Epson robot program operation

1. Create a new project

1) Click "Project", open the menu of the project shown in the left figure, click "New", open the window shown in the right figure, and open a project (stored in the computer program file)

2. Open a project (stored in the computer program file)

1) Click "Project" and select "Flip"

3. Compile and download the program

1) Click on the Create and Download Program icon on the toolbar " " or click on the Flip Open window icon and the software will compile the program, and if the program is not faulty, it will download the program to the controller. If the program is faulty, the status bar will display the program error information, as shown in the following figure. Move the cursor to the error information column, double-click the left button cursor to jump to the line where the program is wrong, then correct the program and download the program from the beginning

Fourth, the operation of the procedure

1) Click the icon "" on the toolbar to open the operation window

5. Single-step debugging procedure

1) Click on the left end of the program to set the breakpoint

2) Click the icon " " on the toolbar to open the operation window, open the operation window, and click "Start" to run the program

3) Press "F11" or click the icon " " to run the next line. Press F7 or click the icon " " to go to the next breakpoint.

6. Boundaries and differences between local variables, module variables and global variables

1) Local variables: Variables that speak in the inner bounds of a function can only be used within the same function

2) Module variables: In the initial context of a program, they can be used in the same program

3) Global variables: can be used in the same project

Epson robot program operation

7. Write an initialization function to turn over the motor, set the operating power and speed (refer to Program init_demo)

8. Write a simple program with GO, JUMP, MOVE, ARC commands (see Program move_demo)

9. Write a brief input and output operation program (see Program IO_demo)

10. Write a cycle control program (see program xunhuan_demo)

11. Write an RS232 serial communication program (refer to program RS232_demo)

1) Serial port settings

Click "Settings" and select "System Configuration" to open the controller settings screen. Click "RS232", select "Port 1" to enter the serial port setting screen shown in the figure below, the serial port communication parameter setting is the same as that of the host computer, click "Apply" after setting, and then close the setting screen

12. Write an Ethernet communication program (refer to Program internet_demo)

1) Controller IP settings

Click "Settings" and select "System Configuration" to open the controller settings screen. Click "Configure" to enter the Ethernet settings screen shown in the figure below, the first 3 digits of the IP address are the same as those of the host computer, and the last bit of the IP address is different from the host computer. Click "Apply" after the settings are complete, and then close the settings screen

2) Ethernet port settings

Click "Settings" and select "System Configuration" to open the controller settings screen. Click "TCP/IP", select a port number, and enter the Ethernet port setting screen as shown in the figure below. Click "Apply" after the settings are complete, and then close the settings screen

3) Ethernet communication program

13. Matrix application procedure (refer to program pallet_demo)

1) Matrix Circle Theory

2) Matrix caller

14. Point file operation and point correction

1) Point boundary theory (generally use the teaching method to teach the point, pay attention to the characteristics of the point when directly specifying, otherwise it will simply collide when moving)

P1 = XY(200, 100, -25, 0) ' Assign coordinates to point P1

Pick = XY(300, 200, -45, 0) ' assigns coordinates to the point pick bearing

P10 = Here ' assigns a point to the current bearing

P1=p2 'Assign the value of the point P2 to P1

Call points with point labels

　　25

2) Call the point with the point label

　　For i = 0 To 10

　　Go pick

　　Jump place

　　Next i

3) Call points with variables

　　For i = 0 To 10

　　Go P(i)

　　Next i

4) Upload the midpoint file of the program

When the program is launched, the default point file of the robot "robot1. pts” 。 You'll also be able to use LoadPoints

The sentence loads other points in the program.

　　Function main

　　Integer i

　　LoadPoints "model1 .pts"

　　For i = 0 To 1 0

　　J i k

　　26

　　Jump pick

　　Jump place

　　Next i

　　Fend

5) Save the point file

　　Function main

P1 = XY(200, 100, -25, 0) ' Assign coordinates to point P1

Pick = XY(300, 200, -45, 0) ' assigns coordinates to the point pick bearing

Savepoints "robot1. pts" ' to save the point to the dot file "robot1. pts"

　　Fend

6) Specify the characteristics of the point

1. LOCAL feature (specify the direction of the robot coordinate relative to that coordinate system)

P1 = XY(300, -125. 54, -42. 3, 0) /1 ' P1 is in local coordinate 1

2. Designated left and right hand postures

To specify a direction for a SCARA or 6-axis robot, add a slash (/), which is later L (left-hand direction) or R (right-hand direction) and 27 (right-hand direction).

P2 = XY(200, 100, -20, -45) /L ' The direction of the hand is left

P3 = XY(50, 0, 0, 0) /2 /R ' Local 2 is right-hand direction

You can use Hand sentences and functions to read and set the direction of the dot hand.

