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PolyScope Manual - Universal Robots Support

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1. Insert Basic Advanced Wizards Move Waypoint Wait Set After E selected Popup Halt Comment Folder Edit 4 Move Copy Paste After v selected Move Cut Delete Suppress 4 gt lt gt GB simulation hg gt pi IR speed r00 previous mex The program structure tab gives an opportunity for inserting moving copy ing and removing the various types of commands To insert new commands perform the following steps 1 Select an existing program command 2 Select whether the new command should be inserted above or below the selected command 3 Press the button for the command type you wish to insert For adjusting the details for the new command go to the Command tab Commands can be moved cloned deleted using the buttons in the edit frame If a command has sub commands a triangle next to the command all sub commands are also moved cloned deleted Not all commands fit at all places in a program Waypoints must be under a Move command not necessarily directly under ElseI and Else commands are required to be after an If In general moving ElseI commands around can be messy Variables must be assigned values before being used All Rights Reserved 5 PolyScope UNIVERSAL ROBOTS 4 29 Program gt Variables Tab File
2. o 15 39 Installation Default PrograM o 16 3 10 Modbus O Setup 16 3 ll _ Features si uae tw be ue RHEE aaa 18 212 Ogak urinaria Bok as 22 3 13 Load Screen aoaaa a a a a a a 23 3 14 RUD TOD oaa a eRe AAA AAA 24 Programming see dee eRe odos AAA 20 A Program New Program aaa a o o 26 4 2 Program ICON error arar 26 4 3 Program Command lab lt EMpPTY gt 2 44 Program gt Command lab MOVe 28 4 5 Program gt Command lab Fixed Waypoint 30 46 setting The waypoOlMtl a a 30 4 7 Program Command Tab Relative Waypoint 32 4 8 Program Command Tab Variable Waypoint 32 49 Program gt Command Tab Wait 33 TTEPTEPETTETTER 34 4 11 Program gt Command lab POPUP 34 4 12 Program gt Command lab Halt 35 4 13 Program Command lab Commentl 35 4 14 Program gt Command lab Folder 36 4 15 Program gt Command Tab LO00P 36 pausas 37 4 17 Program gt Command lab Assignment 38 4 18 Program gt Command lab f 38 4 19 Program gt Command lab Script 39 4 20 Program gt Command lab EventT 39 3 UNIVERSAL ROBOTS
3. Move robot here o Waypoint_1 Set Change this Waypoint eo Pallet y D F eo Pattern i e PalletSequence o Approach o PatternPoint Set Wait pa v o Exit 9 ee Destack o StartPos ee Direction o FromPos o ToPos eo PickSequence StackPos Set Show advanced options _ Wait O Stop at this point aco Blend with radius 9 V Folder 4 I Dar dian gt Remove this waypoint Add waypoint before Add waypoint after O Simulation 9 Real Robot CIC Speed 100 de Previous Next gt A point on the robot path Waypoints are the most central part of a robot program telling the robot where to be A fixed position waypoint is given by physically moving the robot to the position 4 6 Setting the waypoint Press this button to enter the Move screen where you can specify the robot position for this waypoint If the waypoint is placed under a Move command in linear soace moveL Or moveP there need to be a valid feature selected at that Move command in order for this button to be pressable Waypoint names Waypoint names can be changed Two waypoints with the same name is al ways the same waypoint Waypoints are numbered as they are specified All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS 4 Programming Blend radius If a blend radius is set the robot trajectory blends around the waypoint allow
4. All Rights Reserved 2 PolyScope UNIVERSAL ROBOTS 3 Robot Control File 17 13 54 Program Installation Move I O Log TCP Position Delete Point 1C e Mounting I O Setup Modbus Def Program Load Save Features Base Tool X Point_1 Show axes IS Move robot here Change this point x Joggable Variable Add Line Push this button to add a line feature to the installation A line is defined as an axis between two point features This axis directed from the first point towards the second point will constitute the y axis of the line coordinate system The Z Axis will be defined by the projection of the z axis of the first sub point onto the plane perpendicular to the line The position of the line coordinate system is the same as the position for the first sub point File 17 14 03 Program Installation Move I O Log TCP Position E Delete oo _Delete_ Mounting I O Setup Modbus Def Program Load Save Features Show axes IS Move robot here Joggable R Variable Add Plane Push this button to add a plane feature to the installation A plane is defined by three sub point features The position of the coordinate system is the same as the position for the first sub point The z axis is the plane normal and the y axis All Rights Reserved 2
5. FromPos agua aaas o ToPos Rename a f x 2 9 ee PickSequence StackPos Set Wait Waypoint Wait 9 Y Folder lt empty gt Assigns the selected variable with the value of the expression Comment Halt Popup Y Loop lt empty gt Script var_1 1 1 4 gt Ginna IR sos cuore tren Lome Assigns values to variables An assignment puts the computed value of the right hand side into the variable on the left hand side This can be useful in complex programs 4 4 18 Program Command Tab If File 17 13 37 Program installation lt unnamed gt Command Graphics Structure Variables we Staltrus 9 ee Direction FromPos If o ToPos ee PickSequence Depending on the state of the given sensor input or program variable the o StackPos following lines will be executed Set Wait Waypoint Wait 9 Y Folder lt empty gt j _ Check expression continuously Comment Halt Popup Y Loop var_1l 1 1 P Call SubProgram_1 v V im lt empty gt Event lt empty gt Y Thread 1 9 V Force lt empty gt Add Elself Remove Elself P SubProgram_1 4 Add Else QO Simulation Real Robot ld gt mM Speed 100 Previous ext E An if then else construction can make the robot change its behavior based on sensor inputs
6. Installation Move 1 O Log TCP Position Setup for the Tool Center Point Mounting Setting the Tool Center Point oe TCP Coordinates Modbus x o O 5 Def Program 9 Y 0 0 mm Y Load Save 2 0 0 mm Features SS Z S The payload at the TCP is 0 00 kg Fit program to new TCP pS S 2 ro Change motions e gt p 7 Change graphics The Tool Center Point TCP is the point at the end of the robot arm that gives a characteristic point on the robot s tool When the robot moves linearly it is This All Rights Reserved 14 Polyscope 3 Robot Control UNIVERSAL ROBOTS point that moves in a straight line lt is also the motion of the TCP that is visualized on the graphics tab The TCP is given relative to the center of the tool output flange as indicated on the on screen graphics The two buttons on the bottom of the screen are relevant when the TCP is changed e Change Motions recalculates all positions in the robot program to fit the new ICP This is relevant when the shape or size of the tools has been changed e Change Graphics redraws the graphics of the program to fit the new TCP This is relevant when the TCP has been changed without any physical changes to the tool 3 7 Installation Mounting File 17 13 46 O j Program Installation Move 1 O Log TCP Position Specify Robot Mount and Angle Mounting I O Setup qT Modbus Def Program Load Sav
7. previous mem This command gives access to the underlying real time script language that is executed by the robot controller It is intended for advanced users only If the File option in the top left corner is choosen it is possible to create and edit script programs files This way long and complex script programs can be used together with the operator friendly programming of PolyScope 4 20 Program Command Tab Event File 17 13 43 Program Installation lt unnamed gt Command Graphics Structure Variables eE SET Wait o Waypoint Event Wait y Y Folder An Event is simmilar to an Interrupt however in an event the execution of lt empty gt the main program continues while the event code is being executed While Comment the event is being executed new events will have no effect Halt Depending on the state of the given sensor input or program variable the Popup following lines will be executed V Loop lt empty gt El Script var_1 1 1 P Call SubProgram_1 Vif eo Pallet Approach PatternPoi Set Wait o Exit Simulation ke p gt E Speed 24A_ 100 Previous Next gt 8 Real Robot All Rights Reserved 40 PolyScope 4 Programming UNIVERSAL ROBOTS n event can be used to monitor an input signal and perform some action or set a variable when that input signal goes high For example in
8. A specific position in the pattern is calculated by simply adding the interval vectors proportionally The Line and Square patterns work similarly A counter variable is used while traversing the positions of the pattern The name of the variable can be seen on the Pattern Command screen The vari able cycles through the numbers from 0 to X x Y x Z 1 the number of points in the pattern This variable can be manipulated using assignments and can be used in expressions All Rights Reserved 42 PolyScope 4 Programming UNIVERSAL ROBOTS 4 23 Program Command Tab Force Force mode allows for compliance and forces in selectable axis in the robots workspace All robot movements under a Force command will be in Force mode When the robot is moving in force mode it is possible to select one or more axes in which the robot is compliant Along around compliant axes the robot will comply with the environment which means it will automatically adjust its position in order to achieve the desired force It Is also is possible to make the robot itself apply a force to Its environment e g a workpiece Force mode is suited for applications where the actual tcp position along a predefined axis is not important but in stead a desired force along that axis is required For example if the robot tcp should roll against a curved surface or when pushing or pulling a workpiece Force mode also supports applying certain torques around predefi
9. Contents 4 21 Program gt Command lab ThreaQ 40 TETTESTE do 40 aa at 42 4 24 Program gt Command lab Pallet 44 4 25 Program gt Command lab Seek 0 0000 AS 4 26 Program gt Command lab Suppress 48 4 27 Program gt Graphics lab a 49 4 28 Program gt Structure lab 50 4 29 Program gt Variables Tab 5 ree 51 cie AE eeueds aes a 3 92 5 Setup SCFEEN 2 o o o 4 52 5 2 Setup Screen gt Inifidlize 0 0 53 5 3 setup Screen gt Language Select 53 5 4 setup Screen gt UpdAOTe 54 5 0 Setup Screen gt Password 0 00 a 54 56 Setup Screen gt Calibrate Touch Screen 59 9 setup Screen gt Network oo 59 5 8 Setup Screen gt TIMe 0 0 0 0 56 All Rights Reserved 4 Polyscope 1 Introduction UNIVERSAL ROBOTS 1 Introduction PolyScope is the graphical user interface GUI which lets you operate the robot run existing robot programs or easily create new ones PolyScope runs on the touch sensitive screen attached to the control box To calibrate the touch screen read section 5 6 PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS SETUP Robot About SHUT DOWN Robot The picture a
10. The GUI needs to be restarted for changes to take effect All Rights Reserved 5 PolyScope
