Difference between revisions of "Teach Pendant Operation Guide"

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 +
{{Languages|Teach_Pendant_Operation_Guide}}
 +
<div id="BackToTop"  class="noprint" style="background-color:; position:fixed; bottom:32px; left:95%; z-index:9999; padding:0; margin:0;">
 +
<span style="color:blue; font-size:8pt; font-face:verdana,sans-serif; border:0.2em outset:#ceebf7; padding:0.1em; font-weight:bolder; -moz-border-radius:8px; ">
 +
[[Image:TOP2.png|50px|link=#top]] </span></div>
 
= Overview =
 
= Overview =
 
   
 
   
Line 311: Line 315:
  
  
 +
==Using Emulator==
 +
 +
Set in  your browser the following address:
 +
<pre>
 +
http:<ip address>/tp/emulator
 +
</pre>
 +
 +
where <ip address> is the IP address of your softMC<br>
 +
 +
for example:
 +
<pre>
 +
http://10.4.20.148:1207/tp/emulator
 +
</pre>
  
 
When using TP Emulator, the deadman switch status is represented by the on‑off vertical switch on the left side of the screen.
 
When using TP Emulator, the deadman switch status is represented by the on‑off vertical switch on the left side of the screen.
Line 339: Line 356:
 
|  
 
|  
 
Left position.
 
Left position.
 +
 
Manual mode is used for jogging the axes.
 
Manual mode is used for jogging the axes.
 +
 
When in Manual mode, the robot velocity is reduced and the user cannot issue run commands or edit programs.
 
When in Manual mode, the robot velocity is reduced and the user cannot issue run commands or edit programs.
 
|-
 
|-
Line 346: Line 365:
 
|  
 
|  
 
Middle position.
 
Middle position.
 +
 
Automatic mode is used for editing/running programs.
 
Automatic mode is used for editing/running programs.
 +
 
When in Automatic mode, the axes cannot be jogged.
 
When in Automatic mode, the axes cannot be jogged.
 
|-
 
|-
Line 353: Line 374:
 
|  
 
|  
 
Right position.
 
Right position.
 +
 
When in External mode, the softTP does not control the robot.
 
When in External mode, the softTP does not control the robot.
 
|}   
 
|}   
Line 372: Line 394:
 
{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
  
−
!width="60"|
+
!width="60" bgcolor = A9A9A9|
−
!width="100"|Toolbar
+
!width="100" bgcolor = A9A9A9|Toolbar
−
!width="340"|Description
+
!width="340" bgcolor = A9A9A9|Description
  
−
|-
+
|-  
 
|
 
|
 
[[Image:1.png|1.png]]
 
[[Image:1.png|1.png]]
 
|  
 
|  
−
Logout
+
'''Logout'''
 
|  
 
|  
−
Exits the TP interface.
+
Exits the TP Emulator.
 
|-
 
|-
 
|  
 
|  
 
[[Image:2.png|2.png]]
 
[[Image:2.png|2.png]]
 
|  
 
|  
−
TP Operation Mode
+
'''TP Operation Mode'''
 
|  
 
|  
−
Indicates the teach pendant’s current operation control mode, as defined by the mode selector switch. On the TP, the positions are indicated by icons. In the TP screen, the three positions are marked M, A and E.
+
Indicates the teach pendant’s current operation control mode, as defined by the mode selector switch.  
 
|-
 
|-
 
|  
 
|  
 
|  
 
|  
−
Message box
+
'''Text box'''
 
|  
 
|  
−
Message field for system notifications. Locatedin the center of the screen.
+
Message field for system notifications.
 
|-
 
|-
 
|  
 
|  
 
[[Image:4.png|4.png]]
 
[[Image:4.png|4.png]]
 
|  
 
|  
−
Axes in Motion
+
'''Axes in Motion'''
 
|  
 
|  
 
Indicates state of the axes:<br>
 
Indicates state of the axes:<br>
Line 409: Line 431:
 
[[Image:5.png|5.png]]
 
[[Image:5.png|5.png]]
 
|  
 
|  
−
Primary TP
+
'''Primary TP'''
 
|  
 
|  
−
Indicates that the teach pendant in use is the primary TP. If another TP is connected, this indicator will be off. (Not currently implemented)
+
Indicates that the teach pendant in use is the primary TP, if other TPs are connected.
 +
(Not currently implemented)
 +
 
 
|-
 
|-
 
|  
 
|  
 
[[Image:6.png|6.png]]
 
[[Image:6.png|6.png]]
 
|  
 
|  
−
Collapse/Expand
+
'''Collapse/Expand'''
 
|  
 
|  
−
Hides/shows the menu bar, to provide additional screen space.
+
Hides/shows the menu bar, to provide additional screen space for program lines.
 
|-
 
|-
 
|  
 
|  
 
[[Image:7.png|7.png]]
 
[[Image:7.png|7.png]]
 
|  
 
|  
−
Enable | Disable
+
'''Enable | Disable'''
 
|  
 
|  
 
Enables and disables all axes, and indicates the state of the axes.<br>
 
Enables and disables all axes, and indicates the state of the axes.<br>
Line 433: Line 457:
 
==Menu Bar ==
 
==Menu Bar ==
 
   
 
   
−
The menu bar provides access to the softTP screens.
+
The menu bar provides access to the eight softTP screens.
 
