study material

Mitsubishi Electric – Robot Advanced Training – Ho 08/2006

Robots Advanced Course /// Robots Advanced Course /// Robots Advanced Course /// Robots Advanced Course

Study MaterialStudy Material

obots

Advanced Course



• Safety Information and WarningSafety Information and Warning p. 3p. 3

• Expansion CardsExpansion Cards p. 5p. 5 • CommunicationsCommunications p. 7p. 7

• Inputs and outputsInputs and outputs p. 9p. 9• RS-232 and RS-422RS-232 and RS-422 p. 13p. 13• CC-LinkCC-Link p. 29p. 29• ProfibusProfibus p. 49p. 49• Ethernet Ethernet p. 57p. 57

• MultitaskingMultitasking p. 88p. 88 • Compliance ControlCompliance Control p. 102p. 102 • Multi Mechanism ControlMulti Mechanism Control p. 113p. 113

• RobotsRobots p. 116p. 116• ExamplesExamples p. 122p. 122• ServosServos p. 128p. 128

• Sensorless crash detectionSensorless crash detection p. 146 p. 146

Contents 1



Contents 2 • TrackingTracking p. 154p. 154• Tracking “Red Line”Tracking “Red Line” p. 162p. 162 • System “tuning”System “tuning” p. 174 p. 174 • Euromap 67Euromap 67 p. 185p. 185



Safety Information and Warning



Safety Information and Warning

The robot movements used in the practical exercises are executed without the normal necessary safety facilities.

Please maintain the proper safety distance from the robot system and only execute the movement sequences when the instructor is there to supervise.

- Thank You!-



Expansion Cards

All CRn-5xx controllers can be operated with expansion cards. Programming can be performed in MELFA BASIC IV or with the MOVEMASTER Command. We recommend MELFA BASIC, however, because the MOVEMASTER Command has a number of limitations.

If you want to use expansion cards on the CR1 controller you must first install an Expansion Option Box. The cards

can then be installed in the box.



Expansion Cards

Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3Eth - - Eth SIO AX Eth SIO -SIO - - Eth CC AX Eth CC -

- SIO - Eth SIO PB Eth AX -- CC Eth AX PB Eth - AX

AX - - SIO SIO AX Eth PB -- AX - SIO PB AX Eth - PB

- AX SIO CC AX SIO PB -PB - - SIO SIO -- PB - SIO CC -- - PB SIO AX -

SIO - AXLegend AX SIO -

Eth AX CC -SIO AX PB -CC AX - PBAX PB SIO -PB PB AX -

PB - AX 2A-RZ577 Profibus card

1 Slot Occupied 2 Slots Occupied3 Slots Occupied

2A-HR575 CC-Link card 2A-RZ541 additional axis card

2A-HR533 Ethernet card 2A-RZ581 serial port card



Communications



Overview

Series A robots can communicate with their peripherals in a number of different ways.

• I/Os Inputs and outputs

• RS-232 Serial port

• RS-422 Serial port

• CC-Link Mitsubishi network

• Ethernet TCP/IP

• Profibus



Inputs and Outputs

The simplest form of communication is via inputs and outputs. Everycontroller has a number of inputs and outputs built in. The numberof I/Os can be increased with external I/O expansion modules, eachof which have 32 I/Os.

You can add up to 7 I/O expansion modules to each controller.

• CR 1 16 I/Os Standard expandable to 240 I/Os• CR 2/CR 2A/B 32 I/Os Standard expandable to 256 I/Os • CR 3B 32 I/Os Standard expandable to 256 I/Os



I/O Assignments

Some of the controller’s standard integrated I/Os are pre-assigned,but you can change the assignments if necessary.

INPUT OUTPUTSERVO ON 4 1SERVO OFF 1 -START 3 0STOP 0 -ERROR - 2ERROR RESET 2 -I/O ENABLE 5 3

The controllers also have functions that can be assigned to the I/Os. For further details please refer to the hardware manuals.



Hardware Inputs & Outputs

• The I/O modules have the designation 2A-RZ 371.• The last module can be max. 50 m from the controller.• Set the station number.• The modules are connected with the ROI connector on the back of the module.

CN300

CN100

Station No.



Questions ??



obot

RS-232 & RS-422RS-232 & RS-422



RS-232 & RS-422

The RS-232 port is a standard feature in the control panel of the NARC controller. This port is usually used to communicate withCosirop/Cosimir. You can also install a serial port expansion card. Depending on thecontroller model the card must be installed in the controller itself orin the Expansion Option Box.

2A-RZ 581



RS-232 & RS-422

2A-RZ 581

The serial port expansion card has 2 connectors for:

• 1x RS-232 and 1x RS-422 or• 2x RS-232

Connector CON 1 is reserved exclusively for RS-232.

Connector CON 2 can be used for RS-232 or RS-422.



RS-232 & RS-422

Pin No. Signal Name Description I/O Notes2 TXD Transmit data O3 RXD Receive data I4 RTS Request to send by computer O5 CTS Peripherals ready to receive data I6 DSR Peripherals ready (on) I20 DTR Computer ready (on) O7 SG Common signal ground -1 FG Frame ground - connects GND with cable shielding8 DCD Data carrier detect - modem only (switched on) I22 RI Ring indicator - modem only, indicates incoming call I

RS-232 pin assignments on CON 1 (channel1)



RS-232 & RS-422

Pin No. Signal Name Description I/O Notes2 TXD Transmit data O3 RXD Receive data I4 RTS Request to send by computer O5 CTS Peripherals ready to receive data I6 DSR Peripherals ready (on) I20 DTR Computer ready (on) O7 SG Common signal ground -1 FG Frame ground - connects GND with cable shielding8 DCD Data carrier detect - modem only (switched on) I22 RI Ring indicator - modem only, indicates incoming call I

RS-232 pin assignments on CON 2 (channel 2)



RS-232 & RS-422

Pin No. Signal Name Description I/O13 TXDH Transmit data + page O12 RXDH Receive data + page I11 DTRH Computer is ready (on) + page O10 DSRH Peripherals ready (on) + page I25 TXDL Transmit data - page O24 RXDL Receive data - page I23 DTRL Computer ready (on) - page O22 DSRL Peripherals ready (on) - page I9 SG Common signal ground -

RS-422 pin assignments on CON 2 (channel2)



RS-232 & RS-422CBAUxx Parameter

Parameter Name

Description Default Value

CBAUxx Data transfer rate 9600

The data transfer rate sets the communication speed between the devices in bits per second.

• Possible values: 2400/ 4800 / 9600 / 19200

Make sure that the setting of the connected device matches the parameter setting.



RS-232 & RS-422CLENExx Parameter

Parameter Name


CLENExx Data bits 8

The data bits parameter specifies how many bits per character are transmitted.

• Possible values: 7 or 8 data bits




RS-232 & RS-422CPRTYExx Parameter

Parameter Name


CPRTYExx Parity 2

The parity bit is used to check that the received character is correct.

• Possible values: 0 / 1 / 2 = NON / ODD / EVEN




RS-232 & RS-422CSTOPxx Parameter

Parameter Name


CSTOPxx Stop bits 2

The stop bits value specifies how many bits should be waited after sending a character before the next character is transmitted.

