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AIM Utilities User`s & Reference Guide, v3.2B

1. 44 MCP Emulator Step 46 NFS Mount Menu 48 Tool Offset tue arme te ars Der na 50 Gell Status ManU Z n Tere eee RR e RC ie ts 53 MCP Teach 54 Calibration 70 MCP Sequence 1 71 Cartesian Tool Offset ide e Hebr EA 72 Tool Offset Utility Menu 72 Calculating XYZ 73 General Tool 74 Available Software 75 A to Start Up Sequ riCe i recep RES eda 78 Calibrate Sequence Example 79 PalletWare 2 2 80 Start Button Sequence Example 81 Cell Control First Example 1 82 Dispense Robot Main 91 PalletWare Main Sequence 1 92 cus ticipated het RC ERE CR e n hao 101 Quick Cha
2. 75 4 9 Example 76 vi AIM Utilities User s Guide Rev 3 2B Table of Contents A Sequence Examples 77 A 1 Introduction and Overview 78 Start Up and Calibrate 78 Calibrate Sequence 79 Start Up Sequence Example from 80 Start Button Control 81 Cell Control Sequence 82 Second Cell Control 86 Robot Main Sequence 91 Main Sequence Example from PalletWare 92 MCP Sequence 101 B Quick Change Documentation 103 B 1 Introduction and Overview 104 The CHANGE HAND 104 Installation 104 2 The Quick Change Database 107 Quick Change Database 107 Quick Change IO Debug 108 Quick Change Operation
3. 15 2 Installation 17 2 1 Betore You Beglrm uu sa u a hed Gane de Boe 18 2 2 Installation 24 2 3 Verifying 25 2 4 Installing Utilities to existing 25 2 5 Installing AIM Dispense Module or AIM PalletWare 25 2 6 Selecting Default AIM 26 27 AUTO File Installation once datas Ret eae RE Ru Rene 26 AIM Utilities 27 3 1 Software Module Loading 29 3 2 Software Loader Record 31 3 3 Task Configurator seria Pet P diis 33 Task Configurator Record 35 Task Priorities Display 37 3 4 Software Plug In 38 Uninstall Software Module 39 Create the Software Module Install 41 3 5 Operator Control 43 3 6 Precision Point 44 3 7
4. The statement performs the following steps 1 The String string arguments allow the user to provide a text string to be typed on the V monitor 2 The VAR variable allows the user to type the current variable value from the variable database to the V monitor AIM Utilities User s Guide Rev 3 2B 69 Chapter 4 Using AIM Utilities 4 2 Calibration from Sequences The following sequence is an example of calibrating from a control sequence This sequence is provided in the example sequence supplied with this software package Sequence Editor This task will calibrate the robot intended to run in task 0 librate EDIT mode Figure 4 1 Calibration Sequence 70 AIM Utilities User s Guide Rev 3 2B Using the Message Statements 4 3 Using the Message Statements The message statements are provided for a controlled method of displaying messages from a menu display The statements are STATUS MESSAGE and CLEAR MESSAGE Many AIM installations have error recovery by the use of a sequence and therefore many of the AIM messages that would normally be used by the operators can be ignored This allows the sequence to display a message to a developed menu via the AIM ai ctl array values This instruction basically transfers a predefined variable string from the variables database to the ai ctl variable This variable can then be displayed on menu screen Additionally a software signal can be spe
5. El Start Conveyor Control Task e Task Variable Name Task 5 Task Name Conveyor ti Task Priorities 1 2 3 4 5 6 m 8 9 10 11 12 13 14 1S 16 to CE po fo po fo Wo zzz o fo Wo fo fo fo fo Select Robot Append Prev Next Done Check Option ai opt convey Figure 3 4 Task Configurator Record Menu The description of the task is displayed on the main software loader menu page This is provided so you can add comments or a description of the operation Start Task This check box will allow AIM to start this task during boot up of the AIM system Many tasks a re specified in this database to perform different tasks depending on what AIM modules are selected o Scheduler Selection Off button to select whether the task is running a scheduler or a server The task is run differently based on this selection If specified as a scheduler a sequence will be executed in the task when it is running If a server is selected a V routine will run in this task and not be linked with a sequence The routine name to run specifies the routine that is running in the task During startup AIM will execute this routine name in the specified task AIM Utilities User s Guide Rev 3 2B 35 Chapter 3 AIM Utilities Menus e 36 Task Specification Task This selection specifies the task number your sequence or scheduler will run in Task Name This field requires the user to enter
6. 130 E 2 Sequence Statements 130 DDE CONNECT 2 130 DDE 5 130 DDE READ u ion SU AA eee 131 DDE WRITE sc fede awit eed 131 AIM Utilities User s Guide Rev 3 2B 129 Appendix E ConnectWare Module E 1 Introduction and Overview The ConnectWare is a fully integrated software package designed specifically for use with Adept Controllers This software module allows network communications between multiple Adept Controllers This software uses the DDE interface that is supplied with the AIM product Generally the PC or other device has a DDE server for the communication This package transfers AIM Variable data via sequence instructions for the communication This software is for use with Aim revision 3 1 and higher E 2 Sequence Statements This section describes the sequence statements that are provided with the ConnectWare Plug In software package First the statements and arguments are documented DDE_CONNECT This statement will connect the controller to another Adept controller based on its IP address The statement s syntax is as follows where the braces define optional clauses DDE CONNECTIP string_var HANDLE variable STATUS variable The statement performs the following steps 1 The IP argument specifies the IP address of the other controller
7. 112 CHANGE HAND 112 4 Quick Change 113 Quick Change Database 113 5 Quick Change 117 CI Setio eire ede ek ee hee B D p o 119 120 ee regem edt bath ed 121 Event i o Manager leve roh yn nno W N 123 C 1 Introduction and Overview 124 C 2 Event Monitor 0 124 Event Initialization Database 126 C 4 Running the Event 126 D Graphics 127 D 1 Introduction and 128 E ConnectWare 129 E 1 Introduction and Overview 130 E 2 Sequence Statements 130 DDE e See etna nU eK Rus 130 DDE_DISCONNECT 130 BDE READ S wants bu aya hapa SQ AI 131 DDE WRITES 5 Spa E A SEE 131 AIM Utilities User s Guide Rev 3 2B vii Table of Contents TCP IP v Server viii
8. 18 2 2 Installation 24 2 3 Verifying lt 1 25 2 4 Installing Dispense Module or AIM PalletWare 25 2 5 Selecting Default AIM 25 AIM Utilities User s Guide Rev 3 2B 17 Chapter 2 Installation 2 1 Before You Begin This chapter describes the AIM Utilities installation procedure To simplify the installation have the Adept Utility Disk handy The Utility Disk is supplied with all Adept controllers Complete instructions for using the diskcopy utility are in the Instructions for Adept Utility Programs The AIM 3 2 software files and the MotionWare application module files must already be installed See the MotionWare User s Guide NOTE The procedures outlined in this chapter will replace MotionWare files Any previous AIM customizations may be replaced If you have customized AIM check below to assure your files will not be overwritten before installing the AIM Utilities Module Table 2 1 lists the files that are included with AIM Utilities Three diskettes are provided in the AIM Utilities package They are titled AIM Utilities Software AIM Utilities Example Databases and AIM Utilities Software Plug Ins The AIM Utilities Software disk contains all of the software for AIM Utilities this includes the runtime software the database definition files and t
9. Each routine documented in this section is presented on a separate page in alphabetical order The dictionary page for each routine contains the following sections Calling Sequence The format of the V CALL instruction for the routine is shown Function This is a brief statement of the routine s function Usage Considerations This section points out any special considerations associated with the routine Input Parameters Each of the input parameters in the calling sequence is described in detail For parameters that have a restricted range of values the allowable range is specified Output Parameters Each of the output parameters in the calling sequence is described in detail Global Variables Global variables accessed by the routine are described Details A complete description of the routine and its use is given AIM Utilities User s Guide Rev 3 2B 117 Appendix B Quick Change Documentation Related Routines Other AIM routines that are related to the routine s function are listed 118 AIM Utilities User s Guide Rev 3 2B Calling Sequence ch set io error Function Sample I O reset routine specified in the modified Tool database for use with the CHANGE_HAND statement The program sets output signals to default values before replacing or after acquiring an end effector Input Parameters None Output Parameters error Real variable that receives the standard AIM operator resp
10. Check for cycle stop IF stop sys cycle stop WAIT UNTIL robot busy 0 or power on IF robot busy IO OUTPUT stop conveyor STOP T SK Robot 1 END SET stop sys false IO LIST green stack lt in cycle END Check for guard door or E stop condition IF guard bypass or 608 or guard closed IO OUTPUT stop conveyor STOP T SK Robot 1 IO LIST green stack lt in cycle stop conveyor fault ired stack lt STATUS MESSAGE AI CTL NUM 200 Message String iremove product Wait For 2200 END Check for Air pressure off IF air off IO OUTPUT stop conveyor STOP T SK Robot 1 IO LIST green stack lt in cycle stop conveyor STATUS MESSAGE AI CTL NUM 200 Message String ipressure mess Wait For 2200 END WAIT 2 END Mod ex disp Seq cell control EDIT mode Figure A 8Cell Control First Example Page 4 AIM Utilities User s Guide Rev 3 2B 85 Appendix A Sequence Examples Second Cell Control Example This example comes from a PalletWare application This application is similar to the dispense example in that the cell control task handles error recovery and startup of the main robot task This example is several pages long It is located in the file EX PALW MOD Sequence Editor File Go Move Find Edit This routine controls the operation the machine with the user buttons This routine runs in task It handles the error recovery interface with the PLC and Menu bu
11. Task Variable Name Task amp 77 Task Name Accum Control 1 Task Priorities i 9 6 ay EN Ma ee oe Select Robot Allow Loading HN Check Option sone Go 1051 Device Roboti Peress 11 35 m am am m ans 0 000 0 000 Speed Coarse Tine accel Decel Prot e oun ux 15 11 SS Part Number RDASG C0004 Rev 3 2B 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 41 rue du Saule Trapu 91300 Massy France Phone 33 1 69 19 16 16 Fax 33 1 69 32 04 62 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 81 532 65 2391 Fax 81 532 65 2390 The information contained herein is the property of Adept Technology Inc and shall not be in whole in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be con strued as a commitment by Adept Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omis
12. aL sd tpt ur ue 65 SET OPRMODES ei RE RERUM 66 SET PARM 2 eR ne uu ede tette s 66 SET PATH uiii Bae oe ee Eg te E 66 SEI SWIIGH 22 243200040 dae eee REI 67 SHIET MOVE ce eae See ea ae ace 67 5 5_ 5 68 TASK MODE i Ue wade eas eee 68 WAIT FORJO eere sess 69 TYPE 323 ERI eee sq 69 4 2 Calibration from Sequences 70 4 3 Using the Message 71 4 4 MCP 71 4 5 Tool Offset 72 Testing the Tool 74 4 6 Paths Relative to Frames 75 4 7 Precision Point 75 4 8 Software 5 75 4 9 Example 76 AIM Utilities User s Guide Rev 3 2B 55 Chapter 4 Using AIM Utilities 4 1 AIM Utilities Statements This chapter describes the sequence statements that are provided with the AIM Utility package First the statements and arguments are documented Finally example applications are presented to demonstrate the use of some of the statements Later sections sho
13. 126 C 4 Running the Event 126 AIM Utilities User s Guide Rev 3 2B 123 Appendix C Event I O Manager C 1 Introduction and Overview Provided with the AIM Utilities software is a utility to allow the user to monitor I O events that occur This software will allow you to look for the event to occur and monitor the time during the occurance Time limits can be set and a alarm will be generated when the event exceeds the limits This software has a logging feature which will the user to specify a description and a file name C 2 Event Monitor Editing This section describes the menus used for adding events to the event monitor software package You can reach this menu by selecting the EDIT pulldown and the Event option on the pulldown list Edit Event The figure below is the Event monitor database page Event Global Go Seek Edi Help alami 1of4 11 Mar 99 20 13 Enable H iuto RT INPUT to MONITOR TINE RANGE OUTPUT RESULT Result 2040 2534 0 50 3 00 Alarm 35 m 3 02 Start Stop Min 9 9 Event Timeout Des Etch Conveyor Syne Alarm File sync log Log E Figure C 1Event Monitor Database Q Enable Selection This check box will allow the event to be monitored when the Event Task is running in AIM Auto RST This check box will reset the alarm after the stop input has been set This can reduce operator response
14. 2 The Handle argument returns back a logical unit number that can be used by the sequence for future communication 3 The Status argument returns back the status of the network connection DDE DISCONNECT This statement will disconnect the communication between the two controllers The statement s syntax is as follows where the braces define optional clauses DDE_DISCONNECTHANDLE variable The statement performs the following steps 1 The Handle argument allows the user to specify the Logical Unit Number of the device you wish to disconnect from 130 AIM Utilities User s Guide Rev 3 2B DDE_READ This statement will read the specified data from the other controller that has been attached via the logical unit number returned by the connection statement The statement s syntax is as follows where the braces define optional clauses DDE_READHANDLE variable FROM_VARIABLE string_var IN MODULE string_var PUT_IN_VAR string_var STATUS The statement performs the following steps 1 The Handle argument allows the user to specify the Logical Unit Number of the device you wish to read from 2 The From_Variable argument specifies the variable name in the other Adept controller to read from 3 The In_Module argument specifies the database module in the other Adept Controller to read from 4 The Put_In_Var argument specifies where the data is written to in the variab
15. Figure 3 12 NFS Mount Menu Page Q Server Name This field will label the name of the computer that will be displayed to associate that computer in other menu displays server Address This is the IP ethernet address used by the server computer Mount Name The mount name is used by the user to specify the disk drive on the server computer This label will be used by the user during any file operations Mount Path This path is the name of the Server Drive that will be used Additionally you can define a path on that drive to a specified directory or folder Mount Button This button will perform the drive attachment based on the data specified 48 AIM Utilities User s Guide Rev 3 2B NFS Disk Drive Mounting Utilities NFS Mount Status Menu Page Provided with the AIM Utilities software package is a status display page of the disk drives that are attached to the system via NFS software mounts To display this menu page look under the SHOW pulldown menu and select the Current NFS Mounts Menu page SHOW Current NFS Mounts The figure below is the menu page that displays the current drives available Current NFS Mounted Volumes Se Mount Path Server Address H EXIT Select Left 0 Select Right Version 1 2 AIM Utilities User s Guide Rev 3 2B 49 Chapter 3 AIM Utilities Menus 3 9 Tool Database The tool offset database menu page has been modified to include a tool teaching utility
16. T TASK MODE 68 TYPE MON 69 WAIT FOR IO 69 AIM Utilities User s Guide User s Guide Rev 3 2 B 137 Index 138 AIM Utilities User s Guide User s Guide Rev 3 2 B Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 11133 Kenwood Rd Cincinnati OH 45242 FAX 513 792 0274 cce Ez arp adept technology inc 150 Rose Orchard Way San Jose CA 95134 408 432 0888 RDASG C0002 Rev B
17. ds 121 AIM Utilities User s Guide Rev 3 28 103 Appendix B Quick Change Documentation B 1 Introduction and Overview The Quick Change Module is a fully integrated software package designed specifically for use with Adept products This software module simplifies the programming of changing multiple robot tooling with Adept Aim software This software is for use with Aim revision 3 1 and higher This software module is supplied with the AIM Utility software package This document includes all the information to implement this software with other Aim Modules The document is divided into 4 sections Introduction and Overview Quick Change Database Software Operation and Routine Dictionary The Introduction and Overview section provides information on sequence task statements software requirement and hardware requirements The section on the Quick Change Database provides information about the requirements and uses of the database The Software Operation section provides information on how to edit and use the Quick Change database and provides information on application requirements The Routine Dictionary section provides information about the V routines that run the Quick Change Module The CHANGE_HAND Statement The statement performs tool change operations if quick change end effectors are used With the CHANGE_HAND statement the robot can be programmed to automatically return a tool to its nest exchanging it for
18. AIM Utilities User s amp Reference Guide Operator Control Panel System state asi contis Segre a Routine Name to Run Name Index Enable Power Calibrate refine_tool Description of Task Start a task for conveyor control Retrieve Task amp 77 Task Name Accum Control Task Priorities 9 6 ay EN Ma s Hs Start Cycle Stop amm attach robot clear message detach robot Select Robot distance_from Stop Panic Pers Allow Loading E get parm serena prev mese vone get_state Check get_switch get_time mcp check write Prec Point Global open_menu Edi Heb retract_z 3 AEE return loc 1051 Device Roboti Peress 11 35 1 0 Numbers Currently In Use set_bits m E set oprmodes 63 443 60 310 0 000 0 000 0 000 0 000 Local I O List set parm Number State Description set switch Speed amp Coarse Fine accel Decel Prof LT status_message Here oO Hb 15 toc Align 1 OFF task mode cyelecomplete 2 OFF type_mon wait_for_io Strategy Retry Count Settling Dwell
19. Currently only 2 items exist in this database You can reach this menu by selecting the selecting the SETUP pulldown and the Initialization Data option Then you must select the EVTINI DB option from the resulting selection window Setup Initialization Data evtini db The following 2 records will appear 1 Log Delimiter This determines what charaters get placed between event text data in the log file that is specified Currently the default is 9 which places a TAB between text data 2 Statement_EVT This record loads the statement database called statevt db Currently no additional statements are provided with this software package C 4 Running the Event Monitor The event monitor is a server that runs in task 18 as provided with this software package This server needs to be executed by the user of the event monitor to be operational 126 AIM Utilities User s Guide Rev 3 2B HPGL Graphics Module D 1 Introduction and Overview AIM Utilities User s Guide Rev 3 2B 127 Appendix D HPGL Graphics Module D 1 Introduction and Overview The HPGL Plug In allows the user to import Corel graphics files into a AIM menu static graphic area Below is a set of instructions provided with this utility to load a HPGL file Sample HPGL Plot Figure D 1HPGL Instructions 128 AIM Utilities User s Guide Rev 3 2B ConnectWare Module E 1 Introduction and Overview