   
 
   
−
[[Image:TP_toolbar_Programmer.png|TP_toolbar_Programmer.png |500px]]
+
[[Image:menuBar 4.2.jpg|menuBar 4.2.jpg |500px]]
  
  
 
{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
  
−
!width="80"|Screen
+
!width="80" bgcolor= A9A9A9|'''Screen'''
−
!width="420"|Description
+
!width="420" bgcolor= A9A9A9 align="left"|'''Function'''
 
|-
 
|-
 
|
 
|
−
Jog
+
'''Jog'''
 
|
 
|
−
* Used to select the type of robot, and jog the robot/axes in the user-defined frame.
+
Used to select the type of robot, and jog the robot/axes in the user-defined frame.<br>
−
* Displays current robot position in Cartesian and joint coordinates. Used to teach/set new points, and move(s) to a predefined point.
+
Displays current robot position in Cartesian and joint coordinates. Used to '''teach/set''' new points, and '''move(s)''' to a predefined point.<br>
−
* Provides tool-calibration, and align functionality.
+
Provides '''tool-calibration''', and '''align''' functionality.
 
|-
 
|-
 
|  
 
|  
−
Program
+
'''Program'''
 
|
 
|
 
Used to create, edit, run and debug MC‑Basic programs.
 
Used to create, edit, run and debug MC‑Basic programs.
 
|-
 
|-
 
|
 
|
−
Data
+
'''Data'''
 
|
 
|
−
Used to add and edit variables attached to the selected domain.
+
Used to create, edit, run and debug MC-Basic programs.
 
|-
 
|-
 
|   
 
|   
−
IO
+
'''IO'''
 
|
 
|
 
Used to monitor and switch system digital inputs and outputs.
 
Used to monitor and switch system digital inputs and outputs.
−
|-
+
|-bgcolor=D9D9D9
 
|  
 
|  
−
Diagnostics
+
'''Terminal'''
 +
|
 +
Allows command line entry of MC Basic commands.
 +
Accessible to Administrator-users only.
 +
|-
 +
|
 +
'''Diagnostics'''
 
|  
 
|  
−
Displays motion bus settings and status of configured axes and devices.
+
Displays settings and status of configured axes and devices.
 
|-
 
|-
 
|  
 
|  
−
Errors
+
'''Errors'''
 
|  
 
|  
−
Displays the log of faults in the softMC motion controller. Also used to acknowledge and clear faults.
+
Displays the log of faults in the softMC motion controller.
 
|-
 
|-
 
|  
 
|  
−
Settings
+
'''Settings'''
 
|  
 
|  
 
Displays system software components and versions.
 
Displays system software components and versions.
 +
|-bgcolor=D9D9D9
 +
|
 +
'''settings'''
 +
|
 +
Allows setting of stystem variables.
 +
Accessible to Administrator-users only.
 
   
 
   
 
|}
 
|}
Line 666: Line 702:
 
The file extensions *.UPG  user programs and *.ULB for user libraries are used to distinguish user programs from general system programs and settings.  
 
The file extensions *.UPG  user programs and *.ULB for user libraries are used to distinguish user programs from general system programs and settings.  
  
−
* '''Administrator''' level users can access and manipulate both global (*.PRG/*.LIB) and user (*.UPG/*.ULB) programs and libraries.
+
Administrator level users can access and manipulate both global (*.PRG/*.LIB) and user (*.UPG/*.ULB) programs and libraries.
  
−
* '''Programmer''' level users can create/edit/run/debug user programs only (*.UPG) and user libraries only (*.ULB).
+
Programmer level users can create/edit/run/debug user programs only (*.UPG) and user libraries only (*.ULB).
  
−
* '''Operator''' level users can run/debug user programs only (*.UPG) and user libraries only (*.ULB).
+
'''Projects''' created by programmer level users generate four files:
  
−
* '''Viewer''' level users have no access rights to user programs (*.UPG) and user libraries (*.ULB).
+
{|
−
+
!width= "100"|'''''name''.UPG'''
 +
|
 +
The main user task.
 +
|-
 +
!width= "100"|'''''name''.ULB'''
 +
|
 +
The library containing the functions and subroutines used in the main user task.
 +
|- bgcolor = D9D9D9
 +
!width= "100"|'''''name''.DEF'''
 +
|
 +
The declarations of all domain variables. (not visible by the user)
 +
|- bgcolor = D9D9D9
 +
!width= "100"|'''''name''.VAR'''
 +
|
 +
The currently defined values of the domain variables. (not visible by the user)
 +
 
 +
|}
  
−
A project comprises set of files with the same names but different extensions (e.g. TASK.UPG, TASK.ULB, TASK.DEF and TASK.VAR). The files are generated when a Programmer level user creates a project.  
+
A project is set of files with same names but different extension (e.g. TASK.UPG, TASK.ULB, TASK.DEF and TASK.VAR.) Non-Admin users only see files with the extensions UPG and ULB.  
  
