scara and single axis robots - quick start guide read first! · 2016-01-08 · (scara robots only)...

QUICK START GUIDE

Read First!

CopyrightCopyright © 2004 Rankin Corporation Yamaha RoboticsAll rights reserved. P.O. Box 937Printed in USA Edgemont, PA 19028

THE INFORMATION IN THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT NOTICE.

The software described in this document is furnished under a license agreement. Thesoftware may be used or copied only in accordance with the terms of those agreements. Nopart of this publication may be reproduced, stored in a retrieval system, or transmitted in anyform or any means for any purpose other than the purchaser’s use without the writtenpermission of Rankin Corporation.

www.yamaharobotics.com

TrademarksYRADS® is a registered trademark of Rankin Corporation.Microsoft®, Windows®, Visual Basic®, Visual C++®, and Visual Studio .NET® are registeredtrademarks of Microsoft Corporation.InstallShield® is a registered trademark of InstallShield Software Corporation.

Limitation of LiabilityIn no event will Rankin Corporation be liable for any damages, including loss of data, lostprofits, cost of cover or other special incidental, consequential, or indirect damages arisingfrom the use of the software or accompanying documentation, however caused and on anytheory of liability. This limitation will apply even if Rankin Corporation or any authorizeddealer has been advised of the possibility of such damage.

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Read First!Welcome

The Yamaha Robotics Application Developer Studio (YRADS®) Quick

Start Guide is designed to direct users through the various steps essential

for the proper installation and use of the YRADS software on the host

computer that will be used to communicate with the PRCX Series Robot

Controller. The guide is divided into two sections:

• Part 1 YRADS Software Installation and PRCX Setup• Part 2 YRADS Software Basics

Be sure that the YRADS Software Installation and PRCX Setup are

performed in the precise sequence described in this guide.

Conventions

The following notations are used throughout this manual:

This symbol indicates that the associated information should beconsidered carefully before continuing with the installation process.

This symbol indicates that serious bodily injury or death may occur ifthe associated actions are not followed explicitely.

This symbol indicates that system software or hardware damage mayoccur if the associated actions are not followed explicitely.

A useful hint or trick is indicated by this symbol. The actionsuggested by this symbol is not required, but might make the task athand a bit easier.

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Table of ContentsPart 1 YRADS Software Installation and PRCX Setup 1

1.1 Package Contents 11.2 Installing the YRADS Software 21.2.1 Hardware Requirements 21.2.2 YRADS Installation Procedure 31.3 Bridge Board Installation 41.3.1 Overview 41.3.2 Board ID Number and DIP Switch Settings 41.3.3 Installing the Board in the Host Computer 51.4 PRCX Installation 61.4.1 Servo Address Setting 61.4.2 Connecting the PRCX to the Host Computer 71.4.3 Connecting the Absolute Batteries in the PRCX 71.5 E-Stop Circuit Jumper Installation 81.6 Windows Device Driver Installation 9

Part 2 YRADS Software Basics 102.1 Overview 102.1.1 YRADS Installed Components & Related Applications 102.2 Using YRADS 122.2.1 Overview 122.2.2 YRADS Main Window 132.2.3 Configuring the Device Tree 142.2.4 Robot Handle Modes 202.2.5 Robot Amplifier Control 222.2.6 Absolute Reset 242.2.7 Establishing a Standard Coordinate System 28

(SCARA Robots Only)2.2.8 Defining Robot Points and Manipulating the Robot 322.2.9 Cycling the Robot 39

1Part 1 YRADS Software Installation and PRCX Setup

Part 1YRADS® SoftwareInstallation and PRCX Setup

1.1 Package ContentsThe carton containing the PRCX Series Robot Controller

contains the following items:

• PRCX Series Robot Controller with Installed Bridge Board

• PRCX Installation Brackets

• PC-Side Bridge Board/CardUsually a PCI board, but it could be a PCMCIA card if one

was specified. In rare instances, an ISA board may be

specified.

• Bridge CableThe main interface cable used to connect the bridge board

in the host computer to the bridge board in the PRCX

controller.

2 YRADS Software Installation and PRCX Setup Part 1

• Emergency Stop Circuit JumperA connector that can be installed on the PRCX controller

to bypass external emergency stop circuitry that may not

be available during the robot setup process.

• YRADS Software Installation CDThe CD containing the YRADS software and related

applications. It also includes the YRADS software

documentation and the PRCX Hardware Installation

Guide.

• Yamaha Documentation CDA CD containing detailed documentation on the Yamaha

Robots and Controllers.

1.2 Installing the YRADS Software1.2.1 Hardware Requirements

The Yamaha Robotics Application Developer Studio (YRADS)

can be installed and run under the following Microsoft Windows

operating systems.

• Windows 2000® (all versions)• Windows XP® Professional• Windows Server 2003 (all versions)

You must have "Administrator" level access rights onthe computer where you will be installing YRADS.Contact your System Administrator to assist with theinstallation process if you do not have sufficientaccess rights.