20. Tool on stand signal 2044 Putdown routine ch set io Quick Change Tool I O Outputs Tool Attached 2450 Acquire Tool 2030 Total Tool Signatures 2 2031 Gripper Open 2030 First Signature Bit 2500 Gripper Close 2031 y Delays Acquire Tool Delay 0 50 Release Tool Delay 0 50 Tool Location nest2 loc Figure B 1 Quick Change Database Record Form Quick Change Database Data for the Change_Hand statement is stored in the Quick Change database Important fields in the Quick Change database include the tool nest location where the end effectors are acquired and replaced I O and Delay parameters and the I O reset routines The tool nest locations are specified with the standard AIM location database Double click on the location field and the software will branch to the location record Like other AIM Utilities User s Guide Rev 3 2B 107 Appendix B Quick Change Documentation location fields the location is taught by moving the mouse pointer to the Here or Teach Button and clicking the mouse If Teach was selected the standard Aim teach pendant routines are used to define the location Approach and depart fields must also be defined for this location The Quick Change database has several fields that are used for Input Signals to operate the change hand mechanism The list of possible inputs include Tool On Stand Tool Attached Total Tool Signatures First Sig
21. Chapter 2 describes the software installation and startup procedures for the AIM Utilities Module This chapter is intended for system customizers who will install the software and users interested in the AIM Utilities Module software organization Chapter 3 describes the menus and databases used with the AIM Utilities Module All users should review this chapter and become familiar with these databases Chapter 4 details the uses of the AIM Utilities Module The AIM statements and other features are discussed here Example applications are reviewed This chapter should be read by all AIM Utility Module users Appendix A contains example sequences from the database examples disk Appendix B contains information about the Quick Change Module It describes the databases and operation of the software package 14 AIM Utilities User s Guide Rev 3 2B Software Overview 1 3 Software Overview AIM Utilities is an application module of the AIM software system It was developed to speed implementation of Adept s AIM Systems To achieve these goals AIM Utilities adds 30 new task level statements These statements allow the user to create calibration sequences easier use of IO access to internal AIM settings statements to create MCP pendant displays from a sequence and many other features AIM Utilities provides two software utilities One allows easy installation and selection of software modules The other utility allows the ability to
22. Delay timed used by V when using Openl and Closel Instructions kermit retry Controls the number of Kermit retries with the RS 232 communication kermit timeout The amount of time before the Kermit connection is failed screen timeout Time after last terminal use for screen blanking 58 AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements terminal Returns the current serial port number for the terminal not calibrated Calibration status of the robot devices 2 The variable argument allows the current value of the parameter to be passed to that specified variable GET_STATE This statement will return the current status of the system states This is based on the V State instruction The statement s syntax is as follows where the braces define optional clauses GET_STATE states RETURN TO variable The statement performs the following steps 1 The states argument provides a pick list of the available system states that can be selected The V states are various system related functions that can be returned to a variable Provided below is a listing of the available state conditions that can be used with the Get_State statement Please refer to the V Operating System Reference Guide for more information on parameters panic button Returns the status of the system E Stop Button high power Returns the status of the robot high power program start Returns the status of the Prog
23. F 1 Introduction and Overview 134 TGP Message Format ua rasu T 134 F 2 TCP Debug 135 TCP Initialization Database 136 lie ER EP 137 AIM Utilities User s Guide Rev 3 2B Table of Contents Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 Figure 1 Figure A 2 Figure A 3 Figure A 4 Figure A 5 Figure A 14 Figure A 15 Figure A 24 Figure B 1 Figure B 2 Figure B 3 Figure C 1 Figure D 1 Figure F 1 List of Figures Software Module 29 Software Loader 31 Task Configurator Main 33 Task Configurator Record 35 Task Priorities 37 Update Software 38 Uninstall Software 0 39 Create Software INF 41 Standard Operator Control Panel 43 Precision
24. 153 Service Pallet station 154 155 This section of code simular to servicing station 156 It not commented to any detail for ease of reading 157 3 158 IF ok_pick_b 155 IF 160 IF case rec2 lt gt and unit rec2 lt gt 0 161 IF model ch b false Check arm configuration before moving 163 ARM_CONFIG return config robot_config 164 IF robot_config 165 3 to righty mode 166 RETURN_LOC X pos tmp_loc 167 IF tmp_loc gt 750 168 MOVE TO safe_left 169 RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 170 END 171 MOVE_HOME 172 END 173 SET safe_a 174 SET safe_b 175 SET_GRIPPER 176 SET_PICKUP 177 SET_PALLET 178 STACK_CASE 179 IF pallet_b done 180 RETURN LOC X tmp_loc 181 IF tmp loc 750 182 MOVE TO safe right 183 RETRACT_Z robot height 2500 speed 60 acceleration 50 deceleration 50 184 END 185 186 SET true 187 IO OUTPUT send b out 188 WAIT UNTIL b ready 189 OUTPUT send b out 190 END Mod ex_palwr Seq main EDIT mode Figure A 20PalletWare Main Sequence Page 6 AIM Utilities User s Guide Rev 3 2B 97 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit END END END END END Check to see if robot should be stopped IF stop rb control GOTO stop END Clear and move to Lefty for model chang
25. A Sequence Examples Cell Control Sequence Example This example comes from an application that was running the dispense module software In this example a supervisory sequence is running to handle error recovery and startup of the main robot task when needed The cell control task is always running during normal operation Sequence Editor Go Move Find Edit This sequence controls the cell IO relative to Pushbuttons and such Most of the variables used here are not defined in the variable database They are provided here for example only Initialize variables used for control SET reset sys false SET start conv false CLEAR MESSAGE AI CTL ARRAY 200 IO LIST amber stack lt green stack lt in cycle inhibit pump red stack lt fault IO OUTPUT 2200 Q D GQ J amp n o Loop in this sequence WHILE true Check for reset button to be pressed IF reset sys or fault reset Check to make E stop is not pressed GET STATE panic button RETURN TO temp Make sure station power is on IF power on If E stop is released turn on power STOP T SK Robot 1 TASK MODE TASK 0 STATUS temp task3 WAIT UNTIL 3 CLEAR MESSAGE AI CTL ARRAY 200 IO OUTPUT 2200 IF temp false SET SWITCH power EQUAL TO on IO LIST fault red stack lt ELSE IO LIST fault red stack lt SET error num true STATUS MESSAGE AI CTL NUM 200 Message String restop mess Wait For 2200 ireset sys false ex_disp Seq cell cont
26. AIM Menu IOL MNU IO List Menu file IOLMOD OVR IO List menu routines IOLMOD INF IO List Plug In Configuration File IOLRUN V2 IO List Runtime Routines LAIM V2 Loader routines for generalized AIM MENU UT V2 P Menu routines for AIM Routines MNT MNU NFS AIM Menu files MNTINI DB NFS Initialization Database MNTMOD INF NFS Mounting Plug In file MNTMOD OVR NFS initialization overlay file MNTRUN V2 NFS runtime routines MOW MNU v Location Record Menu PATH SQU PW Modified Path routines PLGMAIN ADV Plug In software advisor PLGMAIN MNU Plug In menus PLGMOD OVR Plug In menu routines PPOINT V2 Precision Point runtime software PPT MNU Precision Point AIM Menus AIM Utilities User s Guide Rev 3 2B 19 Chapter 2 Installation PPT RFD Precision Point RFD file PPT DB Precision Point database PPTICON DAT Precision Point Icon data file PPTMOD OV2 Precision Point Initialization commented file PPTMOD INF Precision Point Plug In file PPTMOD OVR Precision Point Initialization file STATPPT DB Precision Point Sequence statement file STATUT DB AIM Utilities Sequence statement file SIS MNU Cell Status Menu STSINI DB Cell Status Initialization Database STSMOD OVR Cell Status Initialization file STSMOD INF Cell Status Plug In file STSRUN V2 Cell Status Runtime software TCHTL SQU Tool Offset teaching software TOOL MNU Tool Offset Menu UTICON DAT AIM Utilities Icon D
27. MCP Emulator 46 3 8 NFS Disk Drive Mounting 48 NFS Mount Status Menu 49 3 9 Tool Database 50 3 10 IO Status Display 52 3 11 Cell Status Display Page 53 3 12 MCP Teach Menu 54 AIM Utilities User s Guide Rev 3 2B V Table of Contents Using AIM Utilities 55 4 1 AIM Utilities Statements 56 ee aa ka ey acs tod he ae idea aay Steamed aa 56 ARM CONFIG lai 56 ATTACH ROBOT jane E dae e eie d 56 CALIBRATE ane e eed Mn tub eda Rapt qeu Rus 57 c 57 PETA ia e LEE 57 DISTANGE FROM 56 eta 57 GET BINS ante gin alr ane isa a 58 GET PARM eiae eer oen epa 58 GETISSTATE Au ioi ees cr HM tous Malt eer ia 59 GETS WITCH Ags id Stet Basa RR C e Ee ee ER 59 GET TIME c bete o Det net epis dus 60 JA AINE RIAs tos t ea et tob dae totem deni 61 MGP GLEGK re aS V eR Beat Sisku ahua 61 W
28. TCP IP V Server F 1 Introduction and Overview This software module allows a PC or an Adept MV TCP CLIENT to retrieve information from the controller that is running this application This allow some communication to occur when following the format shown below TCP Message Format The TCp message must be constructed as shown in the format x string Where x is the type of message that is to occur based on the list below evaluate string expression Example 15 ai ctl 1 2 evaluate a real variable Example ai ctl 1 3 Kea evaluate a function Example f switch power Example fl bits 1001 8 4 perform a function Example 1 x 100 5 x aim read an AIM variable Example test var_1 module gt variable The return message is the evaluated value in ASCII format without any formatting characters The server will echo the original message following the results Example Request switch power Result fl switch power 1 134 AIM Utilities User s Guide Rev 3 2B F 2 TCP Debug Menu Provided with this software package is a bebug panel to allow the user to type in messages and veiw the response back from the other controller or device To veiw the TCP Debug panel select the Setup pulldown and the TCP Debug option Setup TCP Debug TCP Server Debug Figure F 1
29. Time En mw standacd o 0 00 0 00 1 _ Global List 2 2 double click to retrieve Input Signals Output Signals Nuber Stave Description i n cycle start 1002 OFF m 4 Start irput 1001 OFF B m Geli Funning 1 d OFE m complete 2 OFF s m m m Version 2 2 Version 3 2 B cce AIM Utilities User s amp Reference Guide Operator Control Panel System state Enable Power Calibrate Start Cycle Stop Stop Panic 170 List Bee 1 0 Numbers Currently In Use Local 1 0 List Matar Scata 2 1002 OFF E i P om 21 oF I ankas s 1002 OFF dei 101 2 tort cde adept technology inc statement Name Index refine tool moe am config _ attach robot clear message detach robot distance from get bits get parm get state get switch get time mcp check mcp write open menu retract z return loc set bits set oprmodes set parm set switch status message a task mode type mon wait for io clear record double click to retrieve March HH Bee Retrieve Cancel 1999 teak contig 6701298 08102 Scheduler Select Segment 22 snn Routine Name to Run Tn sched Description of Task Start a task for conveyor control
30. a name for the task to be displayed in the AIM menus This field is required Task Variable Name This entry field will define a V variable which will be set to the task number if the task is running This is used with most servers but also can be used with other V routines This field is optional Task Priorities This allows the user to specify the priorities used by V when running software V has 16 different time slice periods during one V tick For more information please see the V Operating System User s Guide Robot Selections Select Robot This radio button will specify that a robot or servo device is going to run in this task After selection of this button other menu fields will appear to allow you to specify other needed information Robot tt This entry field specifies the robot number to associate with this task This field is a required field Robot Name This entry field specifies the name of the robot which will be used by AIM This field is required if a robot is selected Check Option This entry field allows the user to check if AIM options have been loaded before allowing a task to start during the AIM boot up Append Allows you to add another record to the database without going back to the main menu Prev Allows the user to move to previous records in this database Next Allows the user to move to the following records in this database Done Allows the user to exit this menu AIM Utiliti
31. add and select executing tasks These items used to require customization of AIM software These utilities allow the customizer to create software libraries that can be easier to install by the user AIM Utilities also adds the ability to program precision point motions This allows the user to program robots with locations that have multiple arm configurations AIM Utilities provides the ability to program paths relative to frames of references This is needed when user wants to use the path features for process type applications AIM Utilities requires AIM version 3 2 and the Adept operating system version 11 4 or higher Some features of the AIM Utilities are described below Details are presented in subsequent chapters Manual Control Pendant Statements These statements allow the user to write sequences to display menu s and provide an operator interface using Adept s MCP Statements for Auto Startup and Robot Calibration Several statements have been added to aid in typical startups of Adept s equipment An example sequence is provided to better show the uses of these instructions Example Sequences and Databases The AIM Utilities software package includes example databases and sequences that are provided to aid in the development of your applications 1 4 Hardware Requirements The PalletWare Module requires the following Adept controller options Adept A series controller or MV controller with AdeptWindows A
32. follows where the braces define optional clauses DETACH Robot yes no Pendant yes no The statement performs the following steps 1 selecting the Robot option the current robot running in the task will be detached from computer control 2 By selecting the Pendant option the MCP will be detached DISTANCE_FROM This statement will return the current robot distance from a specified location The statement s syntax is as follows where the braces define optional clauses DISTANCE_FROM Current POS To location Return To variable The statement performs the following steps 1 The location argument is used as a reference to determine the distance in millimeters from the current robot location 2 The actual distance is output to the Return To variable in the variable database AIM Utilities User s Guide Rev 3 2B 57 Chapter 4 Using AIM Utilities GET_BITS This statement will return a BCD value based on the current setting of a block of input signals It also allows the user to wait for the proper input value before continuing the program The statement s syntax is as follows where the braces define optional clauses GET BITS NUM of BITS constant BEGINING SIGNAL input RETURN VALUE TO variable WAIT UNTIL opr variable TIMEOUT variable The statement performs the following steps 1 TheNUM of BITS constant argument specif
33. must be loaded to view these example databases EX_START MOD This example shows a startup sequence which will also enable power and calibrate the robot AIM Utilities User s Guide Rev 3 2B Sequence Examples A 1 Introduction and Overview 78 Start Up and Calibrate 78 Calibrate 79 Start Up Sequence Example from PalletWare 80 Start Button Control Sequence 81 Cell Control Sequence Example 82 Second Cell Control Example 86 Robot Main 91 Main Sequence Example from PalletWare 92 MCP Sequence 101 AIM Utilities User s Guide Rev 3 2B 77 Appendix A Sequence Examples Introduction and Overview Provided in the appendix are several example sequences which are available in various files on the AIM Utilities Example Database disk They are listed here for reference Start Up and Calibrate Sequences These sequences are examples of how to auto start and calibrate robot systems This first example resides in the START MOD modules files This sequence will startup the production cell and calibrate the robot The calibrate sequence is the second sequence provided Sequence
34. on the first line on the LCD display on the teach pendant This text string is read from the variable database AIM Utilities User s Guide Rev 3 2B 61 Chapter 4 Using AIM Utilities 3 The Line Counter argument allows the user to specify a number value that will be appended to the first line string displayed on the pendant 4 The Detach Pendant selection allows the user to detach the pendant after completion of the task Keeping the pendant attached will prohibit selection of the pendant from other V tasks MOUNT_NFS This statement will allow the user to mount another drive or memory source to be used with the Adept controller via NFS This statement allows the user to mount a drive via an AIM sequence This may be useful in a startup sequence statement s syntax is as follows where the braces define optional clauses MOUNT NFS Server Name string_var Server Address string_var Mount Name string_var Mount Path string_var The statement performs the following steps 1 62 This statement will mount another computer s disk drive or memory source via NFS It basically performs the equivalent of the V monitor instruction FSET to mount the drive The Server Name argument is used to specify the node or name of the computer you are attached to Please note that you can have as many as nine attachments to other sources which includes multiple computers The Server Address argument specifies
35. provided in this manual for more details TCP IP V Server This module allows a PC MV TCP Client to retrieve information from the controller that is running this application See the appendix chapters provided in this manual for more details 4 9 Example Sequences A diskette is provided with AIM utilities that provide examples for different applications These files are Imported using the AIM Modules utilities In most cases there are several databases provided with these examples The examples are provided to give ideas to the user to solve their application problems They are not intended to work directly in a customer s application The list below describes the database modules available at this time Example sequences are documented in appendix A of this manual 1 76 EX_DISP MOD This database module contains dispense examples for use with the AIM Dispense Module Included with in this example is a conveyor dispensing application a Cell Control or supervisor sequence for error recovery and other dispense examples EX_MCP MOD This example database module is a sample sequence of how to use the MCP sequence task statements provided in the AIM Utility package This example shows how to create a sequence to allow a pendant routine to change the palletizing data in the locations database EX_PALWR MOD This example database module is an example PalletWare application The AIM PalletWare software
36. set per the display Additionally other system information is shown on this screen This menu can be accessed by using the Show pulldown and selecting Cell Status Show Cell Status The figure below is the Cell Status Menu INPEIA c aL 1001 Change these 3001 Gripper Open cal Not Calibrated 1002 descriptions 3002 Gripper Close Pover Disabled 1003 and IO values 3003 Spare Lc NN 1004 in the STSINI 3004 Spare Meter 823 2 1005 database 0001 SIO Output Estop Panic Pushed 1006 None 0002 SIO Output Pndnt Automatic Mode m m m m m m m m User System startup POS 5 Complete 100 Robot 862 106 14 Sep 98 1066 800 0 000 876 300 System 3404 285 Status ERR Not complete OS 12 2 Edit C1 Figure 3 14 Cell Status Menu AIM Utilities User s Guide Rev 3 2B 53 Chapter 3 AIM Utilities Menus 3 12 MCP Teach Menu Changes The AIM Utilities package has changed the MCP menus that are used by both the Location and Precision Point databases New MCP menu selections are Prv Rec and Nxt Rec These buttons allow the user to select other records in the database from the teach pendant The TOG_SEL allows the user to toggle thru the Approach Location and Depart teaching when using the locations database This menu appears on the teach pendant when the TEACH button is pressed when editing a location or pre
