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1. Init Variables a I Fixed position Y Robot Program Waypoint Rename V Move o Waypoint WV Move Move robot here o Waypoint_1 Set Chanqe this Waypoint eo Pallet Re F ee Pattern f Q ee PalletSequence v Show advanced options Wait O Stop at this point wae Blend with radius 9 V Folder 4 m m P hemes gt Remove this waypoint Add waypoint before Add waypoint after Qasam iq mim sees e Prenons panet A point on The robot path Waypoints are the most central part of q robot program telling the robot where to be A fixed position waypoint is given by physically moving the robot to the position 4 6 Setting the waypoint Press this button to enter the Move screen where you can specify the robot position for this waypoint If the waypoint is placed under a Move command in linear soace moveL Or moveP there need to be a valid feature selected at that Move command in order for this button to be pressable Waypoint names Waypoint names can be changed Two waypoints with the same name is al ways the same waypoint Waypoints are numbered as they are specified All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS 4 Programming Blend radius If a blend radius is set the robot trajectory blends around the waypoint allowing the robot not to stop at the point Blends cannot ove
2. Refresh Push this button to refreshes all MODBUS connections All Rights Reserved 2 PolyScope UNIVERSAL ROBOTS 3 Robot Control Add unit Push this button to add a new MODBUS unit Delete unit Push this button to delete the MODBUS unit and all signals on that unit Set unit IP Here the IP address of the MODBUS unit is shown Press the button to change it Add signal Push this button to add a signal to the corresponding MODBUS unit Delete signal Push this button to delete a MODBUS signal from the corresponding MODBUS unit Set signal type Use this drop down menu to choose the signal type Available types are e Digital input A digital input coil is a one bit quantity which is read from the MODBUS unit on the coil specified in the address field of the signal Function code 0x02 Read Discrete Inputs is used e Digital output A digital output coil is a one bit quantity which can be set to either high or low Before the value of this output has been set by the user the value is read from the remote MODBUS unit This means that function code 0x01 Read Coils is used When the output has been set by a robot program or by pressing the set signal value button the function code 0x05 Write Single Coil is used onwards e Register input A register input is a 16 bit quantity read from the address specified in the address field The function code 0x04 Read Input Regis ters is used e Register
3. 45 4 18 Program Command lab f A3 3 UNIVERSAL ROBOTS 4 19 Program gt Command lab Script 4 20 Program gt Command lab Event 4 2 Program gt Command lab Thread 4 22 Program gt Command lab Pattern 423 Program gt Command lab Force 24 Program gt Command lab Pallet 25 Program gt Command lab See N 4 4 4 26 Program gt Command Tab Suppress 4 27 Program gt Graphics la 4 4 OO 28 Program Structure la 29 Program gt Variables Tab o PAI O SETUP SCIBBN s isa 0 000 o e w wq ka 5 2 Setup screen gt Inifidlize 5 3 setup Screen gt Language Select 5 4 Setup screen gt Update 5 5 Setup Screen gt Password 5 6 Setup Screen gt Calibrate Touch Screen 5 Setup Screen gt Network 5 8 Setup Screen gt Time 00 0 0 All Rights Reserved A Contents PolyScope 1 Introduction UNIVERSAL ROBOTS 1 Introduction PolyScope is the graphical user interface GUI which lets you operate the robot run existing robot programs or easily create new ones PolyScope runs on the touch sensitive screen attached to the control box To calibrate the touch screen read section 5 6 PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS SETUP Robot Abou
4. Wait o Exit 9 eo Destack o StartPos 9 eo Direction FromPos ToPos ee PickSequence Variable Expression Se wer Waypoint Wait L Keep value from previou V Folder run EAT Rename coc Clear Expression Fx A ie Simulation Previ Next gt a pag gt Be Speed 100 revious e This screen allows setting variable values before the program and any threads start executing select a variable from the list of variables by clicking on it or by using the variable selector box For a selected variable an expression can be entered that will be used to set the variable value at program start All Rights Reserved S Polyscope 9 setup UNIVERSAL ROBOTS If the Prefers to keep value from last run checkbox is selected the vari able will be initialized to the value found on the Variables tab described in section This permits variables to maintain their values between program executions The variable will get its value from the expression if the program is run for the first time or if the value tab has been cleared A variable can be deleted from the program by setting its name to blank only spaces 5 Setup 5 1 Setup Screen SETUP Robot O Please select INITIALISE Robot LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen PolyScope 1 8 11260 Aug 01 2
5. Command Graphics Structure Y Robot Program Program The window on the left shows the program tree Use the Next and Previous buttons to navigate through the program tree Use the Structure tab to modify the program tree Add BeforeStart Sequence 4 gt Set Initial Variable Values lt q p Program Loops Forever O Simulation pdl Speed L 100 Previous Next E Real Robot gt Pi j The program tab shows the current program being edited The program tree on the left side of the screen displays the program as a list of Commands while the area on the right side of the screen displays infor mation relating to the current command The current command is selected by clicking the command list or by using the Previous and Next buttons on the bottom right of the screen Commands can be inserted or removed using the All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS 4 Programming Structure tab described in section The program name is shown directly above the command list with a small disk icon that can be clicked to quickly save the program The lowest part of the screen is the Dashboard Ihe Dashboard features a set of buttons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allow you to adjust the p
6. lt default gt lt default gt lt default gt lt default gt lt default gt analog _in 2 analog in 3 Please Select an Input or Output Rename to Input and output signals can be given names This can make il easier to remember what the signal does when working with the robot Select an I O by clicking on it and set the name using the on screen keyboard You can set the name back by setting it to only blank characters When an output is selected a few options are enabled Using the check box a default value for the output can set to elther low or high This means that the output will be set to this value when a program is not running If the check box is not checked the output will preserve its current state after a program ends It is also possible to specify whether an output can be controlled on the All Rights Reserved 19 Polyscope UNIVERSAL ROBOTS 3 Robot Control I O tab by either programmers or both operators and programmers or if it is only robot programs that may alter the output value 3 9 Installation Variables File 12 39 08 Program Installation Move WO Log TCP Position Installation Variables Mounting I O Setup Variable Value Variables MODBUS client Def Program Features Features Load Save Create New Variables created here are called installation variables and can be used just like normal p
7. Real Robot al gt B pee gt A Sub Program can hold program parts that are needed several places A sub Program can be a seperate file on the disk and can also be hidden to protect against accidental changes to the SubProgram Program Command Tab Call SubProgram File 12 38 56 Program Installation lt unnamed gt Command Graphics Structure Variables w Startrus 9 ee Direction E FromPos Call Subroutine o ToPos Q e PickSequence o StackPos pre SubProgram_1 M Waypoint Wait Y Folder Choose which subroutine to call at this point at the program execution Co mment Halt Popup V Loop E Script var_l 1 1 P Call SubProgram_1 Vif Event Y Thread_1 V Force P SubProgram_1 X 4 gt Md phi Speed 100 Previous Next E A call to a sub program will run the program lines in the sub program and then return to the following line All Rights Reserved 42 Polyscope 4 Programming UNIVERSAL ROBOTS 4 17 Program Command Tab Assignment File 12 38 55 lt unnamed gt Command Graphics Structure Yoo Fanmet so Patt Source Expression w letse Assignment Q ee PalletSequence o Approach o PatternPoint Set Wait o Exit Variable Expression Q ee Destack o StartPos var 1 B 1 1 9 ee Direction FromPos rar aaas o ToPos Rename a f x Q ee PickSequenc
8. Wait o Waypoint 4 lt gt Y O Simulation Real Robot led gt Pi Speed Sl00 Previous Next gt Graphical representation of the current robot program The path of the TCP is shown in the 3D view with motion segments in black and blend segments transitions between motion segments shown in green The green dots specify the positions of the TCP at each of the waypoints in the program The 3D draw ing of the robot shows the current position of the robot and the shadow of the robot shows how the robot intends to reach the waypoint selected in the left hand side of the screen The 3D view can be zoomed and rotated to get a better view of the robot The buttons in the top right side of the screen can disable the various graphical components in the 3D view The motion segments shown depends on the selected program node If a Move node is selected the displayed path is the motion defined by that move If A Waypoint node Is selected the display shows the following 10 steps of movement All Rights Reserved 94 Polyscope 4 Programming 4 28 Program gt Structure Tab UNIVERSAL ROBOTS File 12 38 46 Program Installation Move WO Log lt unnamed gt Command Graphics Struc
9. option in the top left corner is choosen it is possible to create and edit script programs files This way long and complex script programs can be used together with the operator friendly programming of PolyScope 4 20 Program Command Tab Event File 12 39 05 installation Program lt unnamed gt Command Graphics Structure Variables pe SET Wait o Waypoint Event Wait V Folder e An Event is simmilar to an Interrupt however in an event the execution of Sey the main program continues while the event code is being executed While Comment the event is being executed new events will have no effect Halt Depending on the state of the given sensor input or program variable the Popup following lines will be executed V Loop Script var_l 1 1 P Call SubProgram_1 V f eo Pallet ee Pattern Squa alst Corne e a2nd_Corn o a3rd_Corng o a4th_Corng Q ee PalletSequen o Approach o PatternPoir Set Wait o Exit Event 4 Simulation 44 gt gt Speed J100 Previous Next E Real Robot All Rights Reserved 44 Polyscope 4 Programming UNIVERSAL ROBOTS n event can be used to monitor an input signal and perform some action or set a variable when that input signal goes high For example in the event that an output signal goes high the event program can wait for 100ms and then set it
10. ution stops at this point 4 13 Program gt Command Tab Comment File Program lt unnamed gt Y MODO Program Installation Command Graphics Structure V Move o Waypoint Y MoveJ o Waypoint Set so Pallet eo Pattern Q ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos o ToPos Q ee PickSequence StackPos Set Wait Waypoint Wait V Folder m lt empt y gt Comment 4 gt Comment Please enter comment Previous Next gt 12 38 52 O Simulation Real Robot lt gt Ly Speed A1 100 4 Previous Next E Gives the programmer an option to add a line of text to the program This line of text does not do anything during program execution All Rights Reserved 40 PolyScope 4 Programming UNIVERSAL ROBOTS 4 14 Program Command Tab Folder File 12 38 51 Program lt unnamed gt Command Graphics Structure Y Robot Program V Movej o Waypoint Folder V Move Waypoint A folder is simply a collection of program lines Set 9 e Pallet Please enter text to be displayed in the program tree eo Pattern 9 PalletSequence o Approach o PatternPoint Set Wait o Exit 9 ee Destack StartPos 9 ee Direction o FromPos Installation Folder o ToPos Q ee PickSequence
