Difference between revisions of "Teach Pendant Installation Guide/zh-hans"

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(Created page with "{{Languages}} = '''Product Overview''' = The softTP teach pendant (TP) is an add-on tool for softMC-based systems. It allows users to move the robot by means of jog keys, and...")
 
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{{Languages}}
 
{{Languages}}
−
= '''Product Overview''' =
+
= '''产品概述''' =
  
−
The softTP teach pendant (TP) is an add-on tool for softMC-based systems. It allows users to move the robot by means of jog keys, and to create and run complete robot programs written in MC-Basic. <br>
+
softTP示教器（TP）是用于基于软件的系统的附加工具。 它允许用户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。
−
The softTP touch screen interface enables quick and easy application development.
+
softTP触摸屏界面实现了快速简便的应用开发。
  
 
[[Image: product overview 1.1.png|500px]]
 
[[Image: product overview 1.1.png|500px]]
  
−
==Teach Pendant Hardware==
+
==示教器硬件==
  
−
* Touch screen
+
* 触摸屏
−
* Jog buttons
+
* 点动按钮
−
* Emergency switch
+
* 急停开关
−
* Deadman  switch
+
* 控制开关
−
* Mode Selector switch
+
* 模式选择开关
−
* Jig board for power, Ethernet communication and digital outputs
+
* 电源板，以太网通讯和数字输出板
  
−
==Teach Pendant Software==
+
==示教器软件==
  
−
The following software components are provided with the softTP:
+
softTP提供了以下软件组件:
−
* Java Runtime Engine
+
* Java执行引擎
−
* Java Web Server (HTML to KMAPI converter) and WWW folder (HTML files and Java scripts)
+
* Java Web服务器（HTML到KMAPI转换器）和WWW文件夹（HTML文件和Java脚本）
−
* softTP license  ('''MCTP''' file)
+
* softTP许可证 ('''MCTP'''文件)
−
* softTP programs and libraries (MC-Basic source code)
+
* softTP程序和库（MC-Basic源代码）
  
−
== Product Label ==
+
== 产品标签 ==
  
 
[[Image: product label 1.4.png|200px]]
 
[[Image: product label 1.4.png|200px]]
  
−
='''Safety'''=
+
='''安全'''=
  
−
==Warnings==
+
==警告==
  
 
{| border="0" cellpadding="2" cellspacing="0"
 
{| border="0" cellpadding="2" cellspacing="0"
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|-
 
|-
 
|[[Image:warnings 2.1.png|70px]]
 
|[[Image:warnings 2.1.png|70px]]
−
|It is the user’s responsibility to follow all safety guidelines and precautions for working with robotic system.
+
|用户有责任遵守使用机器人系统的所有安全准则和注意事项。
  
 
|-
 
|-
 
|[[Image:warnings 2.1.png|70px]]
 
|[[Image:warnings 2.1.png|70px]]
−
|It is the user’s responsibility to connect the Emergency switch to the robotic system in accordance with safety standards and guidelines.
+
|用户有责任根据安全标准和指导原则将紧急开关连接到机器人系统。
  
 
|-
 
|-
 
|[[Image:warnings 2.1.png|70px]]
 
|[[Image:warnings 2.1.png|70px]]
−
|It is the user’s responsibility to connect the Deadman switch to the robotic system in accordance with safety standards and guidelines.
+
|根据安全标准和指导原则，用户有责任将控制开关连接到机器人系统。
  
 
|-
 
|-
 
|[[Image:warnings 2.1.png|70px]]
 
|[[Image:warnings 2.1.png|70px]]
−
|When handling the softTP teach pendant, be sure to grasp it with both hands. The softTP is equipped with a deadman switch to ensure user safety.<br>
+
|操作softTP示教器时，请务必用双手握住它。 softTP配有一个控制开关，以确保用户的安全。<br>
−
You cannot operate the teach pendant unless the deadman switch is held down in the intermediate (Enable) position. Refer to the section '''Error! Reference source not found'''.
+
除非在中间（使能）位置按住控制开关，否则不能操作示教器。
  
