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Automation and Robotics

Servo Robot System Model 5250
Printed in Canada

User Guide 34175-E0

|3034175E00511`~

AB

MAY 2004 Printed in Canada November 2005 .AUTOMATION AND ROBOTICS SERVO ROBOT SYSTEM MODEL 5250 by the Staff of Lab-Volt Ltd. Legal Deposit – Second Trimester 2004 ISBN 2-89289-712-2 SECOND EDITION. Copyright © 2004 Lab-Volt Ltd . All rights reserved. No part of this publication may be reproduced. without the prior written permission of Lab-Volt Ltd. in any form or by any means.

III . especially in a real working environment. it is important for you to read this manual. you will learn to create automated work cells ideal for Flexible Manufacturing Systems (FMS) and Computer-Integrated Manufacturing (CIM). Safety is an important issue. We hope that your learning experience with the Servo Robot System will be the first step of a successful career in robotics. Models 5200 and 5250.Foreword The Lab-Volt Servo Robot System. Before you connect and use the training system. provide complete and affordable training in the programming and operation of industrial style robots. Through the curriculum and hands-on experience gained in working with the Servo Robot System.

IV .

. . . . . . . . . . . . . . . . . . Gripper . . . . . . . . . . . . . . . . . . . . . Main Menu . . . . . . . . . . . . . . . . . . . . . . 1-8 Section 2 Installation and Connections . . . . . 1-1 Description . . . . . . . . . . . . . Control Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed . . . Flags . . Name . . . . . . . . . Elbow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Name . . . . . . . . . . . . . . . . . . . . . Save Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CNC 2 . . . . . . . . 2-2 Connections . . . TTL Output . . . . . . . XI Section 1 Overview of the Servo Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Point Manager . . . . . . . . . . . . . . . . . . . . . . . . . Save Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CNC 1 . . . . . . . . . . . . . . . . . C Deletes the point beside the cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3-2 3-2 3-3 3-3 3-3 3-3 3-3 3-3 3-3 3-3 3-3 3-4 3-4 3-4 3-4 3-4 3-4 3-4 3-5 3-5 3-5 3-5 3-6 3-6 3-6 3-6 3-6 3-6 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delay . Ch 2 . . . . . . . . . . . . . . . . . . . . . . . . 1-7 External Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Robot Controller . .Table of Contents Introduction . . . . . . . . . . . . . . . . . . . Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wrist R . . . . . . . . . . . . . . . . . . . . . . .1-7 Emergency Stop Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TTL Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Space Required . . . . . . . . . 7 Moves the point beside the cursor under the next point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ch 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Section 3 Hand-Held Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Hand-Held Terminal . . . . . . . . . . . . . . . . . . . . . Shoulder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Servo Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Point Editor . . . . . . . . . . 2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x Clears all points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Moves the point beside the cursor over the preceding point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Base . . . . . . . . . . . . . . . . . . . . Wrist P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 Save Config . . . . . . 3-13 Shldr Pitch Down . . . . . . . . . . . . 3-8 Clr Soft Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 TTL Output . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Torque Motors . . . . . . . . . . . . . . . . 3-13 TTL Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Free Motors . 3-15 VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Soft Home . . . . . . . 3-6 Run Once . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Wrist Pitch Up . . . . . . . . . . . . 3-14 CNC 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Key Click . . . . . . . . . . . . . . . . . . 3-13 Time Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Ch 1 Forward . . . . . . . . . . . . . . . 3-13 Ch 2 Backward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Ch 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Shldr Pitch Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 Save Control (point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 CNC 2 . . . . . . . . . . . . . . . . . . . . . . .Table of Contents (cont’d) Task Manager . . . . . . 3-7 Save to Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Ch 1 Backward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Soft Limits OFF . . . . . . . . . . . 3-14 Save ABS Point . . . . . . . . 3-6 Run Forever . . 3-9 Ch 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Gripper Open . . . . . . . . . 3-9 Grip . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 Motion Control . . . . . . . . . . 3-8 Set Soft Home . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Wrist CW . . . . . . . . . . . . . . . . . . . 3-12 Elbow Pitch Down . . . . . . 3-9 Hardware Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Hard Home . 3-13 Ch 2 Forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Trace Points . . . . . . . . . . . . . . . . . . . . . . . . 3-11 Speed Control . . . . . . . . . . . . . . . . . . 3-10 Shift Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Gripper Close . . . . . . . . . . . . . . 3-12 Wrist CCW . . . . . . . . . . . . . . . . . . . . . . 3-13 Base CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Base CW . . . . . . . . . . . . . 3-10 Teach Menu . . . . . . . . . . . 3-7 Clear Points . . . . . . . . . . . . . . . . . . . . . . . 3-14 Save REL Point . . . . . . . . . . . . . . . . . . . . . 3-7 Load from Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Soft Limits ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 File Manager . . . . . . . . . . . . . . . . 3-12 Elbow Pitch Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Wrist Pitch Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Set Soft Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Go to Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Soft Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Set Bookmark . . . . . . . . . . . . . . . . . . . 4-5 Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Go to Bookmark . . 4-7 Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Redo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 File . . . . . . . . . . . 4-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Print Setup . . . . . . . . . . . . . . . . . . 4-5 New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Computer Requirements . . . . . . . . . . . . 4-7 Save . 4-8 Robot . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Print . . . . . . . . . . . . . . . 4-7 Undo . . . . 4-9 Download From . . . . . . . . . . . 4-1 Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Find . . . . . . . . . . . . . . . . . . . . 4-1 Familiarization with Robotics . 4-7 Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Motion Control . . . . 4-5 Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Duplicate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Revert . . . . . . . . 4-8 Select All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Table of Contents (cont’d) Resuming the Servo Robot System after an Emergency Stop . . . . . . . . . . 3-15 Section 4 Robotics . . . . . . . . . . . . 4-8 Replace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Copy . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Find Next . . 4-9 Free Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Main Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 Close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Clear Soft Home . . . . . . . 4-9 Hard Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 Task Editor . . . . . . . . . . . . . . . . . 4-9 Torque Motors . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 Point Editor . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Cut . . . 4-8 Run Task . . . . . . . 4-10 VII . . . . . . . . . . . . . . . . . . . . . 4-7 Save As . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . New Task Editor . . . . . . . . . . Toolbar . . . . . Copying Points from the Robot Controller Memory into the Task Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tile Vertical . . . . . . . . . . . . . . . Minimize All . . In the Left Column of the Task Editor Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Close All . . . . . . . . . . . . . . . . . Deleting Code . . . . . 6-1 Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controller Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Annotating a Task Program . . . . . . . . . . . . . . . . . . . . . 4-10 4-10 4-10 4-11 4-11 4-11 4-11 4-12 4-13 4-14 4-15 4-15 4-15 4-15 4-15 4-15 4-15 4-16 4-17 4-22 4-22 4-22 4-22 4-22 4-23 4-24 4-24 4-24 4-25 4-26 4-27 4-27 4-27 4-27 4-28 4-28 4-28 4-29 4-29 4-29 Section 5 Safety Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Copying Points from the Point Editor into the Task Editor . . . . . . . . . . . . . . . . . . . . . . . 6-1 Belt Tension . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 Safety Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Restore All . Cascade . . Context-Sensitive Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Point-to-Point Programming . . . . . . . . . . . . . . . . . . . . Environment . . . . . . . . . . . Task Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CNC Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Window . . . . . Release Emergency Stop . 5-1 Section 6 Care and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adding Code . . . . . . . . . . . . . . . . . . . . . . . . . . File Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Online . . . . . . . . . Point Editor . . . Programming Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Task Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 VIII . . . . . . . . . . . . . . . . . . . . . About . . . . . . In the Robot Section of the Point Editor in Teach Mode . . . . Hardware . Contents . . . . . . . In the Point list Section of the Point Editor and Task Editor Windows . . . . Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Table of Contents (cont’d) Upload to . . . . . . . . . . Active Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Point Editor . . . . . Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Running a Task Program Editing a Task Program . . . . Status bar . . . . . . . . . . . . . . . . . . . . . . . Tile Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Model 5210 Gravity Feeders. Models 5122 and 5142 Linear Slide. Model 5209 Error Codes of Firmware 5250 IX . Models 5119 and 5121 Pneumatic Feeders.Table of Contents (cont’d) Appendices A B C D E F G H I Hand-Held Terminal Menus Robotics Menus Task Commands Rotary Carousel. Model 5208 Belt Conveyor.

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Section 2 explains how to install and connect the equipment. Section 3 explains how to use the Hand-Held Terminal. It is intended for students.Introduction This user guide is designed to provide all the information required to install and use the Lab-Volt Servo Robot System. Section 4 explains how to install and use Robotics to operate the training system. and the personnel in charge of the laboratory equipment. The appendices show the various menus with their shortcuts. The user guide is divided into five sections. and Section 5 describes the care and maintenance required by the Servo Robot. and explain how to connect and use the optional devices. instructors. XI . Section 1 is an overview of the Servo Robot System. describe the task commands.

XII .

Grids. The servo motors of the Servo Robot have a device called an Optical Encoder that provides feedback to the Robot Controller. The fingers are joined to the spur gears and as the gears rotate. It houses the motor that provides shoulder rotation. The wrist and gripper work together to pick up parts and move them to the required locations. and all the accessories required to perform the hands-on exercises of the student manual. Hand-Held Terminal. also called manipulator or manipulator-arm robot. The upper arm and forearm have up and down motions. One end of the forearm is attached to the upper arm and the other end is attached to the wrist. Robotics to control the Servo Robot from a host computer. The fingers of the gripper move in an open and close motion.Section Overview of the Servo Robot System 1 Description The Lab-Volt Servo Robot System consists of the Servo Robot. Robot Controller. The shoulder rotates on the base. Emergency Stop module. The wrist moves up and down to control the two-finger gripper. The base supports the arm mechanisms. The operation of the Servo Robot. and gripper. The term Servo Robot comes from the type of motors used by the robot: servo motors. It houses the motors associated with the gears and belts that move the other sections of the arm. The worm gear then drives two spur gears. Work Surfaces. 1-1 . the fingers open or close. These components are shown in Figure 1-1. wrist. A servo motor turns a shaft that is attached to a worm gear. It can also rotate in a 360-degrees clockwise or counterclockwise direction. Servo Robot The overall mechanical layout of the Servo Robot is shown in Figures 1-2 and 1-3. is controlled using the Hand-Held Terminal or the Robotics® software via the Robot Controller. The lower end of the upper arm carries the gears and pulleys that drive the forearm.

Overview of the Servo Robot System MOUNTING BASE SERVO ROBOT ROBOT CONTROLLER METALLIC CAN FILM CANISTERS WORK SUFACE p/n 6309 GRID SHEET CABLE p/n 95028 EMERGENCY STOP MODULE CABLE p/n 95921 HAND-HELD TERMINAL CABLE p/n 93017 CABLE p/n 95922 CABLE p/n 93236 CABLE p/n 95451 Figure 1-1. 1-2 . Main components of the Servo Robot System.

1-3 . Mechanical layout of the Servo Robot (View A).Overview of the Servo Robot System GRIPPER FOREARM ELBOW WRIST UPPER ARM SHOULDER BASE Figure 1-2.

The Robot Controller compares the control signal to the feedback signal to ensure that the position is correct at all times. A receiver (phototransistor) detects the light changes (light/dark). The optical encoder consists of a LED (Light Emitting Diode) that sends light through a finely screened code wheel that is rigidly mounted onto the motor shaft as shown in Figure 1-4. 1-4 . LED WHEEL PHOTOTRANSISTOR MOTOR SHAFT Figure 1-4. The light changes are converted into electrical pulses and sent back to the Robot Controller. Mechanical layout of the Servo Robot (View B). Optical encoder of a servo motor.Overview of the Servo Robot System MOTOR DRIVE INPUT MOTOR FEEDBACK OUTPUT Figure 1-3.

Overview of the Servo Robot System Robot Controller The Robot Controller is the brain of the Servo Robot System. This button must be pressed when powering up the system. They are enabled (torqued condition) when the button is pressed. The Robot Controller is operated from the Hand-Held Terminal or from Robotics. The LED of a relay lights when it is activated. The LED lights when the servo motors of the Servo Robot are disabled (not torqued condition). Each Relay includes a set of normally open (NO) and normally closed (NC) contacts. C Motor Disabled (LED) indicator. It contains the inputs and outputs required to send and receive TTL (Transistor-Transistor Logic) signals to/from the external devices and CNC (Computerized Numerical Control) machine tools. The LED of a TTL output lights when the level is high. It is a specialized computer with ports. and status indicator (LED). The LED of a TTL input lights when the level is high. C Relays. C TTL outputs and status indicators (LED). the front panel of the Robot Controller includes the following: C Hand-Held Terminal connector to connect the Hand-Held Terminal. As Figure 1-5 shows. switches. C TTL inputs and status indicators (LED). C Motor Enable/Disable pushbutton is used to enable and disable the servo motors of the Servo Robot. 1-5 . C A floppy disk drive to save and load programs. and programming capabilities that enable it to function as a controller.

As Figure 1-6 shows. 1-6 . MOTOR DRIVE OUTPUT EMERGENCY STOP SERIAL PORT MOTOR FEEDBACK INPUT CNC 1 CNC 2 CH 1 CH 2 5250 5250 CNC 1 CNC 2 CHANNEL 1 CHANNEL 2 MAIN POWER CONNECTOR POWER SWITCH FUSE ACCESS PANEL Figure 1-6. Robot Controller .] [ 30 V − − 500 mA MAX.front view.rear view.] 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 M M MOTOR ENABLE/DISABLE PUSH-BUTTON FLOPPY DISK DRIVE Figure 1-5. and Emergency Stop module. Servo Robot Motor Feedback. Servo Robot Motor Drive. power switch and fuse access panel. Robot Controller . the rear panel of the Robot Controller includes the connectors required to connect the host computer (serial port).Overview of the Servo Robot System HAND-HELD TERMINAL MOTOR DISABLED INDICATOR STATUS INDICATOR (LED) TTL INPUTS TTL OUTPUTS RELAYS TTL M TTL [ 20 mA MAX. It also includes the main power connector. external devices (CH 1 and CH 2). CNC machines (CNC 1 and CNC 2).

