TRNG I HC HNG HI

KHOA: IN IN T TU BIN

TI LIU HNG DN
THC HNH - TH NGHIM

TN HC PHN

: IU KHIN ROBOT

M HC PHN

: 13316

H O TO

: I HC CHNH QUY

Hi Phng, ngy//20.. Hi Phng, ngy//20..

TRNG KHOA
TRNG B MN

HI PHNG, / 2009

Hi Phng, ngy//20..
NGI BIN SON

Phn I: Gii thiu chung v thc hnh - th nghim ca mn hc:

- Mc tiu chung ca phn thc hnh th nghim mn hc:
Gip sinh vin hiu v nm r hn qu trnh tnh ton ng hc cho robot

Trn c s l thuyt c hc, sinh vin lin h c vi vic tnh ton ng hc

Robot trn thc t m c th y l Robot trn phng TN Scobot-ER9

Gip sinh vin thc hnh c cc thao tc iu khin Robot Scobot ER9 thng qua
dng c Teach Pendant v phn mm iu khin Robot Scobase - Phn mm cung cp
cng c cn thit cho ngi s dng trong qu trnh vn hnh v lp trnh cho Robot
Gip sinh vin hiu su hn phn l thuyt iu khin Robot hc trn lp
- Gii thiu chung v thit b phng thc hnh th nghim:

Scorbot ER9: l loi robot dng cnh tay ngi, b phn thn c kh ca robot c ni
bng cc khp thng ng, c 5 khp quay. Vi bn kp c gn vo th robot c 6 bc
t do. Mi khp ca robot c iu khin bi mt ng c in mt chiu nam chm
vnh cu qua hp truyn ng bnh rng v dy cu roa
My tnh

B iu khin Controller B: L thit b trung gian kt ni gia my tnh v robot thc

hin vic iu khin robot. Vic truyn thng gia my tnh v b iu khin thng qua
cng COM hoc RS 232 cho php chng trnh c vit trn PC iu khin
ROBOT.

Thit b Teach Pendant cho php thc hin iu khin robot c lp vi my tnh .
ngThi

- Bng tin v thi lng trin khai cc bi thc hnh th nghim

3h

Tun th 6

Tun th 7

Tun th 8

Tun th 9

Tun th

10
Bi 1
Bi 2
Bi 3
Nhm Nhm Nhm Nhm Nhm Nhm Nhm Nhm Nhm Nhm Nhm Nhm
1
2
3
4
1
2
3
4
1
2
3
4

- Phng php nh gi kt qu thc hnh th nghim ca sinh vin:

Bn bo co th nghim
- Cng tc chun b ca sinh vin:

Tun th 11

SV phi n li tht k c s ton hc trong tnh ton ng hc robot

 Sinh vin phi nm r c qu trnh tnh ton ng hc thun v ng hc ngc cho

Robot a ra c cc to m Robot s lm vic theo.

Tm hiu v ngn ng lp trnh SCOBASE (phn mm chuyn dng) cho Robot.

- Cn b ph trch, hng dn thc hnh th nghim mn hc:
+ KS. Phm Th Hng Anh
+ThS. Nguyn nh Tht
- Ti liu tham kho
Ti liu v Robot Scorbot ER9 trong phng th nghim
iu khin Robot. TS. Nguyn Mnh Tin. Nh xut bn KHKT
Robot cng nghip. PGS.TS Nguyn Thin Phc
Gio trnh Robot cng nghip. PGS.TS Phm Thng Ct

Phn II: Ni dung chi tit cc bi THTN:

Bi 1:
GII THIU V ROBOT SCORBOT-ER9 TRONG PHNG TN
1. Mc tiu:
Gip SV nm c tng quan v cu trc robot trong cng nghip, phng php iu
khin Robot, tm hiu v cc thit b ngoi vi c lin quan n Robot.
2. Cng tc chun b ca sinh vin:
c trc ti liu v Robot Scorbot ER9 trong phng th nghim v b iu khin
Controller B
n li c s ton hc cho iu khin Robot
3. Trang thit b cn thit:
- Scorbot ER9
- My tnh
- B iu khin Controller B
- Thit b Teach Pendant
4. Cc ni dung, quy trnh
4.1 Scorbot ER9.
Scorbot ER9 l loi robot dng cnh tay ngi, b phn thn c kh ca robot c ni
bng cc khp thng ng, c 5 khp quay. Vi bn kp c gn vo th robot c 6 bc t do.
Vic thit k ny cho php end-effector c th di chuyn tu trong khng gian lm vic rng.
Mi khp ca robot c iu khin bi mt ng c in mt chiu nam chm vnh cu qua
hp truyn ng bnh rng v dy cu roa. S chuyn ng ca cc khp c m t theo bng
sau

Hnh 1: Cc khp chnh ca tay Robot

H trc

Khp

Chc nng

ng c

Quay thn

2
3
4
5

Vai
Khuu
C tay
Quay c tay

Nng v h cnh tay trn

Nng v h c tay
Nng v h end_effector
Quay end_effector

2
3
4
5

Bng 2: Tn v chc nng cc khp robot

a. Bn kp
Bn kp l mt phn t c gn vo robot thc hin mt cng vic no . Hot
ng ca bn kp khc hot ng ca cc trc, nhng ngc li ngi ta c th a mt lnh
xc nh lng chuyn ng ca cc trc, t ch dn bn kp ng hay m hon ton.
Tuy nhin nu bn kp kp vt th ln th n s dng chuyn ng ca n. Bn kp trong robot
ny c th l bn kp chy bng kh nn hoc ng c in servo 1 chiu .
b. iu khin scorbot ER9
- iu khin bng phn mm thng qua my tnh iu khin h thng. Ch yu s dng
phn mm chuyn dng SCORBASE, l phn mm iu khin robot c s dng trn nn ca
Window 98. D s dng, c th s dng trn bt k h thng PC no v thng tin vi ACL,
ngn ng bn trong ca b iu khin bi knh RS232
- Qua thit b cm tay Teach Pendant: N l mt thit b u cui iu khin bng tay s
dng iu khin Scorbot er9 v cc thit b ngoi vi. Trong thc t Teach Pendant dng
di chuyn cc h trc, ghi li v tr, gi cc h trc ghi li v tr v chy chng trnh .
c. H thng truyn ng ca ScorBot ER9
Chuyn ng ca Scorbot c thc hin nh 3 phn t chnh ( Hnh 2).
-

ng c in mt chiu

Hp truyn ng

Dy curoa v puly

Hnh 3: H thng truyn ng ca Scorbot ER9

Hnh trn l h thng truyn ng ca Scorbot cho cc h trc t 1 4. Ring h trc 5
h truyn ng khng bao gm dy cu roa v puly m ch c hp truyn ng c s
dng( Hp s ).
* ng c : Cnh tay robot c truyn ng bi ng c in 1 chiu. Cc b tc ng bin
i tn hiu t b iu khin ( in nng ) thnh s quay ca trc ng c ( C nng ).

Hnh 4: Cu Trc Robot SCORBOT ER9

Scorbot ER9 s dng cc ng c mt chiu nam chm vnh cu chuyn ng cc
trc. Cc chuyn ng ca robot c thc hin thng qua ng c nh hnh di .

ng c cho h trc 1,2 v 3

ng c cho h trc 4v 5

Cc ng c ny c th chuyn ng vi tc quay rt ln chuyn ng cc ti c

momen ln v ( vi encoer gn ) thc hin cc vng quay ln. Nguyn l hot ng ca
ng c in ni chung v ng c in mt chiu ni ring da trn c s dng in chy qua
cht dn in c t trong t trng. V tr ny to ra mt lc tc ng vo cht dn in
Cu trc c bn ca cc ng c gm cc thnh phn chnh m t trn hnh sau:

Hnh 6: Cu trc ca cc ng c Scorbot

- Stato : L phn t tnh to ra t trng, n c th l mt nam chm vnh cu hoc mt
nam chm in gm mt cun dy qun quanh li thp mng .
- Roto : L phn t quay trong t trng. Ti bn ngoi c ni vi trc ca roto. Roto
ni chung bao gm h thng li thp c c l v cc dy dn c qun vi ln quanh
tm bn cc qua cc l. Hai u cui ca dy dn c ni ti hai na ca b chuyn mch n
c cp ngun thng qua 2 chi than .
- Chi than: N ni cc b chuyn mch quay trn v c cp bi dng in t bn
ngoi .
*, Dy cu roa v cc puly
C tc dng lin kt cc chuyn ng, m bo cc khp hot ng mt cch chc chn
v an ton .
d. Cc phn t nh v v gii hn v tr
Scorbot er9 lun b tr cc phn t nh v v gii hn trn cnh tay robot m bo
cc chuyn ng din ra chnh xc v an ton. Cc phn t ny bao gm :
-

Encoder .

Ngt cui v cng tc hnh trnh

Dng phn cng .

Cng tc c s .

* Encoder
V tr v chuyn ng ca mi trc Scorbot ER9 c o bi encoder quang in
c gn vo u trc ng c a tn hiu truyn ng c t cc trc v. Encoer bin
chuyn ng quay ca trc ng c thnh mt tn hiu s bng b iu khin. Encoder c
t trn ng c nh ch hnh sau

Hnh 7: V tr a Encoder trn ng c

Encoder s dng trn Scorbot ER9 bao gm mt diot ( LED) quang nh mt ngun
sng. Trc n led l mt mch t hp o sng nh sng. IC ny bao gm mt vi b thu tch
sng quang v mt mch in to ra mt tn hiu s. Mt l khoan trn a quay c t
vo gia mch t hp b pht v b thu sng .
Khi a quay trn gia n LED v b thu nh sng b ngt bi cc vch trn a, kt
qu l mt chui xung nhn c bi IC thu sng .

Hnh 8: a encoder trn Scorbot ER9

Encoder c 512 rnh cm nh hnh trn, mi khe b xung trn a c s dng pht
ra mt xung kim ( Xung C) cho mi vng quay ca a. Da trn xung kim ny xc nh v
tr gc ca cc trc .
B thu sng phi c sp xp sao cho khi thay i c th pht hin ton b nh sng. u ra
cc diode quang c a vo mch x l tn hiu, kt qu cho ra cc tn hiu nh hnh 9

Cc b so snh nhn tn hiu v to ra cc tn hiu s cc knh A, B, v I. u ra cc

knh A lch pha vi knh B mt gc 90 o. Khi chiu quay ca a ngc vi chiu quay kim
ng h, knh A s sm pha hn knh B, v ngc li khi chiu quay ca a theo chiu kim
ng h th knh B s sm pha hn knh A.

Hnh 9 :Tn hiu iu ch a vo iu khin

*Ngt cui v cng tc gii hn

SCORBOT ER9 s dng cc cng tc gii
hn, gii hn cc khp chuyn ng ra ngoi chc
nng gii hn ca chng. Khi c mt li iu khin
s dng h trc cui hnh trnh lm vic, cng tc gii hn s tc ng tm dng cc hnh
trnh . Cng tc ti hn l mt b phn trn cnh tay robot c lp vi b iu khin .
Mi trc t trc 1 n trc 4 c 2 cng tc ti hn. V tr ca n cui phm vi lm vic
ca cc h trc. Trc 5 khng c cc cng tc ti hn, n c th quay lin tc. Khi bn kp
c gn vo trc 5 chuyn ng ca n ch c iu khin v gii hn bi phn mm .
Cng tc ti hn c gn trn cc a, cc a ny c gn vi khung ca robot. a
cho trc 3 c ch nh hnh sau :