−
Only files with the extension UPG and ULB are visible to non-Admin users:
+
[[Image: program screen 7.1.jpg|program screen 7.1.jpg|500px]]
−
*'''''name''.UPG''': The main user task.
 
−
*'''''name''.ULB''': The library containing the functions and subroutines used in the main user task.
 
  
−
 
−
[[Image:TP_Program.png|TP_Program.png |500px]]
 
  
  
−
'''Project Mode'''
 
  
 
{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
−
!width="80" |Item
+
!width="110" bgcolor = A9A9A9|'''Setting'''
−
!width="300" |Description
+
!width="300" bgcolor = A9A9A9|'''Description'''
 +
 
 +
|- bgcolor= E9E9E9
 +
|
 +
'''Project (File) Mode'''
  
 +
|
 +
PROGRAMMER
 
|-
 
|-
 
|
 
|
 
'''Open Project'''
 
'''Open Project'''
−
 
 
|
 
|
 
Opens an existing project.
 
Opens an existing project.
Line 701: Line 753:
 
|
 
|
 
'''New Project'''
 
'''New Project'''
 +
|
 +
Opens a new project.<br>
 +
When prompted for a name, enter up to 8 characters.<br>
 +
When a new project is created, a user program and user library of the same name are also created.
  
 +
|- bgcolor = E9E9E9
 
|
 
|
−
Opens a new project. 
+
'''File Mode'''
 +
|
 +
ADMINISTRATOR
  
−
When prompted for a name, enter up to 8 characters. Valid characters are a-z, A-Z, 0-9, _ (underscore),  - (hyphen).  
+
|- bgcolor = E9E9E9
 +
|
 +
'''Open File'''
 +
|
 +
Opens an existing file.
  
−
When a new project is created, a user program, a user library, and a domain of the same name are also created.
+
|- bgcolor = E9E9E9
 +
|
 +
'''New File'''
 +
|
 +
Open a new file.
  
 
|-
 
|-
Line 735: Line 802:
  
 
|
 
|
−
Stops the program at the end of the line currently being executed. Robot motion is also stopped.
+
Stops the program at the end of the line currently being executed.  
  
 
|-
 
|-
Line 742: Line 809:
  
 
|
 
|
−
Starts execution or continues execution (if idle) of the program and motion.
+
Starts execution of the program.
  
 
|-
 
|-
 
|
 
|
−
'''Jump&nbsp;to&nbsp;Line'''
+
'''Jump to Line'''
  
 
|
 
|
Line 772: Line 839:
 
Exit the subroutine.
 
Exit the subroutine.
  
−
|}
+
|- bgcolor= E9E9E9
−
 
+
|
−
 
 
 
'''Edit Mode'''
 
'''Edit Mode'''
−
 
+
|
 
Provides the code syntax for commonly used instructions, including prompts for the data required for completing the code line/s.
 
Provides the code syntax for commonly used instructions, including prompts for the data required for completing the code line/s.
  
−
{| border="1" cellpadding="2" cellspacing="0"
 
−
!width="80" |Item
 
−
!width="300" |Description
 
 
|-
 
|-
 
|
 
|
 
'''Program'''
 
'''Program'''
−
 
 
|
 
|
−
Instructions for defining subroutines and functions.
+
Instructions for defining subroutines and functions. <br>
 
* Sub ... End Sub
 
* Sub ... End Sub
 
* Function
 
* Function
Line 795: Line 857:
 
|-
 
|-
 
|
 
|
−
'''Flow&nbsp;Commands'''
+
'''Flow Commands'''
−
 
 
 
|
 
|
−
Instructions used to change the flow of a program based on specific conditions.
+
Instructions used to change the flow of a program based on specific conditions.<br>
 
* If ... Then ... Else ... End If
 
* If ... Then ... Else ... End If
 
* While ... End While
 
* While ... End While
Line 808: Line 869:
 
|
 
|
 
'''Interpolation'''
 
'''Interpolation'''
−
 
 
|
 
|
 
* Move
 
* Move
 
* MoveS
 
* MoveS
−
* Circle (P2P)  
+
* Circle (P2P)
 
* Circle (Angle)
 
* Circle (Angle)
 
* DoPass
 
* DoPass
Line 818: Line 878:
 
|-
 
|-
 
|
 
|
−
'''Motion&nbsp;Commands'''
+
'''Motion Commands'''
−
 
 
 
|
 
|
 
* Stop
 
* Stop
Line 829: Line 888:
 
|
 
|
 
'''I/O'''
 