The procedures to resume operation are explained in Sections 3 and 4 of this guide. the LED indicator lights. The functions of the Hand-Held Terminal are explained in Section 3 of this guide. LCD SCREEN FUNCTION INDICATORS RUN TEACH ERROR SUSPD FUNCTION KEYS ESC Teach Menu Main Menu Clear Error Suspd Oper. When the pushbutton is pressed. it contains the keys which are used for entering alphanumeric characters and selecting special functions. A key is required to release the stop switch to resume operation. and a LCD (Liquid Crystal Display) to view the instructions entered and the resulting executions. Emergency Stop Module As Figure 1-8 shows. all operations are halted. the Emergency Stop module contains a pushbutton and a LED indicator. A F B G C H D I E J K P L Q M R N S O T U X V Y W Z ? / − + ( # ) * 1 2 3 4 5 6 7 . ESC DEL 8 9 SPACE ENTER SHIFT 0 Figure 1-7. and create programs.Overview of the Servo Robot System Hand-Held Terminal The Hand-Held Terminal communicates with the Robot Controller to control the Servo Robot and external devices. 1-7 . All keys are labeled for a specific task. . Hand-Held Terminal. the Suspd (suspend operation) indicator on the Hand-Held Terminal lights. The Hand-Held Terminal is shown in Figure 1-7. and the Emergency Stop window in Robotics opens (if Robotics is used).

Pneumatic Feeders (Models 5122 and 5142). and Linear Slide (Model 5209) can be added to the Servo Robot System.Overview of the Servo Robot System KEY RELEASE PUSH-BUTTON LED INDICATOR Figure 1-8. 1-8 . The operation of these optional devices is described in the appendices of this guide. External Devices External devices such as a Rotary Carousel (Model 5208). Belt Conveyor (Model 5210). Gravity Feeders (Models 5119 and 5121). Emergency Stop module.

The row and column numbers are used to locate the equipment. the Grids and Work Surfaces have 12 rows and 12 columns. and the tenth column from the right. then snap the Servo Robot to the mounting base. Layout of the Grid and Work Surface. R0 R1 R2 R3 R4 R5 R7.Section Installation and Connections 2 Installation The Servo Robot System is supplied with two Grids and two Work Surfaces to help you to position the equipment at specific locations. the center of the film canister must be placed at the intersection of the eighth row from the top of the Grid (or of the Work Surface). As an example. align the push-lock fasteners with the perforations of the mounting base then firmly push on the fasteners.C9). the Servo Robot must be snapped to the mounting base (steel plate) supplied with the Servo Robot System. 2-1 . C9 35828-01 C10 C9 C8 C7 C6 C5 C4 C3 C2 C1 C0 GRID WORK SURFACE Figure 2-1. do not use the mounting base. As Figure 2-1 shows. C9 R6 R7 R8 R9 R10 R11 C11 R7. First. the rows and columns are numbered from R0 to R11 and from C0 to C11 respectively. To do so. when it is asked in a procedure to place a film canister at position (R7. On the Grids. position the mounting base on the Grid by centering the small perforations on the base at the desired row and column intersections. Simply position and snap the Servo Robot to the Work Surface. When using the Grids. When using the perforated Work Surfaces.

Space Required The path of points that can be reached by a robot is called the work envelope. it is strongly recommended to use the Work Surfaces. Note: The position of the Servo Robot is determined relative to the position of the push-lock fasteners. They are simple to use and less subject to undesirable movements.Installation and Connections Although the Servo Robot is designed to be used with both the Grids and Work Surfaces. TOP VIEW SIDE VIEW Figure 2-2 Work envelope of the Servo Robot. The Work Surfaces are designed to be used on top of a table. 2-2 . Two Work Surfaces can be joined using the handles (p/n 30036) supplied with the Servo Robot System. or within 750 mm (30 in) from the base of the Servo Robot in any direction. Position the Servo Robot and Robot Controller as shown in Figure 2-3. no wall or obstacle should be present in the work envelope. Connections This section describes how to connect the components of the Servo Robot System. To allow a secure operation. The work envelope of an articulated-arm robot as the one of your training system is shown in Figure 2-2.

Before making any connections. C7 R6. Perform the following steps: C Connect the Motor Feedback Output on the base of the Servo Robot to the Motor Feedback Input on the Robot Controller using the cable p/n 95922. C Connect the serial port on the Robot Controller to the host computer serial port using the cable p/n 93017. make sure the connector is all the way in before it is screwed. C Connect the Motor Drive Input on the base of the Servo Robot to the Motor Drive Output on the Robot Controller using the cable p/n 95921. C Connect the Emergency Stop module to the Emergency Stop connector on the Robot Controller. C4 Figure 2-3. Location of the equipment on the Work Surface. Refer to Figure 2-4 if necessary. C4 ROBOT CONTROLLER R6. C Connect the Robot Controller to an AC power outlet using the cable p/n 95451. ensure that the power switch on the rear panel of the Robot Controller is at the off (O) position. 2-3 . This could damage the module. CAUTION! Do not make or remove any connections to/from the Robot Controller while the power is on.Installation and Connections R0. Note: To ensure correct operation.

. Connection of the Hand-Held Terminal.] [ 30 V − − 500 mA MAX. HAND-HELD TERMINAL ROBOT CONTROLLER (FRONT VIEW) RUN TEACH ERROR SUSPD ESC Teach Menu Main Menu Clear Error Suspd Oper. Refer to Figure 2-5 if necessary. 2-4 . A F B G C H D I E J K P L Q M R N S O T TTL U X V Y W Z ? / − + TTL [ 20 mA MAX.Installation and Connections C Connect the Hand-Held Terminal to the Hand-Held Terminal connector on the front panel of the Robot Controller using the cable p/n 95028.] M ( # ) * 1 2 3 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 M M 4 5 6 7 . CNC 2 SERIAL PORT CNC 1 CHANNEL 1 CHANNEL 2 MOTOR DRIVE OUTPUT EMERGENCY STOP MOTOR FEEDBACK INPUT MOTOR DRIVE INPUT MOTOR FEEDBACK OUTPUT ROBOT CONTROLLER (REAR VIEW) TO AN AC POWER SUPPLY SERVO ROBOT EMERGENCY STOP MODULE TO COMPUTER SERIAL PORT Figure 2-4. ESC DEL 8 9 SPACE ENTER SHIFT 0 Figure 2-5. Connections.

2-5 . Refer to the appendices of this guide to learn how to connect external devices to the training system.Installation and Connections All cables are now connected and should be securely fastened.

2-6 .

It is a menu driven device that includes tactile touch keys. . C Teach Menu: Displays the Teach menu and activates the keys to manipulate the Servo Robot and external device(s) connected to CH 1 and CH 2. ESC DEL 8 9 SPACE ENTER SHIFT 0 Figure 3-1. CNC outputs. TTL outputs. as shown in Figure 3-1. Hand-Held Terminal. The menus appearing on the LCD screen are quite similar to the menus in Robotics (described in Section 4). Relays. 3-1 . and Delay. LCD SCREEN FUNCTION INDICATORS RUN TEACH ERROR SUSPD FUNCTION KEYS ESC Teach Menu Main Menu Clear Error Suspd Oper. and create programs. and sets the TTL inputs. The name and function of the five white keys at the top of the Hand-Held Terminal keypad are as follows: C ESC: Backs up one step from the current position in the menu. LEDs and a LCD screen. C Main Menu: Displays the Main menu from where all support menus for the Servo Robot are accessed.Section Hand-Held Terminal 3 Description The Hand-Held Terminal is used to control the operation of the Servo Robot and external devices. CNC inputs. A F B G C H D I E J K P L Q M R N S O T U X V Y W Z ? / − + ( # ) * 1 2 3 4 5 6 7 . This is also in the Teach menu where the position and control points are saved.

If the point is a control point. Alternatively.Hand-Held Terminal C Clear Error: Clears the Error indicator on the Hand-Held Terminal. Note: To select an option in a menu. Once a point list is displayed. C Suspd Oper. place the cursor beside the desired option using the arrow keys and press the Enter key. you can press the shortcut key (the character beside the option).: Suspends any operation being executed. A point list may contain two types of points: position and control points. you can edit and modify the settings of the point beside the cursor by pressing the E key. If the point is a position point. The Error indicator lights when the system is halted by pressing the emergency stop button. The Main menu appears at the end of the start-up process. the Control Editor menu will open. Refer to this table to facilitate your learning of the various menus of the Hand-Held Terminal. A table showing the structure of the HandHeld Terminal menus is shown in Appendix A. the Point Editor menu will open. MAIN MENU 1 POINT MANAGER 2 TASK MANAGER 3 FILE MANAGER 4 MOTION CONTROL 5 CONFIGURATION 9 SHUTDOWN 1 Point Manager: Displays the list of the points stored in the Robot Controller memory. Error must be cleared to resume operation. 3-2 . The description of each Hand-Held Terminal menu is as follows: Main Menu The Main menu is the home base that can link you to all the support menus. You can return to this menu by pressing the Esc key once or several times depending on your menu location. The arrow keys at the bottom of the Hand-Held Terminal are used to move through a list of menu options (when present). or by pressing the Main Menu key.

3-3 . Relative means that the position coordinates are determined relative to the previous position. S Speed: Displays the speed setting. 5 Shoulder: Shows the shoulder axis coordinates. Note: Press the Shift key to access the characters in the dark blue section of the keys (where present). This menu is accessed by pressing the E key while the cursor is beside a position point in the point list. N Name: Displays the name of the position point. 3 Wrist P: Shows the wrist axis coordinates relative to the pitch (up and down motion). 1 Gripper: Shows the gripper coordinates. Use the arrow keys to move the cursor. 2 Wrist R: Shows the wrist axis coordinates relative to the rotation. and the alphanumeric character keys to enter the new settings. The speed can be set between 0 and 99. Using the arrow keys to move the cursor. Press the Enter key to confirm your changes then press the 0 key to save the new settings. POINT EDITOR NAME:_____ FLAGS:ABSOLUTE/RELATIVE SPEED:0-99 GRIPPER:_ WRIST R:_ WRIST P:_ ELBOW:_ SHOULDER:_ BASE:_ CH 1:_ CH 2:_ SAVE CHANGES N F S 1 2 3 4 5 6 7 8 0 Note: To modify the settings of a position point. F Flags: Indicates if the coordinates of the point are absolute or relative. Absolute means that the coordinates are determined relative to a predetermined position (hard home position).Hand-Held Terminal Point Editor: Changes the settings of a position point. then press the Enter key. place the cursor beside the parameter. It is also possible to save the new settings by placing the cursor beside the Save Changes option and pressing the Enter key. 4 Elbow: Shows the elbow axis coordinates. you can enter a different name (maximum 8 characters).

0 Save Changes: Saves the current settings. The setting is displayed in the NEW row. place the cursor beside the parameter. then press the Enter key. 3-4 . Use the arrow keys to move the cursor and the alphanumeric character keys to enter the new settings. 8 CH 2: Shows the coordinates of the device connected to CH 2 on the Robot Controller. Using the arrow keys to move the cursor. 1 TTL Output: Displays the current level (L low or H high) of the TTL outputs in the OLD row. CONTROL EDITOR NAME:_____ TTL OUTPUT TTL INPUT RELAY CNC 1 CNC 2 DELAY SAVE CHANGES N 1 2 3 4 5 D 0 Note: To modify the settings of a control point. This menu is accessed by pressing the E key while the cursor is beside a control point in the point list. TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X Note: The character X indicates that no level has been assigned. 7 CH 1: Shows the coordinates of the device connected to CH 1 on the Robot Controller. Press the Enter key to confirm your changes then press the 0 key to save the new settings. Control Editor: Changes the settings of a control point. N Name: Displays the name of the control point. you can enter a different name (maximum 8 characters). and sets the level at which the TTL outputs will be after this instruction line is executed. The level is set by pressing the TTL output number on the keypad.Hand-Held Terminal 6 Base: Shows the base axis coordinates. It is also possible to save the new settings by placing the cursor beside the Save Changes option and pressing the Enter key.

The status is set [H (activated) or L (deactivated)] by pressing the Relay number on the keypad. and sets the status at which the Relays will be after this instruction line is executed. The level is set by pressing the CNC 2 input or output number on the keypad. The level is set by pressing the CNC 1 input or output number on the keypad. The setting is displayed in the NEW row. Also sets the level at which the CNC 2 outputs A to D will be when this instruction line is executed. and sets the level at which the CNC 1 inputs 1 to 4 must be before proceeding with the next instruction line in the program. The level is set by pressing the TTL input number on the keypad. The setting is displayed in the NEW row. The setting is displayed in the NEW row. CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X 5 CNC 2: Displays the current level (L or H) of the CNC 2 inputs and outputs in the OLD row. The setting is displayed in the NEW row. CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X 3-5 .Hand-Held Terminal 2 TTL Input: Displays the current level (L or H) of the TTL inputs in the OLD row. TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X 3 Relay: Displays the current status (activated or deactivated) of the Relays in the OLD row. RELAY KEY 1 2 3 4 OLD L L L L NEW X X X X 4 CNC 1: Displays the current level (L or H) of the CNC 1 inputs and outputs in the OLD row. and sets the level at which the CNC 2 inputs 1 to 4 must be before proceeding with the next instruction line in the program. Also sets the level at which the CNC 1 outputs A to D will be when this instruction line is executed. and sets the level at which the TTL inputs must be before proceeding with the next instruction line in the program.

CLEAR ALL POINTS ARE YOU SURE ENTER TO CONTINUE ESC TO ABORT C: Deletes the point beside the cursor. 6: Moves the point (position or control) beside the cursor over the preceding point. EXECUTE POINTS RUN FOREVER:_ _____ PRESS ESC TO ABORT 3-6 . 7: Moves the point (position or control) beside the cursor under the next point. 2 Task Manager: Runs point-to-point program or clear points. EXECUTE POINTS RUN ONCE _____ PRESS ESC TO ABORT 2 Run Forever: Executes the current program over and over. TASK MENU RUN ONCE RUN FOREVER TRACE POINTS CLEAR POINTS 1 2 3 4 1 Run Once: Executes the current program once. 0 Save Changes: Saves the current settings.Hand-Held Terminal D Delay: Sets the amount of time in seconds the system will pause before proceeding with the next instruction line in the program. Press the Esc key to abort execution. x: Clears all points stored in the Robot Controller memory.

the cursor is placed beside the default name SAMPLE suggesting to enter a number. EXECUTE POINTS TRACE MODE _____ PRESS ESC TO ABORT 4 Clear Points: Delete all points stored in the Robot Controller memory. When the last instruction line is executed. OVERWRITE TASK ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 3-7 . Press the Enter key to complete the process. Press the Enter key then use the arrow keys to select a file. or load a program from the floppy disk drive. you can enter a different name for the program (maximum 8 characters). FILE MENU 1 SAVE TO DISK 2 LOAD FROM DISK 1 Save to Disk: Saves the current program in the Robot Controller memory to the floppy disk. CLEAR ALL POINTS ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 3 File Manager: Enables you to save the program in the Robot Controller memory to the floppy disk drive. the Servo Robot returns to the home position. Press the Enter key to complete the process. Using the arrow keys to move the cursor. SAVE FILE ENTER FILENAME >SAMPLE_ 2 Load From Disk: Loads an existing program from the floppy disk into the Robot Controller memory. When the Save File window opens.Hand-Held Terminal 3 Trace Points: Executes an instruction line of the current program each time the Enter key is pressed.