Hnh 10: V tr cng tc ti hn

Trc ra ca hp truyn ng lin kt vi a c gn vi cng tc nh. v tr chuyn
ng cc khp, mu cam trn u ra ca cc trc chuyn ng di chuyn n mt im, im
n sinh ra mt lc trn nt kch thch ca cng tc ti hn vo v tr m n lm hot ng
cng tc .
* Cng tc c s

Scorbot ER9 s dng cng tc quang c s trn mi h trc nhn dng v tr gc,
hoc cc v tr c nh khc. Cng tc c s c t trn a ging nh cng tc ti hn v
mt ci c c gn trn u ra ca trc truyn ng. Trong sut qu trnh a v v tr gc,
cc bin khp ca robot c chuyn ng mi mt thi im. Mi mt trc c di chuyn
cho n khi c ct tia sng. Khi b thu sng trn mi h trc gi tn hiu ti b iu khin.
Ln u tin v tr m cng tc c s pht hin, ng c tip tc quay cho n khi encoder sinh
ra xung kim. Ti thi im chnh l v tr gc ca h trc. .
4.2. CONTROLLER B h thng iu khin robot
L thit b trung gian kt ni gia my tnh v robot thc hin vic iu khin robot.
Vic truyn thng gia my tnh v b iu khin thng qua cng COM hoc RS 232 cho php
chng trnh c vit trn PC iu khin ROBOT. Ngoi ra thng qua thit b teach
Pendant cho php thc hin iu khin robot c lp vi my tnh .
Ni chung b iu khin bao gm nhng phn t in vi h thng vi x l. Cc h
thng ny iu khin chuyn ng ca cc end effector thng qua vic iu khin chuyn
ng ca cc bin khp. Trong mt s trng hp c th lu tr cc chng trnh trong b nh
ca chng .
a. Thng tin tng quan b controler B
Cc c im ca b iu khin .
+ Loi iu khin: Bao gm iu khin c lp, thi gian thc, a nhim, PID ( T l ,
tch phn v vi phn ), PWM iu khin rng xung
+ iu khin ng: gm CP ( ng lin tc ), ng ni, ng thng, ng trn,
ng hnh sin, ng c nh ngha bi ngi s dng to ca thit b .
+ iu khin qu o: Bao gm iu khin qu o kiu Parabonoit, qu o ng
hnh sin.
+ Cc tham s iu khin: iu khin servo, tc , vn tc trt, sai lch v tr trc,
hot ng ca bn kp, bo v nhit, va chm, gii hn, dn ng, giao din encorder, v cc
php tnh .
Ngoi ra cn nhiu cc thng s khc nh: Cp ngun vi phn, trng lng kch thc,
di nhit hot ng, chp, b nh card vo ra ...

Hnh dng bn ngoi ca Controller B

b. Thnh phn v chc nng giao tip ca Controller B

* , Mt trc ca b iu khin controller

Mt trc ca khi iu khin

Gm cc thnh phn v chc nng nh sau:

- Cng tc ngun: Cng tc ny v tr sau ca b iu khin. Cng tc ngun c th
ni vi ngun 100/110/220/240 VAC ti b iu khin. Khi cng tc ngun bt h thng bt
u hot ng .
-n ngun: n LED mu vng sng ln khi cng tc ngun bt. N ch ra rng ngun
bt .
- Cng tc cp ngun cho ng c truyn ng: Cng tc ny cho php ng hoc ct
ngun cp in p mt chiu ti tt c cc ng c ni. n LED mu xanh gn vo cng
tc sng ln khi cng tc bt. CPU gi cc trng thi on/off ca cng tc trn b iu khin v
gy ra thng bo Cng tc ngun ng c b tt xut hin khi cng tc khng b n .
Cng tc ngun ng c ch trong trng thi ngh trong cc trng hp sau :
+ Khng cp ngun cho ng c v khng cp ngun cho b iu khin
+ Ngn cn s chuyn ng ca cc h trc
Khi cng tc ng c c tc ng, bt k h trc chuyn ng no s c dng mm.
u tin cng tc cc ng c s trng thi off, cc ng c ca robot v tt c cc h trc