1.2.2 YRADS Installation Procedure

To install the YRADS software:

1. Insert the YRADS Software Installation CD intothe CD-ROM drive.

After a few seconds, a CD Contents Menu shouldappear on the screen.

2. Click on the “Install YRADS Software” option.

If the CD Contents Menu does not appear, locateand launch the setup.exe application in theYRADS folder on the CD.

At this point, the InstallShield Wizard will appear.

3. Follow the on-screen instructions of theInstallShield Wizard, clicking the “Next” buttonafter making the desired selections and enteringthe required information.

4. When installation is complete, click “Finish” toexit the wizard.

A window appears indicating that Windows has tobe restarted for the YRADS installation to takeeffect.

5. Remove the installation CD and click “Yes” torestart the computer and complete installation.

This concludes the YRADS software installationprocedure.

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1.3 Bridge Board Installation

Make sure that the YRADS Software is installedbefore attempting to install the Bridge Board.Installation of the Bridge Board prior to the YRADSSoftware installation could prevent the systemhardware and/or software from working properly.

1.3.1 Overview

In order for the host computer to communicate with the PRCX,

a bridge board must be installed in the host computer. If a

single host computer will be used to communicate with several

controllers, multiple bridge boards must be installed. For most

installations, PCI bus-compliant bridge boards are supplied. For

demonstration systems or other applications in which a laptop is

to be used, a PCMCIA card will be supplied. In rare instances

(at a customer’s request) an ISA board may be supplied.

1.3.2 Board ID Number and DIP Switch Settings(PCI Bridge Boards Only)

The Board ID is the number by which a PCI Bridge Board is

identified. Normally, the Board ID is pre-set at the factory to the

default setting of “0” and should not be changed, however, when

multiple boards are installed in one PC, the Board ID must be

used to distinguish one board from another. Boards should be

assigned consecutive ID numbers, beginning with “0.” The

board number is established by the positions of switches 5, 6, 7,

and 8 on DIP switch SW1 on the PCI Board.


To set a PCI Board’s ID, use the table below:

1.3.3 Installing the Board in the Host Computer

To install the Bridge Board in the host computer:

1. Consult the host computer’s documentation fordetailed instructions on how to install expansionboard upgrades or PCMCIA cards.

Make sure that the host computer is turned off andthat power is disconnected before performing thefollowing procedures.

Be sure to discharge any static electricity by touchingthe metal surface of the computer chassis and takeany other precautions necessary before handlingelectro-static-sensitive equipment.

2. Install the board, making sure it is firmly seatedand secured.

If installing a PCI board, make sure that the ID hasbeen set per the instructions in Section 1.3.2. TheBoard ID number is required during YRADS controllerconfiguration. It is recommended that you label theboard with its ID number for identification after thecomputer chassis is closed.

BoardID

Switch5

Switch6

Switch7

Switch8

0

1

2

3

4

5

6

7

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

ON

ON

ON

ON

OFF

OFF

ON

ON

OFF

OFF

ON

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

BoardID

Switch5

Switch6

Switch7

Switch8

8

9

10

11

12

13

14

15

ON

ON

ON

ON

ON

ON

ON

ON

OFF

OFF

OFF

OFF

ON

ON

ON

ON

OFF

OFF

ON

ON

OFF

OFF

ON

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

Switch1

Switch2

Switch3

Switch4

OFF OFF OFF

BoardID

0 thru 15 ON

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Note: Switches 1 through 4 shouldalways remain in these positions.


3. Once the bridge board installation is complete,be sure that power to the computer remains off.Power will be turned on in the next section aftersome more connections are completed.

This completes the Bridge Board installation.

1.4 PRCX Installation1.4.1 Servo Address Setting

The PRCX controller appears as an I/O device installed in the

computer. The servo address setting represents this I/O

location. On the inside rear cover of this guide you will find the

PRCX Servo Address for your controller. This I/O address,

which must be entered when defining the PRCX controller in

the YRADS software, is determined by the DIP switch settings

on the KX0-M4510-310 Bridge Board Assembly mounted inside

the PRCX.

When the Bridge Board hardware installed in the hostcomputer is a PCI board, the Servo Address will alwaysbe set to the default value of “0x300” and never hasto be changed.

When the Bridge Board hardware installed in the hostcomputer is a PCMCIA card, the Servo Address willalways be set to the default address of “0x220.” Thisvalue may need to be changed if there is a conflictwith another hardware device installed in thecomputer. Access the Windows Device Manager todetermine the I/O addresses of any hardwareinstalled on the host computer. If a change isrequired, refer to the PRCX Hardware InstallationGuide, located in the "Documentation" folder withinthe "Rankin Corporation" Program Group, forinformation on changing the Servo Address DIPswitches in the PRCX controller.


