Difference between revisions of "Teach Pendant Operation Guide"
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Revision as of 13:47, 26 April 2017
Contents
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.
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Permission Level
| |||
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Viewer
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Operat
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Program
| |
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View main robot data.
|
x
|
x
|
x
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|
Switch between TP screens.
|
x
|
x
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x
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|
View the status of IOs and error history.
|
x
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x
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x
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Start/stop certain processes (e.g., move)
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x
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x
| |
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Start/stop certain programs.
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x
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x
| |
|
View data (variables) but not modify.
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x
|
x
| |
|
View programs, but not modify.
|
x
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x
| |
|
Acknowledge errors.
|
x
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x
| |
|
Enable the robot.
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x
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x
| |
|
Create and edit user programs (UPG/ULB).
|
x
| ||
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Create and edit (teach) program variables.
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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.
Switch is off. softTP cannot issue motion commands.
|
|
|
Deadman switch is pressed with normal pressure.
Switch is on.
|
|
|
If deadman switch is pressed too hard.
|
When using TP Emulator, the deadman switch status is represented by the on‑off vertical switch on the left side of the screen.
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.
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Mode
|
Description
|
|
Manual
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Left position.
|
|
Automatic
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Middle position.
|
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External
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Right position.
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When using TP Emulator, the mode switch status is represented by the horizontal switch on the top left of the screen.
4 Interface Elements
4.1 Toolbar
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Toolbar
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Description
| |
|
|
Logout
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Exits the TP Emulator.
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|
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TP Operation Mode
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Indicates the teach pendant’s current operation control mode, as defined by the mode selector switch.
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|
Text box
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Message field for system notifications.
| |
|
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Axes in Motion
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Indicates state of the axes:
|
|
|
Primary TP
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Indicates that the teach pendant in use is the
primary TP, if other TPs are connected.
|
|
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Collapse/Expand
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Hides/shows the menu bar, to provide additional screen space for program lines.
|
|
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Enable | Disable
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Enables and disables all axes, and indicates the state of the axes.
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4.2 Menu Bar
The menu bar provides access to the eight softTP screens.
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Screen
|
Function
|
|
Used to select the type of robot, and jog the robot/axes in the user-defined frame.
| |
|
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.
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|
Errors
|
Displays the log of faults in the softMC motion controller.
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|
s
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Displays system software components and versions.
|
Jog Keys
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.
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.
|
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.
|
|
Tool
|
Used for selecting the actual tool:
|
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Base
|
Used for selecting the actual base:
|
|
Domain
|
Used for selecting the domain:
|
|
Speed
|
Slider to increase/decrease the jogging speed, as a percentage of the maximum speed.
|
|
X
|
Displays the Cartesian coordinates of the robot even when operating in Joint mode.
|
|
Teach
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Used to define the values (Joint or Cartesian) to be taught.
|
|
Tool Align
|
Aligns the Tool X-, Y- or Z-axis with the nearest World axis.
|
|
Tool Calibrate
|
Two methods for calibrating the 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.
|
Setting
|
Description
|
|
Project Mode
|
PROGRAMMER
|
|
Open Project
|
Opens an existing project.
|
|
New Project
|
Opens a new project.
|
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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
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Aborts execution of a running program.
|
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Idle
|
Stops the program at the end of the line currently being executed.
|
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Run
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Starts execution of the program.
|
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Jump to Line
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Jump to a line in current program.
|
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Step Over
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Skip over the subroutine.
|
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Step Into
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Step into the subroutine.
|
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Step Out
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Exit the subroutine.
|
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Program
|
Instructions for defining subroutines and functions.
|
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Flow Commands
|
Instructions used to change the flow of a program based on specific conditions.
|
|
Interpolation
|
n Move
|
|
Motion Commands
|
n Stop
|
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I/O
|
n Inputs
|
|
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.
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.
10 Diagnostics Screen
Two views. Devices and Master.
Shows status and properties of the devices and the motion bus in the system.
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
Settings Screen
Shows version information of software components.
Additional information is visible to Administrators.
|
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.
|
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Java Version
|
Displays the version of the Java software in use.
|