Teach Pendant Operation Guide

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.

Access Permission Levels

The softTP has four different user levels.

• Viewer
• Operator
• Programmer
• Administrator (not shown)

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

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

	Viewer	Operator	Programmer
View main robot data.	x	x	x
Switch between TP screens.	x	x	x
View the status of IOs and error history.	x	x	x
Start/stop certain processes (e.g., move)		x	x
Start/stop certain programs.		x	x
View data (variables) but not modify.		x	x
View programs, but not modify.		x	x
Acknowledge errors.		x	x
Enable the robot.		x	x
Create and edit user programs (UPG/ULB).			x
Create and edit (teach) program variables.			x

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.

Motion and jogging commands can be issued from the softTP only when the teach pendent is in Manual mode, and 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.

	Deadman switch is not pressed or is pressed too lightly. Not pressed. Switch is off. softTP cannot issue motion commands.
	Deadman switch is pressed with normal pressure. Pressed partially. Switch is on. softTP can issue motion commands.
	If deadman switch is pressed too hard. Fully pressed. Switch is off. softTP cannot issue motion commands.

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

TP_Deadman.png

Emergency Stop

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

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

4 Interface Elements

4.1 Toolbar

TP_toolbar.png

	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.

4.2 Menu Bar

The menu bar provides access to the eight softTP screens.

TP_toolbar_Programmer.png

Screen	Function
	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.
	Used to create, edit, run and debug MC‑Basic programs.
	Used to add and edit variables attached to the selected domain.
	Used to monitor and switch system digital inputs and outputs.
Diagnostics	Displays settings and status of configured axes and devices.
Errors	Displays the log of faults in the softMC motion controller.
s	Displays system software components and versions.

Jog Keys

JogKeys.png        9-jogkeys.png

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: TP, Base and Tool.

Whenever a project is created from the softTP, an associated domain with the same name as the project is generated.

5.1 TP Domain

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

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 four jog frames: Joint, Base, Tool, World XYZ, and World ZYZ.

n Joint frame is used for jogging the individual robot axes: J1 … J6.

n 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:

n 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.

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

The frame is defined using MC-Basic robot properties: <robot>.base and <robot>.tool

For a PUMA robot both properties 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:

n By using Teach option to teach them directly – this is commonly done for Base.

n By using Tool Calibration options – this is commonly done for Tool.

Define the Cartesian frames by naming them (e.g., BASE1, BASE2, ….) and then setting their values (teaching or calibrating).

Note that users can define frames for Base and Tool only.

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	n Movement in the Z, Y, or Z direction is parallel to an axis of the Base coordinate system. n Tool: Movement in the X, Y, or Z direction is along an axis of the Tool coordinate system. n World ZYZ: Movement in the Z, Y, or Z direction is parallel to an axis of the World coordinate system. n World XYX: Movement in the X, Y, or Z direction is parallel to an axis of the World coordinate system. n Joint: Movement of the axis of the specified joint
Tool	Used for selecting the actual tool: n Null Tool: No tool attached n Tool1, Tool2, Tool3, Tool4: Uses predefined values
Base	Used for selecting the actual base: n Null Base – No base selected n Base1, Base2, Base3, Base4: Uses predefined values
Domain	Used for selecting the domain: n The system domain: TP, Base, Tool n 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.
Tool Align	Aligns the Tool X-, Y- or Z-axis with the nearest World axis.
Tool Calibrate	Two methods for calibrating the tool: n Multi-point calibration: Move the robot to a number of points. After recording 4 points, click Calibrate. n Single point calibration: Go to point once without tool and once with tool.

7 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 a number of files:

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

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.

TP_Program.png

Setting	Description
Project 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, a user library, and a domain of the same name are also created.
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.
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	n Move n MoveS n Circle (P2P) n Circle (Angle) n DoPass
Motion Commands	n Stop n WaitForMotion n Delay n Enable
I/O	n Inputs n Outputs
Project Manager	PROGRAMMER
[Project/File list]
Delete	Deletes selected project.
Save As	Saves a copy of current project using a new name.
Rename	Renames the current project.

8 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 supported in MC‑Basic, such as long, double and string.

TP_Data2.png

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.
Joints	Joint positions.
Longs	Numeric variable: 32-bit integer.
Doubles	Numeric variable: 64-bit floating point.
Strings	ASCII or UTF-8 string. Length is unlimited.
Domain	Either a system domain (TP, Base, Tool) or a user-defined project domain.

I/O Screen

Allows monitoring of the system inputs and outputs, and toggling of outputs.

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

This screen is updated in realtime.

TP_IOs.png

10 Diagnostics Screen

Two views. Devices and Master.

Shows status and properties of the devices and the motion bus in the system.

 TP_Diagnostics_motors2.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 the severity of the error or the type of message.

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

TP_Errors.png

Settings Screen

Shows version information of software components.

Additional information is visible to Administrators.

TP_Settings_Programmer.png

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.