c ni khng cho php hot ng. Nu cng tc v tr ON cc h thng bao gm nh

encorder, cc card vo/ra lin tc chc nng, chng trnh cng s tip tc thc hin, mc d
cc li c thng bo trn mn hnh .
- Nt dng s c v n bo ( Emergecy ): Khi nt dng s c c n th xy ra cc
trng hp:
+ Ngun ng c b ngt, tt c cc chuyn ng ca cc ng c dng li, n
Led mu xanh trn ng c tt .
+Trng thi iu khin tt Control off uc kch hot .
+ n Led s c mu sng ln, mt thng bo dng khn cp xut hin trn
mn hnh, tt c cc chng trnh ang chy b hu b.Cc u vo u ra b treo trng thi
hin ti. Ngun cung cp cho ngi s dng vn c duy tr bnh thng
+ Ch HOME v CON khng th hot ng
gii phng nt dng s c bng cch quay n theo chiu kim ng h theo chiu mi
tn ch ra trn . Khi nt dng s c c gii phng th xy ra cc kh nng nh sau :
+ Thng bo thot khi dng s c c xut hin trn my tnh .
+ n Led dng s c mu tt .
+ n Led cp ngun cho ng c (mu xanh) sng .
+ Nu tn ti th chng trnh s dng bt u chy.
+ Hot ng CON
- Cng tc khi ng li: Ging nh nt n khi ng li trn PC, khi n nt ny th s
khi ng li b iu khin, nu n ang c cp ngun. Khi n nt ny s xut hin :
+ Tt c cc chng trnh ang chy s b treo.
+ V tr gc HOME s b xo i t b nh trong sut qu trnh khi ng li .
- Cp ngun cho cc ngt cui: S dng cp ngun cho cc phn t bn ngoi trong ng
dng ca ngi s dng nhn c ngun t b iu khin. S dng cp ngun ca b iu
khin c 4 im cui l + 24VDC 2A, 12 VDC 2A, cp ngun di ng chung, ni t an ton .
- Cc im u ra: C tt c 16 u ra trong h thng robot chuyn cc tn hiu n
cc phn t bn ngoi trong mi trng ca robot. Controller- B c 2 loi u ra, 4 rle u ra
v 12 tip im thng m.

- Cc tip im u vo: C 16 u vo trong h thng robot nhn cc tn hiu t cc

phn t bn ngoi trong mi trng hot ng ca robot .
- Cc n LED vo ra: C 16 led mu xanh tng ng vi u ra t 1 n 16, n Led
ny sng ln khi u ra c kch hot. C 16 n Led u vo tng ng vi 16 u vo t 1
n 16 n ny sng ln khi u vo c kch hot .
* , Mt sau b iu khin :

Hnh 13: Mt sau Controller B

Trong : 1. Cng tc ngun ON/OFF
2. Chn cm ngun 100/110/220/240VAC
3. Thit b tip t
4. Cng RS 232
5. u ni Teach Pendant
6. u ni cng song song
7. u ni ngun robot
8. u ni Encoder
9. u ni trc chuyn ng
10. u ni Scorbot ER9
11. u ni cc khi vo/ra
12. Cng tc iu khin s c t xa
13. u ni ra iu khin t xa cho ng c servo
14. Cng a chc nng RS 232
* Cu trc bn trong ca b iu khin

y l nhng thng tin v phn cng ca h thng. N tch hp y cc phn t to

nn b iu khin bao gm .
- CPU: Loi motorola 68020. y l b x l trung tm cha tt c cc mch in cho
php iu khin, nh thi , lu tr v truyn ti d liu a ch, thut ton thc hin .
- EPROM : 512 KB, c th m rng ti 2MB .
- RAM: 512 KB, c th m rng ti 2 mB trong c 150 KB dnh ring cho h thng
cn 350 KB thay i i vi ngi s dng .
- PIN: C mt pin 3(V) s dng cho vic phc hi b nh, c tui th 2 nm
- INPUT: B iu khin robot Scorbot c 16 u vo c chia thnh 2 khi cch ly
quang