This corresponds to the freed condition (not torqued). However. The soft home position is the same as the hard home position when no position has been assigned as soft home. MOTION CONTROL SOFT HOME SET SOFT HOME CLR SOFT HOME HARD HOME FREE MOTORS TORQUE MOTORS HARDWARE RESET SOFT LIMITS OFF SOFT LIMITS ON 1 2 3 4 5 6 7 8 9 1 Soft Home: Moves the Servo Robot to the position that you assigned as soft home using the Set Soft Home instruction. It is the position the Servo Robot starts its movements from. For this reason. After you press the 4 key to select the Hard Home option. and where it will come to rest when you tell it to go home after completing the assigned instruction lines. it is usually developed to be used more than once. frees and torques the servo motors. a hard home positioning must be executed at the beginning of each session. In order to repeat a program. press the Enter key within 6 seconds to execute the Hard Home instruction. reinitializes the motors. 3-8 . The default Home point in the point list of the Point Manager changes to Soft Home point when a position is assigned as soft home position. controls the operation of the soft limits. 2 Set Soft Home: Sets the current Servo Robot position as the soft home position. 5 Free Motors: Removes power from the motors.Hand-Held Terminal 4 Motion Control: Controls the home positioning. 4 Hard Home: Moves the Servo Robot to a fixed reference point where the Servo Robot goes to reset all its settings. 3 Clr Soft Home: Clears the current soft home position. PERFORM HARD HOME ENTER TO CONTINUE ESC TO ABORT Note: A program can be developed to be executed once and then deleted. the equipment must be in the same location and orientation as when you created the position points of the program and the Servo Robot must start in the same position.

Press the Enter key when the cursor is beside this option to disable the soft limits. To save the configuration entries. and none. 2 CH 1: Selects the device connected to CH 1 on the Robot Controller. HARDWARE RESET ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 8 Soft Limits OFF: Disables the soft limits. then press the Enter key as required to obtain the desired parameter. and none. pneu (pneumatic). 4 Key Click: Activates or deactivates the beeper of the Hand-Held Terminal. 9 Soft Limits ON: Enables the soft limits. 5 Configuration: Enables the configuration of the Servo Robot System. 7 Hardware Reset: Reinitializes all motors connected to the Robot Controller. The available choices are servo. 3 CH 2: Selects the device connected to CH 2 on the Robot Controller. The available choices are Carousel. CONFIG MENU GRIP:_____ CH 1:_____ CH 2:_____ KEY CLICK:_____ SHIFT LOCK: OFF SAVE CONFIG 1 2 3 4 5 S Note: To configure an element in the Config menu. and none. Select Servo. Note: The gripper of your Servo Robot is driven by a servo motor. L Slide (Linear Slide). After performing a "Hard Reset" always perform a "Hard Home". place the cursor beside the element. elec (electric). or press the S key. select Save Config then press the Enter key. Note: The soft limits are programmed positions that limit the movement of each articulation of the Servo Robot to prevent excessive movements. 3-9 . The available choices are Carousel. The default setting is OFF. 1 Grip: Selects the type of gripper used. Press the Enter key when the cursor is beside this option to enable the soft limits. This corresponds to the torqued condition. L Slide (Linear Slide).Hand-Held Terminal 6 Torque Motors: Applies power to the motors so they will hold their positions.

Save Config: Saves the current configuration settings. Note: The Robot Controller must be configured to detect the Gripper. The Robot Controller must be restarted to resume the system. select Save Config then press the Enter key. The default setting is unlock. 9 Shutdown: Exits the program (firmware) of the Robot Controller. Linear Slide. The other options in the Config menu can be configured whenever you want. the Message Firmware Shutdown . or press the S key. 3-10 .Hand-Held Terminal 5 Shift Lock: Locks the Shift key in the activated mode. When you select the Shutdown option.Turn off Controller is displayed on the Hand-Held Terminal. and Rotary Carousel if you have them. To save the configuration entries.

TEACH MENU 0 SPEED CONTROL 1 GRIPPER OPEN H GRIPPER CLOSE 2 WRIST CW I WRIST CCW 3 WRIST PITCH DOWN J WRIST PITCH UP 4 ELBOW PITCH DOWN R ELBOW PITCH UP 5 SHLDR PITCH DOWN S SHLDR PITCH UP 6 BASE CCW T BASE CW 7 CH 1 FORWARD Z CH 1 BACKWARD 8 CH 2 FORWARD / CH 2 BACKWARD F TTL OUTPUT G TTL INPUT P RELAY Q TIME DELAY X CNC 1 Y CNC 2 . This figure is also screened on the base of the Servo Robot. you can press and hold the shortcut keys. or by pressing the shortcut keys. Alternatively. It allows also the creation of point-to-point programs. 3-11 . SAVE ABS POINT # SAVE REL POINT * SAVE CONTROL Note: To move the Servo Robot.Hand-Held Terminal Teach Menu The Teach menu allows the control of the Servo Robot and external devices. Figure 3-2 shows the characters (shortcut keys) associated with each articulation of the Servo Robot. then press and hold the Enter key. select the articulation you want to move in the Teach menu with the up and down arrow keys.

H Gripper Close: Closes the gripper. 3-12 . The speed setting is used for all movements that follow the setting. I Wrist CCW: Rotates the wrist in the counterclockwise direction. J Wrist Pitch Up: Raises the wrist. use the numeric keys or the up (to increase) and down (to decrease) arrow keys. 2 Wrist CW: Rotates the wrist in the clockwise direction. To set the speed. In the Set Speed window. use the numeric keys or the arrow keys to set the Speed value. the movements associated with the keys of the second row are in the opposite direction to those of the fifth row. 3 Wrist Pitch Down: Lowers the wrist. 4 Elbow Pitch Down: Lowers the forearm. press the right or left arrow keys. select the Speed Control option or press the 0 key. This relation repeats for the third and sixth row. 0 Speed Control: Sets the speed between 0 and 99.Hand-Held Terminal R FOREARM J I 4 S 3 UPPER ARM SHOULDER WRIST 1 2 5 T 6 GRIPPER H BASE Figure 3-2. Note: To facilitate the use of the Hand-Held Terminal. To set the tens of units. To increase or decrease the speed by one unit. or until a new speed setting is made. Characters associated with each articulation of the Servo Robot. SET SPEED 1 >------------------+< 099 99 1 Gripper Open: Opens the gripper.

8 CH 2 Forward: Moves the device connected to CH 2 in the forward or clockwise direction. S Shldr Pitch Up: Raises the upper arm. and sets the level at which the TTL outputs will be after this instruction line is executed. The level is set by pressing the TTL output number on the keypad.Hand-Held Terminal R Elbow Pitch Up: Raises the forearm. The setting is displayed in the NEW row. The setting is displayed in the NEW row. / CH 2 Backward: Moves the device connected to CH 2 in the backward or counterclockwise direction. 6 Base CCW: Rotates the shoulder in the counterclockwise direction. 5 Shldr Pitch Down: Lowers the upper arm. The level is set by pressing the TTL input number on the keypad. 3-13 . Z CH 1 Backward: Moves the device connected to CH 1 in the backward or counterclockwise direction. and sets the level at which the TTL inputs must be before proceeding with the next instruction line in the program. 7 CH 1 Forward: Moves the device connected to CH 1 in the forward or clockwise direction. T Base CW: Rotates the shoulder in the clockwise direction. TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD H H H H H H H H NEW X X X X X X X X P Relay: Displays the current status (activated or deactivated) of the Relays in the OLD row. The status [H (activated) or L (deactivated)] is set by pressing the Relay number on the keypad. The setting is displayed in the NEW row. TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X G TTL Input: Displays the current level (L or H) of the TTL inputs in the OLD row. and sets the status at which the Relays will be after this instruction line is executed. F TTL Output: Displays the current level (L or H) of the TTL outputs in the OLD row.

CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X C Save ABS Point: Saves the absolute coordinates of the current position of the Servo Robot and external device(s) connected to CH 1 and CH 2. CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X Y CNC 2: Displays the current level (L or H) of the CNC 2 inputs and outputs in the OLD row. Also sets the level at which the outputs A to D will be when this instruction line is executed. SAVE POSITION ENTER POINT NAME >POINT1_ 3-14 . The setting is displayed in the NEW row. The setting is displayed in the NEW row. The level is set by pressing the CNC 2 input or output number on the keypad. You can save the point with the default name shown on the display or enter a new name before pressing the Enter key (maximum 8 characters).Hand-Held Terminal RELAY KEY 1 2 3 4 OLD L L L L NEW X X X X Q Time Delay: Sets the amount of time in seconds the system will pause before proceeding with the next instruction line in the program. Sets the level at which the inputs 1 to 4 must be before proceeding with the next instruction line in the program. Sets the level at which the inputs 1 to 4 must be before proceeding with the next instruction line in the program. The absolute coordinates are determined relative to a predetermined position (hard home position). Also sets the level at which the outputs A to D will be when this instruction line is executed. SET DELAY VALUE IN SECONDS >_ X CNC 1: Displays the current level (L or H) of the CNC 1 inputs and outputs in the OLD row. The level is set by pressing the CNC 1 input or output number on the keypad.

SAVE POSITION ENTER POINT NAME >POINT1_ * Save Control: Save the current settings of the TTL inputs. The character r is added beside the point name in the point list of the Point Manager to indicate that the coordinates of the point are relative.Hand-Held Terminal # Save REL Point: Saves the relative coordinates of the current position of the Servo Robot and external device(s) connected to CH 1 and CH 2. Press the Enter key. C On the Hand-Held Terminal: Press the Esc key. Relays. The relative coordinates are determined relative to previous position. Press the Clear Error key. CNC inputs. 3-15 . perform the following steps: C Ask your instructor to check your setup to remove any dangerous condition. The system is now ready to operate. CNC outputs and delay of the control point. TTL outputs. and to release the switch using the appropriate key. You can save the point with the default name shown on the display or enter a new name before pressing the Enter key (maximum 8 characters). SAVE CONTROL ENTER POINT NAME >CTRL1_ Resuming the Servo Robot System after an Emergency Stop To resume the Servo Robot System after an emergency stop. You can save the point with the default name shown on the display or enter a new name before pressing the Enter key (maximum 8 characters).

3-16 .

and create programs. C The Welcome to the InstallShield Wizard for Robotics window appears. then click the OK button. C Insert the Robotics CD-ROM in the CD-ROM drive. This section provides the information to install and use Robotics. Pentium II processor 15 Mb of hard drive space 32 Mb RAM Serial port CD-ROM drive Windows® 98 or higher Software Installation Perform the following steps to install Robotics on the hard disk of your computer: C Close all programs on your computer. C Type X:\Setup. Note: Replace the X by the letter associated with your CD-ROM drive. To start the installation. 4-1 . C Choose the Run command in the Start menu of Windows®. click the Next button.Section Robotics 4 Introduction Robotics is a software used to control the operation of the Servo Robot and external devices.exe in the command line. Computer Requirements The computer requirements are: C C C C C C 233 MHz. The Software Installation subsection deals with the installation of the software on the hard disk of your computer. The Familiarization with Robotics subsection explains how to use the application. or press the Enter key on the keyboard. The Computer Requirements subsection describes the computer requirements to operate Robotics.

then select the desired folder. 4-2 .Robotics C The License Agreement window appears. click the Browse button. click the Next button. Read the license agreement terms carefully. If you accept the terms. C The Choose Destination Location window appears. Setup will install Robotics in the folder shown. To select a different folder. click the Yes button. To accept the default folder (recommended).

or select one from the existing folder list. click the Next button to start copying files. Type a folder name in the Program Folder field. 4-3 . then click the Next button. Setup will add program icons to the program folder listed below. If you are satisfied with the settings shown.Robotics C The Select Program Folder window appears. C The Start Copying Files window appears.

Robotics allows the manipulation of the Servo Robot through a visual interface. The Hand-Held Terminal is not required to operate the Servo Robot when using Robotics. and type X:\Program Files\Lab-Volt\Robotics\Robotics. click the Robotics icon appearing on the desktop or choose the Run command in the Start menu of Windows®. 4-4 . large programs are often developed with Robotics in conjunction with the Hand-Held Terminal. However.exe (if you did not accept the default folder. enter your folder path). Click the Finish button to exit the installation process. Familiarization with Robotics Robotics is now ready to use. and click the OK button or press the Enter key on the keyboard. To launch the application. Note: Replace the X by the letter associated with your hard disk drive.Robotics C The InstallShield Wizard Complete window appears when the installation is completed.

A4). Refer to the Options menu described in this section. Note: The Servo Robot System must be configured. Main Window The Main window is the first window you see when Robotics is launched. a tool bar and a status bar. Main window. The Robot Controller must be turned on and connected to the computer to use Robotics. 4-5 . It includes a menu bar. File New: Opens the Program Information window to create a Robotics file (filename. and Robotics for the moves that can be seen from the computer and for editing purposes. Menu Bar The description of each option in the menu bar is as follows: Note: A table showing the structure of the Robotics menus is shown in Appendix B.Robotics The Hand-Held Terminal is used for the precise moves where you must be placed near the device to record the points.

Clicking the OK button saves the information. and comments. Task Editor window. This includes the name of the author. It is not required to use every points in the right column when designing the task program. 4-6 . project name. The left column of the window is where instruction lines are written. Task Editor Window The Task Editor window is where task programs are created. Up to 10 files can be open simultaneously. and opens the Task Editor window.Robotics Program Information window. The right column is where the points are copied from the Point Editor window (described in the Point Editor Window section). closes the Program Information window. or from the Robot Controller before they are used in the task program. revision number. Open: Opens an existing Robotics file. date. The Program Information window is used to enter general information about the task program.

and a dialog box will open asking you to name the file. A dialog box will open asking you to name the file. a dialog box opens asking if you wish to save the changes before closing the Robotics file. 4-7 . Redo: Reverses the last Undo action. If a file has been modified. To create a folder in Windows Explorer. Exit: Closes Robotics. Print Setup: Opens the Printer Setup window. the message Shutdown Completed will appear during a few seconds and the program (firmware) in the Robot Controller will end. Info: Opens the Program Information window that contains the information relative to the active task program. Cut: Cuts the selected text and stores it in the Clipboard. Save: Saves a file under the current name. Save as: Saves a file with a different name. If you save a file for the first time. the Save command will work as the Save As command. Edit Undo: Reverses the last change.Robotics Close: Closes the currently open Robotics file. a dialog box appears asking you if you wish to save the changes before exiting Robotics. If you click the Yes button. You must restart the Robot Controller to resume the system. Revert: Deletes the change(s) made to a file by restoring the original version. select Folder in the submenu New of the menu File. Copy: Copies the selected text and stores it in the Clipboard. Shutdown window. If the current file has been modified. The Undo function can be repeated as necessary to reverse previous changes. Note: It is recommended to create a folder to save your programs before using Robotics. Print: Prints the instruction lines of the active task program. Shutdown: Opens the Shutdown window.