11. a files program The main difference lies in which actions are available to the user In the basic load screen the user will only be able to access files not modify or delete them Furthermore the user is not allowed to leave the directory structure that descends from the programs folder Ihe user can descend to a sub directory but he cannot get any higher than the programs folder Therefore all programs should be placed in the programs folder and or sub folders under the programs folder Screen layout Load Program Current Directory home hudson programs ABCDE urp Filename Filter Universal Robots Program files M Open Cancel This image shows the actual load screen lt consists of the following important areas and buttons Path history The path history shows a list of the paths leading up to the present location This means that all parent directories up to the root of the computer are shown Here you will notice that you may not be able to access all the directories above the programs folder By selecting a folder name in the list the load dialog changes to that direc tory and displays it in the file selection areal3 13 File selection area In this area of the dialog the contents of the actual area is present It gives the user the option to select a file by single clicking on its name or to open the file by double clicking on its name All Rights Reserved 24 Polyscope 3 Robo
12. ends It is also possible to specify whether an output can be controlled on the I O tab by either programmers or both operators and programmers or if it is only robot programs that may alter the output value All Rights Reserved 16 Polyscope 3 Robot Control 3 9 Installation gt Default Program File Program Installation TCP Position Mounting I O Setup Modbus Def Program Load Save Features Move I O Log UNIVERSAL ROBOTS 17 13 47 Set Default Program The Default program is loaded automatically when the robot is turned on Default Program File Automatically Load Default Program Select Default Program Automatically start default program when lt Di Input gt v is HI y lt No Program Selected gt The default program will be loaded when the control box is powered up 3 10 Modbus I O Setup Here the modbus O signals can be set up Modbus units on specific IP ad dresses can be added deleted and input output signals registers or digital on these units can be added deleted as well Each signal must be supplied with a unique name However several signals with different names may reference the same modbus signal but the user is advised to avoid this Below the different buttons and fields are explained in detail File Program Installation Move 1 0 Log TCP Positi ed Modbus lO Setup Mounting 0 0 0 0 I O S
13. entry on this screen is disabled File 17 14 16 Program Installation Move 1 0 Log Robot Modbus Inputs Outputs O Simulation 8 Real Robot Inputs View the state of digital modbus inputs Outputs View and toggle the state of digital modbus outputs A signal can only be toggled if the choice for I O tab control described in 3 8 allows it All Rights Reserved 12 Polyscope 3 Robot Control UNIVERSAL ROBOTS 3 4 AutoMove Tab The AutoMove tab is used when the robot has to move to a specific position in its workspace Examples are when the robot has to move to the start position of a program before running it or when moving to a waypoint while modifying a program File 17 13 24 O Run Move I O Log Automove Move Robot into Position Hold down Auto to perform the movement shown Release the button to abort Push Manual to move the robot into position manually Auto Manual Speed 100 Cancel Animation The animation shows the movement the robot is about to perform Compare the animation with the position of the real robot and make sure that robot can safely perform the movement without hitting any obstacles Auto Hold down the Auto button to move the robot as shown in the animation Note Release the button to stop the motion at any time Manual Pushing the Manual button will take you to the MoveTab
14. is a major risk that un controlled motion would cause damage to the robot or its surroundings the operator can choose to home the robot manually for each joint section 1 2 2 On screen Editors 2 1 On screen Keypad X Cancel simple number typing and editing facilities In many cases the unit of the typed value is displayed next to the number All Rights Reserved 8 Polyscope 2 On screen Editors UNIVERSAL ROBOTS 2 2 On screen Keyboard Ji simple text typing and editing facilities The shift key can be used to get some additional special characters 2 3 On screen Expression Editor and or xor not True HI False LO lt Input gt v lt Output gt v lt Function gt v 0 SHIFT MX Cancel While the expression itself is edited as text the expression editor has a num ber of buttons and functions for inserting the special expression symbols such as x for multiplication and lt for less than or equal to The keyboard symbol button in the top right of the screen switches to text editing of the expression All de fined variables can be found in the Variable selector while the names of the input and output ports can be found in the Input and Output selectors Some special functions are found in Function lt Variable gt gt All Rights Reserved 9 P
15. loop_1 in the screen shot above is created which can be used in expressions within the loop The loop variable counts from 0 to N 1 All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS 4 Programming When looping using an expression as end condition PolyScope provides an option for continuously evaluating that expression so that the loop can be interrupted anytime during its execution rather than just after each iteration 4 16 Program Command Tab SubProgram File Program Installation lt unnamed gt Command Graphics Structure Variables v 3STdaltrus 9 ee Direction o FromPos o ToPos 9 ee PickSequence StackPos Set SubProgram 1 program SubProgram file A subprogram can either point to a file on disk or can be contained in this 17 13 36 Rename Wait lt No File Selected gt o Waypoint Wait V Folder lt empty gt 0 Comment Halt Popup Y Loop lt empty gt El Script var_1 1 1 0 P Call SubProgram_1 Vif lt empty gt Load File Clear SubProgram Event Save SubProgram lt empty gt Y Thread 1 lt empty gt P SubProgram_1 Show SubProgram Tree 4 __ Track program execution 9 V Force Keep SubProgram File Updated with this Program O Simulation 8 Real Robot Pr eee Previous Next gt A Sub Program can hold program parts th
16. mr E ee PickSequence StackPos Set Wait o Waypoint Wait 4 kurd nakiag T lt gt Y O Simulation Real Robot hed gt gt MW speed 100 Previous Next gt Graphical representation of the current robot program The path of the TCP is shown in the 3D view with motion segments in black and blend segments transitions between motion segments shown in green The green dots specify the positions of the TCP at each of the waypoints in the program The 3D draw ing of the robot shows the current position of the robot and the shadow of the robot shows how the robot intends to reach the waypoint selected in the left hand side of the screen The 3D view can be zoomed and rotated to get a better view of the robot The buttons in the top right side of the screen can disable the various graphical components in the 3D view The motion segments shown depends on the selected program node If a Move node is selected the displayed path is the motion defined by that move If A Waypoint node Is selected the display shows the following 10 steps of movement All Rights Reserved S0 Polyscope 4 Programming UNIVERSAL ROBOTS 4 28 Program gt Structure Tab File 17 13 26 Program Installation Move 1 O Log lt unnamed gt Command Graphics Structure Y Robot Program a z lt empty gt Program Structure Editor
17. o n TN 17 13 44 Graphics Structure Initial Variable Values Variables Loop_1 has no specific initial value ent_1 cnt_2 0 interpolate 1 0 0 pose_1 has no specific initial value pose 2has no specific initial value pose _3 has no specific initial value var_1 has no specific initial value Variable Expression C Keep valu Rename 0 from previ ious run Clear Expression fod Bs O Simulation 8 Real Robot Ci G CO LI Speed 100 4 Previous Next gt This screen allows setting variable values before the program and any threads start executing select a variable from the list of variables by clicking on it or by using the variable selector box For a selected variable an expression can be entered that will be used to set the variable value at program start All Rights Reserved 52 PolyScope 9 setup UNIVERSAL ROBOTS If the Prefers to keep value from last run checkbox is selected the vari able will be initialized to the value found on the Variables tab described in section This permits variables to maintain their values between program executions The variable will get its value from the expression if the program is run for the first time or if the value tab has been cleared A variable can be deleted from the program by setting its name to blank only spaces 5 Setup 5 1 Setup Screen SETUP Robot O Please s
18. operating in force mode The features in the menu are those which have been defined in the installation see Force mode type The are four different types of force mode each determining the way in which the selected feature will be interpreted All Rights Reserved 43 PolyScope UNIVERSAL ROBOTS A Programming e Simple Only one axis will be compliant in force mode The force along this axis is adjustable The desired force will always be applied along the z axis of the selected feature However for Line features if is along their y axis e Frame he Frame type allows for more advanced usage Here compli ance and forces in all six degrees of freedom can be independently se lected e Point When Point is selected the task frame has the y axis pointing from the robot tcp towards the origo of the selected feature The distance be tween the robot tcp and the origo of the selected feature is required to be at least 10 mm Note that the task frame will change at runtime as the position of the robot tcp changes The x and z axis of the task frame are dependent on the original orientation of the selected feature e Motion Motion means that the task frame will change with the direction of the TCP motion The x axis of the task frame will be the projection of the tco movement direction onto the plane spanned by the x and y axis of the selected feature The y axis will be perpendicular to the robot motion and in the x y plane of the selec
19. where the robot can be moved manually This is only needed if The movement in the animation is not oreferable All Rights Reserved 13 PolyScope UNIVERSAL ROBOTS 3 Robot Control 3 5 Installation Load Save File 17 13 47 Program Installation Move I O Log TCP Position E Load Save Robot Installation to File Mounting I O Setup The Robot Installation includes the options that can be set using the tabs to the left This includes I O names TCP setup and the robot s mounting The robot Modbus installation does not include a robot program Def Program Save the current installation default Save Load Save Features Load a different installation file Load The installation covers aspects of how the robot is placed in its working envi ronment both mechanical mounting of the robot and electrical connections to other equipment These settings can be set using the various screens under the Installation tab It is possible to have more than one installation file for the robot Programs created will use the active installation and will load this in stallation automatically when used Any changes to an installation needs to be saved to be preserved after power down Saving an installation can be done either by pressing the Save button or by saving a program using the installation 3 6 Installation TCP Position File 17 13 45 Program