Hnh 14: u vo b iu khin

Mi khi c t ch lun ni v c th c tham chiu ti cc thit b ngoi vi
khc nhau hoc ti trng thi tip t ca b iu khin. Cc mch u vo b iu khin s
dng cch li quang m bo cch ly v in gia b iu khin v cc thit b in t khc
trong h thng .
-

OUTPUT : Gm 16 u ra , c chia thnh 2 khi cch li quang .

Hnh15: u ra ca b iu khin
- Truyn thng: Hai knh tch hp chun truyn thng RS 232 c th c m rng ti
10 knh .
- a nhim: Thc hin ng thi ti a 40 nhim v ca ngi s dng
5. Kt lun, cc yu cu cn t c i vi sinh vin sau khi thc hnh:
- Nm c cu trc tng quan ca con Robot Scobot ER9 trong phng th nghim
- Cc phng php iu khin Robot
- Phn mm Scobase-pro ngn ng lp trnh cho Robot Scobot ER9

Bi 2:
TNH TON NG HC CHO ROBOT SCOBOT-ER9
1. Mc tiu:
- Gip sinh vin hiu v nm r hn qu trnh tnh ton ng hc cho robot
- Trn c s l thuyt c hc, sinh vin lin h c vi vic tnh ton ng hc
robot trn thc t m c th y l Robot trn phng TN Scobot-ER9
2. Cng tc chun b ca sinh vin:
- SV phi n li tht k c s ton hc trong tnh ton ng hc robot
- Phi nm c c bn cc bc tnh ton ng hc ca robot
- Tnh c cc nh thc, t tnh ra c v tr ca bn kp robot Scobot-ER9.
3. Trang thit b cn thit:
- Scorbot ER9
- My tnh
- B iu khin Controller B
- Thit b Teach Pendant
4. Cc ni dung, quy trnh:

4.1 . ng hc thun v tr ca robot

Bi ton ng hc thun v tr ca robot l bi ton xc nh mi quan h gia v tr ca
bn kp ( End_enffector) so vi khung to gc. Tc l bit trc cc bin khp, t i xc
nh ma trn v tr bn kp

RH .

Xt mt tay my c n+1 khp t do, c ni vi nhau bi n khp. Mc ch ca tnh

ton ng hc l xc nh c v tr bn kp. Theo h to gc th ma trn biu din ng
hc thun ca bn kp c dng nh sau :
nx
n
R
TH = [n, o, a, p] = y
nz

ox
oy

ax
ay

oz
0

az
0

px
py

pz

4.2. Tnh ton ng hc thun cho Scorbot ER9

- p dng quy tc Denavit HarterBerg t khung to nh sau :

X0Y0Z0 t ti trc quay ca khp th 1
X1Y1Z1 ..................................................2
X2Y2Z2 ..............................................................................3
X3Y3Z3....................................................4
X4Y4Z4....................................................5
X5Y5Z5....................................................6
Chn cc trc to cho cc khp ta c khung to Robot Scorbot ER9 nh sau:

- Lp bng quan h DH
- Tnh Cc nh thc A1A2.....A5.
Ma trn tng qut :
Cos n
Sin
n

Sin n .Cos n
Cos n .Cos n

Sin nSin n
Cos n .Sin n

Sin n
0

Cos n
0

Ta c ma trn ca bn kp l :

anCos n
anSin n
dn

nx
n
y
R
0
0
1
4
TH = T5 = A 1 . A 2 ... A 5 =
nz

ox

ax

oy

ay

oz
0

az
0

px
p y
pz

5. Kt lun, cc yu cu cn t c i vi sinh vin sau khi thc hnh:

- Nm c phng php tnh ton ng hc trong iu khin Robot
- Phng php a ta xc nh v tr ca tay nm Robot

Bi 3:
SCOBOT ER9 LM VIC TRONG K THUT HN
1. Mc tiu:
- Gip sinh vin thc hnh c cc thao tc iu khin Robot Scobot ER9 thng qua
dng c Teach Pendant v phn mm iu khin Robot Scobase - Phn mm cung cp cng c
cn thit cho ngi s dng trong qu trnh vn hnh v lp trnh cho Robot.

- Gip sinh vin hiu su hn phn l thuyt iu khin Robot hc trn lp

2. Cng tc chun b ca sinh vin:
-

Sinh vin phi nm r c qu trnh tnh ton ng hc thun v ng hc ngc

cho Robot a ra c cc to m Robot s lm vic theo.

Hiu v lp trnh c vi ngn ng SCOBASE (phn mm chuyn dng) cho

Robot.

3.Trang thit b cn thit:

- Scorbot ER9
- My tnh
- B iu khin Controller B
- Thit b Teach Pendant
4.Cc ni dung, quy trnh:
Hn ch theo yu cu
V khng c sng hn nn qu trnh hn mt mi hn c c trng bi vic ng bn
kp. Kt thc mi mt mi hn bng vic m bn kp. Sau khi hn xong mt ch ci th c
tr v tip tc hn cc ch ci tip theo. Kt thc mt chu k hn c ting chung bo hiu.
V d: Hn ch V
Bng vic tnh ton ng hc tm ra to chnh xc ca Robot, ta np to ca
robot, ghi li s v tr m robot phi thc hin
Ta c bng to v tr di dng to ecac nh sau:
STT X (mm)
Y(mm)
Z(mm)
Pitch (deg)
Roll (deg)
1
37.33
-418.96
58.85
-106.29
0.76
2
-2.05
-328.42
51.15
-128.43
0.76
3
-64.07
-450.29
35.91
-96.12
0.76
Tt c cc thao tc trn phi c tnh ton rt cn thn v kim tra trc khi thao tc
trn my tnh. Sau c th iu khin Robot hot ng th phi thao tc theo trnh t sau:
-

Kim tra tt c cc u ni gia b iu khin v Robot, my tnh v b iu

khin

Cp ngun 220VAC vo b iu khin v my tnh

Bt cng tc b iu khin bi nt ON/OFF

n nt cp ngun cho cc ng c mt chiu mt trc ca b iu khin

Khi ng my tnh

Trn thit b Teach Pendant, chuyn nt ch AUTO/TEACH ch auto

M phn mm Scobase trong my tnh (Trn Desktop)

a robot v v tr gc (Home) bng cch chn Run Search Home-all axis

Sau khi a robot v v tr gc xong th vo menu File/new m mt file mi

bng cch lp trnh v np cc v tr cho chng trnh.

Sau khi np cc v tr mi xong, cho chy chng trnh bng cch vo menu Run.
+ Nu mun Robot chy theo tng dng lnh mt th chon Run Single line.
+ Nu mun Robot chy theo chu k th chn Run Single cycle
+ Nu mun Robot chy lin tc th chn Run Continuosly.

Sau khi robot hon thnh xong cng vic hn ca mnh, ta phi a robot v v tr
gc

5. Kt lun, cc yu cu cn t c i vi sinh vin sau khi thc hnh:

- Nm c cc trnh t thao tc iu khin Robot Scobot ER9
- Lp trnh cho Robot Scobot ER9 i theo mt qu o cho trc