11. 3 4 5 6 7 8 9 o mo 00 analoq in 0 analoq in 1 analoq in 2 0 000 V ov 5v v 0 000 V ov 5v v oooov ov sv gt ov 5V ov 5V analog in 3 0 000 V lov 5v v Controller Output Tool Output Digital Digital 0 1 2 3 4 5 6 7 8 9 On Off on off Voltage Current analog out 0 analog out 1 _ j Current v _ Current m l 000 MA 4mA 20mA 4mA 20mA 0 12 24 O Simulation Real Robot On this screen you can always monitor and set the live I O signals from to the robot The screen displays the current state of the I O inluding during program execution If anything is changed during program execution the program will stop At program stop all output signals will retain their states The screen is updated at only 10Hz so a very fast signal might not display properly The electrical details of the signals are described in the user manual Analog Range Settings Ihe analog output can be set to either current 4 20mA or voltage 0 10V output The analog input ranges adjusted to be from 10 10V to Q 5V The settings will be remembered for eventual later restarts of the robot controller when a program is saved 3 3 MODBUS client I O Here the digital MODBUS client I O signals as set up in the installation are shown If The signal connection is lost the corresponding entry on this screen is disabled All Rights Reserved 14 Polyscope
12. For example to move the robot 20mm along the z axis of the tool var_l p 0 0 0 02 0 0 0 Movel Waypoint_1 varibale position Use variable var_l Feature Tool 4 9 Program Command Tab Wait File 12 38 51 Program Installation Move WO Log lt unnamed gt Command Graphics Structure Y Robot Program Wait V Move Please select what should trigger the robot s next action o Waypoint Y Move o Waypoint Set so Pallet so Pattern Q ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos Q ee Direction 9 FromPos o ToPos Q e PickSequence o StackPos Set Wait Waypoint Wait O No Wait O Wait 0 01 seconds o O wait for Digital Input lt Di Input gt M LO M O wait for lt An Input gt a gt Mi 0 0 Volts O Wait for fod HS QO Simulation ete gt p Speed J00 Previous Next gt Real Robot Waits for a given amount of time or for an I O signal All Rights Reserved 38 Polyscope 4 Programming UNIVERSAL ROBOTS 4 10 Program gt Command Tab Action File 12 38 50 O Program Installation lt unnamed gt Command Graphics Structure Y Robot Program Y Move o Waypoint Set y V Move I Select the action you wish the robot to perform at this point in the program You
13. and stop robot programs Also there is a speed slider which can slow down the speed of the program during verification of the robot program and movement All Rights Reserved 11 PolyScope UNIVERSAL ROBOTS 3 Robot Control DANGER 1 Make sure to stay outside the robot workspace when the Play button is pressed The movement you programmed may be different than expected absolutely necessary 2 Make sure to stay outside the robot workspace when the Step button is pressed The function of the Step button can be difficult to understand Only use it when it is 3 Make sure to always test your program by reducing the speed with the speed slider Logic programming errors made by the integrator might cause unexpected movements of the robot 3 1 Move Tab On this screen you can always move jog the robot directly either by translat ing rotating the robot tool or by moving robot joints individually File 12 38 59 Program Installation Move I O Log Move Tool Robot Feature or View Tool Position x 179 93 mm Y 606 87 mm z 169 21 mm RX 0 0012 RY 3 1163 RZ 0 0389 Move Move Joints Home Base lt S 91 71 a Shoulder aa A gt Elbow i 126 22 wrist 1 Gmm gt 46 29 wrist 2 i E gt 91 39 Teach wists gt _ 1 78 simulati
14. as the given condition is true When looping a certain number of times a dedicated loop variable called loop_1 in the screen shot above is created which can be used in expressions within the loop The loop variable counts from 0 to N 1 All Rights Reserved 4 Polyscope UNIVERSAL ROBOTS 4 Programming When looping using an expression as end condition PolyScope provides an option for continuously evaluating that expression so that the loop can be interrupted anytime during its execution rather than just after each iteration 4 16 Program Command Tab SubProgram File 12 38 55 Program Installation lt unnamed gt Command Graphics Structure Variables STATUS 9 eo Direction El Su bP rog ram 1 Rename 9 FromPos o ToPos A subprogram can either point to a file on disk or can be contained in this 9 ee PickSequence program StackPos Set SubProqran file Walt o Waypoint Walt d Fil V Folder ace amm gt lt No File Selected gt Comment Halt Popup V Loop 0 El Script var_l 1 1 P Call SubProgram_1 Vif Event lt empty gt Save SubProgram Clear SubProgram Y Thread _1 V Force Keep SubProgram File Updated with this Program P SubProgram 1 Show SubProgram Tree v subProgramnm_t g T na lt 4 gt _ Track program execution Q Simulation Lisa pJ EU speed Coosa curt tan a
15. back to low again This can make the main program code a lot simpler in the case on an external machine triggering on a rising flank rather than a high input level 4 21 File Program lt unnamed gt vay pom Installation Wait V Folder empty gt Comment Halt Popup Y Loop lt empty gt El Script var_l 1 1 P Call SubProgram_1 o Approach o PatternPolt Set Wait o Exit Program Command Tab Thread Command Graphics Thread A thread is a parallel program that runs along with the main program A thread can Structure Variables perform I O wait for signals and set variables Useful for controlling other machines while the robot is running Loops Forever _ Track program execution 12 39 05 O Simulation O Real Robot ILL Speed 4 100 4 Previous Next E A thread is a parallel process to the robot program A thread can be used to control an external machine independently of the robot arm A thread can communicate with the robot program with variables and output signals 4 22 Program Command Tab Pattern File Program lt unnamed gt w Startrus Installation Command Graphics ee Direction o FromPos o ToPos ee PickSequence StackPos Set Wait Waypoint Wait Y Folder Comment Halt Popup V Loop El Script var_l 1 1 P Call SubProg
16. define s the starting point d the stack direction and i the thickness of the items in the stack On top of this one must define the condition for when the next stack position is reached and a special program sequence that will be performed at each of the stack positions Also speed and accelerations need to be given for the movement involved in the stack operation All Rights Reserved S0 PolyScope 4 Programming Stacking File UNIVERSAL ROBOTS 12 38 49 Program lt unnamed gt Installation Command Y Robot Program Y Move o Waypoint Y Move o Waypoint Set so Pallet eo Pattern Q ee PalletSequence Approach o PatternPoint Set Wait o Exit oo Seek Wait Y Folder Comment Halt Popup V Loop Script var_l P Call 4 gt V it Graphics Structure Select Seek Type A seek operation is given by a starting position s and a direction d Please select between stacking and destacking Stacking Destacking fos I li li d O Simulation O Real Robot 4 P P Speed 00 Previous Next E When stacking the robot moves to the starting position and then moves opposite the direction to search for the next stack position When found the robot remembers the position and performs the special sequence The next time round the robot starts the search from the remembered pos
17. horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further away from 0 Teach While the Teach button is held down il is possible to physically grab the robot and pull it to where you want it to be If the gravity setting see 3 7 in The Setup tab is wrong or the robot carries a heavy load the robot might start moving falling when the Teach button is pressed In that case just release the Teach button again WARNING 1 Make sure to use the correct installation settings e g Robot mounting angle weight in TCP TCP offset Save and load the installation files along with the program 2 Make sure that the TCP sittings and the robot mounting when the teach button is activated sittings are set correctly before operating the Teach button If these sittings are not correct the robot will move 3 The teach function Impedance backarive shall only be used in installations where the risk assessment allows it Tools and obstacles shall not have sharp edges or pinch points Make sure that all personnel remain outside the reach of the robot All Rights Reserved 13 PolyScope UNIVERSAL ROBOTS 3 Robot Control 3 2 1 0 Tab File 12 39 38 Program Installation Move VO Log Robot MODBUS client Controller Input Tool Input Digital Digital 0 1 2
18. the robot should proceed to the sub commands of this If If the condition is evaluated to True The lines inside this If are executed Each If can have several ElseIf and one Else command These can be added using the buttons on the screen An ElseIf command can be removed from the screen for that command All Rights Reserved 45 Polyscope UNIVERSAL ROBOTS 4 Programming The open Check Expression Continuously allow the conditions of the If and ElseIf statements to be evaluated while the contained lines are ex ecuted If a expression evaluates to False while inside the body of the 1 part the following ElseIf Or Else statement will be reached 4 19 Program gt Command Tab Script File 12 38 53 installation Program lt unnamed gt Command Graphics Structure r SET Script Code Line v Below you can enter text that will be executed as script code by the URController so Pallet eo Pattern Q ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos 9 ToPos Q ee PickSequence o StackPos Set Wait Waypoint Wait Y Folder Comment Halt Popup gt ETA CILA Speed 100 Previous Next E This command gives access to the underlying real time script language that is executed by the robot controller It is intended for advanced users only If the File
19. vectors proportionally The Line and Square patterns work similarly A counter variable is used while traversing the positions of the pattern The name of the variable can be seen on the Pattern Command screen The vari able cycles through the numbers from 0 to X x Y x Z 1 the number of points in the pattern This variable can be manipulated using assignments and can be used in expressions All Rights Reserved 46 Polyscope 4 Programming UNIVERSAL ROBOTS 4 23 Program Command Tab Force Force mode allows for compliance and forces in selectable axis in the robots workspace All robot movements under a Force command will be in Force mode When the robot is moving in force mode it is possible to select one or more axes in which the robot is compliant Along around compliant axes the robot will comply with the environment which means if will automatically adjust its position in order to achieve the desired force It is also is possible to make the robot itself apply a force to its environment e g a workpiece Force mode is suited for applications where the actual tcp position along a predefined axis is not important but in stead a desired force along that axis is required For example if the robot tcp should roll against a curved surface or when pushing or pulling a workpiece Force mode also supports applying certain torques around predefined axes Note that if no obstacles are met in an axis where a non zero force i
20. 013 Setup NETWORK Set TIME BACK Initialize Robot Goes to the initialization screen see section 5 2 Language Configure the language and units of measurements for the user interface see section 5 3 Update Upgrades the robot software to a newer version see section s 4 Set Password Provides the facility to lock the programming part of the robot to people without a password see section 9 9 Calibrate Screen Calibrates the touch of the touch screen see sec tion 5 6 Setup Network Opens the interface for setting up the Ethernet network for the robot see section 5 7 Time Set the time and date for the system and configure the display for mats for the clock see section 5 8 Back Returns to the Welcome Screen All Rights Reserved 9 Polyscope UNIVERSAL ROBOTS 5 2 Setup Screen gt Initialize 5 Setup Initialise Robot Push Auto until all lights turn green Rotate joints individually if necessary Robot Power Robot Auto Base Shoulder Elbow Wrist 1 Wrist 2 Wrist 3 tettet 909 y is Tool ControlBox Auto Auto Auto Auto Auto Auto POWER OFF POWER OFF POWER OFF POWER OFF POWER OFF POWER OFF POWER OFF CONNECTING J lele eleleiejele je le OK This screen is used when powering up the robot Before the robot can op erate normally each joint ne