• Possible values: 1 or 2




RS-232 & RS-422CTERMExx Parameter

Parameter Name


CTERMExx End of transmission 0

• Possible values: 0 / 1 = CR / CRLF




RS-232 & RS-422CPRCExx Parameter

Parameter Name


CPRCExx Protocol for the port 0

• 0 : No Procedure =Enables communication with the programming packages

• 1 : Reserved Reserved

• 2 : Data Link = Enables communication with theData Link Instructions like OPEN/INPUT/PRINT




RS-232 & RS-422CDTRExx Parameter

Parameter Name


CDTRExx DTR control 0

The setting is always NO when COSIMIR/COSIROP or Melfa Basic 4 are used.

• Possible values: 0 / 1 = NO / YES




RS-232 & RS-422Parameter List



RS-232 & RS-422



Questions ??



obot



CC-Link – General Information

• Network system developed by Mitsubishi• Open network administered by the CLPA• The network operates in Master/Slave mode but

also supports operation of a standby master• Supported masters: Q and A series PLCs and slot-in

PC cards

• High data transfer rates




RemoteI/Os

Encoders, valve blocks

Robots,MMI

PLCField

devicesDrives

FieldLevel

ControlLevel

CellLevel

ETHERNET/MAP

CC-Link

Net/10




• Master/local and Master/remote• Max. 64 slave stations per network• Max. net cable length 1.2km• Max. transfer rate 10Mbps• Remote I/Os can be replaced while the system is in

operation • Occupies 32 I/Os




I/O data and data words are transmitted

The local station:• Receives the input data of the remote I/O or device

station and transmits the output data of the station to the master station or another local station.

• Receives the output data of the master station.• Receives the word data of the master station.• Receives the word data of the remote device station or

another local station and transmits the word data of the station to the master station or another local station.




Transmission speed 156 kbps 625 kbps 2.5 Mbps 5 Mbps 10 Mbps

Max. distance 1200m 600m 200m 150m 100m

No. of stations 64 (max. 42 remote and 26 intelligent devices)

Link points per station 64I/Os, 8 registers

Link points per network 2,048 I/Os, 512 registers

Communication method Polling method

Synchronisation Frame synchronous method

Cable BUS (RS-485), shielded twisted-pair cabling

RAS functions Automatic return

Slave station separation

Communications & error monitoring




Transmission Speed 1

156 kbps Over2m

625 kbps

5 Mbps

2,5 Mbps

10 Mbps

2 Total Length

Over 30cm

Over 30cm

Over 30cm

Over 60cm

30cm – 59cm

Over 1m

60 cm – 99cm

30 cm – 99cm

1200m

600m

200m

150m

110m

100m

80m

50m

Distances: 1 = Master, local or intelligent device station – remote I/Os or remote device station2 = Remote I/Os or remote device station – remote I/Os or remote device station




Standard cabling conforming to the above specifications can be used.

Cable Shielded twisted-pair cabling Cross-section 0.5mm² Line resistance (20°C) 37.8W/km Electrical capacitance (1kHz) 60nF/km Impedance (1MHz) 100 ±15% Insulation resistance 10,000 Dielectric strength 500V DC for 1 minute Maximum range 1200m Cable structure

DA

DB

Insulation

Shield

Aluminium shealth

DG

Earthpoint

wh

bl

yw




DA DA DA

DB DB DB

DG DG DG

SLD SLD SLD

FG FG FG

TerminatingTerminatingresistorresistor

TerminatingTerminatingresistorresistor

Master ModuleMaster Module Remote ModuleRemote Module Local ModuleLocal Module

Shielded twisted-pair Shielded twisted-pair cablingcabling

Shielded twisted-pair Shielded twisted-pair cablingcabling

• Shielded twisted-pair cabling

• Avoid loops

• Serial wiring without branches

• Terminate line ends with resistors

The terminating resistor is included with the master station.



CC-Link – Robots

2A-HR 575

SLOT 2



CC-Link – RobotsDesignation Description

Communications function Communication is performed with bits and data words

Station type Intelligent device station

Master/Local Can only be used as a local station

Number of cards Only one card can be used in slot 2

Number of stations 1 or 4 can be selected

Remote I/Os

Max No. 1 bits Inputs 2,048 Outputs 2,048

1 Station 30 inputs + 2 reserved inputs30 outputs + 2 reserved outputs

4 Stations 126 inputs + 2 reserved inputs126 outputs + 2 reserved outputs

Remote Registers

Max No. 16 bits

Input words 256 Output words 256

1 Station 4 inputs words + 4 output words

4 Stations 16 input words + 16 output words



CC-Link – Robot Card

DIPSwitchesSwitches

MODEBaudrate

Station No.x1 x10

Configure the settings described on the next slide before installing the card!



CC-Link – Robot Settings

Rotary switch

position

Baud Rate BPS

0 156KBPS

1 625KBPS

2 2.5MBPS

3 5MBPS

4 10MBPS

Baud rate setting

Select the switch setting before assembling the drive unit!

All network parameters must be identical on all network stations.



CC-Link – Robot SettingsNo. Name Description

0 Online Normal operation

1

2 Offline Stop mode

3 Test 1 Data Link Test

4 Test 2 Remote Stations Test

5 Test 3 Parameter Test

6 Test 4 Hardware Test

7

8 Test 5 free

9 Test 6 free

A Test 7 free

B

MODE switch setting



CC-Link – Robot Settings

SW Designation Description Switch Position

Off On

1 Station type Master/Local station or standby station M/L Station Standby Station

2 free

3 free

4 Error data Should data be kept or set to “0” in the event of an error

Delete Keep

5 No. of stations

Specifies whether 1 or 4 stations are to be used

1 Station

4 Stations

6 free

7 free

8 Unit mode Normal communication is selected free Fixed

DIP switch settings



CC-Link – Robot InstructionsDesignation Description

Executable robots instructions

M_IN Read 1 bit IF M_IN(6000)=1 THEN GOTO 10

M_OUT Write 1 bit M_OUT(6005)=1

M_INB Read 8 bits IF M_INB(6000)=10 THEN GOTO 10

M_OUTB Write 8 bits M_OUTB(6015)=100

M_INW Read 16 bits IF M_INW(6000)=10 THEN GOTO 10

M_OUTW Write 16 bits M_OUTW(6015)=32000

M_DIN Read data from register IF M_DIN(6000)=-10 THEN GOTO 10

M_DOUT Write data to register M_DOUT(6003)=345

Exclusive input / output parameters

STOP2 CC-Link can stop the robot via the STOP2 input

DIODATA Like IODATA, returns the program number, error number, line number etc.



CC-Link – Robot Connections (I/Os)

Don’t forget that the last two bits for every robot are always reserved!



CC LINK – Robot Connections (Registers)

When you select one station you can use 4 registers; when you select 4 stations 16 registers are available.



CC-Link – Robot Error Codes

Alarm No. Designation Solution

7700 CC-Link card not in slot 2 Install card in slot 2

7710 Card station number = 0 Select a different station no.

7720 Two CC-Link cards installed Remove one of the cards

7730 Data link error Check cable and parameters

7750 Parameter errors Check parameters

7760 CC-Link Init error Check parameters and station numbers

7780 Register out of assigned range Check parameters

7781 Input signal is for CC-Link Check program

7799 CC-Link system error Check program



Questions ??