'''I/O'''
−
 
 
|
 
|
 
* Inputs
 
* Inputs
 
* Outputs
 
* Outputs
  
−
|}
+
|- bgcolor = E9E9E9
 +
|
 +
'''Project Manager'''
 +
|
 +
PROGRAMMER
  
 +
|- bgcolor = E9E9E9
 +
|
 +
'''File Manager'''
 +
|
 +
ADMINISTRATOR
  
−
'''Project Manager'''
 
−
 
−
{| border="1" cellpadding="2" cellspacing="0"
 
−
!width="80" |Item
 
−
!width="300" |Description
 
 
|-
 
|-
 
|
 
|
−
[''project list'']
+
[Project/File list]
−
 
 
 
|
 
|
−
 
  
 
|-
 
|-
 
|
 
|
 
'''Delete'''
 
'''Delete'''
−
 
 
|
 
|
 
Deletes selected project.
 
Deletes selected project.
Line 859: Line 918:
 
|
 
|
 
'''Save As'''
 
'''Save As'''
−
 
 
|
 
|
−
Saves a copy of current project using a new name.
+
saves a copy of current project using a new name.
  
 
|-
 
|-
 
|
 
|
 
'''Rename'''
 
'''Rename'''
−
 
 
|
 
|
−
Renames the current project.
+
Rename the current project.
  
 
|}
 
|}
Line 874: Line 931:
 
= Data Screen =
 
= Data Screen =
 
   
 
   
−
The Data screen is used for creating and editing variables in the domain that is currently selected.
+
The Data screen is used for creating and editing '''variables''' in the domain that is currently selected.
  
−
Variables can be robot positions or any other default data type that is supported in MC‑Basic, such as long, double and string.
+
Variables can be robot positions or any other data type that is supported in MC‑Basic, such as long, double and string.
 
   
 
   
−
[[Image:TP_Data2.png|TP_Data2.png |500px]]
+
[[Image:data screen 8.1.jpg|data screen 8.1.jpg |500px]]
 
    
 
    
 
Select the domain, and the type of variable, then click the + button to create a variable.
 
Select the domain, and the type of variable, then click the + button to create a variable.
Line 887: Line 944:
 
                                
 
                                
 
{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
−
|-
+
|- bgcolor = A9A9A9
 
|  
 
|  
 
'''Setting'''
 
'''Setting'''
Line 894: Line 951:
 
|-
 
|-
 
|  
 
|  
−
Locations
+
'''Locations'''
 
|  
 
|  
−
World/Cartesian positions.  
+
World/Cartesian positions. <br>
 +
[[Image:data_addnewlocation_1.jpg‎]] [[Image:data_addnewlocation_2.jpg]] <br>
 +
[[Image:data_addnewlocation_3.jpg]]<br>
 +
Checkbox - to select (for deletion)
 +
 
 
|-
 
|-
 
|  
 
|  
−
Joints
+
'''Joints'''
 
|  
 
|  
−
Joint positions.
+
Joint positions.<br>
 +
[[Image:data_joints.jpg‎]]
 +
 
 
|-
 
|-
 
|  
 
|  
−
Longs
+
'''Longs'''
 
|  
 
|  
−
Numeric variable: 32-bit integer.
+
Numeric variable: 32-bit integer.<br>
 +
[[Image:data_longs.jpg]]
 +
 
 
|-
 
|-
 
|  
 
|  
−
Doubles
+
'''Doubles'''
 
|  
 
|  
−
Numeric variable: 64-bit floating point.
+
Numeric variable: 64-bit floating point.<br>
 +
[[Image:data_longs.jpg]]
 +
 
 
|-
 
|-
 
|  
 
|  
−
Strings
+
'''Strings'''
 
|  
 
|  
 
ASCII or UTF-8 string. Length is unlimited.
 
ASCII or UTF-8 string. Length is unlimited.
 +
[[Image:data_strings.jpg‎]]
 +
 
|-
 
|-
 
|  
 
|  
−
Domain
+
'''Domain'''
 
|  
 
|  
−
Either a system domain (TP, Base, Tool) or a user-defined project domain.
+
Tp, Base or Tool.
 +
 
 
|}
 
|}
  
 
=I/O Screen =
 
=I/O Screen =
 
   
 
   
−
Allows monitoring of the system digital inputs and outputs, and toggling of outputs.
+
Allows user to monitor the status of system inputs and outputs, and to toggle outputs.
  
 
IO names are defined in DAT files (TPIN.DAT and TPOUT.DAT).
 
IO names are defined in DAT files (TPIN.DAT and TPOUT.DAT).
Line 932: Line 1,002:
 
This screen is updated in realtime.
 
This screen is updated in realtime.
 
