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Introduction To Industrial Robot Programming

This document provides an introduction to industrial robot programming using the Stäubli TX90XL robot. It describes what industrial robots are designed for including high precision movement and repeatability. It then discusses how to program and operate the TX90XL robot manually using the pendant control as well as creating applications using the VAL3 programming software. Key steps outlined include defining variables, functions, and motions for tasks like approaching and moving between points. The document concludes by instructing students to work in groups of 3-4 people to create an application that writes the word "MEKATRONİK" using taught points and motions.

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112 views

Introduction To Industrial Robot Programming

This document provides an introduction to industrial robot programming using the Stäubli TX90XL robot. It describes what industrial robots are designed for including high precision movement and repeatability. It then discusses how to program and operate the TX90XL robot manually using the pendant control as well as creating applications using the VAL3 programming software. Key steps outlined include defining variables, functions, and motions for tasks like approaching and moving between points. The document concludes by instructing students to work in groups of 3-4 people to create an application that writes the word "MEKATRONİK" using taught points and motions.

Uploaded by

wreathbearer
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Introduction to Industrial Robot

Programming
Sarper ALKAN
[email protected]
What is an industrial robot?
Designed for:
High movement precision
High speed
High repeatability
Easy to program
High safety
Low maintenance costs
Flexible
Our robot: Stubli TX90XL
6 axis articulated robot arm
High-speed, high-resolution servo motors
with absolute position sensors at each
axis
Nominal payload: 5
Repeatability: 0.04
Weight: 116
Arm reach: 1.5
Our robot: Stubli TX90XL

Manual control:
Pendant
Robot arm
Cabinet
Pendant

Safety
Always operate the robot arm at low
speed (%10 speed) at first
Be ready to stop arm motion:
Emergency stop (the big red button),
Arm power off,
Move/hold key,
Dead mans switch.
Safety
Do not use the robot pendant without
supervision.
Do not run your program without
supervision.
Pendant operations

Manual movement
Joint move: Moves the robot by rotating the
individual joints
Cannot do linear movement
Is not subject to singularity
Frame move: Moves the robot in a specified
coordinate frame
Can do linear movement
Subject to singularity
Tool move: Moves the robot with respect to
the tool coordinate frame
Can do linear movement
Subject to singularity

Manual movement with the
joint move
Manual movement with the frame
move: Coordinate system


Manual movement with the
frame move: Translation

Manual movement with the
frame move: Rotation

Manual movement with the
tool frame: Coordinates

Manual movement with the
tool frame:
Creating applications with VAL3:
Need:
VAL3 installed
A cell defined (controller, robot, tool)
Licence (licence flash-disk attached to the
computer)

Click here for new
application
Name your application:
DeneyGrup(your group
number)

Write your program here
Double click here

VARIABLES
FUNCTIONS
Applications: Structure
Variable types:
pointRx: a point location in cartesian
coordinates (p1, p2, p3, ...)
jointRx: a joint location in joint coordinates
(jStart)
tool: a tool defined by the user (tTool)
trsf: a transformation (trAApl)
mdesc: motion descriptor (mNomSpeed)


Applications: Structure
Functions:
movej(joint, tool, mdesc): move to a (point or
joint) coordinate with specified tool and
motion descriptor
movel(point, tool, mdesc): move linearly a
point coordinate with specified tool and
motion descriptor
appro(point, trsf): calculate a transformed
point by using a point and a transformation
waitEndMove: wait for the current movement
to end.


Movement with movej

Movement with movel

Motion descriptor parameters:
blend


Move to the starting location
Approach to point1
Move to point 1
Move to point 2
Move to point 10
Move to point 1
Approach to point1
Move to the starting location
Wait for the movement to end

Use as many points
as necessary
Example program:
Adding variable definitions:

Right click on
the variable to
add (p2), select
add, new data
Adding variable definitions:

Select the
appropriate variable
type from the list
Editing mdesc and trsf
mdesc: mNomSpeed


trsf: trAApl
Right click on a variable and select Go to definition
to edit the variable. Edit only mdesc and trsf this
way.
Applications: using pendant

Applications: Teaching with pendant

Applications: Teaching with pendant

Applications: Teaching with pendant

Move to the desired
position
by using the manual
control
Applications: Teaching with pendant

Move to the desired
position
by using the manual
control
Elements of the jog interface

Re-teaching an existing point:

Re-teaching an existing point:

Re-teaching an existing point:

Re-teaching an existing point:

Running applications:


Running applications:
Slow running
Create your own application:
Get together with a group of 3-4 people (no
less than 3 no more than 4)
Get an appointment from Mr. Volkan Erbay
(robotics lab techician) !!do this as soon as
possible!!
Create an application, teach the points, and
write a letter of MEKATRONK by using
your application
Almost everything that you need to create
and run the application are in these slides
You need to complete this assignment in 2
weeks from now.

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