 
|-
 
|-
 
|[[Image:warnings 2.1.png|70px]]
 
|[[Image:warnings 2.1.png|70px]]
−
|Never use adhesive tape or other means to keep the deadman switch held down. Doing so is extremely dangerous as it may prevent the robot from stopping while operating in Manual mode.
+
|切勿使用胶带或其他方式保持控制开关的紧固。 这样做是非常危险的，因为它可能会阻止机器人在手动模式下停止
  
 
|}
 
|}
  
−
==Handling and Maintenance==
+
==处理和维护==
  
−
* Make sure cabling is secure and cannot be tripped over.
+
* 确保电缆安全，不能跳闸。
−
* Make sure cabling is not bent or crushed by other objects.
+
* 确保电缆不被其他物体弯曲或压扁。
−
* Make sure cabling does not come into contact with sharp edges that can cause it to fray.
+
* 确保布线不会与可能导致其磨损的尖锐边缘接触。
−
* Make sure the softTP is never set down in a manner in which operating elements may be mechanically damaged.
+
* 确保softTP不会以操作元件机械损坏的方式进行安装。
−
* Never place the softTP  where it will be subject to high heat sources or direct sunlight.
+
* 不要将softTP放置在高热源或阳光直射的地方。
−
* Avoid subjecting the softTP to mechanical shocks, excessive dust, humidity or strong magnetic fields.
+
* 避免softTP受到机械冲击，灰尘过多，潮湿或强磁场的损害。
−
* Do not use solvents or abrasive materials on the softTP. For cleaning use a soft cloth moistened with water or a mild cleaning agent.
+
* 不要在softTP上使用溶剂或研磨材料。清洁时请使用蘸有水或温和清洁剂的软布。
−
* The softTP has a touch screen. Use only your finger to operate. Make sure no sharp objects come into contact with the screen.
+
* softTP具有触摸屏。 只能用手指操作。 确保没有锋利的物体与屏幕接触。
  
−
='''Specifications'''=
+
='''规格'''=
  
−
==Technical Specifications==
+
==技术规格==
  
 
{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
  
−
!width = "100" bgcolor = A9A9A9| '''Item'''
+
!width = "100" bgcolor = A9A9A9| '''项目'''
−
!width = "250" bgcolor = A9A9A9| '''Specification'''
+
!width = "250" bgcolor = A9A9A9| '''规格'''
  
 
|-
 
|-
−
|Processor
+
|处理器
−
|Intel®Atom™E3800/1.6 GHz  single core
+
|Intel®Atom™E3800/1.6 GHz  单核
  
 
|-
 
|-
−
|Memory
+
|内存
 
|DDR3 4 GB
 
|DDR3 4 GB
  
Line 96: Line 96:
  
 
|-
 
|-
−
|LCD Screen
+
|LCD 屏
−
|TFT LCD. 7-inch (163 x 104 mm). Resolution 800x480 pixel. Background lighting 24 LEDs.
+
|TFT LCD. 7-inch (163 x 104 mm). 分辨率800x480像素. Background lighting 24 LEDs.
  
 
|-
 
|-
−
|Touch Screen
+
|触摸屏
−
|4-wire analog-resistive. USB touch controller.
+
|4线模拟电阻。 USB触摸控制器.
  