Run Task window. Go to Line: Moves the cursor to a specific instruction line in the Task Editor window. Search Find: Searches for specific words and phrases in the Task Editor window and locates the first match. Robot Run Task: Compiles the active task program and opens the Run Task window. The available options in the Current Status and Task Control sections of the Run Task window are: Repeat Task check box: Repeats the task program over and over when enabled (checked). Go to Bookmark: Moves the cursor to the instruction line where a bookmark was set using the Set Bookmark command. Replace: Searches for specific words and phrases in the Task Editor window and replaces them by new ones. 4-8 . Duplicate: Duplicates the selected text. Set Bookmark: Sets a bookmark in an instruction line of a task program. Click the Pause button to stop the execution. Clear: Deletes the selected text. Find Next: Searches for the next occurrence of the specific words and phrases in the Task Editor window and locates the match. Select All: Selects all instruction lines in the Task Editor window.Robotics Paste: Pastes the Clipboard content at the insertion point.

Motion Control Soft Home: Moves the Servo Robot and external device(s) connected to CH 1 and CH 2 to the position assigned as the home position using the Set Soft Home command. Line Number: Indicates which instruction line is being executed. Pause button: Pauses the task program once the execution of the instruction line is completed. Command: Indicates which command is being executed. Torque Motors: Applies power to the motors so they will hold their positions. Reset button: Returns to the first instruction line of the task program and waits. Status: Describes the status of the command which is being executed. Set Soft Home: Sets the current position of the Servo Robot and external devices as the soft home position. The soft home position is the same as the hard home position when no position has been assigned as soft home. Clear Soft Home: Clears the current soft home position. Hard Home: Moves the Servo Robot to a fixed reference point where the Servo Robot goes to reset all its settings. Message field: Displays the messages associated with the execution of the task program or called by a task command. It is the position the Servo Robot starts its movements from. Step button: Executes an instruction line each time the Step button is pressed.Robotics Repeat Count: Indicates the number of times the task program has repeated. Run button: Executes the task program once. Free Motors: Removes power from the motors. Close button: Closes the Run Task window. 4-9 . and where it will come to rest when you tell it to go home after completing the assigned instruction lines.

copies the active task program in the Task Editor window to the Robot Controller memory. For this reason. Once the OK button is clicked. Warning window. All current points in the Point Editor window are deleted when the file is uploaded. Point Editor: Opens a Warning window. copies the content of the Robot Controller memory to a new Task Editor window. Once the OK button is clicked. 4-10 . copies the content of the Point Editor window to the Robot Controller memory. Point Editor: Opens a Warning window. it is usually developed to be used more than once. a hard home positioning must be executed at the beginning of each session. Once the OK button is clicked. Once the OK button is clicked.Robotics Note: A program can be developed to be executed once and then deleted. Download from Task Editor: Opens a Warning window. copies the content of the Robot Controller memory into the Point Editor window in Robotics. the equipment must be in the same location and orientation as when you created the position points of the program and the Servo Robot must start in the same position. In order to repeat a program. However. All current points in the Robot Controller memory are deleted when the file is downloaded. All current points in the Robot Controller memory are deleted when the file is downloaded. Warning window. Upload to New Task Editor: Opens the Program Information window.

the Emergency Stop window appears. C Close the Run Task window by clicking the Close button (if active). 4-11 . Online: Allows communications between the host computer and the Robot Controller when enabled. The option must be enabled to operate the Servo Robot using Robotics. Options Environment: Opens the Environment folder of the Program Options window. When the Emergency Stop is activated. C Close the Emergency Stop window by clicking on the OK button. Emergency Stop window. C Select Release Emergency Stop in the Robot menu. and to release the switch using the appropriate key. perform the following steps: C Ask your instructor to check your setup to remove any dangerous condition. and a message appears in the Controller Status window. The system is now ready to operate. To resume the Servo Robot System after an emergency stop.Robotics Release Emergency Stop: Releases the Emergency Stop status.

The options that can be set in the Environment folder are: Language: Selects the language. 4-12 . Hardware: Opens the Hardware folder of the Program Options window. Force Uppercase: Forces upper case letters in the Task Editor when enabled. Clicking the Cancel button closes the Program Options window without saving the settings.Robotics Environment folder in the Program Options window. click the Save button once the settings and selections are completed to save and apply them. Data Directory: Selects the folder where the Robotics files are saved. Robotics will automatically access this folder when saving or opening a file. They will be used as default settings the next time Robotics is launched. Editor Colors: Sets the foreground and background colors for the text and numbers. Line Numbers: Displays the instruction line numbers in the Task Editor when enabled. Note: For each folder of the Program Options window.

Rotary Carousel. The default value is 75. The transit speed is recommended for long distance when precision is not required. Note: The gripper of your Servo Robot is driven by a servo motor. The available choices are Linear Slide. and No External Device Connected. Rotary Carousel. and No External Device Connected. Approach: Sets the approach speed between 0 and 99. The precision speed is recommended when the movement requires precision. The approach speed is recommended when the movement requires medium precision. Pneumatic Gripper. The default value is 40. Electric Gripper. File Server: Opens the File Server folder of the Program Options window. Select Servo Motor Gripper. Channel 1: Selects the device connected to CH 1. Precision: Sets the precision speed between 0 and 99. The options that can be set in the Hardware folder are: Gripper: Selects the type of gripper. 4-13 . Transit: Sets the transit speed between 0 and 99. and No Gripper Attached. Serial Port: Selects the serial port where the Robot Controller is connected (COM1 to COM6). Channel 2: Selects the device connected to CH 2. The available choices are Servo Motor Gripper. The default value is 15. The available choices are Linear Slide.Robotics Hardware folder in the Program Options window.

Data File Directory: Selects the folder where the File Server saves files.Robotics File Server folder in the Program Options window. Model 5100. Serial Port: Selects the serial port where the Teach Pendant Controller is connected (COM 2 to COM 7). File Server Program Location: Selects the folder where the File Server software is installed. 4-14 . Run File Server Software: Runs the File Server software when Robotics is launched. when enabled. The options that can be set in the File Server folder are: Note: The File Server software is used to save and load programs when using the Teach Pendant-Controlled Robot System. CNC Software: Opens the folder CNC Software of the Program Options window.

This reduces and overlaps all currently open windows to create a look similar to that of a well-organized filing cabinet. Window Cascade: Arranges all open Task Editor windows in a cascade so that each one is visible. Serial Port: Selects the serial port where the CNC Lathe is connected (COM 1 to COM 6). The title bars of all windows are always visible.Robotics CNC Software folder in the Program Options window. 4-15 . Minimize All: Minimizes all Task Editor windows. and the window closest to the front is active. Serial Port: Selects the serial port where the CNC Mill is connected (COM 1 to COM 6). Tile Horizontal: Arranges from top to bottom all open Task Editor windows as tiles so that each one is visible. Restore All: Restores all Task Editor windows. CNC Lathe Program Location: Selects the folder where the Lathe Software is installed. Close All: Closes all Task Editor windows. The options that can be set in the CNC Software folder are: CNC Mill Program Location: Selects the folder where the Mill Software is installed. Tile Vertical: Arranges side by side all open Task Editor windows as tiles so that each one is visible.

Note: The Controller Status window will not open if the Online option in the Robot menu is disabled.Robotics Controller Status: Opens the Controller Status window. The Controller Status window shows the following elements: Inputs: Shows the status of the TTL inputs. Warning Messages: The following warning messages are displayed when applicable. CNC 1 Inputs: Shows the status of the CNC 1 inputs. and a red LED corresponds to a low level. The level of an output can be changed by clicking the corresponding LED. Note: A green LED corresponds to the activated status. CNC 2 Outputs: Shows the status of the CNC 2 outputs. This window displays the status of the inputs and outputs of the Robot Controller. and a red LED corresponds to a non activated status. The level of an output can be changed by clicking the corresponding LED. or if the Robot Controller is not configured. Note: A green LED corresponds to a high level. CNC 2 Inputs: Shows the status of the CNC 2 inputs. CNC 1 Outputs: Shows the status of the CNC 1 outputs. The status of a relay can be changed by clicking the corresponding LED. Relays: Shows the status of the Relays. 4-16 . Controller Status window. Outputs: Shows the status of the TTL outputs. The level of an output can be changed by clicking the corresponding LED.

The Point Editor window is an interface from where the Servo Robot is controlled and where position and control points are created.: Indicates that the Servo Robot has not been hard homed. Ask your instructor to check your setup to remove any dangerous condition. The description of each function in the window is as follows: Movement Arrows: Moves the articulated sections. The arrows named Open and Close control the gripper. Emergency stop is Activated. and edited. 4-17 . the Point Editor window is used to control the Servo Robot and external device(s) connected to CH 1 and CH 2. The Point Editor window can be viewed in Teach mode and Edit mode. Edit button: Switches the Point Editor window in Edit mode. Point Editor: Opens the Point Editor window. saved. To do so. and to release the switch using the appropriate key. Point Editor in Teach mode. and the CH 1 and CH 2 arrows control the devices connected to these ports. place the cursor on the arrows representing the desired movement while pressing and holding the left button of the mouse. A hard home positioning must be executed at the beginning of each session. Teach Mode: In this mode.: Indicates that the emergency stop button has been pressed. Speed: Sets the speed of the Servo Robot and external device(s) connected to CH 1 and CH 2 between 1 and 99. The articulated section will move as long as the left button is held pressed or until a limit switch is activated.Robotics Robot has not been hard homed. and to save position and control points.

The Run Point window appears. from top to bottom. Delete button: Deletes the selected point(s) in the point list. if any. The elements that can be set in the Save Position Point window are: 4-18 . To do so. then click the Drive button. Clicking the Replace button when the cursor is beside a position point opens the Save Position Point window. Clicking the Execute button opens the Run Point window. The Run Point window appears and the group of points is executed starting with the first selected point. If an obstacle is present between the current position and the selected point. Clicking the Replace button when the cursor is beside a control point opens the Save Control Point window. Drive button: Executes a group of points. and all points are executed as shown in the list. Save Position Point button: Opens the Save Position Point window to save the position coordinates of the current position. Move Up button: Moves the position or control point beside the cursor over the preceding point. Note: To select a group of points. and the Servo Robot moves directly to the point without executing the intermediate points. To do so. or by clicking the first and last point of the list while holding the Shift key pressed. highlight the points by clicking each point while holding the Ctrl key pressed. This window is described in this section. The Run Point window shows the status of the instruction that is executed and the name of the current point. a collision will occur. Move button: Moves the Servo Robot from the current position to a point in the point list. This window is described in this section. Run Point window. click the point where you want the Servo Robot to move then click the Move button.Robotics Replace button: Replaces the point beside the cursor in the point list. Execute button: Executes all points in the point list. select the group of points you want to execute. Move Down button: Moves the position or control point beside the cursor under the next point.

also allows a new name to be entered. Saving a point when both check boxes are enabled. The elements that can be set in the Save Control Point window are: Name: Names the control point. External Device check box: Saves the coordinates of the external device(s) connected to CH 1 or CH 2. Note: The Robot and External Device check boxes allow independent operation of the Servo Robot and external device(s) connected to CH 1 and CH 2. Save button: Saves the point with the name shown in the Name field. Robot check box: Saves the coordinates of the Servo Robot. The default setting of the check boxes is Robot enabled and External Device disabled. 4-19 . Save Position Point window. Save Control Point window. will cause the Servo Robot and external device(s) to move simultaneously. Accept the default name or enter a new name in the Name field. Sets the status of inputs and outputs. Set Control Point button: Opens the Save Control Point window.Robotics Name: Displays a default. Cancel button: Closes the window without saving any changes. Inputs: Sets the level at which the TTL inputs must be before proceeding with the next instruction line in the program.

CNC 1 Outputs: Sets the level at which the CNC 1 outputs will be after this instruction line is executed. Edit Mode: In Edit mode. click the corresponding LED. To activate a relay. CNC 2 Outputs: Sets the level at which the CNC 2 outputs will be after this instruction line is executed. Cancel button: Closes the window without saving any changes. and a blue LED indicates that no status is assigned. the Point Editor is used to change the characteristics of a position or control point. A green LED corresponds to a high level. a red LED corresponds to a low level.Robotics Note: The level is set by clicking the corresponding LED. Relays: Activates or deactivates the Relays. A green LED corresponds to activated. 4-20 . Outputs: Sets the level at which the TTL outputs will be after this instruction is executed. a red LED corresponds to deactivated. CNC 2 Inputs: Sets the level at which the CNC 2 inputs must be before proceeding with the next instruction line in the program. CNC 1 Inputs: Sets the level at which the CNC 1 inputs must be before proceeding with the next instruction line in the program. Save button: Saves the current settings with the name shown in the Name field. and a blue LED indicates that no level is assigned. Delay: Sets the amount of time in seconds the system will pause before proceeding with the next instruction line in the program.

Enter the new settings in the field beside the parameter to change. then click the Edit button. the elements in the Robot and External Device sections are edited and can be modified. The description of each function in this window is as follows: Teach button: Saves the current settings and switches the Point Editor window in Teach mode. Make the desired changes. In the Point Editor window in Edit mode. the elements in the Control Point section are edited and can be modified by clicking the LEDs. then click the Teach button to save the settings and return the Point Editor window in Teach mode. If the selected point is a control point. If the selected point is a position point. Edit button: Edits the various settings to allow changes. double click the point name in the point list to select it.Robotics Point Editor in Edit mode. 4-21 . then click the Teach button to save the settings and return the Point Editor window in Teach mode. click the Edit button to enable the edition mode. and/or entering a new Delay value. The elements that are editable are: Speed Gripper Wrist Pitch Wrist Rotation Elbow Shoulder Base Channel 1 Channel 2 TTL inputs TTL outputs CNC 1 inputs CNC 1 outputs CNC 2 inputs CNC 2 outputs Relays Delay To change the characteristics of a point.

