Toshiba STE 58762 Welding System User Manual
Contents
1. 2 1 PROGRAM CONFIGURATION ss ss ss tr t nr 2 1 1 Files X 0 03 83 HEH HULL HE 2 1 2 Program A 2 1 3 Positional Data 230 o sos sos sonsu 2 2 CHARACTER SET soss ss 8 8 gt lg lt nn 23 IDENTIFIERS sr mo o ee 2 4 2 4 VARIABLES AND CONSTANTS tr n n n 24 1 ScalarData so 8 ee ee mm 24 2 Vector Data s s s u u s x n u 2 4 3 System Variables r oe we oe iw as 24 4 System Constants osa 2 5 MATHEMATICAL FUNCTIONS s ss ss ss nr nen 2 5 1 Computational Expressions s t s 2 5 2 Logical Expressions o o sss see tn 26 LABELS rrr ooo 27 REMARKSANDCOMMENTS s ss s s c t ee i STE 58762 ide acu 1 5 i xi 2 1 EMO 2 1 Els Se ahs 2 1 02 es 2 2 Sie ee as 2 3 E 2 4 aues DD Paige ou s 2 5 cr 2 7 LA a 2 10 Doaa CL 2 11 2 12 IE eee 2 13 a e ei 2 18 T 2 19 gti da 2 20 2 8 PROGRAMS 2 8 1 2 8 2 2 8 3 2 8 4 2 8 5 STE 58762 Program Declaration o Subprograms Library Multitask Processing nn 03 nnna Global Variable Definition s s s su CHAPTER 3 EXPLANATION OF ROBOT COMMANDS 3 1 COMMAND EXPLANATIONS s ss ts t tr t n n nn nr 3 2 EXPLANATION OF COMMANDS sss n n n n n n n CHAPTER 4 PROGRAM EXAMPLES CHAPTER 5 PROGRAMMING HINTS AND WARNINGS 5 1 PROGRAM EXECUTION TIMING ss sss n n n n n ng2. Center of gravity offset is the amount representing the distance between the center of gravity applied to the tip of the robot hand and the center of the tool flange of the robot unit mm 2 9 2 4 3 System Variables STE 58762 The SCOL language provides special variables that are used in the programs to specify and referent robot operating conditions These variables are called system variables variables you can refer to these variables in the program change their value etc have to be careful when setting or substituting values into system variables since doing this will directly effect robot operating conditions A list of system variables is presented below in Table 2 1 Just like other However you Table 2 1 List of system variables Name Description Effective values Initial value Data type CONFIG Robot configuration 0 1 2 0 Integer type ACCUR Positioning accuracy 0 1 1 Integer type ACCEL Acceleration during acceleration 0 max 100 Integer type DECEL Deceleration during deceleration 0 max 100 Integer type SPEED Speed of movement 0 max 100 Integer type PASS Short cut movement parameter 0 100 100 Integer type TORQUE Maximum torque on each axis 0 max 300 Vector type GAIN Servo gain on each axis 0 1 1 Vector type TOOL Tool coordinates 0 Coordinate type BASE Base coordinates 0 Coordinate type WORK Work coordinates 0 Coordinate type TIMER Timer 0 1 sec Real type ERROR Error inform
3. 5 1 1 Arm Movement and Signal I O Timing 5 1 2 Synchronization of Arm Movement and Program Execution 5 1 3 DELAY Command and WAIT Command rrr 5 2 THINGS NOT TO DO WHEN PROGRAMMING 5 2 1 Variables 5 3 THINGS TO WATCH OUT FOR WHEN WRITING A PROGRAM 5 3 1 5 3 2 5 3 3 5 3 4 5 3 5 5 3 6 5 3 7 5 3 8 Types of Commands ee HEH 03 3 C 0 O CO3 3 a G3 o 03 Robot Coordinate Systems s s s s s s sun nr nn Short Cut Movement 0x 3GO OSR o6 GG 03 s 6 Gc 03 Os GG 03 O5 Robot Configuratio Data Blocks Global Data Block n u m u A A 83 OG GoOSG G3 O N G Oa C3 uan Robot Movement Speed m n n n o G Oc H3 G Ga C3 9 GC cG4 Robot Acceleration 2 21 2 21 2 22 2 24 2 25 2 28 3 1 3 7 5 1 5 3 5 4 5 7 5 7 5 8 5 8 5 10 5 16 5 22 5 24 5 27 5 30 5 31 APPENDIX A APPENDIX B APPENDIX C APPENDIX D APPENDIX E STE 58762 LIST OF COMMANDS lt m 2 6 1 LIST OF RESERVED WORDS a ees 6 4 CONTENTS OF LIBRARY FILE SCOL LIB 6 5 DOMAINS AND RANGES OF CALCULATOR FUNCTIONS 6 8 HOW TO READ SYMBOLS str n n n n n nn 6 9 vi STE 58762 CHAPTER 1 AN OUTLINE OF ROBOT LANGUAGE This chapter describes the connection bet
4. A2 DELAY 0 5 Wait for 0 5 sec END End of program As shown in the example the body of the program is composed of statements made up of an arrangement of SCOL commands Anew line is created every time you push the RETURN or ENTER key when writing or editing the program Up to 130 characters can be contained in a single line You may add spaces as you wish in order to make the program neater and easier to read Note how comments are entered with marks Note No spaces can be placed between characters structuring a word of a command and identifier 2 21 STE 58762 2 8 2 Subprograms You can call up a subprogram by just writing its name in the main program Example Here is a main program which calls a subprogram called SUB1 PROGRAM MAIN REMARK SAMPLE 1 SUB1 END Here is the subprogram which has been named SUB1 PROGRAM SUB1 REMARK SUBPROGRAM NO 1 Body of subprogram RETURN END A RETURN command should inserted in subprograms to send control back to the main program If you forget to write RETURN SCOL will forgive you and pretend that there is a RETURN command in front of the END statement When wishing to pass data between subprograms and the main program you have to first specify arguments for the subprogram Arguments are like little mailboxes to which values passed between the programs are sent and received And before using these mailboxes you have to put a name on each one
5. Calculator functions 1 Perform calculations for real numbers Perform calculations involving positional and coordinate data SIN COS TAN ASIN ACOS ATAN ATAN2 SQRT ABS SGN INT REAL LN MOD LOGIO EXP AND OR NOT HERE DEST POINT TRANS 3 Use an array DIM AS Movement reference 1 Check robot movement MOTION MOTIONT REMAIN commands 2 Check system movement REMAINT TIMER MODE 3 Assign a coordinate TOOL BASE WORK system Others 1 Define a variable GLOBAL END 2 Restore an updated value in RESTORE the program file Ey STE 58762 CHAPTER 2 WRITING PROGRAMS IN ROBOT LANGUAGE In Chapter 1 we got a rough idea of what a robot language is and how it works Now in Chapter 2 we will describe how to write a program in robot language 2 1 PROGRAM CONFIGURATION Below we present a general outline of program configuration with the SCOL language 2 1 1 Files In order to get the robot to perform a task you need both a program written in robot language and positional data for use by the program That is for each job you want the robot to do you have to have a matched set of a program or programs and data This matched set is called a file Program editing execution saving and loading are all done in units of files 2 1 2 Program A program is an arrangement of words in robot language that tell the robot what you want it to do A program may call use ot
