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1. o 16 39 Installation Default PrograM o o 17 3 10 Modbus O Setup 17 3 ll _ Features si uae tw be ue RHEE Oe hw oe eS mee GG 20 la Ogak Urrea Behe eee ba aa 24 3 13 LOMAS 24 3 14 RUD TOD arcano aras ERD EG ee 26 ProgrammMming sic see dee eRe Ob RUSS a REED EES 26 A Program New Program o 2 4 2 Program WOO error oe eed a eee oe oe eS 27 4 3 Program gt Command lab lt Empty gt 28 44 Program gt Command lab MOVe 29 4 5 Program gt Command lab Fixed Waypoint 31 46 setting The waypoOlMtl a a 3 4 7 Program Command lab Relative Waypoint 33 48 Program Command lab Variable Waypoint 33 49 Program gt Command lab Wait 34 perra eases 35 4 11 Program gt Command lab POPUP 35 4 12 Program gt Command lab Halt 36 4 13 Program Command lab Commentl 36 4 14 Program gt Command lab Folder 37 4 15 Program gt Command Tab Loop saaa aa a 37 pausas 38 4 17 Program gt Command lab Assignment 39 4 18 Program gt Command lab lf 39 4 19 Program gt Command lab Script 40 4 20 Program Command Tab EventT
2. Direction File 17 34 05 Program Installation Move 1 O Log E lt unnamed gt Command Graphics Structure Y Robot Program aj 9 Y Move a o Waypoint Direction 9 V Move 2 Waypoint A direction is given by the line between the TCP position of two waypoints Set y e Pallet _ Stop after 500 0 mm ee Pattern ee PalletSequence A o Approach LJ Stop when fO a PatternPoint Set Wait Exit eo Destack o StartPos eo Direction o FromPos k o ToPos se PickSequence StackPos Set Wait Shared Parameters Waypoint Wait yP Tool Speed 10 mm s hd da Tool Acceleration 1200 mm s empt IIS q Reset to defaults lt gt Q simulati T Y Simulation poa p ES Speed 100 Previous Next E 8 Real Robot The direction is given by two positions and is calculated as the position differ ence from the first positions TCP to the second positions TCP Note A direction does not consider the orientations of the points Next Stacking Position Expression The robot moves along the direction vector while continuously evaluating whether the next stack position has been reached When the expression is evaluated to True the special sequence is executed BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready sign
3. gt lt gt gt Pia be pb A M speed 100 Previous Next gt The program structure tab gives an opportunity for inserting moving copy ing and removing the various types of commands To insert new commands perform the following steps 1 Select an existing program command 2 Select whether the new command should be inserted above or below the selected command 3 Press the button for the command type you wish to insert For adjusting the details for the new command go to the Command tab Commands can be moved cloned deleted using the buttons in the edit frame If a command has sub commands a triangle next to the command all sub commands are also moved cloned deleted Not all commands fit at all places in a program Waypoints must be under a Move command not necessarily directly under ElseIf and Else commands are required to be after an 1f In general moving ElseIf Commands around can be messy Variables must be assigned values before being used All Rights Reserved 52 PolyScope 4 Programming UNIVERSAL ROBOTS 4 29 Program gt Variables Tab File 17 35 04 Program installation lt unnamed gt Command Graphics Structure Variables Init Variables 2 Variables Y Robot Program a var 1 2 9 Y Move Waypoint Y Move o Waypoint_1 o Variable Set eo Pallet eo Pattern 9 ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 so De
4. Command Graphics Structure ry vmov Loop Waypoint Set eo Pallet se Pattern e PalletSequence Approach Please select how many times the program in this loop should be executed Loop always G Loop O times using variable Loop_1 G Loop as long as the following expression is true foo ENS o PatternPoint Set Wait o Exit 9 ee Destack StartPos 9 ee Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait 9 V Folder lt empty gt Comment Halt O simulation eg gt bi 2 speed D100 Previous_ _nex Loops the underlying program commands Depending on the selection the underlying program commands are either looped infinitely a certain number of times or as long as the given condition is true When looping a certain number of times a dedicated loop variable called Loop_1 in the screen shot above is created which can be used in expressions within the loop The loop variable counts from 0 to N 1 All Rights Reserved 38 Polyscope 4 Programming UNIVERSAL ROBOTS When looping using an expression as end condition PolyScope provides an option for continuously evaluating that expression so that the loop can be interrupted anytime during its execution rather than just after each iteration 4 16 Program Command Tab
5. Wait Y Folder lt emi t Comment Halt Popup Y Loop lt empty gt Script var 1 1 1 P Call SubProgram_1 Vif lt empty gt Event lt empty gt Y Thread 1 9 V Force lt empty gt P SubProgram_1 4 gt ale id gt Speed K 100 4 Previous Next E A call to a sub program will run the program lines in the sub program and then return to the following line All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 4 Programming 4 17 Program gt Command Tab Assignment 17 34 10 lt unnamed gt Command Y eo Famer ae ee Pattern ee PalletSequence Assignment Graphics Structure Source Expression o Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos 9 ee Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait o Waypoint Wait 9 Y Folder lt empty gt Assigns the selected variable with the value of the expression Variable Expression 1 1 foo HS var_l v Rename 0 Comment Halt Popup V Loop lt empty gt Script yar_1 1 1 4l gt 4 O Simulation 4 Real Robot 4 Previous Next gt Assigns values to variables An assignment puts the computed value of the right hand side into the variable on the left hand side This can be useful in complex programs o gt
6. and from there to each of the following waypoints The Move command set tings do not apply to the path going from the last waypoint under that Move command All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS 4 Programming Cruise Deceleration Speed Acceleration Time Figure 1 Speed profile for a motion The curve is divided into three seg ments acceleration cruise and deceleration The level of the cruise phase is given by the speed setting of the motion while the steepness of the acceleration and deceleration phases is given by the acceleration parameter 4 5 Program Command Tab Fixed Waypoint File 17 35 03 Program Installation Move 1 0 Log E lt unnamed gt Command Graphics Structure Variables Init Variables 2 Y Robot Program Waypoint 1 Rename Y Move o Waypoint 9 V Move Move robot here o Waypoint_1 Fixed position v 7 sa Change this Waypoint oo Palle AAA eo Pattern de PalletSequence l o Approach 9 o PatternPoint Set Wait En o Exit 9 ee Destack o StartPos 9 e Direction o FromPos o ToPos eo PickSequence StackPos Set Show advanced options Wait O Stop at this point ac E Blend with radius 9 V Folder i T gt e gt Remove this waypoint Add waypoint before Add waypoint after O Simulation 8
7. E lt unnamed gt Command Graphics Structure Variables T Y oo TICKRSEQUETTE T b o Sta r Set a8th Corner 1 Rename Wait i Waypoint Wait Change this Position 9 Y Folder empt Comment Move robot here Halt _ Popup Y Loop a lt empt El Script var_1 1 1 P Call SubProgram_1 Vif eo Pallet 9 de Pattern Box 5 ri g alst Corner FE y o a2nd_Corner gt e 6 me o a3rd_Corner ao o a4th_Corner aSth_Corner O q 4 o a6th_Corner E H o a7th_Corner AS o a8th Corner lv 2 3 pl ul gt lt gt Simulation id gt E Speed 1100 Previous Next gt O Real Robot A Box pattern uses three vectors to define the side of the box These three vectors are given as four points where the first vector goes from point one to point two the second vector goes from point two to point three and the third vector goes from point three to point four Each vector is divided by the interval count numbers A specific position in the pattern is calculated by simply adding the interval vectors proportionally The Line and Square patterns work similarly A counter variable is used while traversing the positions of the pattern The name of the variable can be seen on the Pattern command screen The vari able cycles through the numbers from 0 to X xY x Z 1 the number of points in the pattern
8. Real Robot pat gt el Speed 100 Previous Next gt A point on the robot path Waypoints are the most central part of a robot program telling the robot where to be A fixed position waypoint is given by physically moving the robot to the position 4 6 Setting the waypoint Press this button to enter the Move screen where you can specify the robot position for this waypoint If the waypoint is placed under a Move command in linear space moveL Or moveP there need to be a valid feature selected at that Move command in order for this button to be pressable Waypoint names Waypoint names can be changed Two waypoints with the same name is al ways the same waypoint Waypoints are numbered as they are specified All Rights Reserved 32 Polyscope 4 Programming UNIVERSAL ROBOTS Blend radius If a blend radius is set the robot trajectory blends around the waypoint allowing the robot not to stop at the point Blends cannot overlap so it is not possible to set a blend radius that overlaps a blend radius for a previous or following waypont A stop point is a waypoint with a blend radius of 0 0mm Note on I O Timing If a waypoint is a stop point with an I O command as the next command the I O command is executed when the robot stops at the waypoint However if the waypoint has a blend radius the following I O command is executed when the robot enters the blend Example Starting point movel
9. The Pattern either given as a list or as a lattice _ Waypoint e An optional before start sequence that will be performed before the first Wait position 9 V Folder An optional after end sequence that will be performed after the last position En iT a Halt Popup V Loop lt empty gt El Script var 1 1 1 P Call SubProgram_1 Vif es lt emi t eo Pallet FP eo Pattern ee PalletSequence Approach o PatternPoint _ Set Optional program sequences 4 _ Special program sequence before the first point q p T Special program sequence after the last point QO Simulation a a ca pa Speed 100 Previous Next gt Real Robot IL a z A pallet operation can perform a sequence of motions in a set of places given as a pattern as described in section At each of the positions in the pattern the sequence of motions will be run relative to the pattern position Programming a Pallet Operation The steps to go through are as follows 1 Define the pattern 2 Make a Palletsequence for picking up placing at each single point The sequence describes what should be done at each pattern position 3 Use the selector on the sequence command screen to define which of the waypoints in the sequence should correspond to the pattern positions All Rights Reserved 46 Polyscope 4 Programming UNIVERSAL ROBOTS Pallet Sequence Anchorable Sequence In an Pallet Seq