   
 
   
−
[[Image:TP_IOs.png|TP_IOs.png |500px]]
+
[[Image:IO screen 9.1.jpg|IO screen 9.1.jpg |500px]]
 +
 
 +
 
 +
 
 +
{|border="1" cellpadding="2" cellspacing="0"
 +
!width = "100" bgcolor= A5A5A5|'''Setting'''
 +
!width = "350" bgcolor = A5A5A5| '''Description'''
 +
|-
 +
|
 +
'''Name'''
 +
|
 +
|-
 +
|
 +
'''Description'''
 +
|
 +
|-
 +
|
 +
'''State'''
 +
|
 +
|-
 +
|
 +
'''Device'''
 +
|
 +
|}
 +
 
 +
= Terminal Screen=
 +
 
 +
 
 +
The Terminal screen is accessible to Admin users only.<br>
 +
Terminal is a command line interface to the softMC. It allows user to send instructions to the drive, and read the drive’s responses.
 +
 
 +
 
 +
 
 +
[[Image: terminal screen 10.1.jpg]]
  
 
= Diagnostics Screen =
 
= Diagnostics Screen =
Line 938: Line 1,041:
 
Two views. Devices and Master.
 
Two views. Devices and Master.
  
−
Shows status and properties of the devices and the motion bus in the system.
+
Shows status and properties of the devices and the Motion-bus in the system.
  
 
 [[Image:TP_Diagnostics_motors.png|TP_Diagnostics_motors.png |500px]]
 
 [[Image:TP_Diagnostics_motors.png|TP_Diagnostics_motors.png |500px]]
Line 948: Line 1,051:
 
* Clear Drive Fault – removes all errors from the softMC
 
* Clear Drive Fault – removes all errors from the softMC
  
−
Different icon colors indicate the severity of the error or the type of message.
+
Different icon colors indicate severity of the error.
 
* Yellow: Note
 
* Yellow: Note
 
* Blue:  Info
 
* Blue:  Info
Line 957: Line 1,060:
 
= Settings Screen =
 
= Settings Screen =
 
   
 
   
−
Shows version information of software components.
+
For all non-Admin users, shows version information of software components.<br>
 +
For Admin level users, also allows setting of passwords, the interface language, and certain system parameters.
  
−
Additional information is visible to Administrators.
 
 
   
 
   
−
[[Image:TP_Settings_Programmer.png|TP_Settings_Programmer.png |500px]]
+
[[Image:setting screen 13.1.jpg|setting screen 13.1.jpg |500px]]
  
 
                    
 
                    
 
{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
−
|-
+
|-bgcolor = A5A5A5
 
|  
 
|  
 
'''Setting'''
 
'''Setting'''
 
|  
 
|  
 
'''Description'''
 
'''Description'''
−
|-
+
|-  
 
|  
 
|  
−
TP Library Version
+
'''TP Library Version'''
 
|  
 
|  
 
Displays the version of the currently loaded set of TP library files.
 
Displays the version of the currently loaded set of TP library files.
 
|-
 
|-
 
|  
 
|  
−
softTP Client Version    
+
'''softTP Client Version '''   
 
|  
 
|  
 
Displays the version of the softTP user interface software.
 
Displays the version of the softTP user interface software.
 
|-
 
|-
 
|  
 
|  
−
Java Version
+
'''Java Version'''
 
|  
 
|  
 
Displays the version of the Java software in use.
 
Displays the version of the Java software in use.
 +
|-bgcolor = A5A5A5
 +
|
 +
'''Inactivity Timeout'''
 +
|
 +
This is the maximum length of a softTP session without activity, defined in minutes.<br>
 +
Once this time has elapsed, the user must login again.
 +
|-bgcolor = A5A5A5
 +
|
 +
'''softMC Timeout'''
 +
|
 +
This is the maximum time for the softTP to wait for a response from the softMC, defined in milliseconds.<br>
 +
Once this time has elapsed, the softTP disconnects from the softMC system. 
 +
|- bgcolor = A5A5A5
 +
|
 +
'''Refresh Cycle'''
 +
|
 +
Defines how frequently  the softTP retrieves and updates data (e.g., positions of axes), specified in milliseconds.
 +
|-bgcolor = A5A5A5
 +
|
 +
'''System Language'''
 +
|
 +
Language options for the softTP user interface.<br>
 +
English, Chinese and German are currently available.
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'''Passwords'''
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Fields for setting the passwords required for logging in the softTP
  
 
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Latest revision as of 13:48, 6 August 2017

Language: English  • 中文（简体）‎

TOP2.png

Overview

The softTP is a teach pendant (TP) designed for use with softMC 3 and softMC 7 motion controllers and various types of robots, such as SCARA, PUMA and DELTA. The softTP allows operators to move the robot by means of jog keys, and to create and run complete robot programs written in MC-Basic.

The softTP touch screen interface enables quick and easy application development. The softTP software package also includes a full-featured emulator running on Windows/Linux.

softTP_elements.png


Access Permission Levels

The softTP has four different user levels.