6. In the previous example we talked about a robot attaching a part to a workpiece coming down a conveyor line However what if we want to attach different parts to different workpieces What do we do if the robot misattaches the part and we want to try again In order to tell the robot what to do we need to express robot actions in terms the robot understands This is the purpose of robot language A robot language is nothing more than a set of words describing robot actions An arrangement of these words used to control the movement of the robot is called a program Writing a program is called programming There are various robot languages in existence However SR Series robots use SCOL Symbolic Code Language for Robots a language developed specifically for robots Therefore we will limit our discussion of robot languages to SCOL in this Manual EE STE 58762 If we were to write a program in SCOL for the previous example in which we attach a part from a parts feeder to a workpiece on a conveyor it would look like this PROGRAM ASSEMBLY MOVE B Move to Point B OPEN1 Open Hand 1 MOVEA Move to Point A CLOSE1 Close Hand 1 DELAY 0 5 Wait 0 5 seconds before grabbing the part MOVE B Move to Point B MOVE C Move to Point c MOVE D Move to Point D OPEN1 Open Hand 1 DELAY 0 5 Wait 0 5 seconds before letting go off the part MOVE C Move to Point c MOVE B Move to Point B END The word PROGRAM marks the beginning of a program a
7. as NOT 3 2 14 STE 58762 2 Computation of scalar type data Scalar type data can be used in calculations in combination with computational operands However should even one number in an expression be a real number the output of that expression will also be a real number Also the following functions will all return a real number SIN COS TAN ASIN ACOS ATAN ATAN2 SQRT REAL LN LOG10 EXP When the variable on the left side of the equation is an integer type and the output of the calculation is not an integer the output will be converted into an integer before being assigned to the variable Do not forget however that all decimal points are chopped off when a real number is converted to an integer On the other hand when converting from an integer to a real number the number of significant digits is limited When you want to make it clear what kind of data type you are dealing with use the INT or REAL command Note that character strings cannot be used in calculations Calculations may be carried out between the elements of vector type variables and scalar data In this case an element specifier is appended to the end of a vector type variable to specify the element which is involved in the calculation The value of the element is then drawn out from the vector type variable and used in the calculation As element specifiers X Y Z C and T may be used You may also numerically specify the e
8. details on how to use these commands see Chapter 3 2 16 STE 58762 Examples P1 POINT P2 X P2 Y P2 Z 50 0 0 C1 C2 TRANS 100 100 The more alert reader may have noticed that something is missing in the second example That is although the TRANS command is used to create coordinate vector types which have four elements only two numbers 100 and 100 have been assigned in the command This will not cause any problems however since missing numbers will be assumed to be 0 Here the second example will be considered as C1 C2 TRANS 100 100 O 0 As you will recall positional and coordinate vectors have the following format Positional data POINT X Y Z C T lt CONFIG gt Coordinate data TRANS X Y Z C X Y Z C and T are coordinate values represented by real numbers Units are in millimeters or degrees lt CONFIG gt stands for configuration and holds an integer from O to 2 that is used to describe the set up of the system O Free Set up of the system is undefined 1 Left hand system 2 Right hand system Any omitted elements are taken as O Note 1 In order to make it clear just what kind of data type you are using always try to use the POINT command when creating positional type data and the TRANS command when creating coordinate type data Note 2 When position data which have not been taught are used in a program of the robot language the position data are
9. in the argument as a task Unless the program starts by the TASK command the program is not performed as a task The program block statements between the PROGRAM command and the END command described at the head of the program file is an exception Even if the TASK command is not used the program is performed as a task To execute the program 2 as a task in the Fig 2 the TASK PROG2 is required to be executed in the program 1 The program 1 is described at the head of the file and the program starts as a task without TASK command To execute the program 3 as a task a new task PROG 3 is reguired to be executed in the task in the program 1 or 2 in this case which has been already started If the task and program which have been started are reset or the task operation is released by the SCOL language the task is kept active 2 26 STE 58762 The task ID the number assigned to the task is described The characteristic numbers task ID are assigned to the tasks which have been started by the TASK command respectively In the example of Fig 2 1 is assigned to the program 1 2 is assigned to the program 2 and 3 is assigned to the program 3 This task ID starts from 1 in sequence and this ID increases one by one every time the task starts every time the task executes If the task is managed by the SCOL language this task ID is used To get the task ID see the following examples Example
10. integers That means that if you later try to insert a real number into this variable the controller will chop off all the decimal places and treat what is left as an integer The variable comes in two types the global variable which is valid in the entire program and the general variable which is valid in a part of the program The global variable can be changed from any part of the program c Logical values Logical values are used in the program when making conditional judgments Logical expressions and commands such as DIN which check input signals return logical values A logical value may have one of two values TRUE or FALSE Internally logical values are treated as integers with 1 being TRUE and 0 being FALSE Note Strictly speaking 0 is considered as FALSE and everything else is considered as TRUE 2 Real data With SCOL numbers are treated as real types with the exception of certain special cases a Constants SCOL can handle real numbers having an absolute value in the range of approximately 5 87 x 10 to 6 80 x 10 This range can also be expressed as 21 to 25 1 x 2 96 The number significant digits for the mantissa the mantissa is the part of the number to the right of the decimal point is approximately 7 in Base 10 The precision is 2 When a real number is used in the program if it is positive directly describe the value if it is negative describe the value following the symbol When the decima