21. 3 Robot Control UNIVERSAL ROBOTS File 12 39 38 Program Installation Move WO Log Robot MODBUS client Inputs Outputs O Simulation Real Robot Inputs View the state of digital MODBUS client inputs Outputs View and toggle the state of digital MODBUS client outputs A signal can only be toggled if the choice for I O tab control described in 3 8 allows it All Rights Reserved IS Polyscope UNIVERSAL ROBOTS 3 Robot Control 3 4 AutoMove Tab The AutoMove tab is used when the robot has to move to a specific position in its workspace Examples are when the robot has to move to the start position of a program before running it or when moving to a waypoint while modifying a program File 12 38 44 Run Move WO Log fAutomove Move Robot into Position Hold down Auto to perform the movement shown Release the button to abort Push Manual to move the robot into position manually Auto Manual mana w uama Speed 1 100 Cancel Animation The animation shows the movement the robot is about to perform Compare the animation with the position of the real robot and make sure that robot can safely perform the movement without hitting any obstacles CAUTION 1 The automove function moves in joint space not in linear cartesian space Collision might damage robot or equip ment Auto Hold down the Auto button to move
22. 4 cm away from the claw of my com puterised numerically controlled CNC machine e Is it possible to rotate the tool of the robot 45 degrees relative to the table e Can we make the robot move vertically downwards with the object let the object loose and then move the robot vertically upward again The meaning of such and similar questions is very straight forward to an av erage customer that intends to use a robot for instance at various stations in a production plant and it may seem annoying and incomprehensible to the customer to be told that there may not be a simple answer to such relevant questions There are several complicated reasons for this being the case and in order to address these problems Universal Robots has developed unique and simple ways for a customer to specify the location of various objects relative To the robot Within a few steps it is therefore possible to do exactly what was asked for in the above questions File 12 39 10 Program Installation Move WO Log TCP Position Features Mounting I O Setup Variables MODBUS client Def Program Features Base Tool Features r Load Save s New Point Line Plane All Rights Reserved 24 Polyscope 3 Robot Control UNIVERSAL ROBOTS Rename This button makes it possible to rename a feature Delete This button deletes the selected feature and if any all sub feat
23. AL ROBOTS 4 Programming search from the remembered position incremented by the Item thickness along the direction Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robots current position Direction File 12 38 50 Program Installation Move WO Log E lt unnamed gt Command Graphics Structure Y Robot Program aj Y Movej a a Waypoint Direction Y Move Waypoint A direction is given by the line between the TCP position of two waypoints Set gt Pallet Stop after 500 0 mm eo Pattern Q ee PalletSequence ES PA o Approach s Stop when f x poopy o PatternPoint Set oa Wait o Exit 9 eo Destack o StartPos se Direction 9 FromPos d o ToPos Q e PickSequence o StackPos Set Wait Shared Parameters Waypoint Wait Tool Speed 10 mm s ed url Tool Acceleration 1200 mm s q Reset to defaults lt gt Simulation 4 CICLO Speed 100 Previous Next gt Real Robot The direction is given by two positions and is calculated as the position differ ence from the first positions TCP to the second positions TCP Note A direction does not consider the orientations of the points Next Stacking Position Expression The robot moves along the direction vector while continuously ev
24. StackPos Set Wait o Waypoint Wait V Folder m lt eompiv gt 4 eS O _ Hide Folder Program Tree Simulation 7 use LDL L speed n se Provious bent ia Q Real Robot lt gt h Spee gt A folder is used to organize and label specific parts of a program to clean up the program tree and to make the program easier to read and navigate A folder does not in itself do anything 4 15 Program Command Tab Loop File 12 38 52 Program Installation Move WO Log lt unnamed gt Command Graphics Structure Y Ww move o Waypoint kes Loop so Pallet de Pattern Please select how many times the program in this loop should be executed Q ee PalletSequence o Approach 9 Loop always o PatternPoint Set Wait Q Loop O times using variable Loop_1 o Exit Q se Destack o StartPos Loop as long as the following expression is true 9 ee Direction o FromPos fod m o ToPos Q eo PickSequence C Check expression continuously o StackPos Set Wait o Waypoint Wait 9 V Folder a lt empty gt Comment Halt Popup V Loop v 4 gt reainobet MEG D gt DA E spees Dios errevious nea Loops the underlying program commands Depending on the selection the underlying program commands are either looped infinitely a certain number of times or as long
25. UNIVERSAL ROBOTS PolyScope Manual Version 1 8 August 1 2013 UNIVERSAL ROBOTS The information contained herein is the property of Universal Robots A S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A S The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A S This manual is periodically reviewed and revised Universal Robots A S assumes no responsibility for any errors or omissions in this document Copyright 2012 by Universal Robots A S The Universal Robots logo is a registered trademark of Universal Robots A S All Rights Reserved 2 Polyscope Contents TENE TE TEE EEE 5 1 1 Welcome Screen a a a a e 6 1 2 Initialization Sc reen r r r 0 7 2 On screen Edilors a a a a a rs r r r 8 2 1 On screen Keypad uoaa a a a r 8 2 2 On screen Keyboard a r 9 2 3 On screen Expression Editor 0 0 9 2 4 Pose Editor Screen ww r rr ra 10 3 RODOCONTOS sucecdaneeewaeweeead tae AI 1 3 MOVED awh exo Q X ue ere ROME ee wee ee Q 12 2 2 VOTADO e enaa diaaa eaaa QR k O p SO 2 y e amp 3 14 3 3 MODBUS clien f O a 14 324 AuloMovelob a i i i i nin nin e 16 35 Installation gt Load Save 0 17 3 6 Installation gt TCP Pos
26. Waypoint can also specify chanqes in the robot s payload Set eo Pallet O No Action eo Pattern Q ee PalletSequence a o Approach O set Digital Output lt Di Output gt o PatternPoint Set Set Analog Output lt An Output gt 4 0 mA Wait o Exit Q Set lt Output gt B fog he 9 eo Destack n StartPos G Increment installation variable by one lt Variable gt Q e Direction o FromPos o ToPos Q ee PickSequence o StackP z _ Set the total payload to 0 00 kg Wait o Waypoint Wait Y Folder a lt empbiv gt l4 gt Perform action now Simulation SS LL LIM speed Cooma Previous bent ia Q Real Robot lt gt h Spee gt sets either digital or analog outputs to a given value Can also be used to set the payload of the robot for example the weight that is picked up as a consequence of this action Adjusting the weight can be neccesary to prevent the robot from security stopping unexpectedly when the weight at the tool is different to that which is expected 4 11 Program gt Command Tab Popup File 12 38 52 O Program lt unnamed gt Command Graphics Structure Wayport installation V Move P o Waypoint set cree so Pallet eo Pattern Q ee PalletSequence Approach bd dd Popup type Preview Popup Wait O Message o Exit Destack O are StartPos OQ Error 9 ee Dir
27. aluating whether the next stack position has been reached When the expression is evaluated to True the special sequence is executed BeforeStart The optional BeforeStart sequence Is run just before the operation starts This can be used to walt for ready signals AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next stack Pick Place Sequence Like for the Pallet operation 4 24 a special program sequence is performed at each stack position All Rights Reserved 92 Polyscope 4 Programming UNIVERSAL ROBOTS 4 26 Program Command Tab Suppress suppressed program lines are simply skipped when the program is run A sup pressed line can be unsuppressed again at a later time This is a quick way to make changes to a program without destroying the original contents All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 4 Programming 4 27 Program gt Graphics Tab File 12 39 53 Program Installation Move WO Log a lt unnamed gt Command Graphics Structure Variables Init Variables aj qa8 a gt 4 434 Y Robot Program Y Move se o Waypoint V Move v o Waypoint_1 9 Variable L Set a eo Pallet eo Pattern Q se PalletSequence o Approach o PatternPoint Set Wait o Exit 9 eo Destack o ToPos wa E Q ee PickSequence o StackPos Set
28. am cannot run before all lines are specified and defined All Rights Reserved 32 Polyscope 4 Programming UNIVERSAL ROBOTS 4 4 Program Command Tab Move File 12 39 39 Program Installation Move I O Log E lt unnamed gt Command Graphics Structure Variables Init Variables Ls Move w Y Robot Program M ove V Move o Waypoint Here you specify how the robot should perform the movements between the v Move waypoints below aio Use the menu in the upper right corner to switch between various movement types 7 set _ The values set under Shared Parameters apply to all waypoints below and depend 9 ee Pallet on the selected movement type se Pattern Q eo PalletSequence Approach PatternPoint Set Wait 9 Exit 9 ee Destack o StartPos Q ee Direction FromPos o ToPos ee PickSequence StackPos Shared Parameters set Joint Speed 60 s Wait o Waypoint Joint Acceleration 80 s c Walt i y Y Folder Reset to defaults 4 II gt gt Add Waypoint Simulation pid ho Speed 100 Previous Next gt Real Robot The Move command controls the robot motion through the underlying way points Waypoints have to be under a Move command The Move command defines the acceleration and the soeed at which the robot will move between those waypoints Movement Type
29. and is intended for some process operations like gluing or dispensing The All Rights Reserved 33 Polyscope UNIVERSAL ROBOTS 4 Programming size of the blend radius is per default a shared value between all the way point A smaller value will make the path turn sharper whereas a higher value will make the path smoother While the robot is moving through the waypoints with constant speed the robot cannot wait for either an I O op eration or an operator action Doing so will might stop the robots motion or cause a security stop Feature selection For MovelL and MoveP it is possible to select in which feature space the way points under the Move command should be represented when specifying these waypoints This means that when setting a waypoint the program will remem ber the tool coordinates in the feature space of the selected feature There are a few circumstances that need detailed explanation e Fixed feature If a fixed feature such as e g Base is selected this will not have any effect on Fixed and Relative waypoints The behavior for Vari able waypoints is described below e Variable feature If any of the features in the currently loaded installation are selected to be variable these corresponding variables will also be selectable in the feature selection menu If a feature variable named by the name of the feature and proceeded by vor is selected the robot movements except to Relative waypoints will depend on
30. at of the TCP at that point All Rights Reserved 29 Polyscope UNIVERSAL ROBOTS 3 Robot Control File 12 39 16 Program Installation Move WO Log TCP Position Delete Point 1 rename Mounting I O Setup Variables MODBUS client Def Program Features Base Tool X Point_1 Features F Load Save S Show axes lt Move robot here Change this point lt Joggable Variable Add Line Push this button to add a line feature to the installation A line is defined as an axis between two point features This axis directed from the first point towards the second point will constitute the y axis of the line coordinate system The Z Axis will be defined by the projection of the z axis of the first sub point onto the plane perpendicular to the line The position of the line coordinate system is the same as the position for the first sub point File 12 39 26 Program Installation Move WO Log TCP Position x Delete oo Delete Mounting I O Setup Variables MODBUS client Def Program Features Line_1 i X Point 1 I X Point_2 R Features Load Save v Show axes Move robot here w Joggable _ Variable Add Plane Push this button to add a plane feature to the installation A plane is defined by three sub point features The position of the coordinate system is th