 
|-
 
|-
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|-
 
|-
 
|SD/MMC
 
|SD/MMC
−
|External SD card
+
|外置SD卡
  
 
|-
 
|-
Line 120: Line 120:
  
 
|-
 
|-
−
|Keypad
+
|键盘
−
|USB HID keypad. 12 jog (+|-) keys. 4 screen navigation keys. 4 function keys (not used).
+
|USB HID键盘. 12 手动 (+|-)键. 4屏幕导航键。 4个功能键（未使用）。
  
 
|-
 
|-
−
|Switches
+
|开关
−
|Emergency/Mode Select/Deadman
+
|急停/模式选择/控制
  
 
|-
 
|-
−
|Communication
+
|通信端口
 
|RS232/RS485/Ethernet. Selectable
 
|RS232/RS485/Ethernet. Selectable
  
 
|-
 
|-
−
|Operating Temperature
+
|运行环境
 
|45°C  max. ambient
 
|45°C  max. ambient
  
 
|-
 
|-
−
|Enclosure
+
|防护等级
 
|IP54
 
|IP54
  
 
|-
 
|-
−
|Compliance
+
|认证
 
|CE
 
|CE
  
 
|}
 
|}
  
−
==Dimensions==
+
==尺寸==
  
 
[[Image: dimensions 3.1.png]]
 
[[Image: dimensions 3.1.png]]
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−
='''Wiring'''=
+
='''接线'''=
  
−
==Teach Pendant Cable ==
+
==示教器电缆 ==
  
−
The teach pendant cable is part of the softTP; it cannot be detached.
+
示教电缆是softTP的一部分; 它不能分离。
  
  
−
'''TP Cable Pin Assignments'''
+
'''TP电缆线分配表'''
  
 
[[Image:wiring 4.1.png|650px]]
 
[[Image:wiring 4.1.png|650px]]
  
−
'''TP Cable Connector - Male'''
+
'''TP电缆连接器 - 公接头'''
  
  
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{| border="1" cellpadding="6" cellspacing="0"
 
{| border="1" cellpadding="6" cellspacing="0"
−
!width = "100" bgcolor = A9A9A9| '''Part Number'''
+
!width = "100" bgcolor = A9A9A9| '''零件号'''
 
!width = "60" bgcolor = A9A9A9|
 
!width = "60" bgcolor = A9A9A9|
 
!width = "60" bgcolor = A9A9A9| '''A'''
 
!width = "60" bgcolor = A9A9A9| '''A'''
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[[Image: wiring 4.3.png]]
 
[[Image: wiring 4.3.png]]
  
−
==Jig Board==
+
==电源板==
  
−
'''TP Cable Interface on Jig Board - Female'''
+
'''TP上的电缆接线板 - 公接头'''
  
  
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{| border="1" cellpadding="9" cellspacing="0"
 
{| border="1" cellpadding="9" cellspacing="0"
−
!width = "100" bgcolor = A9A9A9| '''Part Number'''
+
!width = "100" bgcolor = A9A9A9| '''零件号'''
 
!width = "60" bgcolor = A9A9A9|
 
!width = "60" bgcolor = A9A9A9|
 
!width = "60" bgcolor = A9A9A9| '''A'''
 
!width = "60" bgcolor = A9A9A9| '''A'''
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<big>
 
<big>
−
'''IO Cable Interface on Jig Board - Pin Assignments'''</big>
+
'''IO电缆接口上夹板 - 引脚分配'''</big>
  
−
'''Example: connection to CDHD'''
+
'''例子: 连接CDHD'''
−
:: The Emergency and Deadman switches are connected to the safety circuit of the system (STO, safety relay) according to user requirements.
+
:: 紧急停止和控制开关根据用户要求连接到系统的安全电路（STO，安全继电器）。
  
 
[[Image:wiring 4.7.png|600px]]
 
[[Image:wiring 4.7.png|600px]]
  
  
−
'''Example: connection to DDHD'''
+
'''例子: 连接到DDHD'''
−
:: Different input order and no emergency switch connected. Green lines are bridges; red and black lines are from an outside source.
+
:: 不同的输入顺序和没有紧急开关连接。绿线是桥梁; 红线和黑线来自外部来源。
−
 
 
  
 
[[Image:wiring 4.8.png|600px]]
 
[[Image:wiring 4.8.png|600px]]
  
