Teach Pendant Programming 2020
Teach Pendant Programming 2020
Teach Pendant Programming 2020
Programming
IE104L (CIM LABORATORY)
section 5:
teaching points Describe the function and
operation of a robot program.
2. Points File
In addition to the sequence file, the robot program also needs to know the location of each point to which it
will move. The Points file stores the location of each point by storing each encoder value in memory.
Teaching Points
- the method of placing these encoder values in the Points file
TEACHING - Points are
recorded in the robot’s
USE A TEACH PENDANT TO TEACH ROBOT POSITION POINTS
memory through this
process
4. Jog the robot to your desired teaching position. This will be your Point 1.
5. Press [F1] TCH to teach Point 1.
The robot will record the current encoder values for Point 1. The point
number displayed on the teach pendant will then increase by one as
shown beside. You can now teach the robot Point 2.
Procedures to record points in the memory by teaching the robot
1. Press [F4] MOV.
2. Press [0] and then press [ENTER]. The robot will move to Point 0, which is the
home position.
EDIT TEACH POINTS
1. From the Main menu, press [F3] TCH to display the teach menu. The display of
the teach pendant will show the following message:
Procedures to edit your teaching points
2. Press the [NEXT] key, located on the teach pendant, until the teaching point that
you have to edit is already displayed. For example, if you need to edit Point 3, press
the [NEXT] key twice so that Point 3 is displayed as follows:
- The [NEXT] key causes the next point to be shown on the display
2. Press [F1] TCH to record this new position in the robot controller’s Point file for
Point 3.
NOTE: If you need to edit more teach points, you can use the [PREV] and [NEXT] keys to make the display
show any point you want to teach. he [PREV] key causes the display to show the previous point.
3. Repeat the steps on testing the teaching points to test the new teach points.
Describe the operation of
section 6: the command: PMOVE
basic programming
Describe the operation
of a robot program
PMOVE <number>
• This command stands for Point Move. It tells the robot to move to a previously taught point in the robot’s
work area. A point number is used with the PMOVE command to indicate the point that the robot will move
to during program execution.
• An example is PMOVE 3. When this command is executed, the robot will move to point 3.
• This is one of the most common and basic commands used in the MCL programming language
THE OPERATION
OF A ROBOT
PROGRAM
As you know from the previous section, a robot
program consists of a program sequence file and a
points file. When the robot is placed in the Run mode,
the controller will read and perform each command in
the sequence file one at a time in the order listed
starting with line 001. If the command calls for a
move to a point, as shown in figure 43 (i.e. PMOVE
1), the controller will look up in its point file the
encoder positions for point 1 and move the robot to Example of Typical Robot Program
that position. Then the robot will execute the next
command.
USE A TEACH PENDANT TO DELETE A PROGRAM FILE
1. As an example, perform the following substeps to enter the following sequence file.
LINE # COMMAND
001 PMOVE 3
002 PMOVE 1
003 PMOVE 3
004 PMOVE 2
Procedure to enter short sequence file using the teach pendant
A. Press [F2] PROG from the Main menu. The program menu will appear displaying
options that will allow you to edit, load, save, and delete a program file.
B. Press [F2] LOAD to select the load function from the Program menu. The teach pendant
display will prompt you to enter a file # by displaying:
Procedure to enter short sequence file using the teach pendant
C. Press [1] and then press [ENTER] to load Program 1. The teach pendant will indicate
that Program 1 is loaded by displaying:
D. Press [Fl] ED to enter the Edit menu. The teach pendant will display the Edit menu:
The lower line of the Edit menu shows four program commands you can select. Notice that the PMOVE command is shown abbreviated
as PMV. All commands shown on the menu line of the display are shortened like this to fit them into the display
Procedure to enter short sequence file using the teach pendant
E. Press [Fl] PMV to enter the PMOVE command. The teach pendant will prompt you to
enter the point number by displaying:
F. Press [3] and then press [ENTER] to enter the point number 3. You have now entered the
command PMOVE 3 on line 1 of the program. This will cause the robot to automatically
move to teach point 3 when the first line of the program is executed.
Procedure to enter short sequence file using the teach pendant
G. Press the [NEXT] key to move to the next program line. Notice how the line number on
the teach pendant display increases by one:
M. Press [Fl] PMV, [2] and then press [ENTER] to enter line 4. The program is now
entered.
Procedure to enter short sequence file using the teach pendant
N. Press [EXEC] to exit the edit menu and “compile” the program. Compiling the program
means that it is being made ready to run. The display on the teach pendant should show:
O. Press [ENTER] to return to the program menu. Your program has now been saved in the
memory of the robot controller as program 1.
RUN A SERVO ROBOT PROGRAM USING A TEACH
PENDANT
1. From the Main menu, press [F4] RUN to enter the Run menu. The teach pendant
will display:
2. Press [F1] STR. The display shows the number of the last program stored in
memory, for example, Program 1:
Procedures to run a program using the teach pendant
The top line of the display indicates that the controller is running program 1 and that the robot is working (ROBW).