1.4.2 Connecting the PRCX to the Host Computer

To attach the host computer to the PRCX:

1. Locate and unwrap the interface cable packagedwith the PRCX unit.

2. Connect one end of the cable to the bridgeboard/card connector in the host computer. PCIcables have identical connectors on both ends,while PCMCIA cables have the compatiblePCMCIA card connector on one end only.

3. Connect the other end of the cable to the hostinterface (HOST I/F) connector on the front ofthe PRCX unit.

4. Make sure both connections are securelyattached.

When connecting multiple PRCXs to one PC host, besure to attach each bridge card to its matching PRCX(see Section 1.3.3).

1.4.3 Connecting the Absolute Batteries in the PRCX

The PRCX Absolute Batteries maintain the robot’s absolute

position when controller power is turned off. This eliminates the

need to re-origin the robot during each power cycle.

To connect the Absolute Battery in the PRCX:

1. Refer to instructions in the PRCX HardwareInstallation Guide for connecting the batterycables.

2. Supply power to the PRCX. The AbsoluteBatteries will start to charge.

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3. The Absolute Batteries are NiCad rechargeablecells. Allow the batteries to initially charge forat least 48 hours before removing power.

An alarm is issued if the absolute batteries aredisconnected while the controller power is turned off.When shipped to the customer, the absolute batteriesare not connected to the controller, so an alarm isalways issued when the power is first turned on.Please note beforehand that this error will be resolvedwhen the batteries are connected and the robot’sAbsolute Position is set (see Section 2.2.6).

This completes the PRCX installation.

1.5 E-Stop Circuit Jumper InstallationThe Emergency-Stop Circuit Jumper is a 15-pin jumper supplied

with the system. It can be installed on the PRCX controller to

bypass customer-supplied emergency stop circuitry that may not

be available during the robot installation process.

Extreme caution must be exercised when enabling therobot amplifiers. Be sure that operators and any otheritems are out of the range of the robot work zone.

Certain safety standards require that controller motorpower be gated by a redundant, dual-channel safetyrelay circuit. The Yamaha RYU-1 is a Convenientsingle-package hardware solution that assists in theimplementation of these standards. Contact yourYamaha Distributor for more information.

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To attach the E-Stop Circuit Jumper:

1. Locate and unwrap the 15-pin connectorpackaged with the PRCX unit.

2. Attach the connector to the mating hostinterface (SAFETY) connector on the front of thePRCX unit.

1.6 Windows Device DriverInstallation

The YRADS Software Installation procedure, describedin Section 1.2.2, must be performed before proceedingor the device drivers will not be detected.

To install the Bridge Board drivers:

1. Turn on the computer and boot into Windows.

After logging into Windows, the operating system

will detect the newly installed hardware and will

automatically install the hardware drivers.

2. Wait for an indication from Windows that driverinstallation is complete before proceeding.

If using a PCMCIA Bridge Card, the device driverinstallation will occur after the card is inserted.

This completes the device driver installation.

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10 YRADS Software Basics Part 2

Part 2YRADS® Software Basics

2.1 OverviewAfter completion of the steps described in Part 1 of this manual,

you can begin using the YRADS software to configure the

controller(s) and robot(s). Part 2 of this manual outlines the

basic software functions used to configure a system and

provides a foundation that will allow users to easily develop their

own client software applications. Keep in mind however, that

what follows is a general guideline and is not meant to define

every feature and function of the YRADS software.

2.1.1 YRADS Installed Components and RelatedApplications

During the YRADS software installation, a number of different

software components were installed. These are described

below.

11Part 2 YRADS Software Basics

• YRServer (Yamaha Robotics Server)Launching the YRADS application (or a user application)

causes the start-up of the YRServer, if it is not already

running. The YRServer runs in the background and

manages access to system hardware for all client

applications. Clients, like YRADS or a custom application

developed by the user, are used to control the robot(s’)

motion and other actions. Only one client can control the

robot(s) at a time, but multiple clients can monitor system

information, such as robot positions, simultaneously.

When the YRServer application is running, its icon, shown

at left, will appear in the System Tray at the bottom-right

corner of the screen.

• YRADS (Yamaha Robotics Application Developer Studio)The YRADS application is used to configure the system

hardware and parameters, as well as to teach robot

locations.

• PPB (Hardware Teach Pendant)The PPB (Hardware Teach Pendant) application is

another YRADS client application that allows the PPB to

be used to jog and control the robot(s) hardware. The

use of the PPB is described in its own documentation.

• Yamaha Robotics Application Programmer’s Interface (YRAPI) Library

The YRAPI program functions are called by client

applications in order to move and control the robot.


• YRAPI Library Documentation and Sample Project Files The YRAPI library contains functions and definitions that

are used within a user application to perform robot

operations and other functions. The YRAPI Reference

Manual contains comprehensive information regarding the

use of these functions and definitions, along with related

programming concepts. Additionally, the manual provides

information on how to integrate the YRAPI library into your

Microsoft development projects. You can access the

manual by pressing the "Start" button on the Windows

taskbar and accessing the "Documentation" Folder within

the "Rankin Corporation" program group.