Profibus



Stable standards protect investments

Source: Namur, AK 3.5, as well as practical experience from many applications

PROFIBUS is a part of the international fieldbus standard IEC 61158

The PROFIBUS Technology is specified in the vendor independent standards EN 50170 and EN 50254

PROFIBUS is proven with an installed base of more than

5,000,000* devices world-wide

PROFIBUSEN 50170



Profibus – Robots

2A-RZ 577

ALL Slots



General



Parameter

PBMODEPBMODE 0=normal mode / 2=self diagnostic0=normal mode / 2=self diagnostic

PBNUMPBNUM Station no. 0-125Station no. 0-125

PBMCPBMC 1=class 1 / 2=class2 (PBNUM invalid)1=class 1 / 2=class2 (PBNUM invalid)

E8500E8500 0=enable ERROR / 1=ignore ERROR0=enable ERROR / 1=ignore ERROR



Profibus Signal numbers



Questions ??



ETHERNETETHERNET

obotsCourse Material



Ethernet Terminology: Network Cabling

•10baseT-UTP10baseT-UTP Twisted-pair 4-wire cable, unshieldedTwisted-pair 4-wire cable, unshielded

• 10baseT-STP10baseT-STP Twisted-pair 4-wire cable, shieldedTwisted-pair 4-wire cable, shielded

• 10baseF10baseF Fibre-optics cableFibre-optics cable

•10baseT-UTP10baseT-UTP Twisted-pair 4-wire cable, unshieldedTwisted-pair 4-wire cable, unshielded

• 10baseT-STP10baseT-STP Twisted-pair 4-wire cable, shieldedTwisted-pair 4-wire cable, shielded

• 10baseF10baseF Fibre-optics cableFibre-optics cable

Network cabling:Network cabling:

The following standard cable types are available today, in a wideThe following standard cable types are available today, in a wide

variety of choices:variety of choices:

• 10base210base2 Thin Ethernet cableThin Ethernet cable

• 10base510base5 Standard “thick” Ethernet coaxial cableStandard “thick” Ethernet coaxial cable



Ethernet Terminology: Network Cabling

Ethernet network cabling properties:

Parameter 10base5 10base2 STP UTP 10baseF

Cable type Coaxial Coaxial 2 twisted pairs 2 twisted pairs Fibre-optic

Diameter 10,3 mm 4,7 mm

Bend radius approx. 20cm approx. 8cm

Shielding Double Single Single None Not required

Cable designation RG 8A/U RG 58A/URG 58C/U

Max. segment length 500 m 185 m 100 m 100 m ca. 2000 m

Max stations per segment 100 30 2 2 2



How Ethernet works (CSMA/CD)

• Carrier sense: Station(s) that want to transmit listen(s) on the network lineCarrier sense: Station(s) that want to transmit listen(s) on the network line

• Multiple access: All stations wanting to transmit compete with equal rightsMultiple access: All stations wanting to transmit compete with equal rights

for access for access

• Collision detection: Stations listen to the line during transmission (to check Collision detection: Stations listen to the line during transmission (to check

for collisions)for collisions)

• When a collision is detected a jamming signal is sentWhen a collision is detected a jamming signal is sent

• All transmissions are stopped after detection of a jamming signalAll transmissions are stopped after detection of a jamming signal

• Data are resent after a randomly chosen delay period (detect and retransmit Data are resent after a randomly chosen delay period (detect and retransmit

in micro-millisecond range)in micro-millisecond range)

=> Non-deterministic procedure=> Non-deterministic procedure



Communication Flow Chart

DTE wantsDTE wantsto transmitto transmit

Transmit dataTransmit dataand listen to lineand listen to line

End transmissionEnd transmission

Wait usingWait usingbackoffbackoff

algorithmalgorithm

End transmissionEnd transmissionand sendand send

jamming signaljamming signal

AttemptsAttempts> 16?> 16?

Line free?Line free?

End transmissionEnd transmissionwith timeoutwith timeout

NoNo

NoNo

YesYes

Collision detectedCollision detected



Acronyms

TCP Transmission Control Protocol

IP Internet Protocol

UDP User Datagram Protocol

ARP Address Resolution Protocol

ICMP Internet Control Message Protocol



Acronyms

DTE Data Terminal Equipment

LLC Logical Link Control

MAC Media Access Control

PLS Physical Signalling

AUI Attachment Access Control



Acronyms

MAU Media Access Unit

PMA Physical Media Attachment

MDI Media Dependent Interface



Ethernet & Robots

SLOT 1

2A-HR 533

2A-HR 533



The Ethernet Card

Select 10Base-5 or 10Base-T with switch SW1 before installing the card.



Ethernet

Version Communication Server Server/Client Functions< E2

E2 - E4 OK OK - -F- H6 OK OK - OK>= H7 OK OK OK OK

No Ethernet functions

When the controller starts up the software version of the Teaching Box is displayed in the upper right section of the Teaching Box display. After completion of the startup procedure the operating system version is shown in the same display.

Ethernet functions supported by the operating system versions:



Hardware for a direct 1:1 connection

The following hardware is required for an Ethernet connection between one computer or one PLC and one robot controller:

- A PC with an Ethernet card (10Base-T or 10Base-5) or a PLC with A/QJ71E71

- A robot controller with an Ethernet card (Part No. 129809)

-- The CR1 controller requires an additional Expansion Option Box for installation of the Ethernet card

- A crossover cable for direct connection (1:1) to the robot controller for 10Base-T



Hardware required for a 1:n connection

The following hardware is required to establish an Ethernet connection between multiple nodes and one or more robot controllers:

- PCs with Ethernet cards (10Base-T or 10Base-5) or PLC A/QJ71E71

- Robot controllers with Ethernet cards (Part. No. 129809)

-- CR1 controllers require an additional Expansion Option Box for installation of the Ethernet

- One or more Ethernet hubs (number depends on network topology)

- Straight cables for the connections between the PC and the hub, the robot controller and the hub or the PLC and the hub.



Entering configuration parameters

You can enter the parameters in the usual way with the Teaching Box or the Cosimir and Cosirop software.

To configure from the PC you must access the controller via the serial port to set up the Ethernet parameters. When you have done this you can use Cosimir and Cosirop via the Ethernet.



NETIP ParameterParameter Name


NETIP IP Adress 192.168.0.1

Die IP address identifies the station in the Ethernet system. It is effectively the station number or the name with which the robots can be addressed.

Please always observe the Ethernet standards when assigning IP addresses:

• IP addresses must be unique, i.e. without overlaps

• The format is 4 blocks of numbers between 0 and 255

• The blocks must be separated by dots (periods)

If you are working in a LAN network please contact your system administrator to obtain a valid IP address.



NETMSK ParameterParameter Name


NETMSK Subnet mask 255.255.255.0

The subnet mask is like a filter that is used to define the individual networks.

Please always observe the Ethernet standards when assigning the subnet mask:

• The mask format is 4 blocks of numbers between 0 and 255

• The blocks must be separated by dots (periods)

• 255.255.255.255 is not a valid filter because it would not let anything through

If you are working in a LAN network contact your system administrator for assignment of a valid subnet mask.