4. Press [Fl] STR and then [ENTER] to run the program again. You should observe that the
robot repeats the program exactly.
5. When the program stops, press [EXEC] to return to the Main menu.
USE A TEACH PENDANT TO EDIT A SERVO ROBOT
PROGRAM
1. From the Main menu, press [F2] PROG to view the program menu options.
2. Press [F2] LOAD to select the load option from the program menu.
3. Press the number of the program that you want to edit. For example, you want to
edit Program 1 so you need to press [1] and then [ENTER] to load Program 1 into the
controller’s memory. The display will return to the Program menu.
Procedures to to edit a program using the teach pendant
4. Press [F1] ED to select the edit submenu from the Program menu. Line 1 of your
program should now be displayed as shown:
5. If what you need to edit is on the next lines of your program, press the [NEXT] key until
your desired program line is already displayed. For example, you need to edit Line 3 so you
have to press [NEXT] twice so that line 3 of your program is shown as follows:
Procedures to to edit a program using the teach pendant
FOR DELETING A PROGRAM:
1. Press the [SCROLL] key, located on the teach pendant, repeatedly until the following
edit menu appears on the display. This menu includes the INS and DEL functions.
Notice that these are editing functions and not program commands. Each time you press [SCROLL] you will see a new set
of program commands. These are commands available for you to put in your program. A full list of these commands is in
your referenc e manual. The [SCROLL] key causes other menus in a particular grouping to be displayed.
Procedures to to edit a program using the teach pendant
2. Press [F2] DEL to delete the content of line 3. Pressing [F2] caused the content of line 3
to be deleted and the content of line 4 to move to line 3 as shown:
Procedures to to edit a program using the teach pendant
FOR INSERTING A NEW LINE INTO THE PROGRAM:
1. Go the your program line where you want to insert a new line. For example, you want to
insert a new line after your line 1. Since from the previous steps, you are on line 3 so you
have to press [PREV] twice so that line 1 of your program is displayed as shown:
- The command on line 001 has been moved to line 002 leaving space for a program
command to be inserted.
Procedures to to edit a program using the teach pendant
3. Press [-] key, located on the teach pendant, repeatedly until the following set of
commands appear on the display:
For this example, your original program has now been edited to appear as follows:
LINE # COMMAND
001 PMOVE 1
002 PMOVE 3
003 PMOVE 1
004 PMOVE 2
Procedures to to edit a program using the teach pendant
Sometimes it is more convenient to use the LIN# function instead of the [NEXT] or [PREV] keys to move to a particular
line, especially if you have a long program. The line function allows you to enter the line number that you want to edit.
For example; if you are on line 004 of your program and you know that you want to edit line 001, you could do so by
using the LIN# function instead of the [PREV] key to get to line 001. This function is located in the program menu next to
the DEL function.
2. Press the number of the line that you want to go to. For example, press [4] and
then [ENTER] to enter line number 4. The display shows:
You have now moved the display to line 004 using the LIN# function.
NOTE: Because you have edited your program, the robot’s controller has
to recompile the program.
This program has 2 lines added to it: a LABEL command inserted in line 001 and
BRANCH <number>
a BRANCH command added in line 006. When you run this program the
This is a command that is used to cause the program to jump over part of the BRANCH 1 command on line 006 will cause the program to jump to LABEL 1
instructions or repeat a set of instructions, as necessary. The instructions that on line 001. The part of the program between the BRANCH and LABEL will
we want the program to repeat must be preceded by a LABEL and a number. then execute continuously
Then using the BRANCH command you can tell the controller what label to
branch to. For example: a BRANCH 2 command will cause the program to THIS EXAMPLE WILL BE PERFORMED ON THE PROCEDURES ON THE
jump to LABEL 2 and start to execute the instruction from that point on.
NEXT SLIDE.
USE A TEACH PENDANT TO ENTER THE COMMANDS: LABEL
AND BRANCH
Procedures to add the LABEL and BRANCH commands using the teach pendant
1. Press [F2] PROG from the Main menu to enter the Program menu then press [F1] ED located
in the program menu. The teach pendant display should read:
2. Insert a blank line on line 001 so that the display appears as shown:
Procedures to add the LABEL and BRANCH commands using the teach pendant
4. Press [Fl] LBL to enter the LABEL command. The teach pendant will display:
5. Press [1] and then [ENTER] to complete the label command. The teach pendant wil1
display:
Procedures to add the LABEL and BRANCH commands using the teach pendant
1. Press the [NEXT] key repeatedly until the display shows line 006. This line is at the end
of the program and it should be a blank line.
2. Press [F2] BRAN to enter the branch command. The teach pendant will display:
Procedures to add the LABEL and BRANCH commands using the teach pendant
TO STOP A Pressing [F2] PAUS stops the robot at the end of its current move
and pauses the program. Once pressed, the [F2] PAUS change its
SERVO
function (toggle) to RES for resume. Pressing [F2] will now restart
the program from the line it was stopped. This command is useful
for testing new programs because you can stop and start the robot
ROBOT
without leaving the Run mode.