10. is shown in the 3D view with motion segments in black and blend segments transitions between motion segments shown in green The green dots specify the positions of the TCP at each of the waypoints in the program The 3D draw ing of the robot shows the current position of the robot and the shadow of the robot shows how the robot intends to reach the waypoint selected in the left hand side of the screen The 3D view can be zoomed and rotated to get a better view of the robot The buttons in the top right side of the screen can disable the various graphical components in the 3D view The motion segments shown depends on the selected program node If a Move node is selected the displayed path is the motion defined by that move If a Waypoint node is selected the display shows the following 10 steps of movement All Rights Reserved 5 PolyScope UNIVERSAL ROBOTS 4 Programming 4 28 Program gt Structure Tab File 17 34 01 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program Jaj lt empty gt Program Structure Editor Insert Basic Advanced Wizards Move Waypoint Wait Set After x selected Popup Halt Comment Folder Edit 4 Move Copy Paste After w selected Y Move Cut Delete Suppress 4
11. 40 3 UNIVERSAL ROBOTS 4 21 Program gt Command lab Thread 4 22 Program gt Command lab Pattern 4 23 Program gt Command lab Force ZA Program gt Command lab Pallet 29 Program gt Command lab see N 27 Program gt Graphics la 28 Program gt Structure la 29 Program gt Variables Tab OJO SetuUp A 5 1 Setup Screen oaaao 5 2 Setup Screen gt Initialize 5 3 setup Screen gt Language Select 5 4 setup screen gt Update 5 0 Setup screen gt Password 5 6 Setup Screen gt Calibrate Touch Screen 5 7 Setup Screen gt Network 5 8 Setup screen gt Time All Rights Reserved A 4 4 4 26 Program gt Command Tab Suppress 4 4 4 4 30 Program gt Command lab Variables Initialization Contents PolyScope 1 Introduction UNIVERSAL ROBOTS 1 Introduction PolyScope is the graphical user interface GUI which lets you operate the robot run existing robot programs or easily create new ones PolyScope runs on the touch sensitive screen attached to the control box To calibrate the touch screen read section 5 6 PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS SETUP Robot About SHUT DOWN Robot The picture above shows the Welcome Screen The bluish areas of the screen are buttons that can be pressed by pressing a finger or the backside of a pen against t
12. Base Tool 9 j Plane 1 X Point_1 x Point_2 X Point_3 lv Show axes Move robot here r Joggable Variable All Rights Reserved 24 Polyscope 3 Robot Control UNIVERSAL ROBOTS 3 12 Log Tab File 17 34 51 Program Installation Move I O Log Robot Health Readings Joint Load Controller Temp 0 0 C Base POWER OFF oe 0 0V Main Voltage 0 0 V Shoulder POWER OFF hi 0 0 V Avg Robot Power OW Elbow POWER OFF eat 0 0V Robot Current 0 0 A Wrist 1 POWER OFF pad 0 0V IO Current OmA Wrist2 POWER OFF pe 0 0V Tool Current OmA Wrist 3 POWER OFF brea 0 0V T 0000d00h01m26 896s T 0000d00h00m00 000s PolyScope PolyScope 1 7 9882 Feb 01 2013 T 0000d00h00m00 000s PolyScope Failed to load Installation T 0000d00h00m00 000s PolyScope Connected to Controller V 0000d00h00m00 000s URControl URControl 1 7 9882 Feb 01 2013 T 0000d00h00m33 896s RTHachine Program step forward stopped T 0000d00h00m36 128s RTHachine Program step forward stopped T 0000d00h00m36 408s RTHachine Program step forward stopped T 0000d00h00m37 288s RTHachine Program step forward stopped T 0000d00h00m39 208s RTHachine Program step forward stopped T 0000d00h00m41 000s RTHachine Program step forward stopped T 0000d00h00m41 280s RTHachine Program step forward stopped T 0000d00h00m41 728s RTHachine Program step forward stopped T 0000d00h00m45 520s RTHachine Program step forward stopped T 0000d00h00m48 152s RTHachine Program step fo
13. Pattern 9 ee PalletSequence love robot h Move robot here o Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos 9 ee Direction a FromPos o ToPos 9 eo PickSequence StackPos Set Wait Waypoint Wait Y Folder ps Y Y Remove this waypoint Add waypoint before Add waypoint after O Simulation m O Real Robot pg p al E Speed 100 Previous Next gt A waypoint with the position given relative to the robot s previous position such as two centimeters to the left The relative position is defined as the difference between the two given positions left to right Note that repeated relative positions can move the robot out of its workspace The distance here is the Cartesian distance between the tcp in the two po sitions The angle states how much the tcp orientation changes between the two positions More precisely the length of the rotation vector describing the change in orientation 4 8 Program Command Tab Variable Waypoint File 17 35 03 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Init Variables a Variable position y Y Robot Program Variable ON Variable position w 9 V Move Waypoint 9 V Move o Waypoint_1 o Variable Use variable y Set eo Pallet eo Pattern 9 ee PalletSequence Approach o PatternPoin
14. Speed 100 Previous Next 5 Real Robot gt Pi m p a 2 This screen allows setting variable values before the program and any threads start executing select a variable from the list of variables by clicking on it or by using the variable selector box For a selected variable an expression can be entered that will be used to set the variable value at program start All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 5 setup If the Prefers to keep value from last run checkbox is selected the vari able will be initialized to the value found on the Variables tab described in section This permits variables to maintain their values between program executions The variable will get its value from the expression if the program is run for the first time or if the value tab has been cleared A variable can be deleted from the program by setting its name to blank only spaces 5 Setup 5 1 Setup Screen SETUP Robot O Please select INITIALISE Robot LANGUAGE Selection UPDATE Robot Set PASSWORD CALIBRATE Screen PolyScope 1 7 9882 Feb 01 2013 Setup NETWORK Set TIME BACK Initialize Robot Goes to the initialization screen see section 5 2 Language Configure the language and units of measurements for the user interface see section 5 3 Update Upgrades the robot software to a newer ve
15. SubProgram File 17 34 10 Program Installation lt unnamed gt Command Graphics Structure Variables ew Starrs 9 ee Direction pu Rename as SubProgram_1l ToPos A subprogram can either point to a file on disk or can be contained in this ee PickSequence program StackPos Set SubProgram file Wait lt No File Selected gt o Waypoint Wait m V Folder Load File lt empty gt Comment Halt Popup Y Loop P Call SubProgram_1 lt empty gt Event lt empty gt Save SubProgram Clear SubProgram Y Thread 1 9 V Force _ Keep SubProgram File Updated with this Progran lt empty gt P SubProgram 1 y y Show SubProgram Tree v subProgram 1 g T D lt 4 jo _ Track program execution Gunma IA ses cuore Ceres Ja A Sub Program can hold program parts that are needed several places A sub Program can be a seperate file on the disk and can also be hidden to protect against accidental changes to the SubProgram Program Command Tab Call SubProgram File 17 34 11 Program Installation lt unnamed gt Command Graphics Structure Variables ew Staltrus A 9 ee Direction o FromPos Call Subroutine o ToPos e PickSequence Choose which subroutine to call at this point at the program execution StackPos Set SubProgram_1 v Wait o Waypoint
16. This variable can be manipulated using assignments and can be Used in expressions All Rights Reserved 43 PolyScope UNIVERSAL ROBOTS A Programming 4 23 Program Command Tab Force Force mode allows for compliance and forces in selectable axis in the robots workspace All robot movements under a Force command will be in Force mode When the robot is moving in force mode it is possible to select one or more axes in which the robot is compliant Along around compliant axes the robot will comply with the environment which means if will automatically adjust its position in order to achieve the desired force It is also is possible to make the robot itself apply a force to Its environment e g a workpiece Force mode is suited for applications where the actual tcp position along a predefined axis is not important but in stead a desired force along that axis is required For example if the robot tcp should roll against a curved surface or when pushing or pulling a workpiece Force mode also supports applying certain torques around predefined axes Note that if no obstacles are met in an axis where a non zero force is set the robot will try to accelerate along about that axis Although an axis has been selected to be compliant the robot program will still try to move the robot along around that axis However the force control assures that the robot will still approach the specified force WARNING 1 If the force function is used inc
17. WaypointStart Waypoint Waypoint2 if digital_input 1 then WaypointEnd1 5 cm blend else WaypointEnd2 Straight line segment endif Straight line segment y Waypoint 2 10cm blend This is where the input port is read Ending point 2 Ending point 1 A small example in which a robot program moves the tool from a starting posi tion to one of two ending positions depending on the state of digital_input 1 Notice that the tool trajectory thick black line moves in straight lines outside the blend areas dashed circles while the tool trajectory deviates from the straight line path inside the blend areas Also notice that the state of the digital_input 1 sensor is read just as the robot is about to enter the blend area around Waypoint 2 even though the if then command Is after Waypoint 2 in the program sequence This is somewhat counterintuitive but is necessary to allow the robot to select the right blend path All Rights Reserved 33 Polyscope UNIVERSAL ROBOTS 4 Programming 4 7 Program gt Command Tab Relative Waypoint File 17 35 03 Command Graphics Structure Variables lt unnamed gt Init Variables a es Y Robot Program Waypoint 1 aer Relative position v Y Move Waypoint a V Move Relative Motion given by the difference between from and to positions 7 PP From point To point Diitanes 00 mm 9 amp Pallet Set this point Set this point Angle 179 0 eo
18. command yellow means that the command is not finished and green means that all is OK A program can only be run when all commands are green 4 3 Program Command Tab lt Empty gt File 17 34 00 Program Installation Move 1 O Log lt unnamed gt Command Graphics Structure Y Robot Program aan Insert program lines here In the Structure tab you will find various program statements that can be inserted Structure Ti e O simulation aP pj 8H speed 000 Cl previous Cne O Real Robot Program commands need to be inserted here Press the Structure button to go to the structure tab where the various selectable program lines can be found A program cannot run before all lines are specified and defined All Rights Reserved 29 Polyscope UNIVERSAL ROBOTS 4 Programming 4 4 Program Command Tab Move File 17 34 52 Program Installation Move 1 0 Log E lt unnamed gt Command Graphics Structure Variables Init Variables Y Robot Program Move Move v Y Move o Waypoint Here you specify how the robot should perform the movements between the v Movej waypoints below 2 Waypoint Use the menu in the upper right corner to switch between various movement types Set _ The values set under Shared Parameters apply to all waypoints below and depend ee Pallet on
