robótica - manual robix softwaretutorials

7/25/2019 Robtica - Manual Robix SoftwareTutorials

1/19

Robix Software, Part I: Quick Start Tutorial

This document may be copied or printed as desired.

Feedback: [email protected]: www.robix.com Last mod: 2005-02-

!"ote: For the Tutoria# on theLPT-connected $ontro##er% &ee 'He#p( in that so)tware*

Here+s the ,sbor sero contro##er. $onnect seros to positions - on connector 'A'./ake sure to hae the ye##oworan1e wire on +top+% as shown in the All Cables thisOrientation#e1end% be#ow ri1ht.

a1e o) 3


2/19

Install the Robix Software

4nsta## the obix so)tware accordin1 to the instructions on the $6 that accompanies it. 4)you don+t hae the $6% you can down#oad the so)tware )rom www.robix.comby c#ickin1on the down#oad section and )o##owin1 the instructions there. "ote that you may need toinsta## the 7aa &68 i) you don+t hae it a#ready.

Plug in Power and USB

9nce the so)tware is insta##ed% p#u1 the power supp#y into the ,& sero contro##er !ca##edthe ',sbor( )or short* and use the ,& cab#e to p#u1 the contro##er into the computer.

Start the Software: Two Programs

"ext% start twopro1rams% ca##ed Nexusand Nexwa. ;ou can start them in either order.

4n the "exus window you shou#d see an -character ,sbor seria# number. 4n this case itbe1ins !"#$$$.

4) ,sbor show con)i1uration Confi% Na&e: Classic I: ( at the top o) the #ower windowthen you can skip the next pa1e. 9therwise you+## hae to #oad the $#assic con)i1.

a1e 2 o) 3


3/19

If Needed: Loading the Classic Configuration into the Usbor

4n the "exus% c#ick on the Confi%urationtab. $#ick on the Select Confi%uration )ilebutton and in the )i#e dia#o1 that )o##ows youshouldsee Classic$rbx#sborConfi%#isted.

4) you do notsee Classic$rbx#sborConfi%#isted then create it as )o##ows:$#ose the )i#e dia#o1 i) sti## open% then c#ick O*en #sbor Confi%uration+itor. $#ick )ile< New Confi%uration< 'Classic'. Then c#ick )ile< Sa-e

Confi%urationand in the )i#e dia#o1 c#ick Sa-e !the )i#ename Classicshou#d a#ready be )i##ed in )or you in the )i#e dia#o1*. $#ose the ,sbor$on)i1uration =ditor. "ow you can return to the top o) this pa1e and a1ain)o##ow the instructions there.

9pen Classic$rbx#sborConfi%to see:

$#ick the ownloa Confi%uration to #sborbutton and the con)i1uration is re-#oaded

into the ,sbor. The process wi## take a )ew seconds.

a1e > o) 3


4/19

The Nexwa! first time Starting

?hen you open the "exway )or the ery )irst time% you see a b#ank window: !4) this is notthe )irst time the "exway has been opened then you+## skip the rest o) this pa1e and thenext one.

4) your "exway is b#ank% c#ick on the New Nexus Connectionbutton to see:

&ince we are workin1 locall% that is% with the Nexwaand Nexuson the sa&eco&*uter% we se#ect the de)au#t o) localhostby c#ickin1 O.$

"ext we c#ick on !"#$$$ !or whateer your ,sbor+s seria# number is* and we see:

a1e o) 3


5/19

The Nexwa

$#ick on the A si1ns to open the )o#ders to see:

The Pod"s #ra$hical User Interface %#UI&

$#ick on *o(in the "exway to open that pod+s 1ui !'1ooey(*.

a1e 5 o) 3


6/19

'd(usting the Pod #UI

i1ht c#ick anywhere in the Ser-o Pro*ertiespane# and se#ect S*lit This Paneand thenBown. Then ri1ht c#ick in the new pane# and se#ect Re*lace /ithand then Sensors%

"ow ri1ht c#ick a1ain in the Ser-o Pro*ertiespane# and se#ect S*lit This Paneland thenCRi%ht. Then ri1ht c#ick in the new pane# and se#ect Re*lace /ithand then i%outs.