37. steps 1 2 3 4 5 6 7 8 If there is an approach path specified begin moving along it Move to the approach location If tool signature bits and nest presence signals are used check to make sure the end effector is in its nest and verify that there is no hand attached to the robot Move to the tool acquire location and activate the hand acquire signals Depart from the pickup location Make sure the the correct tool is attached to the robot and the tool nest is empty Execute the pickup routine to initialize gripper I O If a departure path is specified move along it Related Routines rn ch put 120 AIM Utilities User s Guide Rev 3 2B Calling Sequence rn ch put app path rec ref dep path rec error Function Runtime primitive to return a tool to its nest The CHANGE_HAND statement uses this primitive Usage Considerations Assumes the appropriate Tool database record is open Input Parameters app path rec Real value variable or expression that defines the Path database record number for the optional path to follow while approaching the tool nest location ref Transformation variable function or compound transformation speci fying a reference frame If the tool nest locations are defined frame rel ative they are defined with respect to ref dep path rec Real value variable or expression that defines the Path database record number for the optional path to follow while departi
38. the OUTPUT disk e g A B C D Answer when prompted Enter spec of file s to copy blank to exit Press the ENTER key when prompted a sub directory name may be specified Enter output subdirectory blank for default Answer Y when prompted Do you want existing files automatically superseded Y N Answer g when prompted Copy this file After the last disk has been copied press the ENTER key when prompted Enter spec of file s to copy blank to exit Select exit from the main menu AIM Utilities User s Guide Rev 3 2B Verifying Installation 2 3 Verifying Installation To verify the correct installation of the AIM Utilities Module follow the steps below 1 Set the default disk to the AIM Utilities subdirectory and enter the following commands to load the AIM Utilities Module LOAD LAIM V2 COMMAND LAIM 2 AIM should now load and boot up properly If you have not installed the Dispense Module or PalletWare software the system will default to loading the MotionWare application software After completion of the steps above the installation is complete If you experience problems check that the installation procedures were followed exactly If problems persist contact Adept Applications Engineering at the number listed in Chapter 1 2 4 Installing Utilities to existing Applications The AIM Utilities software can be installed on existing applications provided any customizations followed Adept recomm
39. the Quick Change Software is reviewed The CHANGE HAND Statement The statement performs automatic tool exchanges The statement s syntax is CHANGE HAND APPROACH path OLD TOOL tool DEPART path APPROACH path NEW TOOL tool DEPART path IF SIG ON constant The statement performs the following series of steps 1 Ifan old tool is specified and is attached to the robot place the tool in its nest First approach the old tool nest using the optional approach path Next move to the nest location and detach the hand Finally move away from the nest along the depart path if a depart path is defined 2 If anew tool is specified and the hand is not already attached pick up a hand at its nest location First approach the nest following the optional approach path Next move to the nest location and attach the hand After picking up the tool depart along the transit path if a depart path is specified 3 Ifthe optional IF SIG ON is specified the statement will be executed if the specified signal is on If the signal is off the statement will be by passed 4 The path arguments reference records in the Path database specifying standard AIM paths The Quick Change argument is linked to the Quick Change database records which contains the tool nest locations Note that the CHANGE HAND statement can be programmed to simply return an end effector acquire an end effector or perform an entire quick change task If to
40. then select TOOL state from the manual control pendant and choose RZ from the mode control buttons Move the robot using one of the speed bars The robot should rotate about the axis of the tool More documentation is available on tool offsets in the MotionWare Users Guide AIM Utilities User s Guide Rev 3 2B 51 Chapter 3 AIM Utilities Menus 3 10 Status Display Page Provided with the AIM Utilities software is a utility to display the current IO status based on the names defined in the variable database This display shows both the global and the local database modules drive devices thru a network Show IO List The figure below is the menu display of the variable names and input and output values for those IO s cycle start start input cell running cycle complete cycle start start input cell running cycle complete Version 2 2 52 AIM Utilities User s Guide Rev 3 2B Cell Status Display Page 3 11 Cell Status Display Page Provided with the AIM Utilities software is a menu screen that shows the current system status This status menu runs in task 6 where the typical AIM status screen is shown There is an initialization database provided for the text that appears next to the IO displays on the menu The initialization database is called stsini db under the initialization database selection in the pulldown menu called SETUP This screen shows the IO state and allows the outputs to be
41. to Load software during startup Off Disables software loading File Neme to Load O utmod ovr Routine Name ut mod init On if loading a overlay file Off if loading a V file On if file is optional Off displays a error if failure e Prev Next Done Figure 3 2 Software Loader Record Software Files Be sure to include the name of the Plug In INF This will be used during copying operations w skamu pd Hatta wohin The description of task is displayed on the main software loader menu page This is provided so you can add comments or a description of the operation 6 The On Off selection of loading an overlay file performs the following operations ON The On state will load an AIM Overlay file and execute the specified program based on the supplied fields After the program has been executed the overlay software will be deleted from memory AIM Utilities User s Guide Rev 3 2B 31 Chapter 3 AIM Utilities Menus 32 OFF The Off state will load a V file if the specified routine does not exist in memory The software will remain in memory after completion The On Off selection of the optional file performs the following operations If selected AIM will try to load the software module if the file does not load no error condition will result and AIM will continue loading the system If this button is not selected AIM will try to l
42. true WAIT robot complete Mod ex_palwr Seq io _ control EDIT mode Figure A 12Cell Control Second Example Page 4 AIM Utilities User s Guide Rev 3 2B 89 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit 150 Tell the PLC the robot is in manual and force the robot to move 151 to a safe position also setup indicator lights 152 153 IF run_manual false 154 SET run_manual true 155 SET run_auto false 156 IO OUTPUT auto signal 157 158 Tell the robot to stop the main sequence and move the safe 159 160 SET stop rb control true 161 WAIT robot complete 162 SET robot complete false 163 SET stop robot false 164 IO OUTPUT auto light 165 END 166 7 167 Check reset button for a and exit pallet out of station 168 169 IF reject pb or reject a seq 170 IO OUTPUT send a out 171 WAIT UNTIL a ready 172 IO OUTPUT send a out 173 WAIT 100 174 SET reject a seq false 175 END 176 177 Check the reject B button and send out the pallet 178 179 IF reject b pb or reject b seq 180 IO OUTPUT send b out 181 WAIT UNTIL b ready 182 IO OUTPUT send b out 183 WAIT 100 184 SET reject b seq false 185 END 186 END 187 188 Allow 030 for additional processing of other tasks 189 WAIT 3 190 END Mod ex_palwr Seq io control EDIT mode Figure A 13Cell Control Second Example
43. used to calibrate the robot as well on start with some additional statements The statements below select and start the sequences SELECT TASK Robot 1 MODULE examples SEQUENCE main SELECT TASK IO Control MODULE examples SEQUENCE io control START TASK IO Control O DO J o i b o t 1 il Mod ex_palwr Seq auto start Figure A 3PalletWare Start Up 80 AIM Utilities User s Guide Rev 3 2B Start Button Control Sequence This example is a modified version of the provided START sequence This modification will start the IO Control task This example is located in the file Sequence Editor 00 4200 Move Find Edit This sequence in this example was in the Start sequence in the rowctl module It starts up the cell by running the IO Control sequence If the sequence is currently not running start it If it is running tell it to start the main sequence TASK TASK 1 STATUS tmp strt Check the status of task 1 IO Control task IF tmp strt 3 If the task is not running start it WAIT 30 SELECT IO Control MODULE test SEQUENCE io control SELECT Control MODULE test SEQUENCE accum control START TASK IO Control END Tell the IO Control task to start the main task SET start seq Mod ex_palwr Seq start EDIT mode Figure A 4Start Button Sequence Example AIM Utilities User s Guide Rev 3 2B 81 Appendix
44. will select the standard MotionWare software modules to load as well as the task selections PCB Software Selection Pressing on this button will select the standard PCB software modules to load as well as the task selections Dispense Selection Pressing on this button will select the standard Dispense module software modules to load as well as the task configurations PalletWare Selection Pressing on this button will select the standard PalletWare software modules to load as well as the task configuration Software Modules Display This display area shows what is currently selected by the system The menu displays an X if the software module is selected to load during startup It displays On if the software loaded is an overlay file and displays Off under the Optional heading if an error message will occur during loading if the module cannot be loaded If you select a row on this display page and double click you will be able to edit the software loader record Please refer to the Software Loader Record Menu on page 31 for more information on editing records Editing Button Area These buttons allow you to perform functions on the software loader database Insert Button This button allows you to insert a record before the highlighted area on the display page This is useful because many software modules require other modules to be loaded before they will load properly Append Button This button will create a new record at th
45. 17 gripper closed integer 2 110 AIM Utilities User s Guide Rev 3 2B Table B 4 Quick Change Database Variable Name Variable Name Interpretation qc db Quick Change database number cc name Field number for name cc update Field number for update date cc device Field number for device qc on stand Field number for tool on stand signal qc hand num Field number for hand number qc get rtn Field number for pickup routine qc put rtn Field number for put down routine qc tool attch Field number for tool attach qc total sig Field number for total signatures qc first sig Field number for first signature qc acquire tool Field number for acquire tool qc release tool Field number for release tool qc acquire del Field number for acquire delay qc release del Field number for release delay qc grip open Field number for gripper open qc grip close Field number for gripper closed qc loc name Field number for location record name qc location Field number for location record number AIM Utilities User s Guide Rev 3 2B 111 Appendix B Quick Change Documentation B 3 Quick Change Operation This section describes the operation of the Quick Change Module First the Change Hand statement is reviewed Next details about the database menu and field inputs are discussed Finally an example using
46. 4 VER 1 0 Event I O Manager Uses DB 12 hpgmod 11 Sep 98 09 43 44 VER 1 0 HPGL Graphics Module Displays cCnumod 11 Sep 98 09 47 24 VER 1 0 ConnectWare Module Controller tcpmod 11 Sep 98 09 48 32 VER 1 0 980206 TCP IP V Server for AI Source Directory double click above for new search Figure 4 7 Available Software Plug Ins AIM Utilities User s Guide Rev 3 2B 75 Chapter 4 Using AIM Utilities The available Plug Ins are listed below 1 Quick Change Module for Changeable Tooling This software module provides utilities to deal with tool signatures and placing and retrieving tooling from nest locations See the appendix chapters provided in this manual for more details EVTMOD NF Event I O Manager This module allows the user to setup I O events that can be measured in Time and a selected output triggered if the event fails See the appendix chapters provided in this manual for more details HPGMOD INF HPGL Graphics Module Displays Corel HPGL Exports This module allows the user to setup graphic panels on a menu page to display disk resident files onto the menu HPGL export is currently the only file format supported See the appendix chapters provided in this manual for more details CNWMOD NF ConnectWare Module This module adds new custom statements that allows multiple MV Controllers that are running AdeptNet to communicate through AIM DDE See the appendix chapters
47. 8 SET safe a true 259 SET safe b true 260 ELSE 261 RETURN LOC X pos trmp loc 262 IF tmp loc 750 263 MOVE TO safe left 264 RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 265 END 266 MOVE ALONG safe pathl TO home 1 267 SET safe a true 268 SET safe b true 269 END 270 E 271 IO OUTPUT stop light 272 SET stop rb control false 273 SET robot complete true Mod ex_palwr Seq main EDIT mode Figure A 23PalletWare Main Sequence Page 9 100 AIM Utilities User s Guide Rev 3 2B MCP Sequence Example This example demonstrates running a sequence to use the MCP as the interface This particular example uses the MCP to allow the operator to change the pallet parameters for a standard motionware depalletizing pick and place application This sequence is available in the EX MCP MOD modules file Sequence Editor File Go Move Find Edit This is the main Pendant Routine for station 4 diverter column WHILE 1 MCP WRITE BUTTON 1 Increase BUTTON 3 Decrease BUTTON 5 Done Line 1 Text div 11 col Line Counter tray col MCP CHECK Button 1 5 button val IF button val increase IF tray col gt 1 AND tray col tray col max SET tray col tray col 1 END ELSE IF button val decrease IF tray col gt 1 AND tray col lt tray col max SET tray col tray col 1 END ELSE GOTO diverter END END diverter row WHILE 1 MCP WRITE BUTTON 1 Incr
48. Editor Move Find Edit This sequence performs the startup of the station Select the cell control task and sequence SELECT IO Control MODULE examples SEQUENCE cell control Check robot to make sure it needs to be calibrated GET PARM not calibrated RETURN TO temp IF temp 1 DO 9 m n s Q Calibrate robot Turn on system dry run switch SET_SUITCH dry run EQUAL TO on Select the robot task and the calibrate sequence SELECT Robot 1 MODULE strt cal SEQUENCE calibrate Make sure the robot task vill only run one cycle SET OPRMODES TASK O TYPE REPEAT SETTING 1 Start the robot task to perform the calibration START T SK Robot 1 WAIT 3000 END Pop up operator control menu page OPEN MENU Page Name page name File Name file nm wait for calibration and start cell control START TASK IO Control Mod strt_cal Seq startup Figure A 1Auto Start Up Sequence 78 AIM Utilities User s Guide Rev 3 2B Calibrate Sequence This calibrate sequence is located in the EX START MOD modules files provided with AIM Utilities Sequence Editor File I GQ J m n gt s Q tS Go Move Find Edit In order to run in task 0 the system switch dry run must first be turned on before executing in task 0 In this example it is done in the startup task which will run the robot calibration Detach the robot dry run can be turned off DETACH Robot yes Turn on system power SET_S
49. M Utilities User s Guide Rev 3 28 LOAD A DISKCOPY EX A DISKCOPY 2 Remove the Utility Disk and insert the AIM Utilities disk into drive A Choose the Copy multiple files option from the DISKCOPY menu and copy all of the V2 and SQU files to the AIM default subdirectory on the hard disk drive These files must be reside on the AIM default subdirectory during AIM execution or an error will occur Specifying the wildcards V2 and SQU for the copy command will copy all of the V2 and SQU files to the hard disk Because some of the files replace standard AIM files answer Y for yes to DISKCOPY s supersede prompt Table B 1 Quick Change Module Files Files Contents RUN CH V2 Commented Quick Change runtime routines RUN CH SQU Squeezed Quick Change runtime routines MENU CH SQU Squeezed menu routines QCMOD OVR Startup and initializing Quick Change Software QUICKCH MNU Quick Change menu file OC_IO MNU Quick Change IO menu file QUICKCH RFD Quick Change database rfd file QUICKCH DB Quick Change database QCICON DAT Quick Change menu icons ERRORQC DB Quick Change error database STATOC DB Quick Change statement database The DP RFD and MNU files of Disk 1 must reside in the same subdirectory as the AIM Base Package DB files Copy those files to the appropriate subdirectory Specify a diskcopy if the program database and datab
50. Page 5 90 AIM Utilities User s Guide Rev 3 2B Robot Main Sequence This sequence controls the motions of the robot system This example comes from a dispense module application and is used for conveyor tracking This is located in the modules file Sequence Editor Move Find Edit This sequence is the main robot sequence for dispensing In this example conveyor tracking is used Move Robot to a safe location MOVE TO home CHG DISP SPEED DISPENSE PATH example PERCENT CHANGE spd correct Loop thru sequence WHILE true Turn on in cycle and green stack light IO OUTPUT in cycle IO OUTPUT green stack lt Dispense the defined dispense path DISPENSE ALONG example SET num cycles num cycles 1 SET scale count scale count 1 MOVE TO finish END seq end Mod disp Seq main EDIT mode Figure A 14Dispense Robot Main Sequence AIM Utilities User s Guide Rev 3 2B 91 Appendix A Sequence Examples Main Sequence Example from PalletWare This example comes from a PalletWare example It is very useful in showing how to handle Righty and Lefty arm configurations as well as a general guide in PalletWare applications Sequence Editor File Go Move Find Edit Initialize variables used for control of this sequence SET stop rb control false SET safe a false SET safe b false Turn off Stopped Light IO OUTPUT stop light oO Jo n s Q Initi
51. RETURN_JTS This statement will return the current location of the robot in joint coordinates The statement s syntax is as follows where the braces define optional clauses RETURN JTS JT 1 variable JT 2 variable JT 3 variable JT 4 variable JT 5 variable JT 6 variable The statement performs the following steps 1 The variable arguments are all optional and will return the Joint coordinate value based on the robot s current position Coordinates are returned in units of millimeters or degrees SET_BITS This statement will turn on a block of outputs based on the provided BCD number The statement s syntax is as follows where the braces define optional clauses SET_BITS Num of Bits constant Begining Signal output Set Value To The statement performs the following steps 1 The Num of Bits variable argument will specify the number of output signals used to represent the provided BCD number 2 The Beginning Signal output argument specifies the first signal number of the block of outputs to be used 3 The Set Value To variable argument is the BCD value the outputs will be set to AIM Utilities User s Guide Rev 3 2B 65 Chapter 4 Using AIM Utilities SET_OPRMODES This statement allows the user to set internal AIM settings that are normally set by the Task Control panel or the initialization database The statement s syn
52. RITE etina ion DER eii p EE 61 MOUNT NFS rne sm aa deg 62 MOVESUT oss o iain hus a werd eg ICE ds 63 OPEN MENU zuo ue tte tear ee 64 PMOWVE 2 eina ia s haa eee 64 RETRACT Z se ea d ELA ep trs 64 RETURN FOG iioii Rape PRU Pa E 65 RETURN doped 65 Can unaq toute itt adis mr tb du 65 SET OPRMOBDES sz pu Bruns ER er d Reto 66 SET PARM zx uini eee Ep Pau kapa p PRAE eR p ets 66 SET PATE 22 st te ede aaah opened ed aeg 66 SET SWITCH iisdem c DL vet est 67 SHIET MOWVE t c tee re Dist tate ores EE 67 STATUS MESSAGE Swit bebe bebe eee eb erectas 68 TASK MODE aiit inb n ep Suite da ee 68 WAIT FOR Qoi ek ER eva Eden Sees Sd 69 TYPE MON inum etti be ee RIS Be 69 4 2 Calibration from 70 4 3 Using the Message Statements 71 44 MGP example uero eR pe RE E METRO EE ARMES 71 4 5 Tool Offset Teaching 72 Testing the Tool 74 4 6 Paths Relative to 75 4 7 Precision Point 0 75 4 8 Software