11. task 3 When the task terminates by the KILL command of the SCOL If the task of its own terminates by the KILL command the program control is changed over to the next task 2 27 4 STE 58762 When the predetermined conditions specified in the system are satisfied and the program is changed over by the system The task change over conditions specified in the system are as follows 1 2 3 Note 2 8 5 A program in a task is executed for more than 50 msec When the data area for movement command becomes full Up to four data can be read beforehand by the movement command If this internal area for prior reading becomes full the task is changed over When the command requiring communication with an external device has been executed The INPUT PRINT and RESTORE commands are not executed alone by the SCOL program They are the commands including such processing as the TP operation by an operator and RAM file operation If the system waits for a reply therefore the task is changed over To avoid the task change over by the system set the system variable SWITCH to DISABLE If the task change over is prohibited only currently active program is executed and the other task program which has already started is not executed single task operation Global Variable Definition If the global variable which can be referred to from the entire program is defined obey the following rules 1 Globa
12. you decide to call your program GEORGE do not go and name any variables GEORGE If you do you may get an error when you try to execute your program At the very least you will be sorry when it s time to debug your program 24 STE 58762 2 4 VARIABLES AND CONSTANTS Not all data takes the same form and these different forms of data are called datatypes Scalar type integer type real number type and character string and vector type position type coordinate type and load type can be used in the SCOL language Variables are divided into global variable and auto variable according to the definition method All taught data and variable defined in the area between GLOBAL and END are called the global variable These variables can be referred and changed from any part of the program For all data types of global variables the array can be declared For descriptions of global variable and array see Para 2 8 5 The work area in the controller is used for all data The defined value is substituted for the global variables value at the start of the program except for the array without a specific initial If the value is entered for the variable during program execution only the work area is changed If the power of controller is turned off execution file is reselected or the file is edited work area is reset by the variable s initial value saved in the file and the changed value is lost accordingly This is also applicable for change o
13. 11 TASK PROG 2 11 is a desired variable of integer type The task ID of PROG 2 can be obtained This command is executed in the program 1 The task ID of its own cannot be referred to in the program 2 in this example Example 12 TID 12 is a desired variable of integer type If the system variable TID is referred to the task ID of its own can be acquired If this command is executed in the program 2 the task ID of its own can be seen in the program 2 2 in this occasion If this command is executed in the program 1 the task ID of program 1 1 in this occasion is substituted for I2 If the task ID other than the own task is referred to from other tasks variables of examples 1 and 2 are required to be defined as the global variable Change over of task is described As shown in the Fig 2 the system executes the program 1 3 by time sharing When this happens timing of program change over depends on the following three conditions 1 When the program change over is specified clearly by the SWITCH command of the SCOL The SWITCH command is used if the task is changed over clearly by the SCOL language Even if the task change over conditions specified in the system are not satisfied while the SWITCH command is used the task can be changed over 2 When a new task starts by the TASK command of the SCOL If a new task starts by the TASK command the program control is changed over to the newly started
14. STE 58762 INSTRUCTION MANUAL INDUSTRIAL ROBOT SR SERIES ROBOT LANGUAGE MANUAL Notice 1 Make sure that this Instruction Manual is delivered to the final user of the Toshiba Industrial Robot 2 Please read this manual before using the Toshiba Industrial Robot 3 Please read the Safety Manual also 4 Keep the manual nearby for further reference during use of the robot TOSHIBA MACHINE CO LTD 1998 3 STE 58762 Copyright 1997 by Toshiba Machine Co Ltd All rights reserved No part of this document may be reproduced in any form without obtaining prior written permission from the Toshiba Machine Co Ltd The information contained in this manual is subject to change without notice STE 58762 PREFACE This manual explains the SCOL robot language commands and programming procedures as they apply to Toshiba SR Series industrial robots SCOL stands for Symbolic Code Language for Robots and is a robot language made up of various commands used to control the robot By using these commands it is possible to create programs to make the robot do what you want This manual is directed at those who have never written a robot program and at those who have much programming experience However this manual only covers SCOL robot language For information on Toshiba SR Series industrial robots themselves please refer to the following manuals Introductory Manual Start up Manual Op
15. action A B A B MOD Remainder A MOD B The remainder when A is divided by B Substitution A B Puts the value of B into A Relational Equal A function lt gt gt lt Not egual A lt gt B A gt lt B lt Less than A lt B gt Greater than A gt B lt lt Less than or equal A lt B A lt B gt gt Greater than or equal A gt B A gt B Logical AND Logical product AAND B operands OR Logical sum AORB NOT Negation NOTA Functions SIN Sine SIN A COS Cosine COS A TAN Tangent TAN A ASIN Arcsine ASIN A ACOS Arccosine ACOS A 2 12 STE 58762 Type Operand Function Example Functions ATAN Arctangent ATAN A ATAN2 Arctangent ATAN2 A B Arctangent of A B SGRT Sguare root SGRT A ABS Absolute value ABS A SGN Sign SGN A INT Changes numbertoan INT A integer REAL Changes number to a REAL A real number LN Natural logarithm LN A LOG10 Common logarithm LOG10 A EXP Exponential to base e EXP A Parentheses 2 5 1 may be used inside the expressions Computational Expressions In the SCOL language the results of computations on the right side of an equal sign are placed in the register variable on the left Variables and constants may be used in the expressions 1 Order of computational priority The SCOL language uses the same order of priority used by almost all other computer languages Specifically When there are brackets oper
