MCP Manual Control Pendant User s Guide The operator s pendant has a palm activated switch that is connected to the remote emergency stop circuitry of the controller Whenever this switch is released ARM POWER is removed from the motion device When the operator s MCP is not being used it must be removed from the control ler and the pendant jumper plug installed or placed in the special cradle provided The cradle retaining clip will Keep the arm power interlock switch depressed when the pendant is not in use Figure 2 3 shows how to place the operator s pendant in its cradle To operate the MCP put your left hand through the opening on the left hand side of the pendant and use your left thumb to operate the pendant speed bars Use your right hand for all the other function buttons The var ious button groupings of the pendant are reviewed in this chapter Ole WORLD T 3 JOINT FREE DEV2 Of Th LOIS Qoo Depress the palm activated arm power interlock Figure 2 2 Holding the
2. CL JO JO OF TO Figure 3 6 Program Set Function Button New Press the NEW soft button and the LCD will display SELECT A NEW PROGRAM progl prog2 prog3 prog4 lt MORE gt To select a different program press the soft button under the program name To see additional programs if there are more programs press the lt MORE gt soft button Step Press STEP and the step number will blink and the typing cursor will appear next to the step number Use the data entry buttons to enter the program step to start execution Complete the entry by pressing REC DONE Cycle Press CYCLE and the cycle count will blink and the typing cursor will appear next to the cycle count Use the data entry keys to enter the number of program cycles to execute Complete the entry by pressing REC DONE 25 Manual Control Pendant User s Guide 26 Speed Press SPEED and the current monitor speed will blink and the typing cursor will appear next to the monitor speed Use the data entry keys to enter a new monitor speed Complete the entry by pressing REC DONE Start The Start button will work only when the controller key switch is in the pendant position and ARM POWER is enabled this option cannot be used with DRY RUN enabled Press START and the LCD will prompt you to put the controller key switch in the TERMINAL position and press the PROGRAM START button When the PROGRAM ST
3. Keyboard Mode The default mode is keyboard If a PENDANT instruction requests key board input the button number of the first keyboard type button pressed will be returned See Figure 5 1 for the numbers of the buttons on the MCP The following code will detect the first soft button pressed Set the soft keys to keyboard mode KEYMODE 1 5 0 Wait for a button press from buttons 1 5 DO button PENDANT O UNTIL button lt 6 The arguments to the KEYMODE instruction indicate that pendant buttons 1 through 5 are to be configured in keyboard mode The 0 argument to the PENDANT function indicates that the button number of the first keyboard button pressed is to be returned Toggle Mode To detect the state of a button in toggle mode the PENDANT function must specify the button to be monitored When a button is configured as a toggle button its state is maintained as on 1 or off 0 The state is toggled each time the button is pressed If an LED is associated with the button it is also toggled The following code sets the REC DONE button to toggle mode and waits until REC DONE is pressed Set the REC DONE button to toggle KEYMODE 8 1 Wait until the REC DONE button is pressed DO WAIT UNTIL PENDANT 8 The arguments to KEYMODE indicate that MCP button number 8 the REC DONE b
4. WRITE 1 Instructions to follow S Notice that the second WRITE instruction uses the S qualifier This qualifier suppresses the carriage return line feed lt CR LF gt that is nor mally sent by the WRITE instruction If this qualifier was not specified the first line displayed would have been overwritten In section 5 3 we will detail the pendant control codes These codes control the cursor position the lights on the MCP and the interpretation of MCP button presses These codes are sent to the pendant using the WRITE instruction The S quali fier must be sent with these instructions to avoid overwriting the pendant display Chapter 5 Programming the Pendant 5 2 Detecting User Input Input from the pendant can be received in two ways A series of button presses from the data entry buttons see Figure 2 5 can be read The READ instruction is used for this type of input A single button press from any of the buttons can be detected These single button presses can be monitored in three different modes The buttons can be monitored like keys on a normal keyboard b The buttons can be monitored in toggle mode on or off The state of the button is changed each time the button is pressed c The keys can be monitored in level mode The state of the but ton is considered on only when the button is held down The PENDANT function is used to detect button p
5. 80 character LCD display It is written to and read from using the WRITE and READ instructions These instructions are detailed in the V and V Reference Guide This chapter covers the capabili ties of these instructions that pertain to programing the MCP ATTACHing to the Pendant Before an application program can communicate with the MCP the MCP must first be ATTACHed using the ATTACH instruction The logical unit number for the MCP is 1 The following instruction will ready the MCP for communication ATTACH 1 When the MCP is ATTACHed the USER LED on the MCP will be lit As with all other devices that are ATTACHed by a program the MCP should be DETACHed when the program is finished with the MCP The fol lowing instruction will free up the MCP DETACH 1 When the MCP has been ATTACHed by an application program the user can interact with the pendant without putting the controller key switch in the Pendant position The success of an ATTACH or DETACH instruction or any other I O instruction can be checked with the IOSTAT function Robust program ming includes a check for success of all I O instructions For clarity the examples in this chapter leave this check out 41 Manual Control Pendant User s Guide 42 Using WRITE With the Pendant The following instructions will display a welcome message on the two lines of the pendant display Sintro Welcome to the MCP ATTACH 1 WRITE 1 Sintro
6. Digital I O is the preferred term but occa sionally program prompts will use Binary I O 20 Chapter 3 The MCP Predefined Functions Status When this button is pressed the display will show program name 50 1 U Program Speed Cycle Left Program shows the name of the currently executing or most recently executed program Speed shows the current monitor speed Cycle shows the total number of cycles specified when the program was exe cuted Left shows the number of cycles of the program remaining to exe cute Binary I O When this button is pressed the display will show 1111 0000 0032 0001 OUT IN SOFT The top line shows the status of the range of digital I O signals indicated on the second line 1 32 in the above example A indicates the signal has not been configured a 1 indicates the signal is on and a 0 indi cates the signal is off The type of signal that is being displayed is indi cated by the LED on the soft buttons labeled OUT IN and SOFT The above example shows digital input signals in the range 1 to 32 Signals 25 28 are on signals 21 24 are off and no other signals in this range have been defined To display a different range of signals press the soft buttons under the or labels The next or previous range of signals will be displayed Press the OUT IN and SOFT soft buttons to displ
