Control of the Robot, Using the Teach Pendant

Transcription

1 Exercise 1-2 Control of the Robot, Using the Teach Pendant EXERCISE OBJECTIVE In the first part of this exercise, you will use the optional Teach Pendant to change the coordinates of each robot's articulation, while observing the motions performed by the robot. In the second part of the exercise, you will experiment further with control of the robot motions by having the robot grip, move, and rotate objects. DISCUSSION Refer to the introductory section DISCUSSION OF FUNDAMENTALS of Unit 1 to review the principles for performing this exercise. Appendix C of this manual lists the Teach Pendant's commands used to make the robot perform actions. For detailed information on the Teach Pendant's menus and commands, refer to Section 3 of the Lab-Volt User Guide Robot System Model 5150 (part number E). EQUIPMENT REQUIRED Refer to the Equipment Utilization Chart in Appendix A of the manual to obtain the list of equipment required to perform this exercise. Procedure Summary In the first part of this exercise, you will use the optional Teach Pendant to experiment with control of the robot's articulations. In the second part of the exercise, you will experiment further with control of the robot's articulation with the Teach Pendant by having the robot grip, move, and rotate objects. PROCEDURE CAUTION! When you are working with moving equipment, make sure you are not wearing anything that might get caught in the equipment, such as a tie or jewelry. If your hair is long, tie it out of the way. Pay particular attention to keeping your hands, other body parts, or anything attached to your body out of the mechanisms of the robot while the robot is moving. 1-15

2 Setting Up the System G 1. On the Work Surface, position the robot as indicated in Figure 1-3 (position R0,C7). Do not position the accessories yet. This will be done later in the exercise. Note: Figure 1-3 is in the introductory section DISCUSSION OF FUNDAMENTALS of Unit 1. G 2. Connect the equipment as shown in Figure B-2 of Appendix B. This figure shows the connections to make between the robot, the Teach Pendant, and the Power Supply. Note: For detailed information on the system connections to make when the optional Teach Pendant is used, refer to Section 2 of the Lab-Volt User Guide "Robot System Model 5150", part number E. Control of the Robot's Articulations, Using the Teach Pendant G 3. Turn on the Power Supply. Perform a hard home positioning of the robot: a. On the Teach Pendant, press the Main Menu key to access this menu. b. Press key 3 to access the Initialize Menu. c. Press key 1 to initiate the hard home positioning. The message Reset Home? will appear, prompting you to reset the system settings. Press key 1 to accept and perform the hard home positioning. d. Once the hard home positioning has been performed, press the ESC key to return to the Main Menu. Accessing the Teach Menu G 4. On the Teach Pendant, press the Teach Menu key to display this menu. This will cause the Teach LED of the Teach Pendant to become lit, and will activate the keys required to move the robot's articulations. Table 1-2 lists these keys, as well as their action on the robot's articulations. Note: In the following steps, you will experiment with control of each robot's articulation, using the keys listed in Table 1-2. While doing this, you can modify the speed at which each articulation moves, as indicated below. a. On the Teach Pendant, press the Set Speed key to access the Set Speed menu. 1-16

3 b. Enter the desired speed value (0 through 99). High speeds (50 or higher) are normally used for long moves and for opening or closing the gripper. Slower speeds (lower than 50) are normally used for precise approach moves. It is recommended that you use a speed of 50 or lower when you begin experimenting with the robot's articulations. c. Once the speed value is entered, the Teach Pendant's display will automatically return to the Teach Menu. KEYSTROKE OF THE TEACH PENDANT (ENABLED WHEN THE TEACH MENU IS DISPLAYED) Base + and Base Shdr + and Shdr Arm + and Arm Pitch + and Pitch Roll + and Roll Grip + and Grip Set Speed (01-99) ARTICULATION MOTION Rotates the shoulder Raises and lowers the upper arm Raises and lowers the forearm Raises and lowers the gripper Rotates the gripper Opens and closes the gripper Provides control of the speed of motion Table 1-2. Keys of the Teach Pendant used to move the robot's articulations. Control of the robot's articulations G 5. Experiment with rotation of the robot shoulder in the clockwise and counterclockwise directions: Press the Base + and Base keys to rotate the shoulder to different positions. Taking care not to exceed the mechanical limits, determine the motion range of the shoulder, then return the shoulder to its initial position. G 6. Experiment with moving the forearm of the robot up and down. Press the Arm + and Arm keys to move the forearm to different positions, taking care not to exceed the mechanical limits. Determine the motion range of the forearm, then return the forearm arm to its initial position. Note: If you continue pressing on the Arm + or Arm key after the forearm has reached an extremity of its motion range, the elbow stepper motor will miss steps and the gripper will start to move up or down. Should this occur, perform a hard home positioning before you continue. G 7. Experiment with moving the upper arm of the robot up and down. 1-17

