Rapid and robot programming
Lab preparation and exercises
Mikael Norrlf
Mikael Norrlf
PhDCourse Robot Modeling and Control
Robot safety
The robot control system can be in three distinct
modes
Manual, the speed is reduced to a maximum 250 mm/s
Manual 100%, full performance is reached but the user has
to keep pushed an extra button on the flex pendent
Auto, the robot moves at full speed completely autonomous
Under no circumstances it is allowed to be inside the
robot cell when the robot runs in Manual 100% or
Auto!
The robot is potentially dangerous also at low
speeds. Do not stay close when running a program
(also in Manual)
Mikael Norrlf
PhDCourse Robot Modeling and Control
Robot hardware
Teach pendent
(FlexPendant)
Motors on / acknowledge restart of
motors after system stop
Mode selector key
Emergency stop
button (also available
on the TeachPendant)
Mikael Norrlf
PhDCourse Robot Modeling and Control
Robot hardware
Teach pendant
Mikael Norrlf
PhDCourse Robot Modeling and Control
Robot hardware
Mikael Norrlf
PhDCourse Robot Modeling and Control
Moving the robot with the joystick (jogging)
Choose jog-mode
Motion mode decides how to use the joystick
Coordinate system affects the jogging directions
Tool affects the position and also the jogging directions if
Coordinate system is tool
Work object affects the position and also the jogging directions if
Coord is wobj
Mikael Norrlf
PhDCourse Robot Modeling and Control
Coordinate systems
Tool frame
Work object / User
frame
y
x
Base frame
World frame
y
x
To help in the programming it is possible to define a number of
coordinate systems. Some can be defined/calibrated using the robot.
Mikael Norrlf
PhDCourse Robot Modeling and Control
Define a tool coordinate system
Approach a world fixed tip
from (at least) four directions.
Mass and inertia data can be
identified using pre-defined
movements of the robot.
Mikael Norrlf
PhDCourse Robot Modeling and Control
Define a work object
The work object coordinate frame can be defined
using a three point method.
Mikael Norrlf
PhDCourse Robot Modeling and Control
A Rapid module (program)
Language originally developed in collaboration with SoftLab.
MODULE
VAR
VAR
VAR
MainModule
num length;
num width;
num area;
PROC main()
length := 10;
width := 5;
area := length * width;
TPWrite "The area of the rectangle is \Num:=area;
END
PROCENDMODULE
Mikael Norrlf
PhDCourse Robot Modeling and Control
Controlling the program flow
IF THEN ELSE (ELSEIF)
VAR num time := 38.7;
IF time < 40 THEN
TPWrite "Part produced at fast rate";
ELSEIF time < 60 THEN
TPWrite "Part produced at average rate";
ELSE
TPWrite "Part produced at slow rate";
ENDIF
FOR
FOR i FROM 1 TO 5 DO
TPWrite "Hello";
ENDFOR
WHILE
VAR num sum := 0;
VAR num i := 0;
WHILE sum <= 100 DO
i := i + 1;
sum := sum + i;
ENDWHILE
Mikael Norrlf
PhDCourse Robot Modeling and Control
Other useful commands
Control external devices (digital output)
To close the gripper,
SetDO do1, 1;
To open the gripper,
SetDO do1, 0;
Mikael Norrlf
PhDCourse Robot Modeling and Control
Syntax comments
A statement in Rapid ends with a semicolon, exceptions are IF
ENDIF, FOR ENDFOR,
A comment in Rapid starts with a !
! Calculate the area of the rectangle
area := length * width;
The Rapid interpreter is not case sensitive but it is
recommended that all reserved words (e.g. VAR, PROC) are
written in capital letters.
Mikael Norrlf
PhDCourse Robot Modeling and Control
Move instructions
MoveL p10, v1000, fine, tool0;
p10 specifies the position that the robot shall move to.
v1000 specifies that the speed of the robot shall be 1000 mm/s.
fine specifies that the robot shall go exactly to the specified position
and not cut any corners on its way to the next position.
tool0 specifies that it is the mounting flange at the tip of the robot that
should move to the specified position.
MoveC p10, p20, v1000, fine, tool0;
MoveJ p10, v1000, fine, tool0;
MoveAbsJ j10, v50, z50, tool0;
Mikael Norrlf
PhDCourse Robot Modeling and Control
Offset function
With Offs() it is possible to add an offset to a point in the x-, y-,
and z-direction
MoveL Offs(p10,0,0,20), v1000, fine, tool0;
The robot will move to a point 20mm i z-direction relative to p10.
Offs() is a very efficient tool to offline produce a desired motion
given a reference-point.
Mikael Norrlf
PhDCourse Robot Modeling and Control
Configuration supervision
To avoid problems with configuration warning/error it
is possible to use
ConfL \Off; ! For MoveL
ConfJ \Off; ! For MoveJ
Mikael Norrlf
PhDCourse Robot Modeling and Control
Coordinate systems
z
Tool frame
z
Work object / User
frame
y
x
Base frame
World frame
y
x
The coordinates can be expressed in another coordinate system
(work object) by attaching an additional argument to the move
instruction:
MoveL p10, v1000, fine, tool0 \WObj:=wobj1 ;
Mikael Norrlf
PhDCourse Robot Modeling and Control
RobotStudio some tricks and tips
Zoom in and out,
ctrl + right mouse button + move mouse left/right
Pan
ctrl + left mouse button + move mouse
up/down/left/right
Rotate
shift + ctrl + left mouse button + move move mouse
up/down/left/right
Mikael Norrlf
PhDCourse Robot Modeling and Control
Lab
Exercise 1.
a) Jog the robot using the teach pendant while testing the different
jog-modes.
b) Try jogging close to a singularity
c) Jog the other mechanical units while using different coordinate
systems.
Mikael Norrlf
PhDCourse Robot Modeling and Control
Lab
Exercise 2.
Program the robot to draw the figure below. The inner geometry is
optional. Simulate that the robot uses a pen by moving to a
specified fixed position before and after the figure is drawn.
It is important that the program uses the right tool and work object.
Try to move the work object (using the positioner) to see how this
affects the program. You can also move the robot using the track
while drawing.
Mikael Norrlf
PhDCourse Robot Modeling and Control
Program template
MODULE MainModule
CONST jointtarget jpos10:=[[0,0,0,0,0,0],[0,0,0,9E+09,9E+09,9E+09]];
TASK PERS wobjdata wobj1:=[FALSE,FALSE,"STN1",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
CONST robtarget p10:=[[200,0,100],[0.7071,0,0.7071,0],[0,0,0,0],[0,0,0,9E+09,9E+09,9E+09]];
CONST robtarget p20:=[[1662.50,0.00,2055.00],[0.707107,0,0.707107,0],[0,0,0,0],[0,0,0,9E+09,9E+09,9E+09]];
PROC main()
MoveAbsJ jpos10\NoEOffs, v1000, z50, tool0;
!MoveJ p10, v1000, z50, tool0\WObj:=wobj1;
ENDPROC
PROC DrawLiuLogo(
PERS tooldata LocalTool,
PERS wobjdata LocalWorkObj)
ENDPROC
PROC TestInterpSingPos()
SingArea\Wrist;
MoveL Offs(p20,0,-400, 0), v100, fine, tool0;
MoveL Offs(p20,0, 400, 0), v100, fine, tool0;
SingArea\Off;
ConfL\Off;
MoveL Offs(p20,0,200, 20), v100, fine, tool0;
MoveL Offs(p20,0, -200, 20), v100, fine, tool0;
ConfL\On;
ENDPROC
ENDMODULE
Mikael Norrlf
PhDCourse Robot Modeling and Control