7. current cursor location Enable repeat mode for button Disable repeat mode for button Not Used Not Used Turn off pendant button LED Not used Start pendant button LED blinking Turn on pendant button LED Second Code Cursor position 1 80 Number of blinking positions 1 80 Number of blinking positions 1 80 Button number Button number Light number Light number Light number For soft buttons F buttons and REC DONE button only 51 Manual Control Pendant User s Guide 5 4 Auto Starting Programs With the MCP The CMD predefined function button provides three options for loading and auto starting a program from the pendant These three options are AUTO START CMD1 and CMD2 The program file requirements for all three options are the same 1 The file being loaded must be on the default disk The default disk is specified with the DEFAULT DISK command The utility CONFIG_C can be used to specify a default disk at startup 1 See the Instruction for Adept Utility Programs for details on running this utility 2 The file name must correspond to the MCP selection If CMD1 is pressed the disk file must be named CMD1 V2 If AUTO START is pressed the user will be asked to inputone or two digits These digits will be used to complete the file name AUTOxx V2 A corresponding file name must ex
8. 21 Programmer s Pendant vs Operator s Pendant 7 Connecting the MCP eu i i Y dg NF y 10 2 2 MCE Lay eut eu er eee Te CA GAA FUD FO 11 SOfE PEONES uuu A aap YY FEN RH NR YP YNN a 12 Function Buttons ue u l e TA YU A DDEUNAW GW FNAN AN 13 Data Entry Buttons A we YC wpaq y Fed 14 The REC DONE Button 14 The DEE Button us G uu Sete wei O ND EN UYN FWYN ANIG 14 Mode Control and Manual Control Buttons 15 Speed Bars and Slow Button Y Te 15 23 Emergency Stop From the MOP aeu y Y dodo 15 24 Background Node i dI A i DF DO FOA 15 Chapter3 The MCP Predefined Functions 17 ar STAEPOGU CHORE ts Set Ate E A AU YD GUY FFR RD ta a AA 17 3 2 Predefined Function Buttons 17 Edit PUNCH OM ue u uns ua WN cae INA ID GG O AND Cd 18 Po EE ast ar eee ot iA ayau WR PR HRN HF RD A ty 18 TO YR Y 6 RHEN FR NN FR Ag SSS 19 Display Functions s saa aya niya ukuy AWN SO a 20 JOINE Values a ue ur dg A a NN a 20 World Location 20 Manual Control Pendant User s Guide SEA EUS accesses lA dU Se ath ea A o OY YN Gyd aY 21 PUAN HA EN HYN TY RW HF a 21 Tast ETTO Foai tresao lana df GU NO dvd AU und dd Sona Holodd aW 21 The Clear Error Function 22 The CM
9. 4 1 Mode Control Buttons 27 Manual Control Pendant User s Guide Emergency Stop Button The emergency stop button will stop program execution and turn off ARM POWER In the AdeptOne AdeptThree and Adept PackOne the friction brakes will be activated COMP PWR Button If ARM POWER is enabled the COMP PWR button selects computer mode If ARM POWER is disabled the COMP PWR button enables ARM POWER and selects computer mode In computer mode an executing program or the system terminal has control of the robot MAN HALT Button When there is no program executing or a program has paused for a pen dant teach routine pressing the MAN HALT button selects manual mode In manual mode the MCP has control of the robot If a program is executing the MAN HALT button will stop program execution without shutting off ARM POWER Manual mode cannot be entered if ARM POWER is off panic button LED not illuminated To enable ARM POWER press the COMP PWR button The MCP is in manual mode when 1 The LED on the MAN HALT button is illuminated and 2 _ One of the manual state LEDs is also illuminated the Manual state LEDs indicate the type of manual motion that has been selected either World Tool Joint or Free The system will remain in manual mode until ARM POWER is turned off or the COMP PWR button is pressed When you have finished moving the robot manually press the COMP PWR button to r
10. STORE ALL is pressed the pendant display will show Enter last two digits of file name STORE auto_ Enter one or two digits press REC DONE and all programs and variables in system memory will be stored to a file on the default disk with the name autoxx v2 For example if you had entered 11 the file AUTO11 V2 would be created and all programs and global variables in system mem ory would be stored to that file CMD1 and CMD2 The controller key switch must be set to pendant When CMD1 is pressed the LCD will prompt you to place the controller key switch in the terminal position and press the controller PROGRAM START button The system will then attempt to load the file CMD1 V2 from the default disk and COMMAND the program CMD1 The program file CMD1 V2 must reside on the default disk and it must contain a command program named cmd1 If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be displayed on the LCD If CMD2 is pressed the file CMD2 V2 will be loaded and cmd2 will be COMMANDed Chapter 3 The MCP Predefined Functions Prog Set Function Using the prog set button you may select a new program to execute set the starting step number set how many cycles of the program to perform set the monitor speed and start a memory resident application program 1 1 50 NEW STEP CYCLE SPEED START
11. This manual is for use with manual control pendants operating in conjunc tion with V V version 10 1 or higher 1 3 Notes Cautions and Warnings There are three levels of special notation used in this equipment manual In descending order of importance they are WARNING If the actions indicated in a WARNING are not complied with injury or major equipment damage could result A WARNING will typically describe the potential hazard its possible effect and the measures that must be taken to reduce the hazard CAUTION If the action specified in the CAUTION is not complied with damage to your equipment could result NOTE A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier operation Chapter 1 Introduction 14 Safety Reading and Training for System Users Adept robot systems include computer controlled mechanisms that are capable of moving at high speeds and exerting considerable force Like all robot systems and industrial eguipment they must be treated with respect by the system user Trapping Pinch _ Points h Figure 1 1 Impacts and Trapping Points We recommend you read the American National Standard for Industrial Robot Systems Safety Reguirements published by the Robotic Industries Associa tion in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 1986 contains guidelines for robot system inst
12. YG A FA Y 49 List of Tables Table 5 1 Pendant Control Codes an YF Y alee or 51 viii Chapter 1 Introduction 1 1 This Manual and Related Publications This manual covers the operation of the Manual Control Pendant MCP The MCP is used in many different applications and with many different pieces of eguipment In some cases the application using the MCP will have functions particular to that application These functions are docu mented along with the application The MCP has the following primary functions Serve as the primary point of control for initiating and monitoring operations Guide the robot or motion device while teaching locations Support application programs Chapter 2 of this manual covers the basics of using the MCP Chapter 3 covers using the predefined functions of the MCP These functions allow you to control an Adept system using only the MCP Chapter 4 covers moving a robot or motion device with the MCP Chapter 5 covers pro gramming the MCP for use within your own programs You should have the following publications handy while learning to use the MCP 1 The user s guide for any robot or motion device you will use in con junction with the MCP 2 _ The controller user s guide 3 The user s guides for any applications that employ the MCP AIM PCB for example 4 Vand V Reference Guide if you are programming the MCP Manual Control Pendant User s Guide 12 Compatibility
13. a Robot or Motion Device With the MCP Joint2 joint 3 Joint 1 amp Joint 2 Free Joint 1 amp Joint 2 Free ei Joints Joint 3 Free Joint 4 Free Joint4 Gripper Figure 4 11 FREE State Four Axis SCARA 39 Manual Control Pendant User s Guide 43 Selecting Different Robots If your system is equipped with more than one robot or motion device you can select which device the manual control buttons will affect When manual mode is first entered device 1 will be selected To select device number 2 press the DEV F3 button Device number 2 will now be selected and the DEV 2 light in the manual state LED group will be lit To select device number 3 press the DEV F3 button again Device 3 will be selected and the DEV 2 LED will blink To re select device 1 press the DEV F3 button Remember When the DEV 2 LED is off device 1 is selected when it is lit continuously device 2 is selected when it flashes device 3 is selected 40 Chapter 5 Programming the Pendant 51 Writing to the Pendant Display This chapter provides an overview of strategies for programming the manual control pendant You must be familiar with basic Vt program ming to program the MCP V V programming is not covered in this man ual we assume you are familiar with the V language This chapter covers the instructions used specifically for the MCP The Pendant Display The MCP display is a 2 line