19. help achieve a better result 5 7 Setup Screen gt Network SETUP Robot O Please select Setup NETWORK Please select your O DHCP network method Z INITIALISE Robot O Static Address LANGUAGE Selection Disabled network Network detailed settings UPDATE Robot IP address 0 0 0 0 Subnet mask 0 0 0 0 Set PASSWORD Default gateway 0 0 0 0 CALIBRATE Screen Preferred DNS server 0 0 0 0 Alternative DNS server 0 0 0 0 Setup NETWORK Apply settings Update Set TIME BACK Panel for setting up the Ethernet network An Ethernet connection is not neces sary for the basic robot functions and is disabled by default 5 8 Setup Screen gt Time SETUP Robot Please select Set Time Time format Please select the current time INITIALISE Robot if 24 hour O 12 hour LANGUAGE Selection 17 33 56 UPDATE Robot Set PASSWORD Set Date Please select today s date CALIBRATE Screen 01 February 2013 Date format 01 February 2013 01 Feb 2013 Set TIME 01 02 13 Setup NETWORK Restart the GUI for new settings to take effect BACK Restart Now set the time and date for the system and configure the display formats for the clock The clock is displayed at the top of the RUN Program and PROGRAM Robot screens Tapping on it will sho
20. obstacle might damage a joint gearbox In the case where a joint is in a position where there is a major risk that un controlled motion would cause damage to the robot or its surroundings the operator can choose to home the robot manually for each joint section 1 2 2 On screen Editors 2 1 On screen Keypad 0 0 mm 7 8 9 lt lt Pa Lal 5 6 lo 112 3 O MX Cancel simple number typing and editing facilities In many cases the unit of the typed value is displayed next to the number All Rights Reserved 8 PolyScope 2 On screen Editors UNIVERSAL ROBOTS 2 2 On screen Keyboard Ji simple text typing and editing facilities The shift key can be used to get some additional special characters 2 3 On screen Expression Editor and or xor not True HI False LO lt Input gt v lt Output gt v lt Function gt v 0 SHIFT MX Cancel While the expression itself is edited as text the expression editor has a num ber of buttons and functions for inserting the special expression symbols such as x for multiplication and lt for less than or equal to The keyboard symbol button in the top right of the screen switches to text editing of the expression All de fined variables can be found in the Variable selector while the names of the input and output ports can be found in the Input and Output selectors Som
21. parallel program that runs along with the main program A thread can Comment perform I O wait for signals and set variables Halt Useful for controlling other machines while the robot is running Popup Y Loop lt empty gt El Script var_l 1 1 P Call SubProgram_1 e EA eo Pallet Pattern Squa alst_Corn Event lt empty gt Y Thread 1 Loops Forever 4 _ Track program execution ee gt hH Speed 100 A thread is a parallel process to the robot program A thread can be used to control an external machine independently of the robot arm A thread can communicate with the robot program with variables and output signals O Simulation Real Robot Previous Next E 4 22 Program Command Tab Pattern 17 34 13 File Program Installation lt unnamed gt ew Startrus 9 ee Direction o FromPos o ToPos ee PickSequence StackPos Set Wait a o Waypoint Positions on a line Line a Command Graphics Structure Variables Pattern A pattern is a group of positions to be cycled through Patterns can be used for making much more palletizing etc Wait 9 Y Folder lt empty gt Comment Halt Popup Y Loop lt empty gt El Script var_1l 1 1 P Call SubProgram_1 V lt empty gt 9 eo Pallet se Pattern 9 e PalletSequence o Approach Ss at Set o PatternPoint 4 Positions in
22. the selected movement type eo Pattern eo PalletSequence Approach PatternPoint Set Wait ES o Exit 9 ee Destack o StartPos 9 ee Direction o FromPos o ToPos eo PickSequence StackPos Shared Parameters Set ER Joint Speed 60 s cm E fal J Waypoint Joint Acceleration 80 s Wait y Y Folder Reset to defaults 4 Il gt oS gt Add Waypoint AR O Sje Sreainovar MEE DA E spees Dno previous mee The Move command controls the robot motion through the underlying way points Waypoints have to be under a Move command The Move command defines the acceleration and the speed at which the robot will move between those waypoints Movement Types It is possible to select one of three types of movements MoveJ MoveL and MoveP each explained below e moveJ will make movements that are calculated in the joint soace of the robot Each joint is controlled to reach the desired end location at the same time This movement type results in a curved path for the tool The shared parameters that apply to this movement type are the maximum joint soeed and joint acceleration to use for the movement calculations specified in deg s and deg s respectively If it is desired to have the robot move fast between waypoints disregarding the path of the tool between those waypoints this movement type is the favorable choice e movel
23. will make the tool move linearly between waypoints This means that each joint performs a more complicated motion to keep the tool on a straight line path The shared parameters that can be set for this movement type are the desired tool speed and tool acceleration specified in mm s and mm s respectively and also a feature The selected feature will de termine in which feature space the tool positions of the waypoints are rep resented in Of specific interest concerning feature spaces are variable features and variable waypoints Variable features can be used when the tool position of a waypoint need to be determined by the actual value of the variable feature when the robot program runs e moveP will move the tool linearly with constant soeed with circular blends and Is intended for some process operations like gluing or dispensing The All Rights Reserved 30 Polyscope 4 Programming UNIVERSAL ROBOTS size of the blend radius is per default a shared value between all the way point A smaller value will make the path turn sharper whereas a higher value will make the path smoother While the robot is moving through the waypoints with constant speed the robot cannot wait for either an I O op eration or an operator action Doing so will might stop the robots motion or cause a security stop Feature selection For MovelL and MoveP it is possible to select in which feature space the way points under the Move command should be represen
24. Po Speed 100 4 18 Program Command Tab If 17 34 11 File Program Installation lt unnamed gt Y 3STalrtrus 9 ee Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait 9 Y Folder lt empty gt Command Graphics Structure Variables If Depending on the state of the given sensor input or program variable the following lines will be executed i _ Check expression continuously Comment Halt Popup Y Loop lt empty gt Script var_1l 1 1 P Call SubProgram_1 o Vif 0 lt empty gt Event lt empty gt Y Thread 1 9 V Force lt empty gt Add Elself Remove Elself gt add Else CIL rescue men An Tf then else construction can make the robot change its behavior based on sensor inputs or variable values Use the expression editor to describe the condition under which the robot should proceed to the sub commands of this If lf the condition is evaluated to True The lines inside this 1 are executed Each If can have several ElseIf and one Else command These can be added using the buttons on the screen An ElseIf command can be removed from the screen for that command SubProgram_1 al O Simulation Real Robot Mi speed 1 100 AQ PolyScope All Rights Reserved 4 Programming UNIVERSAL ROBOTS The open Check Exp
25. Structure Y Robot Program 9 Y Move o Waypoint Set eo Pallet eo Pattern 9 ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos a ToPos 9 se PickSequence o StackPos Set Wait o Waypoint Wait Y Folder lt empty gt Destack Destacking remove items one by one from a stack The stack is defined by the following of parameters s The starting position d The direction of the stack i The item thickness is The next position is found when f0 te Item thickness Shared Parameters 0 0 mm 250 1200 Tool Speed mm s Tool Acceleration mm s 4 Sequence BeforeStart _ Sequence AfterEnd Reset to defaults O Simulation a Real Robot DI gt CI LI Speed 100 Previous Next E When destacking the robot moves from the starting position in the given direc tion to search for the next item When found the robot remembers the position and performs the special sequence The next time round the robot starts the All Rights Reserved 48 PolyScope 4 Programming UNIVERSAL ROBOTS search from the remembered position incremented by the Item thickness along the direction Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robots current position
26. UNIVERSAL ROBOTS PolyScope Manual Version 1 7 February 1 2013 UNIVERSAL ROBOTS The information contained herein is the property of Universal Robots A S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A S The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A S This manual is periodically reviewed and revised Universal Robots A S assumes no responsibility for any errors or omissions in this document Copyright 2012 by Universal Robots A S The Universal Robots logo is a registered trademark of Universal Robots A S All Rights Reserved 2 PolyScope Contents TENE TE TEE EEE A 1 1 Welcome Screen oaa aaa a a a a o 5 1 2 Initialization SCreeN aoaaa aa a a a a a a a a a a 6 On screen Editors oa aaa a a a a a a a a 7 2 1 On screen Keypad aaa a a a 7 2 2 On screen Keyboard aoaaa 0 a 8 2 3 On screen Expression Editor 0 0 0 8 POCOOLCOMMONLs ee egy redih anerian iora isehh 9 3 MOVEOO erana dane te ae eae hee Be a ee 9 3 2 OTC azar daras 1 She Modbus W O 2 62544 eae ee Bw REE EEE a SE ow oS 1 3 4 AutoMove lab 4 13 30 Installation Load Save 0 14 3 6 Installation gt TCP Position 0 a a a a 14 Oa Installation MOUNT NQ o 15 3 8 Installation gt I O Setup
27. a line feature to the installation A line is defined as an axis between two point features This axis directed from the first point towards the second point will constitute the y axis of the line coordinate system The Z Axis will be defined by the projection of the z axis of the first sub point onto the plane perpendicular to the line The position of the line coordinate system is the same as the position for the first sub point All Rights Reserved 23 Polyscope UNIVERSAL ROBOTS 3 Robot Control File 17 34 38 Program Installation Move 1 O Log TCP Position e Delete i amas Mounting I O Setup Modbus Def Program Load Save Features Base Tool Line 1 X Point_1 X Point_2 Show axes IS Move robot here Joggable OR Variable Add Plane Push this button to add a plane feature to the installation A plane is defined by three sub point features The position of the coordinate system is the same as the position for the first sub point The z axis is the plane normal and the y axis is directed from the first point towards the second The positive direction of the Z axis is set so that the angle between the z axis of the plane and the z axis of the first point is less than 180 degrees File 17 34 50 Program Installation Move 1 0 Log TCP Position Plane 1 Rename Mounting I O Setup Modbus Def Program Load Save Features
28. a square Positions in a box A list of positions Square List O Simulation 4 100 Previous Next E HAD see 8 Real Robot 42 PolyScope All Rights Reserved 4 Programming UNIVERSAL ROBOTS The Pattern command can be used to cycle through positions in the robots program The pattern command corresponds to one position at each execu tion A pattern can be given as one of four types The first three Line Square or Box can be used for positions in a regular pattern The regular patterns are defined by a number of characteristic points where the points define the edges of the pattern For Line this is the two end points for Square this is three of the four corner points where as for Box This is four of the elght corner points The programmer enters the number of positions along each of the edges of the pattern The robot controller then calculates the individual pattern positions by proportionally adding the edge vectors together If the positions to be traversed do not fall in a regular pattern the List option can be chosen where a list of all the positions is provided by the programmer This way any kind of arrangement of the positions can be realized Defining the Pattern When the Box pattern is selected the screen changes to what is shown below File 17 34 14 Program Installation Move I O Log