$#ick 0uiin the menu and sae as efault.

a1e o) 3


7/19

)our *irst Scri$t

4) you don+t hae #inks or at #east #ink horns on the seros you p#u11ed in at thebe1innin1 o) this tutoria#% add them now so that sero motion is readi#y isib#e.

&tretch the pod 1ui ertica##y to increase the siDe o) the b#ue scriptin1 pane#. Then type inthese two #ines.

move all to -1000; wait 5; digout 1 on, 2 off; wait 5

move all to 1000; wait 5; digout 1 off, 2 on; wait 5

"ow run the scri*t b clickin% the 'run' buttonat upper #e)t.

$#ick a1ain to run the script a1ain. "otice that the seros moe back and )orth% the *osa#ues chan1e% and the di1outs chan1e co#or as they are turned on and o))..

a1e E o) 3


8/19

)our *irst +acro

&tretch the pod 1ui ertica##y to make more room in the scriptin1 area. Then turn the twoscript #ines into a script &acronamed oscby a#terin1 the script to this )orm:

"ote that the osc 1#ine cou#d a#so hae come a)ter the macro de)inition instead o) be)oreit.

un this script as be)ore ! * and see that oscruns times. 4) you chan1e the 1to 2andrun the script% you+## see that oscruns inde)inite#y. )ter oschas repeated seera# times%sto* the scri*tby c#ickin1 anwhere in the scri*t area% or by c#ickin1 on the red stop

button .

"ote that in 1enera#% you can hae mu#tip#e commands on sin1#e #ine separated by ;+s. ;

is a##owed at the end o) a #ine but is not reGuired. $ommands may not +span+ #ines that is% acommand needs to start and end on the same #ine.

script may contain an nu&ber of &acros% and macros can ca## other macros.

a1e I o) 3


9/19

Ser,o Current and Tor-ue

"ow a**l %entle rotational *ressureon the output sha)t o) sero and watch the absia#ue o) sero increase as the sero draws more current to oppose the )orce you areexertin1. The absia#ue is the abso#ute a#ue o) the short-term !J. second* aera1e o) thesero current. This a#ue% in 1enera#% indicates the torGue bein1 exerted by the sero andare approximate#y eGua# to the mi##iamps bein1 drawn by the sero.

emember: on't lea-e ser-os strainin%with absioer about 500-00 )or more than acoup#e o) minutes at a time otherwise your seros can oerheat% shortenin1 their #ies.

Teach +ode

"ext% *osition the text cursor on the wor 'en'at the end o) the macro and o*en the

Teach /inowby c#ickin1 on the teach button + +. ;ou shou#d notice an arrow% '->',

appear in a new b#ank #ine aboe +end+. 4n addition% the teach window wi## appear:

?hi#e the Teach /inowhas )ocus your keyboard is actin1 as a teach *enant. That is%ho#din1 down arious keys% as indicated in the Teach ?indow % wi## moe thecorrespondin1 sero by coarse or )ine increments in the positie or ne1atie direction. ;ouwi## see the position seros moe and their *osa#ues chan1e in the pod 1ui.

)ter you hae moed the pod+s seros to new positions% c#ick on the +dd to &cript+ buttonin the Teach window% and a moe command wi## be inserted on the #ine with the +->+

arrow and the arrow wi## moe down a #ine. epeat these steps to add seera# new #ines tothe oscmacro% then run the script a1ain to see your added moe commands in action.

a1e 3 o) 3


10/19

Robix Software, Part II: Tutorial in e*th

.h Two Programs/

?hy twopro1ramsK ecause the obix so)tware has the adancedcapabi#ity to run robots remotel!oer a network% or een oer the internet.ut i) two machines are ino#ed then they each need to be runnin1 apro1ram. 9ne pro1ram% the "exus% 'ta#ks( direct#y to the ,sbor ia ,&.The second pro1ram !the "exway* ta#ks oer the network to the "exus%sendin1 commands and receiin1 continua# status reports.