14. a four axis robot positive rotation of the gripper is clockwise as viewed from above Figure 4 6 shows the tool state for a four axis SCARA robot Figure 4 7 shows the tool coordinate system on a six axis robot NOTE Figure 4 6 and Figure 4 7 are drawn with the assumption that the TOOL transformation is set to NULL all values are 0 If a TOOL transformation is in effect the tool coordinate system will be offset and rotated by the value of the TOOL transformation Any motion in tool state will now be relative to the offset coordinate system and not the center of the tool flange See the V and V Reference Guide for details on TOOL transformations Chapter 4 Moving a Robot or Motion Device With the MCP X direction Y direction Z direction Rotation about Tool Z axis Gripper Figure 4 6 TOOL State 33 Manual Control Pendant User s Guide Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper Figure 4 7 TOOL State Six Axis Robot 34 Chapter 4 Moving a Robot or Motion Device With the MCP Joint State When joint state is selected movement is about the axis of the specified joint Figure 4 8 shows an Adept SCARA robot with three rotational joints joints 1 2 and 4 and one translational joint joint 3 Positive rotation of joints 1 amp 2 is counter clockwise as viewed from above Positive rotation of joint 4 is clockwise as viewed from abov
15. about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE Manual Control Pendant User s Guide PART NUMBER 00101 00010 PUBLICATION DATE June 1991 COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 150 Rose Orchard Way San Jose CA 95134 00101 00010 Rev A
16. additional soft button is be defined that allows you to specify the index of the array element to edit 18 Chapter 3 The MCP Predefined Functions Loc Press the LOC soft button and the LCD will display SELECT LOCATION VARIABLE TO EDIT locl loc2 loc3 loc4 lt MORE gt Press the soft button under the variable name to edit that variable The lt MORE gt soft button is shown only when there are more than five global location variables in system memory When a variable has been selected the LCD will show loc name X 500 CHANGE NEXT HERE If a precision point is selected the LCD will show floc name Jtl 210 CHANGE NEXT HERE Press the CHANGE soft button to change the displayed component of the location variable The value will disappear and be replaced with the typing cursor Use the data entry buttons to enter a new value and com plete the entry by pressing REC DONE Press the NEXT soft button to show the next component of the location variable The location s X Y Z y p and r values will be shown in succes sion X Y and Z values are given in millimeters y p and r values are given in degrees If a precision point is being edited the joint values for all the joints in the robot will be shown in succession Press the HERE soft button to record the current robot location in the variable being edited WARNING Be extremely careful when changing locatio
17. assumes the MCP has been attached clear display amp home cursor set cursor position Clear the display and write the top line WRIT GI mcp Write the menu WRITE mcp WRITE mcp WRITE mcp ULI FS Beep the MCP WRIT Lrj mcp SCHR pe clr scr SCHR pe cur pos options SCHR pe cur pos SCHR 41 S Option5 SCHR pe tab Option4 Option3 SCHR pe tab Option2 SCHR pe beep S beep the pendant tab to next soft button SCHR 16 MAIN MENU S SCHR pe tab S SCHR pe tab Q 55 Manual Control Pendant User s Guide PROGRAM mcp main quit quit ABSTRACT This program responds to a Quit selection from the MCP A main menu It verifies the selection and passes the result INPUT PARMS none OUTPUT PARMS quit Boolean indicating whether a quit has been verified GLOBAL VARS mcp The MCP logical unit A pe clr scr pendant control code clear display amp home cursor pe off led pendant control code turn off an LED y pe blink char pendant control code start blink position pe noblink char pendant control code disable blink position i pe tab pendant control code tab to next soft button quit FALSE assume quit will not be verified Display sub menu and start the NO option blinking WRITE mcp SCHR pe clr scr Ouit Are you sure WRITE mcp CHR pe tab CHR pe
18. tab CHR pe tab YES S WRITE mcp SCHR pe tab SCHR pe blink char NO SCHR pe nobl ink char S button PENDANT 0 tj IS Set guit to true if verified lse turn off the NO soft button LI IF button 2 THEN quit TRUI E ELSE WRITE mcp SCHR pe off led S CHR 1 END 56 Index A ARM POWER HIGH POWER 4 ATTACH 41 Auto start from the MCP 23 AUTO V2 23 B Background mode 15 Binary I O see Digital I O Button modes 43 keyboard 44 level 45 toggle 44 C Calibrating the robot from the MCP 23 Clear error button 22 Clear error function 22 CMD function 23 CMD1 24 CMD2 24 Communication with the MCP 41 Comp Pwr button 28 Compatibility 2 Control codes 48 for LCD 48 CR LF suppressing 42 Customer Service Assistance phone numbers 6 Cycle setting 25 D DETACH 41 Detecting user input 43 Device number 40 Digital I O displaying 21 E Edit function 18 Editing global variables with the MCP 18 Emergency stop 15 Emergency stop buttons 28 Errors displaying system 21 F Free state 38 H HIGH POWER ARM POWER 4 l IOSTAT 41 J Joint state 35 with Cartesian robot 35 with SCARA robot 35 Joint values displaying 20 K Keyboard mode 44 L LCD control codes 48 Level mode 45 Location displaying current robot 20 Location variables editing with MCP 19 Logical unit number for MC
19. the robot faster pressing the speed bar near the center will move the robot slower See Section 4 2 for details on positive and negative directions l llli l mw Fast Figure 4 2 Speed Bars Slow Button The slow button selects between the two different speed ranges of the selected speed bars When the slow button LED is lit the slower speed range is e200 S Figure 4 3 SLOW Button 29 Manual Control Pendant User s Guide 42 Robot States World State 30 When world state is selected movement in the X Y or Z direction is parallel to an axis of the world coordinate system Before the speed bars will move the robot an axis of motion must be selected from the manual control buttons The world coordinate system for a SCARA robot is shown in Figure 4 4 If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direction Pressing the speed bar will move the flange in the negative X direction The world coordinate system for a Cartesian robot is shown in Figure 4 5 If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direc tion Pressing the speed bar will move the flange in the negative X direction X direction iso UN Y direction Z direction a i RZ CCW Rotation Gripper Activity Figu
20. 379 from within California When calling Customer Service please have available the serial number of the controller If your system includes an Adept robot have the serial number of the robot handy The serial numbers can be determined by using the ID command see the V and V Reference Guide Training Information For information regarding Adept Training Courses please call 408 434 5024 Application Information There is also a dedicated phone line for assistance with robot vision and control applications For applications assistance call 408 434 5033 International Customer Assistance Europe For information on training service or applications Adept also has a Cus tomer Service Center in Dortmund Germany The phone number is 0231 75 89 40 Outside Europe or USA For information on training service or applications call 408 434 6267 Chapter 2 Manual Control Pendant Basics 2 1 Programmer s Pendant vs Operator s Pendant Adept motion systems are designed to allow control of the robot or motion device from the Manual Control Pendant MCP There are two styles of MCPs the operator s pendant and the programmer s pendant The pro grammer s pendant is designed for use while an application is being writ ten and debugged Figure 2 1 shows how to hold the programmer s MCP The operator s MCP is designed for use during normal system operation Figure 2 2 shows how to hold the operator s MCP