20. 2 PolyScope 3 Robot Control UNIVERSAL ROBOTS is directed from the first point towards the second The positive direction of the Z axis is set so that the angle between the z axis of the plane and the z axis of the first point is less than 180 degrees File Program Installation Move 1 O Log TCP Position Plane 1 Rename Mounting I O Setup Modbus Def Program Load Save Features Base Tool Y Plane 1 X Point_1 EK Show axes Joggable Variable X Point_2 X Point_3 q i gt 17 14 15 Move robot here 3 12 Log Tab File Program Installation Move I O Lo Robot Health Readings Joint Load Controller Temp 0 0 C Base POWER OFF Main Voltage 0 0 V Shoulder POWER OFF Avg Robot Power O W Elbow POWER OFF Robot Current 0 0 A Wrist 1 POWER OFF 10 Current 0 mA Wrist 2 POWER OFF Tool Current 0 mA Wrist 3 POWER OFF T 0000d00h01m26 632s T 0000d00h00m00 000s PolyScope PolyScope 1 7 9721 Dec 27 2012 T 0000d00h00m00 000s PolyScope Failed to load Installation T 0000d00h00m00 000s PolyScope Connected to Controller V 0000d00h00m00 000s URControl URControl 1 7 9721 Dec 27 2012 T 0000d00h00m33 712s RTHachine Program step forward stopped T 0000d00h00m35 976s RTHachine Program step forward stopped T 0000d00h00m36 264s RTHachine Program step forward stopped T 0000d00h00m37 112s RTHachine Program step forward stopped T 0000d00h00m38 936s RTHachine Program step f
21. Controller Input Tool Input Digital S 8 9 Digital 0 1 2 3 4 5 6 7 an arto OOO ano ACARA NI Anala IAL analog infa 0 000 V ov 5v v 0 000 V jov sv i oov ov 5v y OV 5V OV 5V analog in 3 0 000 v fov 5v v Controller Output Tool Output Digital Digital 0 1 2 3 4 5 6 7 8 9 Dl a un f f On Off on orf h bd b b bd Le Led Voltage Current analog out 0 analog out 1 Current v 1am Current v Dad 000 mA 4mA 20mA 4mA 20mA oO 12 24 O Simulation 8 Real Robot On this screen you can always monitor and set the live O signals from to the robot The screen displays the current state of the I O inluding during program execution If anything is changed during program execution the program will stop At program stop all output signals will retain their states The screen is updated at only 10Hz so a very fast signal might not display properly The electrical details of the signals are described in the user manual Analog Range Settings The analog output can be set to either current 4 20mA or voltage 0 10V output The analog input ranges adjusted to be from 10 10V to 0 9V The settings will be remembered for eventual later restarts of the robot controller when a program is saved All Rights Reserved 11 PolyScope UNIVERSAL ROBOTS 3 Robot Control 3 3 Modbus I O Here the digital modbus I O signals as set up in the installation are shown If the signal connection is lost the corresponding
22. Program Installation lt unnamed gt Init Variables Y Robot Program Y Move o Waypoint 9 V Move o Waypoint_1 o Variable Set so Pallet eo Pattern 9 ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack StartPos 9 e Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint 4 gt Command Graphics Structure 2 Variables Variables 4 Programming 17 14 29 Clear Wait var 1 2 O Simulation 4 Real Robot Ca gt gt o Speed 2A1 100 4 Previous Next gt The Variables tab shows the live values of the variables in the running pro gram and keeps a list of variables and values between program runs The vari ables tab appears only when it has information to display The variable names on this screen are shown with at most 50 characters and the values of the vari ables are shown with at most 500 characters 4 30 Program gt Command Tab Variables Initialization File Program Installation lt unnamed gt Init Variables Y Robot Program 9 V Move Waypoint 9 Y Move o Waypoint Set so Pallet so Pattern 9 ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack StartPos 9 eo Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait Y Folder Command i
23. Robot aa gt DA seca O08 The program execution stops at this point 4 13 Program gt Command Tab Comment File Program Installation lt unnamed gt Command Graphics Structure Y MUODOT Program 9 Y Move o Waypoint Comment 9 Y Move o Waypoint Set Y es Pallet Please enter comment eo Pattern o Approach Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos o ToPos 9 se PickSequence o StackPos Set Wait o Waypoint Wait 9 Y Folder lt empty gt Comment Y ee PalletSequence o PatternPoint Previous Next E 17 13 32 O Simulation 8 Real Robot he gt gt Li Speed 100 4 Previous Next E Gives the programmer an option to add a line of text to the program This line of text does not do anything during program execution All Rights Reserved 36 PolyScope 4 Programming UNIVERSAL ROBOTS 4 14 Program Command Tab Folder File 17 13 31 Program lt unnamed gt Command Graphics Structure Y Robot Program 9 VY Move a Waypoint Folder 9 Y Move o Waypoint A folder is simply a collection of program lines Set ee Pallet Please enter text to be displayed in the program tree eo Pattern PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos 9 ee Direction FromPos installation Folder o
24. TS A Programming size of the blend radius is per default a shared value between all the way point A smaller value will make the path turn sharper whereas a higher value will make the path smoother While the robot is moving through the waypoints with constant speed the robot cannot wait for either an I O op eration or an operator action Doing so will might stop the robots motion or cause a security stop Feature selection For MovelL and MoveP it is possible to select in which feature space the way points under the Move command should be represented when specifying these waypoints This means that when setting a waypoint the program will remem ber the tool coordinates in the feature space of the selected feature There are a few circumstances that need detailed explanation e Fixed feature If a fixed feature such as e g Base is selected this will not have any effect on Fixed and Relative waypoints The behavior for Vari able waypoints is described below e Variable feature If any of the features in the currently loaded installation are selected to be variable these corresponding variables will also be selectable in the feature selection menu If a feature variable named by the name of the feature and proceeded by _var is selected the robot movements except to Relative waypoints will depend on the ac tual value of the variable when the program is running The initial value of a feature variable is the value of the act
25. Tab Move File 17 14 17 Program Installation Move I O Log E lt unnamed gt Command Graphics Structure Variables Init Variables Ll Move v Y Robot Program Move Move v Y Move o Waypoint Here you specify how the robot should perform the movements between the Vv Move waypoints below o Waypoint Use the menu in the upper right corner to switch between various movement types Set _ The values set under Shared Parameters apply to all waypoints below and depend ee Pallet on the selected movement type eo Pattern ee PalletSequence Approach o PatternPoint Set Wait pa o Exit 9 de Destack o StartPos 9 ee Direction o FromPos o ToPos eo PickSequence StackPos Shared Parameters Set t Speed 60 0 a Joint Spee Is Waypoint Joint Acceleration 80 0 s Wait 9 V Folder 5 Reset to defaults 4 I mc gt Add Waypoint QO Simulation jae gt bo E Speed 1 100 Previous Next gt O Real Robot The Move command controls the robot motion through the underlying way points Waypoints have to be under a Move command The Move command defines the acceleration and the speed at which the robot will move between those waypoints Movement Types It is possible to select one of three types of movements MoveJ Movel and MoveP each explained below e moveJ will make movem
26. ToPos ee PickSequence StackPos Set Wait Waypoint Wait 9 V Folder lt empty gt a O Hide Folder Program Tree Siemon DEA seee crore Ceres Lae A folder is used to organize and label specific parts of a program to clean up the program tree and to make the program easier to read and navigate A folder does not in itself do anything 4 15 Program Command Tab Loop File 17 13 32 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure ry v rov o Waypoint Loop Please select how many times the program in this loop should be executed so Pattern ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos 9 ee Direction o FromPos o ToPos se PickSequence StackPos Set Wait Waypoint Wait Y Folder lt empty gt Loop always Q Loop O times using variable Loop_1 G Loop as long as the following expression is true fo ES Cl Comment Halt Ginna IRA sos cuore Ceres Jen Loops the underlying program commands Depending on the selection the underlying program commands are either looped infinitely a certain number of times or as long as the given condition is true When looping a certain number of times a dedicated loop variable called
27. Tool POWER OFF D ControlBox CONNECTING D 2 OK This screen is used when powering up the robot Before the robot can op erate normally each joint needs to move a little about 20 to finds its exact position The Auto button drives all joints until they are ok The joints change drive direction when the button is released and pressed again 5 3 Setup Screen gt Language Select SETUP Robot O Please select Language Selection INITIALISE Robot Please select language Int l English v LANGUAGE Selection UPDATE Robot Units Selection Please select units Set PASSWORD Metric units U S customary CALIBRATE Screen Setup NETWORK Set TIME Restart the GUI for new settings to take effect BACK Restart Now This screen provides for the selection of language and units of measurements used for the PolyScope software and for the help Tick off English program ming to have the programming in English The GUI needs to be restarted for changes to take effect All Rights Reserved 94 Polyscope 9 setup UNIVERSAL ROBOTS 5 4 Setup Screen gt Update SETUP Robot Please select Update robot software INITIALISE Robot Search LANGUAGE Selection UPDATE Robot Click Search to download a list of possible updates for this robot Set PASSWORD Description CALIBRATE Screen Se