29. als AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next stack Pick Place Sequence Like for the Pallet operation 4 24 a special program sequence is performed at each stack position All Rights Reserved 49 Polyscope UNIVERSAL ROBOTS 4 Programming 4 26 Program Command Tab Suppress suppressed program lines are simply skipped when the program is run A sup pressed line can be unsuppressed again at a later time This is a quick way to make changes to a program without destroying the original contents All Rights Reserved S0 Polyscope 4 Programming UNIVERSAL ROBOTS 4 27 Program gt Graphics Tab File 17 35 04 Program Installation Move VO Log E lt unnamed gt Command Graphics Structure Variables Init Variables 1QG99 a a Y Robot Program a V Move HEN o Waypoint 9 Y Move o Waypoint_1 Ray o Variable S Set a eo Pallet eo Pattern eo PalletSequence Approach o PatternPoint Set PA Wait o Exit 9 eo Destack o StartPos 4 9 ee Direction o FromPos a o ToPos ar ee PickSequence StackPos Set Wait Waypoint Wait 7 sl y Gaman gt im specs Dron previous Jen Graphical representation of the current robot program The path of the TCP
30. ame Signal names are restricted to be composed of no more than 10 characters Signal value Here the current value of the signal is shown For register signals the value Is expressed as an unsigned integer For output signals the desired signal value can be set using the button Again for a register output the value to write to the unit must be supplied as an unsigned integer Signal connectivity status This icon shows whether the signal can be properly read written green or if the unit resoonds unexpected or is not reachable gray Show Advanced Options This check box shows hides the advanced options for each signal All Rights Reserved 20 Polyscope 3 Robot Control UNIVERSAL ROBOTS Advanced Options e Update Frequency This menu can be used to change the update fre quency of the signal This means the frequency with which requests are sent to the Modbus controller for either reading or writing the signal value e Slave Address This text field can be used to set a specific slave address for the requests corresponding to a specific signal The value must be in the range 0 255 both included and the default is 255 If you change this value it is recommended that you consult the manual of your Modbus devices to verify their functionality with a changed slave address 3 11 Features Customers that buy industrial robots generally want to be able to control or manipulate a robot and to program the robot relative to variou
31. ards e Register input A register input is a 16 bit quantity read from the address specified in the address field The function code 0x04 Read Input Regis ters is Used e Register output A register output is a 16 bit quantity which can be set by the user Until the value of the register has been set the value of It is simply read This means that function code 0x03 Read Holding Registers is used until the signal is set either by a robot program or by specifying a signal value in the set signal value field and after that function code 0x06 Write Single Register is used onwards Set signal address This field shows the address of the signal Use the on screen keypad to choose a different address Valid addresses depends on the manufacturer and config uration of the modbus unit It is necessary to have a good understanding of the internal memory map of the Modbus controller in order to make sure the signal address actually corresoonds to what is the intention of the signal Especially it might be worth verifying the meaning of a signal address when different func tion codes are used Seel3 10 for a description of the function codes associated with the different signal types Set signal name Using the on screen keyboard the user may give the signal a meaningful name which will provide a more intuitive programming of the robot using the signal signal names are unique which means that two signals cannot be assigned the same n
32. e special functions are found in Function lt Variable gt gt All Rights Reserved 9 PolyScope UNIVERSAL ROBOTS 3 Robot Control The expression is checked for grammatical errors when the ox button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this digital_in 1 True and analog_in 0 lt 0 5 3 Robot Control Use the play Pause Stop and Step buttons found at the bottom of the screen to start and stop robot programs Also there is a soeed slider which can slow down the speed of the program during verification of the robot program and movement DANGER 1 Make sure to stay outside the robot workspace when the Play button is pressed The movement you programmed may be different than expected 2 Make sure to stay outside the robot workspace when the Step button is pressed The function of the Step button can be difficult to understand Only use it when it is absolutely necessary 3 Make sure to always test your program by reducing the speed with the speed slider Logic programming errors made by the integrator might cause unexpected movements of the robot 3 1 Move Tab On this screen you can always move jog the robot directly either by translat ing rotating the robot tool or by moving robot joints individually File 17 34 14 Program Installati
33. eaches this command The style of the message can be selected and the text itself can be given using the on screen keyboard The robot waits for the user operator to press the OK button under the popup before continuing the All Rights Reserved 36 Polyscope 4 Programming UNIVERSAL ROBOTS program If the Halt program execution item is selected the robot program halts at this popup 4 12 Program Command Tab Halt File 17 34 07 Program lt unnamed gt Command Graphics Structure ry Vv TUVE Halt Program execution stops at this point Installation Waypoint 9 V Move o Waypoint Set so Pallet so Pattern ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction a FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait Y Folder lt empty gt Comment Halt v 4 Gunma IRA ses cuore Ceres Ja The program execution stops at this point 4 13 Program Command Tab Comment File 17 34 06 O Program lt unnamed gt Command Graphics Structure PY MODUL Program installation 9 Y Move o Waypoint Comment 9 Y Move o Waypoint Set so Pallet eo Pattern ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction FromPos o ToPos 9 se PickSequence o StackPos S
34. eatures Automatically Load Default Program Default Program File lt No Program Selected gt Select Default Program Automatically start default program when lt Di Input gt M is HI y The default program will be loaded when the control box is powered up 3 10 Modbus I O Setup Here the modbus O signals can be set up Modbus units on specific IP ad dresses can be added deleted and input output signals registers or digital on these units can be added deleted as well Each signal must be supplied with a unique name However several signals with different names may reference the same modbus signal but the user is advised to avoid this so as not to cause con fusion for the programmer Below the different buttons and fields are explained in detail All Rights Reserved 18 Polyscope 3 Robot Control UNIVERSAL ROBOTS File 17 34 22 Program Installation Move I O Log TCP Position Modbus IO Setup S Mounting 0 0 0 0 I O Setu 1 RA i IP 0 0 0 0 S225 Modbus ai ol q Def Program D Digital Output v 55 Modbus_1 Aaa Load Save Please select w DES Modbus_2 Features D Please select v 0 55 Modbus_3 hanna 0 0 0 0 ME IP 0 0 0 0 Ses __ Show advanced options Re
35. et Wait o Waypoint Wait 9 Y Folder lt empty gt eel Comment x 4 gt Please enter comment Gunea Lat tm eea 0000 Ceres mo Gives the programmer an option to add a line of text to the program This line of text does not do anything during program execution All Rights Reserved 3 Polyscope UNIVERSAL ROBOTS A Programming 4 14 Program gt Command Tab Folder File 17 34 06 Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program 9 Y Move a Waypoint Folder 9 Y Move o Waypoint A folder is simply a collection of program lines Set ee Pallet Please enter text to be displayed in the program tree eo Pattern eo PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos 9 eo Direction FromPos Folder o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait Y Folder lt empty gt qT O _ Hide Folder Program Tree gt KDO hed gt cl Li Speed 100 Previous Next gt A folder is used to organize and label specific parts of a program to clean up the program tree and to make the program easier to read and navigate A folder does not in itself do anything 4 15 Program Command Tab Loop File 17 34 07 Program Installation Move I O Log lt unnamed gt
36. fresh Push this button to refresh the connectivity status of all modbus signals in the current installation Add unit Push this button to add a new modbus unit to the robot installation Delete unit Push this button to delete the modbus unit and all signals added to the unit Set unit IP Here the IP address of the modbus unit is shown Press the button to change it Add signal Push this button to add a signal to the robot installation which can be found on the corresponding modbus unit Delete signal Push this button to delete the modbus signal from the installation Set signal type Use this drop down menu to choose the signal type Available types are e Digital input A digital input is a one bit quantity which is read from the modbus unit on the coll specified in the address field of the signal Function code 0x02 Read Discrete Inputs is used All Rights Reserved 19 PolyScope UNIVERSAL ROBOTS 3 Robot Control e Digital output A digital output is a one bit quantity which can be set to either high or low according to the configuration of the corresoonding modbus terminal Until the value of this output has been set by the user the value is read from the unit This means that function code 0x01 Read Coils is used until the output has been set and then when either the out put has been set by a robot program or by pressing the set signal value button the function code 0x05 Write Single Coil is used onw
37. g up the controller PC the welcome screen is shown The screen offers the following options e RUN Program Choose a program to run This is the simplest way to op erate the robot but requires a suitable program to have already been produced e PROGRAM Robot Change a program or create a new program e SETUP Robot Set passwords upgrade software via the Internet request support calibrate the touch screen etc e SHUT DOWN Robot Shuts down the Controller PC and powers off the robot All Rights Reserved Polyscope 1 Introduction UNIVERSAL ROBOTS 1 2 Initialization Screen Initialise Robot Push Auto until all lights turn green Rotate joints individually if necessary On Robot Power Y Robot Auto oK o Base da gt Auto POWER OFF D Shoulder da E gt Auto POWER OFF D Elbow lt gt Auto POWER OFF D Wrist 1 lt A gt Auto POWER OFF D Wrist 2 lt a gt Auto POWER OFF D Wrist 3 lt a gt Auto POWER OFF D Tool POWER OFF D ControlBox CONNECTING Y OK On this screen you control the initialization of the robot When turned on the robot needs to find the positions of each joint lo get the joint positions the robot needs to move each joint WARNING 1 The force protection during initialization can be higher than 150V The maximum force is only reduced by torque limits in the joints Stay outside the robo