  • Viewer
  • Operator
  • Programmer
  • Administrator

Each softTP user must login with a password for a specific permission level.

The following table indicates the functions available to each user level.

Permission Level
Viewer Operator Programmer Admin

View main robot data.

x
x
x
x

Switch between TP screens.

x
x
x
x

View the status of digital IOs and error history.

x
x
x
x

Start/stop certain processes (e.g., move?).

x
x
x

Start/stop certain programs.

x
x
x

View data (variables) but not modify.

x
x
x

View programs, but not modify.

x
x
x

Acknowledge errors.

x
x
x

Enable the robot.

x
x
x

Create and edit user programs (UPG/ULB).

x
x

Create and edit (teach) program variables.

x
x

Create and edit all types of MC Basic program files (PRG/LIB & UPG/ULB).

x

Change passwords of all user levels.

x

Access the Terminal screen.

x


This document presents screens as seen by PROGRAMMER.

softTP Switches

Deadman Switch

The deadman switch is located on the back of the softTP. The switch has three positions: released, partially pressed, and fully pressed.

In Manual mode, motion and jogging commands can be issued from the teach pendant only when the deadman switch is in the intermediate, partially-pressed position.

If the deadman switch is released, or fully pressed, while axes are in motion, the motion stops automatically.


Position State Description
deadman 1.jpg

Deadman Off

  • Deadman switch is not pressed or is pressed too lightly.
  • Not pressed.
  • Switch is off.
  • softTP cannot issue motion commands.
deadman 2.jpg

Deadman On

  • Deadman switch is pressed with normal pressure.
  • Pressed partially.
  • Switch is on.
  • softTP can issue motion commands.
deadman 3.jpg

Deadman Off

  • If deadman switch is pressed too hard.
  • Fully pressed.
  • Switch is off.
  • softTP cannot issue motion commands.


Using Emulator

Set in your browser the following address: 

http:<ip address>/tp/emulator

where <ip address> is the IP address of your softMC

for example: 

http://10.4.20.148:1207/tp/emulator

When using TP Emulator, the deadman switch status is represented by the on‑off vertical switch on the left side of the screen.

TP_Emulator_Deadman.png

Emergency Stop

Pressing the Emergency switch automatically powers off the motors, stops motion and and disables the axes.

If the robot is equipped with brakes, the brakes are activated.

Mode Selector Switch

The Mode Selector switch on the front of softTP has three positions: Manual, Automatic and External.

If the mode setting is switched from Automatic to Manual while a program is running, program execution stops immediately.


Mode Description

Manual

Left position.

Manual mode is used for jogging the axes.

When in Manual mode, the robot velocity is reduced and the user cannot issue run commands or edit programs.

Automatic

Middle position.

Automatic mode is used for editing/running programs.

When in Automatic mode, the axes cannot be jogged.

External

Right position.

When in External mode, the softTP does not control the robot.


When using TP Emulator, the mode switch status is represented by the horizontal switch on the top left of the screen.

TP_Mode.png

Interface Elements

Toolbar

softTP toolbar 4.1.jpg



Toolbar Description

1.png

Logout

Exits the TP Emulator.

2.png

TP Operation Mode

Indicates the teach pendant’s current operation control mode, as defined by the mode selector switch.

Text box

Message field for system notifications.

4.png

Axes in Motion

Indicates state of the axes:
Red: Axes are stopped.
Green (spinning): One or more axes in motion.

5.png

Primary TP

Indicates that the teach pendant in use is the primary TP, if other TPs are connected. (Not currently implemented)

6.png

Collapse/Expand

Hides/shows the menu bar, to provide additional screen space for program lines.

7.png

Enable | Disable

Enables and disables all axes, and indicates the state of the axes.
Red: All axes disabled.
Green: All axes enabled.

Menu Bar

The menu bar provides access to the eight softTP screens.

menuBar 4.2.jpg


Screen Function

Jog

Used to select the type of robot, and jog the robot/axes in the user-defined frame.
Displays current robot position in Cartesian and joint coordinates. Used to teach/set new points, and move(s) to a predefined point.
Provides tool-calibration, and align functionality.

Program

Used to create, edit, run and debug MC‑Basic programs.

Data

Used to create, edit, run and debug MC-Basic programs.

IO

Used to monitor and switch system digital inputs and outputs.

Terminal

Allows command line entry of MC Basic commands. Accessible to Administrator-users only.

Diagnostics

Displays settings and status of configured axes and devices.

Errors

Displays the log of faults in the softMC motion controller.

Settings

Displays system software components and versions.

settings

Allows setting of stystem variables. Accessible to Administrator-users only.


Jog Keys

jog keys 4.3.1.jpg jog keys 4.3.2.jpg


When Frame is set to Joint, keys are labeled according to axes: J1, J2, J3, and so on.

When Frame is set to Base, Tool or World, keys are labeled according to Cartesian coordinates: X, X, Z, Yaw, Pitch, Roll.