Application programming assistance can also be found by

referencing the sample YRAPI project files that were

installed in the following folder location on your hard drive:

"C:\Program Files\Rankin Corporation\YRADS\YRAPI\

Examples (assumes installation to the default location)

There you will find example projects for various Microsoft

development languages.

2.2 Using YRADS

2.2.1 Overview

The YRADS application is used to create robot hardware

configuration files. These configuration files are saved with a

".yds" extension. The saved YDS file is then later used by a

client application to gain access to the controller and robot

devices connected to the system.


2.2.2 YRADS Main Window

When the YRADS software is installed, a YRADS shortcut icon

is placed on the desktop as shown at left. Double-clicking the

shortcut icon will cause the YRADS Main Window to appear on

the display as shown below.

The Main Window is divided into four main areas; Toolbars and

Pull-Down Menus, the Device Tree, the Message Pane and

another area reserved for features that will be added in future

versions of the YRADS software. All functions can be accessed

from the pull-down menus and many are available from the

toolbar shortcuts. Some are also available by right-clicking

icons in the Device Tree.

YRADS Main Window

DeviceTree

Pane

MessagePane

Toolbarsand

Pull-DownMenus


2.2.3 Configuring the Device Tree

Configuring the Device Tree involves two primary functions; first,

adding a PRCX or multiple PRCXs, and second, adding a robot

or multiple robots to each of the PRCXs.

• Adding a PRCX

To add a PRCX:

1. Click on the PRCX Button in the Toolbar (shownat left) or right-click on the System icon in theDevice Tree and select “Add PRCX...” from thepop-up menu.

The “Add New PRCX” dialog box is displayed as

shown below.

Note that a PRCX can also be added byaccessing the pull-down menus (and many otherfunctions that will be described in the steps thatfollow), in this case, by selecting Device →System → Add PRCX... from the Device pull-downmenu. In the sections that follow, not everyoption for accessing a particular function will bedetailed, but the user is urged to explore theuser interface to become familiar with all of theoptions available.

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Add New PRCX Dialog

Add PRCXButton


2. Enter a name for the PRCX in the “Name” field.

Names can be up to 25 characters, but cannot

contain spaces.

3. Select the Bridge Board/Card type in the hostcomputer that is connected to the PRCX beingadded.

4. If the Bridge Board/Card is a PCI type thenselect "0" to "15" from the Board Number drop-down list. If a PCMCIA type is being used thenselect "0" or "1" from the Card Number drop-down list.

See Section 1.3.2 for information on determining

the Board Number for PCI Bridge Boards.

If a single PCMCIA bridge card is installed,always identify the card as Card “0.” If twoPCMCIA cards are used, the first one installedmust be identified as Card “0” and the secondas Card “1.”

5. Locate the Servo Card Address on the insiderear cover of this manual. Select thecorresponding address from the Servo CardAddress drop-down list.

If the Servo Card Address had to be changeddue to conflicts with other devices installed inthe host computer (see Section 1.4.1), then usethe new Servo Address setting.


6. Click the “OK” button.

A controller icon will now appear in the Device Tree.

Other controllers can be added at any time, in the

same manner, until all of the user’s controllers have

been defined. Alternatively, robots connected to the

newly defined controller can be added before

defining additional controllers.

• Adding a Robot

To add a robot:

1. Click on one of the controllers you added to theDevice Tree to activate the Robot Buttons in theToolbar.

2. In the Toolbar (shown above) click on the RobotButton corresponding to the robot type to bedefined.

Robot Buttons

SCARA CartesianPickand

PlaceFLIP Rotary

PRCX Controller Icon


The “Add Robot” dialog box is displayed as shown

below. The dialog boxes for all of the different robot

types are fairly similar. One difference is that the

dialog box for the FLIP Robot has an option for a

“Multi-Flip” robot arrangement. Activate the "Multi-

Flip" checkbox when multiple single-axis robots will

be assembled by the user to act as a single robot

device. This will allow the selection of a single-axis

linear or rotary device for each axis.

Add FLIP Robot DialogMulti-FlipCheck-Box

Add SCARA Robot Dialog


3. Enter a name for the robot in the “Name” field.

Names can be up to 25 characters, but cannot

contain spaces.

4. Select the Yamaha robot model, thatcorresponds to the robot model being defined,from the Model drop-down list .

5. Click the “OK” button.

As a robot is added, its icon will appear in the

Device Tree, attached to its PRCX controller icon.

The robot axes are also shown. The sample

configuration, shown below, represents a system

with three PRCXs attached to a single host

computer with each PRCX controlling its own robot.

Notice that the robot named "FLIP1", controlled by

"PRCX3", is a Multi-Flip arrangement composed of

two single-axis FLIP robots.

