Motion Instructions
What is the symbol for Position Indicator ?
" @ "
How is Speed specified in ?
-In/Min -mm/sec -cm/min
*Is it important to have the proper USER frame and TOOL frame when you select Teach Points why ?
-Programs taught in one TOOL/USER frame will not run in any other TOOL?USER frame combination. - TOOL/USER frames must the recorded point.
How many digital Inputs and Outputs does the R-30iA Mate controller have ?
28 Digital Inputs 24 Digital Outputs
How many I/O does the LR200iC have ?
34 Digital Inputs 34 Digital Outputs
What is the REPAIR position ?
A position where the robot repair operations are performed.
What is Motion Options ?
Aditional instructions given to the robot to determine what the robot will do when it reaches its destination.
Positoin Registers allows what ?
Allows predefined position to be SHARED to other programs.
When should you use the HOME position ?
Before the first position Between cycles or anytime you want it away from the workcell activity
Termination type..
Can be defined in either FINE or CNT(Continuous)
P[n] = (x,y,z,w,p,r,config.) What is Config. ?
Configuration
What does Position information describe ?
Describes the location, orientation, and configuration of the tool center point.
What are I/O ?
Electrical signals that enable the controller to communicate with the robot, EOAT, external devices , sych as Sensor and Actuators.
PR[1]
Is a Global point; Sharable
What does the Robot I/O consist of ?
It consist of the I/O signals between the robot and controller
What is the purpose of Positon Registry ?
It's used to store GLOBAL positons, such as a user defined 'HOME' position or a maintenance position which cotains the x,y,z,w,p,r configuration.
J [ 1 ] 50% FINE ACC100 Describe ( J )
Motion Type
J [ 1 ] 50% FINE ACC100 Describe ( ACC100 )
Motion option
Joint motion
Moves all required axes to the destination position simultaneously.
Linear motion
Moves the (TCP)ToolCenterPoint in a straight line from the start position to the destination position.
Circular motion
Moves the (TCP)ToolCenterPoint in an arc from the start position through an intermediate to the destination point.
What are only possible states for I/O ?
ON or OFF
J [ 1 ] 50% FINE ACC100 describe ( P )
Position Type
P[n] = (x,y,z,w,p,r,config.) what is this ?
Positional information
How do you display the position registry ?
Press DATA Press F1(Type)
How do you change the position representation to Joint or Cartesian ?
Press F4(POSITION) Press F5(REPRES) to change F4(done)
When the Motion type is in Linear..
Robot speed is typically defined by velocity(distance/unit of time)
Describe CNT (Continuous)
Robot will decelerate as it approaches the destination position BUT does not stop.
What do Orientation components (W,P,R) describe ?
Rotation about y, and rotation on about z.
What keys do you use for MOVE_TO ?
SHIFT + F2
What keys record Position registry ?
SHIFT + F3
J [ 1 ] 50% FINE ACC100 Describe ( 50% )
Speed
J P[1] 100% FINE Arc start [5] Define SPEED
Speed can be specified in percentage, length (mm/sec, cm/min, inch/min), degrees of angle units, or length of time to execute a move.
How Position registry different from Teaching a point ?
Teach point will only exist the current program, Position registry will keep stored to use in other programs
Motion type
Tells us how the robot will move from one position to another
What does Positional Data tell us ?
Tells us where the TCP(ToolCenterPoint) is relative to the USER frame.
J [ 1 ] 50% FINE ACC100 Describe ( FINE )
Termination type
What does the position indicator indicate ?
That the robot is at the taught position.
What do Lacation components (X,Y,Z) describe ?
The 3 dimensional location of the position.
Describe FINE
The Robot will stop at the destination point.
The configuration component describes what ?
The condition of the axes when the robot arrives at the destination position.
What is a HOME position
The home position is a position away from the workpiece transfer área.
When the Motion Type is in Joint..
The robot speed is typically defined as either a percentage of the máximum robot speed, or time.
Where are I/O signals sent ?
The signals are sent to the (EE) End Effector connector located on the robots base
What are the 24v DC signals hardwired too ?
They are hardwired to a connector marked 'EE' (EndEffector) located on the robot itself
What does I/O provide ?
They provide access to data on a single I/O signal line
P[n] = (x,y,z,w,p,r,config.) Which axis are the Orientation ?
W,P,Z are the Orientation
When should the robot be moved to REPAIR position ?
When any repair need to be made to the robot.
When is positional information recorded ?
When the motion instruction is added to the program.
When would you use The HOME position ?
When you want the robot away from the workcell.
If the configuration components change is because most likely the axes might of moved either ?
Wrist : N,F (NonFlip),(Flip) Elbow : U,D(Up/Down) Robot: T,B(Front/Back)
P[n] = (x,y,z,w,p,r,config.) Which axis are the Locations ?
X,Y,Z are the location
Once you change the Position Register frame what happens ?
You're position information will change because it will convert it from Degrees to Millimeters, so you will want to save the info.
What is a Digital I/O ?
a control signal sent to or from the controller
What does motion instruction tell us ?
a motion instruction directs the robto to move in a specific way to a specific location in the workcell using a specified speed.
What is the SAFE position ?
a position away from the fixtures and workpiece transfer área.
Why do the configuration components sometimes change ?
because the Orientation of the wrist axes at the destination position remains the same, but the orientation of the other axes might change.
P[1]
is a Local point
What is Termination Type ?
it is how the robot ends the move to the position.
Open/Close Gripper procedures
must be on program edit Highlight line, Press next & press F1(INST) Select I/O Select the type of I/O press ENTER
