Braas Company

Denso Training - Agenda
• Hardware Overview
• Jogging the robot
• Teaching Positions (using the Teach Pendant)
• Configuring the Robot
• Programming (Using the Teach Pendant)
• I/O Interfacing (Hardware)
• Overview of Development Software
• Maintenance

Denso – Hardware Overview -Controller

Denso – Hardware Overview -Joints

Denso – Hardware Overview -Joints

Denso – Hardware Overview – Connections - VSG
The VS-G Series is equipped with 2 air inputs, 10 signal lines and 3 solenoid valves.

Denso – Hardware Overview –Connections - VSG
There are two air inputs. One feeds the three solenoid valves, one is pass-through.

Denso – Hardware Overview –Connections - VPG
The VP Series is equipped with 4 air lines, 9 signal lines and does not have solenoid valves.

Denso – Hardware Overview –Connections - HSG
The HS-G Series is equipped with 4 air lines,
19 signal lines.

Denso – Hardware Overview -Pendant

Denso – Pendant
Top Screen

Denso – Modes of Operation
(Pendant Control)
(PLC control)
• The Robot has 3 modes of operation.
• Manual- operate the robot from the teach pendant.
• Teach Check – restricted automatic operation
• Auto – Allows the robot to operate automatically.
Manual and Teach Check mode speed is limited to 10% of the robot max speed.

Denso – Manual Operation–Joint Mode -VS
• Joint Modeallows moving each axis independently

Denso – Manual Operation – X-Y Mode -VS
• XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.)
(WORK 0)

Denso – Manual Operation – Tool Mode -VS
• Tool Modeallows moving the robot in mechanical interface coordinates.

Denso – Manual – Joint Mode -Scara
• Joint Modeallows moving each axis independently.

Denso – Manual – XY Mode -Scara
• XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.)
(WORK 0)

Denso – Manual – Tool Mode -Scara
• Tool Modeallows moving the robot in mechanical interface coordinates.

Robot Exercise - Jogging

Robot Exercise - Jogging
• Enable Auto Switch to Manual
• Pendant Mode Key Switch to Manual Mode
• Clear E-Stops
• Manual Mode
– ARM (Speed 10%)
• P -J -T buttons -Viewing Current Position using XY coordinates, Joint coordinates or tool coordinates
• OpeMode – Selects coordinate System for movement
– Motor ON
– Joint/Coordinate Movement using J1 through J6
– Move Robot using all three operating modes
– Inching the Robot

Denso – Work Coordinates
• Up to 7 more work coordinate systems may be specified, WORK 1 – WORK7.

Denso –Tool Coordinates
• Multiple Tool coordinate systems may also be defined,
TOOL 1 – TOOL 63.
• TOOL 0 is always defined as at the flange of the robot.
(TOOL 0)

Denso – Figures of the Robot -Scara
• The two figures for the SCARA robot. Both show the robot at the same location with a lefty and righty figure.

Denso – 6 Axis Robot -Shoulder Figure
(1) Shoulder figure
The rotary axis of the 1st axis is defined as the boundary between
LEFTY and RIGHTY.
When viewed from the normal line on the side of the arm link, if point Pw exists in the left-hand side of the rotary axis of the 1st axis, the figure is
LEFTY; if point Pw exists in the right-hand side, it is RIGHTY.

Denso – 6 Axis Robot –Elbow Figure
The centerline of the arm link (connecting the shoulder with elbow) is defined as the boundary between ABOVE and
BELOW.
If point Pw exists in the + side of the centerline, the figure is ABOVE; if point
Pw exists in the -side, it is
BELOW.

Denso – 6 Axis Robot-Wrist Figure
The rotary axis of the
4th axis is defined as the boundary between
FLIP and NONFLIP.
If the normal line on the flange surface tilts up the rotary axis of the
4th axis, the figure is
FLIP; if it tilts down the rotary axis, it is
NONFLIP.

Denso – 6 Axis Robot-6 th Axis Figure
If the rotation angle of the 6th axis is within the range of
-180 to 180° around the Z axis in mechanical interface coordinates, the figure is SINGLE; if it is within the range of 180° to 360° or -360° to -180°, the figure is DOUBLE.

Denso - Robot Configuration
Access: [F2 Arm] – [F6 Aux] – [F7 Config]
Set to 3.

Denso - Robot Configuration
Access: [F2 Arm] – [F6 Aux] – [F7 Config]
Set to 1.

