microRoboticLab

INDUSTRIAL ROBOT LABORATORY

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TABLE OF CONTENTS
1.

Configuration of the Robot.............................................................................................................. 3

2.

Getting Started ................................................................................................................................ 4

3.

4.

5.

2.1.

Starting up ............................................................................................................................... 4

2.2.

Manuel Mode .......................................................................................................................... 4

2.2.1.

Moving with Joint mode .................................................................................................. 5

2.2.2.

Moving with Frame mode ............................................................................................... 5

2.2.3.

Save Points ...................................................................................................................... 5

2.2.4.

Run a Program ................................................................................................................. 6

2.2.5.

More informations ......................................................................................................... 6

Programming ................................................................................................................................... 7
3.1.

Overview.................................................................................................................................. 7

3.2.

Transfer Manager .................................................................................................................... 7

3.3.

VAL3 Studio ............................................................................................................................. 8

3.3.1.

Data ................................................................................................................................. 8

3.3.2.

Programs ......................................................................................................................... 9

The VAL3 Language Elements ....................................................................................................... 10

4.1.

Data Types and Initialization ................................................................................................. 10

4.2.

Sequence control instruction ................................................................................................ 13

4.2.1.

Comment ....................................................................................................................... 13

4.2.2.

Call Program .................................................................................................................. 13

4.2.3.

IF control instrucktion ................................................................................................... 13

4.2.4.

While control instruction............................................................................................... 14

4.2.5.

do . until control instruction ....................................................................................... 14

4.2.6.

For control instruction ................................................................................................... 14

4.2.7.

Switch control instruction ............................................................................................. 15

Vision ..........................................................................................Fehler! Textmarke nicht definiert.

5.1.

Basics ..................................................................................Fehler! Textmarke nicht definiert.

5.2.

Start a new Project .............................................................Fehler! Textmarke nicht definiert.

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1. CONFIGURATION OF THE ROBOT
The figure shows the assembling. The Robot (1) Arm RS20 by Stubli is a SCARA robot. There are also
two Cameras (2+3) to detect the pieces.

Camera1

Scara Stubli Roboter

key
green button

CS8C M
Rotation Table

MCP
Camera2

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2. GETTING STARTED
2.1. STARTING UP
-

Turn on the CS8C Controller.

Turn on the green switch ( to get booted takes about 5 min, once all the flashing LEDs on the
MCP are turned off, the controller is ready to be used)
Start the Computers (for both: Username: labo-533 Password: labo-533)

2.2. MANUEL MODE

-

Put the key to manual mode and be sure the emergency switches are released
Remove the MCP from the holder and remount it
press the green button on the right
(if there is a message appearing on the screen, you have to remove and remount the MCP
again)

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2.2.1. MOVING WITH JOINT MODE
Press the Joint button and then move the robot with +/- x,
y and z. Take care; the z-direction is very fast!

j1=x
j2=y

Each joint is defined; the robot doesnt go in different way

to a position.

j3=rz

2.2.2. MOVING WITH FRAME MODE

Press the frame mode and move the robot with x, y, z and
the rotations Rx, Ry, Rz.

Rz

The robot follows the lines, but it needs more processing

power and is slower.

Ry
2.2.3. SAVE POINTS

Rx

If you have loaded a Program with predefined points to the

MCP, the actual Position can be safe in one. (loading Program to MCP we see later)
-

first of all press esc to return to main menu

with the arrow go to application manager
Click open (F7)
open Disk with the arrow and search your program with pg up/ pg dn
Press ok (F8) to load the program
go to Global data world with the arrows
decide which point should be at this position
now click here(F2) and then ok(F8) and SAVE (F8)
Finished

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2.2.4. RUN A PROGRAM
-

Change the key to automatic mode

Press the green Button on the MCP
To reload the folder with the Program:
o go to your program folder
o press Rld. (F5)
o confirm with Yes (F8)
A blue light should blink on the left side of the Move / Hold
Press the green Run button thereunder
Select the Program and continue with OK (an orange light is on)
Press the Move/ Hold and the program starts
To hold the program, press Move/ Hold again
To stop the program, press Stop and confirm with OK

If something dangerous happen: Press as fast as possible the red emergency shutdown!

2.2.5. MORE INFORMATION S

The Help function in the Program is good. Search MCP and there are all Buttons described.