−
==Emergency Switch==
+
==急停开关==
  
−
It is the user’s responsibility to connect the Emergency switch to the robotic system, and to follow all necessary safety guidelines and precautions.
+
将紧急开关连接到机器人系统是用户的责任，并遵循所有必要的安全准则和注意事项。
  
 
[[Image: wiring 4.9.png|500px]]
 
[[Image: wiring 4.9.png|500px]]
  
−
==Selector Switch==
+
==模式选择开关==
  
 
[[Image: wiring 4.10.png|500px]]
 
[[Image: wiring 4.10.png|500px]]
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{| border="1" cellpadding="2" cellspacing="0"
 
{| border="1" cellpadding="2" cellspacing="0"
−
!width = "100" bgcolor = A9A9A9| '''Position'''
+
!width = "100" bgcolor = A9A9A9| '''位置'''
−
!width = "60" bgcolor = A9A9A9| '''Symbol'''
+
!width = "60" bgcolor = A9A9A9| '''符号'''
 
|-
 
|-
−
|Left
+
|左边
 
|[[Image: wiring 4.11.png|100px]]
 
|[[Image: wiring 4.11.png|100px]]
 
|-
 
|-
−
|Center
+
|中间
 
|[[Image: wiring 4.12.png|100px]]
 
|[[Image: wiring 4.12.png|100px]]
 
|-
 
|-
−
|Right
+
|右边
 
|[[Image: wiring 4.13.png|100px]]
 
|[[Image: wiring 4.13.png|100px]]
  
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−
==Deadman Switch==
+
==控制开关==
  
−
It is the user’s responsibility to connect the Deadman switch to the robotic system, and to follow all necessary safety guidelines and precautions.<br>
+
将控制开关连接到机器人系统是用户的责任，并遵循所有必要的安全准则和注意事项。<br>
−
Pressing or releasing the Deadman switch automatically and immediately stops the motion of all axes.
+
自动按下或释放控制开关，立即停止所有轴的运动。
  
 
[[Image: wiring 4.14.png|600px]]
 
[[Image: wiring 4.14.png|600px]]
  
 
{| border="1" cellpadding="4" cellspacing="0" align="center"
 
{| border="1" cellpadding="4" cellspacing="0" align="center"
−
!width = "100" bgcolor = A9A9A9| '''Action'''
+
!width = "100" bgcolor = A9A9A9| '''动作'''
 
!width = "60" bgcolor = A9A9A9|  
 
!width = "60" bgcolor = A9A9A9|  
−
!width = "60" bgcolor = A9A9A9| '''Position'''
+
!width = "60" bgcolor = A9A9A9| '''位置'''
−
!width = "40" bgcolor = A9A9A9| '''Symbol'''
+
!width = "40" bgcolor = A9A9A9| '''符号'''
  
 
|-
 
|-
−
|If deadman switch is not pressed or is pressed too lightly.
+
|如果没有按下控制开关或按下太轻。
−
Switch is '''off'''.
+
开关是'''关'''.
 
|[[Image: wiring 4.15.png|100px]]
 
|[[Image: wiring 4.15.png|100px]]
 
|Null
 
|Null
 
|[[Image: wiring 4.16.png|250px]]
 
|[[Image: wiring 4.16.png|250px]]
 
|-
 
|-
−
|If deadman switch is pressed with normal pressure.
+
|如果在正常压力下按下控制开关。
−
Switch is '''on'''.
+
开关是'''开'''。
 
|[[Image: wiring 4.17.png|100px]]
 
|[[Image: wiring 4.17.png|100px]]
−
|Enable
+
|使能
 
|[[Image: wiring 4.18.png|250px]]
 
|[[Image: wiring 4.18.png|250px]]
 
|-
 
|-
−
|If deadman switch is pressed too hard.
+
|如果控制开关按压太重，
−
Switch is '''off'''.
+
开关是'''关'''。
 
|[[Image: wiring 4.19.png|100px]]
 
|[[Image: wiring 4.19.png|100px]]
 
|Panic
 
|Panic
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|}
 
|}
  
−
='''Setup'''=
+
='''设置'''=
  
−
==Hardware Setup==
+
==硬件设置==
  
−
The diagram below shows a typical system configuration.
+
下图显示了典型的系统配置。
  
 
[[Image: setup 5.1.png|500px]]
 