Denso – Preparation for Programming
• To program we need to understand:
– Variables
– Interpolation Control
– Confirming Reach Position
– Basic Programming Commands
• TAKEARM, MOVE, APPROACH, DEPART, SET,
RESET, DELAY, WAIT

Denso – Variables (Global)
Access: [F1 Program] – [F4 Variable]

Denso – Variables (Global)
Access: [F1 Program] – [F4 Variable] –[F12 VarsUsed]
*All vars configured to
200 on demos.
*Please only use variables numbered greater than
100 for the class

Denso – Variables (Global)
Access: [F1 Program] – [F4 Variable] –[F1 Integer] Access: [F1 Program] – [F4 Variable] –[F4 Position]

Denso –Interpolation Control -Point to Point
• PTP (Point to Point) can be defined as the movement from one point to another point. The path on which the robot moves depends on the robot posture and is not always a straight line.
• If you designate a Type P or Type T variable as the PTP motion destination position and the designate robot figure, the robot moves so that the robot becomes the designated robot figure. If you do not designate any robot figure it will be the current robot figure.

Denso –Interpolation Control
-Continuous Path - Linear
• Continuous Path (CP) control manages interpolation so that the path to reach the motion destination position will be a straight line.
• If you designate “L” for designation of the interpolation method with the motion control command, the robot executes the CP motion.
• When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure a error may occur.
• If the first motion of a program is CP control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

Denso –Interpolation Control
- Continuous Path – Circular (ARC)
• ARC interpolation control manages interpolation so that the path to reach the motion destination position will be an arc.
• If you designate “C” for designation of the interpolation method with the motion control command, the robot executes the ARC motion.
• When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure an error may occur.
• If the first motion of a program is ARC control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

Denso – Programming Exercise

Denso – Programming Exercise
Approach
Pick Point
Approach
Place Point
Pick
P100
Place
P101

Denso – Programming Exercise
Teach two Points into P100 & P101
Access: [F1 Program] – [F4 Variable] –[F4 Position]
P100
P101

Denso – Programming Exercise -Manual
• Move between the two Points
– Select the position you want to move to
– Make sure motor Power is on
– From this screen select [F4 Move]
– Select PTP or CP movement
– Hold OK button to move
P100
P101

Denso – Programming Exercise
Create New Program
Access: [F1 Program] – [F1 NewProg.] – [Program OK]

Denso – Programming Exercise
Remove comment mark from TAKEARM
•0001
•0002
•0003
•0004
•0005
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
END

Denso - Programming
• TAKEARM (Statement)
– Function
• Gets an arm group. Upon the execution of this statement, the programmed speed, acceleration and deceleration will be set to 100. If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin.
– Format
• TAKEARM[<ArmGroupNumber>][<KEEP=DefaultValue>]
– Note:
• TAKEARM command must be issued before any command that may effect robot arm, Ex: SPEED

Denso – Programming Exercise
Press [F1 New Line] and type APPROACH
•0001
•0002
•0003
•0004
•0005
•0006
•0007
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P1, @0 F1, S=100
END

Denso - Programming
• APPROACH (Statement)
– Function
• The robot moves to a position away from the <Base position> by <Approach length> in the Z direction of the tool coordinate system.
– Format
• APPROACH <Interpolation method>, <Base position>,[<Path start displacement>]<Approach length>[,Motion option>][,NEXT]
– Example:
• APPROACH P ,P1,@0 F1,S=100

Denso –Confirming Reach Position
• Pass Motion, @P
– is to pass the vicinity of a taught motion position or relative position
• End Motion, @##
– is determined if the robot has reached the destination position when the command value of the servo system meets the destination position.
• Encoder Value Check Motion, @E
– is determined when the encoder feedback value is within a designated window around the destination position.

Denso –Confirming Reach Position
End Motion, @##
• PROGRAM END_MOVE
– TAKEARM
– MOVE L, @11 P2
– MOVE L, @E P3
– END
P2
11mm
P2 P3
Time
P3

Denso –Confirming Reach Position
Pass Motion, @P
• PROGRAM PASS_MOVE
– TAKEARM
– MOVE P, @P P2
– MOVE P, @E P3
– END
P2
P2 P3
Time
P3

Denso –Confirming Reach Position
Encoder Check Motion, @E
• PROGRAM ENCODER_MOVE
– TAKEARM
– MOVE L, @E P2
– MOVE L, @E P3
– END
P2
P2 P3
Time
P3

Denso – Programming Exercise
Modify APPROACH command as follows:
•0001
•0002
•0003
•0004
•0005
•0006
•0007
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
END

Denso – Programming Exercise
Press [F1 New Line] and type MOVE
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE P, @0 P1, @0 P2, S=100
END