53. TCP Debug Window AIM Utilities User s Guide Rev 3 2B 135 Appendix F TCP IP V Server F 3 TCP Initialization Database Provided with this software package is a initialization database to allow the user to configure to operation of the TCP software package Listed below are the items available in the database provided with this software 1 Statements TCP This record in the database loads a statement database for customized statements for TCP Currently no statements are available 2 TCP Clients Allowed This is the maximum number of simultanious connections to the TCP Server Maximum is 15 Default is 5 3 TCP Port Number This the TCP port number used for the communication between the devices The current default is 400 4 TCP Task This the task number the server will run in Currently defaulted to 18 136 AIM Utilities User s Guide Rev 3 2B A ARM_CONFIG 56 ATTACH_ROBOT 56 CALIBRATE 57 CLEAR MESSAGE 57 D Database Quickch db 104 DETACH ROBOT 57 DISKCOPY utility 104 DISPENSE 56 DISTANCE FROM 57 G GET BITS 58 GET PARM 58 GET STATE 59 GET SWITCH 59 GET TIME 60 H HNDSHKWAIT 56 57 58 59 60 61 62 63 64 65 66 67 68 69 130 131 M MCP CHECK 61 MCP WRITE 61 OPEN MENU 62 P Part Type Database 29 R RETRACT_Z 64 RETURN LOC 65 S SET BITS 65 SET OPRMODES 66 SET 66 Index SET_SWITCH 67 Statements CHANGE HAND 104 DISPENSE 130 131 STATUS_MESSAGE 67
54. WAIT 10 78 SELECT_TASK Robot 1 MODULE examples SEQUENCE main 79 START TASK Robot 1 80 SET time set false 81 SET start conv true 82 83 END 84 SET start sys false 85 ELSE 86 SET error num true 87 STATUS MESSAGE AI CTL NUM 200 Message String ipressure mess Wait For 2200 88 END 89 ELSE 90 STATUS MESSAGE AI CTL NUM 200 Message String press reset 91 END 92 END 93 7 94 Check for cycle stop 95 IF stop sys or cycle stop 96 WAIT UNTIL robot busy 0 or power on 97 IF robot busy 98 IO OUTPUT stop conveyor 99 STOP TASK Robot 1 100 END 101 SET stop sys false 102 IO LIST green stack lt in cycle 103 END 104 105 Check for guard door or E stop condition 106 IF guard bypass or error num 608 or guard closed 107 IO OUTPUT stop conveyor 108 STOP TASK Robot 1 109 IO LIST green stack lt in cycle stop conveyor fault ired stack lt 110 STATUS MESSAGE AI CTL NUM 200 Message String iremove product Wait For 2200 112 8 113 Check for Air pressure off Mod ex disp Seq cell control EDIT mode Figure A 7Cell Control First Example Page 3 84 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Go Move Find Edit SET error num true STATUS MESSAGE AI CTL NUM 200 Message String ipressure mess Wait For 2200 END ELSE STATUS MESSAGE AI CTL NUM 200 Message String reset END n END
55. WITCH power EQUAL TO on GET_SWITCH power RETURN VALUE TO temp tm Retrieve the current time which is used for checking power on GET_TIME Timer Number 10 push time temp tm Loop until power is turned on properly WHILE NOT temp tm SET_SWITCH power EQUAL TO on SWITCH power RETURN VALUE TO temp tm GET_TIME Timer Number 10 push time temp_task3 Display error message of power does not come on IF temp_task3 temp tm gt 4 STATUS MESSAGE AI CTL NUM 200 Message String robot Wait For 2200 END END Turn off dry run switch SET SWITCH dry run EQUAL TO off Display message to a customized menu field that robot is calibrating STATUS MESSAGE AI CTL NUM 200 Message String robot calib Calibrate the robot CALIBRATE Mod strt_cal Seq calibrate Figure A 2Calibrate Sequence Example AIM Utilities User s Guide Rev 3 2B 79 Appendix A Sequence Examples Start Up Sequence Example from PalletWare This sequence is a startup sequence that came from the PalletWare example With the Adept 1850 Robot calibration occurs during V boot up because the robot uses absolute encoders This is a very simple way to start another sequence running in a different task This example is located in the File PALW MOD Sequence Editor Go Move Find Edit after AIM has booted up This routine assumes that the robot has already been calibrated In the 1850 case the robot is calibrated after V starts up This routine can be
56. a new one A new Aim database called for Quick Change has been added to allow the positions and I O signals to be entered Installation Procedure This section describes the Quick Change Module installation procedure To simplify the installation the user should have the Adept Utility Disk The Utility Disk is supplied with all Adept controllers Because this software is strutured in AIM the system must be equipped with A series controller Table B 1 lists the files that are included with the Quick Change Module The files reside on the AIM Utilities diskette this diskette contains the runtime routines and the database definition files The files with SQU filename extensions are squeezed i e all comments have been removed from the files Squeezed files require less memory when they are loaded than their commented non squeezed V2 counterparts The squeezed files and their V2 counterparts are otherwise identical In Table B 1 files marked with P are protected files and cannot be read by the user To install the Quick Change Module perform the steps described below These steps assume that AIM version 3 1 or later is already copied onto the system s hard drive The installation procedure copies all the files listed in Table B 1 onto the hard disk drive 1 Load and execute the DISKCOPY utility from Adept Utility Disk To execute the program place the Utility Disk in drive A and issue the following monitor commands 104 AI
57. acking to prevent an unwind condition during tracking If not defined it is set to the multiple selection The SINGLE MOVE if set to yes will force the Joint 4 motion to remain within _ 180 degrees relative to the zero position of the joint This will force the joint to anwind during the motion to the position This occurs during the motion to the final location If not defined it is set to the multiple selection AIM Utilities User s Guide Rev 3 2B 63 Chapter 4 Using AIM Utilities OPEN_MENU This statement will allow the user to open an AIM menu from a sequence A common use would be opening a menu during a startup sequence The statement s syntax is as follows where the braces define optional clauses OPEN MENU Page Name string_var File Name string_var The statement performs the following steps 1 The Page Name string_var argument specifies the menu page name to be opened by this statement 2 The File Name string_var argument specifies the Menu File to be opened by this statement PMOVE This statement will allow the user to move to a precision point location The location is defined in joint coordinates rather than world coordinates This is very useful when using jointed robot arms The statement s syntax is as follows where the braces define optional clauses PMOVE FROM ppoint TO ppoint The statement performs the following steps 1 The FROM argument all
58. ading Mod ex_palwr Seq main EDIT mode Figure A 18PalletWare Main Sequence Page 4 AIM Utilities User s Guide Rev 3 2B 95 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit 218 The Stack_ instructions allow the robot to place cases based group layer or pallet 120 121 STACK_CASE 122 7 123 3 Check to see if the pallet is complete and move clear to allow Isai the pallet to be moved out of the way 125 126 IF pallet_a_done 127 RETURN LOC X pos tmp_loc 128 IF tmp loc 750 129 MOVE TO safe left 130 RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 T3117 END 132 MOVE HOME 133 7 134 Tell IO CONTROL Robot is clear of A 135 SET safe a true 136 7 ak Eject the pallet out of the station 138 IO OUTPUT send_a_out 139 WAIT UNTIL a ready 140 IO OUTPUT send a out 141 END 142 END 143 END 144 END 145 END 146 147 Check to see if the IO Control task wants to stop the robot 148 IF stop rb control 149 GOTO stop 150 END 151 152 153 Service Pallet station B 154 155 This section of code simular to servicing station 156 It not commented to any detail for ease of reading 157 7 B Mod ex_palwr Seq main EDIT mode Figure A 19PalletWare Main Sequence Page 5 96 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Move Find Edit 152
59. alize tool offset used with machine note all positions that were taught for these motions were taught with the offset invoked This also includes the paths SET TOOL tool Move to safe location Determine the current configuration of the arm this tells us if the arm is in a righty or lefty configuration This sequences goes to two different safe locations based on the arm configuration due to obstructions in the work cell ARM CONFIG return config robot config Turn off any error lights IO LIST 33 34 35 IF robot config The RETURN LOC statement gets the current position of the robot This example has looks at the position and moves a different path depending on how far out the robot arm is RETURN LOC X pos tmp loc If the x position is greater than 750MM move first to safe right IF tmp loc 750 MOVE TO safe right END Now retract the z axis of the robot and move to the safe location Mod ex_palwr Seq main EDIT mode Figure A 15PalletWare Main Sequence Page 1 92 AIM Utilities User s Guide Rev 3 2B Sequence Editor Go Move Find Edit RETRACT 2 robot height 2500 speed 40 acceleration 50 deceleration 50 MOVE ALONG safe pathr TO home r Tell the IO CONTROL task that the robot is in a safe SET safe a true SET safe b true ELSE The following software handles the case if the robot configuration It is simular to handling the Righty RETURN LOC X pos tmp loc IF tmp loc 750 MOVE TO safe left END
60. alue is negative the logic is inverted If the signal number is set to zero no switch is assumed hand number Integer Optional tool signature value that uniquely identifies an end effector This enables the tool acquisition and return routines to check that the proper tool is attached to the arm before continuing the Change_Hand sequence tool attach Integer Optional tool attach database field specifies an input signal number that senses whether the tool is attached to the manipulator s wrist pickup routine String 15 characters A standard name that specifies the name of the subroutine that is called to set default end effector I O settings after acquiring an end effector from its nest putdown routine String 15 characters A standard name that specifies the name of the subroutine that is called to set default end effector I O settings before returning an end effector to its nest total signatures Integer Optional total signatures database field specifies the number of bits required corresponding to the number of tools to be used in the system first signature Integer Optional first signature database field specifies the first input signal number relative to the number of signatures specified in the total signatures field acquire tool Integer The acquire tool database field specifies the output signal that is activated to lock the tool to the quick change wrist release tool Integer The release tool database fie
61. ard file provided with AIM Paths relative to frames are accomplished by selecting the Named frame selection in the individual path records This must be selected for every path record along your process using the frame 4 7 Precision Point Module The precision point software module is provided for those applications where robot rotary axes must be defined in a joint position rather than a world coordinate position Examples are robots that have multiple axis definition to define a point or where an axis must unwind a joint before motion can begin The Precision Point database menus are shown in Chapter 3 of this manual The sequence statement Pmove is provided for these motions 4 8 Software Plug Ins Several software modules are provided with the easy install file INF We call these modules Plug Ins These modules are additional software functions that are neat features or are totally separate applications Future software features will be available in a Plug In form for ease of installation Plug Ins can be installed by accessing the Software Module Loader under the SETUP pulldown Select the Install button to get to the menu shown below The AIM Utilities Software Plug In disk contains the following software modules The display below is the actual Install window that will appear when using this disk Bek Install Available Plug In Modules single click below to select a Plug In to install Name Date Description evtmod 11 Sep 98 09 57 0
62. are plug in you wish to delete Select INF This allows you to select the current highlighted file This can also be done by double clicking with the pointing device Uninstall Button Pressing this button will begin the uninstall process AIM Utilities User s Guide Rev 3 2B Software Plug In Utilities Create the Software Module Install File This option allows the user to create an install plug in file for easy loading of the customizations that the user may have made This creates a file with the INF extension for easy listing of all software modules A total of 3 software loader records and 3 task configuration records may be used for the software module This allows the user more flexibility in the creation of their module The four lines of description written in the first selected software loader records will be used in the description of the software INF file when displayed during the install process The 20 fields available for software files are placed in this file for the operations listed in this section of the manual The menus used for this operation are described below Create Update Software Module e 19 3 gt Figure 3 8 Create Software INF File AIM Utilities User s Guide Rev 3 2B 41 Chapter 3 AIM Utilities Menus 42 Create Software module This selection will create the INF file specified by the entry data on this page Select Software Loader Record Button By pressing th
63. ase Tool signal 2031 Gripper Open signal 9 Gripper Closed signal 10 Quick Change Database The Quick Change database records required for 2 of the 3 end effectors are shown in Figure B 2 and Figure B 3 This record is created during database editing or automatically by the AIM linker during sequence start up if the tool is specified in the sequence database Important fields used by the CHANGE_HAND statement include Location field This is where the tool is stored when not attached to the robot The robot executes a complete approach and depart sequence to acquire and replace the t ool AIM Utilities User s Guide Rev 3 2B 113 Appendix B Quick Change Documentation Pickup routine This program is executed after the end effector is picked up from its nest The program might set the tool signal low so that the tool is not actuated when the tool is first attached to the robot System customizers typically will write this program the required calling sequence is described in Appendix B Hand number If there are multiple quick change end effectors in the workcell and tool signature signals are used this parameter uniquely identifies this tool The hand number is used to verify that the robot picks up the correct tool I Osignal definition Both end effector Quick Change records show the signals that were described the the previous section Sequence Statements The following CHANGE HAND statements are us
64. ase definitions files were placed in the same subdirectory when the AIM Base Package was installed Again AIM Utilities User s Guide Rev 3 2B 105 Appendix B Quick Change Documentation supersede existing files with DISKCOPY since some AIM Utilities files replace AIM Base Package files After successful completion of the steps above the installation is complete 106 AIM Utilities User s Guide Rev 3 2B B 2 The Quick Change Database Menu The Quick Change database supports all the needed data for the Change_Hand sequence statement The Quick Change database includes a field that defines the tool nest location where a quick change end effector is acquired and returned fields for tool signature and nest presence signals and fields that specify I O reset routines The I O reset programs executed before returning a tool to its nest or after the tool has been acquired sets end effector I O to default settings These routines can be used to prevent air lines from blowing when a tool is detached from the robot The Quick Change database record form is shown in Figure B 1 and the field descriptions are in Table B 3 Data from each field can be accessed in an applications program by using the V variable names listed in Table B 4 The record fields are described below Quick Change Tool exmpdis Go Seek Edit Help Device a 26 Jan 97 14 17 Quick Change Information Hand number 2 Pickup routine ch set io
65. ata file UTIL MNU Station RFD file UTINLMNU AIM Utilities Software Loader Menu File UTINI RFD AIM Utilities Software Loader RFD file UTINI DB AIM Utilities Software Loader Database UTLINI DB AIM Utilities Initialization database UTMOD INF AIM Utilities Plug In file UTMOD OVR AIM Utilities Initialization Loader File 20 AIM Utilities User s Guide Rev 3 2B Before You Begin UTTSK RFD Task Configurator RFD file UTTSK DB Task Configurator Database UTTSK MNU Task Configurator Menu AIM Utilities Plug Ins Quick Change Plug In QCMOD OVR Initialization routine for loading Quick Change QUICKCH DB Quick Change database QUICKCH MNU Quick Change menu database QUICKCH RFD Quick Change RFD file QC IO MNU Quick Change IO display menu QCINI DB Quick Change Initialization database QCICON DAT Icons for Quick Change QCMOD INF Quick Change Plug in loader file RUN CH SQU Quick Change squeezed runtime software RUN CH V2 Quick Change commended runtime software ERRORQC DB Quick Change error database MENU CH SQU Quick Change Squeezed Menu routines MENU CH V2 Quick Change Commented Menu routines STATOC DB Quick change sequence statements ConnectWare Plug In CNWINI DB ConnectWare initialization Database CNWMOD INF ConnectWare Plug In Loader file CNWMOD OVR ConnectWare Software initialization file AIM Utilities User
66. aught location if needed Motion Parameters Section Line Joint radio button selection allows the user to define a straight line or joint interpolated motion to the defined position Speed selection is a percentage of maximum speed This parameter is not limited to 100 This value is dependent on the type of robot being used in the application Coarse Fine nulling tolerance selection This determines how close the robot must be to the taught location before the next position or process is executed Fine is typically _ 0 001 inches with Adept robots Accel Decel specification These parameters control the acceleration and deceleration during the robot motion to the specified location Prof specification This is the acceleration and deceleration profile during a motion This is based on the robot that is running There are several preprogrammed profiles that will allow S curve acceleration Align Feature This feature will square up the wrist joints on a jointed arm 5 or 6 axis arms This is a good aid with robot teaching Strategy Parameter Section Strategy Routine This is a V routine that will be called once the robot reaches the specified position This routine will handle the specified inputs and outputs as well as the settling and dwell delays that can be specified Retry Count This allows the user to specify a number of retries if a failure occurs In this case the parameter is not used Settling Time This paramete
67. been loaded previously This can be done to reduce the number of task statements or the memory used by the software module in the system This operation will delete the software module on the main directory as well as in the software and task loader databases Create Update Software Module Go Seek Edit Help This utility allows the user to create an install file for automatic software module loading Additionally it will allow an easy way to update or create backup copies of the software module Update INF Install File E Un Install and Associated Files E create INF Install File Default Directory DISK gt C aimutl Display Current INF Files e CSTMOD 02 Sep 98 14 14 56 VER 3 1e General MotionWare Cus TEST 02 Sep 98 14 36 58 Load the AIM Utility Module Selected File Select INF e Un Install Done Figure 3 7 Uninstall Software Module uninstall Software module This selection will delete the files listed in the install INF file in the directory selected as the default directory This allows the user to delete all the software files as well as the records defined in the software loader and task configurator databases AIM Utilities User s Guide Rev 3 2B 39 Chapter 3 AIM Utilities Menus 40 Default Directory This is the disk directory to search for the install INF files and delete from Display Current INF Files This is a pick list for selecting the softw