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3. PROGRAMMING
3.1. OVERVIEW
Cell Manager
Defines the robot which is used
VAL3 Studio
The Editor to Write VAL3 code,
is only working with the dongle
(small green USB-Stick)
CS8 Emulator
Simulation of the controller,
there you can check network
connection, programs and so
on as the robot would run.
3D Studio
Shows the robot as 3D Model,
when connected with the
Emulator you see the movement
Transfer Manager
Makes a connection to the robot,
to transfer files or points between
robot and PC

3.2. TRANSFER MANAGER

Double Click to Transfer Manger
and continue with OK, when it asks
the connection details (IP-Adress
should be correct).
The Image shows the Manager. On
the left side is the tree with the
data on the computer and on the
left side is the tree with the MCP
data. Search the Project and tick it.
The data can be transferred to
MCP. To load saved points to the
Computer, refresh the tree of MCP
and choose the project. Now
transfer the data to computer.

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3.3.

VAL3 STUDIO

Open the VAL3 Studio and create a new Project.

3.3.1. DATA
Your Program

In this column is an overview of the definitions of

variables.
Aio is the analog in- and output.
Dio is the digital in- and output. Here used for the Blow
and Vacuum.
Config include the configuration and Config (Scara) the
same for a scara robot.
Flange is always one need. For movements we have to
give a tool.
Joint for 6 axis robot and Joint (Scara) for 4 axis robot
contain the angle of each joint. ( similar with point)
In Mdesc can be different speed mode declared.
Num lists all the numerical variables.
Sio for serial ports inputs/outputs and ethernet sockets.
Strings are used to communicate with the Visio
computer and the rotation table.
In Trsf can be defined transformations.
In the category world create all needed Frames and
Points. Attention: Use Point Scara!
Frames will be declared with the program (create Frame
see example) and for declaring points: load all to the
MCP, then create the points and load them back to
computer. To see the Points, reload your program (right
click on Your Program).

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3.3.2. PROGRAMS
A program is a sequence of VAL3 instructions to be
executed. A program consists of the following elements:

Your Program

The sequence of instructions

A set of local variables
A set of parameters

Predefined are the start and stop programs. For a better

overview you can create new Programs.
Now open the Example program: (C:\Documents and
Settings\labo-533\My
Documents\Staubli\CS8\Default\usr\usrapp)
Start() program
The start() program is the program called when the VAL3
application is starting. It cannot have any parameters.
Typically, this program includes all the operations
required to execute the application: initialization of the
global variables and the outputs, starting up the
application tasks, etc.
The application does not terminate at the end of the
start() program, if other application tasks are still running.
The start() program can be called from within a program
(call instruction) in the same way as any other program.
Stop() program
The stop() program is the program called when the VAL3
application stops. It cannot have any parameters.
Typically, this program includes all the operations
required to stop the application correctly: resetting the
outputs and stopping the application tasks according to
an appropriate sequence, etc.
The stop() program can also be called within a program
(call instruction) in the same way as any other program
but, calling the stop() program does not stop the
application.

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4. THE VAL3 LANGUAGE ELEMENTS
The VAL3 language does not have any terminator at the end of each line. Brackets are not often used
as well. But the loops are, always terminated with a terminator, like while. endWhile.
Detail informations are in the VAL3 Help search VAL3 language elements. In the hand out is just a
little overview with the most important informations.

4.1. DATA TYPES AND INITIALIZATION

Simple Types:
-

bool type: for Boolean values (true/false)

num type: for numeric values
string type: for character strings
dio type: for digital inputs/outputs
aio type: for numeric inputs/outputs (analog or digital)
sio type: for serial ports inputs/outputs and ethernet sockets

bBool = true
nPi = 3.141592653
sString = "this is a string"

Structured Types:
-

trsf type: for Cartesian geometrical transformations

frame type: for Cartesian geometrical frames
tool type: for robot mounted tools
point type: for the Cartesian positions of a tool
joint type: for robot revolute positions
config type: for robot configurations
mdesc type: for robot movement parameters

program dummy
p = {{100, -50, 200, 0, 0, 0}, {sfree, efree, wfree}}
in another program:
call dummy

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4.2. IMPORTANT INSTRUCTIONS
To move the robot
movel(pPosition, tTool, mDesc)
movej(pPosition, tTool, mDesc)
movej(jPosition, tTool, mDesc)

moves the robot on a straight line from the

actual position to the point pPosition
moves the robot to a point pPosition
moves the robot to a point jPosition

pPosition:
jPoint:
tTool:
mDesc:

is a variable world-point scara

is a variable joint-scara
is a variable flange-tool
is a variable Mdesc (movement description)