Domains

Domains serve to separate data from programs, thereby allowing manipulation of program data (variables) without affecting program code.

Every program is associated with a domain. In MC-Basic, domains are implemented by a namespace feature of the MC-Basic language. (Refer to: http://softmc.servotronix.com/wiki/Namespace).

All variables of a given domain are automatically saved to a separate file on the softMC disk after they are created or updated.

The softTP provides three system domains for certain data, which do not have associated program files.

Every project has automatically associated domain of the same name.


TP Domain

TP variables are not assigned to a particular program or project.

They can be used freely as auxiliary variables for debugging and other functions.


Base Domain

Base variables are not assigned to any program and are used to store the base property values used by the selected robot.

It is recommended that variables in this domain use the naming format BASE1, BASE2, and so on.


Tool Domain

Tool variables are not assigned to any program and are used to store the tool property values used by the selected robot.

It is recommended that variables in this domain use the naming format TOOL1, TOOL2, and so on.

Jog Screen

The Jog screen is the main screen for working with the robot.

  • It displays the current robot joint and Cartesian coordinates.
  • It enables user to teach/set new points, move(s) to a predefined point.
  • It provides tool calibration and align functionality.

TP_Jog.png


Frames

softTP supports five jog frames: Joint, Base, Tool, World XYZ,and World ZYZ.

  • Joint frame is used for jogging the individual robot axes: J1 … J6.
  • Base, Tool and World frames represent Cartesian frames. When one of these frames is selected, jogging is in XYZ coordinates and in the corresponding orientation axes:
    • Base and Tool frames allow jogging of X, Y, Z, Yaw, Pitch and Roll.
Note that the default Euler-Angle representation of Yaw-Pitch-Roll is a ZYZ rotation sequence only.
  • World frame has two modes: ZYZ and XYZ.
ZYZ is the default mode; it has standard orientation angles as Yaw-Pitch-Roll of a ZYZ rotation sequence.
XYZ is an alternative mode; it has non-standard orientation angles as Rx-Ry-Rz of an XYZ rotation sequence.
In MC-Basic, Base, Tool and World frames are considered location data types.

A Cartesian robot frame (for PUMA robot) is a 6-dimensional Cartesian coordinate system in which the robot tool tip position and orientation are defined.

For a PUMA robot both Base and Rtool frames are in the form X-Y-Z-Yaw-Pitch-Roll.

The Frame option in the Jog screen allows you to select a different frame for jogging in. You can set different frame parameters (values) in various ways; for example:

  • By using Teach option to teach them directly – this is commonly done for Base.
  • By using Tool Calibration options – this is commonly done for Tool.


Teaching Points

Positions are taught in the Jog screen, and defined in either Joint or Cartesian coordinates.

Before teaching a point, you must first create a Location or a Joints position in the Data screen. Be sure the position is attached to the appropriate Domain.

In the Jog screen, make sure Domain and Frame are set accordingly.

Use the Teach button to set position coordinates automatically, or enter position values manually.

TP_Jog_Teach.png


Setting Description

Robot

The specific type of robot or axis for movement or position teaching.

Frame

Cartesian (Tool, Base and World): Linear movement along X, Y and Z directions, angular motion around a static XYZ coordinate.

Tool

Used for selecting the actual tool:

  • Null Tool: No tool attached
  • Tool1, Tool2, Tool3, Tool4: Uses predefined values

Base

Used for selecting the actual base:

  • Null Base – No base selected
  • Base1, Base2, Base3, Base4: Uses predefined values

Domain

Used for selecting the domain:

  • The system domain: TP, Base, Tool
  • The domain of a loaded project.

Speed

Slider to increase/decrease the jogging speed, as a percentage of the maximum speed.

X

Y

Z

Yaw (Rx)

Pitch (Ry)

Roll (Rz)

Displays the Cartesian coordinates of the robot even when operating in Joint mode.

Teach

Used to define the values (Joint or Cartesian) to be taught. Enter position values manually, or press Teach.

Move

Generates joint interpolated motion to the specified target

Moves

Generates Cartesian interpolated motion (straight line) to the specified target.

Tool Align

Aligns the Tool X, Y or Z direction with the nearest World axis, while the tool tip remains in position

Tool Calibrate

Two methods for calibrating the tool:

  • Multi-point calibration: Move the robot to a number of points. After recording 4 points, click Calibrate. The new computed tool is automatically assigned after the procedure.
  • Single point calibration: Go to point once without tool and once with tool. The new computed tool is automatically assigned after the procedure.

Program Screen

The Program screen is used for creating, editing, running and debugging MC‑Basic programs.

The file extensions *.UPG  user programs and *.ULB for user libraries are used to distinguish user programs from general system programs and settings.

Administrator level users can access and manipulate both global (*.PRG/*.LIB) and user (*.UPG/*.ULB) programs and libraries.

Programmer level users can create/edit/run/debug user programs only (*.UPG) and user libraries only (*.ULB).