68. by moving along a path and stopping 101 at a position close to the pickup location 102 103 MOVE_HOME 104 END 105 106 Tell IO_CONTROL that robot is clear of B and operating on A 107 108 SET safe_a false 109 SET safe_b true 110 111 Setup the data structure for the pallet The SET_ instruction 112 3 Initialize all of the data used for the case pick and pallet place 113 114 SET_GRIPPER 115 SET_PICKUP 116 SET_PALLET 117 Mod ex_palwr Seq main EDIT mode Figure A 17PalletWare Main Sequence Page 3 94 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Go Move Find Edit The Stack_ instructions allow the robot to place cases based on a group a layer or a pallet STACK_CASE Check to see if the pallet is complete and move clear to allow the pallet to be moved out of the way IF pallet_a_done RETURN_LOC X pos tmp_loc IF tmp_loc gt 750 MOVE TO safe_left RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 END Tell IO CONTROL Robot is clear SET safe_a true Eject the pallet out of the station IO OUTPUT out WAIT UNTIL a ready IO OUTPUT send a out END END END END END Check to see if the IO Control task wants to stop the robot IF stop rb control GOTO stop END Service Pallet station B This section of code is simular to servicing station It is not commented to any detail for ease of re
69. cified as an acknowledgment that the error occurred 4 4 MCP example The MCP sequence statements MCP_WRITE and MCP_CHECK are provided to allow users to develop AIM sequences that can control an interface for use with Adept s MCP These statements allow the user to write messages to the MCP and check for the function button presses Below is a sequence that was developed for a customer that wanted to change the pallet rows and columns from the teach pendant This sequence can be found on the AIM Utilities Database Examples disk Sequence Editor File Move Find Edit This is the main Pendant Routine for station 4 diverter column WHILE 1 MCP WRITE BUTTON 1 Increase BUTTON 3 Decrease BUTTON 5 Done Line 1 Text div 11 col Line Counter tray col MCP CHECK BUTTON 1 increase BUTTON 3 decrease BUTTON 5 done IF increase IF tray col AND tray col lt tray col max SET tray col tray col 1 END ELSE IF decrease IF tray col 1 AND tray col tray col max SET tray col tray col 1 END ELSE GOTO diverter row END END diverter row WHILE 1 MCP WRITE BUTTON 1 Increase BUTTON 3 Decrease BUTTON 5 Done Line 1 Text div 11 rov Line Counter tray MCP CHECK BUTTON 1 increase BUTTON 3 decrease BUTTON 5 done IF increase IF tray row AND tray lt tray row max SET tray tray row 1 END ELSE IF decrease IF tray rov gt 1 AND tray row lt tray row max SET tray tray rou 1 END ELSE GOTO div
70. cision point record The other buttons on the pendant remain the same as standard AIM software test location Tog Sel Prv Rec Nxt Rec JOOJOO Figure 3 15 MCP Teach Buttons 54 AIM Utilities User s Guide Rev 3 2B Using AIM Utilities 4 1 AIM Utilities Statements 56 eee he eat M Ed 56 ARM CONFIG 4 3mm Fe SE ae Fe Ue 56 ATTACH ROBOT cce ene act aha Bee as uma wa es 56 CALIBRATE a te ete there ha 57 CLEAR MESSAGE i Vgl II A 57 DETACH nic p x sean oe eae a 57 DISTANCE FROM 57 GET BITS eR I eR ae 58 GET PARM xus e E E ple S eaten 58 GET STATE re uli EIER SUE ERU 59 GET SWITCH x ee ee ex Ue Rom 59 GET TIME rus xp RR ee ee eres 60 J4 INERTIA elt im rwn REA REOR 61 MCP CHECK eue ERR raa e uim a a 61 MCP WRITE IRL EROIS Sa eu aad 61 MOUNT NES urn aa s mas epee ERU 62 MOVE er Eee uen teu e Cam ICE 63 OPEN MENU Loi TIR eee fex 64 cu 4g LS Reg ues e ets 64 2 RUE 64 RETURN LOG mre 65 RETURN JTS 3 22 i9 li e E YE eR 65 SED BITS o la
71. dept Teach Pendant MCP Mouse Monitor and Keyboard not required with AdeptWindows 68030 68040 68060 system processor with 8 Mb s of RAM The 68060 processor is recommended for high end applications that demand more processing speed AIM Utilities User s Guide Rev 3 2B 15 Chapter 1 Introduction 1 5 How Can Get Help Service Calls Adept Technology maintains a fully staffed Customer Service Center at its headquarters in San Jose CA 800 232 3378 When calling Customer Service please have the serial number of the robot if you have one the serial number of the controller and the system software version The system software version is available by issuing the command ID at the system prompt Training Information For Adept Training Course information please call 408 434 5024 Application Information There is also a dedicated phone line for assistance with robot applications The AIM Utilities Soft ware Package is considered an Adept RDA Services product Please call the Adept Cincinnati Of fice with software related questions at 513 792 0266 International Customer Assistance For information on training service or applications Adept also has a Customer Service Center in Dortmund Germany The phone number is 49 231 75 89 40 Outside of Europe or the USA call 408 434 5000 16 AIM Utilities User s Guide Rev 3 2B Installation 2 1 Before You Begin
72. e This section of code forces the robot to be ready to service the other station during a model change This allows the previous pallet to be ejected as well as allowing the robot to continue offloading station B IF change to a Check robot for configuration and switch if needed CONFIG return config robot config IF robot config Svitch to lefty mode RETURN LOC X pos trmp loc IF tmp loc 750 MOVE TO safe right RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 END MOVE HOME END SET change to a false END Clear and move to righty config IF change to b Check arm configuration before moving ARM CONFIG return config robot config IF robot config Switch to righty mode RETURN LOC X pos tmp loc IF tmp loc 750 Mod ex_palwr Seq main EDIT mode Figure A 21PalletWare Main Sequence Page 7 98 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Go Move Find Edit 222 Clear and move to righty config 223 IF change_to_b 224 Check arm configuration before moving 225 ARM CONFIG return config robot config 226 IF robot_config Switch to righty mode 228 RETURN_LOC X pos tmp_loc 229 IF tmp_loc gt 750 230 MOVE TO safe_left 231 RETRACT 2 robot height 2500 speed 60 acceleration 50 deceleration 50 232 END 233 MOVE HOME 234 END 235 SET change to b false 236 END 237 238 Allows other tasks processing if needed wait 030 seco
73. e end of the database After selection the record will appear Delete Button This button will delete the currently highlighted record on the display page Install Button This button will pop up another display page to allow you to install software modules Shutdown Button This button will shutdown the AIM software package After selection of new software modules it is required to restart the AIM system for the software modules to load AIM Utilities User s Guide Rev 3 2B Software Loader Record Menu Edit Button This button will pop up the highlighted record on the display page to allow changes to be made Please refer to the Software Loader Record Menu on page 31 for more information on editing records Save Button This button will save the current changes to the Software Loader database Done Button This button will exit the current menu display page 3 2 Software Loader Record Menu The software loader record page allows you to edit the software modules to be loaded To review or edit a record highlight and double click on the record from the display page you wish to edit Additionally you can highlight a record and press the edit button Load Software Module install soft Segment 37 Description of Task 9 18 Feb 99 14 54 Paths relative to Frames Operator Panels Software Module and Task Loader location programs Tool Offset Teaching 30 task statements for other operations On
74. e operator menu select the Execute pulldown and the Operator option Execute Operator Operator Control Panel pF II Ez System state Enable Power Calibrate Start Creole Stop e Stop Panic Figure 3 9 Standard Operator Control Panel The Enable Power button will try to turn power on to the robot system Some systems may require the user to press an external button to enable This is in the case of a CE certified Cat 3 robot If an error occurs during this operation an error message will be displayed The Calibrate robot will display the current status of the robot calibration as well as allowing the user to calibrate the robot The Start button will execute the standard control sequence called start This has the same function as in the Master Control Panel The Stop button executes the stop sequence This will generally cause a pause state to the sequence The Cycle Stop button executes the cycle stop sequence AIM Utilities User s Guide Rev 3 2B 43 Chapter 3 AIM Utilities Menus The Panic Button will halt the robot motion and disable power to the system 3 6 Precision Point Database The AIM Utilities package contains software to allow motion to a joint defined position rather than a world coordinate defined position This allows the user to work better with positions that require a specified arm joint position This is very useful with jointed arm applications This will als
75. ease BUTTON 3 Decrease BUTTON 5 Done Line 1 Text div 11 row Line Counter tray row MCP CHECK Button 1 5 button val IF button val increase IF tray rov gt 1 AND tray row lt tray row max SET tray rov tray 1 END ELSE IF button val decrease IF tray rov gt 1 AND tray row lt tray row max SET tray rov tray 1 END ELSE GOTO diverter column END END Seq sequence EDIT mode Figure A 24MCP Example AIM Utilities User s Guide Rev 3 2B 101 Appendix A Sequence Examples 102 AIM Utilities User s Guide Rev 3 2B Quick Change Documentation B 1 Introduction and Overview 104 The CHANGE HAND 104 Installation 104 B 2 The Quick Change Database Menu 107 Quick Change Database 107 Quick Change 108 Quick Change Operation 112 The CHANGE HAND Statement 112 B 4 Quick Change Example 113 Quick Change Database 113 B 5 Quick Change Routines 117 ch set l0 225 et be RE RS ERE ae 119 aci EE 120 ri ch put ee a u
76. ecify the optional programs in the pickup routine and putdown routine fields in the Quick Change database The pickup routine is called after acquiring a new end effector and the putdown routine is called before returning an end effector that is attached to the robot For dispensing applications the putdown routine might be used to make sure that the dispensing gun is turned off before placing the end effector back into its nest The I O routines must conform to the calling sequence described below Quick Change Debug The Quick Change software includes an additional menu for debugging I O and to allow manual operation of the change hand mechanism This menu can be found in the IO pull down menu under the name QC CONTROLS The QC CONTROLS menu also shows the binary inputs for the Hand Number in a LED type format with the least significant bit to the right side Table B 2 Quick Change Database Fields name String 15 characters A standard AIM name that uniquely identifies this tool for the tool changing utility This name is referenced in the change_hand routine update date Date The date and time when this record was last modified This field is automatically set to the current date whenever information is changed by an operator tool on stand signal Integer 108 AIM Utilities User s Guide Rev 3 2B The number of the input signals indicating whether or not the corresponding quick change end effector is in its nest If the v
77. ed for the application described above The first sequence statement will pick up tool 1 from the tool stand CHANGE HAND NEW TOOL end effector 1 The second sequence statement will place tool 2 back into the tool stand CHANGE HAND OLD TOOL effector 2 The third sequence statement will place tool 1 back and pick up tool 2 from the tool stand CHANGE HAND OLD TOOL end effector 1 NEW TOOL end effector 2 114 AIM Utilities User s Guide Rev 3 2B Quick Change Tool test Figure B 2 Quick Change Database Record End Effector 1 AIM Utilities User s Guide Rev 3 2B 115 Appendix B Quick Change Documentation MEL Figure B 3 Quick Change Database Record End Effector 2 116 AIM Utilities User s Guide Rev 3 2B B 5 Quick Change Routines The routines listed in Table B 6 are documented in this chapter and can be used by AIM system customizers Programs marked with a P are protected programs which cannot be edited or modified Edits to unprotected files should be made to the commented V2 versions of the files The files should then be squeezed to their SQU versions for loading with AIM Table B 6 Documented Routines Autoloaded File Commented File Purpose Name ch reset io RUN_CH SQU RUN CH V2 Sample tool change I O program rn ch get RUN CH SQU RUN CH V2 Tool acquire runtime primitive rn ch put RUN CH SQU RUN CH V2 Tool replace runtime primitive
78. el of Adept robot and how much payload is on the tool mounting flange MCP_CHECK This statement will return a value 1 to 5 to correspond to the button pressed on the MCP The statement s syntax is as follows where the braces define optional clauses MCP_CHECK BUTTON 1 5 variable Detach Pendant yes no The statement performs the following steps 1 The variable argument above allows the user to determine which of the 5 function buttons were pressed A value 1 thru 5 will be returned which can be handled from the AIM sequence 2 The Detach Pendant selection allows the user to detach the pendant after completion of the task Keeping the pendant attached will prohibit selection of the pendant from other V tasks MCP WRITE This statement will write to the MCP the string data that will come from the variable database The statement s syntax is as follows where the braces define optional clauses MCP WRITE BUTTON 1 string BUTTON 2 string BUTTON 3 string BUTTON 4 string BUTTON 5 string Line 1 Text string_var Line Counter variable Detach Pendant yes no The statement performs the following steps 1 The string argument will write to the MCP function button centered above the button number specified This allows the user to create a sequence that can use the MCP as an operator interface 2 The Line 1 Text option allows the user to display a text string
79. ended procedures Generally customizers modify the routines provided in the custom squ file which is the proper place for customizations The AIM Utilities package provides a different AIM loader which means any changes to the program ai module init will be lost 2 5 Installing AIM Dispense Module or AIM PalletWare The Dispense 3 2E and PalletWare AIM modules are provided with a software plug in configuration file that will allow you to load these applications either as a plug in or by the standard way of using the diskcopy utility If you are installing both AIM Utilities and either the Dispense Module or PalletWare we recommend using the standard method as shown in installing the AIM utility package In both cases you first install AIM Utilities and then install either the Dispense Module or PalletWare These packages are loaded last because they will overwrite the software module loader database file so that all of the Dispense or PalletWare software is loaded when starting LAIM If you are adding either of the two packages above to an existing application Adept recommends installing them as a plug in This is done by starting AIM and selecting the Software Loader option from the Setup pulldown Then select the Install button You need to have the Dispense or PalletWare disk in a disk drive and select this drive The Install file will either be DMMOD INF or PWMOD INF for Dispense or PalletWare By selecting the file to install all of the req
80. enu Pages This chapter describes the menu pages used by the AIM Utilities software Several new menu pages are added to the AIM software package when AIM Utilities software is installed These include menus for software and task initialization of AIM Operator control panel I O menu NFS mounting utilities Tool Offset Teaching and others This chapter will provide a general overview of the menus and describe the features by a graphic numeric bubble with text following the figure 28 AIM Utilities User s Guide Rev 3 2B Software Module Loading 3 1 Software Module Loading The Software Module Loading database is provided to allow the user to load custom software modules or other software files into the AIM system This provides the user an easy method to load new software into the AIM system without customization Please note that the order of which the software is loaded is based on the position in the database In some cases software must be loaded in a correct order for proper functionality To review or edit the current software being loaded select the Setup pulldown and the Software Module loader option Setup Software Loader Software Module Loader lei E Standard Software Load the AIM Baseline Module ai bas init Load GEM Module Software init Load the CAD Data Module ax mod init Load the DDE communication Module dd mod init Load the Server Module io mod init L
81. er to modify a position based on variable data The statement s syntax is as follows where the braces define optional clauses SHIFT_MOVE World_Loc location By X variable Y variable Z variable variable Along Tool Appro_Only yes no OK_SIGNAL o_variable The statement performs the following steps 1 The World_Loc argument specifies the location that the offset will be applied toward 2 The arguments X Y Z T represent the amount the location will be offset based on the axis or coordinate specified 3 The Along Tool argument allows the motion to be applied to tool coordinates rather than world coordinates 4 The Appro_Only argument if set to yes will only move to the approach location and bypass the other motions in the record specification 5 The OK_SIGNAL argument will turn on the signal if everything is successful in the specified motion AIM Utilities User s Guide Rev 3 2B 67 Chapter 4 Using AIM Utilities STATUS_MESSAGE This statement will post to a specified ai ctl array variable the specified string variable This allows the developer to have a separate status message display on a menu The message can be set from various sequences The statement s syntax is as follows where the braces define optional clauses STATUS MESSAGE Array constant Message String string_var Wait For constant The statement perfo
82. erter column END END Seq ex_mep sequence Figure 4 2MCP Sequence AIM Utilities User s Guide Rev 3 2B 71 Chapter 4 Using AIM Utilities 4 5 Tool Offset Teaching Figure 4 3 shows a tool transformation for an Adept Robot If no tool transformation is in effect the x axis of the tool frame points along the tool flange key way and the z axis points down In this example the tool transformation defined by the X and Z coordinate system has offsets in the X Y and Z directions but no change in the y p andr components However tool transformations can have values for all six transformation components Figure 4 3 Cartesian Tool Offset To teach a tool transformations open a tool record and press Teach The menu shown in Figure 4 4 will be displayed on the pendant Tool 0 00 0 00 0 00 0 00 0 00 0 00 Teach XYZ Teach ypr Save Quit JUUUU Figure 4 4 Tool Offset Utility Menu Display 72 AIM Utilities User s Guide Rev 3 2B Tool Offset Teaching Both Cartesian X Y Z offsets and orientation yaw pitch roll offsets can be measured To measure the Cartesian offsets 1 Press the TEACH XYZ soft key 2 The pendant will prompt you to teach a series of locations Place the tooling center tip at a given location and press the pendant REC DONE key Rotate the tip at least 30 about this given location and press REC DONE again A minimum of two locations must be taught to measure t
83. es User s Guide Rev 3 2B Task Configurator Task Priorities Display Page The Task Priorities Display Page allows the user to view all of the tasks and their priorities and edit the priority values This allows an easy way to compare what has already been setup in other tasks The menu is placed on the monitor so the Task Profiler can be viewed while the menu is being displayed To get to this menu page simply select the Task Priorities button on the Task Configurator menu page See Task Configurator on page 33 for more details The user can edit the task priorities by double clicking on the selected task on this menu Task Configuration Figure 3 5 Task Priorities Display AIM Utilities User s Guide Rev 3 2B 37 Chapter 3 AIM Utilities Menus 3 4 Software Plug In Utilities The Aim Utilities package contains software to allow the user to create their own software module install file for easy installation into other systems as well as an easy upgrade path into future revisions of AIM This utility software allows you to update software module backups create a software module and uninstall an existing software module To get to the software plug in utilities select the Utilities pulldown and the software install utilities option Utilities Software Plug In Utilities Create Update Software Module Go Seek Edit Help This utility allows the user to create an install file for automatic software module loadi