4 Press the Shdr + and Shdr keys to move the upper arm to different positions, taking care not to exceed the mechanical limits. Determine the motion range of the upper arm, which will probably require you to move the arm articulation in order to avoid collisions. Then, return the upper arm to its initial position. Note: If you continue pressing on the Shdr + or Shdr key after the upper arm has reached an extremity of its motion range, the shoulder stepper motor will miss steps and the forearm will start to move. It you further continue pressing on the Shdr + or Shdr key until the forearm reaches an extremity of its motion range, the elbow stepper motor will miss steps too and the gripper will start to move up or down. In any case, you will have to perform a hard home positioning before you continue. G 8. Experiment with moving the gripper of the robot up and down. Press the Pitch + and Pitch keys to move the gripper to different positions. Taking care not to exceed the mechanical limits, determine the motion range of the gripper, then return the gripper to its initial position. G 9. Experiment with rotation of the robot gripper in the clockwise and counterclockwise directions. Press the Roll + and Roll keys to rotate the gripper to different angular positions. Observe that the gripper can be rotated over 360 in either direction. Return the gripper to its initial position. G 10. Experiment with opening and closing the robot gripper. a. Press the Grip + and Grip keys to open and then close the gripper fully. b. Return the gripper to the fully closed condition. Note: A speed of 90 or higher is normally used to open and close the gripper. To set the speed to this value, press the key Set Speed of the Teach Pendant to access the Set Speed menu, then enter the desired speed. The Teach Pendant's display will then return automatically to the Teach Menu. Control of the Robot's Articulations to Grip, Move, and Rotate Objects G 11. Put the objects shown on the Work Surface, as shown in Figure 1-3 (square part, film canister, and metallic can), making sure to position them as indicated in the figure. Note: The dashed lines in Figure 1-3 indicate how the objects will be moved by the robot in the steps to follow. Do not take these lines into account for now. 1-18

5 G 12. With the Teach Menu of the Teach Pendant still displayed, use the motion keys of the robot articulations to make the robot grasp the film canister at position (R7,C6) and move it right over the metallic can without colliding into it, as shown in Figure 1-3. Note: To do this, it is recommended that you use speeds of 50 or faster for long moves, or for opening and closing the gripper, and to use slower speeds of 20 or 30 for precise approach moves. Once the film canister is over the can, open the gripper in order for the canister to be dropped into the can. G 13. Now, use the motion keys of the robot articulations to make the robot grasp the square part and move it to position (R2,C2) of the Work Surface, as shown in Figure 1-3. G 14. If time permits, experiment further with moving the robot articulations by making the robot grasp the square part and move it to several locations on the Work Surface. Shutdown Procedure G 15. Perform the following shutdown procedure. a. Make sure there is nothing inside the robot gripper (if an object is present within the gripper, open the gripper to release this object.) b. Clear the area around the robot, so that it will not hit anything when it moves. c. Perform a soft home positioning. On the Teach Pendant, press the key Main Menu, then press key 3 (Initialize Menu), and then press key 2 (Move Home). d. Turn off the Power Supply. e. Disconnect the system and return the equipment to its storage location. CONCLUSION In this exercise, you were introduced to the installation and connection of the robot training system. You learned how to control the various articulations of the robot, using the optional Teach Pendant. You then experimented further with control of the robot motions by having the robot grip, move, and rotate objects. 1-19

6 REVIEW QUESTIONS 1. List examples of operations performed by robots in industry, that can be hazardous or repetitive for humans. 2. Give some examples of applications in which robots are used. 3. Name three parts of the Lab-Volt 5150 Robot that can move up and down. 4. Name two parts of the Lab-Volt 5150 Robot than can rotate. 5. Which part of the robot can be opened or closed to pick up items before moving them to another location? 1-20