Active Tasks: Displays the files that are currently open (maximum 10). This means that the coordinates are determined relative to the previous position.Robotics Delete button: Refer to the description given in the Teach Mode section. Open: Refer to the description given in the File subsection of the Menu Bar section. Move Down button: Refer to the description given in the Teach Mode section. About: Opens a window which provides general information about Robotics. 4-22 . Reset button: Cancels the changes without closing the window. Move button: Refer to the description given in the Teach Mode section. indicates that the point coordinates are relative. External Device check box: Refer to the description given in the Teach Mode section. Move Up button: Refer to the description given in the Teach Mode section. This means that the coordinates are determined relative to a predetermined position (hard home position). Robot check box: Refer to the description given in the Teach Mode section. Execute button: Refer to the description given in the Teach Mode section. When disabled (not checked). Toolbar The description of each button of the toolbar is as follows: Exit: Refer to the description given in the File subsection of the Menu Bar section. indicates that the point coordinates are absolute. Save: Refer to the description given in the File subsection of the Menu Bar section. Drive button: Refer to the description given in the Teach Mode section. Help Contents: Enters the Robotics Help. Absolute Position check box: When enabled.

Go to Line: Refer to the description given in the Search subsection of the Menu Bar section. Status Bar The Status bar is shown at the bottom of the Main window. It also describes the function of the buttons and options in the menus. Find Next: Refer to the description given in the Search subsection of the Menu Bar section. Paste: Refer to the description given in the Edit subsection of the Menu Bar section. 4-23 . Cut: Refer to the description given in the Edit subsection of the Menu Bar section. Find: Refer to the description given in the Search subsection of the Menu Bar section. Run Task: Refer to the description given in the Robot subsection of the Menu Bar section. the content of each field is as follows: C The first field gives information about the operation of the system. Undo: Refer to the description given in the Edit subsection of the Menu Bar section. Contents: Enters the Robotics Help. From left to right. Copy: Refer to the description given in the Edit subsection of the Menu Bar section.Robotics Info: Refer to the description given in the File subsection of the Menu Bar section. C The second field indicates if the Robot Controller is Online or Offline. It contains 5 fields showing information about the operation of Robotics. Print: Refer to the description given in the File subsection of the Menu Bar section. Find and Replace: Searches for specific words and phrases in the Task Editor window and replaces them by new ones.

Save Point: Saves the absolute coordinates of the point. The approach speed is used when the movement requires medium precision. The commands available in the context-sensitive menus are: In the Robot Section of the Point Editor in Teach Mode Speed: Maximum: Sets the speed at 99. Speed: Transit: Sets the speed at 75. Refer to the description given in the Options subsection of the Menu Bar section. Approach and Precision Speed values can be changed. The transit speed is used for long distance when precision is not required. Note: The Transit. Refer to the description of the Save Position Point button given in the Teach Mode subsection of the Point Editor Window section. Save Relative Pt. C The fourth field indicates if the file was modified since the last save operation. Speed: Approach: Sets the speed at 40. Save Control Pt. In the Point List Section of the Point Editor and Task Editor Windows Move Up: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Refer to the description of the Save Position Point button given in the Teach Mode subsection of the Point Editor Window section. 4-24 . C The last field shows the typing mode: Insert or Overwrite. Context-Sensitive Menus Context-sensitive menus are available in Robotics. Speed: Precision: Sets the speed at 15. They are displayed by clicking the right button of the mouse.Robotics C The third field indicates the current position of the cursor in the Task Editor window (horizontally and vertically).: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. The precision speed is used when the movement requires precision. The commands available in the context-sensitive menus depend on the window sections on which the mouse pointer is placed when the button is clicked.: Saves the relative coordinates of the point. Set Soft Home: Refer to the description given in the Motion Control subsection of the Robot section.

Delete: Refer to the description given in the Teach Mode subsection of the Point Editor Window section.Robotics Move Down: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Move to Bottom: Moves the point beside the cursor to the bottom of the point list. Copy: Refer to the description given in the Edit subsection of the Menu Bar section. Execute: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Rename: Opens the Save Position Point or Save Control Point window depending on if the cursor is beside a position or a control point to enter a new name for the point. Duplicate: Duplicates the selected point. In the Left Column of the Task Editor Window Edit Redo: Refer to the description given in the Edit subsection of the Menu Bar section. Move to Top: Moves the point beside the cursor to the top of the point list (next to the home or soft home). 4-25 . Move To: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Drive To: Refer to the description given in the Teach Mode subsection of the Point Editor Window section. Move Home: Refer to the description given for the Soft Home option of the Motion Control subsection of the Robot section. Cut: Refer to the description given in the Edit subsection of the Menu Bar section. Set Active: Moves the cursor beside the highlighted point. Paste: Refer to the description given in the Edit subsection of the Menu Bar section. The active point is the point beside the cursor. Replace: Refer to the description given in the Teach Mode subsection of the Point Editor Window section.

Programming Principles Two types of programs can be developed with your Servo Robot System: Point-toPoint programs and Task programs. Find Next: Refer to the description given in the Search subsection of the Menu Bar section. Print: Refer to the description given in the File subsection of the Menu Bar section. Select All: Refer to the description given in the Edit subsection of the Menu Bar section. Set Bookmark: Refer to the description given in the Search subsection of the Menu Bar section. 4-26 . Search Find: Refer to the description given in the Search subsection of the Menu Bar section. Go To Line: Refer to the description given in the Search subsection of the Menu Bar section. Print Setup: Refer to the description given in the File subsection of the Menu Bar section.Robotics Duplicate: Refer to the description given in the Edit subsection of the Menu Bar section. Clear All (without undo): Deletes the selected instruction line(s) but does not save to the Clipboard. Tools Clear Undo Buffer: Deletes the content of the Clipboard. Clear: Refer to the description given in the Edit subsection of the Menu Bar section. Go To Bookmark: Refer to the description given in the Search subsection of the Menu Bar section. Replace: Refer to the description given in the Search subsection of the Menu Bar section. It is not possible to recall the deleted line(s).

Then. The instruction lines include task commands and points. The Program Information window will appear. They can be created with both the Hand-Held Terminal and Robotics. the program executes all points. Task Programming Task programs consist in a list of instruction lines. To create a task program. Once all points are recorded. the sequence of points is executed as listed in the point list. 4-27 . Enter the information and click the OK button. Note: To open the Task Editor window. Note: Once the points are copied in the Task Editor. use the Shift or Ctrl key to select the desired points. the position points are first determined using Robotics or the Hand-Held Terminal. Note that once the execution is launched. click the point and drag it to the right column of the Task Editor window. save the file. It is good practice to save the file as soon as the points are copied into the Task Editor. To copy a single point. All task commands are inserted in the Task Editor window. Copying Points from the Point Editor into the Task Editor You can copy a single point or a group of points from the Point Editor to the Task Editor. Copying Points from the Robot Controller Memory into the Task Editor To copy points from the Robot Controller into the Task Editor. select New in the File menu. they are copied into the Task Editor window where they are associated with task commands. Then the Task Editor window will open. select New Task Editor in the Upload to submenu from the Robot menu and follow the instructions. Task programming is not possible when using the Hand-Held Terminal alone. Click the last point while pressing the Shift or Ctrl key and drag the group to the right column of the Task Editor window.Robotics Point-to-Point Programming Point-to-point programming means moving the Servo Robot (or external device(s) connected to CH 1 and CH 2) through a series of positions (points) and recording the coordinates of each point. Pointto-point programs may consist in a list of position points and control points. To copy a group of points. The same methods apply when you copy points in the opposite direction: from the Task Editor to the Point Editor.

It is not necessary to use every point in the right column.. The task commands are entered by placing the cursor beside a line number and by typing the task command. Running a Task Program Run the task program by performing the following steps: C Select Run Task in the Robot menu. The name of the point must be exactly the same as the spelling of the point in the right column. Compile Task window. and an error message. Editing a Task Program Like the Point Editor. the Task Editor has editing capabilities. the Run Task window appears. When you are confident with each instruction line.. The description of the task commands available in Robotics is shown in Appendix C. Robotics has a powerful set of task commands. inserting a space.Robotics Task Commands Once the points are copied into the right column of the Task Editor window. C Correct the error and select Run Task again. If syntax errors are present. and typing the name of the point: MOVETO POINT3 as an example. When the task program is free of errors. Note: For adding points. click the Run button. Click the Step button in the Run Task. window if you desire to execute the instruction lines one-by-one. 4-28 . you must use the Point Editor to manipulate the Servo Robot to create and save new points. they must be selected and copied into the left column where they will be associated with task commands to form a program. The Step button allows you to see how each instruction line is executed. the Compile Task window will appear identifying the line where the problem is.

To delete a line space. 4-29 . Annotating a Task Program A good practice is to annotate the purpose of the major instruction lines. you will be able to make modifications and improvements more easily. Deleting Code To delete characters. Adding Code You can add code to the task program by placing the cursor where required and typing the code. select the required character or group of characters then select Clear in the Edit menu. You can make comments any place in your task program by preceding the comment with a backslash (\). place the cursor at the beginning of the open line then press the Delete key on the keyboard. or press the Delete key on the keyboard or the Scissors icon.Robotics Using the Task Editor you can annotate instruction lines. delete and add instructions. If the annotation is well done.

4-30 .

stop using it immediately and report the problem to the instructor. should be made by two people. C Safety glasses must be worn at all times while operating the equipment. C If the equipment does not appear to be operating properly or malfunctions. C The power source must be in accordance with the applicable codes. C Make sure you are not wearing anything that might get caught. C No wall or obstacles should be present within 750 mm (30 in) from the base of the Servo Robot. C The equipment must be installed and connected as described in this guide. tie it out of the way. Linear Slide and Rotary Carousel.Section Safety Procedures 5 Safety Procedures Caution! Follow these recommendations scrupulously when using the training system. such as a tie or jewelry. C No food or drink is allowed in the laboratory. C The Emergency Stop module must be easily accessible by the operator at any time. C The instructor should visually check the Servo Robot and work area to identify hazardous conditions before using the system. 5-1 . If your hair is long. C The installation of heavy equipment such as the Servo Robot.

5-2 .

If a problem occurs. However. Over lubrication does not help the operation.Section Care and Maintenance 6 The Servo Robot of the Servo Robot System requires little maintenance. do not try to service it yourself as you may void your warranty. call your sales representative or the Lab-Volt technical support department. If you are uncertain about what may be wrong. Note: Applying the correct amount of lubricating oil is important. it is important to maintain the gear and belt system clean to insure many hours of trouble-free operation. 6-1 . Lubrication Once a week. apply one drop of general-purpose lubricating oil at each location shown in Figure 6-1.

Care and Maintenance

Figure 6-1. Lubrication points.

Belt Tension Proper tension on each belt is required to obtain precision. The arm on the robot moves as a result of pulleys and belts working together. Through normal use, belts may develop slack due to normal wear. If an articulation seems loose, one or more belts may need to be tightened. To do so, identify which belt(s) are slack, and loosen the screws of the belt tensioners on both sides of the arm. The belt tensioners are located in Figure 6-2. Move the tensioner until the belt slack is removed, then tighten the screws. The cover of the shoulder must be removed to access some of the belt tensioners.

6-2

Care and Maintenance

BELT TENSIONERS

BELT TENSIONER

Figure 6-2. Location of the belt tensioners.

6-3

6-4

EXECUTE POINTS RUN ONCE ____ PRESS ESC TO ABORT EXECUTE POINTS RUN FOREVER: _ ____ PRESS ESC TO ABORT EXECUTE POINTS TRACE MODE ____ PRESS ESC TO ABORT 2 Task Manager 1 Run Once 2 Run Forever 3 Trace Points A-1 . Moves the point beside the cursor under the next point.Appendix Hand-Held Terminal Menus Main Menu N Name:_ Absolute F Flags: Relative S Speed:_ 1 Gripper:_ 2 Wrist R:_ Point Editor 3 Wrist P:_ 4 Elbow:_ 5 Shoulder:_ 6 Base:_ 7 Ch 1:_ 8 Ch 2:_ 0 Save Changes N Name:_ TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD X X X X X X X X NEW X X X X X X X X TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD X X X X X X X X NEW X X X X X X X X RELAY KEY 1 2 3 4 OLD X X X X NEW X X X X CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD X X X X X X X X NEW X X X X X X X X CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD X X X X X X X X NEW X X X X X X X X A 1 TTL Output 1 Point Manager 2 TTL Input 3 Relay Control Editor 4 CNC 1 5 CNC 2 D Delay:_ 0 Save Changes CLEAR ARE ENTER ESC ALL POINTS YOU SURE? TO CONTINUE TO ABORT X C 6 7 Deletes the point beside the cursor. Moves the point beside the cursor over the preceding point.

Hand-Held Terminal Menus CLEAR ARE ENTER ESC ALL POINTS YOU SURE? TO CONTINUE TO ABORT 4 Clear Points 1 Save to Disk _ 3 File Manager 2 Load From Disk SAVE FILE ENTER FILENAME OVERWRITE TASK ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 1 Soft Home 2 Set Soft Home 3 CLR Soft Home PERFORM HARD HOME 4 Hard Home ENTER TO CONTINUE ESC TO ABORT 4 Motion Control 5 Free Motors 6 Torque Motors HARDWARE RESET ARE YOU SURE? ENTER TO CONTINUE ESC TO ABORT 7 Hardware Reset 8 Soft Limits OFF 9 Soft Limits ON Servo Pneu 1 Grip Elec None L Slide 2 Ch 1 Carousel None 5 Configuration 3 Ch 2 L Slide Carousel None ON 4 Key Click OFF ON 5 Shift Lock OFF S Save Config 9 Shutdown Teach Menu 0 Speed Control SET SPEED >------------------+< 1 099 99 1 Gripper Open H Gripper Close 2 Wrist CW I Wrist CCW 3 Wrist Pitch Down J Wrist Pitch Up 4 Elbow Pitch Down R Elbow Pitch Up 5 Shldr Pitch Down A-2 .

Hand-Held Terminal Menus S Shldr Pitch Up 6 Base CCW T Base CW 7 Ch 1 Forward Z Ch 1 Backward 8 Ch 2 Forward / Ch 2 Backward TTL OUTPUT KEY 1 2 3 4 5 6 7 8 OLD L L L L L L L L NEW X X X X X X X X TTL INPUT KEY 1 2 3 4 5 6 7 8 OLD H H H H H H H H NEW X X X X X X X X RELAY KEY 1 2 3 4 OLD L L L L NEW X X X X SET DELAY VALUE IN SECONDS >_ CNC1 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X CNC2 INPUT | OUTPUT KEY 1 2 3 4 A B C D OLD L L L L L L L L NEW X X X X X X X X SAVE POSITION ENTER POINT NAME >POINT1_ SAVE POSITION ENTER POINT NAME >POINT1_ SAVE CONTROL ENTER POINT NAME >CTRL1_ F TTL Output G TTL Input P Relay Q Time Delay X CNC 1 Y CNC 2 C Save Abs Point # Save Rel Point * Save Control A-3 .