Projects created by programmer level users generate four files:

name.UPG

The main user task.

name.ULB

The library containing the functions and subroutines used in the main user task.

name.DEF

The declarations of all domain variables. (not visible by the user)

name.VAR

The currently defined values of the domain variables. (not visible by the user)

A project is set of files with same names but different extension (e.g. TASK.UPG, TASK.ULB, TASK.DEF and TASK.VAR.) Non-Admin users only see files with the extensions UPG and ULB.

program screen 7.1.jpg



Setting Description

Project (File) Mode

PROGRAMMER

Open Project

Opens an existing project.

New Project

Opens a new project.
When prompted for a name, enter up to 8 characters.
When a new project is created, a user program and user library of the same name are also created.

File Mode

ADMINISTRATOR

Open File

Opens an existing file.

New File

Open a new file.

Load

Loads a program and associated library from the softMC flash memory to the softMC RAM so that the program can be executed.

Unload

Unloads a program/library from the softMC RAM so that they can be edited.

Kill

Aborts execution of a running program.

Idle

Stops the program at the end of the line currently being executed.

Run

Starts execution of the program.

Jump to Line

Jump to a line in current program.

Step Over

Skip over the subroutine.

Step Into

Step into the subroutine.

Step Out

Exit the subroutine.

Edit Mode

Provides the code syntax for commonly used instructions, including prompts for the data required for completing the code line/s.

Program

Instructions for defining subroutines and functions.

  • Sub ... End Sub
  • Function
  • Program ... End Program
  • Call

Flow Commands

Instructions used to change the flow of a program based on specific conditions.

  • If ... Then ... Else ... End If
  • While ... End While
  • For ... Next
  • Select Case … End Select
  • Sleep

Interpolation

  • Move
  • MoveS
  • Circle (P2P)
  • Circle (Angle)
  • DoPass

Motion Commands

  • Stop
  • WaitForMotion
  • Delay
  • Enable

I/O

  • Inputs
  • Outputs

Project Manager

PROGRAMMER

File Manager

ADMINISTRATOR

[Project/File list]

Delete

Deletes selected project.

Save As

saves a copy of current project using a new name.

Rename

Rename the current project.

Data Screen

The Data screen is used for creating and editing variables in the domain that is currently selected.

Variables can be robot positions or any other data type that is supported in MC‑Basic, such as long, double and string.

data screen 8.1.jpg

Select the domain, and the type of variable, then click the + button to create a variable.

A dialog box opens according to type of variable.

Enter values.

Setting

Description

Locations

World/Cartesian positions.
data addnewlocation 1.jpg data addnewlocation 2.jpg
data addnewlocation 3.jpg
Checkbox - to select (for deletion)  

Joints

Joint positions.
data joints.jpg

Longs

Numeric variable: 32-bit integer.
data longs.jpg

Doubles

Numeric variable: 64-bit floating point.
data longs.jpg

Strings

ASCII or UTF-8 string. Length is unlimited. data strings.jpg

Domain

Tp, Base or Tool.

I/O Screen

Allows user to monitor the status of system inputs and outputs, and to toggle outputs.

IO names are defined in DAT files (TPIN.DAT and TPOUT.DAT).

This screen is updated in realtime.

IO screen 9.1.jpg


Setting Description

Name

Description

State

Device

Terminal Screen

The Terminal screen is accessible to Admin users only.
Terminal is a command line interface to the softMC. It allows user to send instructions to the drive, and read the drive’s responses.


terminal screen 10.1.jpg

Diagnostics Screen

Two views. Devices and Master.

Shows status and properties of the devices and the Motion-bus in the system.

 TP_Diagnostics_motors.png

Errors Screen

When errors occur, an icon is displayed in the menu bar, and indicates the total number of errors.

  • Clear List – removes all errors from the list
  • Clear Drive Fault – removes all errors from the softMC

Different icon colors indicate severity of the error.

  • Yellow: Note
  • Blue:  Info
  • Red: Error

TP_Errors.png

Settings Screen

For all non-Admin users, shows version information of software components.
For Admin level users, also allows setting of passwords, the interface language, and certain system parameters.


setting screen 13.1.jpg


Setting

Description

TP Library Version

Displays the version of the currently loaded set of TP library files.

softTP Client Version    

Displays the version of the softTP user interface software.

Java Version

Displays the version of the Java software in use.

Inactivity Timeout

This is the maximum length of a softTP session without activity, defined in minutes.
Once this time has elapsed, the user must login again.

softMC Timeout

This is the maximum time for the softTP to wait for a response from the softMC, defined in milliseconds.
Once this time has elapsed, the softTP disconnects from the softMC system.

Refresh Cycle

Defines how frequently the softTP retrieves and updates data (e.g., positions of axes), specified in milliseconds.

System Language

Language options for the softTP user interface.
English, Chinese and German are currently available.

Passwords

Fields for setting the passwords required for logging in the softTP

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