1. With the robot still running, press [F3] HLT from the Run menu. The Pegasus should stop
immediately. Although the program stops, the robot’s drives should remain enabled. The Halt
command is the normal method of exiting a Pegasus robot program. The Teach pendant should
then display:
Procedures to stop the robot program using the four methods
USING THE PAUS [F2] KEY
1. With the robot still running, press [F2] PAUS.The Pegasus robot will continue its current
move and then stop at the end of that move, as indicated by the Teach pendant display. You
should also notice that the [F2] key has toggled (changed) functions from PAUS to RES
(resume). The teach pendant will display the following message:
Pressing [F2] again will resume the program from the line at which it was stopped.
Procedures to stop the robot program using the four methods
USING THE BREAK [BREAK] KEY
1. With the robot still running, press the [BREAK] key. You should observe that the robot
stops in mid motion. The [BREAK] key is similar to the pause command. The difference is
the [BREAK] key causes the robot to stop immediately instead of waiting till the current
move is finished. Again, you should notice that the [F2] key has toggled to the RES
(resume) function.
To resume the robot, press [F2] RES. Notice that the robot continues to move to the point it
was moving to before the [BREAK] key was pressed.
Procedures to stop the robot program using the four methods
This is the most drastic way to stop the robot, but it is the safe way if there is a chance the robot is about to cause
damage to itself or something around it. The Emergency Stop pushbutton can also be used to stop the robot when
it is not running from a program but is still moving, such as during homing.
To restart the robot after the Emergency Stop pushbutton has been pressed, you will have to re-enable the
robot’s drives and start the program from the beginning. The teach pendant should now display:
Procedures to restart the robot after having pressed the Emergency Stop pushbutton
4.Press [F2] ENA to enable the robot’s drives. The teach pendant should display:
5. Press [Fl] HOME to home the robot. Only use the EMERGENCY STOP in case of
necessity.
OBJECTIVES:
operation of the program
commands: Speed and Delay.
THE OPERATION
OF THE PROGRAM
COMMANDS: GRAS
P AND RELEASE
GRASP
This command is used in a program to instruct the robot to close
the robot gripper. This command is similar to the manual function In this example the robot moves to a point, picks up an
[F3] CLOS on the teach pendant Teach menu. object, moves to a second point, and then releases the
object.
RELEASE
This command is used in a program to instruct the robot to open the
robot gripper. This command is similar to the manual function [F3]
OPEN on the Teach Pendant Teach menu.
USE A TEACH PENDANT TO ENTER A SERVO ROBOT PROGRAM USING
THE GRASP AND RELEASE COMMANDS
Procedures to enter a program that includes the SPEED and DELAY commands
3. Press [F2] SPD to begin entering the speed command. The teach pendant prompts you to
enter a speed value by displaying:
4. Press [5] [0] and then press [ENTER] to enter a speed value of 50. The display shows:
NOTE: The line “Enter axis #” is a reference to the specific
external axis to which the speed you just have entered would
apply.
Procedures to enter a program that includes the SPEED and DELAY commands
5. Press [ENTER] to apply the speed you entered to the robot axes. The display shows:
9. Press [F1] DLY to begin entering the delay command. The teach pendant will prompt you
to enter the delay value by displaying:
10. Press [1] [0] [0] [0] and then [ENTER] to enter a delay of 1000. Because the units are
0.01 seconds this will cause the robot to delay for 10 seconds. The display shows:
OBJECTIVES:
Demonstrate the proper storing and
retrieving of multiple programs in
a robot controller.
THREE APPLICATIONS OF
ROBOTS IN MATERIAL
HANDLING
Material handling is a process where objects are moved from one location to
another.
1.
Conveyor Transfer
Robots are often used to transfer
parts to or from a conveyor, as
shown:
ROBOT CONTROLLER
BATTERY BACK UP FEATURE
STORE MULTIPLE PROGRAMS This feature of the pegasus robot allows the it to “remember” the
Most industrial robots, including the Pegasus, have the ability to program and the point file that was loaded in its memory after the
store multiple programs in their controller. These programs are controller power has been turned off. Many newer robots have this
stored as separate files and can be recalled independently, as feature, but not all.
needed. In the case of the Pegasus robot the point file is a separate
file and it is shared by any program that runs.
STORE AND RETRIEVE MULTIPLE PROGRAMS IN A ROBOT
CONTROLLER
Procedures to store programs in the controller’s memory at the same time and then select them to be run individually
1. Load and enter your desired programs. Do not forget to press [EXEC] to compile and
store each program that you will enter as Program <number> (ex: Program 3).
2. Return to the Main menu.
3. Make sure to clear the robot’s work area of all objects.
4. To view a directory of the programs stored in memory, start by pressing [F4] RUN to
enter the Run menu.
Procedures to store programs in the controller’s memory at the same time and then select them to be run individually
5. Press [F1] STR to enter the Start menu. The display will now show:
NOTE: The display is now showing the number of the
last program stored in memory. For this example, it is
Program 3.