NETPORT Parameter

Parameter Name


NETPORT Communications port number 10000 – 10009

The robot can communicate with a single IP address via multiple channels, and each robot has 10 ports that can be addressed individually. Port 1 is reserved for real-time control. The other ports are available for programming via software and DATA Link.

These values do not normally need to be changed. If you do change them make sure that there are no overlaps!



CPRCE Parameter

Parameter Name


CPRCE11 -19 Protocol for the corresponding port 0

The CRRCE11 ... CRRCE19 parameters set the protocol for the ports.

• 0 : No Procedure =Permits communication with the programming packages

• 1 : Reserved Will be required in the future

• 2 : Data Link = Permits communication with the Data Link Instructions like OPEN/INPUT/PRINT



COMDEV Parameter

Parameter Name


COMDEV Definition of the NETPORT property RS232C, , , , , , , ,

COMDEV assigns the properties of COM1 through COM8 to the NETPORT. They are required for the robot’s OPEN instructions.

Example: NETPORT(4) is set to Data Link and assigned to COM 4:

• COMDEV(4)=OPT14

• CPRCE14=2



COMDEV Relationships

Relationships:

COMDEV to OPT11 through OPT19

OPEN COMn and COMDEV

Ports can be changed with NETPORT.



MXTCOM Parameter

Parameter Name


MXTCOM1 - 3 IP address of the REAL-TIME Partner (PC) 192.168.0.2

The destination IP addresses from the notes are entered here for checking the robot.



MXTTOUT Parameter

Parameter Name


MXTTOUT Timeout für REAL-TIME check -1

This value defines the number of 7.11ms units after which the robot issues an error 7820 timeout if no communication has taken place.

Setting the value to -1 deactivates real-time mode.



The PING Function

When you have installed the card, connected the cables and configured the parameters you can check the connection with your computer’s PING function.

The controller must be restarted after configuration of the parameters!

C:\PING



EthernetIn Cosirop set the communications parameters to TCP/IP and enter the robot’s IP address and port.

You must also enter the IP address for the robot. Otherwise you can use the default parameters..

If you don’t use the defaults please check that the CPRCE protocol parameter is set to 0.

If the Ethernet connection fails it must be actively re-established by the PC.



Ethernet

Parameter settings when the robot is the server:



Ethernet

Parameter settings when the robot is the client:



Ethernet

Assigning IP addresses:

The stations in Ethernet networks are accessed via addresses. When you connect two stations directly with a crossover Ethernet cable without a hub it’s important that the IP addresses of the two stations should not be too far apart. You can display the address of the PC with a simple command (e.g., under Win98: Start > Programs > MS-DOS Prompt > C:\WINDOWS>ipconfig). The default value for the subnet mask is 255.255.255.0.

The NETIP parameter of the robot controller (5.Maint > 1.Param.) or in Cosirop (Extras > Settings > Communication Port > TCP/IP) must then be set to an IP address whose last number block is different by a small amount. The NETMSK parameter can be left at the default setting of 255.255.255.0.



Ethernet

Assigning IP addresses (example) :

ipconfig returns the following IP address for the PC:

186.254.53.185

You must then enter an address like this in the NETIP parameter of the robot controller and in Cosirop:

186.254.53.186

(Of course, if you want you can also leave the standard address of the robot unchanged and change the PC’s Ethernet address instead.)



Ethernet

Other necessary robot configuration settings:

You also need to “register” the additional interface (Ethernet) in the COMDEV parameter of the robot controller:

COMDEV : RS232, OPT11, , , , ,

OPT11 is assigned to the parameter CPRCE11.

The CPRCE11 parameter specifies the communications protocol to be used (0 : non-protocol = Cosirop software; 1 : reserved; 2 : data link = open, input, print commands)

(The default setting of the CPRCExx parameter is 0 : non-protocol)



Ethernet

Summary :

1. Establish the hardware connection between the PC and the robot controller

2. Obtain the PC’s IP address and enter the modified address in the NETIP parameter of the robot controller and in the interface settings of the Cosirop software.

3. Register the Ethernet in the COMDEV parameter.

4. Check and set the protocol in the CPRCExx parameters. No modification is required for Cosirop (upload, download,...), for access from a robot program set the value of the parameter to 2.)



Questions ??



Multitasking



Multitasking

What is multitasking?

Multitasking is a function that enables execution of multiple programs simultaneously. This shortens cycle times in the systems involved and makes it possible to control connected external system components with the robot controller at the same time as executing the robot’s own program. This function is implemented with a 64-bit RISC processor. In the NARC controllers (CR1/CR2/CR2A/CR2B) this processor can administer 32 of 88 programs in multitasking mode, with standard support for 2,500 positions and 5,000 program lines.



Multitasking

To use the multitasking function the programs to be executed simultaneously must first be loaded into so-called “slots”. You can process up to 32 slots, which thus makes it possible to execute 32 programs simultaneously.

User Base Program

Manages external variables and user variables.

P

rog

ram

1

Pro

gra

m 2

Pro

gra

m 3

2

Slot 1 Slot 2 Slot 32

...



A Multitasking Example

10 OPEN “COM1:” AS #1

20 IF M_IN(1) = 0 THEN 20

30 INPUT #1,P_01,P_02,P_03

40 DLY 0.5

50 GOTO 20

SLOT 2SLOT 1

Cam

era

syst

em

10 JOVRD 60

20 CNT 0

30 MOV P_01

40 MOV P_02

50 MOV P_03

60 GOTO 30

User Base Program

P_01,P_02,P_03



Multitasking – The User Base program (1)

The user base program functions as the interface between the individual slots. It administers and provides access to global system variables, for example:

- Position variables P_00 – P_19 or position arrays P_100() – P_104()

- Joint variables J_00 – J_19 or joint data arrays J_100() – J_104()

- Integer variables M_00 – M_19 or integer arrays M_100() – M_104()

- String variables C_00 – C_19 or string arrays J_100() – J104()

In addition to this you must also declare all user-defined global variables here. The user base program is essentially just an ordinary program in the robot controller; however, you cannot include programming for any motion sequences for mechanisms in it.



Multitasking – The User Base Program (2)

The only thing that defines a program as the user base program is the entry of the program number in the PRGUSR parameter. Also, there is only one user base program. The following simple example illustrates this procedure:

Program No. 13 :

10 DEF POS P_SAMPLE20 DEF INTE M_GERNE, M_GUT, M_ROTOR30 DIM P_ GUT(20)40 END

After downloading the program to the robot controller you must then assign program number 13 to the parameter PRGUSR. You must then briefly turn the robot controller’s power supply off and on again to activate the parameter and the user-defined user base program.



Multitasking – User Base Program (3)

User-defined global variables declared in the user base program must also be declared locally, in all local programs that will use the variables!

In the above example of a multitasking application the program in Slot 2 obtains the position data P_01,P_02,P_03 from a camera system and makes them available to the program in Slot 1 via the user base program.

Both these processes execute simultaneously. Since the global position variables P_01 through P_03 are already declared by the system they can be used immediately, without any further action on your part.