84. he database files The files with SQU filename extensions are squeezed i e all comments have been removed from the files Squeezed files require less memory when they are loaded than their commented non squeezed V2 counterparts The squeezed files and their V2 counterparts are otherwise identical See the MotionWare User s Guide for a description of all AIM file types The disk labeled Example Databases contains AIM database modules of examples for different applications These modules can be loaded by the user to show how to program different applications The disk labeled Software Plug Ins contains additional software utilities that can be loaded into the system via the Software Loader Menu and the Install button option These plug ins are generally nice features that not all customers will need to use To install the AIM Utilities follow the steps in section 2 2 The installation procedure copies all the files listed in Table 2 1 onto the hard disk drive Files marked with a P are protected files and cannot be read by the user Files marked with W replace existing AIM files 18 AIM Utilities User s Guide Rev 3 2B Before You Begin Table 2 1 AIM Utilities Files Disk Files Contents AIM Utilities Software Disk AIMUTIL V2 AIM Utilities Runtime Software routines INFMOD OVR P Plug In Utilities Menu routines INFMOD MNU Plug In Utilities
85. he offset However more accurate results are obtained if more locations are taught The robot FREE mode can be used to simplify the teaching process 3 Once the locations are taught press the CALC TOOL soft key Figure 4 5 The locations are averaged and used to define the tool offset The routine will give you the option of not using the location furthest away from the calculated center in the tool transformation calculation Press QUIT to return to the previous menu Points taught x You may teach more locs around same point CALC TOOL Quit 20000 Figure 4 5 Calculating XYZ Offsets If the tooling is attached at an angle with respect to the robot tool flange and is not aligned normal to the tool z axis of the robot and not parallel to the tool coordinate system not perpendicular to the robot tool flange surface the orientation offset might need to be measured as well Figure 4 6 shows an example of a tool transformation that contains yaw pitch and roll components AIM Utilities User s Guide Rev 3 2B 73 Chapter 4 Using AIM Utilities y x z Figure 4 6 General Tool Offset To teach the yaw pitch and roll components of a tool transformation 1 Press the TEACH soft key see Figure 4 4 2 The pendant will prompt you to teach two robot locations along the tool s z axis the 7 axis in Figure 4 6 Both locations must have the same orientation Press the REC DONE
86. he specified value SET_PATH This statement will allow the user to modify a path segment position by the coordinates specified This allows the user to modify a position based on variable data The statement s syntax is as follows where the braces define optional clauses SET PATH path SEGMENT variable X variable Y variable Z variable variable variable variable The statement performs the following steps 1 The path argument specifies the AIM path that the position will be applied toward 2 The SEGMENT argument specifys which path node will be changed 3 The arguments X Y Z y p r represent the transformation for the new position 66 AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements SET_SWITCH This statement will enable or disable the specified V switch selected The statement s syntax is as follows where the braces define optional clauses SET_SWITCH switch EQUAL TO on off The statement performs the following steps 1 The switch argument provides a pick list of the available V system switches that can be set Please refer to GET_SWITCH on page 59 for more details on the available V switches 2 The EQUAL TO on off argument will enable or disable the selected V switch SHIFT_MOVE This statement will allow the user to move to a location offset by X Y Z T dimensional data This allows the us
87. iable argument will allow the statement to wait until the specified task state has been reached The expected state is specified in the variable field provided 68 AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements WAIT_FOR_IO This statement will look for the specified input state and return the amount of time it took to achieve this state as well as allowing a time out period The statement s syntax is as follows where the braces define optional clauses WAIT_FOR_IO INPUT constant Timer Num constant Time to State variable TIME OUT constant The statement performs the following steps 1 The INPUT constant argument specifies digital I O number or software output signal 2 The Timer Num constant allows the user to specify a V timer number to be used during the wait period 3 The Time to State variable returns to the variable database the amount of time it took for the specified I O to achieve a true state 4 The TIME OUT constant argument allows the statement to wait a maximum amount of time in this statement The sequence can monitor the Time to State variable to indicate the maximum time to achieve the desired state TYPE_MON This statement will type text to the V monitor based on the argument supplied The statement s syntax is as follows where the braces define optional clauses TYPE MON String string VAR variable String string VAR
88. ies the size of the block of inputs to be used to calculate a BCD number 2 The Beginning Signal input argument is the first signal of the block of inputs used for the calculation 3 The Return Value To variable argument is the output variable where the BCD value is placed 4 The Optional Wait Until opr variable argument can be used to wait until a comparison value occurs The opr value allows you to specify the type of comparison operation 5 The Timeout argument allows the user to specify a maximum amount of time to wait for the comparison value to occur GET PARM This statement will return the specified V parameter value to a variable The statement s syntax is as follows where the braces define optional clauses PARM parameters RETURN TO variable The statement performs the following steps 1 The parameters argument provides a pick list of the available parameters that can be selected The V parameters are various system related values that can be returned to a variable Provided below is a listing of the available parameters that can be used with the Get Parm and Set Parm statements Please refer to the V Operating System Reference Guide for more information on parameters belt mode Controls the operation of conveyor tracking belt zero count Zero index checking for the conveyor encoder display camera Display the selected camera number on the vision screen hand time
89. in this task Button Function Area Insert Button This button allows you to insert a record before the highlighted area on the display page Append Button This button will create anew record at the end of the database After selection the record will appear Delete Button This button will delete the currently highlighted record on the display page Task Priorities Button This button will pop up a menu display that shows the selected tasks in a list with all of the task priorities Refer to Task Priorities Display Page on page 37 for more details on this menu Edit Button This button will pop up the highlighted record on the display page to allow changes to be made Please refer to the Task Configurator Record Menu on page 35 for more information on editing records Save Button This button will save the current changes to the Software Loader database Done Button This button will exit the current menu display page AIM Utilities User s Guide Rev 3 2B Task Configurator Task Configurator Record Menu The task configurator record page allows you to edit the user tasks to be executed To review or edit a record highlight and double click on the record from the display page you wish to edit Additionally you can highlight a record and press the edit button Task Configuration Sm ES task_config 11 Aug 98 07 38 Scheduler Select Sewvenr u amp 9 Routine Name to Run Start Task Description of Task
90. int is selected then the joint numbers will be selected Move Buttons The Move buttons will move the robot in the positive or negative direction Keys When the arrow icons appears in a bold state the Hot Keys are active This will allow the user to step the robot by pressing the keyboard arrow keys Hot Keys are only active in the step mode function Panic Button Pressing the Panic button will immediately stop the robot and disable robot power Power Button The power push button will enable or disable power depending on the current state Power can only be turned on if all error conditions have been cleared 46 AIM Utilities User s Guide Rev 3 2B MCP Emulator Speed The speed field and scroll bar allow the user to adjust the speed of the motion This speed is based on the default values specified in the initialization database Coord inates The MCP Emulator software allows operation in world or joint coordinates This allows the user to move the axis along the axis or in a individual joint fashion Device The MCP Emulator software allows a maximum of 3 robots to be moved by this menu package The user selects the desired robot by pressing on the radio button Motion Mode The MCP Emulator software allows motion in either a Step or Jog fashion The radio button allows the user to select the operation In Step mode the robot will move the selected distance every move button press or Hot Key press In J
91. is button the Software Loader menu will pop up to allow the user to select which records will be used with the software module It also allows the user to make changes to the records to either add more software files or more descriptions which will be added to the INF file Select Task Configurator Record Button By pressing this button the Task Configurator menu will pop up to allow the user to select which records will be used with the software module It also allows the user to make changes to the records before the software module is created Name for the INF File This name will be used for the file that will be created This name should be less than 8 letters and begin with an Alpha character The software will check the name entered and reduce the size or delete a numeric character if one is entered Write Directory This field allows the user to select the directory the file will be created in Create Button This button will begin the creation process for the file The process is complete when the create button is not highlighted anymore AIM Utilities User s Guide Rev 3 2B Operator Control Panels 3 5 Operator Control Panels The AIM Utilities package contains three different operator control panels The dispense module palletware and a standard operator control panel are provided Depending on the software options that are installed the AIM Utilities loader will select the operator control panel to install To display th
92. key to record the locations 3 After both locations have been taught you will be prompted to teach a location along the positive x direction or the positive y direction of the tool the X or Y axes of Figure 4 6 respectively Again the orientation of the tool should not be changed Once the last location is taught the yaw pitch and roll offsets are automatically calculated Press the QUIT soft key to return to the top level menu Press the SAVE soft key to record the measured transformation in the Tool record Press the QUIT soft key to terminate the teaching operation Testing the Tool Offset The method to test the tool transformation with the AIM Utilities software is the same as the standard AIM Package To test the tool transformation 1 Open a Tool record Edit Tool Seek Index double click on desired record 2 Press SET TOOL to set the tool specified in the Tool Menu 74 AIM Utilities User s Guide Rev 3 2B Paths Relative to Frames 3 From the pendant choose the TOOL manual mode to move the robot around the defined tool location If the tool offset is correct the robot should rotate about its tool tip when rotated about X Y Z and it should move correctly along the tool X Y or Z axes 4 6 Paths Relative to Frames The AIM Utilities package allows the standard AIM Path data to be relative to frames The file PATH SQU provided with the AIM Utilities disk is different than the stand
93. ld specifies the output signal that is to be activated to release the tool from the manipulator s wrist acquire delay Real The acquire delay database field specifies the amount of time to be delayed after the acquire signal has been activated before departing from that position release delay Real The release delay database field specifies the amount of time after the release signal has been activated before departing from the nest position gripper open Integer Optional gripper open database field specifies a gripper signal to be turned off before releasing or acquiring the tool gripper closed Integer Optional gripper closed database field specifies a gripper signal to be turned off before releasing or acquiring a tool AIM Utilities User s Guide Rev 3 2B 109 Appendix B Quick Change Documentation Table B 3 QUICK CHANGE Database Record Definition Field Name Data Type Size Sort Array User 0 name string 15 1 1 update date date 4 2 device integer 2 3 location name string 15 4 location integer 2 5 tool on stand signal integer 2 6 hand number integer 2 7 pickup routine string 15 8 put down routine string 15 9 tool attach integer 2 10 total signatures integer 2 11 first signature integer 2 12 acquire tool integer 2 13 release tool integer 2 14 acquire delay real 4 15 release delay real 4 16 gripper open integer 2
94. les database 5 The Status variable returns success if the communication worked DDE_WRITE This statement will write the specified data to the variable database in the other other Adept controller The statement s syntax is as follows where the braces define optional clauses DDE_WRITEHANDLE variable SEND string_var TO_VARIABLE string_var IN_MOD string_var STATUS The statement performs the following steps 1 The Handle argument allows the user to specify the Logical Unit Number of the device you wish to write to 2 The Send argument specifies the variable that will be used to extract the data for transfer 3 The To_Variable argument specifies the variable in the other Adept controller the data will be written to 4 The argument specifies the database module in the other Adept controller where the other variable database resides 5 The Status variable returns success if the communication worked AIM Utilities User s Guide Rev 3 2B 131 Appendix E ConnectWare Module 132 AIM Utilities User s Guide Rev 3 2B TCP IP V Server F 1 Introduction and Overview 134 TCP Message 134 F 2 TCP Debug 135 TCP Initialization 136 AIM Utilities User s Guide Rev 3 2B 133 Appendix F
95. location is in a Lefty configuration RETRACT Z robot height 2500 speed 40 acceleration 50 deceleration 50 MOVE ALONG safe pathl TO home 1 SET safe a true SET safe b true END Run a continous loop and branch out only if the IO Control sequence shuts down the process WHILE true Service Pallet A This code handles the condition if Pallet A is ready the infeed station has cases to be picked up See if infeed station is ready IF ok pick a See if Pallet is ready to be placed to EB a ready for cases and Mod ex_palwr Seq main EDIT mode Figure A 16PalletWare Main Sequence Page 2 AIM Utilities User s Guide Rev 3 2B 93 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit Toss See if Pallet is ready to be placed to 79 IF a_ready 60 7 falls Check to make sure a model has been selected for running 82 IF case recl lt gt and unit recl lt gt 0 83 IF model ch a false 84 Check arm configuration before moving to location for pickup 86 If the arm is in the wrong configuration switch configuration 87 88 ARM CONFIG return config robot config 89 90 IF robot config 91 Chae Robot is in righty mode Switch to lefty 93 7 94 RETURN LOC X pos tmp_loc 95 IF tmp loc 750 96 MOVE TO safe_right 97 RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 98 END 99 100 Robot configuration changed
96. n specified in the FROM argument This is an optional argument The FROM argument allows the user to move to a specified location This argument is optional The ALONG argument allows the user to specify a controlled path motion to the location specified in the TO argument The TO argument specifies the location the robot is moving to This is the only required argument in this statement The Depart argument allows the user to specify an exit path away form the specified location The USING argument allows the user to specify a tool offset that will be applied during the motions The ALONG path argument allows the user to move along a path to the selected location The REJECT argument allows the user to specify a location for the robot to move should a failure occur Please refer to the MotionWare User s Guide for more information The RETURN argument allows a path to be taught away from the reject location The WAIT_AT argument is a location where the robot will wait at in the case of a moving frame that is out of reach The OK_SIGNAL argument is a signal that gets set if the motion is successful The SINGLE APPRO if set to yes will force the Joint 4 motion to remain within _ 180 degrees relative to the zero position of the joint This will force the joint to unwind during the motion to the position This occurs during the motion to the approach location This is sometimes desired if the motion is occurring with line tr
97. n assumes the AIM UTILITIES Software disk is in drive A If using an AWC processor NFS will have to be used instead of the A drive 26 AIM Utilities User s Guide Rev 3 2B AIM Utilities Menus 3 1 Software Module 29 3 2 Software Loader Record 31 3 3 Task 33 Task Configurator Record Menu 35 Task Priorities Display 37 3 4 Software Plug In 38 Uninstall Software 39 Create the Software Module Install 41 3 5 Operator Control 43 3 6 Precision Point Database 44 3 7 MCP Emulalor usus eee aus 46 3 8 NFS Disk Drive Mounting 48 NFS Mount Status Menu 49 3 9 Tool Database 50 3 10 Status Display 52 3 11 Cell Status Display 53 3 12 MCP Teach Menu Changes 54 AIM Utilities User s Guide Rev 3 2B 27 Chapter 3 AIM Utilities Menus AIM Utilities M
98. n to the main menu The Software Files selection is a list of all of the files contained in the software module When creating a software install file this list is placed in the file During the Install Update and Uninstall operations this list is used for transporting or deleting files AIM Utilities User s Guide Rev 3 2B Task Configurator 3 3 Task Configurator The task configurator database is provided to allow the user to add more user tasks into the system This provides the user an easy method to configure tasks into the AIM system without customization To review or edit the current software being loaded select the Setup pulldown and the Task Configurator option Setup Task Configurator AIM Task Configurator Figure 3 3 Task Configurator Main Menu Q Main Menu Display Area Selected The selected area indicates if this task is to be started during AIM bootup Description This area displays the text description specified in the task record Task Num This area displays the task number that is selected Routine Name This area displays the routine server or scheduler running in this task Device Number This area displays the robot device that is running in this task There will be no display if the task is not running a robot AIM Utilities User s Guide Rev 3 2B 33 Chapter 3 AIM Utilities Menus 34 Device Name This area displays the robot device name running