[[Image: setup 5.1.png|500px]]
  
  
−
* The softTP connects to the jig board by means of the teach pendant cable.
+
* softTP通过示教器电缆连接到夹具板上。
−
* The jig board:  Receives 24 VDC power supply (provided by user); connects to the Ethernet switch by means of an Ethernet (RJ45) cable; connects to drive/s or an external IO module by means of an IO cable (provided by user).
+
* 夹具板：接受24 VDC电源（由用户提供）; 通过以太网（RJ45）电缆连接到以太网交换机; 通过IO电缆（由用户提供）连接到驱动器或外部IO模块。
−
* The three softTP switches – Mode Selector, Emergency and Deadman – are connected to the digital inputs of a drive, or to an external IO module, through the IO cable (provided by user).
+
* 三个softTP开关 - 模式选择，紧急和控制 - 通过IO电缆（由用户提供）连接到驱动器或外部IO模块的数字输入。
−
* The Emergency and Deadman switches are connected to the safety circuit of the system (STO, safety relay) according to user requirements.
+
* 紧急停止和控制开关根据用户要求连接到系统的安全电路（STO，安全继电器）。
  
−
==Software Setup==
+
==软件设置==
  
−
'''note:''' IPK files are for '''softMC 7''' systems; ZIP files are for '''softMC 3''' systems.
+
'''注意:''' IPK文件用于'''softMC 7'''系统; ZIP文件用于'''softMC 3'''系统。
  
  
−
Using ControlStudio software, perform the following procedure:
+
使用ControlStudio软件，执行以下步骤:
−
# Install the Java Runtime Engine:
+
# 安装Java执行引擎:
−
## Send JREx.x.x_xxx.IPK/ZIP file to softMC: <br> Tools > Firmware Update > File  > Open.  
+
## 发送JREx.x.x_xxx.IPK / ZIP文件到softMC: <br> Tools > Firmware Update > File  > Open.  
−
## Wait for the softMC to reboot (automatically).
+
## 等待softMC重新启动（自动）。
−
# Install the Java Web Server and HTML (WWW folder) files:
+
# 安装Java Web Server和HTML（WWW文件夹）文件:
−
## Send JAVA_FILES. .IPK/ZIP file to softMC: <br> Tools > Firmware Update > JAVA_FILES.IPK > Open
+
## 发送JAVA_FILES. .IPK/ZIP文件到softMC: <br> Tools > Firmware Update > JAVA_FILES.IPK > Open
−
## Wait for the softMC to reboot (automatically)
+
## 等待softMC重新启动（自动）。
−
# Install and activate the softTP license:  
+
# 安装和激活softTP许可证:  
−
## Make sure the '''MCTP file''' is in the ControlStudio working directory.
+
## 确保'''MCTP文件'''在ControlStudio工作目录中。
−
## In the ControlStudio Terminal, enter the following: <br> [[Image: setup 5.2.png|500px]]
+
## 在ControlStudio终端中，输入以下内容: <br> [[Image: setup 5.2.png|500px]]
−
## Power cycle the system.
+
## 重新启动系统。
−
# On the user PC, create a dedicated folder for the set of MC-Basic teach pendant files, which define settings for softTP operation. <br> Extract the teach pendant files to that folder.<br> In the ControlStudio File Manager, navigate to and open the dedicated folder. <br> Select and drag all the MC-Basic teach pendant files from the PC File list (middle pane) to the Controller File list (right pane). <br> [[Image: setup 5.3.png|800px]]
+
# 在用户PC上，创建一组专用文件夹，该文件夹用于定义SoftTP操作的设置。 <br> 将示教器文件解压缩到该文件夹。<br> 在ControlStudio文件管理器，找到并打开专用文件夹。<br> 从PC文件列表（中间窗格）中选择并拖动所有MC-Basic示教器文件到控制器文件列表（右窗格）。<br> [[Image: setup 5.3.png|800px]]
 
# In the Controller File list, locate the file '''TP_INIT.PRG.''' <br> Select and drag the file from the Controller File list to the PC File list. <br> Double-click to open TP_INIT.PRG for editing in the Terminal pane.
 