4n the case when you+re runnin1 '#oca##y(% that is% on ust one machine% thenthe "exus and "exway run on that one machine.

nd what+s so a#uab#e about operatin1 robots remote#yK To be1in with% ita##ows two or een more student 1roups on separate but adacent computersto share the same ,sbor contro##er% reducin1 expenses:. The contro##er canrun >2 seros at once% and these can be diided between the 1roups or whatwe ca## 'pods(.

4n addition% and at #east as important% remote monitorin1 and contro# o)robots re)#ects the rea#ity o) today+s )actory )#oors.

The Nexus! continued

The word 'nexus( is 1enera##y de)ined as 'a &eans of connection(. The "exus in ourcase connects hardware such as ,sbor controllersand their ser-os% and webca&sused inthe M-.0 ision system to user interfaces an user *ro%ra&s. The "exus is needed

because% as mentioned% the user inter)aces and pro1rams may be runnin1 on othercomputers on a network or on the internet.

4n case you+re wonderin1% the "exus communicates to these other pro1ramsusin1 T$4% the primary protoco#!s* o) the internet.

The Nexwa! continued

The "exway !think 'Nateway to "exus(* is the #ast #ink in the chain oinin1 the userinter)ace !and user pro1rams* throu1h the "exus to the ,sbor and its pods and )ina##y tothe pods+ seros% di1outs !di1ita# outputs* and sensors.

a1e 0 o) 3


11/19

Summar So *ar000

To sum up% here+s a dia1ram so )ar o) the so)tware and hardware. ?e contrast aconentiona# pro1ram !a word processor* with our remote robotic so)tware:

a1e o) 3


12/19

1diting Scri$ts to Change Ser,o Parameters

$ommands that a#ter sero properties need to be edited into the script by hand. 4n themacro osc% chan1e the speed o) the motion% add the command

&axs* all 3

as the )irst #ine in the macro% and then run the script a1ain. ;ou+## see that the motion is

s#ower than be)ore.y the way% instead o) runnin1 the script with the button% you can a#so doub#e-c#ick onthe osc 2#ine to run the osc macro inde)inite#y.

;ou can a#so adust other sero properties% assumin1 that these sero properties werede)ined as +ariab#e+ !the de)au#t case* in the pod+s confi%uration. For examp#e% chan1e the-(222in your script to &in*osand chan1e the (222to &ax*os. nd ri1ht-c#ick on theSer-o Pro*ertiespane# and choose Select Pro*erties. Then check &in*osand c#ick O..

"ow run osca1ain to see that the ran1e o) motion has been increased.

"ext% see what happens when you add the #ine

&in*os all 45226 &ax*os all 522

a1e 2 o) 3


13/19

to the top o) the macro osc and then run the macro a1ain. "ow the motion is morerestricted.Fina##y% chan1e this #ast #ine added to

&in*os all efault6 &ax*os all efault

to return the a#ues to their de)au#ts o) -00 and 00.

For a #istin1 o) a## script commands and their usa1e 1o to

http:www.robix.comobix &criptin1 e)erence.pd)

a1e > o) 3


14/19

Understanding the Usbor Configuration

The ,sbor con)i1uration is stored in the )#ash memory o) the ,sbor itse#) and is retainedeen when power is remoed. The con)i1uration de)ines how the >2 sero outputs !each o)which can a#ternate#y be a di1ita# output or +di1out+* and the >2 ana#o1 inputs are assi1nedto arious pods in the ,sbor.

a1e o) 3


15/19

Creating )our *irst Configuration and Loading it into the Usbor

4n this examp#e we wi## use I o) the >2 seros% and make three pods o) 0% 5 and > seroseach. ?e be1in by c#ickin1 the Confi%uration Tabon the Nexus.