99. nature Bit The Tool On Stand signal determines if the end effector is in the nest this input signal is required for operation of the software The optional Too Attached signal allows the software to check for the presence of the end effector on the robot arm The optional Total Tool Signatures and First Signature Bit allow the system to be configured to check which Hand Number is attached to the robot The Total Tool Signatures field defines the number of bits required to sense the largest Hand Number available The First Signature Bit defines the first input signal of the consecutive signals to define the Hand Number The optional Hand Number field allows the user to define hand numbers to each end effector This field is compared to the sensed number when the tool is picked up to assure the proper tool is available The available Quick Change outputs fields are Acquire Tool Release Tool Gripper Open Gripper Closed The Acquire Tool and Release Tool output signals operate the change hand mechanism to pick up and release the end effector The Gripper Open and Gripper Closed signals are both turned off when the end effector is picked up or released to assure no open air lines The Acquire and Release Delays are set for the end effector pick up mechanism actuation time during the pick up and release cycles These values are to be entered in seconds The I O reset routines are used to set default I O settings for the quick change end effectors Sp
100. nds 239 WAIT 3 240 END 241 242 Branch here to stop robot operation 243 244 following instructions force the robot to move to safe location 245 to stop the robot process 246 247 stop 248 Move to safe location 249 ARM CONFIG return config robot config 250 IO LIST 33 34 35 251 IF robot config 252 RETURN LOC X pos trmp loc 253 IF tmp loc 750 254 MOVE TO safe right 255 RETRACT Z robot height 2500 speed 60 acceleration 50 deceleration 50 256 END 257 MOVE ALONG safe_pathr TO home_r 258 SET safe_a true 259 SET safe_b true 260 ELSE Mod ex_palwr Seq main EDIT mode Figure A 22PalletWare Main Sequence Page 8 AIM Utilities User s Guide Rev 3 2B 99 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit 236 END 237 238 Allows other tasks processing if needed wait 030 seconds 239 WAIT 3 240 END 241 7 242 Branch here to stop robot operation 243 244 The following instructions force the robot to move to safe location 245 to stop the robot process 246 247 stop 248 Move to safe location 249 ARM_CONFIG return config robot_config 250 IO LIST 33 34 35 251 IF robot config 252 RETURN LOC X pos trmp loc 253 IF tmp loc 750 254 MOVE TO safe right 2551 RETRACT 2 robot height 2500 speed 60 acceleration 50 deceleration 50 256 END 257 MOVE ALONG safe pathr TO home r 25
101. ng Additionally it will allow an easy way to update or create backup copies of the software module Update Install File 1 Un Install INF and Associated Files RF create INF Install File Default Directory 9 DISK gt C aimutl Display Current INF Files CSTMOD 02 Sep 98 14 14 56 VER 3 1e General MotionWare Cus TEST 02 Sep 98 14 36 58 Load the AIM Utility Module Selected File Select INF Et DISKA e Q Update Files Done Write Directory Figure 3 6 Update Software Module Q Update INF Install File This selection will copy the files listed in the install INF file to the directory selected as the write directory This allows the user to either overwrite and update a backup disk or create a copy of the module on a disk Default Directory This is the disk directory to search for the install INF files Display Current INF Files This is a pick list for selecting the software module you wish to update 38 AIM Utilities User s Guide Rev 3 2B Software Plug In Utilities select INF This allows you to select the current highlighted file This can also be done by double clicking with the pointing device write Directory This is the directory where the software module will be copied to Update Button This button will begin the update operation Uninstall Software Module The Software Plug in Utilities allow the user to uninstall a software module that has
102. ng from the assem bly location Output Parameters error Real variable that receives the standard AIM operator error response code Details This program returns an end effector to its tool nest The approach and depart heights used by this routine are the depart and approach heights respectively specified in Tool database This prevents the robot crashes in the workcell The program performs the following steps If no hand is attached to the arm or the hand is already in its nest exit If an approach path is specified move along it Move to the approach location 0 Pa If tool signature and nest presence signals are used make sure the correct tool is attached to the arm and that no tool is sitting in the nest gi Execute the user specified putdown routine This sets the tool s default I O signals 6 Move to the tool nest location and activate the detach signals 7 Depart and verify that there is no tool attached to the arm and that the hand is in its tool nest 8 Ifa departure path is specified begin moving along it AIM Utilities User s Guide Rev 3 2B 121 Appendix B Quick Change Documentation Related Routines rn ch get 122 AIM Utilities User s Guide Rev 3 2B Event I O Manager C 1 Introduction and Overview 124 C 2 Event Monitor 0 124 Event Initialization Database
103. nge Database Record 107 Quick Change Database Record End Effector1 115 Quick Change Database Record End Effector 2 116 Event Monitor Database 124 HPGL Instructions 128 TCP Debug Window 135 AIM PalletWare User s Guide Rev 3 2B Table of Contents x AIM PalletWare User s Guide Rev 3 2B Table of Contents Table 2 1 Table B 1 Table B 2 Table B 3 Table B 4 Table B 5 Table B 6 List of Tables AIM Utilities Files 19 Quick Change Module 105 Quick Change Database 05 108 QUICK CHANGE Database Record Definition 110 Quick Change Database Variable 111 Change Hand Example Tool 113 Documented 117 AIM PalletWare User s Guide Rev 3 2B Introduction 1 1 What is The AIM Utility 14 1 2 Using This 14 1 3 Software Overview 15 Manual Control Pendant 15 Statements for Auto Startup and Robot Calibra
104. o be useful with applications that require full rotation of Adept arms with Joint 4 To display the Precision Point menu select the Edit pulldown and the Precision Point option Edit Precision Point prec point Global Go Seek Edit Help Gn first point Device Robot 1 11 Sep 98 15 43 J e 4 1 JT4 JT5 JT6 88 231 132 379 72 473 180 000 55 568 4 730 Coarse 9 Line Joint Speed 5 Fine Accel Decel Prof Motion 100 m m 100 100 6 E ee e Here Strategy Retry Count settling Time 1 Dwell Time rn mw standard 0 0 00 0 00 Input Signals O Output Signals Figure 3 10Precision Point Menu Record Name field requires a name for the jointed position Device Requires the proper robot to be selected for the position to be defined JT1 JT6 are six fields that define the position of most robot arms supported by the Adept controller If the robot is only a 4 axis arm then only 4 fields will be used for the position These fields can be edited by the user or taught by using the Here or Teach buttons The HERE button will teach the current location in the six JT fields provided 44 AIM Utilities User s Guide Rev 3 2B Precision Point Database The TEA CH button will allows the user to teach the current position via Adept s manual control pendant A pendant display will appear with selections and the speed pots can be used to move the robot to the current t
105. oad the Advisor Module ad mod init Load Vision Module vi mod init Fh SSSSSSR MotionWare Software Load the Robot Module robmod ovr rb mod init Load the Conveyor Module envmod ovr imy cnv mod init Load the Force Sensing Module fsmmod ovr fs mod init Load the High Accuracy Module hpsmod ovr hp mod init Load Flex FeedWare ffwmod ovr ff mod init Load the MotionWare Module mownod ovr mw mod init 88888 f VisionWare Software Note The vision module must also be selected for VisionWare Load VisionWare Module PCB Software Module m Figure 3 1 Software Module Loader AIM Utilities User s Guide Rev 3 2B 29 Chapter 3 AIM Utilities Menus 30 Default AIM Software Setting This allows the user to load any of the current Adept Software modules as long as they have been loaded into the system The Task Configuration database will be modified after the selection After selection of the software you must restart AIM for the software to be reconfigured Be sure to save the databases before restarting AIM Vision Ware Selection Pressing on this button will select the standard VisionWare software modules to load as well as the task selections The Task Configurator database will be changed so that the standard VisionWare tasks will be selected and running the next time AIM is restarted Motion Ware Selection Pressing on this button
106. oad the software if there are problems AIM will display an error message The On Off selection of loading the software will try to load the software module if selected If turned off AIM will not try to load the software This allows a record of the available software without trying to load the software The File Name field allows the user to enter in the name of the software file to load If the user should enter in None the field description will be displayed on the main menu page without the rest of the data on the line This is useful for adding comments to the main menu page Be sure that the file is not selected to load The Routine Name field is provided for overlay files and for quicker loading of V files If the overlay file is selected this routine will be executed and deleted when complete If the overlay file in not selected this routine name is used to check to see if the software is already loaded The Function Button Area Append Button This button will allow you to add a new record to the end of the software module loader database This record will appear after the append button is pressed Prev Button This button allows the user to move between records in the database This button will allow you to move to the previously displayed record as long as one exists Next Button This button will allow the user to move to the next record in the database Done Button This button will exit the current menu and retur
107. og mode the robot will move continously while the Jog button is pressed Step Distance The desired step distance is selected by pressing the radio button by the distance amount Units are specified in millimeters These buttons are only active when the software is in Step Mode AIM Utilities User s Guide Rev 3 2B 47 Chapter 3 AIM Utilities Menus 3 8 NFS Disk Drive Mounting Utilities Provided with the AIM Utilities software is a utility to allow the user to mount other disk drive devices thru a network Before this software will function the user must install a NFS server on the other computer system that contains the drives Additionally Ethernet must function properly between both systems To view the mount menu pages select the Setup pulldown and the NFS Mount option Setup NFS Mount The figure below is the menu that allows the mounting of other disk drives thru NFS Mount a new NFS Yolume x Server Name server Address 192 168 144 101 Mount Name mydrive Mount Path Note The server name is defined by the user and can be anything The server address is the IP address of the system that is the NFS server The mount name is also user defined and can be anything The mount path is the path to the desired NFS shared drive on the NFS server Server Name serverl Server Address 192 168 144 28 Mount Name XC E Mount Path fc Version 1 2
108. ol signature and nest presence signals are incorporated with the hardware the CHANGE HAND statement uses these signals to verify that the correct end effector is attached to the robot and that the correct tool is in a tool nest before the robot exchanges tools If an error condition in the workcell exists e g an end effector is not released into its nest the robot stops and the operator is notified of the error This prevents potential crashes 112 AIM Utilities User s Guide Rev 3 2B 4 Quick Change Example To review the topics discussed in this chapter consider an application that requires 3 different end effectors This example will show the database requirements for 2 of the 3 tools and show the sequence statements to pick up tool 1 release tool 2 and finally release Tool 1 and pickup Tool 2 For this example we are assuming all the optional tool inputs are being used also the provided sample pickup and putdown routines are used Before editing the Quick Change database determine the required signal numbers to be used For this example we are using the following signals Table B 5 Change_Hand Example Tool I O Inputs Signals Comments Tool On Stand signal gripper 1 1001 Tool On Stand signal gripper 2 1002 Tool Attached signal 1003 First Signature Bit Signal 1004 Two bits are required for 3 tools Outputs Aquire Tool signal 2031 Internal signal for Adept arm valves Rele
109. onse code Details Used in conjunction with the CHANGE_HAND statement this routine is called after acquiring a tool if specified as a pickup routine or before replacing a tool if defined as a putdown routine to set output signals to their default values This can be used for example to prevent air lines from blowing when a tool is detached AIM Utilities User s Guide Rev 3 2B 119 Appendix B Quick Change Documentation Calling Sequence rn ch get app path rec ref dep path rec error Function Runtime primitive routine for acquiring a hand from its stand The CHANGE HAND statement uses this primitive Usage Considerations Assumes the appropriate Tool database record is open Input Parameters app path rec Real value variable or expression that defines the Path database num ber for the optional path to follow while approaching the tool nest loca tion ref Transformation variable function or compound transformation speci fying a reference frame If the tool nest locations are defined frame rel ative they are defined with respect to ref dep path rec Real value variable or expression that defines the Path database record number for the optional path to follow while departing from the assem bly location Output Parameters error Real variable that receives the standard AIM operator error response code Details This routine acquires a tool from its tool nest The program performs the following
110. ows the user to move to a precision point location and then to a second precision point location from a single statement This is an optional argument 2 The TO argument will move to a joint defined location based on the specified precision point record in the database RETRACT_Z This statement will move the Z axis of the robot to a specified height The statement s syntax is as follows where the braces define optional clauses 7 Robot Height constant Speed constant Accel constant Decel constant The statement performs the following steps 1 Robot Height constant argument allows the user to specify the absolute world coordinate Z height for the robot to move 2 The Speed Accel and Decel arguments specify the motion parameters for the motion 64 AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements RETURN_LOC This statement will return the current world coordinate location of the robot The statement s syntax is as follows where the braces define optional clauses RETURN_LOC X Pos variable Y Pos variable Z Pos variable Yaw Pos variable Pitch Pos variable Roll Pos variable The statement performs the following steps 1 The variable arguments are all optional and will return the world coordinate value based on the robot s current position Coordinates are returned in units of millimeters or degrees
111. r constant Push Time variable The statement performs the following steps 1 The constant argument refers the V timer value V has a total of 16 timers as well as special timer modes that are a negative value Please refer to the V Language Reference Guide for more details 2 The variable argument will return a time value to the AIM variable database 60 AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements J4_INERTIA This statement will set the V Gain Set and Payload instructions based on the values specified in the statement These values will change the tuning for the Joint 4 of an Adept robot to compensate for inertia payloads on the tool mounting flange Please see the V Language Reference Guide and the Robot User s Guide for more information on the values needing to be specified in this statement The statement s syntax is as follows where the braces define optional clauses J4_INERTIA Gain Set 1 4 variable Payload 1 100 variable The statement performs the following steps 1 If the Gain Set variable is specified that value will be executed in a V gain set instruction The values will be different depending on the model of Adept robot that is running See the Robot User s Guide for more information on gain values 2 Ifthe Payload variable is specified that value will be executed in a V payload instruction The values will be different depending on the mod
112. r allow a period of time after the robot reaches the position before any outputs occur Dwell Time This parameter allows the user to specify a period of time to dwell after the outputs have been asserted before allowing the process to continue AIM Utilities User s Guide Rev 3 2B 45 Chapter 3 AIM Utilities Menus 3 7 MCP Emulator Provided with the AIM Utilities software is a utility to allow the user to move the robot without the use of the MCP This menu has 2 different modes Step and Jog mode The keyboard arrow keys are porvided as hot keys to allow easy stepping of the X Y axis Many default parameters are provided in a initialization database To view the MCP Emulator menu pages select the Show pulldown and the MCP Emulator option Show MCP Emulator The figure below is the MCP Emulator in Step Mode Pendant Emulator Device 86 376 443 549 864 027 0 000 180 000 66 046 Heb Reve Coordinates World Joint Jog Step Size run al 5 10 Figure 3 11 MCP Emulator Step Mode Q Robot Position Disp lay This area displays the current location of the robot This display changes based on the coordinate selection If Joint Coordinates is selected then joint positions will be displayed select Axis The select axis area allows the user to select the robot axis that will move when the move buttons are pressed The axis selections will change based on the Coordinate selection If jo
113. ram DISKCOPY to copy the AIM Utilities floppy disks to your hard disk Complete instructions for using the utility program are contained in the Instructions for Adept Utility Programs supplied with your reference manuals The following section details the steps necessary to copy the AIM Utilities files Copy the AIM Utilities files to the same directory as AIM MotionWare Note For AIM versions before AIM 3 2 Do Not install the file PATH SQU Aim versions before 3 2 will not work with frame relative paths 1 2 10 11 12 13 24 Turn on your controller When the start up procedures have completed place the Adept Utility Programs Disk in the A drive and enter the command Most newer Adept systems have the utility programs in the util subdirectory on the hard drive The hard drive can either be drive C or D depending if an AWC processor is used LOAD A DISKCOPY C UTIL DISKCOPY or D UTIL DISKCOPY When the program files have completed loading enter the command EXECUTE a diskcopy Remove the utility disk and insert the AIM Utilities Software disk in the A drive or if your are running an AWC processor another disk drive will have to be mounted using NFS From the menu that is presented select 4 gt Copy multiple files Answer A or NFS gt mydrive when using an AWC processor when prompted What is the INPUT disk e g A B C D Answer C or D if using an AWC processor when prompted What is
114. ram Start Button 2 The variable argument allows the current value of the system state to be passed to that specified variable The variable will be returned with a true or false state GET_SWITCH This statement will return the V system switches settings The statement s syntax is as follows where the braces 1 define optional clauses GET_SWITCH switch RETURN VALUE TO variable The statement performs the following steps 1 The switch argument provides a list of selectable V switches that indicate system settings Below is a list of the supported switches with a description of their purpose Please refer to Operating System Reference Guide for more information on system switches auto power off Stops V from disabling High Power when certain motion errors occur Please see the V reference guides for more information belt Belt Tracking feature is On or Off cp Robot Continuous Path motion is On or Off decel 100 Allows the user to set the deceleration in the Accel V instruction dry run V Dry Run Feature runs a robot task without motion AIM Utilities User s Guide Rev 3 2B 59 Chapter 4 Using AIM Utilities interactive Suppresses interactive messages displayed on the terminal mcp message Suppresses messages displayed on the MCP mcs message Suppresses messages displayed by the MCS instruction monitors Allows multiple V monitors if multiple processes are used power Robot Po
