Teach Pendant Operation Guide/zh-hans

语言:	[[::Teach Pendant Operation Guide|English]]  • [[::Teach Pendant Operation Guide/zh-hans|中文（简体）‎]]

概述

softTP是设计用于softMC 3和softMC 7运动控制器以及各种类型的机器人（如SCARA，PUMA和DELTA）的示教器（TP）。 softTP允许操作员通过点动键移动机器人，并创建并运行用MC-Basic编写的完整机器人程序。

softTP触摸屏界面实现了快速简便的应用开发。 softTP软件包还包括在Windows / Linux上运行的全功能模拟器。

访问权限级别

softTP有四个不同的用户级别

• 观察员
• 操作员
• 程序员
• 管理员

每个softTP用户必须使用特定权限级别的密码进行登录。

下表列出了每个用户级别可用的功能。

	权限级别
	观察员	操作员	程序员	管理员
查看机器人数据	x	x	x	x
TP屏幕中的开关	x	x	x	x
查看数字IO的状态和错误记录	x	x	x	x
启动/停止某些进程（例如，移动？）		x	x	x
启动/停止某些程序		x	x	x
查看数据（变量）但不修改		x	x	x
查看程序，但不修改		x	x	x
确认错误		x	x	x
机器人使能		x	x	x
创建和编辑用户程序（UPG / ULB）			x	x
创建和编辑（示教）程序变量			x	x
创建和编辑所有类型的MC Basic程序文件（PRG / LIB＆UPG / ULB）				x
更改所有用户级别的密码				x
访问终端屏幕				x

本文档介绍了PROGRAMMER所见的屏幕。

softTP开关

控制开关

控制开关位于softTP的背面。 开关有三个位置：释放，部分按下和完全按下。

在手动模式下，只有在控制开关处于中间部分按压位置时，才能从示教器发出运动和点动命令。

如果在轴处于运动状态时释放或完全按下了控制开关，则运动会自动停止。

位置	状态	描述
	控制开关关闭	控制开关未被按下或被轻轻按下。 未按下 开关关闭 softTP无法发出运动命令
	控制开关打开	控制开关以正常方式按压 部分按下 开关打开 softTP可以发出命令
	控制开关关闭	如果控制开关按压太重 完全按下 开关关闭 softTP不能发出命令

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.

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.

Interface Elements

Toolbar

	Toolbar	Description
	Logout	Exits the TP Emulator.
	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.
	Axes in Motion	Indicates state of the axes: Red: Axes are stopped. Green (spinning): One or more axes in motion.
	Primary TP	Indicates that the teach pendant in use is the primary TP, if other TPs are connected. (Not currently implemented)
	Collapse/Expand	Hides/shows the menu bar, to provide additional screen space for program lines.
	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.

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

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.

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.

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.

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.

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. Checkbox - to select (for deletion)
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	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.

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.

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 severity of the error.

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

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	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