# In the Controller File list, locate the file '''TP_INIT.PRG.''' <br> Select and drag the file from the Controller File list to the PC File list. <br> Double-click to open TP_INIT.PRG for editing in the Terminal pane.
 
# Edit the lines in TP_INIT.PRG to map I/Os and define relevant values for various teach pendant functions, as follows:
 
# Edit the lines in TP_INIT.PRG to map I/Os and define relevant values for various teach pendant functions, as follows:

Revision as of 15:25, 28 May 2017

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

产品概述

softTP示教器（TP）是用于基于软件的系统的附加工具。 它允许用户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。

product overview 1.1.png

示教器硬件

  • 触摸屏
  • 点动按钮
  • 急停开关
  • 控制开关
  • 模式选择开关
  • 电源板，以太网通讯和数字输出板

示教器软件

softTP提供了以下软件组件:

  • Java执行引擎
  • Java Web服务器（HTML到KMAPI转换器）和WWW文件夹（HTML文件和Java脚本）
  • softTP许可证 (MCTP文件)
  • softTP程序和库（MC-Basic源代码）

产品标签

product label 1.4.png

安全

警告

warnings 2.1.png 用户有责任遵守使用机器人系统的所有安全准则和注意事项。
warnings 2.1.png 用户有责任根据安全标准和指导原则将紧急开关连接到机器人系统。
warnings 2.1.png 根据安全标准和指导原则，用户有责任将控制开关连接到机器人系统。
warnings 2.1.png 操作softTP示教器时，请务必用双手握住它。 softTP配有一个控制开关，以确保用户的安全。

除非在中间（使能）位置按住控制开关，否则不能操作示教器。

warnings 2.1.png 切勿使用胶带或其他方式保持控制开关的紧固。 这样做是非常危险的，因为它可能会阻止机器人在手动模式下停止

处理和维护

  • 确保电缆安全，不能跳闸。
  • 确保电缆不被其他物体弯曲或压扁。
  • 确保布线不会与可能导致其磨损的尖锐边缘接触。
  • 确保softTP不会以操作元件机械损坏的方式进行安装。
  • 不要将softTP放置在高热源或阳光直射的地方。
  • 避免softTP受到机械冲击，灰尘过多，潮湿或强磁场的损害。
  • 不要在softTP上使用溶剂或研磨材料。清洁时请使用蘸有水或温和清洁剂的软布。
  • softTP具有触摸屏。 只能用手指操作。 确保没有锋利的物体与屏幕接触。

规格

技术规格

项目 规格
处理器 Intel®Atom™E3800/1.6 GHz 单核
内存 DDR3 4 GB
NAND SSD 32 GB
Rating 12-24 VDC, 1-0.5 A
LCD 屏 TFT LCD. 7-inch (163 x 104 mm). 分辨率800x480像素. Background lighting 24 LEDs.
触摸屏 4线模拟电阻。 USB触摸控制器.
OS Lubunto
LEDs 3-color LED x 6
SD/MMC 外置SD卡
USB USB host
键盘 -)键. 4屏幕导航键。 4个功能键（未使用）。
开关 急停/模式选择/控制
通信端口 RS232/RS485/Ethernet. Selectable
运行环境 45°C max. ambient
防护等级 IP54
认证 CE