16. ation Integer type PLAYLOAD Load on the robot 0 0 Load type SWITCH Multitask 0 1 1 Integer type TID 1 Integer type Note Maximum values are set separately for each system 2 10 STE 58762 Should you change the contents of a system variable related to movement control that change will not take effect until the next motion it will have no effect at all on a motion in progress at the time However by using a WITH construct it is possible to temporarily set a system variable with regards to one motion command For example MOVE AI WITH SPEED 50 Furthermore be warned that SCOL does not check to see whether a value substituted into a system variable is within the permissible range Should the value not be in the permissible range SCOL will do one of two things Should you try to insert a value less than the minimum permissible value the minimum permissible value will be entered in its place Should you try to insert a value greater than the maximum permissible value the maximum permissible value will be entered in its place Refer to Chapter 3 for details on how to use system variables 2 4 4 System Constants In order to make programs easier to read and thereby debug SCOL provides the system constants shown in Table 2 2 These names can be substituted into the program in place of numbers in order to make it easier to see what you are doing However be sure to use them only in the loca
17. ations inside the brackets are done first Otherwise operations are performed in the order of 1 Assignment of negative signs 2 Exponentiation 3 Multiplication and division 4 Addition and subtraction Should the order of priority be otherwise the same priority is assigned from the left of the expression to the right For example a b c d e f g 2 13 The order of computation for the above expression is STE 58762 1 Calculate e f e f 2 Calculate C d c d 3 Divide C d bye f c d e f 4 Add the above result to b b c d e f 5 Subtract g from the above result b c d e f g Table 2 4 presents the order of computational priority for various operations Table 2 4 Order of computational priority Priority Operation Operand Grouping convention High Parenthesis Left to right Assignment of vector elements Left to right Assignment of negative signs and negations NOT Right to left Exponentiation Left to right Multiplication division remainder MOD Left to right Addition subtraction Left to right Comparison lt gt lt gt Left to right lt gt Equality inequality lt gt gt lt Left to right Logical product logical sum AND OR Left to right Low Substitution Right to left Note Explanation of grouping convention Left to right 1 2 3 is interpreted as 1 2 3 Right to left NOT 3 is interpreted
18. editor function For information on how to use the screen editor see the operating Manual 2 1 3 Positional Data Positional data for use in a program or programs must be placed in the same file as the program or programs Positional data in a file can be accessed used by all programs in that file However positional data in a file cannot be accessed by any programs not in that file Positional data is fed to the robot using the data editor function of the controller See the operating Manual for information on how to use the data editor DAD y STE 58762 2 2 CHARACTER SET The SCOL character set is made up of alphanumeric characters and the following special symbols Alphanumeric characters ABCDEFGHIJKLMNOPQRSTUVWXYZ abcdefghijkImnopqrstuvwxyz 1234567890 Special symbols f lt gt T amp With the exception almost all of the small letters these characters and symbols can all be input from the teach pendant When executing a program the robot makes no distinction between capital letters and small letters For reading method of symbols see Appendix E an ee STE 58762 2 3 IDENTIFIERS In the SCOL robot language identifiers are used to express commands program names variable names and labels which are used to specify program branches Identifiers must start with an alphabetic character although alphabetic characters numerals or any combination of the two may follow There is no particu
19. ement or restart the robot are also included in this category Commands which actually move the robot are called movement commands 2 Program control commands Program control commands control the execution of the program by doing such things as executing certain parts of the program in accordance with external signals or causing portions of the program to be carried out repeatedly 3 VO Input output control commands These commands are used to read in input or send out output signals to and from external equipment such as the teach pendant Data input output of hand open close communication channel are included in the I O control command 4 Movement condition commands These commands are used to specify the configuration and speed of various joints of the robot while it is moving 5 Calculator commands These commands are used to invoke use mathematical functions such as the trigonometric functions sin cos etc and the square root function 1 5 6 These commands are used to reference and check the movement of the robot Movement reference commands STE 58762 For example these commands could be used to determine what percentage of a certain motion has been completed at a certain time and make sure robot motions do not interfere with each other By including these commands in your program you can set timers These commands are meant to be used in combination with other commands in your p
20. erating Manual This Manual is organized as follows 1 An Outline of Robot Language This chapter explains the connection between robot language and robot movement and presents a rough outline of commands used in robot language Be sure to read this chapter in order to get a grasp of the fundamentals of robot language 2 Writing Programs in Robot Language This chapters describes various rules for writing a program with robot language Be sure to read this chapter before starting to write your own programs 3 Explanation of Robot Commands Here we describe in detail what each command means and does These commands are listed in alphabetical order for your convenience This chapter will come in useful when you write programs on your own 4 Program Examples In this chapter we explain various programming examples Be sure to use this chapter for reference when writing your own programs STE 58762 5 Programming Hints and Warnings This chapter explains timing considerations things not to do and things to watch out for when writing a program Be sure to read it before beginning work on your own program Also be sure to look this chapter over should your program not be working the way you intended TABLE OF CONTENTS CHAPTER 1 AN OUTLINE OF ROBOT LANGUAGE 1 1 ROBOT MOVEMENT settee ee eee 1 2 ROBOTLANGUAGE ss ser n n n etree 1 3 TYPES OF COMMANDS sr nn nn n n n CHAPTER 2 WRITING PROGRAMS IN ROBOT LANGUAGE