Note:

The difference between points and joints is that a joint position is defined by only
one arm configuration. In opposition, almost all points can be reached in two
different arm configurations (left and right) -> we saw it in chapter 2.2.1 and 2.2.2

waitEndMove()
wait until the arm reaches the destination point
note:
without the command waitEndMove() the controller goes on even if the movements
are not completed or its not even possible to complete them.
To define a specific frame and move relative to it
setFrame(pPoint01,pPoint02,pPoint03,fFrame)
pPoint04 = compose(pPoint01, fFrame,
{j*trTrsform.x,k*trTrsform.y,0,0,0,0})
movej(pPoint04, tTool, mDesc)
fFrame:
trTrsform:

create a frame fFrame with the help of 3 Points

create the point pPoint04 in the robot frame
move to point pPoint04

is a variable world-frame
is a variable Trsf
trTrsform define the steps in x and y direction in the frame

The point pPoint04 is calculated

form the point pPoint 01 plus j
time the transformation
trTransform in x direction and k
time the transformation
trTransform in y direction j and k
are numerical increments.

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To use the vacuum griper
dioLink (dVacuum, io:valve2)
dioLink (dBlow, io:valve1)
dVacuum=true ; dVacuum=false
dBlow = true ; dBlow = false

create a link between dVacuum and valve2

create a link between dBlow and valve1
enable / disable vacuum
enable / disable blowing

To write or read a socket connection general case

sioLink(<sioMessage>,io:<sioSource>)
sioMessage:
sioSource:

makes a link to an existing socket connection

this variable must be declared local or global as an Sio type

is the name of the socket to which the connection shall be made; in our
example either labclient or portSerial. The socket is declared in the
controller.

sioVariable = string
string = sioVariable

to write a string to the socket

to read a string from the socket

To write or read a message to OpenCV ehemals LABVIEW muss angepasst warden!!!!!

sioLink(sSocket, io:OpenCV)
clearBuffer (io:OpenCV)
sToOpenCV=sendE // sendO
sSocket = sToOpenCV
sFromOpenCV = sSocket

create a link between sSocket a OpenCVs PC

clear the link
assign sendO or sendE to the string sToOpenCV
transfer the message to OpenCVs computer
read the message from OpenCVs computer

To control the rotating table

sioLink(sRotationgTable,io:portSerial1)

create a link between sRotationTable and port

serial 1
sRotatingTable = EN
enable table rotation
sRotationTable=V1000
set motor speed to 1000 rpm cw
sRotatingTable=V-1000
set motorspeed to 1000 rpm ccw
sRotatingTable=DI
disable table rotation
note:
There is a gear between the motor and the rotating table. The velocity will be reduced
with i=370.
Other useful instructions
toNum()

toString()
insert()

Computes the numerical represented at the beginning of the string specified, and
returns a string in which all the characters have been deleted until the next
representation of a numerical value
Returns a character string representing nValue according to the display format
Returns a string which a string is inserted after positon index character

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4.3. SEQUENCE CONTROL INSTRUCTION
4.3.1. COMMENT
// This is an example of a comment

4.3.2. CALL PROGRAM

Runs the specified program with the specified parameters.
//Calls the pick() and place() programs for i,j between 1 and 10
for i=1 to 10
for i=1 to 10
call pick (i, j)
call place(i,j)
endFor
endFor

4.3.3. IF CONTROL INSTRUCTION

When the evaluation of the Boolean Condition is (true), all the following instructions up to the else
keyword, if present, or the next endIf are evaluated. When the expression is (false), the instructions
evaluated are those between the else and endIf keywords, if else keyword is present. In all cases, the
program then resumes after the endIf keyword.
Parameter
bool bCondition

Boolean expression to be evaluated

//s = ?
if a==0
s=0
endIf
//s= a=0 If a=0, else a<>0
if a==0
s= a=0
else
s=a<>0
endIf

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4.3.4. WHILE CONTROL INSTRUCTION
The instructions between while and endWhile are executed when the Boolean Condition expression
is (true). If the Boolean Condition expression is not true at the first evaluation, the instructions
between while and endWhile are not executed.
Parameter
bool bCondition

