CADM MC600

Robotics

Robot programming

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Motion programming
General Features:
A program is a sequential set of commands
called instructions. In the most general
terms, a program tell the robot:
– Where to go
– How to get there
– What to do when it gets there
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Motion programming contd.
HandlingTool is the software used in this course to
create motion programs.
All of the statements can be found in the pop-up
menus.
The SELECT button allows for manually moving
from one program to another as well as Create a
program. Each time you enter a line in a program
it is saved to that Teach Pendant file.
Position Confirmation is indicated by an @ symbol
when the robot’s current position exactly matches
any taught position in a program.
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Display screen of the teach pendant
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Program how to
Create a Program:
SELECT > F2 [CREATE]

Program Naming Methods:

– Words
o Alpha input
o Defaults to Upper Case
o Up to 36 Letters or Numbers
o No Special Characters or spaces
o MUST start with a Letter
– Options
o Keyboard

DO NOT use the asterisk * symbol in program names

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Create a program

SELECT

CREATE
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program naming methods

OR
Alpha input
• Defaults to Upper Case
• Up to 36 Letters or Numbers
• No Special Characters or
spaces
• Must Start with a Letter
OR
Options
• Keyboard
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Program header information
F2 [DETAIL] Key

After creating your

program name, [DETAIL]
will allow changes to the
following:

– Program Name
– Sub Type
– Comment
– Group Mask
– Write Protect
– Ignore Pause
– Stack size
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Program header information contd.
Sub Type
None
o Can contain any type of
instruction
Macro
o Can contain any type of
instruction
o Can be executed from
operator panel or teach
pendant keys
o Can also be called from a
program when assigned
to a Macro instruction
name
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Program header information contd.
Sub Type (cont.)
Condition Monitor
o Monitors condition of I/O
signal, register value, or
alarm status during
program execution
o Cannot have Motion
enabled
Two types of Condition Monitors
o Program Monitor
 Monitors conditions in TP
Program
o System Monitor
 Monitors system parameters
(e.g. PLC I/O signals)
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Program header information contd.
Comment

Additional naming to
describe program
16 Characters
maximum
No restrictions or
character use
oUpper/Lower is
okay
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Program header information contd.
Group Mask
[1] Enables Motion
Group
[*] Disables Motion
Group
1st motion group is
for robot’s 6 axes
All others are for
extended axes Group 2-Servo
Gripper

Group 3-Servo Turn Table

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Program header information contd.
Write Protect
OFF
Default setting
Allows
modification of
program
ON
Cannot modify
or delete
program
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Program header information contd.
Ignore Pause
 Specifies whether program will
continue to run when error occurs,
command is issued, or Teach
Pendant is enabled
 Allowed only in programs that
have no motion groups
 Group mask set to
(*,*,*,*,*,*,*,*)
 Programs cannot contain
motion instructions
 OFF
 Default Setting, program pauses
when error occurs
 ON
 Program continues operation
when error occurs
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Program header information contd.
Stack Size
The default amount of
memory for program
use is 500
(1200/2000 bytes)
The maximum stack
size is 4000 sectors
of memory
The stack is allocated
from available User
RAM
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Recording a position
SHIFT + POINT / TOUCHUP
SHIFT+POINT, a default motion instruction is placed at
the current cursor location and the robot positional data is
recorded
SHIFT+TOUCHUP, only positional data is changed, does
not change position configuration
 This is the EDIT Screen where selecting the
POINT softkey allows the display of the
current motion instruction defaults
 Moving to the position item of the instruction
line (p[])and pressing the POSITION key
brings up the positional data of that point
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Testing a program
Single step testing
o Your program won’t run if another program is paused
 You’ll see the message “Already locked by another task”
 Abort your program first, hit the FCTN key on the Teach Pendant and
choose ABORT (ALL)
o You can always start running a program from any line, but if
you start out of sequence, you will see a prompt box
reminding you that the program is out of sequence
o The MODE SELECT switch must be in the T1 position
o Two methods of single step testing are Forward and
Backward
Run (non-stop/continuous) testing
o The program cannot be run backwards more than one step at
a time in run mode and I/O does not change state when
running backwards
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Testing a program contd.
Single Step Testing – Forward
SHIFT + FWD
Executes the nest instruction when you press then release the
FWD key
Step key
Stops when the step is completed or when you release the SHIFT key
Executes subprograms one step at a time

