Robots of IE CIM LAB
The SCORBOT-ER 9 is a five-axis
vertically articulated robot designed
for work in
industrial training facilities.
With a multi-tasking controller that
provides real-time control and
synchronization of up to 12 axes, 16
inputs and 16
outputs, the
SCORBOT-ER 9 supports both
stand-alone applications as well as
sophisticated automated work cells.
IE 447 - CIM Lecture Notes - Chapter 9
MHS
SCORBOT ER9
1
Steps in Robot Programming
Programming of an Industrial Task
1. Teach Pendant Operation
• move the robot arm in
AUTO MODE
– Joints
– Cartesian
– Tool coordinates
• Control robot grippers and
the speed of motion
• Record positions to the
robot controller’s memory
• Move robot arm to
recorded positions
1
AXIS 1 X
CLR
GROUP
SELECT
RUN
CONTROL
ON/OFF
OPEN
CLOSE
IE 447 - CIM Lecture Notes - Chapter 9
MHS
4
AXIS 4
7
2
AXIS 2 Y
5
AXIS 5
8
3
AXIS 3 Z
6
AXIS 6
9
0
SELECT
AXIS
AXIS 7
AXIS 8
AXIS 9
SINGLE
STEP
SPLINE
INSERT
MOVE C
DELETE
MOVE
SPEED (%)
ENTER
MOVE L
SPEED L(%)
EXECUTE
ABORT
RECORD
POSITION
2