28. UNIVERSAL ROBOTS PolyScope Manual Version 1 7 December 27 2012 UNIVERSAL ROBOTS The information contained herein is the property of Universal Robots A S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A S The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A S This manual is periodically reviewed and revised Universal Robots A S assumes no responsibility for any errors or omissions in this document Copyright 2012 by Universal Robots A S The Universal Robots logo is a registered trademark of Universal Robots A S All Rights Reserved 2 PolyScope Contents TENE TE TEE EEE A 1 1 Welcome Screen oaa aaa a a a a o 5 1 2 Initialization SCreeN aoaaa aa a a a a a a a a a a 6 On screen Editors oa aaa a a a a a a a a 7 2 1 On screen Keypad aaa a a a 7 2 2 On screen Keyboard aoaaa 0 a 8 2 3 On screen Expression Editor 0 0 0 8 POCOOLCOMMONLs ee egy redih anerian iora isehh 9 3 MOVEOO rereana dane oe eae thee he ee eS 9 3 2 OIGO ea eb et eee gaara ds 10 She Modbus W O 2 62544 eae ee Bw REE EEE a SE ow oS 1 3 4 AutoMove lab 0 00 12 30 Installation Load Save a 13 3 6 Installation gt TCP Position 0 a a a a 13 Oa Installation MOUNT NQ o 14 3 8 Installation gt I O Setup
29. ables Pattern A pattern is a group of positions to be cycled through Positions on a line Line Positions in a square Square Comment Halt Popup 9 Y Loop lt empty gt El Script d var_1 1 1 P Call SubProgram_1 Wi Positions in a box List A list of positions lt empty gt o Pallet oo Pattern 9 ee PalletSequence Approach o PatternPoint Set v 4 Patterns can be used for making much more palletizing etc 17 13 38 O Simulation O Real Robot CIC Speed 100 All Rights Reserved al Previous Next E PolyScope UNIVERSAL ROBOTS A Programming The Pattern command can be used to cycle through positions in the robots program The pattern command corresponds to one position at each execu tion A pattern can be given as one of four types The first three Line Square or Box can be used for positions in a regular pattern The regular patterns are defined by a number of characteristic points where the points define the edges of the pattern For Line this is the two end points for Square this is three of the four corner points where as for Box this is four of the eight corner points The programmer enters the number of positions along each of the edges of the pattern The robot controller then calculates the individual pattern positions by proportionally adding the edge ve
30. ase select your DHCP network method a INITIALISE Robot O Static Address LANGUAGE Selection a Disabled network Network detailed settings UPDATE Robot IP address 0 0 0 0 Subnet mask 0 0 0 0 Set PASSWORD Default gateway 0 0 0 0 CALIBRATE Screen Preferred DNS server 0 0 0 0 Alternative DNS server 0 0 0 0 Setup NETWORK Apply settings Update Set TIME BACK Panel for setting up the Ethernet network An Ethernet connection is not neces sary for the basic robot functions and is disabled by default All Rights Reserved S Polyscope 5 Setup 5 8 Setup Screen gt Time UNIVERSAL ROBOTS Please select INITIALISE Robot LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Set TIME BACK Date format a 27 December 2012 27 Dec 2012 27 12 12 SETUP Robot Set Time Time format Please select the current time a 24 hour de nm re 12 hour 17 13 21 Set Date Please select today s date 27 December 2012 Restart the GUI for new settings to take effect Restart Now set the time and date for the system and configure the display formats for the clock The clock is displayed at the top of the RUN Program and PROGRAM Robot screens lapping on it will show the date briefly
31. at are needed several places A sub Program can be a seperate file on the disk and can also be hidden to protect against accidental changes to the SubProgram Program Command Tab Call SubProgram File Installation Structure Variables Program named gt Command lt un ew 3STalrtrus 9 ee Direction o FromPos o ToPos ee PickSequence StackPos Set Wait Waypoint Wait 9 Y Folder lt empty gt Graphics Call Subroutine SubProgram_1 y Comment Halt Popup Y Loop lt empty gt El Script var 1 1 1 P Call SubProgram_1 Vif lt empty gt Event lt empty gt Y Thread 1 9 V Force lt empty gt P SubProgram_1 y 4 gt 17 13 36 Choose which subroutine to call at this point at the program execution O Simulation 8 Real Robot o gt Ly O Speed 100 Previous Next gt A call to a sub program will run the program lines in the sub program and then return to the following line All Rights Reserved 98 PolyScope 4 Programming UNIVERSAL ROBOTS 4 17 Program Command Tab Assignment File 17 13 35 lt unnamed gt Command Graphics Structure Y eo fairer eo Patt Source Expression alletse Assignment ee PalletSequence Approach o PatternPoint Set Wait n e Exit Variable Expression 9 ee Destack o StartPos var_l 5 1 1 9 ee Direction
32. avigate through the program tree Use the Structure tab to modify the program tree Add BeforeStart Sequence 4 gt Set Initial Variable Values Al p Program Loops Forever O Simulation pdl Speed J100 Previous Next E Real Robot gt Li Li j The program tab shows the current program being edited The program tree on the left side of the screen displays the program as a list of commands while the area on the right side of the screen displays infor mation relating to the current command The current command is selected by clicking the command list or by using the Previous and Next buttons on the bottom right of the screen Commands can be inserted or removed using the All Rights Reserved 2 Polyscope UNIVERSAL ROBOTS A Programming Structure tab described in section The program name is shown directly above the command list with a small disk icon that can be clicked to quickly save the program The lowest part of the screen is the Dashboard Ihe Dashboard features a set of buttons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allow you to adjust the program speed at any time which directly affects the speed at which the robot moves lo the left of the Dashboard the Simulation and Real Robot buttons toggle between running the program
33. bove shows the Welcome Screen The bluish areas of the screen are buttons that can be pressed by pressing a finger or the backside of a pen against the screen PolyScope has a hierarchical structure of screens In the programming environment the screens are arranged in tabs for easy access on the screens File 17 13 26 Program Installation Move I O Log lt unnamed gt Command Graphics Structure P Rahat Dronram la In this example the Program tab is selected at the top level and under that the Structure Tab is selected The Program tab holds information related to the currently loaded program If the Move tab Is selected the screen changes to the Move screen from where the robot can be moved Similarly by selecting the I 0 tab the current state of the electrical O can be monitored and changed It is possible to connect a mouse and a keyboard to the controller box or the teach pendant however this is not required Almost all text fields are touch enabled so touching them launches an on screen keypad or keyboard Non touchable text fields have an editor icon next to them that launches the asso ciated input editor The icons of the on screen keypad keyboard or expression editor are shown above The various screens of PolyScope are described in the following sections All Rights Reserved 9 Polyscope UNIVERSAL ROBOTS 1 Introduction 1 1 Welcome Screen PolyScope Robot User I
34. ctors together If the positions to be traversed do not fall in a regular pattern the List option can be chosen where a list of all the positions is provided by the programmer This way any kind of arrangement of the positions can be realized Defining the Pattern When the Box pattern is selected the screen changes to what is shown below File 17 13 40 Program Installation Move 1 O Log E lt unnamed gt Command Graphics Structure Variables BR 0 PILRSEQUETITE Set a8th_Corner_1 rename o Waypoint Wait Change this Position 9 Y Folder l 7 a lt en 1 Move robot here Halt Popup V Loop a en t El Script var_1 1 1 P Call SubProgram_1 Vif lt empl eo Pallet 9 eo Pattern Box 5 a gis o alst_Corner PRA PN o a2nd_Corner 7 E 6 a hal a3rd_Corner o a4th_Corner o a5th_Corner ED o a6th_Corner 1 ES o a7th_Corner G a o a8th Corner lv fa 4 Ill b QO Simulation Pire gt mi speed 1100 Previous Jl Next a Real Robot A Box pattern uses three vectors to define the side of the box These three vectors are given as four points where the first vector goes from point one to point two the second vector goes from point two to point three and the third vector goes from point three to point four Each vector is divided by the interval count numbers
35. e ae Features Rotate Robot Base Mounting 45 Y 0 0 gt 45 y Here the mounting of the robot can be specified This serves two purposes 1 Making the robot look right on the screen 2 Telling the controller about the direction of gravity The controller uses an advanced dynamics model to give the robot smooth and precise motions and to make the robot hold itself when backariven For this reason it is important that the mounting of the robot is set correctly The default is that the robot is mounted on a flat table or floor in which case no change is needed on this screen However if the robot is ceiling mounted wall mounted or mounted at an angle this can be adjusted using the push buttons The buttons on the right side of the screen are for setting the angle of the robot s mounting The three top right side buttons set the angle to ceiling 180 wall 90 floor 0 The Tilt buttons can be used to set an arbitrary an gle Tne buttons on the lower part of the screen are used to rotate the mounting of the robot to match the actual mounting All Rights Reserved IS Polyscope UNIVERSAL ROBOTS 3 Robot Control 3 8 Installation I O Setup File 17 13 46 Program Installation Move I O Log TCP Position Input Output Setup Mounting Input Names Output Names ne digital_in o lt default gt digital_out 0 lt default gt Modbus digi
36. e signal Especially it might be worth verifying the meaning of a signal address when different func tion codes are used Seel3 10 for a description of the function codes associated with the different signal types Set signal name Using the on screen keyboard the user may give the signal a meaningful name which will provide a more intuitive programming of the robot using the signal signal names are unique which means that two signals cannot be assigned the same name signal names are restricted to be composed of no more than 10 characters Signal value Here the current value of the signal is shown For register signals the value is expressed as an unsigned integer For output signals the desired signal value can be set using the button Again for a register output the value to write to the unit must be supplied as an unsigned integer Signal connectivity status This icon shows whether the signal can be properly read written green or if the unit responds unexpected or is not reachable gray Show Advanced Options This check box shows hides the advanced options for each signal Advanced Options e Update Frequency This menu can be used to change the update fre quency of the signal This means the frequency with which requests are sent to the Modbus controller for either reading or writing the signal value e Slave Address This text field can be used to set a specific slave address for the requests corresponding to a