Activating Multitasking (1)

There are two ways to activate the multitasking function:

1. Execution by a program (Status Variables)

2. Execution from the controller control panel or

external I/O signals (Parameters)



Activating Multitasking (2)You can define how parallel program execution is to be performed either with Parameters (TASKMAX, SLTx) or with Status Variables (XLOAD, XRUN, XSTP, XRST).

Program execution can also be started simultaneously via external signals triggered in response to defined conditions. You can also stop or reset all programs or just selected programs.

Programselection

RUNMode

WAITMode

Start

XRUN

Stop

XSTP

Start

XRUN

Reset program

XRST

Cycle stop



Multitasking

1. Execution by a program

The instructions XLOAD, XRUN, XSTP und XRST can be used to load, execute, stop and reset programs written in Melfa Basic IV in parallel (i.e. in multitasking mode).

This execution method is a good choice when you want to start parallel execution of sub-programs while you are executing a main program.



Multitasking

Example :

Program 1 (SLOT 1) Program 2 (Slot 2)

10 MOV P1 10 OPEN „COM1:“ AS #1

20 XRUN 2,“2“ 20 IF M_01 = 0 THEN 20

30 WAIT M_RUN(2) = 1 30 INPUT #1,M1

40 M_01 = 1 40 P_05.X = P_05.X+M1

50 IF M_01 = 1 THEN 50 50 M_01 = 0

60 MOV P_05 60 CLOSE

70 END 70 END



Multitasking

2. Execution via the robot controller’s control panel or external I/O signals

This execution method does not depend on a main program. Instead, it is determined by parameter settings that you define in advance. These parameters include the program name, the execution conditions (cyclical, continuous), the start condition (start instruction; always active; on error) and the priority.



Multitasking

Example:

• Define Program 1 in Slot 1 in parameter SLT1 (SLT 1 = 1,CYC,START,1)

• Define Program 5 in Slot 2 in parameter SLT2 (SLT 2 = 5,REP,ALWAYS,2)

Then turn the robot controller’s power supply off and on again to activate the parameters.

Slot 1 is started when the Start button on the robot controller is pressed or by an external Start signal via the I/O level.

Slot 2 is started after the robot controller has completed its boot process, when the power supply is switched on. It does not require a separate Start signal.



Questions ??



Compliance Control



Compliance Control

What is Compliance Control?

The Compliance Control function enables you to define the “gentleness” of the robot’s movements.

Regulation of the robot’s movements with this facility can be very useful in a number of programming situations.

Compliance Control is available for all robot types except the RP series.



Compliance ControlWhere can Compliance Control be used?

Compliance Control is helpful in all applications in which the robot must grip and/or guide components that are simultaneously subjected to additional external forces.

Typical application examples include:

- Handling tasks on presses and stamping

machines

- Insertion and removal of workpieces or tools on lathes, surfaces, grippers, CNC machines etc…



Compliance Control – Cartesian

Basic syntax:

10 CMPG X,Y,Z,A,B,C,L1,L2 // Amplification factor

20 CMP POS, &BL2,L1,C,B,A,Z,Y,X // Coordinate assignment

The amplification factor can be between 1.0 and 0.0. The smaller the value the more gentle the movement. 1.0 is the highest control amplification, 0.0 provides the greatest “softness” for the robot system.



Compliance Control – CartesianExample :

10 CMPG 0.5,0.5,1,1,1,1,1,1 // Amplification factor

20 CMP POS, &B00000011 // Coordinate assignment

(The leading zeros in line 20 are not an absolute requirement since this is a binary setup.)

This makes the robot’s movements along the X and Y axes more gentle. The robot’s joints can be moved up to 200mm away from the target position, depending on the degree of softness set.



Compliance Control – Individual Joints

Basic syntax:

10 CMPG J1,J2,J3,J4,J5,J6,J7,J8 // Amplification factor

20 CMP JNT, &BJ8,J7,J6,J5,J4,J3,J2,J1 // Joint assignments




Compliance Control – Individual Joints

Example :

10 CMPG 0.5,0.5,1,1,1,1,1,1 // Amplification factor

20 CMP JNT, &B11 // Joint assignment

This makes the robot’s movements more gentle in joints J1 and J2. The robot’s joints can be moved up to 200mm away from the target position, depending on the degree of softness set.



Compliance Control – Tool

Basic syntax:

10 CMPG X,Y,Z,A,B,C // Amplification factor

20 CMP TOOL, &BC,B,A,Z,Y,X // Coordinate assignments




Compliance Control – Tool

Example:

10 CMPG 0.5,1,0.5,1,1,1 // Amplification factor

20 CMP TOOL, &B101 // Coordinate assignment

This makes the robot’s movements along the X and Y axes more gentle. The robot’s joints can be moved up to 200mm away from the target position, depending on the degree of softness set.



Compliance ControlRequirements and fundamentals:

-Compliance Control can be used for all robots controlled by a NARC controller (controllers CR1, CR2 und CR2A). Exception: RP-xAH robots!!

- Once this function has been activated it remains active (also in Teach mode) until the instruction CMP OFF is issued or a program with new values is started.

- The function also remains active after an Emergency Stop, provided that the controller is not powered down..

- The distance between the current and taught position can be read out with the system variable M_CMPDST.

- The function is activated by Power On/Off.



Questions ??



Multi Mechanism Control



Multi-Mechanism Control

What is multi-mechanism control?

The CR1, CR2, CR2A robot controllers can control up to 14 axes simultaneously:

Max. 6 axes control the robot arm (Mechanism 1)

Max. 2 axes can control additional axes interpolated in relation to the robot arm (e.g. linear motion axes)

Max. 3 axes can be defined as Mechanism 2

Max. 3 axes can be defined as Mechanism 3



Multi-Mechanism Control –Additional Axes

6 + 2 3 3 Axes1 2 3 Mechanisms




Robots



Multi-Mechanism Control – (CR1)

How is multi-mechanism control activated?

The CR1 robot controller requires the Expansion Option Box to use multi-mechanism control. The optional expansion card for the additional axes must be installed in the expansion option slot of the box. Activation of the function also requires configuration of some system settings in the servo amp and the robot controller.



Multi-Mechanism Control - (CR2)


The CR2 controller does not require an optional expansion card for additional axes. The function is already integrated in the system and can be implemented with a direct connection to the external Mitsubishi MR-J2 B or MR-J2S B servo amp. Here too, however, activation of the function requires configuration of some system settings in the servo amp and the robot controller.



Multi-Mechanism Control - (CR2A)


An optional expansion card for additional axes is required to use multi-mechanism control with the CR2A controller. The card must be installed in one of the three available expansion slots, depending on the controller configuration. Here too, activation of the function requires configuration of some system settings in the servo amp and the robot controller.



Multi-Mechanism Control – System Requirements

The robot Teaching Box system version must be greater than A3, as only these versions contain the selection menu for the mechanisms. In teach mode you can only control one mechanism with the robot; the mechanism to be controlled is selected with the Teaching Box. In program execution mode multiple mechanisms can be controlled simultaneously by different programs.



Multi-Mechanism Control –Parameters

Required parameter settings: (see examples)(Switch the power off and on again briefly to activate the settings!!)