21. ART button is pressed the program displayed above the NEW soft button will begin execution Chapter 4 Moving a Robot or Motion Device With the MCP 41 Introduction The MCP is used with a robot or motion device primarily to teach robot locations for use in application programs The MCP is also used with cus tom applications that employ teach routines that pause execution at specified points and allow an operator to teach or re teach the robot loca tions used by the program The Adept AIM software system makes exten sive use of the pendant for teaching robot locations When you move the robot using the MCP motion will be in world state tool state joint state or in free state When moving in world state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the base of the robot When moving in tool state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the robot s end of arm tooling location In joint state directions are sent from the MCP to move individual robot joints In free state selected joints of the robot are freed from servo con trol so they can be moved by hand Mode Control Buttons The mode control buttons change the state being used to move the robot switch control of the robot between the MCP and application programs and enable ARM POWER when necessary The buttons are labeled in red Figure
22. ENDANT LAMP TERMINAL NETWORK TEST PENDANT REMOVE o PENDANT Either the pendant or the pendant jumper plug must be connected here Pendant jumper plug Figure 2 4 MCP Connection See the user s guide for the Adept MC controller for details on connecting the MCP internally 10 Chapter 2 Manual Control Pendant Basics 22 MCP Layout Liquid Crystal Display LCD User LED Speed Bars Slow Button i Data Entry Buttons Programmable Function Buttons The major areas of the MCP are shown in Figure 2 5 pe Gmemeea NI Ne TOOL MENU me DEV 2 no Figure 2 5 MCP Layout Soft Buttons Predefined Function Buttons Manual State LEDs Emergency Stop Switch Mode Control Buttons F Manual Control Buttons u Manual Control Pendant User s Guide 12 Soft Buttons The soft buttons have different functions depending on the application program being run or the selection made from the predefined function buttons Whenever a soft button is active its function is shown on the bot tom line of the pendant display Because these buttons do not have fixed labels the labels are defined by the program using the buttons they are referred to as soft buttons Programming the MCP is covered in Chapter 5 Figure 2 6 shows the soft buttons
23. I Function iu ueu eee biel CYD ekg tes Led eed YNYS 23 Auto Start ce A Dum na RA NWN OAOD DN DAD GA GRAA 23 CC ail uch YN O A NY NA NYDD NND YNA 23 Store AM uu ui Y un Saku Scam ND a vial atl NY pe AL 24 GMD 3 and CNT actrees ai GU dud uu ne pa Q AE ys te eS 24 Prog SEPT UNCON Asia nn O fn i gn a 25 ING WN DAN NN Y GI I UND DYDY OND 25 e MOWN NAD O 25 Cycle SN Y A CD GR y A Cu 25 Speed ASau A GY th Y ON cot Gace ie ph Y o RD Sind cu 26 Start ss yayama anpa aha YRR AN HF FFF FAU NC EYN 26 Chapter 4 Moving a Robot or Motion Device With the MCP 27 A1 modico TTT 27 Mode Control Buttons e LL LL LL LL LL LL LL LL taa 155 27 Emergency otop Button eu a GR nl A GON Sd 28 COMP PWR Button 2 0 0 0 ee LL a RR 28 NMLAN AELAETBUUODG Lu oe es YI YN SY DG ANN YN YG 28 Manual Control Buttons 28 SB ed Bars usata susta sa Pin ai spna L LOAN Bah Ae E SR a 29 SlowaiButton ee iti nA y Ge GA a FI WN WEI IY GYDA he 29 AD JR ODOESIAUOS u db dd edy dn dg Sd y o hats te o rod ocd a dd 30 World State au Me WN O UN UO GN DAN DDAN ANAN 30 Tools amu em Y o YS Bd SO a Sah 08 32 Jont State um as e a Sam DA amunka muu usun 35 Free State yu yayayta aaa atus aaa aoa SWM RA YN EW YO YF YG DAE 38 43 Selecting Different Robots ui y GG YG YD DY O 40 Chapter 5 Programming the Pendant 41 5 1 Writing to the Pendant Display uu ui A GY FC o 41 The Pendan
24. In this example the last two soft buttons have the options Retry and Ouit associated with them Retry Ouit Figure 2 6 Soft Buttons JOO Soft Buttons Chapter 2 Manual Control Pendant Basics Function Buttons Programmable Function Buttons The predefined function buttons have specific system wide functions assigned to them These functions are covered in Chapter 3 The program mable function buttons are used in custom application programs and their functions will vary depending upon the program being run See the documentation for your applications programs for details on these but tons O O O QO Predefined WORLD i Function Buttons a oS Figure 2 7 MCP Function Buttons 13 Manual Control Pendant User s Guide 14 Data Entry Buttons The data entry buttons are used to input data normally in response to prompts that appear on the pendant display The data entry buttons include YES NO DEL the numeric buttons 0 9 the decimal point and the REC DONE button These buttons are similar to the numeric key pad on a standard keyboard The REC DONE Button The REC DONE button behaves like the Return or Enter key on a normal keyboard When data entry is complete pressing REC DONE sends the entry to the controller In many cases appli
25. Manual Control Pendant User s Guide N JAAA AAAA o G sl Z CIS S o o Z 2 a x P 8 55 z em m SU UG Manual Control Pendant User s Guide O O G ab IS T WO IO 69 on JAAA AAAS N DD ao QOOQOE oao goe Part Number 00101 00010 Rev A June 1991 cc 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Telex 171942 Fax 408 432 8707 Otto Hahn Strasse 23 4600 Dortmund 50 Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 adepi 7 rue Victor Hugo 92310 S vres France Phone 33 1 45 34 32 32 Fax 33 1 45 34 76 16 e inc The information contained herein is the property of Adept O Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be con strued as a commitment by Adept Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in
26. Operator s MCP Chapter 2 Manual Control Pendant Basics A eS 2 5 y Q 1 5 z o ee OOO ClO O Oe MCP Saale retaining clip Figure 2 3 Cradling the Operator s MCP WARNING The cradle for the operator s pendant MUST be mounted outside of the robot or motion device work envelope Manual Control Pendant User s Guide Connecting the MCP The MCP is connected to the 14 pin connector marked PENDANT on the front of the controller The pendant emergency stop button and the palm activated arm power interlock switch are wired into the emergency stop circuitry Therefore either the pendant or the pendant jumper plug must be attached to this connector If neither one is connected you cannot enable ARM POWER If the pendant or jumper plug is removed ARM POWER is shut off To allow you to attach or remove the pendant without shutting off ARM POWER the controller is eguipped with a Pendant Remove button that temporarily bypasses the emergency stop features of the pendant To attach or remove the pendant press this button and hold it down while you exchange the pendant connector and the pendant jumper plug See Figure 2 4 Hold this button down to exchange the pendant and pedant jumper plug P
27. P 41 M Man Halt button 28 Manual states free 38 joint 35 tool 32 world 30 MCP determining state of 47 viewing angle 15 MCP button map 47 MCP logical unit number 41 Mode control buttons 27 Monitor speed setting 26 57 Manual Control Pendant User s Guide P PENDANT 44 used to determine MCP state 47 with speed potentiometer 46 with toggle buttons 44 Potentiometer programming 46 Precision point 19 Predefined function buttons 17 26 Priming a new program 25 Prog Set function 25 Program starting execution 26 Program cycles setting 25 Program step selecting starting 25 R READ 43 Real variables editing with MCP 18 Robot location displaying 20 s Safety overview 3 Selecting a new program 25 Selecting different robots 40 Slow button programming 46 Speed setting 26 Speed bar 29 Speed potentiometer programming 46 Starting program execution 26 State of MCP determining 47 Status displaying system 21 Step selecting starting 25 Store All function 24 Storing programs with the MCP 24 Suppressing CR LF 42 System safeguards computer controlled devices 4 T Toggle mode 44 58 TOOL state and TOOL transformation 32 Tool state 32 TOOL Transformation 32 U User input detecting 43 V Viewing angle LCD panel 15 w WAIT START 52 WRITE 42 Adept User s Manual Comment Form We have provided this form to allow you to make comments