37. e thickness of the items in the stack On top of this one must define the condition for when the next stack position is reached and a special program sequence that will be performed at each of the stack positions Also speed and accelerations need to be given for the movement involved in the stack operation All Rights Reserved 46 Polyscope 4 Programming Stacking File UNIVERSAL ROBOTS 17 13 29 Program lt unnamed gt Installation Command Graphics Structure Y Robot Program 9 Y Move Waypoint 9 V Move Waypoint Set so Pallet so Pattern 9 ee PalletSequence Approach PatternPoint Set Wait o Exit oo Seek Wait 9 Y Folder lt empty gt Comment Halt Popup Y Loop lt empty gt Script Select Seek Type A seek operation is given by a starting position s and a directiond Please select between stacking and destacking Stacking Destacking sea fos f E i d li O Simulation O Real Robot fet Dh specs Donn Previous Next E When stacking the robot moves to the starting position and then moves opposite the direction to search for the next stack position When found the robot remembers the position and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the item thickness along the direction The stacking
38. elect INITIALISE Robot LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen PolyScope 1 7 9721 Dec 27 2012 Setup NETWORK Set TIME BACK Initialize Robot Goes to the initialization screen see section 5 2 Language Configure the language and units of measurements for the user interface see section 5 3 Update Upgrades the robot software to a newer version see section s 4 Set Password Provides the facility to lock the programming part of the robot to people without a password see section 9 9 Calibrate Screen Calibrates the touch of the touch screen see sec tion 5 6 Setup Network Opens the interface for setting up the Ethernet network for the robot see section 5 7 Time Set the time and date for the system and configure the display for mats for the clock see section 5 8 Back Returns to the Welcome Screen All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 5 setup 5 2 Setup Screen gt Initialize Initialise Robot Push Auto until all lights turn green Rotate joints individually if necessary Robot Power Y Robot Auto oK D Base da gt Auto POWER OFF pa Shoulder a gt Auto POWER OFF D Elbow lt A o gt Auto POWER OFF pa Wrist 1 a E gt Auto POWER OFF mh Wrist 2 a E gt Auto POWER OFF D Wrist 3 4 gt Auto POWER OFF D
39. ents that are calculated in the joint soace of the robot Each joint is controlled to reach the desired end location at the same time This movement type which results in a curved path for the tool The shared parameters that apply to this movement type are the maximum joint soeed and joint acceleration to use for the movement cal culations specified in deg s and deg s respectively If it is desired to have the robot move fast between waypoints disregarding the path of the tool between those waypoints this movement type is the favorable choice e movel will make the tool move linearly between waypoints This means that each joint performs a more complicated motion to keep the tool on a straight line path The shared parameters that can be set for this movement type are the desired tool soeed and tool acceleration specified in mm s and mm s respectively and also a feature The selected feature will de termine in which feature space the tool positions of the waypoints are rep resented in Of specific interest concerning feature spaces are variable features and variable waypoints Variable features can be used when the tool position of a waypoint need to be determined by the actual value of the variable feature when the robot program runs e moveP will move the tool linearly with constant speed with circular blends and is intended for some process operations like gluing or dispensing The All Rights Reserved 29 Polyscope UNIVERSAL ROBO
40. etu anaes i 5 1P 0 0 0 0 2 Modbus Def Program Load Save Features 17 13 47 __ Show advanced options Digital Output y 5 Modbus_1 seer 1 Please select v i Modbus_2 E D Please select v t Modbus_3 AN 0 0 0 0 IP 0 0 0 0 FA S 100 HOHE le All Rights Reserved 17 PolyScope UNIVERSAL ROBOTS 3 Robot Control Refresh Push this button to refresh ihe connectivity status of all modbus signals in the current installation Add unit Push this button to add a new modbus unit to the robot installation Delete unit Push this button to delete the modbus unit and all signals added to the unit Set unit IP Here the IP address of the modbus unit is shown Press the button to change it Add signal Push this button to add a signal to the robot installation which can be found on the corresoonding modbus unit Delete signal Push this button to delete the modbus signal from the installation Set signal type Use this drop down menu to choose the signal type Available types are Digital input A digital input is a one bit quantity which is read from the modbus unit on the coil specified in the adaress field of the signal Function code 0x02 Read Discrete Inputs is used Digital output A digital output is a one bit quantity which can be set to either high or low accord
41. hether the next stack position has been reached When the expression is evaluated to True the special sequence is executed BeforeStart The optional BeforeStart sequence Is run just before the operation starts This can be used to walt for ready signals AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next stack Pick Place Sequence Like for the Pallet operation 4 24 a special program sequence is performed at each stack position All Rights Reserved 48 Polyscope 4 Programming UNIVERSAL ROBOTS 4 26 Program Command Tab Suppress suppressed program lines are simply skipped when the program is run A sup pressed line can be unsuppressed again at a later time This is a quick way to make changes to a program without destroying the original contents All Rights Reserved 49 Polyscope UNIVERSAL ROBOTS 4 Programming 4 27 Program gt Graphics Tab File 17 14 29 Program Installation Move I O Log E lt unnamed gt Command Graphics Structure Variables Init Variables aj 4 4 Y Robot Program RSS a 9 Y Move e Waypoint 9 Y Move e a o Waypoint_1 o Variable t Set T eo Pallet eo Pattern se PalletSequence Approach o PatternPoint _ Set Wait Exit 9 eo Destack StartPos 9 e Direction o FromPos gt o ToPos
42. in a simulation or running it on the real robot When running in simulation the robot does not move and thus cannot damage itself or any nearby equipment in collisions Use simulation to test programs if unsure about what the robot will do While the program is being written the resulting motion of the robot is illus trated using a 3D drawing on the Graphics tab described in section 4 27 Next to each program command is a small icon which is either red yellow or green A red icon means that there is an error in that command yellow means that the command is not finished and green means that all is OK A program can only be run when all commands are green 4 3 Program Command Tab lt Empty gt File 17 13 26 Program Installation Move 1 O Log lt unnamed gt Command Graphics Structure Y Robot Program Senne Insert program lines here In the Structure tab you will find various program statements that can be inserted Structure 4 gt Simulation rn gt L Speed 100 Previous Next gt O Real Robot Program commands need to be inserted here Press the Structure button to go to the structure tab where the various selectable program lines can be found A program cannot run before all lines are specified and defined All Rights Reserved 28 Polyscope 4 Programming UNIVERSAL ROBOTS 4 4 Program Command
43. ing the robot not to stop at the point Blends cannot overlap so it is not possible to set a blend radius that overlaps a blend radius for a previous or following waypont A stop point is a waypoint with a blend radius of 0 0mm Note on I O Timing If a waypoint is a stop point with an I O command as the next command the I O command is executed when the robot stops at the waypoint However if the waypoint has a blend radius the following I O command is executed when the robot enters the blend Example Starting point movel WaypointStart Waypoint Waypoint2 if digital_input 1 then WaypointEnd 1 5 cm blend else WaypointEnd2 Straight line segment endif Straight line segment Waypoint 2 10 cm blend This 1s where the input port 1s read Ending point 2 Ending point 1 A small example in which a robot program moves the tool from a starting posi tion to one of two ending positions depending on the state of digital_input 1 Notice that the tool trajectory thick black line moves in straight lines outside the blend areas dashed circles while the tool trajectory deviates from the straight line path inside the blend areas Also notice that the state of the digital_input 1 sensor is read just as the robot is about to enter the blend area around waypoint 2 even though the if then command is after waypoint 2 in the program sequence This is somewhat counterintuitive but is necessary to allow the rob
44. ing to the configuration of the corresponding modbus terminal Until the value of this output has been set by the user the value is read from the unit This means that function code 0x01 Read Coils is used until The output has been set and then when either the out put has been set by a robot program or by pressing the set signal value button the function code 0x05 Write Single Coil is used onwards Register input A register input is a 16 bit quantity read from the address specified in the adaress field The function code 0x04 Read Input Regis ters is Used Register output A register output is a 16 bit quantity which can be set by the user Until the value of the register has been set the value of It is simply read This means that function code 0x03 Read Holding Registers is used until the signal is set either by a robot program or by specifying a signal value in the set signal value field and after that function code 0x06 Write Single Register is used onwards All Rights Reserved 18 Polyscope 3 Robot Control UNIVERSAL ROBOTS Set signal address This field shows the address of the signal Use the on screen keypad to choose a different address Valid addresses depends on the manufacturer and config uration of the modbus unit It is necessary to have a good understanding of the internal memory map of the Modbus controller in order to make sure the signal address actually corresponds to what is the intention of th
45. is finished when the stack hight is more than some defined number or when a sensor gives a signal Destacking File 17 13 30 0 Program Installation lt unnamed gt Command Graphics Structure Y Robot Program eV Move Destack Waypoint a V Move Destacking remove items one by one from a stack o Waypoint The stack is defined by the following of parameters r i Set s The starting position 9 eo Pallet d The direction of the stack d se Pattern i The item thickness 9 ee PalletSequence li Approach PatternPoint Set Wait Exit 9 eo Destack StartPos 9 ee Direction FromPos ToPos The next position is found when 9 se PickSequence foo E o StackPos 0d Se Set Wait 3 Waypoint Item thickness Shared Parameters Wait Tool Speed 250 00 mm s Y Folder 0 0 mm lt lt lt empty gt Tool Acceleration 1200 00 mm s 4 pat E Sequence BeforeStart Os AfterEnd Reset to defaults tle p equence AfterEn O Simulation 8 Real Robot ke gt gt Li Speed 100 Previous Next E When destacking the robot moves from the starting position in the given direc tion to search for the next item When found the robot remembers the position and performs the special sequence The next time round the robot starts the All Rights Reserved 47 PolyScope UNIVERSAL ROBOTS 4 Programming search from the remembered positi