Single Step Testing – Backward

SHIFT + BWD
Executes the previous instruction when you press then
release the BWD key
Stops when the step is completed or when you release the SHIFT
key
Can only be used for motion instructions
Steps backward from a subprogram to the main program, but you
first need to step forward to the main program
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Running a program in Auto
(cycle start button)

1.Select a program by pressing SELECT

2.Highlight the program you want to run using
the arrow keys and press ENTER
– If you need to abort a currently running
program press the FCTN key, then press
ENTER (Function, Abort All)
3.Turn the Teach Pendant ON/OFF switch to
OFF
 Running a program in Auto
(cycle start button)

3. Set REMOTE/LOCAL item to LOCAL in the

System Configuration Screen
4. Select Auto and Press the CYCLE START
pushbutton
– The program should start running
– To stop the program, press HOLD on the
Teach Pendant. Some Operator Panels have
a HOLD button

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Creating a motion program
1. Name the program
a) Turn the pendant ON/OFF switch to ON
b)Press SELECT button
c) If F2 [CREATE] is not displayed, press NEXT,
press F2 [CREATE]
d)Move the cursor to a method of naming the
program. The function key labels will change
depending on the naming method you choose. You
may also choose to enter the name by using the full
screen keyboard, chosen under Options
e) Type the program name
2. To view and modify program header information
a) Press f2 [DETAIL]
b)Review the settings on the screen
3 To change the program name
a)Move the cursor to the program name and
press ENTER
b)Move the cursor to select a method of naming
the program
c)Press the function keys whose labels
correspond to the name you want to give the
program. These labels vary depending on the
naming method you chose in Step d. To
delete a character, move the cursor to the
right of the character and press Backspace.
d)When you are finished, press ENTER
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Creating a motion program contd.
4.To type a comment
a)Move the cursor to Comment and press
ENTER
b)Select a method of naming the comment
c)Press the appropriate function keys or full
screen keyboard to add the comment
d)When you are finished, press ENTER
4. To set the group mask (or motion group)
a) Move the cursor to the group you want to enable or
disable. You can use multiple groups in a single
program, but only two groups can perform Cartesian
motion within a single program. The first position in
the group mask corresponds to the first group.
Groups 1-8 are supported.
b) If you want to enable a group, scroll right to the
group you want and press F4 [1] for each enabled
group.
c) If you want to disable a group, scroll right to the
group you want and press F5 [*]. If you disable all
groups, you cannot add motion instructions to your
program
5. When you have finished entering program information
press F1 [END]
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Program detail – header information

ITEM DESCRIPTION
Creation The date on which the program name was created
Date
Modification The date when the file was last displayed in the editor
Date
Copy Source The name of the file from which the file was copied
Positions Indicates whether the program contains recorded robot
positions
Size Indicates the size of thee program in bytes
Program The name of the program
Name
Sub Type The kind of program you want to write. Such as a Macro,
Condition Monitor (Cond) or standard Teach Pendant
Program (None)
 header information
Comment A description field describing the purpose of the
program
Group Mask Identifies the group of axes, or motion group, that
the program controls
Write Protect Identifies whether the program can be modified

Ignore Pause Indicates whether the program will continue to run

when an error occurs, a command is issued, or the
teach pendant is enabled
Stack Size When a program is executed, a stack of 500 long
words (1200 bytes) is allocated unless you specify a
stack size. The stack is allocated from available user
RAM. The minimum and default stack size is 500.
The maximum stack size is 4000.
Option and Indicates data directly related to installed options or
Application- applications
specific Items
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