Device Tree(Sample Configuration)

PRCXand SCARARobot Arrangement

PRCXand CartesianRobot Arrangement

PRCXand Multi-FLIPRobot Arrangement


Right-clicking any of the robot icons in theDevice Tree and selecting “Properties...” fromthe pop-up menu will cause a Robot Propertiesdialog for the selected robot to be displayed asshown below. This is a quick and convenientway to verify the robot’s type and model.

• Saving the Device Tree Configuration File

The configuration file can be saved after all PRCX controllers

and robots have been added to the device tree. To save the

configuration file:

1. Choose “Save” from the “File” Menu.

The “Save As” dialog will appear.

2. After choosing a location in which to save theconfiguration file, click the “Save” button.

The saved Configuration File will remain open until

a new file is created (File → New), a pre-existing

file is opened (File → Open) or the YRADS

application is closed (File → Exit).

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Robot Properties Dialog


2.2.4 Robot Handle Modes

When working with robots in YRADS and in a client

application, there are two modes in which a robot can be

opened. The two modes are described below.

• Monitor Handle

A Monitor Handle provides a read-only connection to a

robot and is used to view it's properties, axis parameters

and position. When a robot is open in Monitor Mode you

are not permitted to control the robot or change any of its

properties or axis parameters. When a robot is open for

monitoring in YRADS, its Device Tree icon appears

grayed.

• Control Handle

A Control Handle provides full access to a robot and is

used to view or change it's properties, axis parameters or

position. Only one client application can obtain a Control

Handle for a particular robot. When a robot is open for

control in YRADS, its Device Tree icon appears colored.

To switch a robot from the Monitor Handle mode to the

Control Handle mode:

1. Select the robot in the Device Tree by clicking onits icon.

2. Click on the Control Mode Button (shown above).

The robot icon will now be displayed in color,

indicating that the robot is open for control.

ControlMode

Button

MonitorMode

Button


To switch a robot from the Control Handle mode to the

Monitor Handle mode:

1. Select the robot in the Device Tree by clicking onits icon.

2. Click on the Monitor Mode Button.

The robot icon will now be grayed, indicating that

the robot is open for monitoring.

It is important to note that the Monitor and ControlButtons can only affect a mode change for thecurrently selected robot.

In YRADS, the current Handle Mode of a robot is easily

determined, as shown in the samples below.

CART1Currently

Selected and inMonitor Handle

Mode

Control HandleMode Available

for CART1

SCARA1Control Handle

Mode

Monitor HandleMode Available

for CART1

SCARA1Monitor Handle

Mode

CART1Currently

Selected and inControl Handle

Mode

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Control HandleButton Depressed


In the Device Tree on the left, the Cartesian robot,

CART1, is selected. Its icon is gray and the Monitor

Mode button is depressed, indicating that it is open for

monitoring. It can be opened for control by clicking the

Control Mode button. At the same time, it should be

noted that the SCARA robot, SCARA1, is currently open

for control and its icon is colored. Clicking the Monitor

Mode and Control Mode buttons will have no effect on

SCARA1 however, unless it is selected. In the Device

Tree on the right, you can see that CART1 is now open

for control, as its icon is colored and the Control Mode

button is depressed. Notice also that the green, Robot

Amplifier “ON” button is now also active, allowing the user

to enable the robot amplifiers if so desired.

2.2.5 Robot Amplifier Control

When a robot is open for control in YRADS, the user has

the capability to enable or disable the robot amplifiers.

The amplifiers must be “ON” in order to manipulate the

robot.

• Enabling and Disabling the Robot Amplifiers

Extreme caution must be exercised when enabling therobot amplifiers. Be sure that operators and anyother items are out of the range of the robot workzone.

To enable a robot’s amplifiers:

1. In the Device Tree, select the robot icon whoseamplifiers you want to enable.


2. If the robot is not already open for Control, thenpress the Control Mode button, as describedabove.

3. Click on the green Amplifier “ON” button (asshown at left) to enable the amplifiers for allrobot axes.

To disable a robot’s amplifiers:

1. Follow steps 1 and 2 above.

2. Click on the red Amplifier “OFF” button.

• Enabling and Disabling Individual Axes

To enable or disable individual axes:

1. Make sure the robot is open for control.

2. Click on the Amplifier Control button (shown atleft) to activate the Amplifier Axis Control Dialogas shown below.

3. Use the Amplifier Control Dialog to enable ordisable the desired axes and then click the “OK”button.

AmplifierControlButton

Axis Amplifier Control Dialog


2.2.6 Absolute Reset

When the robot is set up for the first time, the absolute

origin position (zero pulse point) must be determined by

the “Absolute Reset” function. When the robot is powered

off, the absolute origin position is maintained by the

absolute batteries in the PRCX Controller. Once an

Absolute Reset is performed, you should not normally

have to perform this function again.

Before performing the Absolute Reset however, it is

important to first become familiar with the ways in which

Yamaha robots move as the absolute origin position for

each axis is being reset. This is especially important for

SCARA robots.