31. be chosen where a list of all the positions is provided by the programmer This way any kind of arrangement of the positions can be realized Defining the Pattern When the Box pattern is selected the screen changes to what is shown below File 12 39 01 Program Installation Move WO Log A lt unnamed gt Command Graphics Structure Variables Y ee FCTRSEQUETTCE ral o StackPos Set a8th Corner Rename Wai Wayr Wait Change this Position V Folde Move robot here Halt _ Popup V Loop El Script var_l 1 1 P Call SubProgram_1 f 2 2 Pallet Q ee Pattern Box 5 q o alst_Corner A 1 Py e a2nd_Corner ae 6 Jae T o a3rd_Corner mac e a4th Corner a5th_Corner O ED 4 ST ae o a6th_Corner 15 gt e a7th_Corner A a8th_Corner GJ O 4 gt lt gt Simulation lt gt FP Speed 100 Previous Next gt aan amma O Real Robot A Box pattern uses three vectors to define the side of the box These three vectors are given as four points where the first vector goes from point one to point two the second vector goes from point two to point three and the third vector goes from point three to point four Each vector is divided by the interval count numbers A specific position in the pattern is calculated by simply adding the interval
32. come Screen PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS SETUP Robot About SHUT DOWN Robot After booting up the controller PC the welcome screen is shown The screen offers the following options e RUN Program Choose a program to run This is the simplest way to op erate the robot but requires a suitable program to have already been produced e PROGRAM Robot Change a program or create a new program e SETUP Robot Set passwords upgrade software request support calibrate the touch screen etc e SHUT DOWN Robot Shuts down the Controller PC and powers off the robot All Rights Reserved Polyscope 1 Introduction UNIVERSAL ROBOTS 1 2 Initialization Screen Initialise Robot Push Auto until all lights turn green Rotate joints individually if necessary On Robot Power x encima Robot Auto oK lt Base da gt Auto POWER OFF D Shoulder da E gt Auto POWER OFF D Elbow lt gt Auto POWER OFF D Wrist 1 lt A gt Auto POWER OFF D Wrist 2 lt a gt Auto POWER OFF D Wrist 3 lt a gt Auto POWER OFF D Tool POWER OFF D ControlBox CONNECTING lt Y OK On This screen you control the initialization of the robot When turned on the robot needs to find the positions of each joint lo get the joint positions the robot needs to move each joi
33. d 36 Polyscope 4 Programming UNIVERSAL ROBOTS 4 7 Program gt Command Tab Relative Waypoint File 12 39 52 lt unnamed gt Init Variables a Relative position gt Y Robot Program Waypoint 1 Relative position V Move Waypoint A e V Move Relative Motion given by the difference between from and to positions i From point To point uk s 6 6 ini 9 Pallet Set this point Set this point Angle 179 0 eo Pattern Q ee PalletSequence Move robot here Move robot here Approach o PatternPoint Set Wait o Exit 9 ve Destack o StartPos Q ee Direction 9 FromPos a ToPos Q ee PickSequence o StackPos Command Graphics Structure Variables Set Wait o Waypoint Wait Y Folder 4 fom un gt Remove this waypoint Add waypoint before Add waypoint after Md phi Speed 100 Previous Next gt A waypoint with the position given relative to the robot s previous position such as two centimeters to the left The relative position is defined as the difference between the two given positions left to right Note that repeated relative positions can move the robot out of its workspace The distance here is the Cartesian distance between the tcp in the two po sitions The angle states how much the tcp orientation changes between the two positions More precisely the length of the rotation vector describing the cha
34. e StackPos Set Wait o Waypoint Wait Y Folder s mr e DL y Assigns the selected variable with the value of the expression Comment Halt Popup V Loop El Script var l 1 1 4 gt Qam eq m m m set 0009 trim JL Assigns values to variables An assignment puts the computed value of the right hand side into the variable on the left hand side This can be useful in complex programs 4 4 18 Program Command Tab If File 12 38 57 Program installation lt unnamed gt Command Graphics Structure Variables w SUT TTS 9 ee Direction o FromPos If o ToPos ee PickSequence Depending on the state of the given sensor input or program variable the 9 StackPos following lines will be executed Set Wait Waypoint Wait Y Folder Check expression continuously Comment Halt Popup Y Loop El Script var_l 1 1 P Call SubProgram_1 VI Event Y Thread_1 V Force lt empt Add Elself Remove Elself P SubProgram 1 41 PL Add Else Simulation iai Ba LDL LIM speed Choos se Provious est Real Robot lt gt h pee gt An if then else construction can make the robot change its behavior based on sensor inputs or variable values Use the expression editor to describe the condition under which
35. e Feature menu is used to select the coordinate system axes the robot will use while if is operating in force mode The features in the menu are those which have been defined in the installation see All Rights Reserved 47 Polyscope UNIVERSAL ROBOTS 4 Programming Force mode type The are four different types of force mode each determining the way in which the selected feature will be interpreted e Simple Only one axis will be compliant in force mode The force along this axis is adjustable The desired force will always be applied along the z axis of the selected feature However for Line features if is along their y axis e Frame he Frame type allows for more advanced usage Here compli ance and forces in all six degrees of freedom can be independently se lected e Point When Point is selected the task frame has the y axis pointing from the robot tcp towards the origo of the selected feature The distance be tween the robot tcp and the origo of the selected feature is required to be at least 10 mm Note that the task frame will change at runtime as the position of the robot tcp changes The x and z axis of the task frame are dependent on the original orientation of the selected feature e Motion Motion means that the task frame will change with the direction of the TCP motion The x axis of the task frame will be the projection of the tcp movement direction onto the plane soanned by the x and y axis of the selected feat
36. e at each pattern position 3 Use the selector on the sequence command screen to define which of the waypoints in the sequence should correspond to the pattern positions All Rights Reserved 49 Polyscope UNIVERSAL ROBOTS 4 Programming Pallet Sequence Anchorable Sequence In an Pallet Sequence node the motions of the robot are relative to the pallet position The behavior of a sequence is such that the robot will be at the po sition specified by the pattern at the Anchor Position Pattern Point The remaining positions will all be moved to make this fit Do not use the Move Command inside a sequence as it will not be relative to the anchor position BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional AfterEnd sequence Is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next pallet 4 25 Program Command Tab Seek A seek function uses a sensor to determine when the correct position is reached to grab or drop an item The sensor can be a push button switch a pressure sensor or a capacitive sensor This function is made for working on stacks of items with varying item thickness or where the exact positions of the items are not known or too hard to program stacking Destacking ls i i When programming a seek operation for working on a stack one must
37. e same as the position for the first sub point The z axis is the plane normal and the y axis All Rights Reserved 20 Polyscope 3 Robot Control UNIVERSAL ROBOTS is directed from the first point towards the second The positive direction of the Z Axis Is set so that the angle between the z axis of the plane and the z axis of the first point is less than 180 degrees File 12 39 38 Program Installation Move WO Log TCP Position Delete Plane 1 rename Mounting I O Setup Variables MODBUS client Def Program Features Base Tool Y Plane 1 X Point_1 X Point_2 Pp X Point_3 j Features Load Save Show axes Move robot here Joggable Variable 3 13 Log Tab File 12 39 39 Program Installation Move WO Lo Robot Health Readings Joint Load Controller Temp 0 0 C Base POWER OFF ne 0 0V Main Voltage 0 0 V Shoulder POWER OFF aes 0 0V Avg Robot Power 0 w Elbow POWER OFF ees 0 0V Robot Current 0 0 A Wrist 1 POWER OFF Eyed 0 0V IO Current OmA Wrist2 POWER OFF ere 0 0V Tool Current OmA Wrist3 POWER OFF Ras 0 0 V T 0000d00h01m30 440s I UUUUGUUDnUURj2 4SS Kinacnine Program S1im_automat1C_move stoppea T 0000d00h00m32 320s RTHachine Program sim_automatic_move stopped T 0000d00h00m33 304s RTHachine Program sim_automatic_move stopped T 0000d00h00m33 536s RTHachine Program sim_automatic_move started T 0000d00h00m34 056s RTHachine Program step forward st
38. e sequence of motions and ee PickSequence actions at several different positions This can be useful for palletizing or similar o StackPos operations A pallet operation consist of the following features at onion A Program Sequence to be performed at several positions pa The Pattern either given as a list or as a lattice gt Waypoint e An optional before start sequence that will be performed before the first Wait position V Folder An optional after end sequence that will be performed after the last position an r Comment Halt Popup Vv Loop _ Script var 1l 1 1 P Call SubProgram_1 Vif ee PalletSequence o Approach bear o PatternPoint Set Optional program sequences 4 Special program sequence before the first point _ Special program sequence after the last point Simulation 4 gt I Speed 100 Previous Next E O Real Robot i y A pallet operation can perform a sequence of motions in a set of places given as a pattern as described in section At each of the positions in the pattern the sequence of motions will be run relative to the pattern position Programming a Pallet Operation The steps to go through are as follows 1 Define the pattern 2 Make a Palletsequence for picking up placing at each single point The sequence describes what should be don
39. e target position of the robot controlled by the specified values on the right hand side of the screen Push the magnifying glass icons to zoom in out or drag a finger across to change the view Feature and tool position At the top right part of the screen the feature selector can be found The fea ture selector defines which feature to control the robot relative to while below it The boxes display the full coordinate value for the tool relative to the selected feature x Y and z control the position of the tool while RX RY and RZ control the orientation of the tool Use the drop down menu above the RX RY and RZ boxes to choose the orientation representation Available types are e Rotation Vector rad Ihe orientation is given as a rotation vector The length of the axis is the angle to be rotated in radians and the vector Itself gives the axis about which to rotate This is the default setting All Rights Reserved 10 Polyscope 3 Robot Control UNIVERSAL ROBOTS e Rotation Vector The orientation is given as a rotation vector where the length of the vector is the angle to be rotated in degrees e RPY rad Roll pitch and yaw RPY angles where the angles are in radi ans The RPY rotation matrix X Y Z rotation is given by Rrpy 7 8 4 Rz a Ry B Rx 1 e RPY Roll pitch and yaw RPY angles where angles are in degrees Values can be edited by clicking on the coordinate Clicking on the or b
