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infoPLC - Net - 02a Open and Run Program

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16 views

infoPLC - Net - 02a Open and Run Program

Uploaded by

fasp
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Fanuc Robotic Arm: Opening and Running a Program

By: Matthew Jourden


Brighton High School
Brighton, MI

1. Open Roboguide > Select Workcell:


2. Select Open Cell > Navigate to This PC > Windows (C:) > My Work Cells > Select BHS Fanuc Robotic Arm Workcell File >
Select Open

3. Power on the Teach Pendant > Connecting the IP address to the Computer Station
a. Plug in the Cord to an electrical outlet > Brown Box with Toggle Switch will turn the Teach Pendent On/Off
b. USB Connection will go in to the 1st USB Port on the Front of the computer (NOTE: This USB Port must be used
at BHS because it has been assigned a specific IP Address for the Controller to read

c. Teach Pendent On/Off Switch

Switch to On
Position

d. Connecting:
i. Turn on the Toggle Switch from Step 6B
ii. Once the Network Data appears Press Next
NOTE: DO NOT Adjust any of the values

Press Next

iii. Computer Connection: Once the Computer Information Appears Press Next
NOTE: DO NOT Press Next if the computer data does not appear > Operator will need to power cycle if
this happens (Turn the Teach Pendent Off/On)

DO NOT Press Next until


Computer Data Appears

Press Next ONCE the


Computer Data is
shown

4. Two Operation Modes:


a. Auto: Production mode. Robotic arm will operate at full speed
b. T1: Teach Mode: Operation and movement of the robotic arm can no exceed 250mm/sec

5. Opening Program: Zero Program


Zero Program is like the home program or robot storage program.
NOTE: All Motion Programs have a file extension of .tp
a. Jog the robot to any position. Robot is jogged so operator can see it move to its Zero Position

b. Select “KEY TO OPEN PROGRAM LIST” Select >Arrow Down to Program “Zero” > Select Enter Key

2b. Arrow down to


Program Zero 90

1. Press the Select Key

2a. Use the Arrow Keys to scroll


down to Program Zero
3. Press the Enter Key

c. Arrow Cursor to the 1st Line of Code


NOTE: Before running any programs the cursor should be
located on the 1st line of code. Failure to do this the
program may pick up from the last stopped location. This
could cause collisions or unexpected motions

Program has on Joint Command to move to the coordinates


Shown. Final Position of the Robot is shown after running the
program

d. Before Running any program, the operator should make sure all other programs are aborted before running.
Follow these steps to ensure no other programs are running.
Select FCTN Key (Function) > Press the Number 1 from the Number Pad > This will clear all other programs
that could be running in the background

When in Text Based


Menus press the desired
number on the number
pad to navigate or select
functions from the
menus.

NOTE: Pressing the Enter


Key will not perform the
task

1. Press FCTN Key


(Function)

2. Press 1 to select the


Function Option

e. Clear Faults: Deadman Middle Position + Shift Key + Press Reset


NOTE: DO NOT let go of the Deadman Switch
f. Run the Program: Deadman Middle Position + Shift Key + FWD Key

Holding Deadman in Middle Position >


Hold Shift > Press FWD Key (Forward)

NOTE: This should be your starting position for the robot to avoid a singularity. Singularity is when Joints J3, J4 and J5 are in
direct alignment. The Robot has an infinite possibility of movement in this setup and does not know how to move. A Fault will
be appear when in Singularity.
6. Opening Program: Sample Movement
a. Press Select Key
b. Arrow Down to Program Name Sample_Movement
i. Program Sample
Note: Points on the program is the end point or destination of the robotic arm not the start point

Initial Setup of the Tool# = Type of End Effector Offset

User Frame = Setting Location of the Origin


User Frame 0 is equal to World

Notice Position 1 is
being used twice as a
starting/Home
Position

ii. 2 Types of Movements


1. Linear Movement (Labeled as L): Straight Line
2. Joint Movement (Labeled as J): Creates more arced path

Movement Commands: 2 Types of Movements


Joint: Curved/Arced Movements
Linear: Straight Line Movements

Speed (How fast to move)


Linear = velocity mm/sec
Joint = Percentage of max speed that the joints can adjust while in motion

Termination at logged position (coordinate Points x, y, z)