Parameter AXUNUM : 0 (Defines the number of additional axes)

Parameter AXMENO : 0,0,0,0,...(Defines the axis-mechanism assignments)

Parameter AXJNO : 0,0,0,0,... (Mechanism axis numbers)




Examples



Multi-Mechanism Control – Example (1)

Parameter settings :

(2 additional servo amps used as 2 additional interpolated robot axes)

Robot Controller:

Parameter AXUNUM : 0 (no additional mechanism)

Parameter AXMENO : 1,1,0,0,... (assignment mechanism 1 -> robot)

Parameter AXJNO : 7,8,0,0,...(axis numbers of the first mechanism)

+



Multi-Mechanism Control - Example (2)

Parameter settings:

(3 additional servo amps configured as 2 interpolated additional robot axes, plus one additional single-axis mechanism)

Robot controller:

Parameter AXUNUM : 1 (one additional mechanism)

Parameter AXMENO : 1,1,2,0,... (assignment mechanism 1 -> Robots; 2 -> mechanism 2)

Parameter AXJNO : 7,8,1,0,... (axis numbers of the individual mechanisms)

+





(3 additional server amps configured as one additional mechanism with 3 axes)

Robot controller:

Parameter AXUNUM : 1 (one additional mechanism)

Parameter AXMENO : 2,2,2,0,... (axis assignments to mechanism 2)

Parameter AXJNO : 1,2,3,0,... (axis numbers of the individual mechanisms)




Parameter settings:

(6 additional servo amps configured as 2 additional mechanisms with 3 axes each)

Robot controller:

Parameter AXUNUM : 2 (2 additional mechanisms)

Parameter AXMENO : 2,2,2,3,3,3,... (assignment to mechs. 2 and 3)

Parameter AXJNO : 1,2,3,1,2,3,0,... (axis numbers of the individual mechanisms)





(8 additional servo amps configured as 2 additional mechanisms with 3 axes each, plus two interpolated robot axes)

Robot controller:

Parameter AXUNUM : 2 (2 additional mechanisms)

Parameter AXMENO : 1,1,2,2,2,3,3,3 (assignments to mechs. 1, 2, 3)

Parameter AXJNO : 7,8,1,2,3,1,2,3 (axis numbers of the individual mechanisms)

+




Servos



Multi-Mechanism Control – System Requirements

At present only the MR-J2-B and MR-J2S-B servo amps (current output 50W – 55kW) can be controlled by the robot controller. Special software and an interface cable are required for configuring the servo amps.

Servo amp configuration software:MRZJW3-Setup71 ver. C3 (144542) for the MR-J2 B servo ampMRZJW3-Setup151 ver. E1 (149713) for the MR-J2S B servo amp

Interface cable for connecting the servo amp to the PC:MR-CPCATCBL3M (55910)

If you wish to use absolute positioning with the servo amp (similar to the robots’ absolute positioning mode) you also need a battery (A6BAT, 4077).



Multi-Mechanism Control – Software

The following example only demonstrates the basic configuration of the parameters for the MR-J2S B servo amp with the MRZJW3-Setup151 servo configuration software. The three parameter settings shown will provide trouble-free basic operation of the system but they are not an application solution. All other settings must be made in accordance with the requirements of your application.



Multi-Mechanism Control – Software

The station number must be preselected with the rotary switch on the servo amp. The first amp has the station number 0; you can connect additional amps up to a maximum station number of 7. The last servo amp must be terminated with a terminating resistor (terminator) in slot CN1B. This terminates the SSCNET bus.



Multi-Mechanism Control – Servo Configuration Software

(1)

The startup screen shown on the right is displayed when the software has been installed and started.



Multi-Mechanism Control –Servo Configuration Software

(2)

Check that the servo amp type is set correctly!




(3)

You can change the amplifier type in System Settings in the System menu.

The software must be restarted after changing the amplifier type.




(4)

You can select the amplifier type in the Model Selection field.




(5)

The Parameter List option in the Parameters menu reads out the list of parameters from the amplifier.




(6)

When you select the option the program first displays an empty parameter list.Select the Read All button to read all available and enabled parameters into the list.




(7)

After completion of the “upload”, parameters 0-11 and 40 are displayed.

The first thing to do is select parameters 1 and 40 and change them to the following values:

Parameter 1 : 0001

Parameter 40 : 000E




(8)

After changing the parameters you must then select Write All to write the new values to the amplifier.




(9)

When you confirm the security prompt with OK the new parameter values are written to the amplifier.




(10)

After downloading the parameters you must briefly switch the amplifier off and on again. This initiates a reboot, which applies the new values.




(11)

Now select Read All again, which will now also read the newly enabled parameters 12 - 39.

Select parameter 23 and change it to the following value:

Parameter 23 : 0001




(12)

Repeat the operations described in the Servo Configuration Software Slides 8-10.

The servo amp is then ready for use and can be accessed by the robot.



Multi-Mechanism Control – Parameters

Required parameter settings:

Parameter 1 : 0001 (Absolute positioning system; insert an A6BAT battery in the servo amp first)

Parameter 40 : 000E (Enable read/write access to parameters 12-39)

Parameter 23 : 0001 (External EMERGENCY STOP function off)



Questions ??



Sensorless crash detection



General

What is it good for ?What is it good for ?• Protect humanProtect human• protect machineprotect machine• protect workpieceprotect workpiece

What do we need additional ?What do we need additional ?• nothing (it´s already in the OS ) nothing (it´s already in the OS )

When we can use it ?When we can use it ?• effective from OS J2effective from OS J2• only S-series robotonly S-series robot



Motorcurrent

I Motorcurrentcurve

overcurrentdetection bandwidth

t

- the overcurrent bandwidth is free selectable- the overcurrent bandwidth is free selectable



Parameter

COLLLVCOLLLV detection in % for each axis seperat,detection in % for each axis seperat,range 1-500range 1-500

COLLLVJGCOLLLVJG detection during Jog for each axis in %,detection during Jog for each axis in %,range 1-500range 1-500

COL 1,1,1COL 1,1,1

0=OFF / 1=ON0=OFF / 1=ON

0=OFF / 1=ON during JOG mode0=OFF / 1=ON during JOG mode

0=OFF / 1=OFF with ERROR / 2=OFF without ERROR0=OFF / 1=OFF with ERROR / 2=OFF without ERROR



Commands

COLCHK ONCOLCHK ON = detection ON = detection ON

COLCHK OFF = detection OFFCOLCHK OFF = detection OFF

COLLVLCOLLVL = detection in % for each axis seperat, = detection in % for each axis seperat, range 1-500 range 1-500

NOERRNOERR = Fault inactive when collission detected = Fault inactive when collission detected

ExampleExample:: 10 COLLVL 100,100,,100,100,10010 COLLVL 100,100,,100,100,10020 COLCHK ON, NOERR20 COLCHK ON, NOERR30 MOV P130 MOV P140 MOV P240 MOV P250 COLCHK OFF50 COLCHK OFF



variables

M_COLSTSM_COLSTS 0= no detection / 1=collision detected0= no detection / 1=collision detected

P_COLDIRP_COLDIR value after collission detectedvalue after collission detected

J_COLMXLJ_COLMXL value between estimated value andvalue between estimated value andactual toqueactual toque

All values are read only !!!All values are read only !!!