38. he screen PolyScope has a hierarchical structure of screens In the programming environment the screens are arranged in tabs for easy access on the screens File 17 34 01 Program Installation Move I O Log lt unnamed gt Command Graphics Structure P Rahat Dronram la In this example the Program tab is selected at the top level and under that the Structure Tab is selected The Program tab holds information related to the currently loaded program If the Move tab Is selected the screen changes to the Move screen from where the robot can be moved Similarly by selecting the I 0 tab the current state of the electrical O can be monitored and changed It is possible to connect a mouse and a keyboard to the controller box or the teach pendant however this is not required Almost all text fields are touch enabled so touching them launches an on screen keypad or keyboard Non touchable text fields have an editor icon next to them that launches the asso ciated input editor The icons of the on screen keypad keyboard or expression editor are shown above The various screens of PolyScope are described in the following sections All Rights Reserved 9 Polyscope UNIVERSAL ROBOTS 1 Introduction 1 1 Welcome Screen PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS SETUP Robot About SHUT DOWN Robot After bootin
39. in the indicated direction The point of rotation is the TCP drawn as a small blue ball Note Release the button to stop the motion at any time Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 to 360 which are the joint limits illustrated by the horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further away from 0 Teach While the Teach button is held down it is possible to physically grab the robot and pull it to where you want it to be If the gravity setting see 3 7 inthe Setup tab is wrong or the robot carries a heavy load the robot might start moving falling when the Teach button is pressed In that case just release the Teach button again All Rights Reserved 11 PolyScope UNIVERSAL ROBOTS 3 Robot Control WARNING 1 Make sure to use the correct installation settings e g Robot mounting angle weight in TCP TCP offset Save and load the installation files along with the program 2 Make sure that the TCP sittings and the robot mounting sittings are set correctly before operating the Teach button If these sittings are not correct the robot will move when the teach button is activated 3 The teach function Impedance backdrive shall only be used in installations where the risk assessment allows it Tools and obstacles shall not have sharp edges or pinch points Make sure that al
40. l personnel remain outside the reach of the robot 3 2 1 0 Tab File 17 34 50 Program Installation Move CO Log Robot Modbus Controller Input Tool Input Digital Digital O 1 EN ERC A ITE 8 9 mof O O O O IL mo analog info analog in 1 analog in 2 0 000 V ov 5v v 0 000 V jov sv v 0 000 v ov sv y ov 5V ov 5V analog in 3 0 000 V lov 5V ha Controller Output Tool Output Digital Bigtal G9 1 20a 4 5 6 oF E a lal On Off mol LLL bd bid b b la L L Voltage Current analog out 0 analog out 1 Current Current iv _ 000 mA 4mA 20mA 4mA 20mA o 12 24 o O Simulation 8 Real Robot On this screen you can always monitor and set the live I O signals from to the robot The screen displays the current state of the I O inluding during program execution If anything is changed during program execution the program will stop At program stop all output signals will retain their states The screen is updated at only 10Hz so a very fast signal might not display properly The electrical details of the signals are described in the user manual Analog Range Settings Ihe analog output can be set to either current 4 20mA or voltage 0 10V output The analog input ranges adjusted to be from 10 10V to Q 5V The settings will be remembered for eventual later restarts of the robo
41. lect Language Selection Please select language Int l English v Y INITIALISE Robot LANGUAGE Selection UPDATE Robot Units Selection Please select units A di Metric units U S customary CALIBRATE Screen Setup NETWORK Set TIME Restart the GUI for new settings to take effect BACK Restart Now This screen provides for the selection of language and units of measurements used for the PolyScope software and for the help Tick off English program ming to have the programming in English The GUI needs to be restarted for changes to take effect All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 5 setup 5 4 Setup Screen gt Update SETUP Robot O Please select Update robot software INITIALISE Robot Search LANGUAGE Selection UPDATE Robot Click Search to download a list of possible updates for this robot Set PASSWORD Description CALIBRATE Screen Setup NETWORK Set TIME BACK software updates can be installed from USB flash memory Insert an USB memory stick and click Search to list its contents To perform an update select a file click Update and follow the on screen instructions WARNING 1 Always check your programs after a software upgrade The upgrade might change trajectories in your pr
42. ll no compliant axes until the tcp speed is above zero If later on while still in force mode the robot is again standing still the task frame has the same orientation as the last time the tcp soeed was larger than zero For the last three types the actual task frame can be viewed at runtime on the graphics tab 4 27 when the robot is operating in force mode Force value selection A force can be set for both compliant and non compliant axes but the effects are different e Compliant The robot will adjust its position to achieve the selected force e Non compliant The robot will follow its trajectory set by the program while accounting for an external force of the value set here For translational parameters the force is specified in Newtons N and for rota tional the torque is specified in Newton meters Nm Limits selection For all axes a limit can be set but these have different meaning corresponding to the axes being complian or non compliant e Compliant The limit is the maximum speed the tcp is allowed to attain along about the axis Units are mm s and deg s e Non compliant The limit is the maximum deviation from the program tra jectory which is allowed before the robot security stops Units are mm and deg All Rights Reserved AS Polyscope UNIVERSAL ROBOTS 4 Programming Test force settings The on off button leach lest toggles the behavior of the leach button on the back of the leach Pendant from n
43. lt gt digital_out 1 lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt Please Select an Input or Output Rename to New Name Input and output signals can be given names This can make it easier to remember what the signal does when working with the robot Select an I O by clicking on it and set the name using the on screen keyboard You can set the name back by setting it to only blank characters When an output is selected a few options are enabled Using the check box a default value for the output can set to elther low or high This means that the output will be set to this value when a program is not running If the check box is not checked the output will preserve its current state after a program ends It is also possible to specify whether an output can be controlled on the All Rights Reserved 17 Polyscope UNIVERSAL ROBOTS 3 Robot Control I O tab by either programmers or both operators and programmers or if it is only robot programs that may alter the output value 3 9 Installation Default Program File 17 34 22 Program Installation Move I O Log TCP Position Set Default Program Mounting I O Setup The Default program is loaded automatically when the robot is turned on Modbus Def Program Load Save F
44. ns and options as possible This can be useful combined with password pro tecting the programming part of PolyScope see section 5 5 to make the robot into a tool that can run exclusively pre written programs A Programming All Rights Reserved 2 Polyscope UNIVERSAL ROBOTS A Programming 4 1 Program New Program File 17 33 59 Program Installation Move 1 0 Log New Program Load From File Load Program Use Template Pick and Place Empty Program A new robot program can start from either a template or from an existing saved robot program A template can provide the overall program structure so only the details of the program need to be filled in 4 2 Program Tab File 17 34 00 E Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program Program The window on the left shows the program tree Use the Next and Previous buttons to navigate through the program tree e Use the Structure tab to modify the program tree L Add BeforeStart Sequence 4 gt Set Initial Variable Values Al p Program Loops Forever Ganan a Im soea Cos vos ne The program tab shows the current program being edited Ihe program tree on the left side of the screen displays the program as a list of commands while the area on
45. ogram The updated software specifications can be found by push ing the button located at the top right corner of the GUI Hardware specifications remain the same and can be found in the original manual All Rights Reserved S Polyscope 9 setup UNIVERSAL ROBOTS 5 5 Setup Screen Password SETUP Robot O Please select Change Password INITIALISE Robot Enter old password LANGUAGE Selection Enter new password UPDATE Robot Re enter new password Set PASSWORD Set password CALIBRATE Screen In order to protect users from being able to modify the program You should set a password to protect this area Setup NETWORK Set TIME BACK The programming part of the software can be locked using a password When locked programs can be loaded and run without the password but a password is required to create or change programs WARNING 1 Add a password to prevent non authorized personnel from changing the robot installation 5 6 Setup Screen gt Calibrate Touch Screen X Point very precisely in the center of the blue cross CANCEL Calibrating the touch screen Follow the on screen instructions to calibrate the touch screen Preferably use a pointed non metallic object such as a All Rights Reserved 9 Polyscope UNIVERSAL ROBOTS 5 setup closed pen Patience and care
46. oint 9 Y Move o Waypoint Set Pallet eo Pattern ee PalletSequence Approach o PatternPoint Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos O No Wait O Wait 0 01 seconds O wait for Digital Input lt Di Input gt MG LO M wait for lt An Input gt D gt M 0 0 Volts O Wait for fo HS o ToPos se PickSequence StackPos Set Wait o Waypoint Wait 2 Y Folder lt empty gt ae Save E 4 gt QO Simulation hed gt ph E Speed 1 100 Previous Next gt Real Robot Waits for a given amount of time or for an I O signal All Rights Reserved 99 Polyscope UNIVERSAL ROBOTS 4 Programming 4 10 Program gt Command Tab Action File 17 34 05 installation Program lt unnamed gt Command Graphics Structure Y Robot Program 9 Y Move o Waypoint Set y V Move Select the action you wish the robot to perform at this point in the program You Waypoint can also specify changes in the robot s payload Set 7 eo Pallet O No Action eo Pattern ee PalletSequence O set Digital Output lt Di Output gt speed g p p loft y o PatternPoint Set O set Analog Output lt An Output gt 4 0 mA Wait o Exit set lt Output gt M foo 9 ee Destack o StartPos 9 amp Direction _ Set the t