尺寸

dimensions 3.1.png

dimensions 3.2.png


接线

示教器电缆

示教电缆是softTP的一部分; 它不能分离。


TP电缆线分配表

wiring 4.1.png

TP电缆连接器 - 公接头


wiring 4.2.jpg


零件号 A ΦB ΦC ΦD
SRC6A21-26P mm 98.0 31.0 20.4 12.2


wiring 4.3.png

电源板

TP上的电缆接线板 - 公接头


wiring 4.4.png


零件号 A ΦB C(C') D E F G
SRC6A21-26P mm 25.6 20.4 27.7 (25.5) 14 2.3 32 26

wiring 4.5.png  : wiring 4.6.png


IO电缆接口上夹板 - 引脚分配

例子: 连接CDHD

紧急停止和控制开关根据用户要求连接到系统的安全电路（STO，安全继电器）。

wiring 4.7.png


例子: 连接到DDHD

不同的输入顺序和没有紧急开关连接。绿线是桥梁; 红线和黑线来自外部来源。

wiring 4.8.png

急停开关

将紧急开关连接到机器人系统是用户的责任，并遵循所有必要的安全准则和注意事项。

wiring 4.9.png

模式选择开关

wiring 4.10.png


位置 符号
左边 wiring 4.11.png
中间 wiring 4.12.png
右边 wiring 4.13.png


控制开关

将控制开关连接到机器人系统是用户的责任，并遵循所有必要的安全准则和注意事项。
自动按下或释放控制开关，立即停止所有轴的运动。

wiring 4.14.png

动作 位置 符号
如果没有按下控制开关或按下太轻。

开关是关.

wiring 4.15.png Null wiring 4.16.png
如果在正常压力下按下控制开关。

开关是开。

wiring 4.17.png 使能 wiring 4.18.png
如果控制开关按压太重，

开关是关。

wiring 4.19.png Panic wiring 4.20.png

设置

硬件设置

下图显示了典型的系统配置。

setup 5.1.png


  • softTP通过示教器电缆连接到夹具板上。
  • 夹具板：接受24 VDC电源（由用户提供）; 通过以太网（RJ45）电缆连接到以太网交换机; 通过IO电缆（由用户提供）连接到驱动器或外部IO模块。
  • 三个softTP开关 - 模式选择，紧急和控制 - 通过IO电缆（由用户提供）连接到驱动器或外部IO模块的数字输入。
  • 紧急停止和控制开关根据用户要求连接到系统的安全电路（STO，安全继电器）。

软件设置

注意: IPK文件用于softMC 7系统; ZIP文件用于softMC 3系统。


使用ControlStudio软件，执行以下步骤:

  1. 安装Java执行引擎:
    1. 发送JREx.x.x_xxx.IPK / ZIP文件到softMC:
      Tools > Firmware Update > File > Open.
    2. 等待softMC重新启动（自动）。
  2. 安装Java Web Server和HTML（WWW文件夹）文件:
    1. 发送JAVA_FILES. .IPK/ZIP文件到softMC:
      Tools > Firmware Update > JAVA_FILES.IPK > Open
    2. 等待softMC重新启动（自动）。
  3. 安装和激活softTP许可证:
    1. 确保MCTP文件在ControlStudio工作目录中。
    2. 在ControlStudio终端中，输入以下内容:
      setup 5.2.png
    3. 重新启动系统。
  4. 在用户PC上，创建一组专用文件夹，该文件夹用于定义SoftTP操作的设置。
    将示教器文件解压缩到该文件夹。
    在ControlStudio文件管理器，找到并打开专用文件夹。
    从PC文件列表（中间窗格）中选择并拖动所有MC-Basic示教器文件到控制器文件列表（右窗格）。
    setup 5.3.png
  5. In the Controller File list, locate the file TP_INIT.PRG.
    Select and drag the file from the Controller File list to the PC File list.
    Double-click to open TP_INIT.PRG for editing in the Terminal pane.
  6. Edit the lines in TP_INIT.PRG to map I/Os and define relevant values for various teach pendant functions, as follows:
    1. Set the digital input numbers of the Deadman and Mode Selector switches:
      setup 5.4.png
    2. Define the type of teach pendant (2 options):
      setup 5.5.png
    3. Define the type of coordinate frame (2 options):
      setup 5.6.png
    4. Define whether a log file will be created and maintained (true or false):
      setup 5.7.png
    5. If a log file is enabled, set the maximum size of file:
      setup 5.8.png
      A log file is created and filled until it reaches the maximum size. When filled, a second log file is created and filled to maximum size.
      Once the second file is filled to capacity, the log overwrites the first log file.
    6. Define the type of teach pendant keyboard. Currently only one type is available; the line should be as follows:
      setup 5.9.png
    7. For safety purposes, set values for reducing velocity, acceleration and current for each motion element (group and/or single axis).
      Invoke the settings for each motion element ID, as shown here:
      setup 5.10.png
      setup 5.11.png
  7. Save TP_INIT.PRG and send the file to the controller (right-click “Copy to Controller”).
  8. In the Controller File list, locate the file AUTOEXEC.PRG.
    [Alternately, if using Configurator, use the file STARTPRG.PRG].
    Select and drag the file from the Controller Files list to the PC File list.
    Double-click to open AUTOEXEC.PRG for editing in the Terminal pane.
    At the end of the program, add the line:
    setup 5.12.png