Questions ??



Tracking



Introduction

Tracking is a function that enables a NARC controlled robot to interact with a moving component or workpiece as if it would be a stationary one. This function is used in conveyor belt applications in which the robot must perform tasks on or with a moving workpiece without stopping the belt. The conveyor belt must be linear. Circular belts or tact tables are not supported.



Introduction

The function is a so-called “Cartesian tracking” implementation. It is designed for use with a stationary robot whose position is automatically adjusted to the tool centre point (TCP) to follow or “track” the conveyor belt movement.

The tracking function can be used on belts travelling at speeds up to 20m per minute (~330mm/s).



Benefits

- Saves valuable production time because transport of goods on the belt can continue without interruption, instead of having to remove the workpiece and place it in a stationary holding device.- Changes in belt travel speed have no effect on the robot’s ability to grip the workpieces. The workpieces are gripped in the correct position and the correct detected orientation, even if the belt speed changes.



Benefits

- Manipulation of workpieces by the robot while they are being transported on the conveyor belt- Reduction of total cycle period through productive utilisation of the conveyor belt travel time- Handling of unsorted products is possible, in combination with a camera system



Applications

- Food industry



Applications

- Pharmaceuticals industry



Applications

- Industrial manufacturing

- Pharmaceutical industry

- Packaging industry

- (un-) loading of goods



Tracking „Red line“



Necessary steps to a successful installation

1. Check the tracking conditions1. Check the tracking conditions : :

- belt speed (up to 20m/min)belt speed (up to 20m/min)

- Robots tasks (multi tasking)Robots tasks (multi tasking)

- Camera system attached ?Camera system attached ?

- requested accuracy ?requested accuracy ?

- cycle times ?cycle times ?

- robots working area large enough ?robots working area large enough ?

- ......




2. Hardware2. Hardware : :

- robot system of >= RV-A series (NARC controller)robot system of >= RV-A series (NARC controller)

- additional serial interface RZ581A (encoder inputs)additional serial interface RZ581A (encoder inputs)

- encoder (max. 137kbps input signal frequency)encoder (max. 137kbps input signal frequency)

- light barrier / light switch / detectorlight barrier / light switch / detector

- camera system (cognex (dvt), matsushita, vision&control, ...)camera system (cognex (dvt), matsushita, vision&control, ...)

- conveyor belt, motor for the belt, frequency inverterconveyor belt, motor for the belt, frequency inverter

- external 5V/24V power supply (encoder, light barrier)external 5V/24V power supply (encoder, light barrier)




3.1. Hardware setup3.1. Hardware setup ::

- installation of RZ581A board into option slot 1 or 2installation of RZ581A board into option slot 1 or 2

- connection of the encoder to the RZ581A boardconnection of the encoder to the RZ581A board

- connection of the encoder to the belt (motor/belt)connection of the encoder to the belt (motor/belt)

- setting of Parameter EXTENCsetting of Parameter EXTENC

- connection of the encoder to external power supply (5V)connection of the encoder to external power supply (5V)

- installation of light barrier and/or camerainstallation of light barrier and/or camera

- connection of the light barrier to external power supply (24V)connection of the light barrier to external power supply (24V)




3.2. Parameter setting3.2. Parameter setting : :

- TRMODE (hidden parameter) : TRMODE (hidden parameter) : -- 0-- 0 (off, def.)(off, def.)

-- 1-- 1 (on)(on)

- TRMECH (hidden parameter) : - TRMECH (hidden parameter) : -- 0 : (4 or 6 axis robots, def.)-- 0 : (4 or 6 axis robots, def.)

-- 1 : (5 axis -- 1 : (5 axis robot)robot)

-EXTENC : relation of input channel number of the RZ581A EXTENC : relation of input channel number of the RZ581A board and the encoder number in the robot program.board and the encoder number in the robot program.




4.1.a Accuracy belt - robot4.1.a Accuracy belt - robot : :

- P_ENCDLT settingP_ENCDLT setting

This variable is used to define the relation :This variable is used to define the relation :

- encoder to belt speed and- encoder to belt speed and

- robot to belt direction- robot to belt direction

It changes the encoder units from „counts“ to „mm“.It changes the encoder units from „counts“ to „mm“.

If this variable is initialized in a „good way“, the robots accuracy If this variable is initialized in a „good way“, the robots accuracy during the tracking will be fine.during the tracking will be fine.

robotrobot

robotrobotbeltbelt




4.1.b Accuracy belt - robot4.1.b Accuracy belt - robot : :

- P_ENCDLT programP_ENCDLT program

10 DEF POS POINT10 DEF POS POINT

20 DEF DOUBLE VALUE1, VALUE2, VALUED 20 DEF DOUBLE VALUE1, VALUE2, VALUED

30 OPEN "COM1:" AS #130 OPEN "COM1:" AS #1

40 VALUE1#=... 40 VALUE1#=...

50 VALUE2#=... 50 VALUE2#=...

60 VALUED#= VALUE2#- VALUE1#60 VALUED#= VALUE2#- VALUE1#

70 P_ENCDLT=(P200-P0)/ VALUED#70 P_ENCDLT=(P200-P0)/ VALUED#

80 PRINT #1,P_ENCDLT80 PRINT #1,P_ENCDLT

90 END90 END




5.5. Origin PositionOrigin Position : : (TRBASE)(TRBASE)

- The robot follows during the tracking the origin position.The robot follows during the tracking the origin position.

- This position is detected from the light barrier and specifies the This position is detected from the light barrier and specifies the workpiece.workpiece.

- The origin position is stored in the tracking buffer after detection.The origin position is stored in the tracking buffer after detection.

Conveyor belt

Light barrierOrigin positionOrigin position




6. robot program6. robot program : :