40. e value must be in the range 0 255 both included and the default is 255 If you change this value it is recommended to consult the manual of the remote MODBUS device to verify its functionality when changing slave address All Rights Reserved 23 Polyscope UNIVERSAL ROBOTS 3 Robot Control 3 12 Features Customers that buy industrial robots generally want to be able to control or manipulate a robot and to program the robot relative to various objects and boundaries in the surroundings of the robot such as machines objects or blanks fixtures conveyers pallets or vision systems Traditionally this is done by defining frames coordinate systems that relate the internal coordinate system of the robot the base coordinate system to the relevant object s coordinate system Reference can both be made to tool coordinates and to base coordinates of the robot A problem with such frames is that a certain level of mathematical knowl edge is required to be able to define such coordinate systems and also that il takes a considerable ammount of time to do this even for a person skilled in the art of robot programming and installation Often this task involves the cal culation of 4x4 matrices Particularly the representation of orientation is compli cated for a person that lacks the required experience to understand this prob lem Questions offen asked by customers are for instance e Will it be possible to move the robot
41. ection o FromPos 9 ToPos Q ee PickSequence o StackPos Set Wait Waypoint Wait Y Folder Shows the message below on the screen and waits for the user to press OK emot gt Comment Halt Halt program execution at this popup le P phi Speed 100 Previous Next E The popup is a message that appears on the screen when the program reaches this command The style of the message can be selected and the text itself can be given using the on screen keyboard The robot waits for the user operator to press the OK button under the popup before continuing the All Rights Reserved 39 Polyscope UNIVERSAL ROBOTS 4 Programming program If the Halt program execution item is selected the robot program halts at this popup 4 12 Program Command Tab Halt File Program Installation lt unnamed gt Y W MOVE o Waypoint Y Move o Waypoint Set eo Pallet eo Pattern Q ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction 9 FromPos o ToPos Q se PickSequence o StackPos Set Wait o Waypoint Wait Y Folder Comment 4 P Halt Command Graphics Structure Halt Program execution stops at this point 12 38 52 OQ Simulation Real Robot The program exec iaa L DL soes 000
42. eds to move a little about 20 to finds its exact position The Auto button drives all joints until they are ok The joints change drive direction when the button is released and pressed again 5 3 Setup Screen gt Language Select SETUP Robot O Please select Language Selection INITIALISE Robot Int l English M 7 LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Set TIME BACK Units Selection a Metric units U S customary Restart the GUI for new settings to take effect Restart Now This screen provides for the selection of language and units of measurements used for the PolyScope software and for the help Tick off English program ming to have the programming in English The GUI needs to be restarted for changes to take effect All Rights Reserved 58 PolyScope 5 Setup 5 4 Setup Screen gt Update UNIVERSAL ROBOTS SETUP Robot O Please select INITIALISE Robot Update robot software Search LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Set TIME BACK Click Search to download a list of possible updates for this robot Description software updates can be installed from USB flash memory Insert qn USB memory stic
43. en Follow the on screen instructions to calibrate the touch screen Preferably use a pointed non metallic object such as a All Rights Reserved 60 Polyscope 5 Setup UNIVERSAL ROBOTS closed pen Patience and care help achieve a better result 5 7 Setup Screen gt Network Please select INITIALISE Robot LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Set TIME BACK SETUP Robot O Setup NETWORK Please select your network method O DHCP O Static Address Disabled network Network detailed settings IP address 0 0 0 0 Subnet mask 0 0 0 0 Default gateway 0 0 0 0 Preferred DNS server 0 0 0 0 Alternative DNS server 0 0 0 0 Apply settings x Update Panel for setting up the Ethernet network An Ethernet connection is not neces sary for the basic robot functions and is disabled by default 5 8 Setup Screen gt Time Please select INITIALISE Robot LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Set TIME BACK SETUP Robot Set Time Time format Please select the current time a 24 hour mu da 12 hour 12 38 42 L A JL Set Date Please select today s date 01 August 2013 Date format 01 August 2013 01 Aug 2013 01 08 13 Restart the GUI fo
44. for setting the angle of the robot s mounting The three top right side buttons set the angle to ceiling 180 wall 90 floor 0 The Tilt buttons can be used to set an arbitrary an gle The buttons on the lower part of the screen are used to rotate the mounting of the robot to match the actual mounting WARNING 1 Make sure to use the correct installation settings Save and load the installation files along with the program 3 8 Installation gt I O Setup Features Features Load Save MODBUS client Def Program digital_in 2 digital_in 3 digital_in 4 digital_in 5 digital_in 6 digital_in 7 digital_in 8 digital_in 9 analog _in 0 analog_in 1 lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt digital_out 2 digital_out 3 digital_out 4 digital_out 5 digital_out 6 digital_out 7 digital_out 8 digital_out 9 analog_out 6 analog _ out 1 File 12 39 08 Program Installation Move WO Log TCP Position Input Output Setup Mounting Input Names Output Names I O Setu p digital _in 0 lt default gt digital_out 0 lt default gt Variables digital_in 1 lt default gt digital_out 1 lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt
45. iation from the program tra jectory which is allowed before the robot security stops Units are mm and deg All Rights Reserved 48 Polyscope 4 Programming UNIVERSAL ROBOTS Test force settings The on off button Teach Test toggles the behavior of the Teach button on the back of the leach Pendant from normal teaching mode to testing the force command When the Teach Test button is on and the Teach button on the back of the Teach Pendant is pressed the robot will perform as if the program had reached this force command and this way the settings can be verified before actually running the complete program Especially this possibility is useful for verifying that compliant axes and forces have been selected correctly Simply hold the robot tcp using one hand and press the Teach button with the other and notice in which directions the robot can cannot be moved Upon leaving this screen the Teach Test button automatically switches off which means the Teach button on the back of the Teach Pendant button is again used for free teach mode Note The Teach button will only be effectual when a valid feature has been selected for the Force command 4 24 Program gt Command Tab Pallet File 12 38 57 Program Installation Move WO Log E lt unnamed gt Command Graphics Structure Variables i Starrs Q ee Direction o FromPos P a let o ToPos A pallet operation allows the robot to perform the sam
46. ition 0 T 17 3 Installation Mountfing 0 18 3 0 Installation gt I O Setup o r r 19 3 9 Installation gt Variables 20 3 10 Installation Default Program 2 3 11 MODBUS client I O Setup o 2 3 12 FOQ UIBsS a i r i i i ir i ii i ni ini a 24 312 ESOO nan sa 6662 w G w SO ds amp A 2 3 14 LoadScreen aoaaa a a a e 28 Slo DU I y asa yaa 2 s 4 52 erea 29 4 Programming across roads 30 A Program New PrOQrAM o 31 42 _ Progrorn WOON s sada ooo ee a s slk w o s Uk ee ee GE a 3 4 3 Program Command lab lt Emply gt 32 44 Program gt Command lab Movel 33 4 5 Program Command lab Fixed Waypoint 35 46 Setting The woypoinl 35 4 7 Program Command Tab Relative Waypoint 37 4 8 Program Command Tab Variable Waypoint 37 49 Program gt o Command lab Wait 38 usss 39 4 11 Program gt Command lab POPUP 39 4 12 Program gt Command lab Halt 40 4 13 Program gt Command lab Comment 40 4 14 Program Command Tab Folder A 4 15 Program Command Tab Loop A A 42 4 17 Program Command lab Assignment
47. ition incremented by the item thickness along the direction The stacking is finished when the stack hight is more than some defined number or when a sensor gives a signal Destacking File 12 38 49 Program lt unnamed gt Installation Y Robot Program Y Move o Waypoint Y Move o Waypoint Set eo Pallet eo Pattern Q ee PalletSequence o Approach o PatternPoint Set Wait o Exit 9 so Destack StartPos 9 ee Direction 9 FromPos o ToPos Q ee PickSequence o StackPos Set Wait Waypoint Wait Y Folder lt emptv gt 4l gt Command Structure Destack Destacking remove items one by one from a stack The stack is defined by the following of parameters r Graphics s The starting position d The direction of the stack d i The item thickness li The next position is found when Item thickness Shared Parameters 0 0 mm Sequence BeforeStart Tool Speed 250 mm s Tool Acceleration 1200 mm s Reset to defaults _ Sequence AfterEnd O Simulation O Real Robot e L Speed 100 Previous Next E When destacking the robot moves from the starting position in the given direc tion to search for the next item When found the robot remembers the position and performs the special sequence The next time round the robot starts the All Rights Reserved 5 PolyScope UNIVERS
48. ives the user the option to select a file by single clicking on its name or to open the file by double clicking on its name All Rights Reserved 28 Polyscope 3 Robot Control UNIVERSAL ROBOTS In the case that the user double clicks on a directory the dialog descends into this folder and presents its contents File filter By using the file filter one can limit the files shown to include the type of files that one wishes By selecting Backup Hiles the file selection area will display the latest 10 saved versions of each program where o1d0 is the newest and o1d9 is the oldest File field Here the currently selected file is shown The user has the option to manually enter the file name of a file by clicking on the keyboard icon to the right of the field This will cause an on screen keyboard to pop up where the user can enter the file name directly on the screen Open button Clicking on the Open button will open the currently selected file and return to the previous screen Cancel button Clicking on the Cancel button will abort the current loading process and cause the screen to switch to the previous image Action buttons A series of buttons gives the user the ability to perform some of the actions that normally would be accessible by right clicking on a file name in a conventional file dialog Added to this is the ability to move up in the directory structure and directly to the program folder e Parent Move up in the directo
49. k and click Search to list its contents To perform an update select a file click Update and follow the on screen instructions WARNING 1 Always check your programs after a software upgrade The upgrade might change trajectories in your program The updated software specifications can be found by push ing the button located at the top right corner of the GUI Hardware specifications remain the same and can be found in the original manual All Rights Reserved 59 PolyScope UNIVERSAL ROBOTS S setup 5 5 Setup Screen gt Password SETUP Robot Please select Change Password INITIALISE Robot Enter old password LANGUAGE Selection Enter new password UPDATE Robot Re enter new password Set password i Set PASSWORD In order to protect users from being able to modify the CALIBRATE Screen program You should set a password to protect this area Setup NETWORK Set TIME BACK The programming part of the software can be locked using a password When locked programs can be loaded and run without the password but a password is required to create or change programs WARNING 1 Add a password to prevent non authorized personnel from changing the robot installation 5 6 Setup Screen Calibrate Touch Screen X Point very precisely in the center of the blue cross CANCEL Calibrating the touch scre