FINE = Goes to the position slowing down then pausing at the end location before moving on
to the next position
CNT = Continuous motion 0 -100
0 = Closest to the End Point
100 = Creates an arc furthest away from the destination point. Arc is calculated based
on speed and joint(s) rotation
iii. Robot Control Stops when it approaches the point desination
1. Fine: Causes the robot stop at a destination before moving onto the next. The Robot will
accelerates towards the point then decelerates as it gets closer to a point then stops before
turnning and moving to the next point; creating a 90 degree turn

2. CNT: Known as Continous allows the robot to decelerate as it approaches a postion, but does
not stop at the position creating an arced motion. The Operator can change the the amount
of arc based a value 0 -100 (0 being the closest to the point and 100 being the fartherest)

c. Ways to Run the Program


i. T1 Teach Mode Step: Stepping through a program will only allow the operator to move one program
line at a time. This is useful when the operator wants to see the position of the robotic arm after each
motion. Step Mode can only be ran when in Teach Mode. Operator may also Step back a stop to
retrace a motion to see the motion going forward and backwards. Note the fastest the robot will run
is 250mm/sec, even if the program speed for each line of code is higher (i.e. 1000mm/sec, 1500
mm/sec, etc.)
ii. T1 Teach Mode Continuous Motion: This mode will allow the operator to move at a max of
250mm/sec, even if the program speed for each line of code is higher (i.e. 1000mm/sec, 1500
mm/sec, etc.)
iii. Production: Allows the operator to run the full program without any speed limit restrictions like Teach
Mode
d. Program Run 1: T1 Teach Mode Step
i. Select the Hardkey STEP > this will Turn Step Mode ON
See Top of the Screen for STEP Mode Status is active

Status Light that


STEP Mode is active

Before Running make


sure the cursor is on the
first line of the program

NOTICE: Lines 9, 10, and 11

Line 9 and 10: Positional Data Point shown as


P[_] are out of order. When a position is deleted
or modified the operator will lose position until
a new one is created then reuses that last
unused number. So, in this program Position 6
was deleted and then a new point was created Press Hardkey STEP
using that last unused number which is 6

Line 11: Reuses Position 1 (P[1]) to return to a


known starting position

ii. Make sure the first line of the program is highlighted (See Program above with the Cursor on Line 1 of
the Program
iii. Before Running any program, the operator should make sure all other programs are aborted before
running. Follow these steps to ensure no other programs are running.
Select FCTN Key (Function) > Press the Number 1 from the Number Pad > This will clear all other programs
that could be running in the background

iv. Clear all faults (Deadman Middle Position + HOLD SHIFT + Press RESET)
NOTE: Continue holding DeadMan Switch to run the program
v. Adjust Jog Speed Percentage to 75%
vi. Press FWD Key to move the Program forward Each Line of Code > Notice the Robotic Arm on screen
Moving is moving one motion at a time after each press

Optional: Press the BWD (Backward) Key to see the motion or operation in reverse
e. Program Run 2: T1 Teach Mode Continuous
i. Select Hardkey STEP to turn the STEP Mode Off
ii. Make sure the first line of the program is highlighted
iii. Before Running any program, the operator should make sure all other programs are aborted before
running. Follow these steps to ensure no other programs are running.
Select FCTN Key (Function) > Press the Number 1 from the Number Pad > This will clear all other
programs that could be running in the background
iv. Clear all faults (Deadman Middle Position + HOLD SHIFT + Press RESET)
NOTE: Continue holding DeadMan Switch to run the program
v. Adjust Jog Speed Percentage to 75%
vi. Press FWD Key ONCE to move the Program > Notice the Robotic Arm on screen Moving through the
entire program

f. Program Run 3: Production


i. Make sure the first line of the program is highlighted
ii. Before Running any program, the operator should make sure all other programs are aborted before
running. Follow these steps to ensure no other programs are running.
Select FCTN Key (Function) > Press the Number 1 from the Number Pad > This will clear all other
programs that could be running in the background
iii. Turn OFF the Teach Pendant: Top Left Corner Switch
iv. Make sure STEP Mode is turned off

Switch the Teach Pendent Off


Make sure STEP Mode is turned off

v. Press
1. Roboguide: Play Button
2. Real World: Change Mode from T1 to Auto > Press Cycle Start on the Controller

Notice the path is drawn as linear and end of tool. This can be turned On/Off by
Selecting Tool-Run Drop Down Menu > Select Run Panel > Check Collect TCP Trace

On the Real World Work Cell: Change Mode from T1 to Auto and
Press Green Cycle Start Button
Press Play on the toolbar
10. Open Program Zero_90 > Run Program

NOTE: This is will be the position the robot will be placed in at the end of every work session

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