47. on Move I O Log Move Tool Robot Feature Bas Tool Position 179 93 mm A 606 87 mm F Move Joints Estable Home Base a O A 91 71 a Shoulder q 98 96 169 2 1 mm 2 N lt X 0 0012 RY 3 1163 RZ 0 0389 Elbow e 126 22 wrist E 46 29 wrist 2 e 91 39 gt Teach wists 1 78 ai Speed 100 YX Cancel Y ok All Rights Reserved 10 Polyscope 3 Robot Control UNIVERSAL ROBOTS Robot The current position of the robot is shown in 3D graphics Push the magnifying glass icons to zoom in out or drag a finger across to change the view lo get the best feel for controlling the robot select the View feature and rotate the viewing angle of the 3D drawing to match your view of the real robot Feature and fool position At the top right part of the screen the feature selector can be found The features selector defines which feature to control the robot relative to while below it the boxes display the full coordinate value for the tool relative to the selected feature Values can be edited manually by clicking on the coordinate or the joint position Move Tool e Holding down A translate arrow top will move the tool tip of the robot in the direction indicated e Holding down Aa rotate arrow button will change the orientation of the robot tool
48. ormal teaching mode to testing the force command When the leach Test button is on and the leach button on the back of the Teach Pendant is pressed the robot will perform as if the program had reached this force command and this way the settings can be verified before actually running the complete program Especially this possibility is useful for verifying that compliant axes and forces have been selected correctly Simply hold the robot tcp using one hand and press the Teach button with the other and notice in which directions the robot can cannot be moved Upon leaving this screen the Teach Test button automatically switches off which means the Teach button on the back of the Teach Pendant button is again used for free teach mode Note The Teach button will only be effectual when a valid feature has been selected for the Force command 4 24 Program Command Tab Pallet File 17 34 12 Program Installation Move 1 0 Log E lt unnamed gt Command Graphics Structure Variables i starr us re ee Direction FromPos Pallet o o ToPos A pallet operation allows the robot to perform the same sequence of motions and 7 e PickSequence actions at several different positions This can be useful for palletizing or similar o StackPos operations A pallet operation consist of the following features z ou A Program Sequence to be performed at several positions i be
49. orrectly it can produce a force of more than ISON The programmed force shall be taken into consideration during risk assessment File 17 34 18 Program Installation Move 1 O Log E lt unnamed gt Command Graphics Structure Variables ATT z V Folder Force lt empt i Comment Feature Base v Type Simple 4 Halt y j J Popup Y Loop lt empt The program part under this force command El Script will be run in force mode yar 1 1 1 In force mode the robot P call SubProaram 1 will be free in the direction Vif is of the selected feature pa to apply the specified force eo Pallet LEE E PET P oo Pattern Squa A Use the test button below alst_Corng l in combination with the teach button o a2nd_Corn to test the force mode o a3rd_Corn Force 0 0 N o a4th_Corne 9 eo PalletSequend o Approach 7 o PatternPoil Set Teach test Wait o Exit Event Y Thread 1 9 V Force q l II 4 QO Simulation gt po o Speed 100 Previous p Next gt 8 Real Robot Feature selection The Feature menu is used to select the coordinate system axes the robot will use while It is operating in force mode The features in the menu are those which have been defined in the installation see All Rights Reserved 44 Polyscope 4 Programming UNIVERSAL ROBOTS Force mode type The are four different t
50. otal payload to 0 00 kg o FromPos o ToPos Perform action now 9 ee PickSequence StackPos Set Wait Waypoint Wait Y Folder lt empty gt qT O gt EDOR hed gt LJ LI Speed 1 100 Previous Next gt Sets either digital or analog outputs to a given value Can also be used to set the payload of the robot for example the weight that is picked up as a consequence of this action Adjusting the weight can be neccesary to prevent the robot from security stopping unexpectedly when the weight at the tool is different to that which is expected 4 11 Program gt Command Tab Popup File 17 34 07 Program installation Move vo Log lt unnamed gt Command Graphics Structure Se Waypumtr Y Move P o Waypoint opu Set p p Y e io Shows the message below on the screen and waits for the user to press OK 9 ee PalletSequence o Approach o PatternPoint Popup type Preview Popup Set j Wait O Message o Exit 2 Warnin 9 eo Destack O 9 o StartPos O Error 9 ee Direction FromPos ToPos eo PickSequence StackPos Set Wait Waypoint Wait 9 Y Folder lt empty gt Comment Halt _ Halt program execution at this popup eco Hed 3 i Ll Speed 1 100 Previous Next The popup is a message that appears on the screen when the program r
51. r the programs folder All Rights Reserved 29 Polyscope UNIVERSAL ROBOTS 3 Robot Control Screen layout Load Program Current Directory home hudson programs v te amp ABCDE urp Filename Filter Universal Robots Program files eM Open Cancel This image shows the actual load screen It consists of the following important areas and buttons Path history The path history shows a list of the paths leading up to the present location This means that all parent directories up to the root of the computer are shown Here you will notice that you may not be able to access all the directories above the programs folder By selecting a folder name in the list the load dialog changes to that direc tory and displays it in the file selection areal3 13 File selection area In this area of the dialog the contents of the actual area Is present It gives the user the option to select a file by single clicking on its name or to open the file by double clicking on its name In the case that the user double clicks on a directory the didlog descends into this folder and presents its contents File filter By using the file filter one can limit the files shown to include the type of files that one wishes By selecting Backup Files the file selection area will display the latest 10 saved versions of each program where 01d0 is the newest and o1d9 Is the oldest File field Here the cu
52. rations need to be given for the movement involved in the stack operation All Rights Reserved 47 Polyscope UNIVERSAL ROBOTS Stacking File 4 Programming 17 34 04 Program lt unnamed gt installation Command Graphics Structure Y Robot Program 9 Y Move o Waypoint 9 Y Move o Waypoint Set so Pallet eo Pattern 9 eo PalletSequence Approach PatternPoint Set Wait o Exit eo Seek Wait Y Folder lt empty gt Comment Halt Popup Y Loop lt empty gt Script Select Seek Type A seek operation is given by a starting position s and a directiond Please select between stacking and destacking Stacking Destacking fics f E li d li O Simulation 8 Real Robot CI gt gt Li Speed 100 4 Previous Next E When stacking the robot moves to the starting position and then moves opposite the direction to search for the next stack position When found the robot remembers the position and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the Item thickness along the direction The stacking is finished when the stack hight is more than some defined number or when a sensor gives a signal Destacking File 17 34 04 Program lt unnamed gt installation Command Graphics
53. ression Continuously allow the conditions of the If and ElseIf statements to be evaluated while the contained lines are ex ecuted If a expression evaluates to False while inside the body of the I part the following ElseIf Or El se statement will be reached 4 19 Program Command Tab Script File 17 34 08 Program Installation Move 1 O Log lt unnamed gt Command Graphics Structure Te SEL EN so Pallet de Pattern i 9 ee PalletSequence Scri pt Code Line y o Approach o PatternPoint Set Wait o Exit 9 ee Destack foo ENE Below you can enter text that will be executed as script code by the URController o StartPos 9 se Direction o FromPos o ToPos eo PickSequence StackPos Set Wait Waypoint Wait Y Folder lt empty gt Comment Halt Popup V Loop lt empty gt Script v 4 aaa o gt Po Speed 1100 Previous Next gt This command gives access to the underlying real time script language that is executed by the robot controller It is intended for advanced users only If the File option in the top left corner is choosen it is possible to create and edit script programs files This way long and complex script programs can be used together with the operator friendly programming of PolyScope 4 20 Program Command Tab Event File 17 34 18 P
54. rogram Installation lt unnamed gt Command Graphics Structure Variables mer Wait o Waypoint Event Wait y Y Folder An Event is simmilar to an Interrupt however in an event the execution of lt empty gt the main program continues while the event code is being executed While Comment the event is being executed new events will have no effect Halt Depending on the state of the given sensor input or program variable the Popup following lines will be executed V Loop lt empty gt El Script var_1 1 1 P Call SubProgram_1 V if eo Pallet Approach PatternPoi Set Wait o Exit Simulation Ke gt A E Speed 100 Previous Next E gt O Real Robot All Rights Reserved 4 PolyScope UNIVERSAL ROBOTS A Programming n event can be used to monitor an input signal and perform some action or set a variable when that input signal goes high For example in the event that an output signal goes high the event program can wait for 100ms and then set it back to low again This can make the main program code a lot simpler in the case on an external machine triggering on a rising flank rather than a high input level 4 21 Program gt Command Tab Thread 17 34 18 File Program Installation lt unnamed gt Command Graphics Structure Variables wayponmr z Wait 9 V Folder Th read lt empty gt A thread is a
55. rrently selected file is shown The user has the option to manually enter the file name of a file by clicking on the keyboard icon to the right of the field This will cause an on screen keyboard to pop up where the user can enter the file name directly on the screen Open button Clicking on the Open button will open the currently selected file and return to the previous screen All Rights Reserved 20 Polyscope 4 Programming UNIVERSAL ROBOTS Cancel button Clicking on the Cancel button will abort the current loading process and cause the screen to switch to the previous image Action buttons A series of buttons gives the user the ability to perform some of the actions that normally would be accessible by right clicking on a file name in a conventional file dialog Added to this is the ability to move up in the directory structure and directly to the program folder e Parent Move up in the directory structure The button will not be enabled in two cases when the current directory is the top directory or if the screen is in the limited mode and the current directory is the program folder e Go to program folder Go home e Actions Actions such as create directory delete file etc 3 14 Run Tab File 17 33 59 Run Move V0 Log UNIVERSAL ROBOTS Program ABCDE Variables Status Stopped Time 0000d00h00m19 184s CIAO This tab provides a very simple way of operating the robot with as few but to
