IENG 475 Lecture 16 Robot Programming in ACL

IENG 475 - Lecture 16 Robot Programming in ACL 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 1

Assignment l Last Lab (this period) • Write program to do the 12” Pick and Place Cycle in ACL commands for a total of 5 cycles. (Assume a new payload magically appears each time) l Remaining Laboratory Periods • Teach positions and run Robot Program • Complete NC Programming • Estimate times, plan for production 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 2

Project Demonstration (3 Weeks) l Organize Team for Production Demonstration • Production: • Documentation: • • • One clock front – SMD moniker & hour markings One clock back – pocket for clockwork One clock base tile – laser engraved One clock base top – card pegs, tile pocket & card pocket One clock base bottom – four holes for feet (buttons) Assemble – front & base with purchased clockwork, pegs, feet • • • Work Instructions (process plan to setups, programs, timing) Tooling List (tools required for your production) Program Listing (electronic in folder & hard copy) Illustration of each board piece – may be one page Cover page, Introduction, Conclusion & Recommendations 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 3

Programming l l l Teach Pendant Lead-through / Walk-through / Dummy Robot Languages: • • AML, AML/2 ARMBASIC Karel RAIL RAPL SCORBASE VAL, VAL II Wave. . . 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 4

Programming l Documentation: • • Position Diagram(s) Position Table I/O Signal Table(s) Program Listing • Well Commented Operating Instructions / Safety Procedures Program Metrics • • Cycle Times Program Size Bill of Materials (Parts List) Wiring Diagram(s) 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 5

Robot Programming l Good Programming Practices: • • • Always start a program with motion(s) from the HOME position Always signal the start of automated operations by triggering a warning output Always have an interrupt signal for critical error conditions Always design programs to be “fail-safe” - to fail in a safe condition Generously comment your programs 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 6

Anthropomorphic Spec Sheet 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 7

ACL Programming – ER V+ Robot l l Advanced Command Language • • • Similar to BASIC Programmed at keyboard in EDIT mode Positions can be taught with teach pendant, or with keyboard in DIRECT mode Programming Sequence: • • • Teach positions Sketch positions Program • Motions & Logic & I/O Verify (slow speed) & Edit as necessary Save program 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 8

Program Editing Commands l l l l l Edit starts a new program • EDIT program_name • S line_n • L n 1 n 2 • COPY program 1 program 2 • RENAME program 1 program 2 S goes to the start of the program / line L lists the lines of a program Del * Exit Copy Rename Remove 11/2/2020 erases the current line of a program precedes a comment line quits the editor and validates copies a program to program 2 changes the name to program 2 deletes a program from RAM IENG 475: Computer-Controlled Manufacturing Systems 9

Operation Commands l Run executes a saved program • Run program 1 l A • A aborts program & motions - or - Ctrl+A from keyboard l Stop aborts running program(s) l Suspend halts program execution l Continue continues program execution • STOP program 1 • STOP • SUSPEND program 1 • CONTINUE program 1 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 10

Motion Commands l Home • sends the robot to known position Use this as the start and end of every program l Open opens the gripper l Close closes the gripper l Speed sets the speed for the axes of motion l l • SPEED value(1. . 100) Move • MOVE position Move. L • moves robot in linear motion MOVEL position Move. C • moves robot in point to point moves robot in circular motion MOVEC position 1 position 2 NOTE: adding a D at the end of a move command allows the robot to delay the next axis motion until all movement is complete • Ex. Move. D position, Move. LD position, Move. CD position 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 11

Location Commands l l l l Here Stores the position as joint coordinates • HERE position 1 • HERER position 2 position 1 • TEACH position • SET P position 1 = position 2 Here. R Teach Stores the position as relative to last in joint coords Stores the position as cartesian coordinates Teach. R Stores the position as relative to last in cartesian • TEACHR position 2 position 1 Set. P Transfers positions as variables Set. PV Changes a joint coordinate value • SETPV position axis value Set. PVC Changes a cartesian coordinate value • SETPVC position coord value 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 12

Program Control Loop Commands l l l l If checks condition of two variables • IF variable 1 condition variable 2 • ANDIF variable 1 condition variable 2 • ORIF variable 1 condition variable 2 And. If Or. If combines If conditions Else subroutine for false If condition • ELSE End. If ends an If routine • ENDIF For looping command • FOR variable 1 = variable 2 TO variable 3 End. For end of looping command • ENDFOR 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 13

Program / Branching Commands l Label sets a label for branching to l Goto sends program to a branch l Gosub transfers control to another program, suspending current until subprogram is completed • LABEL number(0. . 9999) • GOTO label_n • GOSUB program 2 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 14

Programming Variables Commands l l l Global creates global variables (all programs can use any global variables) • GLOBAL variable 1 … variable 2 • DEFINE variable 1 … variable 2 • DIMG variable[n] • SET variable 1= variable 2 operation variable 3 Define Dim. G creates local variables (only current program can use local variables) dimensions an array of size n global variables Dimdimensions an array of size n local vars Set • assigns value to variable 1 Operations can be + - * / SIN COS TAN ATAN EXP LOG MOD OR AND 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 15

Programming Variables Commands l l Print • PRINT “string” Print. Ln • Displays a prompt string & gets input READ “prompt” variable Get • Starts a new line & displays text on screen PRINTLN “string” Read • Displays text on screen Waits for one keyboard character press GET variable 11/2/2020 IENG 475: Computer-Controlled Manufacturing Systems 16