• X and Y Axis

The individual axes of any Yamaha robot move in either a

linear or rotary manner. By default, all axes that move in

a linear fashion use the torque method to perform an

Absolute Reset. The torque method requires no user

interaction. Most axes that move in a rotary fashion use a

sensor to find the absolute origin position.

A SCARA robot contains three rotary axes and one linear

axis. The linear axis utilizes the torque method to perform

an Absolute Reset, while the remaining axes utlize a

sensor to perform an Absolute Reset.

In the special case of the X and Y axis of a SCARA robot,

special consideration must be taken when performing an

Absolute Reset.


When the robot is first set up, the origin position (as

shown below) is at a point defined by full extension of the

robot arm. During an Absolute Reset, the SCARA X and

Y axes always rotate in a clockwise direction when

searching for this position. For this reason, the robot X

axis arm must be placed toward the “Plus Side” of the

robot origin (within the area shown in red, for example)

before performing an Absolute Reset. The robot Y axis

arm must be placed toward the “Plus Side” with respect to

the X axis arm (within the area shown in blue, for

example). If the robot arms are not positioned correctly

before an Absolute Reset, the origin sensors will not be

found and the axes will continue to rotate to the "minus"

mechanical limit and an overload error will occur. In this

Origin Position

SCARA Robot (Top View)

Minus Side

Plus Side

Return to Originnot possible fromthis area.

Plus Side


case, reposition the robot correctly and simply repeat the

Absolute Reset procedure.

• Z Axis

The Z axis on all Yamaha robots behaves like any other

linear axis. The Absolute Reset function can be

performed without any concern for the Z position of the

robot when the Absolute Reset function is about to be

initiated.

• R Axis

Like the SCARA X and Y axes, the R axis will always

rotate in a clockwise direction during the Absolute Reset.

Unlike the SCARA X and Y axes, there is no mechanical

limit to the R axis motion. During the Absolute Reset, the

R axis will therefore rotate a maximum of one revolution

before finding its origin sensor.

If it is necessary to perform the Absolute Reset aftertooling, air hoses or cabling have been mounted to therobot, make sure the robot is positioned in such amanner (prior to Absolute Reset) that damage toequipment will not result.

To perform the absolute reset:

1. Make sure the robot axes are in the properpositions for Absolute Reset as describedabove. If they are not, turn the amplifiers off (ifnecessary) and move the robot axes to theirproper position(s).


2. After confirming that the robot axes arepositioned properly for Absolute Reset, makesure the robot is open for control and that theamplifiers are now turned on.

Extreme caution must be exercised when enabling therobot amplifiers. Be sure that operators and anyother items are out of the range of the robot workzone.

3. Click the Absolute Reset button in the toolbar(as shown at left) to activate the Absolute Resetdialog box (as shown below).

4. Click the “Reset All Axes” button to reset allaxes, or select the individual axis and click the“Reset Axis” button to reset that axis only.

5. When the absolute origin(s) for the desired axeshave been reset, click the “Done” button.

This concludes the Absolute Reset procedure.

AbsoluteResetButton

Absolute Reset Dialog


2.2.7 Establishing a Standard Coordinate System(SCARA Robots Only)

While SCARA robots can be moved to locations by

specifying positions in encoder pulses for each of the

robot's axes of motion, a standard coordinate system

must be established in order to move a SCARA robot to

locations specified in Cartesian space. A standard

coordinate system can be established for any SCARA

robot based on the X and Y axis arm lengths and the X

and Y axis pulse offsets. When a Yamaha SCARA robot

is built, these values are determined at the factory and

are supplied on a diskette that is shipped with the robot.

Using the YRADS Standard Coordinate System Data

Editor, these values can be imported from the diskette to

easily establish a default standard coordinate system for

the SCARA robot.

The parameter values that Yamaha provides forestablishing a SCARA robot’s standardcoordinate system should be adequate for set-up and testing purposes. If it is determined thata higher level of precision is needed, users mayelect to establish their own standard coordinatesystem using the 4-Point Teach Method (see theYRADS on-line documentation). If this is thecase, the new arm length and pulse offsetvalues calculated by the 4-Point Teach Methodcan be transferred to the database.

To use the Yamaha supplied parameters to establish a

standard coordinate system for a SCARA robot:

T I PT I P


1. Make sure that the *.yds file containing theDevice Tree configuration for the desired SCARArobot has been loaded into YRADS.

2. Make sure that the desired SCARA robot is openfor control.

3. Choose Tools → Standard Coordinate SystemData Editor... from the Tools Menu.

The “Standard Coordinate System Data Editor”

dialog will appear as shown below. When the

dialog box opens, any SCARA robots that are

defined in the current Device Tree will be displayed

in the pane on the right. The pane on the left, that

is used to display Standard Coordinate System

parameters, should be empty if this is the first time

you are setting up a Standard Coordinate System

and there is no data in the database.

