StaubliOLD - roboticsLab

microRoboticLab

INDUSTRIAL ROBOT LABORATORY

Industrial Robot Laboratory ¦ Robot Stäubli

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

Camera1

Scara Stäubli Roboter

key green button

CS8C M Rotation Table

MCP Camera2


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microRoboticLab 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 LED’s 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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microRoboticLab 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 doesn’t go in different way to a position.

j3=rz

z

z

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

y

x

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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microRoboticLab 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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microRoboticLab 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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microRoboticLab 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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microRoboticLab 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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microRoboticLab 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 information’s are in the VAL3 Help – search VAL3 language elements. In the hand out is just a little overview with the most important information’s.

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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microRoboticLab 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 it’s 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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microRoboticLab 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(,io:) 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 OpenCV’s PC clear the link assign sendO or sendE to the string sToOpenCV transfer the message to OpenCV’s computer read the message from OpenCV’s 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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microRoboticLab 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 “a0” if a==0 s= “a=0” else s=”a0” endIf


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microRoboticLab 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


// 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 ½ 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


// 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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microRoboticLab 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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microRoboticLab 5. VISIO OPENCV 5.1. GETTING STARTED A. Start the PC labelled as “OpenCV Stäubli 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 Robot’s PC. If Robot’s PC send the string “sendO”, the OpenCV give back the centrepoints of an Object on the rotating table. If Robots’s 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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microRoboticLab 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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StaubliOLD - roboticsLab

StaubliOLD - roboticsLab

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StaubliOLD - roboticsLab