46. its are mm and deg All Rights Reserved 44 Polyscope 4 Programming UNIVERSAL ROBOTS Test force settings The on off button Teach Test toggles the behavior of the Teach button on the back of the leach Pendant from normal teaching mode to testing the force command When the Teach Test button is on and the Teach button on the back of the Teach Pendant is pressed the robot will perform as if the program had reached this force command and this way the settings can be verified before actually running the complete program Especially this possibility is useful for verifying that compliant axes and forces have been selected correctly Simply hold the robot tcp using one hand and press the Teach button with the other and notice in which directions the robot can cannot be moved Upon leaving this screen the Teach Test button automatically switches off which means the Teach button on the back of the Teach Pendant button is again used for free teach mode Note The Teach button will only be effectual when a valid feature has been selected for the Force command 4 24 Program gt Command Tab Pallet File 17 13 38 Program Installation Move I O Log E lt unnamed gt Command Graphics Structure Variables y 5tarr us so Direction Pallet o FromPos o 7 ToPos A pallet operation allows the robot to perform the same sequence of motions and 7 ee PickSequence actions at several different positions Thi
47. n changes between the two positions More precisely the length of the rotation vector describing the change in orientation 4 8 Program gt Command Tab Variable Waypoint File 17 14 29 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Init Variables a Variable position y Y Robot Program Va riable AN Variable position w 9 Y Move o Waypoint 9 V Move o Waypoint_1 o Variable Use variable po ly Set so Pallet so Pattern 9 ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack StartPos 9 ee Direction a FromPos a ToPos 9 ee PickSequence StackPos Set Wait o Waypoint Wait Move the robot to a variable position ee Remove this waypoint Add waypoint before Add waypoint after O Simulation Real Robot Ke gt IL a Speed 100 Previous Next E A waypoint with the position given by a variable in this case calculated_pos The variable has to be a pose such as All Rights Reserved 33 Polyscope UNIVERSAL ROBOTS A Programming var p 0 5 0 0 0 0 3 14 0 0 0 0 The first three are x y z and the last three are the orientation given as a rotation vector given by the vector mry rz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate The position is always given in relati
48. nd Graphics Structure Y Robot Program Y Move o Waypoint Set y V Move Select the action you wish the robot to perform at this point in the program You o Waypoint can also specify changes in the robot s payload Set eo Pallet O No Action eo Pattern ee PalletSequence set Digital Output lt Di Output gt Off v o Approach gt p E o PatternPoint G Set J Set Analog Output lt An Output gt 4 0 mA Wait o Exit set lt Output gt Mi f x Es 9 ee Destack o StartPos 9 amp Direction _ Set the total payload to 0 00 kg o FromPos o ToPos Perform action now ee PickSequence StackPos Set Wait o Waypoint Wait 9 Y Folder lt empty gt 4 T O Gunma IRA ses 0000 Ceres Jen sets either digital or analog outputs to a given value Can also be used to set the payload of the robot for example the weight that is picked up as a consequence of this action Adjusting the weight can be neccesary to prevent the robot from security stopping unexpectedly when the weight at the tool is different to that which is expected 4 11 Program gt Command Tab Popup File 17 13 32 O Program Installation Move VO Log lt unnamed gt Command Graphics Structure vw 9 Yy Move P o Waypoint opu Set p p Y ee a Shows the message below on the screen and waits for the user to press OK 9 ee PalletSequence Ap
49. ned axes Note that if no obstacles are met in an axis where a non zero force is set the robot will try to accelerate along about that axis Although an axis has been selected to be compliant the robot program will still try to move the robot along around that axis However the force control assures that the robot will still approach the specified force File 17 13 44 Program Installation Move 1 0 Log E lt unnamed gt Command Graphics Structure Variables Walt 5 9 V Folder Force emi 1 Comment Feature Base y Type Simple y Halt Popup Y Loop lt empt The program part under this force command Script will be run in force mode var 1 1 1 In force mode the robot P Call SubProaram 1 will be free in the direction o Wit gram_ of the selected feature io to apply the specified force 9 eo Pallet E PPE P ee Pattern Squa ad Use the test button below alst_Corng l in combination with the teach button o a2nd_Corn A to test the force mode o a3rd_Corn Force ______0 0 N o a4th_Corne eo PalletSequend o Approach o PatternPoil Set Teach test Wait o Exit Event Y Thread 1 V Force v 4 Ii gt lt gt Q Simulation l d de PLM speed 00 Previous Next gt O Real Robot Feature selection The Feature menu is used to select the coordinate system axes the robot will use while it is
50. nterface Please select RUN Program UNIVERSAL ROBOTS SETUP Robot About SHUT DOWN Robot After booting up the controller PC the welcome screen is shown The screen offers the following options e RUN Program Choose a program to run This is the simplest way to op erate the robot but requires a suitable program to have already been produced e PROGRAM Robot Change a program or create a new program e SETUP Robot Set passwords upgrade software via the Internet request support calibrate the touch screen etc e SHUT DOWN Robot Shuts down the Controller PC and powers off the robot All Rights Reserved Polyscope 1 Introduction UNIVERSAL ROBOTS 1 2 Initialization Screen Initialise Robot Push Auto until all lights turn green Rotate joints individually if necessary 9On Robot Power 3 Robot Auto oK y eee Base ao E gt Auto POWER OFF a Shoulder lt A gt Auto POWER OFF a Elbow a gt Auto POWER OFF mh Wrist 1 lt a Auto POWER OFF a Wrist 2 lt A gt Auto POWER OFF a Wrist 3 da E gt Auto POWER OFF D Tool POWER OFF D ControlBox CONNECTING D Y OK On this screen you control the initialization of the robot When turned on the robot needs to find the positions of each joint lo get the joints positions the robot needs to move each joint Status LEDs The sta
51. olyScope UNIVERSAL ROBOTS 3 Robot Control The expression is checked for grammatical errors when the ox button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this digital_in 1 True and analog_in 0 lt 0 5 3 Robot Control 3 1 Move Tab On this screen you can always move jog the robot directly either by translat ing rotating the robot tool or by moving robot joints individually File 17 13 39 Program Installation Move I O Log Move Tool Robot Feature 2238 View y Tool Position Xx 179 93 mm Y 606 87 mm Z 169 21 mm RX 0 0012 Move Joints Home ECY Base lt a A ah Shoulder i Sy 98 96 a Elbow Teach 46 29 gt gt s gt Wrist 1 al wrist 2 i EEE E gt 91 39 wits EY 1 78 ea speed aioe Mn Landon Robot The current position of the robot is shown in 3D graphics Push the magnifying glass icons to zoom in out or drag a finger across to change the view lo get the best feel for controlling the robot select the View feature and rotate the viewing angle of the 3D drawing to match your view of the real robot Feature and fool position At the top right part of the screen the feature selector can be found The features selector defines which feature
52. on incremented by the Item thickness along the direction Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robots current position Direction File 17 13 30 Program Installation Move 1 O Log E lt unnamed gt Command Graphics Structure Y Robot Program aj Y Move a a Waypoint Direction Waypoint A direction is given by the line between the TCP position of two waypoints Sel eo Pallet Os 500 0 eo Pattern m Stap atter __500 0 ee ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 do Destack o StartPos eo Direction a FromPos o ToPos ee PickSequence StackPos Set Wait Shared Parameters Waypoint Wait yP Tool Speed 10 00 mm s Y Folder a aaa Tool Acceleration 1200 00 mm s ma m st 4 Reset to defaults a Stop when foo gis Simulation En p a Speed 100 Previous Next E 8 Real Robot The direction is given by two positions and is calculated as the position differ ence from the first positions TCP to the second positions TCP Note A direction does not consider the orientations of the points Next Stacking Position Expression The robot moves along the direction vector while continuously evaluating w
53. on to a ref erence frame or coordinate system defined by the selected feature The robot always moves linearly to a variable waypoint For example to move the robot 20mm along the z axis of the tool var_l p 0 0 0 02 0 0 0 Movel Waypoint_1 varibale position Use variable var_l Feature Tool 4 9 Program Command Tab Wait File 17 13 31 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program Wait 9 Y Move Please select what should trigger the robot s next action o Waypoint 9 Y Move o Waypoint Set so Pallet so Pattern e PalletSequence o Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos ee Direction o FromPos o ToPos e PickSequence StackPos Set Wait Waypoint Wait Y Folder lt empty gt O No Wait O Wait 0 01 seconds O wait for Digital Input lt Di Input gt M LO M O wait for lt An Input gt a gt Mi 0 0 Volts O Wait for fod HS 4 gt Simulation kee gt Ml Speed 100 Previous Next gt 8 Real Robot Waits for a given amount of time or for an I O signal All Rights Reserved 34 Polyscope 4 Programming UNIVERSAL ROBOTS 4 10 Program gt Command Tab Action File 17 13 31 O Program Installation lt unnamed gt Comma
54. or variable values Use the expression editor to describe the condition under which the robot should proceed to the sub commands of this If If the condition is evaluated to True the lines inside this 1 are executed Each If can have several ElseIf and one Else command These can be added using the buttons on the screen An ElseIf command can be removed from the screen for that command All Rights Reserved 39 Polyscope UNIVERSAL ROBOTS A Programming The open Check Expression Continuously allow the conditions of the If and ElseIf statements to be evaluated while the contained lines are ex ecuted If a expression evaluates to False while inside the body of the 1 part the following ElseIf Or Else statement will be reached 4 19 Program gt Command Tab Script File 17 13 33 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure SEL eS eo Pallet de Pattern i 9 ee PalletSequence Scri pt Code Line v Approach PatternPoint Set Wait Exit Destack 00 HS Below you can enter text that will be executed as script code by the URController o StartPos 9 ee Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait 2 Y Folder lt empty gt e Comment Halt Popup V Loop lt empty gt Script v 4 Oncino AGP Pt spces Cros