56. rsion see section s 4 Set Password Provides the facility to lock the programming part of the robot to people without a password see section 9 5 Calibrate Screen Calibrates the touch of the touch screen see sec tion 5 6 Setup Network Opens the interface for setting up the Ethernet network for the robot see section 5 7 Time Set the time and date for the system and configure the display for mats for the clock see section 5 8 Back Returns to the Welcome Screen All Rights Reserved 94 Polyscope 5 setup UNIVERSAL ROBOTS 5 2 Setup Screen Initialize Initialise Robot Push Auto until all lights turn green Rotate joints individually if necessary On Robot Power a Robot Auto OK E Base a gt Auto POWER OFF E Shoulder lt a gt Auto POWER OFF E Elbow lt a E gt Auto POWER OFF o Wrist 1 a gt Auto POWER OFF E A A Wrist 2 a E gt Auto POWER OFF o Auto Wrist 3 a gt Auto POWER OFF o Tool POWER OFF E ControlBox CONNECTING a 2 OK This screen is used when powering up the robot Before the robot can op erate normally each joint needs to move a little about 20 to finds its exact position The Auto button drives all joints until they are oK The joints change drive direction when the button is released and pressed again 5 3 Setup Screen Language Select SETUP Robot O Please se
57. rward stopped T 0000d00h00m48 480s RTHachine Program step forward stopped T 0000d00h00m48 648s RTHachine Program step forward stopped onc Clear _ Robot Health The top half of the screen displays the health of the robot The left part shows information related to the control box of the robot while the right part shows information about each robot joint Each robot joint shows informa tion for temperaure of the motor and electronics the load of the joint and the voltage at the joint Robot Log On the bottom half of the screen log messages are shown The first column shows the time of arrival of the message Ihe next column shows the sender of the message The last column shows the message itself 3 13 Load Screen On this screen you choose which program to load There are two versions of this screen one that is to be used when you just want to load a program and execute it and one thot is used when you want to actually select and edit a files program The main difference lies in which actions are available to the user In the basic load screen the user will only be able to access files not modify or delete them Furthermore the user is not allowed to leave the directory structure that descends from the programs folder The user can descend to a sub directory but he cannot get any higher than the programs folder Therefore all programs should be placed in the programs folder and or sub folders unde
58. s objects and boundaries in the surroundings of the robot such as machines objects or blanks fixtures conveyers pallets or vision systems Traditionally this is done by defining frames coordinate systems that relate the internal coordinate system of the robot the base coordinate system to the relevant object s coordinate system Reference can both be made to tool coordinates and to base coordinates of the robot A problem with such frames is that a certain level of mathematical knowl edge is required to be able to define such coordinate systems and also that it takes a considerable ammount of time to do this even for a person skilled in the art of robot programming and installation Often this task involves the cal culation of 4x4 matrices Particularly the representation of orientation is compli cated for a person that lacks the required experience to understand this prob lem Questions offen asked by customers are for instance e Will it be possible to move the robot 4 cm away from the claw of my com puterised numerically controlled CNC machine e Is it possible to rotate the tool of the robot 45 degrees relative to the table e Can we make the robot move vertically downwards with the object let the object loose and then move the robot vertically upward again The meaning of such and similar questions is very straight forward to an av erage customer that intends to use a robot for instance at variou
59. s stations in a production plant and if may seem annoying and incomprehensible to the customer to be told that there may not be a simple answer to such relevant questions There are several complicated reasons for this being the case and in order to address these problems Universal Robots has developed unique and simple ways for a customer to specify the location of various objects relative to the robot Within a few steps it is therefore possible to do exactly what was asked for in the above questions All Rights Reserved 2 PolyScope UNIVERSAL ROBOTS 3 Robot Control File 17 34 22 Program Installation Move I O Log TCP Position Features Mounting I O Setup Modbus Def Program Load Save Features Base Tool K New Point Line Plane s Rename This button makes it possible to rename a feature Delete This button deletes the selected feature and if any all sub features Show Axes Choose whether the coordinate axes of the selected feature shall be visible on the 3D graphics The choice applies on this screen and on the Move screen Joggable Select whether the selected feature shall be joggable This determines whether the feature will appear in the feature menu on the Move screen Variable select whether the selected feature can be used as a variable If this option is selected a variable named the name of
60. stack o StartPos 9 e Direction o FromPos o ToPos 9 ee PickSequence StackPos Set Wait Waypoint Wait 4 4 gt Gatas Lt tm soea 0009 eres nen The Variables tab shows the live values of the variables in the running pro gram and keeps a list of variables and values between program runs The vari ables tab appears only when it has information to display The variable names on this screen are shown with at most 50 characters and the values of the vari ables are shown with at most 500 characters 4 30 Program Command Tab Variables Initialization File 17 34 19 Program Installation lt unnamed gt Command Graphics Structure Variables Init Variables Y Robot Program Initial Variable Values 9 Y Move o Waypoint y V Move Loop_1 has no specific initial value o Waypoint cnt 1 Set cnt_2 0 so Pallet interpolate 1 0 0 pose _1 has no specific initial value pose 2 has no specific initial value pose_3 has no specific initial value var_1 has no specific initial value so Pattern 9 eo PalletSequence Approach o PatternPoint Set Wait o Exit 9 ee Destack o StartPos 9 ee Direction o FromPos o ToPos eo PickSequence ils nek an Variable Expression Set Wait y o Waypoint Wait CI Keep value from previous run 9 Y Folder p mee 1 CI Rename 0 Clear Expression f x EE A Po O Simulation m paal
61. t Set Wait o Exit 9 eo Destack o StartPos 9 ee Direction o FromPos a ToPos 9 ee PickSequence StackPos Set Wait o Waypoint Wait Move the robot to a variable position mme Remove this waypoint Add waypoint before Add waypoint after O Simulation Real Robot EIC Speed 100 Previous Next E A waypoint with the position given by a variable in this case calculated pos The variable has to be a pose such as All Rights Reserved 34 Polyscope 4 Programming UNIVERSAL ROBOTS var p 0 5 0 0 0 0 3 14 0 0 0 0 The first three are x y z and the last three are the orientation given as a rotation vector given by the vector rxryrz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate The position is always given in relation to a ref erence frame or coordinate system defined by the selected feature The robot always moves linearly to a variable waypoint For example to move the robot 20mm along the z axis of the tool Var l p 0 9 0027000 Movel Waypoint_1 varibale position Use variable var_1l Feature Tool 4 9 Program gt Command Tab Wait File 17 34 06 Program Installation Move 1 O Log E lt unnamed gt Command Graphics Structure Y Robot Program Wait 9 Y Move Please select what should trigger the robot s next action o Wayp
62. t controller when a program is saved 3 3 Modbus I O Here the digital modbus I O signals as set up in the installation are shown If the signal connection is lost the corresponding entry on this screen is disabled All Rights Reserved 12 Polyscope 3 Robot Control UNIVERSAL ROBOTS File 17 34 51 Program Installation Move 1 0 Log Robot Modbus Inputs Outputs O Simulation 8 Real Robot Inputs View The state of digital modbus inputs Outputs View and toggle the state of digital modbus outputs A signal can only be toggled if the choice for I O tab control described in 3 8 allows it All Rights Reserved 13 PolyScope UNIVERSAL ROBOTS 3 Robot Control 3 4 AutoMove Tab The AutoMove tab is used when the robot has to move to a specific position in its workspace Examples are when the robot has to move to the start position of a program before running it or when moving to a waypoint while modifying a program File 17 33 59 Run Move I O Log fAutomove Move Robot into Position Hold down Auto to perform the movement shown Release the button to abort Push Manual to move the robot into position manually Auto Manual a Speed 100 Cancel Animation The animation shows the movement the robot is about to perform Compare the animation with the position of the real robot and make sure that robot can safely perform
63. t workspace when the robot arm is moving Status LEDs The status LEDs give an indication of the joints running state e A bright red LED tells that the robot is currently in a stopped state where the reasons can be several e A bright yellow LED indicates that the joint is running but dosn t know its presents position and needs homing e Finally a green LED indicates that the joint is running correctly and is ready to execute All the LEDs have to be green in order for the robot to operate normally Manual motion By hand When the joints are Ready and the Teach button on the back of the screen is pressed the joint modes change to Backdrive In this mode the joints will release the brakes when motion is detected This way the robot can be moved out of a machine manually before being started up The brakes will reactive as soon as the button is released again All Rights Reserved i Polyscope UNIVERSAL ROBOTS Auto movement Auto Buttons 2 On screen Editors Normally it is always advisable to use the auto buttons to move the individual Joints until they reach a known state In order to operate the button you have to press on the Auto button and keep it pressed The auto buttons can be pressed individually for each joint or for the whole robot CAUTION Moving directly Move Buttons 1 Great care should be taken if the robot is touching an obstacle or table since driving the robot into the