21. f the taught data If the data in the file is to be overwritten the RESTORE command should be executed in the program 2 4 1 Scalar Data There are three types of scalar data i e integers real numbers and character strings Scalar type auto variables can only be used in the program in which they were declared That means that if you use a variable with the same name in another program the two variables will be completely independent and have nothing to do with each other Therefore when passing data from one program to another make it a point to if possible redefine the variable as the scalar type global variable or declare the arguments in the program If you did not understand this too well refer to Section 2 8 Programming 1 Integer data a Constants SCOL can handle integer values whole numbers in the range of 2147483648 to 2147483647 When an integer is used as a constant in a program if itis positive directly describe the value if it is negative describe the value following the symbol Examples are 0 234 39208 5963 IE S yg STE 58762 b Variables Variables are distinguished by identifiers and can be in the range of 2147483648 to 147483647 just as above The data type of a variable is determined by the data type of the first number you assign to that variable For example if the first thing you assign to a variable is an integer all other numbers substituted into that variable will become
22. he line This keeps your comments separate from the program Example REMARK THIS PROGRAM WAS WRITTEN BY ME 2 Single quotation mark Everything written after a single quotation mark until the end of the line will be ignored by the program The nice thing about this method is that you can write comments on the same line as a command to keep track of what is going on Example MOVE P1 THIS COMMAND MOVES THE ROBOT TO P1 However the mark does not have to follow a command The following will also work THIS IS A MEANINGLESS EXAMPLE 2 20 STE 58762 2 8 PROGRAMS This section describes SCOL programs 2 8 1 Program Declaration A program has to have the following basic structure If it does not it is not a valid program PROGRAM lt name of your program gt Contents of your program END A program is made up of everything from the PROGRAM statement to the END statement Write a program name after the PROGRAM statement For example if you want to call your program George write PROGRAM GEORGE and not PROGRAM lt GEORGE gt Note however that the program name becomes an identifier Put the contents of your program between the PROGRAM statement and the END statement Example PROGRAM SAMPLE Program name SAMPLE REMARK SAMPLE Comment SPEED 20 Set the movement speed to 20 of the maximum speed MOVE Al Move the robot to position Al DELAY 0 5 Wait for 0 5 sec MOVE A2 Move the robot to position
23. her programs from inside of the original program The original program is referred to as the main program These other programs are called subprograms since from the point of view of the main program they are secondary It is often convenient to make sub programs for sequences that are used often or for sequences that are more or less self contained These subprograms can then be called when you need them Subprograms save you the trouble of having to write the same thing many times and if used properly can make your job a lot easier You can include many programs in a single file Unless you specify differently in the command lines at beginning of the file the robot will assume that the first program in your file is the main program In order to call a subprogram the subprogram must be in the same file as the main program Also just because you may have several programs lined up in the file does not necessarily mean that all the programs will be executed As far as the robot is concerned its job is over when the main program is completed i e when the robot reaches the final END statement of the main program and if the other programs have not been called by that time they will never be called A plural number of programs can be executed at the same time using the TASK command multitask execution For details of the multitask execution see Para 2 8 STE 58762 Programs are edited with the teach pendant using the controller screen
24. is passed over as N1 of the subprogram Similarly K2 of the main program is passed over as N2 of the subprogram The subprogram adds N1 and N2 and puts the result in a variable called N3 When this happens the value of K in the main program also changes since K and N3 correspond to each other 2 23 STE 58762 When you execute this program K1 will be passed off as 15 to N1 of the subprogram and K2 will be passed off as 28 to N2 of the subprogram The subprogram will add these together and call the result which is 43 N3 The K variable of the main program will also change to 43 The RETURN command will send control back to the main program and the PRINT K statement will be executed This will cause the number 43 to be displayed on the teach pendant Note that subprograms may not call themselves Also should you call a subprogram which is in another file the controller will not understand you and instead will treat the name of that subprogram as an error Note 1 An expression itself result of vector data expression such as position data and vector data element can be designated as an argument Note 2 When a constant is used as an argument it cannot be substituted into a variable according to a subprogram Note 3 For a variable which is an argument to a subprogram a value should be substituted into the variable before the subprogram is executed 2 8 3 Library The SCOL language does not allow you to use subprogra
25. is undefined 1 Left hand system 2 Right hand system 2 Coordinate data Coordinate data is used by the robot to specify coordinate systems Coordinate vectors have the following format X Y z C X Y Z and C are coordinate values represented by real numbers Units are in millimeters or degrees Coordinate vectors allow one to convert between different coordinate systems as shown in Figure 2 1 In the figure we have an original coordinate system X Y and Z Then with data provided by a coordinate vector x y z c the original coordinate system is shifted parallel along its axes by the amounts x y and z This forms a new coordinate system centered about O Once this is done we twist the new coordinate system around the Z axis by an amount c We are now finished orientating our new coordinate system 2 8 STE 58762 What we did above was take an original coordinate system centered about 0 applied a coordinate vector x y Z c to it and came up with a new coordinate system centered about 0 In short coordinate vectors allow us to convert between different coordinate systems Fig 2 1 Coordinate transformation 3 Load data Load data is used to define the physical loads acting on the end effector hand of the robot Load vectors have the following format lt Mass gt Center of gravity offset Mass is the mass of the load acting on the tip of the robot hand Units are in kg