Standard Coordinate System Data Editor Dialog(before data import)


4. Locate the Standard Coordinate System Datadiskette supplied with the PRCX Controller andinsert it into the computer’s floppy drive.

5. Click the “Import” button in the StandardCoordinate System Data Editor dialog box.

A standard file “Open” dialog will be displayed.

6. Navigate to the computer’s floppy drive, selectthe “SCSData.dat” file on the floppy disk andthen press the “Open” button.

All data from the “SCSData.dat” file will now appear

in the left pane of the Standard Coordinate System

Data Editor dialog as shown below. Each line of

data will contain the factory-calibrated, X and Y axis

arm lengths and the X and Y axis pulse offsets for

the robot with the corresponding serial number. If

your order consisted of multiple SCARA robots, the

SCSData.dat file will contain the parameters for all

of your SCARA robots.

Standard Coordinate System Data Editor Dialog(after data import)


7. In the right pane, select the desired SCARArobot (for which the standard coordinate systemis to be established) by clicking on it.

8. In the left pane, select the line of datacontaining the serial number that correspondsto the desired SCARA robot by clicking on it. Therobot serial number can be found on the label onthe back of the robot base.

If the selected robot is open for control, a yellow

arrow, pointing from the left pane to the right pane,

will appear in the top button between the two panes

as shown at left.

9. Click on the top yellow arrow to transfer theparameters from the data editor database to theSCARA robot.

A caution dialog will appear that will ask, “Are you

sure you want to overwrite the robot's standard

coordinate system data with the currently selected

item?”

10. Click the “Yes” button.

If there is other data to be transferred to other

SCARA robots in the Device Tree (for which

standard coordinate systems are to be established)

transfer the corresponding calibration data to those

robots in the same manner.

11. When all necessary data has been transferred tothe desired SCARA robots, click the “OK” button.

TransferParameters

to RobotButton


Another caution dialog will appear that will ask, “Do

you want the standard coordinate system

information in the database to be replaced by any

changes made in the editor?”

12. Click the “Yes” button.

This concludes the procedure for importing the Yamaha

standard coordinate system parameters.

2.2.8 Defining Robot Points and Manipulating the Robot

This section provides a brief overview of some of the

basic concepts for defining, or teaching, point locations

and for moving the robot to these points via the YRADS

interface. Point locations and robot motions can also be

defined by using YRAPI functions integrated into other

client applications you may develop on your own.

Point locations can be taught via the YRADS interface in

one of three different ways that are described below:

• Jog Method

With the robot amplifiers enabled, the robot axes can be

moved to any desired location by jogging the robot in

specified increments. Once the robot is in position, the

coordinates can be captured and saved.

• Direct Teach Method

With the robot amplifiers disabled, the robot axes can be


manually moved to any desired location. Once the robot

is in position, the coordinates can be captured and saved.

• Data Entry Method

If the numerical values for any robot location are already

known, then these values can be entered directly into the

system and saved.

The user is encouraged to learn how to use each of these

methods. In the example that follows, the jog method is

used to teach three separate points; one named “HOME,”

another named “PICK” and the last named “PLACE.”

To define some sample data points:

1. Make sure that the *.yds file containing therobot/controller configuration for the desiredrobot has been loaded into YRADS.

2. Make sure that the desired robot is open forcontrol. If the robot is a SCARA type, make surethat a standard coordinate system has beenestablished.

Extreme caution must be exercised whenenabling the robot amplifiers to teach ormanipulate the robot. Be sure that operatorsand any other items are out of the range of therobot work zone when manipulating the robotwith the amplifiers enabled.

3. Enable the robot amplifiers.

4. Click the Soft-TeachTM Pendant button in thetoolbar (as shown at left).Soft-TeachTM

PendantButton


The Soft-TeachTM Pendant dialog box will be

displayed as shown below.

For convenience when teaching robot points, the

Soft-Teach Pendant dialog displays the current

robot position in the upper right-hand corner. This

Position Window can also be displayed separately

by clicking the Position Window button in the

toolbar (as shown at left). If you have not moved

the robot since the Absolute Reset was performed,

the displayed position represents the absolute

origin of the robot. If a standard Cartesian

coordinate system has been established, this

position may be represented by the Cartesian

coordinates, provided that the “Cartesian” radio

Soft-TeachTM Pendant Dialog

PositionWindowButton

Position Window

ViewMode


button is selected in the “View Mode” section at the

bottom right corner of Soft-Teach Pendant. The

robot's position in encoder pulses may also be

viewed if the “Pulse” radio button is selected.

A Model YK250X SCARA robot was used whengenerating the sample dialogs shown in thissection. The robot position values shown arelikely to be quite different from your own, basedon the type and model robot you are using.

5. Set the “View Mode” to “Cartesian” if it is notalready.

6. Click the “Teach New” button, located to the leftof the “View Mode” section.

This transfers the current robot coordinates to the

data entry row below the list of points (currently

empty) as shown below.

