(1) Open the program
Open the newly created program file banyunl" and enter the program editor. There are 4 lines of program in the program editor, in between, INI: initialization, END: program completion, and the middle two lines return to the HOME point.
(2) Teaching: return to the HOME point
Use the teach pendant to manually operate the robot to move to a suitable position as the HOME point of the robot. Position the cursor in the HOME program line, click the [Change] soft key in the lower left corner of the teach pendant interface, and change the title of HOME8 to HOME5, since HOME is a global variable, it will affect the initial orientation of other programs.
After clicking on HOME5, the black triangle sets the east-west coordinate system and the base coordinate system
Click the [OK] soft key in the lower right corner of the teach pendant interface to pop up the dialog box, click [Yes] to receive the coordinate system modification, the dialog box will pop up continuously, click [Yes] to use this point as the HOME5 point, and complete the modification of the PTP command on the 4th line together. Similarly, the HOME point in line 6 of the instruction will be tacitly acquiesced
(3) Teaching 1/0: The air claw is turned over
Select the cursor on the 5th line, click the [Command] soft key in the lower left corner of the teaching interface, and select the [Logic] [OUT] OUT command successively, and the OUT online table will pop up. Change the output number to 17, change the output connection status to FALSE, revoke the CONT, end the OUT command parameter setting, and click the lower right corner of the teaching interface
【OK】Soft key. Together, select the cursor on the 5th line again, click the [Edit] soft key in the lower right corner of the teaching interface, and select [Delete] to delete the 5th empty line.
(4) Teaching: P1 point
Manually operate the robot to move to the Pl point, move the cursor to the 5th line, click [Command] [Movement] [PTP] in the lower left corner of the teaching interface, and add the [OK] soft key in the lower right corner of the PTP teaching interface to complete the P1 point teaching
(5) Teaching: P2 point
Manually operate the robot to move to the P2 point, move the cursor to the 6th line, click the [Previous Command] at the bottom of the teaching interface, continue to click to add the PTP command, and click the [OK] soft key in the lower right corner of the teaching interface to complete the P2 point teaching
(6) Teaching: P3 point
Manually operate the robot to move to the P3 point, move the cursor to the 7th line, click the previous command at the bottom of the teaching interface to continuously increase the command PTP, and click the [OK] soft key in the lower right corner of the teaching interface to complete the P3 point teaching
(7) Teach: P4 point
Manually operate the robot to move to the P4 point, move the cursor to the 8th line, click the [Previous Command] at the bottom of the teaching interface, continue to increase the command PTP, and click the [OK] soft key in the lower right corner of the teaching interface to complete the P4 point teaching.
(8) Teach: P5 point
Manually operate the robot to move to the P5 point, move the cursor to the 9th line, click [Command] [Movement] [LIN] in the lower left corner of the teaching interface, add the command LIN, modify the speed to 0.1m/s, and click the [OK] soft key in the lower right corner of the teaching interface to complete the P5 point teaching
(9) Teaching 1/0: Grip the air claw
Select the cursor on the 10th line, click the [Command] soft key in the lower left corner of the teaching interface, select the [Logic] [OUT] OUT command successively, the output number is tacitly 17, the output connection status is changed to TRUE, and click [OK] in the lower right corner to complete the OUT command parameter setting
(10) Teach-in waiting
In order for the gripper to clamp the workpiece reliably, a waiting time of 0.5 s is set here. Select the cursor on the 11th line, click [Command] [Logic] [WAIT], set the time parameters, and click [OK] in the lower right corner to finish and wait for teaching
(11) Teaching: P6, P7, P8, P9, HOME
Refer to P4 point, use LIN command to teach P6 point: separate from P3 point, P2 point, Pl point, use PTP command to teach P7 point, P8 point, pg point; The PTP command is used to return to the HOME point, and the process of the robot picking up the workpiece from the unloading area is completed.
(12) Teach: P10 point
Manually operate the robot to move to the P10 point, move the cursor to the 16th line, click [Command] [Movement] [PTP] in the lower left corner of the teaching interface, add the command PTP, and click the [OK] soft key in the lower right corner of the teaching interface to complete the P10 point teaching
(13) Teaching: P11 point
Manually operate the robot to move to the P11 point, move the cursor to the 18th line, click [Command] [Movement] [LIN] in the lower left corner of the teaching interface, add the command LIN, modify the speed to 0.1m/s, and click the [OK] soft key in the lower right corner of the teaching interface to complete the P11 point teaching
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