28. Verify ATTACH was successful IF IOSTAT mcp lt gt 1 THEN GOTO 100 END 53 Manual Control Pendant User s Guide DO main processing loop Display the top level menu CALL mcp disp main Get the operator selection must be between 1 and 5 DO button PENDANT 0 UNTIL button lt 6 Turn on the LED of the selected button WRITE mcp SCHR pe on led CHR button S Respond to the menu item selected CASE button OF VALUE 1 Verify program exit CALL mcp main quit quit VALUE 2 CALL mcp option 2 VALUE 3 CALL mcp option 3 VALUE 4 CALL mcp option 4 VALUE 5 CALL mcp option 5 Turn off LED WRITE mcp S SCHR pe off led CHR button END CASE button of UNTIL guit Detach from the MCP DETACH mcp 100 IF NOT guit THEN Exit on MCP busy YPE C22 U15 The MCP is busy or not connected YPE Press the REC DONE button to clear C5 54 Chapter 5 Programming the Pendant PROGRAM mcp disp main ABSTRACT This program is called to display a main menu above the five soft keys on the MCP INPUT PARMS None OUTPUT PARMS None GLOBAL VARS mcp MCP logical unit pe clr scr pendant control code pe cur pos pendant control code pe beep pendant control code pe tab pendant control code The program
29. allation safeguarding maintenance testing startup and operator training The document is available from the American National Stan dards Institute 1430 Broadway New York NY 10018 1 Or any other motion device controlled by an Adept system Manual Control Pendant User s Guide System Safeguards Safeguards should be an integral part of robot workcell design installa tion operator training and operating procedures Adept robot systems have various communication features to aid you in constructing system safeguards These include remote emergency stop circuitry and digital input and output lines Computer Controlled Robots Adept robots are computer controlled and the program that is running the robot may cause it to move at times or along paths you may not antici pate When the amber ARM POWER HIGH POWER light and the blue PROGRAM RUNNING light on the front of the controller are illuminated do not enter the workcell because the robot may move unexpectedly Tees _ Figure 1 2 Arm Power High Power amp Program Running Lights 2 Depending on the controller you have the term HIGH POWER may be used in place of ARM POWER The terms are synonymous Chapter 1 Introduction Manually Controlled Robots Adept robots can also be manually controlled when the amber ARM POWER HIGH POWER light on the front of the controller is illuminated When this lightis lit robot motion can be initiated from the terminal or
30. at one of the predefined function buttons has been pressed 2 Indicates the MCP is in background mode not ATTACHed to an appli cation program 3 Indicates an error is being displayed 4 Indicates that the MCP is in USER mode ATTACHed to an application program See Section 5 5 for a program example that checks the MCP state 47 Manual Control Pendant User s Guide 5 3 48 Controlling the Pendant The MCP responds to a number of control codes that affect the LCD panel whether or not the buttons are repeat buttons and the LEDs associated with the pendant buttons The control codes are listed in Table 5 1 The control codes are sent as ASCII values using the WRITE instruction The normal way to send control codes is to use the CHR function to convert a control code to its ASCII value Control Codes for the LCD Panel To clear the display and position the cursor in the middle of the top line issue the instruction WRITE 1 SCHR 12 CHR 18 CHR 20 S CHR 12 clears the pendant and places the cursor at position 1 see Fig ure 5 2 SCHR 18 indicates that the next value received should be inter preted as a cursor location CHR 20 indicates the cursor should be placed at position 20 S must be appended to the WRITE instruction or a lt CR LF gt will be sent Notice that using control code 18 allows you to position the cursor without disturbing existing text The following
31. ay input output or soft signal ranges See the controller user s guide for details on digital I O sig nal ranges Last Error Press LAST ERROR to display the error messages generated by V dur ing the current session The most recent error will be displayed The right most soft button will be labeled lt MORE gt Pressing this button will cycle back through the error messages generated during the current session 21 Manual Control Pendant User s Guide The Clear Error Function If the MCP is in the Pendant position or the system switch MCP MESSAGES is enabled error messages are sent to the MCP When an error is sent to the MCP the MCP will beep display a blinking error message and light the LED on the CLR ERR button PANIC BUTTON PRESSED Figure 3 4 CLEAR ERROR Function Button The CLR ERR button must be pressed for operation to continue Pressing the CLR ERR button will clear the error message from the display and return the MCP to the state it was in before the error 22 Chapter 3 The MCP Predefined Functions The CMD Function The CMD function button displays the options AUTO START CALIBRATE STORE ALL CMD1 and CMD2 AUTO STORE START CALIB ALL CMD1 CMD2 OL JO JO JO TO Figure 3 5 Command CMD Function Button Auto Start The controller key switch must be set to pendant When AUTO START is pressed the pendant display
32. cations programs have users press the REC DONE button to signal that they have completed a task The DEL Button The DEL button acts like the backspace key on a normal keyboard When data is being entered it will appear on the pendant display DEL will delete any characters that appear on the pendant display but have not been entered using the REC DONE button Applications programs may also assign special functions to the DEL button Figure 2 8 Data Entry Keys Chapter 2 Manual Control Pendant Basics Mode Control and Manual Control Buttons The mode control and manual control buttons are used to control the robot from the pendant The use of these buttons is covered in Chapter 4 Speed Bars and Slow Button The speed bars and slow button are used primarily to move the robot when it is in manual mode These options are described in Chapter 4 In some cases application programs will make special use of the speed bars See the documentation for the application program for details on how it uses these buttons 23 Emergency Stop From the MCP To immediately halt program execution and turn off ARM POWER press the emergency stop button on the MCP This switch has the same effect as pressing the emergency stop button on the controller If you are using the operator s pendant you may also release the arm power interlock switch to halt program execution and shut off ARM POWER To re
33. code will place the text EXIT in the middle of the bottom line and set the text blinking WRITE 1 SCHR 18 CHR 58 EXIT S WRITE 1 SCHR 18 SCHR 58 SCHR 22 CHR 4 S CHR 22 tells the pendant to start a series of blinking positions starting at the current cursor location and extending for the number of positions specified by the next control code CHR 4 This code will cause any text in positions 58 62 to blink until an instruction is sent to cancel the blinking The following code line dibbles the blink positions WRITE 1 SCHR 18 SCHR 58 SCHR 23 SCHR 4 S CHR 23 tells the pendant to cancel a series of blinking positions start ing at the current cursor location and extending for the number of posi tions specified by the next control code CHR 4 Chapter 5 Programming the Pendant Text can be made to blink as it is written to the display regardless of the position the text is in The following code writes the text EXIT to the middle of the bottom line starts the E blinking and then beeps the MCP WRITE 1 SCHR 18 SCHR 58 SCHR 2 E S WRITE 1 SCHR 3 XIT S WRITE 1 CHR 7 S CHR 2 starts blink mode Any characters sent to the MCP display will blink Blink mode is canceled by SCHR 3 SCHR 3 cancels blink mode for subsequent characters it does not cancel blinking of previ