T I PT I P

PointList

Data Entry Row


7. Type in the name “Home” for the first robot pointand click the “Add” button.

The newly created point, called “Home” is now

transferred to the point list.

8. In the Soft-Teach Pendant, make sure the “JogMode” button is depressed and select the jogincrement value “D” from the table, as shown inthe figure on the following page.

This selection will cause a robot axis to move in

10 mm increments when it's jog buttons are pressed.

9. Click on the Velocity/Acceleration Lock button tolock the sliders and raise the velocity andacceleration to 50%.

10. Press the down arrow, located next to the Y axisposition indicator as shown in the figure on thefollowing page, to move the axis 10 mm in theminus direction. Observe the position change.Move the Y axis 40 more mm by pressing thedown arrow 4 more times.

Allow the robot to complete its motion betweensuccessive jog movements.

11. Press the up arrow, located next to the X axisposition indicator, to move the axis 10 mm in theplus direction. Observe the position change.Move the X axis 90 more mm by pressing the uparrow 9 more times.

Notice that the new robot position is now displayed

in the Position and how the robot position display

changes as the robot moves.

12. Click the “Teach New” button.

The robot coordinates are transferred to the data

entry row.

T I PT I P


13. Type in the name “Pick” for the second robotpoint and click the “Add” button.

The newly created point, called “Pick” is now

transferred to the point list as shown below.

14. Now, change the “D” jog increment for the X axisonly to 200 mm by clicking in the top yellow boxin the jog increment table and typing in a valueof “200.”

15. Press the “down” arrow, located next to the Xaxis indicator, once to move the robot -200 mmin the X axis.

16. Click the “Teach New” button.

The robot coordinates are transferred to the data

entry row.

Axis “Up” and “Down” ArrowsJog Increments


17. Type in the name “Place” for the third robotpoint and click the “Add” button.

The newly created point, called “Place” is now

transferred to the point list as shown below.

18. Move the robot to any of the points you’vecreated by highlighting the point in the list andclicking the “Move to Point” button. You canalso simply double-click on the point in the listto perform the move.

19. If you wish, you can save these points as part ofthe Device Tree Configuration File by choosing“Save” from the “File” menu.

20. Close the Soft-Teach Pendant dialog box byclicking on the “X” in the upper-right corner.

This concludes the procedure for defining robot points.


2.2.9 Cycling the Robot

This section provides a description of how one would use

YRADS to cycle the robot between various, pre-taught

robot points. To cycle the robot:

1. Make sure that the desired robot is open forcontrol.

Extreme caution must be exercised whenenabling the robot amplifiers to teach ormanipulate the robot. Be sure that operatorsand any other items are out of the range of therobot work zone when manipulating the robotwith the amplifiers enabled.

2. Make sure the robot amplifiers are enabled.

3. Click the Cycle Robot button in the toolbar (asshown at left).

The Location Cycling dialog box will be displayed

as shown below.

CycleRobotButton

Location Cycling Dialog


Any points that have been added as part of the

Device Tree Configuration will appear in the list of

available points on the left. Notice that, in this

example, the list contains the three point locations

(Home, Pick, and Place) we defined in the previous

section. To cycle between any of these locations,

the desired points must be added to the “Selected

Locations” list on the right.

4. Select the point location “Pick” from the“Available Locations” list and click the “Add”button.

The “Pick” location now appears in the “Selected

Locations” list.

5. Select the point location “Place” from the“Available Locations” list and click the “Add”button.

The “Place” location now appears in the “Selected

Locations” list. Point locations appear in the list in

the order in which they are added as shown on the

following page. The order also represents the

sequence in which the locations will be accessed

when cycling begins. After the points are added,

the order can be changed by selecting the point

and moving it up and down in the list by using the

“Move Up” and “Move Down” buttons. Points can

also be removed from the list with the “Delete”

button.


6. Press the “Perform Cycling” button to cycle therobot between the “Pick” and “Place” pointlocations.

Cycling will commence, and will continue until the

“Stop” button in the Location Cycling dialog is

pressed.

This concludes the procedure for cycling the robot

between pre-taught points.

We hope that you have found this Quick Start Guide to be ahelpful introduction to the PRCX PC-based Controller and theuse of the YRADS software system. We believe that you willfind YRADS to be a very robust and powerful tool for creatingyour robot applications. You are encouraged to review theother documentation included with the system. This will helpyou to take advantage of YRADS’ full capabilities.


Notes

Technical Support

For technical support:

Telephone: 610-325-9940Toll Free: 800-82-YAMAHAFax: 610-325-9946E-mail: [email protected]

PRCX Serial Number:Servo Address:



P.O. Box 937Edgemont, PA 19028

Telephone: 610-325-9940Toll Free: 800-82-YAMAHAFax: 610-325-9946E-mail: [email protected]

scara and single axis robots - quick start guide read first! · 2016-01-08 · (scara robots only)...

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