　　Hand P1, Righty

3. 6-axis elbow attitude designation

To specify the direction of the elbow for a 6-axis robot in a point assignment sentence, add a slash (/), which is later A(on

square elbow direction) or B (lower elbow direction)

Specify the direction of P1 elbow downward.

　　P1 = XY (0, 600, 400, 90, 0, 180) /B

4. Specify the 6-axis wrist posture

To specify the direction of the wrist for a 6-axis robot in a point assignment sentence, add a slash (/), which is later NF (non-rotating wrist direction) or F (rotating wrist direction).

Specify the wrist direction of the P2 point as flipping.

　　P2 = XY (0, 600, 400, 90, 0, 1 80) /F

5. Specify the characteristics of J4Flag and J6Flag

At some points in the working scale, even if the fourth or sixth joint rotates 360 degrees, the 6-axis robot can have the same orientation and orientation, even if the fourth or sixth joint rotates 360 degrees. In order to distinguish these points, the characteristics of J4Flag and J6Flag points are provided. these

The marker allows you to specify an azimuth scale for joints 4 and 6 at a given point.

To specify a J4Flag in an assignment sentence, add a slash (/), which is followed by J4F0 (-180 < fourth joint viewpoint <= 180) or J4F1 (fourth joint viewpoint < = -180 or 180 <fourth joint viewpoint).

　　P2 = XY (0, 600, 400, 90, 0, 180) /J4F1

To specify a J6Flag in a point assignment sentence, add a slash (/), which is later J6F0(-180<6th joint viewpoint<= 180), J6F1(-360 <6th joint viewpoint<= -180 or 180<6th joint viewpoint<= 360), or J6Fn(-180*(n+1)<6th joint viewpoint<= 180*n or 180*n<6th joint viewpoint<= 180* 180*

　　（n+1））。

　　P2 = XY (50, 400, 400, 90, 0, 180) /J6F2

5. Specify the characteristics of J1Flag and J2Flag

At certain points in the working scale, the RS Series is able to have the same orientation and orientation even if the first or second joint is rotated 360 degrees. In order to distinguish between these points, the characteristics of J1Flag and J2Flag points are provided. These markers promise you to specify a bearing scale for joints 1 and 2 at a given point.

To specify a J1Flag in a point assignment sentence, add a slash (/), which is then J1F0(-90<1st joint viewpoint<=270) or J1F1(-270<=1st joint viewpoint<=-90 or 270<1st joint viewpoint<=450).

　　P2 = XY (-175, -175, 0, 90) /J1F1

To specify a J2Flag in a point assignment sentence, add a slash (/), which is followed by J2F0(-180<Second Joint Viewpoint<=180), J2F1(-360<Second Joint Viewpoint<=-180, or 180<Second Joint Viewpoint<=360).

　　P2 XY (300 175 40 90) /J2F1

　　29

　　P2 = XY (300, 175, 40, 90) /J2F1

J1Flag and J2Flag dot features:

At the origin of the robot's coordinate system, the RS series can have the same orientation and orientation even if the first joint is rotating. In order to distinguish these points, the characteristics of the J1Ang point are provided.

7) Extract and set points

Use CX, CY, CZ, CU, CV, CW, CS and CT commands to get the coordinates of a point or set it.

　　xcoord = CX(P1)

　　P2 = XY(xcoord, 200, -20, 0)

ycoord = CY(P*) ' to get the Y azimuth coordinates at that time

　　CX(pick) = 25. 5

　　CY(pick) = CY(pick) + 2. 3

8) Point correction

There are several ways to correct a point without having to teach again. You can change one or more coordinate values with a relative offset value or a ZUI value.

To set the ZUI value for a coordinate, use a colon followed by the letter and value of the axis.

To increase the relative offset value to the coordinates, use an axis letter followed by the offset value or expression in parentheses. If the offset value is negative, the axis letter is preceded by a minus sign. If the parentheses are omitted, they will be incremented.

Go P1 -Z(20) offsets the Z axis by -20mm, moves to P1

Go P1 : Z(-25) Offset the Z axis to the first position of -25mm, moving to P1

G P1 X(20) Y(50) Z( 25) moves to P1 with X and Y relative offsets and Z first squares

15. Write a sample program for the standby position

In some applications, due to space limitations, the robot may be in an uncertain position after abnormal shutdown, and if you directly use the command to return to the standby position, you may hit other fixtures, so we must write a program to return to the initial position to let the robot return to the standby position safely. Generally, we can first obtain the robot's attitude and coordinates at that time, and then decide to move the axis or go to the transition point first according to the attitude and coordinates at that time, so as to ensure that the manipulator returns to the standby position safely. (Be careful to use low power when returning to the origin point to prevent the robot from being damaged by too fast speed during misoperation)

Epson robot program operation

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