55. orward stopped T 0000d00h00m40 736s RTHachine Program step forward stopped T 0000d00h00m41 032s RTHachine Program step forward stopped T 0000d00h00m41 456s RTHachine Program step forward stopped T 0000d00h00m45 232s RTHachine Program step forward stopped T 0000d00h00m47 816s RTHachine Program step forward stopped T 0000d00h00m48 104s RTHachine Program step forward stopped T 0000d00h00m48 336s RTHachine Program step forward stopped 17 14 16 hal gt i 0 0 v 0 0 C ae 0 0V 0 0 C ee 0 0V uk O 0 Vv 0 0A 0 0 C 0 0 V LA 0 0 V ALO Clear Robot Health The top half of the screen displays the health of the robot The left part shows information related to the control box of the robot while the right part shows information about each robot joint Each robot joint shows informa tion for temperaure of the motor and electronics the load of the joint and the voltage at the joint All Rights Reserved 23 PolyScope UNIVERSAL ROBOTS 3 Robot Control Robot Log On the bottom half of the screen log messages are shown The first column shows the time of arrival of the message Ihe next column shows the sender of the message The last column shows the message Itself 3 13 Load Screen On this screen you choose which program to load There are two versions of this screen one that is to be used when you just want to load a program and execute it and one that is used when you want to actually select and edit
56. ot to select the right blend path All Rights Reserved 32 Polyscope 4 Programming UNIVERSAL ROBOTS 4 7 Program gt Command Tab Relative Waypoint File 17 14 28 lt unnamed gt Command Graphics Structure Variables Init Variables Relative position v Y Robot Program Waypoint 1 a Relative position 9 Y Move o Waypoint f i iti 9 V Move Relative Motion given by the difference between from and to positions E E ere From point To point a 9 Pallet Set this point Set this point Angle 179 0 eo Pattern ee PalletSequence robot her Move robot here Approach PatternPoint Set Wait Exit s Destack StartPos 9 ee Direction FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait 9 Y Folder wil A gt Remove this waypoint Add waypoint before Add waypoint after O Simulation Real Robot a gt al Li Speed 100 a Previous Next E A waypoint with the position given relative to the robot s previous position such as two centimeters to the left The relative position is defined as the difference between the two given positions left to right Note that repeated relative positions can move the robot out of its workspace The distance here is the Cartesian distance between the tcp in the two po sitions The angle states how much the tcp orientatio
57. proach PatternPoint Popup type Preview Popup Set Wait O Message o Exit i Warnin 9 eo Destack O 9 o StartPos O Error 9 ee Direction FromPos ToPos 9 ee PickSequence StackPos Set Wait o Waypoint Wait Y Folder lt empty gt Comment Halt Halt program execution at this popup S coher kee gt Li LI Speed 100 Previous Next E The popup is a message that appears on the screen when the program reaches this command The style of the message can be selected and the text itself can be given using the on screen keyboard The robot waits for the user operator to press the OK button under the popup before continuing the All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 4 Programming program If the Halt program execution item is selected the robot program halts at this popup 4 12 Program Command Tab Halt File Program Installation Command Graphics Structure lt unnamed gt PYV TUVE o Waypoint 9 V Move Waypoint Set eo Pallet so Pattern ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Y Folder lt empty gt Comment Halt q Halt Program execution stops at this point 17 13 32 O Simulation 8 Real
58. ry is the program folder e Go to program folder Go home e Actions Actions such as create directory delete file etc 3 14 Run Tab File 17 13 24 Run Move 10 Log UNIVERSAL ROBOTS Program ABCDE Variables Status Stopped Time 0000d00h00m19 168s A All Rights Reserved 29 Polyscope UNIVERSAL ROBOTS 4 Programming This tab provides a very simple way of operating the robot with as few but tons and options as possible This can be useful combined with password pro tecting the programming part of PolyScope see section 5 5 to make the robot into a tool that can run exclusively pre written programs A Programming All Rights Reserved 20 Polyscope 4 Programming UNIVERSAL ROBOTS 4 1 Program New Program File 17 13 25 Program Installation Move 1 O Log New Program Load From File Load Program Use Template Pick and Place Empty Program A new robot program can start from either a template or from an existing saved robot program template can provide the overall program structure so only the details of the program need to be filled in 4 2 Program Tab File 17 13 25 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program lt empty gt Program The window on the left shows the program tree Use the Next and Previous buttons to n
59. s can be useful for palletizing or similar StackPos operations A pallet operation consist of the following features z ai A Program Sequence to be performed at several positions ar The Pattern either given as a list or as a lattice Waypoint _ e An optional before start sequence that will be performed before the first Wait position 9 V Folder An optional after end sequence that will be performed after the last position e lt empt Comment Halt Popup V Loop _ lt empt El Script var 1 1 1 P Call SubProgram_1 Vif lt empt eo Pallet so Pattern ee PalletSequence Approach o PatternPoint _ Set Y Optional program sequences 4 Special program sequence before the first point _ Special program sequence after the last point O simulation 14d gt PH ME speed Go0 ePrevious Next gt A y A pallet operation can perform a sequence of motions in a set of places given as a pattern as described in section At each of the positions in the pattern the sequence of motions will be run relative to the pattern position Programming a Pallet Operation The steps to go through are as follows 1 Define the pattern 2 Make a Palletsequence for picking up placing at each single point The sequence describes what should be done at each pattern position 3 Use the selector on the seq
60. specific signal The value must be in the range 0 255 both included and the default is 255 If you change this value it is recommended that you consult the manual of your Modbus devices to verify their functionality with a changed slave address 3 11 Features Customers that buy industrial robots generally want to be able to control or manipulate a robot and to program the robot relative to various objects and boundaries in the surroundings of the robot such as machines objects or blanks fixtures conveyers pallets or vision systems Traditionally this is done by defining All Rights Reserved 19 Polyscope UNIVERSAL ROBOTS 3 Robot Control frames coordinate systems that relate the internal coordinate system of the robot the base coordinate system to the relevant object s coordinate system Reference can both be made to tool coordinates and to base coordinates of the robot A problem with such frames is that a certain level of mathematical knowl edge is required to be able to define such coordinate systems and also that it takes a considerable ammount of time to do this even for a person skilled in the art of robot programming and installation Often this task involves the cal culation of 4x4 matrices Particularly the representation of orientation is compli cated for a person that lacks the required experience to understand this prob lem Questions offen asked by customers are for instance e Will it be po
61. ssible to move the robot 4 cm away from the claw of my com puterised numerically controlled CNC machine e Is it possible to rotate the tool of the robot 45 degrees relative to the table e Can we make the robot move vertically downwards with the object let the object loose and then move the robot vertically upward again The meaning of such and similar questions is very straight forward to an av erage customer that intends to use a robot for instance at various stations in a production plant and it may seem annoying and incomprehensible to the customer to be told that there may not be a simple answer to such relevant questions There are several complicated reasons for this being the case and in order to address these problems Universal Robots has developed unique and simple ways for a customer to specify the location of various objects relative to the robot Within a few steps it is therefore possible to do exactly what was asked for in the above questions File 17 13 48 Program Installation Move I O Log TCP Position Features Mounting I O Setup Modbus Def Program Load Save Features Base Tool MB New Point Line o Plane Rename This button makes it possible to rename a feature All Rights Reserved 20 Polyscope 3 Robot Control UNIVERSAL ROBOTS Delete This button deletes the selected feature and if any all sub features Show Axes Choose
62. t Control UNIVERSAL ROBOTS In the case that the user double clicks on a directory the dialog descends into this folder and presents its contents File filter By using the file filter one can limit the files shown to include the type of files that one wishes By selecting Backup Hiles the file selection area will display the latest 10 saved versions of each program where o1d0 is the newest and o1d9 is the oldest File field Here the currently selected file is shown The user has the option to manually enter the file name of a file by clicking on the keyboard icon to the right of the field This will cause an on screen keyboard to pop up where the user can enter the file name directly on the screen Open button Clicking on the Open button will open the currently selected file and return to the previous screen Cancel button Clicking on the Cancel button will abort the current loading process and cause the screen to switch to the previous image Action buttons A series of buttons gives the user the ability to perform some of the actions that normally would be accessible by right clicking on a file name in a conventional file dialog Added to this is the ability to move up in the directory structure and directly to the program folder e Parent Move up in the directory structure The button will not be enabled in two cases when the current directory is the top directory or if the screen is in the limited mode and the current directo
63. tal_in 1 lt default gt digital_out 1 lt default gt digital_in 2 lt default gt digital_out 2 lt default gt Def Program digital_in 3 lt default gt digital_out 3 lt default gt digital_in 4 lt default gt digital_out 4 lt default gt Load Save digital_in 5 lt default gt digital_out 5 lt default gt digital_in 6 lt default gt digital_out 6 lt default gt Features digital_in 7 lt default gt digital _out 7 lt default gt digital_in 8 lt default gt digital_out 8 lt default gt digital_in 9 lt default gt digital_out 9 lt default gt analog _in 0 lt default gt analog out 6 lt default gt analog_in 1 lt default gt analog_out 1 lt default gt analog in 2 lt default gt analog_in 3 lt default gt Please Select an Input or Output Rename to New Name Input and output signals can be given names This can make it easier to remember what the signal does when working with the robot Select an I O by clicking on it and set the name using the on screen keyboard You can set the name back by setting it to only blank characters When an output is selected a few options are enabled Using the check box a default value for the output can set to either low or high This means that the output will be set to this value when a program is not running If the check box is not checked the output will preserve its current state after a program