26. l part is 0 it is omissible However when the decimal point is omitted the data are treated as integer type data In addition since the integer part cannot be omitted even if the absolute value of a numeric value is less than 1 it is necessary to designate 0 to the integer part 2 6 STE 58762 Example 1234 567 28 16 0 00985 1234567 369 As mentioned above the precision of the computer is somewhat limited when handling decimal values Usually this is no problem if the number of decimal places is reasonable Therefore when working with the robot try to use the following as the minimum set units Distance x y and z data 0 001 mm Angles C data 0 001 deg Time 0 01 sec Rates Speed torque etc 1 Mass 0 01 kg Inertia 0 01kg m b Variables Variables are distinguished by identifiers and have the same range as listed above for constants The data type of a variable is determined by the data type of the first number you assign to that variable For example if the first thing you assign to a variable is a real number that variable will become a real type 3 Character strings Character strings can only handle constants They are expressed by placing one or more characters between quotation marks In the example below the character string is SCOL MESSAGE Example SCOL MESSAGE 2 4 2 Vector Data As opposed to scalar type data which only holds one data element vector type data holds multiple data e
27. l variable declaration If the global variable is used the type and identifier variable name of the variable to be used is required to be defined This definition must be performed before the first PROGRAM statement To define the variable A of real number type and the variable B of integer type the definition is as follows GLOBAL A 1 0 This value is the initial value of the variable B 2 END PROGRAM END 2 28 2 Note 1 STE 58762 Global variable declaration by type To define the global variable of each type use the following formats Integer type A 1 Real number type B 1 0 Position type C POINT 1 0 2 0 3 0 4 0 5 0 1 Array type DIM D 10 AS INT Array of ten integer type elements is defined Note 1 DIM E 10 3 AS REAL Array of 10 x 3 real number type elements is defined DIM F 5 AS POINT Array of five position type elements is defined The initial value of the array type global variable is indefinite The variable is required to be initialized by the user program 2 29
28. lar limit on length although the robot will only differentiate the first ten alphanumeric characters The robot does not care whether you use capital or small letters since it will treat them the same anyway For example as far as the robot is concerned all four of the following are the same TOSHIBAROB toshibarob TOSHIBAROBOT toshibarobot With a few exceptions small letters cannot be input from the teach pendant Also you cannot use any special symbols or include any spaces in the names for identifiers Instead special symbols or spaces are used to separate identifiers For example the robot will consider the following as different TOSHIBAROBOT TOSHIBA ROBOT TOSHIBA ROBOT will be interpreted as two different identifiers i e TOSHIBA and ROBOT Some identifiers have already been defined by the SCOL language itself These are called reserved words and you as the programmer cannot use them for any other purpose except for that already defined For example PROGRAM is a reserved word used to tell the robot when a program will follow Therefore you cannot for example go and call one of your variables PROGRAM since the robot will have no idea of what you are talking about A list of reserved words is shown in Appendix B In addition to SCOL commands you will find words used in the computer system and words set assigned for future expansion Do not use identifiers with the same name for different meanings For example if
29. lement position with 1 2 3 4 and 5 Examples A POINT1 X 25 GAIN GAIN I GAIN 2 0 0 0 Note You can only use this to return the value of an element from the inside of a vector type variable You cannot change the value of the element itself 2 15 STE 58762 3 Computation of vector type data You can add and subtract corresponding elements of two vectors Computation is a possib1e only between the same type variables The lt CONFIG gt element is not involved in the calculations but rather takes the value of the variable substituted into it Example Given the following two position vectors and two coordinate vectors P1 10 20 30 40 50 RIGHTY P2 5 10 15 20 25 LEFTY C1 100 50 50 0 C2 12 34 56 78 and performing the following operations P3 P1 P2 C3 C1 C2 we obtain P3 15 10 45 20 75 RIGHTY C3 88 16 106 78 Notes The lt CONFIG gt element in P3 is indeterminant 4 Substitution into vector data types The following methods are available to substitute insert a constant a variable or the result of a computation into an element of vector type data a Commands to convert a row of scalar type data into vector type data A POINT command and a TRANS command are available to convert rows of scalar data into a vector data POINT converts scalar data into positional vector data and TRANS converts scalar data into coordinate vector data For
30. lements There are three types of vector data in SCOL positional vectors coordinate vectors and load vectors Vectors hold one to five data elements With commands such as POINT and TRANS which create vector type data elements are expressed by enclosing them in brackets With commands such as MOVE and TORQUE which use vector type data elements are assigned and expressed by enclosing them in slightly different brackets DI e STE 58762 Vector type data other than the vector type global variable such as data taught by the data editor are temporarily stored in the working area of the controller The data are not created in the file The vector type variable can be used only in the declared program Thus even if the same variable is used in another program the content of the former does not accord with that of the latter When data are passed from one program to another program the passed data should be redefined as the vector type global variable or it should be an argument For details of arguments see 2 8 2 Subprograms 1 Positional data Positional data is used by the robot to describe positions Positional vectors have the following format X Y Z C T lt configuration gt X Y Z C and T are coordinate values represented by real numbers Units are in millimeters or degrees Configuration holds an integer from 0 to 2 that describes the set up configuration of the system O Free Set up of the system