Denso - Programming
• MOVE (Statement)
– Function
• Moves the tip of the tool to the specified coordinates.
– Format
• MOVE <Interpolation method>,[@<Path start displacement>]<Pose>[,[@<Path start displacement>]<Pose>…][,<Motion option>][,NEXT]
– Examples:
• MOVE P, @P P50
• MOVE L, @E P1,S=75
• MOVE P, @0 (740,0,480,180,0,180,5),NEXT
• MOVE C, P100, @P P101

Denso – Programming Exercise
Modify MOVE command as follows:
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
END

Denso – Programming Exercise
Press [F1 New Line] and type RESET
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
END

Denso - Programming
• RESET (Statement)
– Function
• Sets an I/O port to OFF.
– Format
• RESET <I/O variable>[,Output time>]
– Example:
• RESET IO66

Denso – Programming Exercise
Press [F1 New Line] and type SET
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
•0010
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
END

Denso - Programming
• SET (Statement)
– Function
• Sets an I/O port to ON.
– Format
• SET <I/O variable>[,Output time>]
– Example:
• SET IO66

Denso – Programming Exercise
Press [F1 New Line] and type DELAY
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
•0010
•0011
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
END

Denso - Programming
• DELAY (Statement)
– Function
• The program processing stops until the time designated by <Delay time> elapses. <Delay time> is expressed in ms, however, the actual delay time changes in increments of 1/60. If multiple tasks are processed at the same time, the delay time may possibly be longer than the designated value.
– Format
• DELAY <Delay time>
– Example:
• DELAY 120

Denso - Programming
• WAIT (Statement)
– Function
• The program processing stops until <Conditional expression> is satisfied. If a <Timeout time> is set, controls stops the execution of a wait statement after the designated time elapses and proceeds to the next command. The WAIT command will assign
TRUE(1) or FALSE(0) to the designated <Storage variable> if control passes out of the WAIT by the satisfied <Conditional expression or by timeout.
– Format
• WAIT <Conditional expression> [,<Timeout time> [,<Storage variable>]]
– Examples:
• WAIT IO10 = ON
• WAIT IO134 = OFF, 2000, I1

Denso – Programming Exercise
Press [F1 New Line] and type DEPART
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART P, @0 F1, S=100
END

Denso - Programming
• DEPART (Statement)
– Function
• The robot moves by <Depart length> distance from the current position in the Z direction of the tool coordinate system.
– Format
• DEPART <Interpolation method>,[<Pass start displacement>]<Depart length>[,<Motion option>][,NEXT]
– Example:
• DEPART L,125,S=F123

Denso – Programming Exercise
Modify DEPART command as follows:
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART L, @0 75, S=100
END

Denso – Programming Exercise
Highlight the APPROACH command, press and hold the shift key, scroll down to the DEPART command.
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART L, @0 75, S=100
END

Denso – Programming Exercise
With the DEPART command highlighted, press copy, then press paste.
‘!TITLE “PRO4” •0001
•0002
•0003
•0004
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
•0013
•0014
•0015
•0016
•0017
•0018
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART L, @0 75, S=100
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART L, @0 75, S=100
END

Denso – Programming Exercise
Modify the program to match the following:
•0001
•0002
•0003
•0004
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
•0013
•0014
•0015
•0016
•0017
•0018
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
APPROACH P, P100, @P 75, S=100
MOVE L, @E P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART L, @0 75, S=100
APPROACH P, P101, @0 75, S=100
MOVE L, @0 P101, S=100
RESET IO64
SET IO65
DELAY 100
DEPART L, @P 75, S=100
END

Denso – Programming Exercise
• Save Program (F6)
• Compile Program (From Program list, “Config”; “Make the specified program active?”, ”OK”; Do you want compile?, “OK”)
• Set the Robot control to run off the pendant vs. PLC.
– Cancel to the Top Screen
– Set Pendant to Manual Mode
– [F4 IO] – [F6 Aux] –[F1 Set H/W]
– Set Parameter 31 “Single Point of Control” to Internal (0)

Denso – Programming Exercise- Teach Check
• Set hardwired ‘Enable Auto” Switch to Manual
• Hold deadman switch on
• Press “Motor” button to enable servos on Robot
• Set the Pendant to TEACHCHECK Mode
• Select the program from the Program List
• [F4-CycStart]
• To make motion press and hold the “OK”
– If you release the “OK” button, repeat steps 13 thru 15.