34. drive The boot drive is set in hardware and is used during the boot procedure to specify the drive that contains the operating system Once the sys tem is loaded the default disk is the drive and path specification for loading and storing files 52 Chapter 5 Programming the Pendant 55 Programming Example MCP Menu The following code implements a menu structure on the MCP PROGRAM mcp main ABSTRACT This program creates and monitors a menu structure on the MCP INPUT PARMS None OUTPUT PARMS None GLOBAL VARS mcp MCP logical unit pe clr scr pendant control code clear display amp home cursor pe cur pos pendant control code set cursor position pe off led pendant control code turn off an LED pe blink char pendant control code start blink position pe noblink char pendant control code disable blink position pe beep pendant control code beep the pendant pe tab pendant control code tab to next soft button pe on led pendant control code turn on an LED OCAL button number of the soft button pressed OCAL quit boolean indicating menu structure should be exited mcp 1 quit FALSE pe clr scr 12 pe cur pos 18 pe off led 28 pe blink char 2 pe noblink char 3 pe beep 7 pe tab 9 pe on led 31 Check to see if the MCP is free IF PENDANT 3 lt gt 2 THEN GOTO 100 END Attach to the MCP ATTACH mcp
35. e Positive movement of joint 3 is downward Before the speed bars will move a joint the correct joint must be selected from the manual control buttons Different types of motion devices will have the different joint numbers assigned to their joints When you first move an unfamiliar robot using joint state set the monitor speed to 10 or lower put the robot in a safe area and carefully move the robot using the different joint numbers to verify how the MCP moves the robot See the documentation for the motion devices you are using for details on their joint assignments Figure 4 9 shows an Adept Cartesian robot with three translational joints and one rotational joint Figure 4 10 shows the joint assignments for a typical six axis robot as always the first time you move a robot carefully verify the joint assign ments Joint2 Jointt 3 Joint 1 ze Joint 2 I Joint3 o Joint 3 Joint 4 Joint4 _ Gripper Activity Figure 4 8 JOINT State SCARA 35 Manual Control Pendant User s Guide Joint 1 Joint 2 Joint 3 Joint 4 Joint 2 Gripper ys Joint 1 gt b Jos A Figure 4 9 JOINT State Cartesian 36 Chapter 4 Moving a Robot or Motion Device With the MCP Joint 4 Joint 4 Joint 5 Joint 5 Joint 6 Gripper Figure 4 10 JOINT State Six Axis Robot 37 Manual Control Pendant User s Guide Free State When free state is selected individual joi
36. each button press they want recorded The following instruction disables the repeat option for the period button WRITE 1 CHR 25 SCHR 55 The repeat option is enabled with the instruction WRITE 1 CHR 24 CHR 55 Table 5 1 lists all the control codes used with the pendant Chapter 5 Programming the Pendant B Code Table 5 1 Pendant Control Codes Single Byte Control Codes Function Not Used Enable blink mode for subsequent characters Display cursor make the cursor visible Hide cursor make the cursor invisible Not Used Beep Disable blink mode for subsequent characters characters will still blink if they appear in a blinking position set by code 22 Backspace ignored if cursor is in character position 1 Tab to next soft button Line feed move down in same position scroll if on line 2 Vertical tab move up in same position do not scroll blink mode set by code 2 Home cursor and clear screen cancels any blinking positions but does not affect Carriage return move to column 1 of current line Home cursor move to character position 1 Clear from cursor position to end of line Double Byte Control Codes Function Not Used Not Used Position cursor Not Used Not Used Not Used Enable blinking positions starting at current cursor location Disable blinking position starting at
37. enable arm power after pressing the MCP emergency stop button turn the emergency stop button to the right clockwise The switch is spring loaded and will return to its normal position If you are using the operator s MCP depress the palm switch ARM POWER can now be re enabled by pressing the COMP PWR button mode control group or by entering the ENABLE POWER command from the keyboard 2 4 Background Mode The pendant is in background mode when the USER LED is not lit and none of the predefined functions are being used The USER LED is lit whenever an application program is making use of the MCP The MCP will not return to background mode until the program completes execution or is aborted The LEDs above the predefined function buttons indicate whether the functions are being used If one of the LEDs is lit the MCP can be returned to background mode by pressing the REC DONE key more than one press may be necessary The predefined functions are described in Chapter 3 When the MCP is in background mode the viewing angle of the LCD can be changed There are three different angles Press the 2 5 or 8 but ton to select a different viewing angle 15 NOTES Chapter 3 The MCP Predefined Functions 3 1 Introduction This chapter describes the manual control pendant functions related to Loading and starting programs Editing global variables Displaying system status Chapter 4 cov
38. ers using the MCP to manually control a robot or motion device 3 2 Predefined Function Buttons The MCP has five predefined function buttons for your use They are listed and explained below ONCOS Figure 3 1 MCP Predefined Function Buttons 17 Manual Control Pendant User s Guide The Edit Function The Edit function button allows editing of location variables and real vari ables that are used by V or V programs SELECT DATA TO MODIFY REAL LOC Figure 3 2 EDIT Function Button Real Press the real soft button and the LCD will display SELECT REAL VARIABLE TO EDIT varl var2 var3 var4 lt MORE gt varl var2 etc are global variable names Press the soft button under the variable name to edit that variable The lt MORE gt soft button is shown only when there are more than five global real variables in system memory When a variable has been selected the LCD will show var name xxx CHANGE TRUE FALSE Press the TRUE soft button to set the variable to the boolean value of true 1 Press FALSE to set the variable to false 0 To change the value of the variable press the CHANGE soft button The LCD will display var name _ CHANGE TRUE FALSE The typing cursor has replaced the variable value Use the data entry but tons to input a new value and complete the entry by pressing REC DONE 1 Tf the variable being edited is an array an
39. eturn control to the controller If a program attempts to execute with the MCP in manual mode the error Comp mode disabled will be generated When the MAN HALT button is pressed the first time the MCP will be in world state Pressing the MAN HALT button again selects the next state to the right tool joint free eventually wrapping back to the left most state world If manual mode is terminated and re entered without turning off system power the last active state is selected Manual Control Buttons The buttons on the far right side outlined in blue are the Manual con trol buttons When the MCP is in manual mode these buttons select 1 Tf the robot has not been calibrated and ARM POWER is turned on the MCP emergenc stop switch LED will be lit and both the COMP PWR and MAN HALT LEDs will be off 28 Chapter 4 Moving a Robot or Motion Device With the MCP which robot joint will move or the coordinate axis along which the robot will move The X 1 Y 2 Z 3 RX 4 RY 5 and RZ 6 buttons are covered in section 4 2 The MCP must be in manual mode before a manual control button can be selected Speed Bars The speed bars are used to control the robot s speed and direction The joint s that will move when the speed bars are pressed depends on the state selected with the MAN HALT button Press the speed bars with your left thumb Pressing the speed bars near the outer ends will move