31. ms which are not in the same file as the main program However by putting especially useful subprograms in the library file SCOL LIB you can access these subprograms from all files Many useful subprograms have already been inserted in the library file including subprograms to get the system ready and subprograms to operate the hand Appendix C shows the contents of the library file SCOL LIB provided as standard on the robot controller system disk When writing your own subprogram to add to the library file enter the program in that file just like you would enter any other subprogram For information on how to enter a program into a file refer to the Start up Manual and the Operating Manual Be sure to put any newly created files at the very end of the existing library file Should a subprogram in the library file and a subprogram in the main file have the same name the controller will execute the subprogram in the main file and not the subprogram in the library file The library is reloaded at program selection 2 24 STE 58762 2 8 4 Multitask Processing This paragraph describes how to use the multitask function of the SCOL language together with the relevant commands and system variables Program execution of single task and multitask operation is shown in Fig 1 and Fig 2 The number in the figure designates the order of the program execution Specific timing of change over from program to program task change is desc
32. nd the word END marks the end of a program The name of this particular program is ASSEMBLY The commands should not be too hard to understand MOVE A means to move to Point A OPENi and CLOSE 1 mean to respectively open and close Hand 1 There are two hands DELAY 0 5 means not to do anything for 0 5 seconds Furthermore the locations of Points A B C and D are defined taught beforehand by physically guiding the robot in the teaching mode to these points To put it another way the location of these points is not defined by the program itself By arranging a series of commands in the order that you want things done SCOL allows you the programmer to express just what the robot is supposed to do in terms that the robot understands 1 4 STE 58762 1 3 TYPES OF COMMANDS In the previous section we saw how SCOL is used to express the action of the robot Here we explain a little bit more about SCOL commands themselves In addition to commands like MOVE A which actually move the robot there are many other commands which do such things as send signals to other equipment such as conveyors parts feeders process computers etc or direct the robot to do the same thing over and over again Table 1 1 presents a list of SCOL commands All SCOL commands can be roughly classified into one of six categories 1 Movement control commands These commands move the robot Commands which temporarily stop the robot interrupt mov
33. or equal to 0 001 the comparison will be considered as FALSE The program will then branch off to BRANCH2 Should J1 be anything other than an integer O or a real number with an absolute value more than 0 001 the comparison will be considered as TRUE and the program will branch off to BRANCH1 2 18 STE 58762 2 6 LABELS With the SCOL language program branches are specified by labels placed at the beginning of the branch destination When labelling a statement as a branch put a colon at the end of the identifier When directing the program to branch to another location with the GOTO command do not put a colon at the end of the identifier Program branching may only be carried out within a single program You cannot branch from one program to another Also you may use the same labels in different programs but you cannot use the same label in a single program Examples LOOP1 MOVE P1 GOTO LOOPI1 2 19 STE 58762 2 7 REMARKS AND COMMENTS The SCOL language allows you add comments to your program in order to make it easier to understand and debug Comments can be entered by using the teach pendant to type in whatever you want to say However you have to use one of the following formats so that your comments do not get mixed in with the program itself 1 REMARK command You can write what you want to say after a REMARK command The computer will ignore everything from the REMARK command to the end of t
34. p to Point C and then finally back to Point B This completes one work cycle p us STE 58762 Position just above A B X x ie gt C Position just above D x x D Position where a part is mounted A Position where robot grips a part Fig 1 2 Robot movement AE Ey AU STE 58762 1 2 ROBOT LANGUAGE Robots do assembly work and other tasks in place of people However someone still has to teach the robot what to do Robots will only do what you tell them to do and it s important to tell them exactly what you want it to do Telling a robot what to do is called teaching Making a robot do what you taught it to do is called playback Of course this only applies to what are called playback robots which repeat or playback the movements you instructed the robot when teaching Toshiba SR Series robots are playback robots There are various ways to teach a robot what todo One way is to physically move the robot through the work cycle while of course the robot is in the teaching mode The robot remembers the locations where it was moved and in the playback mode retraces this path and performs the work This is the usual method for teaching painting robots and spot welding robots However things get more complicated when dealing with peripheral devices such as a parts feeder or a conveyor belt In such a case you must coordinate the movements of the robot with the movements of the peripheral devices
35. ribed later Program Program 3 Fig 1 Single task Fig 2 Multitask operation operation In Fig 1 program A is executed continuously from the start to the end single task operation and no subroutine call A program which uses no multitask command is executed in the manner as shown in Fig 1 no subroutine call Execution of a program which uses the multitask command is shown in Fig 2 2 25 STE 58762 As shown in Fig 2 the multitask operation is realized changing over a plural number of individual programs by time sharing as if the programs were executed in parallel The order of program execution is shown in the following table Order Program to be executed 1 A1 Program 1 start 2 B1 Program 2 start 3 C1 Program 3 start 4 A2 5 B2 6 C2 1 cycle end of program 3 7 A3 8 B3 1 cycle end of program 2 9 C1 Program 3 start 10 A4 1 cycle end of program 1 11 B1 Program 2 start 12 C2 Program 1 start 13 A1 Next the start of multitask is described A program that can be treated as multitask is the program block containing no arguments The program block means an area between the PROGRAM command and END command which consists of the SCOL language statements The subroutine without argument can be dealt with as atask The argument cannot be kept in the task To deal with a program as task use the TASK command The TASK command executes a program specified