50. med automatically All Rights Reserved 20 Polyscope 3 Robot Control UNIVERSAL ROBOTS 3 10 Installation Default Program File 12 39 09 Program Installation TCP Position Maurine Set Default Program I O Setup The Default program is loaded automatically when the robot is turned on Variables MODBUS client Def Program Features Automatically Load Default Proqram Features L y g Default Program File Load Save lt No Program Selected gt Select Default Program _ Automatically start default program when Dimps e s The default program will be loaded when the control box is powered up 3 11 MODBUS client I O Setup Here the MODBUS client master signals can be set up Connections to MOD BUS servers or slaves on specified IP addresses can be created with input output signals registers or digital Each signal has a unique name so if can be used in programs File 12 39 09 Program Installation Show advanced options TCP Positi osition MODBUS client IO Setup Mounting 0 0 0 0 I O Setup 10 0 0 0 HER Variables u MODBUS client D _ Digital Output v 0 MODBUS_1 AMIA Def Program lt Please select v 0 S MODBUS_2 AS Features FU A lt Please select v 0 e MODBUS_3 Yeah Features Load Save 0 0 0 0 IP 0 0 0 0 See EN
51. nge in orientation 4 8 Program gt Command Tab Variable Waypoint File 12 39 52 Program Installation Move WO Log lt unnamed gt Command Graphics Structure Variables Init Variables i iti A Variable position w Y Robot Program Variable renam Y Move o Waypomt y V Move Move the robot to a variable position o Waypomt_1 Set so Pallet eo Pattern Q ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 se Destack o StartPos 9 ee Direction o FromPos 9 ToPos Q e PickSequence o StackPos Set Wait o Waypoint Wait 14 4 gt a e Remove this waypoint Add waypoint before Add waypoint after O Simulation O real Robot d gt Pi Speed 100 Previous Next s gt A waypoint with the position given by a variable in this case calculated pos The variable has to be a pose such as All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS 4 Programming var p 0 5 0 0 0 0 3 14 0 0 0 0 The first three are x y z and the last three are the orientation given as a rotation vector given by the vector mry rz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate The position is always given in relation to a ref erence frame or coordinate system defined by the selected feature The robot always moves linearly to a variable waypoint
52. nt WARNING 1 The force protection during initialization can be higher than 150N The maximum force is only reduced by torque limits in the joints Stay outside the robot workspace when the robot arm is moving Status LEDs The status LEDs give an indication of the joints running state e A bright red LED tells that the robot is currently in a stopped state where the reasons can be several e A bright yellow LED indicates that the joint is running but dosn t know its presents position and needs homing e Finally a green LED indicates that the joint is running correctly and is ready to execute All the LEDs have to be green in order for the robot to operate normally Manual motion By hand When the joints are Ready and the Teach button on the back of the screen is pressed the joint modes change to Backdrive In this mode the joints will release the brakes when motion is detected This way the robot can be moved out of a machine manually before being started up The brakes will reactive as soon as the button is released again All Rights Reserved i Polyscope UNIVERSAL ROBOTS 2 On screen Editors Auto movement Auto Buttons Normally if is always advisable to use the auto buttons to move the individual Joints until they reach a known state In order to operate the button you have to press on the Auto button and keep it pressed The auto buttons can be pressed individually for each joint or for the wh
53. o fit the new TCP This is relevant when the TCP has been changed without any physical changes to the tool 3 7 Installation Mounting File 12 39 07 Program Installation Move WO Log TCP Position z Robot Mounting and Angle Mounting I O Setup ala Variables MODBUS client vi Def Program aa Features Tilt Features 4 45 Load Save E 0 0 Y 45 Rotate Robot Base Mounting 45 pS 0 0 gt 45m Here the mounting of the robot can be specified This serves two purposes 1 Making the robot look right on the screen 2 Telling the controller about the direction of gravity The controller uses an advanced dynamics model to give the robot smooth and precise motions and to make the robot hold itself when backariven For this reason it is important that the mounting of the robot is set correctly All Rights Reserved 18 Polyscope 3 Robot Control UNIVERSAL ROBOTS WARNING 1 Failure to set the robot mounting correctly might result in frequent security stops and or a possibility that the robot will move when the teach button is pressed The default is that the robot is mounted on a flat table or floor in which case no change Is needed on this screen However if the robot is ceiling mounted wall mounted or mounted at an angle this can be adjusted using the push buttons The buttons on the right side of the screen are
54. ole robot CAUTION 1 Great care should be taken if the robot is touching an obstacle or table since driving the robot into the obstacle might damage a joint gearbox Moving directly Move Buttons In the case where a joint is in a position where there is a major risk that un controlled motion would cause damage to the robot or its surroundings the operator can choose to home the robot manually for each joint section 1 2 2 On screen Editors 2 1 On screen Keypad MX Cancel simple number typing and editing facilities In many cases the unit of the typed value is displayed next to the number All Rights Reserved Polyscope 2 On screen Editors UNIVERSAL ROBOTS 2 2 On screen Keyboard SHIFT Cancel simple text typing and editing facilities The shift key can be used to get some additional special characters 2 3 On screen Expression Editor and or xor not True HI False LO lt Input gt v lt Output gt v l lt Function gt v 0 SHIFT MX Cancel While The expression itself is edited as text the expression editor has q num ber of buttons and functions for inserting the special expression symbols such as for multiplication and lt for less than or equal to The keyboard symbol button in the top right of the screen switches to text editing of the expression All de fined variables can be found in the Variable select
55. on O E Speed J100 Cancel Y ok Robot The current position of the robot is shown in 3D graphics Push the magnifying glass icons to zoom in out or drag a finger across to change the view lo get the best feel for controlling the robot select the View feature and rotate the viewing angle of the 3D drawing to match your view of the real robot Feature and fool position At the top right part of the screen the feature selector can be found The features selector defines which feature to control the robot relative to while below it the boxes display the full coordinate value for the tool relative to the selected feature All Rights Reserved 12 Polyscope 3 Robot Control UNIVERSAL ROBOTS Values can be edited manually by clicking on the coordinate or the joint position This will take you to the pose editor screen see section 2 4 where you can specify a target position and orientation for the tool or target joint positions Move Tool e Holding down A translate arrow top will move the tool tip of the robot in the direction indicated e Holding down q rotate arrow button will change the orientation of the robot tool in the indicated direction The point of rotation is the TCP drawn as a small blue ball Note Release the button to stop the motion at any time Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 to 360 which are the joint limits illustrated by the
56. on responses are e El ILLEGAL FUNCTION 0x01 The function code received in the query is not an allowable action for the server or slave E2 ILLEGAL DATA ADDRESS 0x02 The function code received in the query is not an allowable action for the server or slave check that the entered signal address corresponds to the setup of the remote MODBUS server E3 ILLEGAL DATA VALUE 0x03 A value contained in the query data field is not an allowable value for server or slave check that the enterd signal value is valid for the specified address on the remote MODBUS server E4 SLAVE DEVICE FAILURE 0x04 An unrecoverable error occurred while the server or slave was attempting to perform the requested action E5 ACKNOWLEDGE 0x05 Specialized use in conjunction with program ming commands sent to the remote MODBUS unit E6 SLAVE DEVICE BUSY 0x06 Specialized use in conjunction with program ming commands sent to the remote MODBUS unit the slave server is not able to respond now Show Advanced Options This check box shows hides the advanced options for each signal Advanced Options e Update Frequency This menu can be used to change the update fre quency of the signal This means the frequency with which requests are sent to the remote MODBUS unit for either reading or writing the signal value Slave Address This text field can be used to set a specific slave address for the requests corresponding to a specific signal Th
57. opped T 0000d00h00m36 352s RTHachine Program step forward stopped T 0000d00h00m36 608s RTHachine Program step forward stopped T 0000d00h00m37 528s RTHachine Program step forward stopped T 0000d00h00m41 848s RTHachine Program step forward stopped T 0000d00h00m43 688s RTHachine Program step forward stopped T 0000d00h00m43 984s RTHachine Program step forward stopped T 0000d00h00m44 368s RTHachine Program step forward stopped T 0000d00h00m48 296s RTHachine Program step forward stopped T 0000d00h00m51 248s RTHachine Program step forward stopped T 0000d00h00m51 616s RTHachine Program step forward stopped T 0000d00h00m51 776s RTHachine Program step forward stopped T 0000d00h00m53 600s RTHachine Program step forward started CICLO Robot Health The top half of the screen displays the health of the robot The left part shows information related to the control box of the robot while the right part shows information about each robot joint Each robot joint shows informa tion for temperaure of the motor and electronics the load of the joint and the voltage at the joint All Rights Reserved 2 Polyscope UNIVERSAL ROBOTS 3 Robot Control Robot Log On the bottom half of the screen log messages are shown The first column shows the time of arrival of the message Ihe next column shows the sender of the message The last column shows the message Itself 3 14 Load Screen On this screen you choose which program to load There are t
58. or while the names of the input and output ports can be found in the Input and Output selectors Some special functions are found in Function lt Variable gt gt All Rights Reserved 9 PolyScope UNIVERSAL ROBOTS 2 On screen Editors The expression is checked for grammatical errors when the ok button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this E digital_in 1 True and analog in 0 lt 0 5 2 4 Pose Editor Screen On this screen you can specify target joint positions or a target pose position and orientation of the robot tool This screen is offline and does not control the physical robot directly O Robot Feature e e View M Tool Position x 179 93 mm Y 606 87 mm ES z 300 00 mm Rotation Vector rad ha RX 0 0012 EN RY 3 1163 cl RZ 0 0389 q Joint Positions Base 91 71 Shoulder 83 39 Elbow 90 61 o Wrist1 97 48 Wrist 2 91 39 co co co Wrist 3 1 78 cancer 2 ox Robot The current position of the robot and the specified new target position are shown in 3D graphics The 3D drawing of the robot shows the current position of the robot and the shadow of the robot shows th