-10 REM main program10 REM main program

-20 DEF DOUBLE VALUE20 DEF DOUBLE VALUE

-30 DEF INTE MAXY,MINY30 DEF INTE MAXY,MINY

-40 DEF ACT 1,M_IN(16)=1 GOSUB 32040 DEF ACT 1,M_IN(16)=1 GOSUB 320

-50 OVRD 10050 OVRD 100

-60 LOADSET 1,160 LOADSET 1,1 ' opt. accel/decel' opt. accel/decel

-70 OADL ON70 OADL ON

-80 TRBASE P180 TRBASE P1 ' tracking base' tracking base

-90 TRCLR 190 TRCLR 1 ' buffer clear' buffer clear

-100 MAXY%=310100 MAXY%=310 ' work range +Y' work range +Y

-110 MINY%=-350110 MINY%=-350 ' work range -Y' work range -Y

-120 MOV P4120 MOV P4 ' home position' home position

-130 *NXST130 *NXST

-140 ACT 1=1140 ACT 1=1 ' enable interrupt' enable interrupt

-150 IF M_TRBFCT<1 THEN GOTO 150150 IF M_TRBFCT<1 THEN GOTO 150

-160 TRRD P1,VALUE#160 TRRD P1,VALUE# 'read from buffer'read from buffer

170 PC=TRWCUR(1,P1,VALUE#)170 PC=TRWCUR(1,P1,VALUE#)

180 IF PC.Y>MAXY% THEN 190 ELSE 220180 IF PC.Y>MAXY% THEN 190 ELSE 220

190 TRK OFF190 TRK OFF ' disable tracking' disable tracking

200 TRCLR 1200 TRCLR 1 ' clear buffer' clear buffer

210 GOTO 330210 GOTO 330

220 IF PC.Y<MINY% THEN GOTO 170220 IF PC.Y<MINY% THEN GOTO 170

230 TRK ON,P1,VALUE#230 TRK ON,P1,VALUE# ' start tracking' start tracking

240 MOV P1,-30240 MOV P1,-30

250 DLY 0.2250 DLY 0.2

260 MVS P1260 MVS P1

270 DLY 0.5270 DLY 0.5

280 MVS P1,-30280 MVS P1,-30

290 TRK OFF290 TRK OFF ' disable tracking' disable tracking

300 GOTO *NXST300 GOTO *NXST

310 END310 END

320 TRWRT P_01,M_EN320 TRWRT P_01,M_EN C' write into bufferC' write into buffer

330 ACT 1=0330 ACT 1=0 ' disable interrupt' disable interrupt

340 RETURN 0340 RETURN 0

350 END350 END



„Gray zone“ of the tracking function

- Belt speeds higher than 20m/minBelt speeds higher than 20m/min

- high accuracy tracking high accuracy tracking

- combination with Multi Taskingcombination with Multi Tasking

- multi gripper solutionsmulti gripper solutions



Limits of the tracking function

- high accuracy with high belt speedshigh accuracy with high belt speeds

- circular tracking (round tables)circular tracking (round tables)

- stepper systems (no continuous move, but stepwise stepper systems (no continuous move, but stepwise

run of the belt)run of the belt)



Questions ??



System „tuning“



general

There are different ways to optimize a system :There are different ways to optimize a system :- speed tuning,speed tuning,

- acceleration / deceleration settings,acceleration / deceleration settings,

- continuous movements,continuous movements,

- load settings,load settings,

- parameter settings,parameter settings,

- cycle time measurementcycle time measurement

But the most important matter is the But the most important matter is the optimumoptimum distancedistance between the robot arm and all devices. between the robot arm and all devices.



Optimum distance

11 66

33

5522

44

robotrobot

11 22

33

4455

66

robotrobot



Speed tuning

Commands :Commands :

OVRDOVRD -- global override -> [%]global override -> [%]

JOVRDJOVRD -- joint override (MOV) -> [%]joint override (MOV) -> [%]

SPDSPD -- linear / circular override (MVS, MVR) -> [mm/s]linear / circular override (MVS, MVR) -> [mm/s]

Sample :Sample :

10 JOVRD 10010 JOVRD 100

20 JOVRD 10020 JOVRD 100

30 SPD 85030 SPD 850



Acceleration / deceleration settings

Command :Command :

ACCELACCEL -- acceleration and deceleration -> [%,%]acceleration and deceleration -> [%,%]

t = (100% * 0.2s) / Accel valuet = (100% * 0.2s) / Accel value

Sample :Sample :

10 Accel 100,10010 Accel 100,100 -> 200ms acceleration / 200ms deceleration-> 200ms acceleration / 200ms deceleration





Continuous movements

Command :Command :

CNTCNT -- continuous movement off (0) / on (1)continuous movement off (0) / on (1)

Depending on time, not on distance...Depending on time, not on distance...

Sample :Sample :

10 CNT 110 CNT 1 10 CNT 110 CNT 1

20 MOV P120 MOV P1 20 MOV P120 MOV P1

30 M_OUT(8) = 130 M_OUT(8) = 1 30 MOV P230 MOV P2

40 MOV P240 MOV P2 40 MOV P340 MOV P3

50 CNT 050 CNT 0 50 CNT 050 CNT 0



Load settings

Commands :Commands :

LOADSETLOADSET -- definition of gripper and loaddefinition of gripper and load

OADL OADL -- optimum acceleration / deceleration off / onoptimum acceleration / deceleration off / on

Relates to parameters HANDDATx / WRKDATxRelates to parameters HANDDATx / WRKDATx

Sample :Sample :

10 LOADSET 1,310 LOADSET 1,3 -> gripper 1 combined with load 3-> gripper 1 combined with load 3

20 OADL ON20 OADL ON

30 MOV P530 MOV P5



Parameter settings (1)

Parameters :Parameters :

HNDDAT1-8HNDDAT1-8 -- definition of gripper no. and center of gravitydefinition of gripper no. and center of gravity

WRKDAT1-8 WRKDAT1-8 -- definition of load no. and center of gravitydefinition of load no. and center of gravity

JADL :JADL : (joint acceleration / deceleration limit)(joint acceleration / deceleration limit)

Depending on the robot type this parameter allows the increase of Depending on the robot type this parameter allows the increase of motor speeds in relation to the cycle duties. The monitoring of loads motor speeds in relation to the cycle duties. The monitoring of loads mustmust be valid for longer periods, when the settings are changed. be valid for longer periods, when the settings are changed. This setting should be the last in the order of tunings.This setting should be the last in the order of tunings.



Parameter settings (2)

Parameters :Parameters :

ROMDRVROMDRV -- definition of processing typedefinition of processing type

-- 0 (RAM, def.)-- 0 (RAM, def.)

-- 2 (DRAM)-- 2 (DRAM)

TASKMAXTASKMAX -- definition of max. amount of parallel tasksdefinition of max. amount of parallel tasks

-- 8 (def.)-- 8 (def.)

-- should be adapted to the max. amount of -- should be adapted to the max. amount of programs programs



Cycle time measurements

Command :Command :

M_TIMERM_TIMER -- definition of internal timer -> [ms]definition of internal timer -> [ms]

(Up to 8 timers are available)(Up to 8 timers are available)

Sample :Sample :

10 M_TIMER(1) = 010 M_TIMER(1) = 0 -> reset of timer 1-> reset of timer 1

20 MOV P120 MOV P1

30 MOV P530 MOV P5

40 M3 = M_TIMER(1) / 100040 M3 = M_TIMER(1) / 1000 -> storage of timer result into M3, [s]-> storage of timer result into M3, [s]



Questions ??



Euromap 67



general

The Euromap 67 specifies the :The Euromap 67 specifies the :

„„Electrical interface between Injection Moulding Machine Electrical interface between Injection Moulding Machine And Handling Device / Robot“And Handling Device / Robot“

Global informations about the specifications can be Global informations about the specifications can be found under the following link :found under the following link :

http://www.euromap.org



offer

Mitsubishi offers a special cabinet, to ensure the hardware Mitsubishi offers a special cabinet, to ensure the hardware connections between a moulding machine (must be specified connections between a moulding machine (must be specified from the orderer) and a Mitsubishi robot system.from the orderer) and a Mitsubishi robot system.

EuromapEuromap

boxbox



Euromap interface

Not all moulding machine suppliers use or fulfil the Euromap Not all moulding machine suppliers use or fulfil the Euromap specifications.specifications.

Successful cooperations have been established in the past with Successful cooperations have been established in the past with companies:companies:

- Dr. BOY- Dr. BOY

- Demag Ergotech (Mannesman group)- Demag Ergotech (Mannesman group)



Questions ??

study material

Documents