64. ted when specifying these waypoints This means that when setting a waypoint the program will remem ber the tool coordinates in the feature space of the selected feature There are a few circumstances that need detailed explanation e Fixed feature If a fixed feature such as e g Base is selected this will not have any effect on Fixed and Relative waypoints The behavior for Vari able waypoints is described below Variable feature If any of the features in the currently loaded installation are selected to be variable these corresponding variables will also be selectable in the feature selection menu If a feature variable named by the name of the feature and proceeded by _var is selected the robot movements except to Relative waypoints will depend on the ac tual value of the variable when the program is running The initial value of a feature variable is the value of the actual feature This means that the movements will only change if the feature variable is actively changed by the robot program Variable waypoint When the robot moves to a variable waypoint the tool target position will always be calculated as the coordinates of the variable in the space of the selected feature Therefore the robot movement for a variable waypoint will always change if another feature is selected The settings of the Shared Parameters of a Move command apply to the path from the robot s current position to the first waypoint under the command
65. the feature suceeded by var will then be available when editing robot programs and this variable can be as signed a new value in a program which can then be used to control waypoints that depend on the value of a feature Set or Change Position Use this button to set or change the selected feature The Move screen will appear and a new position of the feature can be set All Rights Reserved 22 Polyscope 3 Robot Control UNIVERSAL ROBOTS Move Robot to Feature Pressing this button will move the robot towards the selected feature At the end of this movement the coordinate systems of the feature and the TCP will coincide except for a 180 degree rotation about the x axis Add Point Push this button to add a point feature to the installation The position of a point feature is defined as the position of the TCP at that point The orientation of the point feature is the same as the TCP orientation except that the feature coordinate system is rotated 180 degrees about its x axis This makes the z axis of the point feature directed opposite than that of the TCP at that point File 17 34 28 Program Installation Move I O Log TCP Position Delete Point 1 Rename Mounting I O Setup Modbus Def Program Load Save Features Base Tool X Point_1 v Show axes Move robot here Change this point RR Joggable Variable Add Line Push this button to add
66. the movement without hitting any obstacles CAUTION 1 The automove function moves in joint space not in linear cartesian space Collision might damage robot or equip ment Auto Hold down the Auto button to move the robot as shown in the animation Note Release the button to stop the motion at any time Manual Pushing the Manual button will take you to the MoveTab where the robot can be moved manually This is only needed if the movement in the animation is not preferable All Rights Reserved 14 Polyscope 3 Robot Control UNIVERSAL ROBOTS 3 5 Installation Load Save File 17 34 22 Program Installation Move I O Log TCP Position 3 Load Save Robot Installation to File Mounting I O Setup The Robot Installation includes the options that can be set using the tabs to the left This includes I O names TCP setup and the robot s mounting The robot Modbus installation does not include a robot program Def Program Load Save Save the current installation default Save Features Load a different installation file Load The installation covers aspects of how the robot is placed in its working envi ronment both mechanical mounting of the robot and electrical connections to other equipment These settings can be set using the various screens under the Installation tab It is possible to have more than one installation file for the robot Programs created will use the ac
67. the right side of the screen displays infor mation relating to the current command The current command is selected by clicking the command list or by using the Previous and Next buttons on the bottom right of the screen Commands can be inserted or removed using the All Rights Reserved 28 Polyscope 4 Programming UNIVERSAL ROBOTS structure tab described in section The program name is shown directly above the command list with a small disk icon that can be clicked to quickly save the program The lowest part of the screen is the Dashboard Ihe Dashboard features a set of buttons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allow you to adjust the program speed at any time which directly affects the speed at which the robot moves lo the left of the Dashboard the Simulation and Real Robot buttons toggle between running the program in a simulation or running it on the real robot When running in simulation the robot does not move and thus cannot damage Itself or any nearby equipment in collisions Use simulation to test programs if unsure about what the robot will do While the program is being written the resulting motion of the robot is illus trated using a 3D drawing on the Graphics tab described in section 4 27 Next to each program command is a small icon which is either red yellow or green A red icon means that there is an error in that
68. the robot program to fit the new ICP This is relevant when the shape or size of the tools has been changed e Change Graphics redraws the graphics of the program to fit the new TCP This is relevant when the TCP has been changed without any physical changes to the tool 3 7 Installation Mounting File 17 34 20 Program Installation Move 1 0 Log ieee ta Specify Robot Mount and Angle Mounting I O Setup ala Modbus Def Program Load Save aa Features Tilt 4 45 0 0 Y 45 Rotate Robot Base Mounting 45 pS 0 0 45 Here the mounting of the robot can be specified This serves two purposes 1 Making the robot look right on the screen 2 Telling the controller about the direction of gravity The controller uses an advanced dynamics model to give the robot smooth and precise motions and to make the robot hold itself when backariven For this reason it is important that the mounting of the robot is set correctly All Rights Reserved 16 Polyscope 3 Robot Control UNIVERSAL ROBOTS WARNING 1 Failure to set the robot mounting correctly might result in frequent security stops and or a possibility that the robot will move when the teach button is pressed The default is that the robot is mounted on a flat table or floor in which case no change Is needed on this screen However if the robot is ceiling mo
69. tive installation and will load this in stallation automatically when used Any changes to an installation needs to be saved to be preserved after power down Saving an installation can be done either by pressing the Save button or by saving a program using the installation 3 6 Installation TCP Position File 17 34 20 Program Installation Move 1 0 Log TCP Position Setup for the Tool Center Point Mounting Setting the Tool Center Point oor TCP Coordinates Modbus X 0 0 mm Def Program AAA 9 Y 0 0 mm Y Load Save Z Z 0 0 mm Features A Z The payload at the TCP is 0 00 kg Fit program to new TCP M9 Pr nd Change motions gg p 7 Change graphics The Tool Center Point TCP is the point at the end of the robot arm that gives a characteristic point on the robot s tool When the robot moves linearly it is this All Rights Reserved IS Polyscope UNIVERSAL ROBOTS 3 Robot Control point that moves in a straight line It is also the motion of the TCP that is visualized on the graphics tab The TCP is given relative to the center of the tool output flange as indicated on the on screen graphics WARNING 1 Make sure to use the correct installation settings Save and load the installation files along with the program The two buttons on the bottom of the screen are relevant when the TCP is changed e Change Motions recalculates all positions in
70. uence node the motions of the robot are relative to the pallet position The behavior of a sequence is such that the robot will be at the po sition specified by the pattern at the Anchor Position Pattern Point he remaining positions will all be moved to make this fit Do not use the Move command inside a sequence as it will not be relative to the anchor position BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next pallet 4 25 Program gt Command Tab Seek A seek function Uses a sensor to determine when the correct position is reached to grab or drop an item The sensor can be a push button switch a pressure sensor or a Capacitive sensor This function is made for working on stacks of items with varying item thickness or where the exact positions of the items are not known or too hard to program stacking Destacking ls Ji Li When programming a seek operation for working on a stack one must define s the starting point d the stack direction and i the thickness of the Items in the stack On top of this one must define the condition for when the next stack position is reached and a special program sequence that will be performed at each of the stack positions Also soeed and accele
71. unted wall mounted or mounted at an angle this can be adjusted using the push buttons The buttons on the right side of the screen are for setting the angle of the robot s mounting The three top right side buttons set the angle to ceiling 180 wall 90 floor 0 The Tilt buttons can be used to set an arbitrary an gle The buttons on the lower part of the screen are used to rotate the mounting of the robot to match the actual mounting WARNING 1 Make sure to use the correct installation settings Save and load the installation files along with the program 3 8 Installation gt I O Setup Def Program Load Save Features digital_in 2 digital_in 3 digital_in 4 digital_in 5 digital_in 6 digital_in 7 digital_in 8 digital_in 9 analog _in 0 analog_in 1 analog _in 2 analog_in 3 lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt digital_out 2 digital_out 3 digital_out 4 digital_out 5 digital_out 6 digital_out 7 digital_out 8 digital_out 9 analog_out 6 analog _ out 1 File 17 34 21 Program Installation Move I O Log TCP Position Input Output Setup Mounting Input Names Output Names I O Setu P digital_in 0 lt default gt digital_out 0 lt default gt Modbus digital_in 1 lt defau
72. w the date briefly The GUI needs to be restarted for changes to take effect All Rights Reserved 98 Polyscope
73. ypes of force mode each determining the way in which the selected feature will be interpreted e Simple Only one axis will be compliant in force mode The force along this axis is adjustable The desired force will always be applied along the z axis of the selected feature However for Line features if is along their y axis Frame Ihe Frame type allows for more advanced usage Here compli ance and forces in all six degrees of freedom can be independently se lected e Point When Point is selected the task frame has the y axis pointing from the robot tcp towards the origo of the selected feature The distance be tween the robot tcp and the origo of the selected feature is required to be at least 10 mm Note that the task frame will change at runtime as the position of the robot tcp changes The x and z axis of the task frame are dependent on the original orientation of the selected feature e Motion Motion means that the task frame will change with the direction of the TCP motion The x axis of the task frame will be the projection of the tco movement direction onto the plane soanned by the x and y axis of the selected feature The y axis will be perpendicular to the robot motion and in the x y plane of the selected feature This can be usefull when deburring along a complex path where a force is needed perpendicular to the TCP motion Note when the robot is not moving If force mode is entered with the robot standing still there wi

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