59. output A register output is a 16 bit quantity which can be set by the user Before the value of the register has been set the value of it is read from the remote MODBUS unit This means that function code 0x03 Read Holding Registers is used When the output has been set by a robot program or by specifying a signal value in the set signal value field function code 0x06 Write Single Register is used to set the value on the remote MODBUS unit Set signal address This field shows the address on the remote MODBUS server Use the on screen keypad to choose a different address Valid addresses depends on the manu facturer and configuration of the remote MODBUS unit All Rights Reserved 22 PolyScope 3 Robot Control UNIVERSAL ROBOTS Set signal name Using the on screen keyboard the user can give the signal a name This name is used when the signal is used in programs Signal value Here the current value of the signal is shown For register signals the value is expressed as an unsigned integer For output signals the desired signal value can be set using the button Again for a register output the value to write to the unit must be supplied as an unsigned integer Signal connectivity status This icon shows whether the signal can be properly read written green or if the unit resoonds unexpected or is not reachable gray If a MODBUS exception re sponse is received the response code is displayed The MODBUS TCP Excepti
60. r new settings to take effect Restart Now set the time and date for the system and configure the display formats for the clock The clock is displayed at the top of the RUN Program and PROGRAM Robot screens lapping on it will show the date briefly The GUI needs to be restarted for changes to take effect All Rights Reserved Polyscope
61. ram_1 Vif ee Pallet oo Pattern Q ee PalletSequence o Approach o PatternPoint Set 4 Pattern A pattern is a group of positions to be cycled through Patterns can be used for making much more palletizing etc Positions on a line Positions in a square Positions in a box A list of positions Structure Variables Line Square 12 38 58 O Simulation Real Robot All Rights Reserved ILLA Speed x4 100 45 Previous Next E PolyScope UNIVERSAL ROBOTS 4 Programming The Pattern command can be used to cycle through positions in the robots program The pattern command corresponds to one position at each execu tion A pattern can be given as one of four types The first three Line Square or Box can be used for positions in a regular pattern The regular patterns are defined by a number of characteristic points where the points define the edges of the pattern For Line this is the two end points for Square this is three of the four corner points where as for Box this is four of the eight corner points The programmer enters the number of positions along each of the edges of the pattern The robot controller then calculates the individual pattern positions by proportionally adding the edge vectors together If the positions to be traversed do not fall in a regular pattern the List option can
62. raphics Structure Variables Init Variables 2 variables Y Robot Program Y Move var 1 2 o Waypoint_1 o Variable Set so Pallet eo Pattern Q ee PalletSequence o Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos o Direction o FromPos o ToPos Q ee PickSequence o StackPos Set Wait o Waypoint Wait 4 gt Simulation List ls UPL speca aa atonal lll Real Robot ral gt gt E pee gt The Variables tab shows the live values of the variables in the running pro gram and keeps a list of variables and values between program runs The vari ables tab appears only when it has information to display The variable names on this screen are shown with at most 50 characters and the values of the vari ables are shown with at most 500 characters 4 30 Program gt Command Tab Variables Initialization File 12 39 06 Program Installation lt unnamed gt Command Graphics Structure Variables Init Variables I V Robot Program Initial Variable Values V Move Waypoint Y Move o Waypoint Loop_1 has no specific initial value cnt_1 Set cnt 2 0 y Pallet interpolate 1 0 0 eo Pattern pose _1 has no specific initial value es PalletSequence pose 2 has no specific initial value Approach pose 3 has no specific initial value j dd var_1 has no specific initial value Se
63. rlap so it is not possible to set a blend radius that overlaps a blend radius for a previous or following waypont A stop point is a waypoint with a blend radius of 0 0mm Note on I O Timing If q waypoint is a stop point with an I O command as the next command the I O command is executed when the robot stops at the waypoint However if the waypoint has a blend radius the following I O command is executed when the robot enters the blend Example Starting point movel WaypointStart Waypoint Waypoint2 if digital_input 1 then WaypointEnd 1 5 cm blend else WaypointEnd2 Straight line segment endif Straight line segment Waypoint 2 10 cm blend This 1s where the input port 1s read Ending point 2 Ending point 1 A small example in which a robot program moves the tool from a starting posi tion to one of two ending positions depending on the state of digital_input 1 Notice that the tool trajectory thick black line moves in straight lines outside the blend areas dashed circles while the tool trajectory deviates from the straight line path inside the blend areas Also notice that the state of the digital_input 1 sensor is read just as the robot is about to enter the blend area around waypoint 2 even though the if then command is after waypoint 2 in the program sequence This is somewhat counterintuitive but is necessary to allow the robot to select the right blend path All Rights Reserve
64. rogram speed at any time which directly affects the speed at which the robot moves lo the left of the Dashboard the Simulation and Real Robot buttons toggle between running the program in a simulation or running it on the real robot When running in simulation the robot does not move and thus cannot damage itself or any nearby equipment in collisions Use simulation to test programs if unsure about what the robot will do While the program is being written the resulting motion of the robot is illus trated using a 3D drawing on the Graphics tab described in section 4 27 Next to each program command is a small icon which is either red yellow or green A red icon means that there is an error in that command yellow means that the command is not finished and green means that all is OK A program can only be run when all commands are green 4 3 Program Command Tab lt Empty gt File 12 38 45 Program Installation Move WO Log lt unnamed gt Command Graphics Structure V Robot Program In the Structure tab you will find various program statements that can be inserted Structure 4 IA Simulation ke gt gt Speed 1 100 Previous Next gt l O Real Robot Program commands need to be inserted here Press the Structure button to go to the structure tab where the various selectable program lines can be found A progr
65. rogram variables Installation variables are special because they keep their value even if a program is stopped and then started again and when the robot is powered down and powered up again The name and values are stored with the installation so it is possible to use the same variable in multiple programs Pressing Create New will bring up a panel with a suggested name for the new variable The name may be changed and its value may be entered by touching either text field The ok button can only clicked if the new name is unused in this installation It is possible to change the value of an installation variable by highlighting the variable in the list and then clicking ON Edit Value This will bring up the edit panel where a new value can be entered and confirmed with oK Press Cancel to close the panel without updating the value When the edit panel is shown you can which variable to edit by selecting a new variable in the list above the panel To delete a variable select it in the list then click Delete After configuring the installation variables the installation itself must be saved to keep this configuration see 3 5 If a program or an installation is loaded and one or more of the program variables have the same name as the installation variables the user is presented with two options to resolve the issue either use the installation variables of the same name instead of the program variable or have the conflicting variables rena
66. ry structure The button will not be enabled in two cases when the current directory is the top directory or if the screen is in the limited mode and the current directory is the program folder e Go to program folder Go home e Actions Actions such as create directory delete file etc 3 15 Run Tab File 12 38 44 Run Move 10 Log UNIVERSAL ROBOTS Program ABCDE Variables Status Stopped Time 0000d00h00m19 328s 4 gt P All Rights Reserved 29 Polyscope UNIVERSAL ROBOTS 4 Programming This tab provides a very simple way of operating the robot with as few but tons and options as possible This can be useful combined with password pro tecting the programming part of PolyScope see section 5 5 to make the robot into a tool that can run exclusively pre written programs A Programming All Rights Reserved 30 Polyscope 4 Programming UNIVERSAL ROBOTS 4 1 Program New Program File 12 38 45 Program Installation Move WO Log New Program Load From File Load Program Use Template Pick and Place Empty Program A new robot program can start from either a template or from an existing saved robot program A template can provide the overall program structure so only the details of the program need to be filled in 4 2 Program Tab File 12 38 45 Program Installation Move WO Log lt unnamed gt
67. s IT is possible to select one of three types of movements MoveJ Movel and MoveP each explained below e moveJ will make movements that are calculated in the joint soace of the robot Each joint is controlled to reach the desired end location at the same time This movement type results in a curved path for the tool The shared parameters that apply to this movement type are the maximum joint speed and joint acceleration to use for the movement calculations specified in deg s and deg s respectively If it is desired to have the robot move fast between waypoints disregarding the path of the tool between those waypoints this movement type is the favorable choice e movel will make the tool move linearly between waypoints This means that each joint performs a more complicated motion to keep the tool on a straight line path The shared parameters that can be set for this movement type are the desired tool speed and tool acceleration specified in mm s and mm s respectively and also a feature The selected feature will de termine in which feature space the tool positions of the waypoints are rep resented in Of specific interest concerning feature spaces are variable features and variable waypoints Variable features can be used when the tool position of a waypoint need to be determined by the actual value of the variable feature when the robot program runs e moveP will move the tool linearly with constant speed with circular blends
68. s set the robot will try to accelerate along about that axis Although an axis has been selected to be compliant the robot program will still try to move the robot along around that axis However the force control assures that the robot will still approach the specified force WARNING 1 If the force function is used incorrectly if can produce a force of more than ISON The programmed force shall be taken into consideration during risk assessment File 12 39 05 Program Installation Move WO Log El lt unnamed gt Command Graphics Structure Variables ETT re V Folder ma Force ment Feature Base 4 Type Simple A Halt o Popup Y Loop lt empt The program part under this force command Script will be run in force mode var l 1 1 In force mode the robot P Call SubProaram 1 will be free In the direction 9 Y iF ogram_ of the selected feature ae s to apply the specified force eo Pallet _ E pply p 9 se Pattern Squat Use the test button below o alst Corng l in combination with the teach button o a2nd_Corn i to test the force mode a3rd_Corna Force 0 0 N o a4th_Corng Q se PalletSequenc o Approach o PatternPoin Set Teach test Wait o Exit Event Y Thread_1 V Force v a Il L lt gt Simulation ed gt bel Speed 100 Previous II Next E O Real Robot Feature selection Th