64. ted feature This can be usefull when deburring along a complex path where a force is needed perpendicular to the TCP motion Note when the robot is not moving If force mode is entered with the robot standing still there will no compliant axes until the tcp speed is above zero If later on while still in force mode the robot is again standing still the task frame has the same orientation as the last time the tcp speed was larger than zero For the last three types the actual task frame can be viewed at runtime on the graphics tab 4 27 when the robot is operating in force mode Force value selection A force can be set for both compliant and non compliant axes but the effects are different e Compliant The robot will adjust its position to achieve the selected force e Non compliant The robot will follow Its trajectory set by the program while accounting for an external force of the value set here For translational parameters the force is specified in Newtons N and for rota tional the torque is specified in Newton meters Nm Limits selection For all axes a limit can be set but these have different meaning corresponding to the axes being complian or non compliant e Compliant The limit is the maximum speed the tcp is allowed to attain along about the axis Units are mm s and deg s e Non compliant The limit is the maximum deviation from the program tra jectory which is allowed before the robot security stops Un
65. the event that an output signal goes high the event program can wait for 100ms and then set it back to low again This can make the main program code a lot simpler in the case on an external machine triggering on a rising flank rather than a high input level 4 21 Program Command Tab Thread File Program Installation lt unnamed gt Wayport Wait 9 Y Folder lt empty gt Command Graphics Structure Variables Thread Comment Halt Popup V Loop perform I O wait for signals and set variables Vif eo Pallet Event lt empty gt V Thread 1 Loops Forever 4 _ Track program execution A thread is a parallel program that runs along with the main program A thread can Useful for controlling other machines while the robot is running 17 13 43 O Simulation 8 Real Robot Jl gt Ll Li Speed 100 4 Previous Next E A thread is a parallel process to the robot program A thread can be used to control an external machine independently of the robot arm A thread can communicate with the robot program with variables and output signals 4 22 Program Command Tab Pattern File Program Installation lt unnamed gt Y 3STalrtrus 9 ee Direction o FromPos o ToPos 9 ee PickSequence o StackPos Set Wait o Waypoint Wait 9 Y Folder lt empty gt Command Graphics Structure Vari
66. to control the robot relative to while below it the boxes display the full coordinate value for the tool relative to the selected feature Values can be edited manually by clicking on the coordinate or the joint position Move Tool e Holding down a translate arrow top will move the tool tip of the robot in the direction indicated All Rights Reserved 10 Polyscope 3 Robot Control UNIVERSAL ROBOTS e Holding down d rotate arrow button will change the orientation of the robot tool in the indicated direction The point of rotation is the TCP drawn as a small blue ball Note Release the button to stop the motion at any time Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 To 360 which are the joint limits illustrated by the horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further away from 0 Teach While the Teach button is held down it is possible to physically grab the robot and pull it fo where you want it to be If the gravity setting see 3 7 in the Setup tab is wrong or the robot carries a heavy load the robot might start moving falling when the Teach button Is pressed In that case just release the Teach button again 3 2 1 0 Tab File 17 14 16 O Robot Modbus
67. tup NETWORK Set TIME BACK HO software updates can be installed from USB flash memory Insert an USB memory stick and click Search to list its contents To perform an update select a file click Update and follow the on screen instructions 5 5 Setup Screen Password SETUP Robot O Please select Change Password INITIALISE Robot Enter old password lt lt LANGUAGE Selection Enter new password UPDATE Robot Re enter new password Set PASSWORD Set password CALIBRATE Screen In order to protect users from being able to modify the program You should set a Setup NETWORK password to protect this area Set TIME BACK The programming part of the software can be locked using a password When locked programs can be loaded and run without the password but a password is required to create or change programs All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 5 setup 5 6 Setup Screen gt Calibrate Touch Screen X Point very precisely in the center of the blue cross CANCEL Calibrating the touch screen Follow the on screen instructions to calibrate the touch screen Preferably use a pointed non metallic object such as a closed pen Patience and care help achieve a better result 5 7 Setup Screen Network SETUP Robot O Please select Setup NETWORK Ple
68. tus LEDs give an indication of the joints running state e A bright red LED tells that the robot is currently in a stopped state where the reasons can be several e A bright yellow LED indicates that the joint is running but dosn t know its presents position and needs homing e Finally a green LED indicates that the joint is running correctly and is ready to execute All the LEDs have to be green in order for the robot to operate normally Manual motion By hand When the joints are Ready and the Freedrive button on the back of the screen is pressed the joint modes change to Backdrive In this mode the joints will release the brakes when motion is detected This way the robot can be moved out of a machine manually before being started up The brakes will reactive as soon as the button is released again Auto movement Auto Buttons Normally it is always advisable to use the auto buttons to move the individual joints until they reach a known state In order to operate the button you have to press on the Auto button and keep it pressed All Rights Reserved f PolyScope UNIVERSAL ROBOTS 2 On screen Editors The auto buttons can be pressed individually for each joint or for the whole robot Great care should be taken if the robot is touching an obstacle or table since driving the robot into the obstacle might damage a joint gearbox Moving directly Move Buttons In the case where a joint is in a position where there
69. ual feature This means that the movements will only change if the feature variable is actively changed by the robot program e Variable waypoint When the robot moves to a variable waypoint the tool target position will always be calculated as the coordinates of the variable in the soace of the selected feature Therefore the robot movement for a variable waypoint will always change if another feature is selected The settings of the Shared Parameters of a Move command apply to the path from the robot s current position to the first waypoint under the command and from there to each of the following waypoints The Move command set tings do not apply to the path going from the last waypoint under that Move command All Rights Reserved 30 Polyscope 4 Programming UNIVERSAL ROBOTS Cruise Deceleration Acceleration Speed Time Figure 1 Speed profile for a motion The curve is divided into three seg ments acceleration cruise and deceleration The level of the cruise phase is given by the speed setting of the motion while the steepness of the acceleration and deceleration phases is given by the acceleration parameter 4 5 Program Command Tab Fixed Waypoint File 17 14 28 Program Installation Move 1 O Log A lt unnamed gt Command Graphics Structure Variables Init Variables x Fixed position Y Robot Program Waypoint Rename 9 Y Move E o Waypoint V Move
70. uence command screen to define which of the waypoints in the sequence should correspond to the pattern positions All Rights Reserved AS Polyscope UNIVERSAL ROBOTS A Programming Pallet Sequence Anchorable Sequence In an Pallet Sequence node the motions of the robot are relative to the pallet position The behavior of a sequence is such that the robot will be at the po sition specified by the pattern at the Anchor Position Pattern Point The remaining positions will all be moved to make this fit Do not use the Move Command inside a sequence as it will not be relative to the anchor position BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional AfterEnd sequence Is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next pallet 4 25 Program Command Tab Seek A seek function uses a sensor to determine when the correct position is reached to grab or drop an item The sensor can be a push button switch a pressure sensor or a capacitive sensor This function is made for working on stacks of items with varying item thickness or where the exact positions of the items are not known or too hard to program stacking Destacking ls i i When programming a seek operation for working on a stack one must define s the starting point d the stack direction and i th
71. whether the coordinate axes of the selected feature shall be visible on the 3D graphics The choice applies on this screen and on the Move screen Joggable select whether the selected feature shall be joggable This determines whether the feature will appear in the feature menu on the Move screen Variable select whether the selected feature can be used as a variable If this option is selected a variable named the name of the feature suceeded by var will then be avallable when editing robot programs and this variable can be as signed a new value in a program which can then be used to control waypoints that depend on the value of a feature Set or Change Position Use this button to set or change the selected feature The Move screen will appear and a new position of the feature can be set Move Robot to Feature Pressing this button will move the robot towards the selected feature At the end of this movement the coordinate systems of the feature and the TCP will coincide except for a 180 degree rotation about the x axis Add Point Push this button to add a point feature to the installation The position of a point feature is defined as the position of the TCP at that point The orientation of the point feature is the same as the TCP orientation except that the feature coordinate system is rotated 180 degrees about its x axis This makes the z axis of the point feature directed opposite than that of the TCP at that point

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