115. rms the following steps 1 ALCTL Array constant argument refers to a user specified array number that can be used by an AIM menu We recommend using values greater than 200 because AIM uses lower array values for other messages that may be displayed Several message displays can be used with this statement 2 The Message String string_var argument will take text from the variable database based on the variable specified 3 The Wait For constant argument will wait for the user specified input signal to go to a true state before continuing The input signal specified can be a soft signal 2000 2512 if desired TASK_MODE This statement will return the current state of the AIM sequence based on the task specified The statement s syntax is as follows where the braces define optional clauses TASK MODE TASK constant MODE variable WAIT UNTIL variable The statement performs the following steps 1 The TASK constant argument specifies the desired AIM task number to determine the current status You can look at the Task Control Panel to verify the task number for the sequence if needed 2 The MODE variable argument will return to the specified variable database the following values indicating the state of the AIM task 0 Sequence is currently Running 1 Sequence is in Teach mode 2 Operator Attention has occurred 3 Sequence is Idle 4 Group Wait 3 The WAIT UNTIL var
116. rol EDIT mode Figure A 5Cell Control First Example Page 1 82 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Go 39 40 41 42 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 2 74 75 76 Move Find SET reset sys SET clear flash END Check for Start of system IF start sys OR cycle start First check to make sure power is on GET SWITCH power RETURN VALUE TO temp IF temp true IO_LIST inhibit pump manual convey STATUS MESSAGE AI CTL NUM 200 Message String DWait pressure WAIT FOR IO INPUT 1002 Timer Num 10 Time to State itemp tm TIME OUT 15 CLEAR MESSAGE AI CTL ARRAY 200 Check for pump pressure before allowing start IF air on Check Conveyor server and start if needed TASK TASK 5 STATUS temp IF temp lt gt O STOP Conveyor TASK MODE TASK 5 STATUS temp WAIT UNTIL 3 WAIT 10 START TASK Conveyor END Check the status of task 0 that runs the robot TASK MODE TASK 0 STATUS temp IF temp lt gt O Main task currently idle WAIT 10 SET_OPRMODES TASK 0 TYPE SPEED SETTING 100 STOP_TASK Robot_1 TASK MODE TASK D STATUS temp WAIT UNTIL 3 WAIT 10 Figure A 6Cell Control First Example Page 2 AIM Utilities User s Guide Rev 3 2B 83 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit pu
117. s Input The start input field is the input signal number to monitor for the event process to start This will begin the timer to check for the proper event to occur 124 AIM Utilities User s Guide Rev 3 2B Stop Input The stop input field will monitor the event until the input signal specified has turned into a true state When this occurs the event monitoring will stop until the next start process has begun Min Time Range This field is used to set the minimum time the event process can occur Events that occur in a shorter time will be flagged with an alarm Max Time Range This field is used to set the maximum time the event can occur Events that occur in a longer period of time will be flagged with an alarm Alarm Output This output signal number will be turned on when a event exceeds the timing parameters Result Displays There are two displays that are also shown based on the last event occurance The first display shows the actual event time that occurred The second display shows the state message based on the last event Event Alarm Logging Alarm data can be logged to a specified file with a description statement provided in this database The check box needs to be turned on to enable this feature AIM Utilities User s Guide Rev 3 2B 125 Appendix C Event I O Manager C 3 Event Initialization Database The event software provides an initialization database for setting default parameters
118. s Guide Rev 3 2B 21 Chapter 2 Installation CNWRUN SQU ConnectWare runtime software STATCNW DB ConnectWare sequence statements Event IO Manager EVENT DB Event Manager database EVT MNU Event Manager menu file EVT RFD Event Manager RFD file EVTINI DB Event Manager Initialization database EVTMOD INF Event Manager Plug In file EVTMOD OVR Event Manager software initialization file EVTRUN V2 Event Manager runtime software STATEVT DB Event Manager Statements HPGL Graphics Module HPGINI DB Graphics Module Initialization database HPGL MNU Graphics Module menu database HPGMOD INF Graphics Module Plug In File HPGMOD OVR Graphics Module Software Initialization file HPGRUN V2 Graphics Module runtime software TCP Server TCPMOD INF Server Plug In file TCPINI DB Server Initialization database TCPMOD OVR Server Software initialization programs TCPRUN V2 Server Runtime Software TCP MNU Server Menu Database STATTCP DB Server Statements 22 AIM Utilities User s Guide Rev 3 2B Before You Begin AIM Utilities Examples EX_DISP MOD Dispense Module Example Databases EX_MCP MOD MCP Example EX_PALWR MOD PalletWare Example EX_START MOD Startup Example AIM Utilities User s Guide Rev 3 2B 23 Chapter 2 Installation 2 2 Installation Procedure You can use the utility prog
119. sions in this doc ument Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright 1992 1997 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree MV PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare FlexFeedWare AdeptNet AdeptFTP AdeptNFS AdeptICP IP AdeptForce AdeptModules AdeptWindows AdeptWindows PC AdeptWindows DDE AdeptWindows Offline Editor and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Table Of Contents 1 Introduction 13 1 1 What is The AIM Utilities 14 1 2 Using This 14 1 3 Software Overview 15 Manual Control Pendant Statements 15 Statements for Auto Startup and Robot Calibration 15 Example Sequences and
120. tax is as follows where the braces define optional clauses SET_OPRMODES TASK constant TYPE oprmodes SETTING variable The statement performs the following steps 1 The TASK constant argument specifies the task to which the settings will apply This allows the user to configure different values for different sequences 2 The TYPE oprmodes argument allows the user to select from a pick list different AIM selections that can occur Currently the only selections that are available are the settings from the Task Control Panel The following is a list of the selections SPEED Refers to the robot speed that is set in the Task Control Panel REPEAT Refers to the setting of the repeat selection box in the Task Control Panel 3 The SETTING variable argument sets the selected argument to the specified value The repeat selection will run continuously if set to 0 SET_PARM This statement will set the V parameters to the specified value in the statement The statement s syntax is as follows where the braces define optional clauses SET_PARM parameters EQUAL TO variable The statement performs the following steps 1 The parameters argument provides a pick list of the available V parameters that this statement will change Please refer to GET_PARM on page 58 for more details on the available pick list options 2 EQUAL TO variable will set the selected V parameter to t
121. that runs from the Adept manual control pendant This utility allows the user to rotate the desired tool center about a common point This rotation will allow the software to determine what the tool center is To create a new tool record Edit Tool press F2 enter record name To edit an existing tool record Edit Tool Seek Index clk on tool record 10 000 0 000 0 000 0 000 0 000 0 000 Set Tool 1 Teach Tool Figure 3 13 Tool Offset Menu 50 AIM Utilities User s Guide Rev 3 2B Tool Database Enter a name for this tool record The numbers below the name field indicate the number of this record in the database and the total number of records in the database Select the proper robot device number for this tool offset Double click on this field to select a different device Shows the date this record was last modified Shows the offset transformation that will be applied to any location the robot moves to while this tool is in effect These values can be entered directly based on the engineering data for the offset tooling or taught using the teach routine option WJ Press to use the values in the current record as the robot tool transformation Press to use the manual control pendant to define a tool transformation The tool offset teaching utility is described in detail in Section 4 5 To test a tool transformation Press SET TOOL button to invoke the tool offset
122. the IP address of the computer that is running on ethernet Please check you computer for this IP address Please make sure the address is not duplicated on another computer The Mount Name argument specifies the drive name you will be using within the Adept controller A example is that the D is the flash ram on the Adept AWC The name for example may be PCA for pc computer drive A The Mount Path argument specifies the path to the other computers folders This path may include other subdirectories or folders within the computer The following is an example A for the A drive on the other computer C for the C drive C ADEPT for the Adept directory on the C drive AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements MOVE_UT This statement is similar to the AIM MOVE statement except it allows the user to specify if the Single or Multiple motion instructions are applied to the move The statement s syntax is as follows where the braces define optional clauses MOVE_UT APPROACH path FROM location ALONG path TO location DEPART path USING tool ALONG path REJECT location RETURN path WAIT_AT location OK_SIGNAL o_variable Single Appro Single Move The statement performs the following steps 1 10 11 12 13 The APPROACH argument specifies a controlled path motion to the locatio
123. tion 15 Example Sequences and Databases 15 Global Variables included 15 AIM Utilities User s Guide Rev 3 2B 13 Chapter 1 Introduction 1 1 What is The AIM Utilities Module The AIM Utilities Module is an AIM application module designed specifically with the implementation of AIM in mind The module simplifies the process of programming AIM by providing more AIM sequence statements as well as other high end features The AIM Utilities Module includes Operator Control panels and additional icons Unlike other AIM modules the AIM Utilities Module must be used in conjunction with the MotionWare PCB or VisionWare application module 1 2 Using This Manual This manual presents a detailed description of the AIM Utilities Module We assume you are familiar with AIM and the basic operation of Adept robot systems See the Adept MV Controller User s Guide and Adept Robot User s Guide for details on the robot and controller See the MotionWare User s Guide for details on using the basic AIM system If you will be customizing the AIM Utilities Module we assume you are familiar with the V operating system and language See the AIM reference manuals and the V Language Reference Guide for information on customizing and writing V Chapter 1 presents an overview of the software features of the AIM Utilities Module This chapter should be read by all AIM Utilities Module users
124. ton RETURN TO robot state 115 IF robot state 116 ELSE 117 110 2 If E stop button is clear turn back on power and reset indicator 119 Lights 120 121 SET_SWITCH power EQUAL Mod ex_palwr Seq io control EDIT mode Figure A 11Cell Control Second Example Page 3 88 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Go Move Find Edit SET_SWITCH power EQUAL TO on IO OUTPUT stop light IO OUTPUT stack light IO OUTPUT reset light END END See if Stop Button is pressed In this control setup the stop button on the menu control panel basically sets the variable stop robot to true in the stop sequence in the module mowctl Its purpose is to stop the main sequence the robot will exit and move to the safe position before ending or stoppping the task IF stop pb or stop robot GET SWITCH power RETURN VALUE TO robot pur IF robot pwr SET stop rb control true WAIT robot complete SET robot complete false SET stop robot false END STOP T SK Robot 1 END Below this point is the software for the Manual operations ELSE Manual IO operations reject pallets Tell the PLC the robot is in manual and force the robot to move to a safe position also setup indicator lights IF run manual false SET run manual true SET run auto false IO OUTPUT auto signal Tell the robot to stop the main sequence and move the safe SET
125. tton presses from the operator control panel It basically runs in Auto and Manual Mode Manual Mode allows operation of the pallet conveyor to exit Pallets out of the machine 2 Initialize variables and outputs O 0 Jo n is 0 t9 p SET run auto false SET run manual false IO OUTPUT robot ready Start continuous loop WHILE true IF auto man and auto seq Auto Mode operation Tell Plc changing modes IF run auto false SET run auto true SET run manual false IO OUTPUT auto signal END See if Model Change Occurred Both 5 B Model ch a variable from model selection menu IF model ch a IF sys ready The sys ready comes from PLC to tell robot system is online Make sure the robot is clear of the station before sending the pallet out of the station IF safe a true IO OUTPUT send out WAIT UNTIL a ready IO OUTPUT send a out ex_palwr Seq control EDIT mode Figure A 9Cell Control Second Example Page 1 86 AIM Utilities User s Guide Rev 3 2B Sequence Editor File Move Find Edit IO OUTPUT send a out Reset case and layer numbers for new model SET case pall 1 SET layer pall 1 Tell robot model change is occurring SET model ch a false ELSE Force robot to be clear of the pallet station SET change to b true END END END change for Pallet B station same as above IF model ch b IF sys ready IF safe b true IO OUTPUT send b o
126. uired files will be loaded AIM Utilities User s Guide Rev 3 2B 25 Chapter 2 Installation 2 6 Selecting Default AIM Modules The Software Loader option in AIM Utilities allows the user to select one of the following AIM Applications to load PCB Module MotionWare VisionWare Dispense Module PalletWare Once selecting one of these options the software will select the proper software loading and task configurations for this module The user now only needs to shutdown AIM by either selecting from the Software Module loader or from the Special AIM pulldown Then restart the system by executing the following line from the V monitor Execute 1 a aim 2 7 AUTO File Installation Provided with the AIM Utilities software package is a file on the AIM Utilities Software disk called AUTO V2 This file can be copied to the root directory so that when the system is booted AIM will load and start automatically The Adept controller must be configured so that the Auto file will load and execute automatically This can be accomplished by setting dip switches on the SIO board if an Adept MV controller is purchased without the AWC controller If the system has an AWC processor then the auto startup would be configured in the Config C program Please refer to the Adept MV Controller User s Guide for more details The AUTO V2 file can be copied by typing in the following V Monitor instruction FCOPY C NAUTO V2 A AUTO V2 This instructio
127. urrent selected robot to program control The statement s syntax is as follows where the braces define optional clauses ATTACH_ROBOT The statement performs the following steps 1 This statement will perform the V attach statement This is intended to be used with calibration from sequences See the V Language Reference Guide for more details on the attach statement 56 AIM Utilities User s Guide Rev 3 2B AIM Utilities Statements CALIBRATE This statement will calibrate the robot from a sequence The statement s syntax is as follows where the braces define optional clauses CALIBRATE The statement performs the following steps 1 This statement performs a robot calibration from a sequence Make sure robot power is on and other robot states are ready before calibration Refer to the example sequence on calibration CLEAR_MESSAGE This statement will clear a status message displayed by the Status_Message instruction statement s syntax is as follows where the braces define optional clauses CLEAR MESSAGE ALCTL Array constant The statement performs the following steps 1 Array constant argument refers to the specified array number used for the Status Message instruction This statement will set the ai ctl string variable to a null string DETACH This statement will detach the robot from computer control or detach the pendant The statement s syntax is as
128. ut WAIT UNTIL b ready IO OUTPUT send b out SET case pal2 1 SET layer pal2 1 SET model ch b false ELSE SET change to a true END END END See if Start Push Button is pressed Start up task 0 to run the robot and make sure other tasks are running IF start pb OR start seq Check current state of Task 0 to see if it is running Mod ex_palwr Seq control EDIT mode Figure A 10Cell Control Second Example Page 2 AIM Utilities User s Guide Rev 3 2B 87 Appendix A Sequence Examples Sequence Editor File Go Move Find Edit 81 Check current state of Task 0 to see if it is running 82 7 83 TASK TASK D STATUS tmp 84 WAIT 30 85 IF tmp 86 87 If task 0 not running start the task 88 89 SELECT_TASK Robot_1 MODULE knorr SEQUENCE main 90 START_TASK 1 91 ELSE 92 7 93 If task 0 running abort the task and restart 94 95 STOP TASK Robot 1 96 TASK MODE TASK 0 STATUS tmp WAIT UNTIL 3 97 WAIT 10 98 START_TASK Robot_1 99 END 100 SET start_seq false 101 IO OUTPUT auto light 102 IO OUTPUT stack light 103 IO OUTPUT reset light 104 END 105 106 See if Reset Button is pressed 107 In this case the reset button will turn power back on to the robot 108 and make sure everything is ready to go 109 110 IF reset pb 111 112 Determine current state of the robot check E Stop 113 114 GET STATE panic but
129. w examples on how to use these statements as well as information on other available software modules provided with the AIM Utility Package AlO This statement will allow the user to either read or write to an analog board The statement s syntax is as follows where the braces define optional clauses AIO Input Channel variable Gain 0 to 3 variable To 10 to 10 variable Output Channel variable Value 10 to 10 variable The statement performs the following steps 1 Ifthe Input Channel variable is defined the statement will check the gain value and read the specified channel and place the value in the variable argument The gain value must match the gain set by the jumpers on the AIO board Values are 0 3 2 Ifthe Output Channel variable is defined the statement will write to the output channel the value specified in the second argument Please note that the value needs to be between the value of 10 to 10 to represent 10 volts ARM_CONFIG This statement will return the current arm configuration of the robot The statement s syntax is as follows where the braces define optional clauses Return Config variable The statement performs the following steps 1 This statement will return to the specified variable a value of true if the arm is in the righty configuration Otherwise the value will be false or zero ATTACH_ROBOT This statement will attach the c
130. wer is On or Off profile Default acceleration profile the robot is running retry Controls if a resume will occur if the program start button is pressed robot 1 Enables robot 1 to function robot 2 Enables robot 2 to function robot 3 Enables robot 3 to function robot 4 Enables robot 4 to function scale accel 1 allows V to automatically scale the acceleration relative to velocity scale accel 2 Same as above except for robot 2 scale accel 3 Same as above except for robot 3 scale accel 4 Same as above except for robot 4 scale accel rot 1 Allows V to scale the acceleration for rotary axis J4 scale accel rot 2 Same as above except for robot 2 scale accel rot 3 Same as above except for robot 3 scale accel rot 4 Same as above except for robot 4 set speed Enables the changing of the monitor speed from the MCP trace Selects the V trace options which will display the program statement as the program executes upper Determines if string comparisons are case sensitive vision Enables the Adept Vision System to function 2 The variable argument allows the current value of the system state to be passed to that specified variable The variable will be returned with a true or false state GET TIME This statement will return the current timer value based on the V timer selected The statement s syntax is as follows where the braces define optional clauses TIME Timer Numbe

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AIM Utilities User`s & Reference Guide, v3.2B