    Save AUTOEXEC.PRG and send the file to the controller (right-click “Copy to Controller”).
  9. Initialize the softMC and the TP. In the Terminal pane, enter the commands:
    setup 5.13.png
    [Alternately, if using Configurator, enter the commands:].
    setup 5.14.png
  10. In the Message Log pane, check for the following message:
    setup 5.15.png


The softTP is now ready for operation.

Browser Setup

To set-up the IP address of the softMC on your softTP you will need to do the following (Note, all the snapshots below are from softTP screen):

  1. Strat softMC Scanner (from Desktop)
  2. Select network adapter
    setup 5.16.png
  3. Click on softMC in the list to open in browser and then set as homepage
    setup 5.17.png
  4. Go to firefox options (the menu is located right of the address bar):
    setup 5.18.png
  5. Change the homepage to the softMC’s IP and close the window.

Appendix

This appendix describes alternative setups for using the TP Emulator software instead of the actual softTP.

TP Emulator Communicating with softMC

This configuration is useful for working with a real robotic system when an actual teach pendant is not available.
An HTML5 browser is used either on laptop or tablet.

warnings 2.1.png It is extremely dangerous to work without safety switches.
Maintain a safe distance (beyond the reach of the robotic arm) while working with robot.



Hardware setup

setup 5.19.png

Software Setup

To prefer the software for this configuration, refer to the section Software Setup, and do the following:

  • Step 1: Java Runtime Engine
  • Step 2: Java Web Server
  • Step 3: softTP license
  • Step 4: TP library of MC-BASIC files
  • Step 5: TP_INIT.PRG file:
    Do not define any I/Os.
    Define the teach pendant and keyboard types as follows:
    appendix 6.1.png
  • In the browser, call the file emulator.html (instead of index.html).
    For example: e.g., 10.4.20.148/emulator.html

TP Emulator Communicating with Virtual (Simulated) softMC

This configuration is useful for working with a completely simulated robotic system.
An HTML5 browser is used on either the same or a different PC.


Hardware Setup

appendix 6.2.png


Software Setup

To prefer the software for this configuration, refer to the section Software Setup, and do the following:

  • Step 1: Java Runtime Engine
  • Step 2: Java Web Server
  • Step 3: softTP license
  • Step 4: TP library of MC-BASIC files
  • Step 5: TP_INIT.PRG file:
    Do not define any I/Os.
    Define the teach pendant and keyboard types as follows:
    appendix 6.1.png
  • In the browser, call the file emulator.html (instead of index.html).
    For example: e.g., 10.4.20.148/emulator.html
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