Boolean expression to be evaluated

// Causes a signal to flash while the robot is working

diLamp = false
while (isSettled()==false)
diLamp = !diLamp
//Inverses the value of the diLamp:true false
delay(0.5)
// Waits s
endWhile
diLamp = false

4.3.5. DO . UNTIL CONTROL INSTRUCTION

The instructions between do and until are executed until the Boolean bCondition expression is
(true). The instructions between do and until are executed once if the Boolean bCondition
expression is true during its first evaluation.
Parameter
bool bCondition

Boolean expression to be evaluated

// Waits until Enter is pressed

do
a = get()
// Waits for a key to be pressed
until (a == 270)
// Tests the Enter key code

4.3.6. FOR CONTROL INSTRUCTION

The instructions between for and endFor are executed until the nCounter exceeds the specified nEnd
value. The nCounter is initialized by the nBeginning value. If nBeginning exceeds nEnd, the
instructions between for and endFor are not executed. At each iteration, the nCounter is
incremented by the nStep value, and the instructions between for and endFor are repeated if the
nCounter does not exceed nEnd. If nStep is positive, the nCounter exceeds nEnd if it is greater than
nEnd. If nStep is negative, the nCounter exceeds nEnd if it is less than nEnd.
Parameter
num nCounter num
num nBeginning
num nEnd
[num nStep]

type variable used as a counter

numerical expression used to initialize the counter
numerical expression used for the loop end test
numerical expression used to increment the counter

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jDest = {0,0,0,0,0,0}
// Rotates axis 1 from 90 to -90 in -10-degree steps
for i = 90 to -90 step -10
jDest.j1 = i
movej(jDest, flange, mNomSpeed)
waitEndMove()
endFor

4.3.7. SWITCH CONTROL INSTRUCTION

Executes the instructions corresponding to the nSelection case specified. When a non integer value is
specified for the nSelection or for a nCase, the nearest integer is used. If no case corresponds to the
nSelection specified, the Default Instructions, if present, are executed. If the same case nCase value
occurs several times, only its last occurrence is taken into account.
Parameter
num nSelection
num nCase1
num nCase2
num nCase3
num nCase4

num selection type variable

test case numerical constant
test case numerical constant
test case numerical constant
test case numerical constant

num nMenu
string s
// Tests the menu key pressed
nMenu = get()
switch nMenu
case 271
s = "Menu 1"
break
case 272
s= "Menu 2"
break
case 273, 274, 275, 276, 277, 278
s = "Menu 3 to 8"
break
default
s = "this key is not a menu key"
break
endSwitch

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5. VISIO OPENCV
5.1. GETTING STARTED
A. Start the PC labelled as OpenCV Stubli OLD
B. Login local (Username: labo-533 Password: labo-533

5.2. PROGRAMMING OPENCV

5.2.1. COMUNICATION BETWEEN THE ROBOT AND OPENCV
The Communication is already programmed. The OpenCV PC wait of an Input of the Robots PC. If
Robots PC send the string sendO, the OpenCV give back the centrepoints of an Object on the
rotating table. If Robotss PC send the string sendE, the OpenCV send the exact centrepoint of the
Object and the orientation.
The style of the return string is: x;y;angle. The command sendO gives the x and y data and a zero
for the not measured angle.

5.2.2. START PROGRAMMING OPENCV

In the folder Lab_Projects_OpenCV_2011, on the desktop, you find your group- folder. There are all
data, which you need to do the OpenCV exercise.

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6. EXERCISES ROBOTPC
6.1. EXERCISE 1 FIRST STEPS

start the robot

move the robot by hand
get used to the world coordinate (make a draft of the workspace and the values of the robot)
read the coordinates of the points
teach some points
move the robot from point to point

6.2. EXERCISE 2 PICK AND PLACE MOVEMENT

make a program to move the robot like a P&P with adapted speed and precision
teach points and run the program

6.3. EXERCISE 3 PRECISE P&P MOVEMENT

make a program to pick up a part and place it into the blister

teach all different shape positions of the blister

6.4. EXERCISE 4 CAMERA AND ROBOT

make a calibration of the cameras and the robot

search one part, send the coordinates to the robot and do the same as in the previous
exercise.

6.5. EXERCISE 5 ROTATING TABLE

Let the Table turn, detect pieces with the cam

follow the piece with the same speed as the table and pick up
then do the same as in the previous exercise

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