A-4 .

.. Release Emergency Stop Online Hard Home Task Editor Point Editor New Task Editor Point Editor B B-1 ...Appendix Robotics Menus New Open Close Save Save As File Revert Info Print Print Setup Shutdown Exit Undo Redo Cut Edit Copy Paste Duplicate Clear Select All Find Find Next Search Replace Go To Line Go To Bookmark Set Bookmark Run Task Soft Home Set Soft Home Motion Control Clear Soft Home Free Motors Torque Motors Robot Download from. Upload to.

Robotics Menus Environment Options Hardware File Server CNC Software Cascade Tile Horizontal Tile Vertical Window Close All Minimize All Restore All Controller Status Point Editor Help Contents About B-2 .

y) CNCOUTPUT(x. waits for TTL input x high(1) or low(0) then stops the carousel Waits for CNC x (1 or 2).QUICK REFERENCE TABLE Command Parameters Function CAROUSEL CNCINPUT(x.Appendix Task Commands C TASK COMMANDS .y) DELAY DO DRIVETO ELSE END ENDIF ERROR GOSUB HOME IF INPUT(x) LATHE MESSAGE MILL MOVETO OUTPUT(x) RELAY(x) REPEAT RESTART RETURN RUNTO SPEED SUB UNTIL WHILE <[0|1]> <[0|1]> <[0|1]> <0-999> <1-9999> <point> none none none <msg> <name> none <expr> <[0|1]> <filename> <msg> <filename> <point> <[0|1]> <[0|1]> none none none <point> <0-99> <name> none <expr> Starts carousel on CH 1 or CH 2. line y high (1) or low (0) Sets the CNC x (1 or 2). line y to high (1) or low (0) Delays the execution for xxx seconds Repeats a series of line instructions for a set count Executes all points in sequence from active to named point Branch point for false condition in IF statement Ends the task Ends of IF conditional Halts task execution and display a custom error msg Transfers execution to the named subroutine Moves to the soft home position Branch execution on conditional expression Waits for TTL input x high(1) or low(0) Download via the CNC Lathe Software Displays a custom message on the task window Download via the CNC Mill Software Executes a specified point Sets TTL output x to high(1) or low (0) Activates or deactivate Relay x Ends the WHILE loop statement list Restarts the task program at the first command Ends of the current subroutine Executes a specified point at max speed Sets an override speed for all subsequent point Defines the start of a subroutine Ends the DO loop statement list Begins a loop of statements when <expr> is true C-1 .

<[CLOSE | OPEN]>. line 1 waits for CNC 1. First. The parameter that follows indicates the desired level of the TTL input. C-2 .1) HIGH MOVETO POINT1 END Note: Example: Line 1 causes the Rotary Carousel to rotate one turn or less if the level detected at TTL input 1 is high. Usually a channel is used to directly interface with other automation or CNC equipment. Then the program executes POINT1 and ends. This command will block and suspend task execution until the read value matches the command parameter.<integer 1-4>) <[HIGH | LOW]> This command reads the specified input on CNC 1 or CNC 2. or <[1 | 0]>. 0001: 0002: 0003: 0004: CNCINPUT(1. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>.Task Commands COMMAND DESCRIPTION CAROUSEL Syntax: Parameters: Description: CAROUSEL(<integer 1-2>. 0001: 0002: 0003: CAROUSEL(1. input 2 to be high. CNCINPUT Syntax: Parameters: Description: CNCINPUT(<integer 1-2>. <[CLOSE | OPEN]>. It causes the Rotary Carousel to rotate one turn or less if the status of a specified TTL input corresponds to a desired level. The values in parentheses indicate the channel (1 or 2) where the Rotary Carousel is connected and the TTL input (18) to read. This command will suspend the rotation of the Rotary Carousel if the level matches the command parameter. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. or <[1 | 0]>. The value in parentheses indicates the channel (1 or 2) and the input (1-4) to read.2) HIGH GOSUB LOAD_PART CNCOUTPUT(1.<integer 1-8>) <[HIGH | LOW]> The Carousel command is used to control the operation of the Rotary Carousel.2) HIGH RESTART Note: Example: This program shows a simple control loop that might be used with CNC equipment.

CNC 1.2) HIGH GOSUB LOAD_PART CNCOUTPUT(1. then a subroutine that loads a piece of stock into the machine executes. Finally.Task Commands then a subroutine that loads a piece of stock into the machine executes. Usually a channel is used to interface with other automation or CNC equipment. Finally. or <[1 | 0]>. The value in parentheses indicates the channel (1 or 2) and the output (1-4 or A to D) to change. the process is restarted. The user then clicks the Run button and the HOME C-3 . <[CLOSE | OPEN]>. the process is restarted. Once the stock is loaded. input 2 to be high. line 1 waits for CNC 1. output 2 is set at high. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. Once the stock is loaded. Line 3 executes POINT2 and then the delay stops execution. CNC 1. The parameter that follows indicates the desired status of the output. If the parameter value is 0. First. CNCOUTPUT Syntax: Parameters: Description: CNCOUTPUT(<integer 1-2>. 0001: 0002: 0003: 0004: 0005: 0006: MOVETO POINT1 DELAY 10 MOVETO POINT2 DELAY 0 HOME END Example: This program executes POINT1 then delays the execution for 10 seconds. output 2 (or B) is set at high. 0001: 0002: 0003: 0004: CNCINPUT(1.<integer 1-4>) <[HIGH | LOW]> This command controls the specified output on CNC 1 and CNC 2. then the task execution is paused until the user clicks the Run button in the Run Task window.2) HIGH RESTART Note: Example: This program shows a simple control loop that might be used with CNC equipment. DELAY Syntax: Parameters: Description: DELAY <integer 0-999> Delay task execution for the value expressed in seconds.

DO Syntax: Parameters: Description: DO <integer 1-999> This command indicates the start of a series of commands that are to be executed repeatedly. This demonstrates that the only way to stop the execution of the DO loop is by user abort or by inserting an END. this command will execute every point between the current active point and the point named in the command parameter. See also: UNTIL DRIVETO Syntax: Parameters: Description: DRIVETO <string point name> This command operates as a shortcut instead of repeating multiple MOVETO commands. Normally. RESTART or ERROR command into the loop. This program executes POINT1.Task Commands command executes. 5 times in a row unless TTL input 3 goes low. The parameter indicates the number of repetitions that the instruction lines between the DO and UNTIL commands are run. The points will be executed in the order that they exist in the point list. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: DO 5 IF INPUT(3) = LOW END ELSE MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 ENDIF UNTIL Example: Note: As shown in this example. formatting the instruction lines of the program makes it easier to read. Finally the program terminates at the END command. and then the END command is executed. POINT2 and then POINT3 in order. To execute a series of points from the associated point list. you would start the execution of a long sequence of points by first calling the MOVETO command with the first point in sequence and then follow that command with a DRIVETO C-4 .

The DRIVETO command will then execute every point between POINT1 up to and including POINT4. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: MOVETO POINT1 MOVETO POINT2 IF INPUT(1) = HIGH IF OUTPUT(2) = LOW MESSAGE Turn on the conveyor! ELSE GOSUB LOAD_FROM_CONVEYOR ENDIF ENDIF END Example: This program shows how to use the IF command and also shows that you can nest IF commands within each other. 0001: 0002: 0003: MOVETO POINT1 DRIVETO POINT4 END Example: Assuming that POINT1. and POINT4 are defined in the point list in that order. this program will first execute POINT1. Line 3 checks if TTL input 1 is high and if so. then the message on line 5 is displayed. The instruction lines that follow the ELSE command are executed in the event that the associated IF command evaluated a FALSE value. POINT2. Conversely.Task Commands command that indicates the last point in the sequence. ENDIF C-5 . which calls a GOSUB to actually run the loading routine. If the IF command detects that the external device on TTL output 2 is high. See also: IF. Changing the point list will modify how this command executes. then the execution will jump to the instruction line that follows the ELSE command. Line 4 then checks if TTL output 2 is low. ELSE Syntax: Parameters: Description: ELSE None This command indicates the end of the instruction lines that are executed when a TRUE condition is evaluated by a previous IF command. If the IF command detects that the external device on TTL output 2 is low. executes the next instruction line. This can simplify the task program when a large number of movements must be executed in order. Warning: The points execute in the order they exist in the point list. POINT3.

If the Repeat Task check box is checked in the Run Task window. then the message on line 5 is displayed. each one must have a matching ENDIF command. 0001: 0002: 0003: MOVETO POINT1 MOVETO POINT2 END Example: See also: MOVETO ENDIF Syntax: Parameters: Description: ENDIF None This command indicates the end of an IF-ELSE-ENDIF block of codes and the execution continues with the next instruction line. For each IF command there must be exactly one matching ENDIF command. then the C-6 . executes the next instruction line. the program will restart execution at the beginning of the program. Line 3 checks if TTL input 1 is high and if so. This command can be placed anywhere in the task program but unless you are defining subroutines. If the IF command detects that the external device on TTL output 2 is high. If there are multiple nested IF commands. all instruction lines past the END command will never be executed. Line 4 then checks if TTL output 2 is low. Conversely.Task Commands END Syntax: Parameters: Description: END None This command ends the execution of the current task. If the IF command detects that the external device on TTL output 2 is low. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: MOVETO POINT1 MOVETO POINT2 IF INPUT(1) = HIGH IF OUTPUT(2) = LOW MESSAGE Turn on the conveyor! ELSE GOSUB LOAD_FROM_CONVEYOR ENDIF ENDIF END Example: This program shows how to use the IF command and also that you can nest IF commands within each other.

You can call subroutines from within other subroutines. Execution will return to the instruction line that follows the GOSUB command when the subroutine completes execution.Task Commands execution will jump to the instruction line that follows the ELSE command. ELSE ERROR Syntax: Parameters: Description: ERROR <string message> This command will halt the execution of the current task program and the string message provided as a parameter will be displayed in the message area of the Run Task window. Use this command if you want to generate an error in your program if an unexpected condition occurs. See also: IF. the error message appears in the Message field of the Run Task window and the program execution is suspended. 0001: 0002: 0003: 0004: 0005: IF INPUT(1) = LOW ERROR No stock is available ELSE GOSUB LOAD_STOCK ENDIF Example: This program checks if TTL input 1 is low and if the condition tests true. The status will be set to display ERROR. GOSUB Syntax: Parameters: Description: GOSUB <string name> This command calls the named subroutine. GOSUB LOAD_STOCK ENDIF END SUB LOAD_STOCK MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 RETURN Example: C-7 . which calls a GOSUB to actually run the loading routine. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: IF INPUT(1) = HIGH MESSAGE Loading stock from conveyor.

If the expression is FALSE. 0001: 0002: 0003: MOVETO POINT1 HOME END Example: This program executes POINT1 and then returns to the HOME position. and where it will come to rest when you tell it to go home. If TTL input 1 is high. IF Syntax: Parameters: Description: IF <expression> If the expression evaluates to TRUE. This command is functionally equivalent to calling MOVETO HOME. the execution continues normally with the next instruction line. then the GOSUB routine transfers execution to the instruction line that follows the SUB command. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: MOVETO POINT1 MOVETO POINT2 IF INPUT(1) = HIGH IF OUTPUT(2) = LOW MESSAGE Turn on the conveyor! ELSE GOSUB LOAD_FROM_CONVEYOR ENDIF Example: C-8 . the execution continues after the next ELSE command (if used) or ENDIF command.Task Commands This program shows how to define and call subroutines. You can modify the point coordinates using the Set Soft Home and Clear Soft Home functions. RETURN HOME Syntax: Parameters: Description: HOME None Tells the Servo Robot to move to the assigned soft home position. This is the position that is defined by the point named HOME in the point list associated with this task. Lines 7 through 9 are then executed and the RETURN command in line 10 will return execution back to the instruction line that follows the GOSUB command that called this subroutine. HOME is defined as the first point in the point list. See also: SUB. It is the position the Servo Robot starts its movements from.

ENDIF INPUT Syntax: Parameters: Description: INPUT(<integer 1-8>) <[HIGH | LOW]> This command reads the TTL inputs. Line 3 checks if TTL input 1 is high and if so. which calls a GOSUB to actually run the loading routine. executes the next instruction line. The value in parentheses indicates the input to read and the parameter that follows the command indicates the desired status.Task Commands 0009: 0010: ENDIF END This program shows how to use the IF command and also shows that you can nest IF commands within each other. The filename parameter is passed as a parameter to this program so that the CNC Lathe software will automatically download the file to a CNC Lathe. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. See also: ELSE. If the IF command detects that the external device on TTL output 2 is low. or <[1 | 0]>. Line 4 then checks if TTL output 2 is low. C-9 . then the message on line 5 is displayed. then the execution will jump to the instruction line that follows the ELSE command. <[CLOSE | OPEN]>. 0001: 0002: 0003: 0004: MOVETO POINT1 INPUT(4) LOW MOVETO POINT2 END Note: Example: This program executes POINT1 and then waits until TTL input 4 is low then POINT2 is executed and the program ends. If the IF command detects that the external device on TTL output 2 is high. LATHE Syntax: Parameters: Description: LATHE <string filenamepath> This command executes the external program associated with the LATHE command set in the Options window. Conversely. This command will block and suspend task execution until the read value matches the command parameter.

This command does not stop the execution of the program so if you need the user to respond to your message. END Example: C-10 .l4 \Download the part program to the Lathe CNCINPUT(1. MILL Syntax: Parameters: Description: MILL <string filenamepath> This command executes the external program associated with the MILL command set in the Options window. MILL sample_part. GOSUB LOAD_STOCK ENDIF Example: This program checks if TTL input 1 is high. 0001: 0002: 0003: 0004: GOSUB LOAD_STOCK \Load stock into CNC Mill.Task Commands Example: 0001: 0002: 0003: 0004: GOSUB LOAD_STOCK \Load stock into CNC Lathe LATHE sample_part. follow this command with a DELAY 0 command. and the LOAD_STOCK subroutine is executed.1) HIGH \Wait for the CNC Lathe to signal completion END This program shows how to use the LATHE command to download a CNC Lathe program. CNCINPUT(1. a message is sent to the user in the Message field of the Run Task window. MESSAGE Syntax: Parameters: Description: MESSAGE <string message> This command will display the string parameter data in the Message field of the Run Task window. The filename parameter is passed as a parameter to this program so that the CNC Mill Software will automatically download the file to a CNC Mill.1) HIGH \Wait for the Mill to signal completion. 0001: 0002: 0003: 0004: IF INPUT(1) = HIGH MESSAGE Loading stock from conveyor. If the condition tests true.m4 \Download the part program to the Mill. This command is used when integrating the Servo Robot System with CNC Lathe machinery.