40. ist on the default drive 3 A command program with the same name as the file name minus the extension must be one of the programs in the file If AUTO22 V2 is loaded the program auto22 will be COMMANDed See the V and Vt Reference Guide for details on command programs WAIT START Starting a robot program while the operator is in the workcell can be extremely dangerous Therefore Adept has installed the following safety procedure to prevent program startup while an operator is in the workcell Before a program auto started from the MCP will begin execution the operator will have to leave the workcell put the controller key switch in the terminal position and press the Program Start button The WAIT START instruction implements this safety feature This instruction is automatically included in any programs started with the AUTO START CMD CMD1 CMD2 and CALIBRATE buttons on the MCP You should include this safety feature in any pendant routines you write that initiate monitor command programs that include robot motions The command WAIT START in a monitor command program will pause execution of a monitor command program until the key switch is correctly set and the PROGRAM START button is pressed See the V and V Reference Guide for other uses WAIT START WARNING For this safety feature to be effective the con troller must be installed outside the workcell 1 The default disk is not the same as the boot
41. n values When the robot moves to a modified location it could damage equipment in the workcell 2 If the variable being edited is from an array an additional soft button is be defined that allows you to specify the index of the variable to edit 19 Manual Control Pendant User s Guide The Display Function The Display function button allows either the current Jeni values the cur rent world location the system status the digital I O status or the last error message to be displayed on the MCP JOINT WORLD BINARY LAST VALUES LOCATION STATUS UO ERROR Figure 3 3 DISPLAY Function Button Joint Values When this button is pressed the display will show Jl x xx J2 x xx J3 x xx J4 x xx J5 x xx J6 x xx These values represent the current joint positions of the robot or motion device Values will be shown only for joints the robot or motion device actually has Rotational joint values are expressed in degrees and transla tional joint values are expressed in millimeters See the next chapter for details on the meaning of values for different joints World Location When this button is pressed the display will show X XXX xxmm Y xxx xxmm Z XXX xxmm y xxx xx p xxx xx r xxx xx The values represent the current location of the robot or motion device in world coordinates See the next chapter for details on world coordinates 5 Digital I O and Binary I O are synonymous terms
42. n where it is being pressed An argument of t2 to the PENDANT func tion will return the value of the speed bar The following code displays the state of the speed bar Set the REC DONE button to toggle KEYMODE 8 1 Display speed bar value until the REC DONE is pressed DO WRITE 1 PENDANT 2 UNTIL PENDANT 8 The Slow button is intended to alter the value returned by the speed bar The following code compresses the range of values returned by 50 whenever the Slow button is on Set the REC DONE button to toggle KEYMODE 8 1 Do until the REC DONE button is pressed IF PENDANT 36 THEN YPE PENDANT 2 0 5 ELSE YPE PENDANT 2 END UNTIL PENDANT 8 46 Chapter 5 Programming the Pendant o OJO USER WORLD TOOL JOINT FREE DEV2 e eee O Gee N o co CPLL e eje e eje Figure 5 1 MCP Button Map Reading the State of the MCP It is good programming practice to check the state of the MCP before ATTACHing to it The instruction cur state PENDANT 3 will return a value to be interpreted as follows 1 Indicates th
43. nts are freed from servo control and the robot brakes if any are released Unlike the other states you can make multiple selections from the manual control buttons to free as many joints as reguired In some cases such as joints 1 amp 2 on a SCARA robot multiple joints are freed by selecting a single button As soon as the COMP PWR button is pressed or another selection is made from the manual control buttons all joints are placed back under servo control and will not move freely Figure 4 11 shows the free state for a four axis SCARA robot The joint assignments in the free state are the same as the joint assign ments in joint state See Figure 4 7 for the joint assignments in a typical six axis robot WARNING As soon as a joint is selected from the manual control buttons the related joint is free to move in some cases multiple joints may be freed up In many cases the weight on the joint will be sufficient to move the joint and cause damage or harm For example when joint 3 on a SCARA or Cartesian robot is freed the joint is free to fall to the end of its travel In articulated robots multiple links of the robot may be free to fall when a single joint is freed up Be extremely careful when selecting a joint in free mode 3 On the Adept 604 S robot the joint 3 brake is never released To move this joint in free state you must use enough pressure to overcome the friction brake 38 Chapter 4 Moving
44. ously entered characters It also does not cancel blinking of character positions set by control code 22 CHR 7 causes the pendant to beep Figure 5 2 Pendant LCD Display 49 Manual Control Pendant User s Guide 50 The Pendant LEDs The LEDs on the soft buttons the F buttons and the REC DONE but ton can be lit either continuously or intermittently The following code places the text CLEAR and EXIT over the first two soft buttons lights the LED over the first soft button and blinks the light over the second soft button WRITE 1 SCHR 18 SCHR 41 CLEAR S WRITE 1 CHR 9 EXIT S WRITE 1 SCHR 31 CHR 5 WRITE 1 CHR 30 CHR 4 CHR 9 tabs the cursor to the next soft button position SCHR 31 lights an LED CHR 30 starts an LED blinking The button LED to be lit is specified in the ensuing control code In the above example button 5 s LED is turned on and button 4 s LED is set blinking The soft buttons F buttons and REC DONE button are the only buttons that have program mable LEDs Making Pendant Buttons Repeat Buttons Pendant buttons that are configured as keyboard buttons are normally repeat buttons button presses are recorded as long as the button is held down The repeat function can be disabled reguiring users to press the button once for
45. re 4 4 WORLD State SCARA Chapter 4 Moving a Robot or Motion Device With the MCP X direction Y direction Z direction Gripper Rotation Gripper Activity Figure 4 5 WORLD State Cartesian The Tj button cycles the gripper solenoids Press anywhere on the side of the speed bar to open the gripper on the side to close the grip per NOTE This is the most common gripper setup The gripper solenoids may be configured so they operate differently or they may not be configured at all Place your robot in a safe location and cycle the gripper to verify which side of the speed bar opens the gripper 2 The utility CONFIG_R is used to configure gripper activity See the Instructions for Adept Utility Programs 31 Manual Control Pendant User s Guide 32 Tool State When tool state is selected movement in the X Y or Z direction is along an axis of the tool coordinate system The tool coordinate system is cen tered at the robot tool flange with the Z axis pointing away from the flange The positive X axis is aligned with the center of the tool flange key way Before the speed bars will move the robot an axis of motion must be selected from the manual control buttons If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direction Pressing the speed bar will move the flange in the negative X direc tion In