Denso – Programming Exercise- Auto
• Set hardwired ‘Enable Auto” Switch to Auto
• Set the pendant to AUTO
• Press “Motor” button to enable servos on Robot
• Select the program from the Program List
• [F4-Start]
• Select “Single-Cycle” or “Continuously”

Denso – Programming Exercise-Cycle Time
• Monitoring Cycle Time
– To Enable:
• [F1 Program] [F6 Aux.] [F1 Set PRJ]
• Parameter 14 – Delete cycle time calculation code
– 0 Measure the run time of all programs
– 1 Measure the run time of programs in the folder, that can be called through IO. (Roots are named “PRO*”)
– 2 Do not measure the run time of programs.

Denso Training - Agenda
• Hardware Overview
• Jogging the robot
• Teaching Positions (using the Teach Pendant)
• Configuring the Robot
• Programming (Using the Teach Pendant)
• I/O Interfacing (Hardware)
• Overview of Development Software
• Maintenance

Denso – Control Interfaces
• Safety I/O
• Hardwired Handshake
– Standard
– Optional Expansion IO
• DeviceNet
• Ethernet/IP
• Operator Panel

Denso – I/O Command Details
• To determine which documentation to use look for Hardware Type and I/O Mode .
Hardware
Type
I/O
Mode
Compatible
OLD RC3
Global
US & Europe
Standard
RC7
Standard
Japan Only

Denso -Safety I/O Connector
• E-Stops must be made for Manual, Teach-Check and Auto modes.
• The Protective Stop and
Enable Auto inputs must be made for Automatic operation.

Denso -Safety I/O Connector
Each row is a twisted pair in the cable.

Denso –Mini I/O Connector
Internal / External Power
• The default wiring is for an external 24VDC supply on the Mini I/O Connector.

Denso – I/O Command Details

Denso – I/O Command Details

Denso – I/O Command Details – w/Parallel I/O

Denso – I/O Allocation

Denso – DeviceNet
• DeviceNet Option Card
– May be ordered with the controller (Recommended) or field installed.
– Slave Board, Master Board, Master/Slave Board options
– Uses the Extended Command area & Data area implementation
• Same as the Expansion IO approach
• Same as the RC5 DeviceNet Implementation
PLC
DeviceNet

Denso – DeviceNet
• Ethernet/IP Option Card
– May be ordered with the controller (Recommended) or field installed.
– Slave Board only
– Uses the Extended Command area & Data area implementation
• Same as the Expansion IO approach
PLC
Ethernet/IP

Denso – Operator Panel
• The operator panel is a feature of the operator pendant. It allows the pendant to be used as an operator interface for the robot.
Access: [F5 OpePanel] Exit: [[Shift]-[Cancel]]

Denso Training - Agenda
• Hardware Overview
• Jogging the robot
• Teaching Positions (using the Teach Pendant)
• Configuring the Robot
• Programming (Using the Teach Pendant)
• I/O Interfacing (Hardware)
• Overview of Development Software
• Maintenance

Denso –Software – WinCaps III

Denso – Software
• Always upload Robot Configuration from the controller before doing any programming!
• Save the settings from the factory and the last programs, so that you can restore what you had.
Robot controller

Denso – Software – Project Wizard
• Wizard for setting up the application

Denso –Software – Variable View

Denso –Software -DIO View

Denso – Software – Arm View

Denso –Software – WinCaps III - CAD Import

Denso –Software -ArmPlayerPlus
• Robot simulation software
• Allows the user to:
– Visually see the robot cycle
– Determine the execution time of a program cycle
– Step thru the program to see the time for each step
– Build a trial program

Denso –Software -ArmPlayerPlus
• ArmPlayerPlus -Simulate the robot moving between multiple points and determine the cycle time.

Denso – Software - Error Log
Access: [F6
–Set] [F2 –Log.] [F1 -ErrLog]
Document: error-e.pdf

Denso – Software - Operation Log
Access: [F6
–Set] [F2 –Log.] [F2 -OprLog]

Denso – Maintenance
Access: [F6
–Set] [F6-Maint.]

Denso – Maintenance
Access: [F6
–Set] [F6-Maint.]

Denso – Robot Training
Please fill out the evaluation.

Denso – Appendix A –Collision Detection
• Example Collision Detection Components
– Used on Demo Cell
– Part Number Quantity
– QSAP-25AISOBC31.5
1
– QS-25ANP-T3
– 98506-C103A
1
1
– CXC10R-00-06-NP
– CXC10T-00-06-NP
– CXC10F-18-150-S
– CXC10UAP-BP
1
2
2
2
Description
Denso VS6556 to QS25 Adapter
Applied Robotics Quickstop
PAK-QS25A/CXC10 Adapter
AR Robot Tool Adapter Unit
AR Tool Adapter Unit
AR Tool Support Fixture Plate
AR Product Adapter Kit