C-11 . OUTPUT Syntax: Parameters: Description: OUTPUT(<integer 1-8>) <[HIGH | LOW]> This command controls the status of the TTL outputs. <[HIGH | LOW]> can be interchanged with <[ON | OFF]>. This command is used when integrating the Servo Robot System with CNC Mill machinery. <[CLOSE | OPEN]>. 0001: 0002: 0003: 0004: OUTPUT(1) HIGH DELAY 5 OUTPUT(1) LOW END Note: Example: This program sets TTL output 1 at high. MOVETO Syntax: Parameters: Description: MOVETO <string point name> This command causes the execution of either a position point or a control point. The value in parentheses indicates which relay is being controlled and the parameter that follows indicates the desired status: activated (close) or deactivated (open). 0001: 0002: MOVETO POINT1 END Example: This program executes POINT1 and then terminates. or <[1 | 0]>. The value in parentheses indicates the output to change and the parameter that follows indicates the new status of the output.Task Commands This program shows how to use the MILL command to download a CNC Mill program. RELAY Syntax: Parameters: Description: RELAY(<integer 1-4>) <[CLOSE | OPEN]> This command controls the status of the relays. delays for 5 seconds and then sets the output at low.

the instruction lines between the WHILE and REPEAT commands will be executed repeatedly. RESTART ignores the status of the Repeat Task check box in the Run Task. See also: WHILE RESTART Syntax: Parameters: Description: RESTART None This command instructs the software to abort the current execution of the task and to restart from the beginning of the program. or <[1 | 0]>. 0001: 0002: 0003: 0004: RELAY(1) CLOSE DELAY 5 RELAY(1) OPEN END Example: This program activates Relay 1. delays for 5 seconds and then deactivates the relay. move it somewhere.. Unlike the END command. <[HIGH | LOW ]>. As long as TTL input 4 remains high. window. REPEAT Syntax: Parameters: Description: REPEAT None Indicates the end of a WHILE loop.. When the loop reaches this command. and repeat the operation until the stock feeder sets TTL input 4 at low. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: MOVETO POINT1 WHILE INPUT(4) = HIGH \ Stock is available from feeder. execution will jump back to the associated WHILE command for reevaluation of the original WHILE expression.Task Commands Note: <[CLOSE | OPEN]> can be interchanged with <[ON | OFF]>. GOSUB LOAD_STOCK OUTPUT(2) LOW GOSUB MOVE_STOCK OUTPUT(2) HIGH REPEAT END Example: This program shows how you might load stock from a feeder. C-12 .

Task Commands Example: 0001: 0002: 0003: 0004: 0005: MOVETO POINT1 MOVETO POINT2 RESTART MOVETO POINT3 END In this program. If the point is a position point. C-13 . Lines 7 through 9 are then executed and the RETURN command in line 10 will return execution back to the instruction line that follows the original GOSUB command that called this subroutine. the subroutine being executed exits and the execution will resume at the instruction line that follows the GOSUB command. then the GOSUB routine transfers the execution to the instruction line that follows the SUB command. When this command is executed. 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: IF INPUT(1) = HIGH MESSAGE Loading stock from the conveyor. instruction lines 4 and 5 will never be executed. RETURN Syntax: Parameters: Description: RETURN None This command defines the end of a subroutine. the movement will be executed at maximum speed. Only one RETURN command is allowed in a subroutine and it must be the last command in the subroutine. See also: GOSUB RUNTO Syntax: Parameters: Description: RUNTO <string point name> This command tells the Servo Robot to execute either a position or control point. If TTL input 1 is high. GOSUB LOAD_STOCK ENDIF END SUB LOAD_STOCK MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 RETURN Example: This program shows how to define and call subroutines. The Speed value that was defined for the point is ignored.

The position points that follow a SPEED command set at 0 will be at their own defined speeds. overriding the Speed value saved in the position point. END SPEED Syntax: Parameters: Description: SPEED <integer 0-99> This command allows you to set an override Speed value for the instruction lines that follow the line containing this command. the first two instruction lines move the Servo Robot to POINT1 and POINT2 normally. See also: MOVETO. 0001: 0002: 0003: 0004: 0005: 0006: 0007: MOVETO POINT1 MOVETO POINT2 SPEED 20 MOVETO POINT1 SPEED 0 MOVETO POINT2 END Example: In this program. The override Speed value has no effect on control points. All position point moves will be executed at this new speed. This example assumes that POINT1 and POINT2 are not control points. All instruction lines that follow this command belong to the named subroutine until the RETURN command indicates the C-14 . See also: MOVETO.Task Commands Example: 0001: 0002: 0002: MOVETO POINT1 RUNTO POINT2 END This program will execute POINT1 and POINT2. the speed will be set at 99 (maximum value). Line 5 will disable the speed override and so the MOVETO on line 6 will move at the speed set in POINT2. END SUB Syntax: Parameters: Description: SUB <string name> This command defines the name and the starting location of a subroutine. The speed override in line 3 means that the MOVETO command in line 4 will move at a speed of 20 instead of the previously defined speed of the point. If POINT2 is not a control point.

RETURN UNTIL Syntax: Parameters: Description: UNTIL None This command indicates the end of a DO loop sequence and if the number of passes through the DO loop is less than the DO command parameter. If TTL input 1 is high. Subroutines should always be defined after the END command and separate from each other. Example: 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: 0010: IF INPUT(1) = HIGH MESSAGE Loading stock from conveyor.Task Commands end of the subroutine. If the number of passes is greater than the number in the DO command. but be warned that an infinite loop can occur when a subroutine calls itself. GOSUB LOAD_STOCK ENDIF END SUB LOAD_STOCK MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 RETURN This program shows how to define and call subroutines. the execution continues with the instruction line that follows the UNTIL command. Subroutines can call other subroutines. execution jumps to the original DO command. Lines 7 through 9 are then executed and the RETURN command in line 10 will return execution back to the instruction line that follows the original GOSUB command that called this subroutine. Example: 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: 0009: DO 5 IF INPUT(3) = LOW END ELSE MOVETO POINT1 MOVETO POINT2 MOVETO POINT3 ENDIF UNTIL C-15 . then the GOSUB routine transfers execution to the instruction line that follows the SUB command. See also: GOSUB.

The expression value is only evaluated by the WHILE command. the instruction lines between the WHILE and REPEAT commands will be executed repeatedly. which is a statement that when evaluated will produce a Boolean TRUE or FALSE value.. If it is true. As long as TTL input 4 is high when the WHILE command on line 2 executes. execution will return to the WHILE command in which the expression will be evaluated repeatedly until the expression fails. C-16 .. See also: REPEAT Conditional Statements The IF and WHILE commands use a parameter called an expression. A simple expression might look like this: IF . 0001: 0002: 0003: 0004: 0005: 0006: 0007: 0008: MOVETO POINT1 WHILE INPUT(4) = HIGH \Stock is available from feeder GOSUB LOAD_STOCK OUTPUT(2) LOW GOSUB MOVE_STOCK OUTPUT(2) HIGH REPEAT END Notes: Example: This program shows how you might load stock from a feeder.Task Commands This program executes POINT1. and then the END command is executed.. 5 times in a row unless TTL input 3 goes LOW. RESTART or ERROR command into the loop. POINT2 and then POINT3 in order.. instruction lines . move it somewhere. When the REPEAT command is reached. This demonstrates that the only way to stop the execution of the DO loop is by user abort or by inserting an END. Changing the status of the inputs/outputs inside this command will not cause the loop to exit immediately.. and repeat the operation until the stock feeder sets TTL input 4 at low. See also: DO WHILE Syntax: Parameters: Description: WHILE <expression> This command evaluates the expression. it executes the instruction lines that follow.. TRUE (IF the expression INPUT(1) = HIGH is TRUE as an example) . up to the REPEAT command.

.. a general form is followed. In all Robotics expressions. OUTPUT(x). The <conditional> defines how to compare the two expressions. RELAY(x). the expressions can be the value returned by any of the following commands: INPUT(x). instruction lines . Additionally. The following values are available: CONDITIONAL STATEMENTS =. CMD is either the IF or WHILE command.Task Commands ELSE .. In this example you can see that the instruction lines that fall between the ELSE and ENDIF are not executed because the evaluated expression is true. the program will execute the instruction lines following it up to the ELSE command. ENDIF If the evaluated expression is true. where the execution would jump to the instruction line following the ENDIF command. These are the only two commands that support expressions. == or EQ <>. These can be a direct value of 1 or 0 (or any of the legitimate replacements for these values: HIGH/LOW. The <left expression> and <right expression> are both values.y) or CNCOUTPUT(x. All of these commands will return either a 0 or 1 to indicate the current status of the input/output line. CNCINPUT(x.. CLOSE/OPEN). This form is CMD <left expression> <conditional> <right expression>.y). != or NEQ <= or LEQ >= or GEQ < or LT > or GT && or AND || or OR XOR NAND Equivalent Not equivalent Less than or equal Greater than or equal Less than Greater than Boolean AND (True if <left> = 1 and <right> = 1) Boolean OR (True if <left> = 1 or <right> = 1) Boolean XOR (Exclusive Or) True only if <left> is not equal to <right> Boolean NAND (Not And) True only if <left> = 0 and <right> = 0 C-17 . ON/OFF.

C-18 .

When used with the Work Surfaces. Connection The Rotary Carousel connects to CH 1 or CH 2 on the Robot Controller as shown in Figure D-2. To do so. It consists of a rotating platter mounted on a base. Note: Do not make or modify any connection while the Robot Controller is on. The Rotary Carousel is designed to be used with the Grids and the perforated Work Surfaces. the Rotary Carousel is located using two location pins under the base. Model 5208. The Rotary Carousel is also provided with a "cursor" disk. Model 5208 Description The Rotary Carousel of the Servo Robot System is shown in Figure D-1. Rotary Carousel. rotate the cursor disk to align the line on the cursor disk with one of the lines on the platter. The Rotary Carousel is provided with a limit switch to detect the presence of objets on the platter.Appendix Rotary Carousel. D-1 . The cursor disk is located over the center of the platter. CURSOR DISK PLATTER D NORMALLY OPEN TERMINAL NORMALLY CLOSED TERMINAL LIMIT SWITCH COMMON TERMINAL LOCATION PINS [12 V − − 60 mA] Figure D-1. It is used to locate a reference position.

Rotary Carousel, Model 5208
TO THE TTL INPUTS

ROBOT CONTROLLER REAR VIEW

CNC 1

CNC 2

CH 1

CH 2

5250

5250

Figure D-2. Connection of the Rotary Carousel.

The limit switch contacts connect to the TTL inputs on the Robot Controller. The blue terminal corresponds to the normally closed (NC) terminal of the limit switch, the yellow terminal corresponds to the normally open (NO) terminal, and the black terminals correspond to the common terminal.

Configuration Once the connection is made, the Robot Controller must be configured to detect the Rotary Carousel. To configure the Robot Controller when using Robotics, select the Hardware option in the Options menu. Select Rotary Carousel in the selection field of the channel where the Rotary Carousel is connected. Click the Save button to save the configuration. To configure the Robot Controller when using the Hand-Held terminal, press the 5 key in the Main menu to select Configuration. In the Configuration menu, place the cursor beside the channel number where the Rotary Carousel is connected, press the Enter key as required to select Carousel. Press the S key to save the configuration.

Operation The Rotary Carousel is driven by a servo motor mounted in the base. The platter can rotate either in the clockwise or counterclockwise direction. Its operation is controlled by clicking the CH 1 or CH 2 arrow in Robotics, or by pressing the 7 or Z key if the Rotary Carousel is connected to CH 1, or the 8 or / keys if it is connected to CH 2 when using the Hand-Held Terminal. The Carousel command can also be used to control the operation of the Rotary Carousel. Refer to Appendix C to obtain more information on how to use this command.
D-2

Rotary Carousel, Model 5208
Like the Servo Robot, the Rotary Carousel must be hard homed at the beginning of each session. Make sure that the parts are removed from the platter when executing a hard home positioning. The speed is controllable the same way as the motors of the Servo Robot. The position of the platter of the Rotary Carousel is saved as for the Servo Robot. Clicking the Save Position Point button in the Point Editor window of Robotics, opens the Save Position Point window. There are two check boxes in this window: Robot and External Device. Enable the External Device check box if you are saving the coordinates of the Rotary Carousel.

Save Position Point window.

The Robot and External Device check boxes allow independent operation of the Servo Robot and external device(s) connected to CH 1 and CH 2. When both check boxes are enabled, the Servo Robot and external devices are controlled simultaneously. It is not possible to save the coordinates of the Servo Robot and Rotary Carousel independently using the Hand-Held Terminal alone. The points created using the Hand-Held Terminal must be transferred in the Point Editor of Robotics. Each point must be edited and the check boxes enabled or disabled as required.