69. t SHUT DOWN Robot The picture above shows the Welcome Screen The bluish areas of the screen are buttons that can be pressed by pressing a finger or the backside of a pen against the screen PolyScope has a hierarchical structure of screens In the programming environment the screens are arranged in tabs for easy access on the screens File 12 38 46 Program Installation Move WO Log lt unnamed gt Command Graphics Structure W nobor Pronram Ez In this example the Program tab is selected at the top level and under that the Structure Tab is selected The Program tab holds information related to the currently loaded program If the Move tab Is selected the screen changes to the Move screen from where the robot can be moved Similarly by selecting the I 0 tab the current state of the electrical O can be monitored and changed It is possible to connect a mouse and a keyboard to the controller box or the teach pendant however this is not required Almost all text fields are touch enabled so touching them launches an on screen keypad or keyboard Non touchable text fields have an editor icon next to them that launches the asso ciated input editor The icons of the on screen keypad keyboard or expression editor are shown above The various screens of PolyScope are described in the following sections All Rights Reserved 9 Polyscope UNIVERSAL ROBOTS 1 Introduction 1 1 Wel
70. the ac tual value of the variable when the program is running The initial value of a feature variable is the value of the actual feature This means that the movements will only change if the feature variable is actively changed by the robot program e Variable waypoint When the robot moves to a variable waypoint the tool target position will always be calculated as the coordinates of the variable in the soace of the selected feature Therefore the robot movement for a variable waypoint will always change if another feature is selected The settings of the Shared Parameters of a Move command apply to the path from the robot s current position to the first waypoint under the command and from there to each of the following waypoints The Move command set tings do not apply to the path going from the last waypoint under that Move command All Rights Reserved 34 Polyscope 4 Programming UNIVERSAL ROBOTS Cruise Deceleration Acceleration Speed Time Figure 1 Speed profile for a motion The curve is divided into three seg ments acceleration cruise and deceleration The level of the cruise phase is given by the speed setting of the motion while the steepness of the acceleration and deceleration phases is given by the acceleration parameter 4 5 Program Command Tab Fixed Waypoint File 12 39 52 Program Installation Move WO Log E lt unnamed gt Command Graphics Structure Variables
71. the robot as shown in the animation Note Release the button to stop the motion at any time Manual Pushing the Manual button will take you to the MoveTab where the robot can be moved manually This is only needed if the movement in the animation is not preferable All Rights Reserved 16 Polyscope 3 Robot Control UNIVERSAL ROBOTS 3 5 Installation Load Save File 12 39 09 Program Installation Move WO Log TCP Position ee Load Save Robot Installation to File I O Setup The Robot Installation includes the options that can be set using the tabs to the i left This includes I O names TCP setup and the robot s mounting The robot Variables installation does not include a robot program MODBUS client Def Program Save the current installation default Save Features Features Load Save Load a different installation file Load The installation covers aspects of how the robot is placed in ils working envi ronment both mechanical mounting of the robot and electrical connections to other equipment These settings can be set using the various screens under the Installation tab It is possible to have more than one installation file for the robot Programs created will use the active installation and will load this in stallation automatically when used Any changes to an installation needs to be saved to be preserved after power down Saving an installation can be done ei
72. ther by pressing the Save button or by saving a program using the installation 3 6 Installation TCP Position File 12 39 07 Program Installation Move WO Log TCP Position Setup for the Tool Center Point Mounting Setting the Tool Center Point mesial TCP Coordinates Variables x 0 0 ae MODBUS client 0 0 mm Y Def Program Se Z 0 0 mm Features _ 0 0 Z Features Load Save gt O The payload at the TCP is 0 00 kq Fit program to new TCP V Change motions Z Change graphics The Tool Center Point TCP is the point at the end of the robot arm that gives a characteristic point on the robot s tool When the robot moves linearly it is this All Rights Reserved 17 Polyscope UNIVERSAL ROBOTS 3 Robot Control point that moves in a straight line It is also the motion of the TCP that is visualized on the graphics tab The TCP is given relative to the center of the tool output flange as indicated on the on screen graphics WARNING 1 Make sure to use the correct installation settings Save and load the installation files along with the program The two buttons on the bottom of the screen are relevant when the TCP is changed e Change Motions recalculates all positions in the robot program to fit the new ICP This is relevant when the shape or size of the tools has been changed e Change Graphics redraws the graphics of the program t
73. ture Y Robot Program E lt empty gt Program Structure Editor Insert Basic Advanced Wizards Move Waypoint Wait Set After gt selected Popup Halt Comment Folder Edit 4 Move Copy Paste After w selected Move Cut Delete Suppress 4 D gt lt gt O Simulation Speed 100 Previous Next Real Robot Iad gt P es The program structure tab gives an opportunity for inserting moving copy ing and removing the various types of commands To insert new commands perform the following steps 1 Select an existing program command 2 Select whether the new command should be inserted above or below the selected command 3 Press the button for the command type you wish to insert For adjusting the details for the new command go to the Command Tab Commands can be moved cloned deleted using the buttons in the edit frame If a command has sub commands a triangle next to the command all sub commands are also moved cloned deleted Not all commanas fit at all places in a program Waypoints must be under a Move command not necessarily directly under ElseI and Else commands are required to be after an Tf In general moving ElseI Commands around can be messy Variables must be assigned values before being used 55 PolyScope All Rights Reserved UNIVERSAL ROBOTS 4 Programming 4 29 Program gt Variables Tab File 12 39 53 Program lt unnamed gt Command G
74. ure The y axis will be perpendicular to the robot motion and in the x y plane of the selected feature This can be usefull when deburring along a complex path where a force is needed perpendicular to the TCP motion Note when the robot is not moving If force mode is entered with the robot standing still there will no compliant axes until the tcp speed is above zero If later on while still in force mode the robot is again standing still the task frame has the same orientation as the last time the tcp soeed was larger than zero For the last three types the actual task frame can be viewed aft runtime on the graphics tab 4 27 when the robot is operating in force mode Force value selection A force can be set for both compliant and non compliant axes but the effects are different e Compliant The robot will adjust its position to achieve the selected force e Non compliant he robot will follow its trajectory set by the program while accounting for an external force of the value set here For translational parameters the force is specified in Newtons N and for rota tional the torque is specified in Newton meters Nm Limits selection For all axes a limit can be set but these have different meaning corresponding to the axes being complian or non compliant e Compliant The limit is the maximum speed the tcp is allowed to attain along about the axis Units are mm s and deg s e Non compliant The limit is the maximum dev
75. ures Show Axes Choose whether the coordinate axes of the selected feature shall be visible on the 3D graphics The choice applies on this screen and on the Move screen Joggable Select whether the selected feature shall be joggable This determines whether the feature will appear in the feature menu on the Move screen Variable select whether the selected feature can be used as a variable If this option is selected a variable named the name of the feature suceeded by var will then be available when editing robot programs and this variable can be as signed a new value in a program which can then be used to control waypoints that depend on the value of a feature Set or Change Position Use this button to set or change the selected feature The Move screen will appear and a new position of the feature can be set Move Robot to Feature Pressing this button will move the robot towards the selected feature At the end of this movement the coordinate systems of the feature and the TCP will coincide except for a 180 degree rotation about the x axis Add Point Push this button to add a point feature to the installation The position of a point feature is defined as the position of the TCP at that point The orientation of the point feature is the same as the TCP orientation except that the feature coordinate system is rotated 180 degrees about its x axis This makes the z axis of the point feature directed opposite than th
76. uttons just to the right of a box allows you to add or subtract an amount to from the current value Pressing and holding down a button will directly in crease decrease the value The longer the button is down the larger the in crease decrease will be Joint Positions Allows the individual joint positions to be specified directly Each joint position can have a value in the range from 360 to 360 which are the joint limits Val ues can be edited by clicking on the joint position Clicking on the or buttons just To the right of a box allows you to add or subtract an amount to from the cur rent value Pressing and holding down a button will directly increase decrease the value The longer the button is down the larger the increase decrease will be OK button If this screen was activated from the Move tab see 3 1 clicking the oK button will return to the Move tab where the robot will move to the specified target If the last specified value was a tool coordinate the robot will move to the target position using the MoveL movement type while the robot will move to the target position using the MoveJ movement type if a joint position was specified last The different movement types are described in section 4 4 Cancel button Clicking the Cancel button leaves the screen discarding all changes 3 Robot Control Use the play Pause Stop and Step buttons found at the bottom of the screen to start
77. wo versions of this screen one that is to be used when you just want to load a program and execute il and one that is used when you want to actually select and edit a files program The main difference lies in which actions are available to the user In the basic load screen the user will only be able to access files not modify or delete them Furthermore the user is not allowed to leave the directory structure that descends from the programs folder Ihe user can descend to a sub directory but he cannot get any higher than the programs folder Therefore all programs should be placed in the programs folder and or sub folders under the programs folder Screen layout Load Program Current Directory home hudson programs ABCDE urp Filename Filter Universal Robots Program files Bg Open Cancel This image shows the actual load screen It consists of the following important areas and buttons Path history The path history shows a list of the paths leading up to the present location This means that all parent directories up to the root of the computer are shown Here you will notice that you may not be able to access all the directories above the programs folder By selecting a folder name in the list the load dialog changes to that direc tory and displays it in the file selection area 3 14 File selection area In this area of the dialog the contents of the actual area is present It g

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