Denso Training
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
•
(WORK 0)
XY Mode- allows
moving the robot
arm in base
coordinates (The
origin is located at
the center of the
base.)
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
•
(WORK 0)
XY Mode- allows
moving the robot
arm in base
coordinates (The
origin is located at
the center of the
base.)
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(Position) -J(Joint) -T(Transform) 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-6th 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
Place Point
Approach
Pick 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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
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
11mm
P2
Speed
Time
P2
P3
P3
Denso –Confirming Reach Position
Pass Motion, @P
•
PROGRAM PASS_MOVE
– TAKEARM
– MOVE P, @P P2
– MOVE P, @E P3
– END
P2
Speed
Time
P2
P3
P3
Denso –Confirming Reach Position
Encoder Check Motion, @E
•
PROGRAM ENCODER_MOVE
– TAKEARM
– MOVE L, @E P2
– MOVE L, @E P3
– END
P2
Speed
Time
P2
P3
P3
Denso – Programming Exercise
Modify APPROACH command as follows:
•0001
•0002
•0003
•0004
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
APPROACH P, P100, @P 75, S=100
END
Denso – Programming Exercise
Press [F1 New Line] and type MOVE
•0001
•0002
•0003
•0004
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
•0010
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
•0010
•0011
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
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
‘!TITLE “PRO4”
PROGRAM PRO4
TakeArm
•0005
•0006
•0007
•0008
•0009
•0010
•0011
•0012
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.
•0001
•0002
•0003
•0004
‘!TITLE “PRO4”
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
‘!TITLE “PRO4”
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, 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
Global
US & Europe
Standard
Japan Only
I/O
Mode
Compatible
OLD RC3
Standard
RC7
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 – 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 – Maintenance
Some important items to check/replace are:
- Backup Batteries:
Controller (Memory) Backup Battery – Retains Variables, IO and
Arm data.
Robot (Encoder) Backup Batteries – Retain Servo Motor
Encoder Position data.
- Controller Filters: Clean filters regularly. Replace when necessary.
Frequency is based on use and environment.
- Timing Belts: Check Tension, Replace if Worn or Broken.
Manuals are your friends!!
Denso – Robot Training
• Thank you!
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
1
98506-C103A
1
CXC10R-00-06-NP
1
CXC10T-00-06-NP
2
CXC10F-18-150-S
2
CXC10UAP-BP
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