D-3

D-4

Model 5210 Description The Belt Conveyor of the Servo Robot System is shown in Figure E-1. Model 5210 The Belt Conveyor is designed to be used with the Grids and the perforated Work Surfaces. there are several sets of mounting positions found along both sides of the conveyor chassis. Belt Conveyor. When used with the Work Surfaces. Connection The Belt Conveyor connects to an AC power outlet. and DIRECTION external inputs connect to the TTL outputs of the Robot Controller. It is movable. It consists of a belt which is driven by a servo motor. The blue terminal corresponds to the normally closed (NC) terminal of the limit switch.Appendix Belt Conveyor. E LIMIT SWITCH LOCATION PIN CONTROL PANEL Figure E-1. The Belt Conveyor is provided with a limit switch to detect the presence of parts on the belt. and it uses the same mounting holes as the limit switch. the yellow terminal corresponds to the normally open (NO) terminal. E-1 . MOTOR. The limit switch contacts connect to the TTL inputs of the Robot Controller. the location guide must be installed on the Belt Conveyor. The STOP. The guide is also movable. and the black terminals correspond to the common terminal.

the logic level of the TTL input (STOP) at which the conveyor stops. As the figure shows. motor engage/disengage (MOTOR). BELT CONVEYOR MOTOR EXT. When the Logic switch is set at High. and belt direction (DIRECTION). At the Slow position. INPUT + + EXT. The control panel of the Belt Conveyor is shown in Figure E-2. or by control signals applied to its TTL inputs. the operating parameters that can be controlled on the control panel are the speed (SPEED). LOW [ TTL ] REVERSE [ TTL ] 5210 Figure E-2. when the Logic switch is set at Low. the belt of the conveyor is stopped. The control signals are provided by the TTL outputs of the Robot Controller. E-2 . Speed The SPEED potentiometer controls the speed of the belt from Slow to Fast. it stops on a low level. Stop The Logic switch is used to select the TTL level required at the input Stop to remotely stop the conveyor. Control panel of the Belt Conveyor.Belt Conveyor. the conveyor stops on a high level. Model 5210 Operation The Belt Conveyor can be operated either by switches mounted on the control panel. Conversely. INPUT SPEED ENGAGE EXT. + SLOW FAST DISENGAGE [ TTL ] STOP INPUT LOGIC HIGH FORWARD DIRECTION EXT.

the motor is stopped and freed (not torqued). If the settings of the Stop section correspond to a stop condition the motor is stopped but remains torqued.: The operation is controlled remotely by a signal applied to the Ext. Input.: The operation is remotely controlled by a signal applied to the Ext. C C Direction The Direction switch is used to select between three operating modes: C C C Forward: In this mode. it is in the Reverse mode. Conversely. the conveyor operates as in the Engage mode. When the level at the Ext.Belt Conveyor. it operates as in the Disengage mode. the belt of the conveyor goes from right to left (when facing the control panel). Input is high. Conversely. Model 5210 Motor The Motor switch is used to select between three operating modes: C Engage: In this mode. Ext. when the level is low. Input. when the level is low. Disengage: In this mode. Input is high. the motor of the Belt Conveyor is torqued and the conveyor runs if the settings of the Stop section correspond to a run condition. Ext. E-3 . the belt of the conveyor goes from left to right. the direction of the belt is in the Forward mode. Reverse: In this mode. When the level of the Ext.

E-4 .

5 in). F-1 . The blue terminal corresponds to the normally closed (NC) terminal of the limit switch. The Model 5119 is designed to feed square parts having 50 x 50 x 25 or 37. Models 5119 and 5121 The Gravity Feeders are designed to be used with the Grid and the perforated Work Surfaces. Gravity Feeders. and the Model 5121 is designed to feed cylindrical parts similar in form and dimensions to film canisters.Appendix Gravity Feeders. Connection The limit switch contacts connect to the TTL inputs on the base of the Servo Robot. 5 mm (2 x 2 x 1 or 1. and the black terminals correspond to the common terminal. F LOCATION PIN MODEL 5119 MODEL 5121 Figure F-1. the Gravity Feeders are located using the location pins at the back of the modules. the yellow terminal corresponds to the normally open (NO) terminal. Models 5119 and 5121 Description The Gravity Feeders of the Servo Robot System are shown in Figure F-1. When used with the Work Surfaces.

the Servo Robot will stop and wait until the feeder is filled before continuing on. Model 5121. Models 5119 and 5121 Operation The Gravity Feeders work on the principle that when a part is removed from the feeder. F-2 . The limit switch sends a signal when the feeder is empty. Usually. it is suggested to add coins in the film canisters to improve stability. the force of gravity will bring the next piece down to where the Servo Robot can grasp it. When using the Gravity Feeder.Gravity Feeders.

Appendix Pneumatic Feeders, Models 5122 and 5142
Description The Pneumatic Feeders of the Servo Robot System are shown in Figure G-1.They work very much on the same principle as the gravity feeders but have the advantage of the force of air to propel the parts. Their operation is controlled by the Pneumatic Feeder Controller, Model 5149 (one controller is required for each feeder).
STORAGE SECTION

G

FEEDER SECTION

SLIDER

PNEUMATIC FEEDER MODEL 5122

PNEUMATIC FEEDER CONTROLLER MODEL 5149

Figure G-1. Pneumatic Feeder and Controller, Models 5122 and 5149.

The Pneumatic Feeder, Model 5122, is designed to feed square parts having 50 x 50 x 12.5 mm (2 x 2 x 0.5 in) and the Model 5142 is designed to feed cylindrical parts having a diameter of 19 mm (0.75 in) and a length of 50 mm (2 in). The Pneumatic Feeders are designed to be used with the Grids and the perforated Work Surfaces. When used with the Work Surfaces, the Pneumatic Feeders are located using the location pins under the modules.

G-1

Pneumatic Feeders, Models 5122 and 5142
Connection To connect a Pneumatic Feeder, perform the following steps:
Note: Do not place any parts in the storage section of the Pneumatic Feeder now.

C

Connect S1 on the Pneumatic Feeder to input 1 on the Pneumatic Feeder Controller as shown in Figure G-2.

PORT A PORT A PORT B INPUT 2 INPUT 1
A S1
S1 S2

PORT B

PNEUMATIC FEEDER CONTROLLER
SLIDER INPUTS EXTEND
PORT A
1 2

RETRACT
PORT B SPEED

B S2-A S2-B

SPEED

MAX.

MIN.

MAX.

MIN.

A

B

[12 V −

− 60 mA]

5149

SLIDER SPEED CONTROLS

PNEUMATIC TUBES

Figure G-2. Connection of the Pneumatic Feeders.

C C

Connect S2-A on the Pneumatic Feeder to input 2 on the Pneumatic Feeder Controller as shown in Figure G-2. Connect port A on the Pneumatic Feeder to port A on the Pneumatic Feeder Controller with a pneumatic tube as shown in Figure G-2. Tighten the connectors. Connect port B on the Pneumatic Feeder to port B on the Pneumatic Feeder Controller with a pneumatic tube as shown in Figure G-2. Tighten the connectors. Connect the Air Supply Inlet on the Pneumatic Feeder Controller to an Air Supply Source as shown in Figure G-3. Note that the Air Supplied Source is not included with the Pneumatic Feeders.
Note: Do not apply compressed air to the Pneumatic Feeder now.

C

C

G-2

Pneumatic Feeders, Models 5122 and 5142
PNEUMATIC FEEDER CONTROLLER (REAR VIEW) AIR SUPPLY INLET DC POWER INPUT

AIR SUPPLY

POWER INPUT

TO AN AIR SUPPLY SOURCE (NOT INCLUDED)

275 kPa MAX. 40 PSI MAX.

[12 V −

− 60 mA]

TO AN AC POWER SUPPLY

AC-TO-DC ADAPTOR

Figure G-3. Connection of the Pneumatic Feeder Controller (rear view).

C

Connect the AC-to-DC adaptor to an AC power outlet and the other extremity of the lead to the DC Power Input on the Pneumatic Feeder Controller, as shown in Figure G-3.

Limit switch S2-B connects to the TTL inputs on the Teach Pendant.

Operation Pneumatic Feeders The Pneumatic Feeders, Models 5122 and 5142, have three limit switches to detect the presence of parts: S1, S2-A, and S2-B. Switch S1 detects the presence of parts in the storage section, it is located at the bottom of the storage section. The contact of switch S1 is normally open (NO), meaning that it is open when the storage section is empty. Switch S2-A detects the presence of parts in the feeder section, it is located at the bottom of the feeder section. The contact of switch S2-A is normally closed (NC), meaning that it is closed when the feeder section is empty. Switches S1 and S2-A are used to control the operation of the Pneumatic Feeder Controller. Switch S2-B is located at the bottom of the feeder section. The contact of switch S2B is normally open (NO), meaning that it is open when the feeder section is empty. Switch S2-B is used to control the level of a TTL input.

G-3

air flows through the valve to port B of the Pneumatic Feeder. When the solenoid of the valve is energized. The only way to obtain this condition is when the feeder section is empty but not the storage section. G-4 . This causes the slider to extend to push a new part as shown in Figure G-4a. This causes the slider to retract as shown in Figure G-4b.Pneumatic Feeders. When the solenoid of the valve is not energized. includes a solenoid operated pneumatic valve. STORAGE SECTION STORED PARTS SLIDER IN THE EXTENDED POSITION AVAILABLE PART FEEDER SECTION S1 S2 PNEUMATIC CYLINDER A B (a) SLIDER IN THE RETRACTED POSITION CYLINDER ROD S1 S2 A B (b) Figure G-4. Model 5149. air flows through the valve to port A of the Pneumatic Feeder. Model 5122. The solenoid of the pneumatic valve is energized only when the contacts of both switches S1 and S2-A are closed as shown in Figure G-5. Schematic diagram of the Pneumatic Feeder. Models 5122 and 5142 Pneumatic Feeder Controller The Pneumatic Feeder Controller.

To set the extension and retraction speed. The operation is summarized in Table G-1. Apply compressed air to the Pneumatic Feeder Controller. Model 5149. Slider movement versus the status of switches S1 and S2-A. The speed increases with air flow. Place five parts in the storage section and one in the feeder section. Set the Extend and Retract Speed control knobs at MIN. Electrical diagram of the Pneumatic Feeder Controller. perform the following steps: C C C C Ensure that the Pneumatic Feeder is connected as described in the Connection section of this appendix. Speed Setting The extension and retraction speeds of the slider can be set via the SPEED control knobs on the Pneumatic Feeder Controller. The SPEED control consists in a flow control valve that controls the air flow which is directed to the cylinder ports. G-5 . AIR IS SUPPLIED TO PORT SWITCH S1 SWITCH S2-A SLIDER closed (parts in the storage section) closed (parts in the storage section) open (storage section empty) open (storage section empty) Switch S1 is normally open (NO) open (parts in the feeder section) closed (feeder section empty) open (parts in the feeder section) closed (feeder section empty) B retracts A extends B retracts B retracts Switch S2-A is normally closed (NC) Table G-1.Pneumatic Feeders. Models 5122 and 5142 INPUTS 1 S1 + − 2 S2-A PNEUMATIC VALVE SOLENOID Figure G-5.

make sure the part will not be thrown out of the feeder. turn slowly the Retract Speed control knob in the counterclockwise direction to increase the retraction speed. C C C Slowly turn the Extend Speed control knob in the counterclockwise direction to increase the extension speed of the slider. Note: With the Speed control knobs at the MIN. the slider will not move or very little. Note: For the Pneumatic Feeder. Model 5142.Pneumatic Feeders. Remove the new part in the feeder section and repeat the last two steps until you obtain a smooth movement in both directions. C Manually remove the available part from the feeder section. position. G-6 . Models 5122 and 5142 Note: The air pressure applied to the Pneumatic Feeder Controller should not exceed 275 kPa (40 psi). Once the part is in the feeder section.

It consists of a mobile metallic base on which the Servo Robot is mounted (screwed). MOBILE METALLIC BASE LINEAR BEARING LOCATION PINS Figure H-1. The Linear Slide is designed to be used with the Grid and the perforated Work Surfaces. H-1 . the Linear Slide is located using the location pins under the extremity sections of the module. Model 5209 H Description The Linear Slide of the Servo Robot System is shown in Figure H-1. The base is driven by a servo motor via a lead screw. Linear Slide. The servo motor is similar to the ones that drive the Servo Robot and its control is also quite similar. When used with the Work Surfaces. The mobile base slides on two transverse shafts via four linear ball bearings.Appendix Linear Slide.

ROBOT CONTROLLER REAR VIEW LINEAR SLIDE CNC 1 CNC 2 CH 1 CH 2 5250 5250 Figure H-2. In the Configuration menu. H-2 . or the 8 or / keys if it is connected to CH 2 if you are using the Hand-Held Terminal. To configure the Robot Controller when using Robotics. CAUTION! Make sure the Servo Robot has sufficient free space to execute a hard home positioning in all positions of the Linear Slide. The speed is controllable the same way as the motors of the Servo Robot. press the 5 key in the Main menu to select Configuration. and press the Enter key as required to select L Slide. the Linear Slide must be hard homed at the beginning of each session. Click the Save button to save the configuration. To configure the Robot Controller when using the Hand-Held terminal. select the Hardware option in the Options menu.Linear Slide. Model 5209 Connection The Linear Slide connects to CH 1 or CH 2 on the Robot Controller as shown in Figure H-2. Operation The Linear Slide is controlled by clicking the CH 1 or CH 2 arrow in Robotics or by pressing the 7 or Z keys if it is connected to CH 1. Configuration Once the connection is made. Press the S key to save the configuration. place the cursor beside the channel where the Linear Slide is connected. As the Servo Robot and Rotary Carousel. the Robot Controller must be configured to detect the Linear Slide. Connection of the Linear Slide. Note: Do not make or modify any connection while the Robot Controller is on. Select Linear Slide in the selection field of the channel where the Linear Slide is connected.

The Robot and External Device check boxes of the Point Editor in Robotics must always be enabled when saving a position point.Linear Slide. their positions must be saved simultaneously. Model 5209 Since the position of the Servo Robot depends on the position of the mounting base of the Linear Slide. H-3 .

H-4 .

E=Elbow. use the teach pendant to safely move the axis away from the limit switch. *LIMIT ERROR*: G=Gripper.Appendix Error codes of Firmware 5250 *EMERGENCY STOP*: Emergency Stop is pushed.. P=Wrist Pitch. the controller must be turned off. It is normally self-correcting (the robot moves in the opposite direction to clear the limit switch). To correct this problem. 1=External motor #1. CHECK MOTOR RELEASE SWITCH: This problem happens when then motor drives cannot send signals to the motors. 1=External motor #1. *CONTROL ERROR*: One of the motor controllers has failed to execute a command. Turn the key to deactivate it and press "Clear Error" on the Teach Pendant to clear the error. Make sure that the button is pushed on the "Enabled" position and that the red LED marked "Disabled" is turned off. R=Wrist Rotation. B=Base. ROBOT ERROR RUN POINT REFUSED: The programmed point cannot be reached because its information is corrupted (bad speed. verify the "MOTORS" button on the front panel of the controller. Then turn it on to reboot it. *FILE ERROR*: The teach pendant has not been able to open or save a file. B=Base. MOTORS APPEAR TO BE FREED. *SYSTEM ERROR*: An illegal instruction has occurred. S=Shoulder.) or the robot is already executing a task I I-1 . One of the motors has reached a position error causing it to stall. If the limit switch is not cleared automatically. P=Wrist Pitch. This is probably due to a faulty component inside the controller. This problem happens when a limit switch is activated. bad positions. This happens when the robot has tried to move an object but has not been able to move it because the object is too heavy.. E=Elbow. S=Shoulder. *MOTOR ERROR* MOTOR STALL: G=Gripper. To correct this problem. 2=External motor #2. 2=External motor #2. etc. ROBOT ERROR USER ABORT: The user aborted during a programmed task movement by using the ESC button of the teach pendant. R=Wrist Rotation.

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