36. rogram By skillfully placing such commands in the right places you can for example 1 Get the robot to send out a signal to an external device when the robot has completed 70 of a certain motion 2 Should one motion not follow another motion within a certain period of time have the program branch off to an error loop Type Purpose Commands Movement control commands 2 3 4 Move the robot Temporarily stop the robot Move the robot hand Interrupt or restart operation MOVE MOVES MOVEC MOVEA MOVE1 READY DELAY OPEN1 OPENI1 OPEN2 OPENI2 CLOSE1 CLOSEI1 CLOSE2 CLOSEI2 UP DOWN TURNL TURNR BREAK RESUME PAUSE Program control commands 2 Monitor external signals timers etc Control program execution ON DO IF THEN ELSE WAIT IGNORE PROGRAM GOTO RCYCLE RETURN FOR NEXT STOP END TASK KILL SWITCH 3 Make remarks comments REMARK to aid in program debugging and modification I O control commands 1 Input and output of externa DIN DOUT 2 signals Input and output of commu nication data PULOUT RESET BCDIN BCDOUT PRINT INPUT Movement condition commands 1 Specify conditions for controlling robot movement CONFIG ACCUR ACCEL DECEL SPEED PASS TORQUE GAIN ENABLE SETGAIN DISABLE NOWAIT PAYLOAD FREELOAD SWITCH 6 c STE 58762 Type Purpose Commands
37. so the postman knows whose mail goes where When writing a subprogram not a main program the program statement should be written like this PROGRAM lt program name gt lt names of arguments gt After writing the program name write the names of the arguments inside of brackets Use commas to separate the names of the arguments You cannot specify more than ten arguments for a single subprogram For example the main program will have the statement SUB EXAMPLE A B C 2 22 STE 58762 When calling the subprogram from the main program write in the main program the name of the subprogram and the data you wish to pass over to that subprogram For example the corresponding subprogram will have the statement PROGRAM SUBEXAMPLE M1 M2 M3 The subprogram SUBEXAMPLE will now do whatever it does while treating A as M1 B as M2 and C as M3 Note that variables changed in the subprogram will automatically change the corresponding value in the main program For example if M3 were to change in the subprogram SUBEXAMPLE C will also change simultaneously in the main program Example Main program PROGRAM MAIN REMARK SAMPLE 2 K1 15 K2 28 SUB2 K1 K2 K PRINT K END Sub program PROGRAM SUB2 N1 N2 N3 REMARK SUBPROGRAM NO 2 N3 N1 N2 RETURN END In the above example three arguments are being passed off between the main program and subprogram Specifically K1 of the main program
38. temporarily stored in the controller memory Thus when the program is reset the position data are cleared The position data are only valid in the program which uses data Therefore to use the position data in a subprogram it is necessary to pass it as an argument For details of arguments see 2 8 2 Subprograms 2 17 STE 58762 Note 3 The substitution and reference to the array type data type of variable name index number are dealt in the same manner as the original data type scalar type and vector type of the array type data 2 5 2 Logical Expressions With SCOL logical expressions can be used in combination with the commands IF WAIT and ON Also six relational operands are available lt gt lt or gt or gt lt gt or gt lt and Also logical expressions may be combined using the logical operands AND OR and NOT Scalar constants scalar variables and the results of calculations may be used as data in logical expressions When evaluating equivalence use the sign and not the numbers differences of 0 001 or less will be ignored Logical expressions will return an integer value of 1 if true and 0 if false sign When comparing real Examples 1 IF K K2 K3 THEN K K2 ON MOTION gt 50 DO DOUT 1 2 2 IF J1 THEN GOTO BRANCH1 ELSE GOTO BRANCH2 Let s take a look at the third example If J1 is an integer O or a real number with an absolute value less than
39. tions specified in the Comments column of Table 2 2 f you use them in other locations trying to debug your program can become a real nightmare Table 2 2 List of system constants Name Value Comments Locations for use FREE 0 In the system variable CONFIG LEFTY 1 In the POINT command RIGHTY 2 COARSE 0 In the system variable ACCUR FINE 1 OFF 0 In the system variable GAIN ON 1 In the SETGAIN command PAI 3 141593 Pi value CONT 0 In the MODE command CYCLE 1 SEGMENT 2 2 11 STE 58762 2 5 MATHEMATICAL FUNCTIONS This section describes the mathematical functions provided by SCOL for substitution calculation and judgement With SCOL mathematical functions can either be used independently or included in a command A mathematical function included in a command may be a computational expression in which the result of a calculation is substituted into a variable or a logical expression such as greater or less than constructs and true false constructs Mathematical functions provided by SCOL are shown in Table 2 3 Note that 0 0 will return a 1 and O O will return a 1 to return an error but be careful because they don t One would normally expect these operations Table 2 3 Mathematical functions Type Operand Function Example Arithmetic Exponentiation A B Ato the B power functions Minus sign A d Multiplication division A B A B Addition subtr
40. ween robot language and robot movement and presents a rough outline of commands used in robot language 1 1 ROBOT MOVEMENT Robots do work in place of people For example let s say that somebody has to attach a part to a workpiece coming down a conveyor The employee takes a part from a parts bin and attaches the part to a workpiece transported to his or her station by a conveyor If we were to set up a robot to do this work instead we would have an arrangement something like that shown in Figure 1 1 Parts feeder Wokpiece Conveyor TIZITITIITIIIIITITIIITITTI TT 00000700777070000000 7 Fig 1 1 Assembly work Here the robot grabs a part from the parts feeder and attaches the part to a workpiece coming down the conveyor considering this work from the point of view of the robot and not for example from the point of view of the parts feeder or conveyor we would come up with a diagram like that of Figure 1 2 In this Figure the robot first moves straight down from Point B to Point A where it grabs a part After grabbing the part the robot moves back up from Point A to Point B From Point B the robot moves the part to Point C which is directly above the part attachment location Point D The robot then drops down from Point C to Point D and attaches the part to the workpiece When the robot is finished attaching the part it moves back u
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