46. resses in these modes The KEYMODE instruction is used to set the button behavior Using READ With the Pendant The READ instruction accepts input from the pendant Data Entry But tons 1 2 3 4 5 6 7 8 9 0 A READ instruction expects a lt CR LF gt to indicate the end of data entry On the MCP this sequence is sent by the REC DONE button similar to the Enter or Return key on a normal key board The DEL button behaves like the Backspace key on a normal keyboard All other pendant buttons are ignored by the READ instruction Note the pre defined function buttons are active and may be used while an attached program is waiting for input The instruction line READ 1 response will pause the program and wait for input from the pendant The user must signal the end of input by pressing the REC DONE button The input will be stored in the string variable response The input can be stored as a real variable but the and buttons must not be used for input Detecting Pendant Button Presses Individual MCP button presses are detected with the PENDANT func tion This function returns the number of the first acceptable button press The interpretation of a button press is determined by the KEYMODE instruction See the V and V Reference Guide for complete details The basic use of these two operations is described below 43 Manual Control Pendant User s Guide
47. t Display YY UG YD R Sides qa 41 ATTACHing t the Pendant 41 Using WRITE With the Pendant aus ay Y YD FF 42 oe Detecunp UserTnpult a E E EE o 43 Using READ With the Pendant 43 Detecting Pendant Button Presses 43 Rey oC ards Mode snd a CA EW Y O A4 BST L Le nue RR LUN A4 eye oder ei eg eU de el etek eU ef eau 45 Monitoring the MCP Speed Bar y FY UF NR 46 Reading the State of the MOP i sonanestacaeerneasracmavee 47 vi Table of Contents 2 3 Controlling the Pendant a a i ek i DI Y Y Y 48 Control Codes for the LCD Panel 48 The Pendant LEDs anaa u LL LL LL LL LL LL LL LL c Aage 50 Making Pendant Buttons Repeat Buttons e 50 5 4 Auto Starting Programs with the MCP 0 oc coe 52 WATTS TARE vison Succes Y aid tubal dab enn FD NA EN 52 5 5 Programming Example MCP Menu eu yy YU ND Ua 53 Index i OAA NEA E E RARE OY WNA GT a a Sete inh 57 Figure 1 1 Figure 1 2 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 Impacts and Trapping Points WERYD DF wdd dees 3 Arm Power High Power amp Program Running Lights 4 Holding the Programmer s MCP O ue Y Y Y Ad ep 7 Holding the Opera
48. the manual control pendant If you enter the workcell when this light is illu minated press the MAN HALT button on the manual control pendant This will prevent anyone else from initiating unexpected robot motions from the terminal keyboard Other Computer Controlled Devices In addition these systems can be programmed to control eguipment or devices other than the robot As with the robot the program controlling these devices may cause them to operate at times not anticipated by per sonnel It is critical that safeguards be in place to prevent personnel from entering the workcell when the blue PROGRAM RUNNING light on the front of the controller is illuminated WARNING Entering the robot workcell when either the amber ARM POWER HIGH POWER or the blue PROGRAM RUNNING light is illuminated can result in severe injury Adept Technology recommends the use of additional safety features such as light curtains safety gates or safety floor mats to prevent entry to the workcell while ARM POWER HIGH POWER is enabled These devices may be connected using the robot s remote emergency stop circuitry see the controller user s guide Manual Control Pendant User s Guide 1 5 Customer Service Assistance Service Calls Adept Technology maintains a fully staffed Customer Service Center at its headquarters in San Jose CA Two dedicated phone lines are available for service calls only 800 232 3378 from outside California 800 232 3
49. this doc ument Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright O 1991 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept Adept MC AdeptOne AdeptThree AdeptVision V and V are trademarks of Adept Technology Inc Printed in the United States of America Table of Contents Chapter 1 Introduction ce YH dT YN DN NS 1 11 This Manual and Related Publications 1 12 Compatibilty gong u yau aa GL DC CO YD acl 2 13 Notes Cautions and Warnings aei y Y GWD 2 EA CSat lyy hutu YY AU nd A GN Y ya Saa pa ks ON 3 Reading and Training for System Users ii FY FY YL FY FLY nu 3 System SAC CIALIS ee aa Uy see yd ddd dodd YR No 4 Computer Controlled Robots a Y CE CEFN GO 4 Manually Controlled Robots 5 Other Computer Controlled Devices 2 1 5 Customer Service Assistance 6 Service Calls tie cen eu YN Se MG YY YNDI NII Y O 6 Training Information gu Y nd YA ENG Ed dd O TG Md 6 Application Information Go Bede olla ee ed et NU O So 6 International Customer Assistance Y YL LL LL FL FY YY YY nL Ynad 6 Chapter2 Manual Control Pendant Basics eeen 7
50. tor s MOP nau WE GN CF FO 8 Cradling the Operator s MCP UF FY GT FN CDC BFG 9 MCP Connection no DU Y NO HD S 10 MG PLAY Ou a aed day Yy ed Ng hd dw e aE e do God yd awtu ai 11 ienn 95 T THT TT 12 MCP Function EE aa 13 Data Eptry a Aae a YY yd CD OC YY OS 14 MCP Predefined Function Buttons LL FY Y rr 17 EDIT Function Button I LL LL LL LL LL LL LL LL FL LL LL NUES Aea 18 DISPLAY Function Button i LL LL LL LL kaiq Y asa 2 20 CLEAR ERROR Function Button LL Y LL LL YL LL cence ees 22 Command CMD Function Button a r 23 Program Set Function Button ui Y AC GAGA 25 Mode Control Buttons LL LL LL LL RL LL e eet 27 SPeR Dan asa i a ue Mu ebu apu 29 SLOW Button s y velco aes ey Wink Ue AW SN ANAFU SO 29 WORLD State SCARA eer YL LL LL LL Y LL LL LL LL FL LL LL nnau 30 WORLD State Carfesian iia 4a 424 ow Yy di dd 31 OG e a y RR nea acne cued NN Y SN Sa 33 TOOL State Six Axis Robot 34 vii Manual Control Pendant User s Guide Figure 4 8 JOINT State SCARA a ua GR EG AS 35 Figure 4 9 JOINT State Cartesian uya YY UC WU GY NO DNA A 36 Figure 4 10 JOINT State Six Axis Robot 9 99ereeineinYYLYYLYYL ee cee eee eee eee eee 37 Figure 4 11 FREE State Four Axis SCARA 4i YY rom baneveskbenaseoad Uehuedegion 39 Figure 5 1 MCP Button Map i ug ua Wy AAA RAD madras GDG A7 Figure 5 2 Pendant LCD Display a ua oe ee Y Y
51. utton is configured as a toggle button The argument to PENDANT indicates that the state of MCP button 8 is to be read Chapter 5 Programming the Pendant Level Mode To detect the state of a button in level mode the PENDANT function must specify the button to be monitored When a button has been configured as a level button the state of the but ton is on as long as the button is pressed When the button is not pressed its state is off The following code uses the buttons labeled 2 4 6 and 8 button numbers 45 47 49 and 57 don t confuse the button labels with the numbers returned by the PENDANT function to move the cursor around the terminal display The buttons are configured as level buttons so the cursor moves as long as a button is depressed Set the REC DONE button to toggle KEYMODE 8 1 Set the data entry buttons labeled 2 8 to level KEYMODE 45 51 2 DO IF PENDANT 49 THEN TYPE X1 S cursor right END IF PENDANT 47 THEN TYPE SCHR 8 cursor left backspace END IF PENDANT 51 THEN TYPE Ul S cursor up END IF PENDANT 45 THEN TYPE SCHR 12 cursor down line feed UNTIL PENDANT 8 45 Manual Control Pendant User s Guide Monitoring the MCP Speed Bar The speed bar on the MCP returns a value from 128 to 127 depending o
52. will show Enter last two digits of file name auto_ Enter one or two digits and press REC DONE The pendant LCD will prompt you to place the controller key switch in the TERMINAL position and press the controller PROGRAM START button on the controller The system will then attempt to load the file AUTOxx V2 from the default disk and COMMAND the program autoxx xx refers to the digits you entered The program file AUTOxx V2 must reside on the default disk and it must contain a monitor command program named autoxx If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be dis played on the LCD For example if you had entered 9 the system would attempt to load the file AUTO9 V2 and COMMAND the program auto9 4 See the DEFAULT DISK command in the V and V Reference Guide for details on setting the default disk See the description of the utility program CONFIG_C in the Instructions for Adept Utility Programs for details on setting the startup default disk 23 Manual Control Pendant User s Guide 24 Calib The controller key switch must be set to pendant When CALIB is pressed the pendant LCD will prompt you to place the controller key switch in the terminal position and press the controller Program Start button The system will then enable power and calibrate the robot Store All When
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