"ext c#ick O*en #sbor Confi%uration +itorand 1et

a1e 5 o) 3


16/19

"ow we c#ick Confi%urationand )#oat oer Newand we see

?e wi## be makin1 new *os!with Ctrl7Shift7P* and addin1 ser-os! with

Ctrl7Shift7S* to the *os.

?e+re usin1 MT !e#ocity trapeDoid* seros which 1ie smooth motion.7ump seros sae con)i1uration memory but can on#y execute umpcommands which resu#t in sharp% uncoordinated motions.

Let+s add the pod with 0 seros )irst. 4t+s ery Guick and easy. ress $tr#A&hi)tA once tostart a new pod. ress $tr#A&hi)tA& 0 times to add 0 seros. That+s itO

a1e o) 3


17/19

nd i) you make a mistake% ust de#ete the pod !s* and start oer.

"ow add another pod and 5 seros and )ina##y a third pod and > seros. This 1ies us:

"ow we need to 1ie this con)i1uration a name. ?e+## ca## it 0-5->. $#ick on Fi#e &aeand sae our con)i1uration with that name.

)inall, we ha-e to ownloa this confi%uration to the #sbor$

$#ick ownloa. Then se#ect your ,sbor !i) you hae more than one connected* )or thedown#oad.

?hen comp#ete you can c#ose the down#oad se#ector and the con)i1uration editor.

a1e E o) 3


18/19

Take a #ook at the 1ui )or pod. 4t has automatica##y detected the chan1e to its pod andadust its contents accordin1#y. &ince there are no di1ita# outputs or sensors in this pod wehae remoed the di1out and sensor windows !by ri1ht c#ickin1 and se#ectin1 Re&o-eThis Panel*

&e#ect 0ui)rom the menu and c#ick Sa-e. Then sae the 1ui #ayout as efault. ny otherpod 1ui+s that you open wi## now hae this #ayout. ;ou cou#d a#so hae saed this 1uiunder some other name. This wou#d enab#e you to switch #ayouts easi#y by se#ectin1 0uia1ain and then O*en Po 0ui$$$.

un the script a1ain. "ote the error Nu&ber is out of ran%e 8 (and that the '( ini%out (is hi1h#i1hted. This is because the pod now has no di1ita# outputs. emoei%out ( on, 9 offand i%out ( off, 9 onand run a1ain. This time execution shou#dproceed without error.

a1e I o) 3


19/19

S$ecial Sub(ect: Setting Init$os

?hen seros )irst power up and 'come to attention( they immediate#y track as Guick#y aspossib#e to their Init*os!initia# position* which is 0 by de)au#t% or about at the midd#e o)their trae#. This can cause prob#ems dependin1 on what+s in the way.

$onsider the situation where you hae prepared a 'work ce##(% that is% some )ixturessurroundin1 your robot with which it wi## interact. Howeer% when the robot starts up it

smacks into your )ixtures and dis#od1es them. This prob#em can be addressed in thecon)i1uration editor by chan1in1 the Init*oso) some or a## o) the seros in your robot.

First use teach mode to moe the robot to the desired startin1 position. Then open thecon)i1uration editor and )or each sero whose initia# position needs to be adusted c#ickthe appropriate sero in the con)i1uration #ist and chan1e its Init*osradio buttons )romInheritand arto O-errieand Const. Then note the Posa#ue o) the sero in the pod1ui and copy this a#ue into the text area to the ri1ht o) Const. e#ow we hae chan1ed

Init*oso) Ser-o3on Po(to 4!33.

?hen you+re done% sae and down#oad the con)i1uration. The robot wi## re#ax )or amoment durin1 reset then come to attention at the desired initia# position.

Setting 2ther Ser,o Parameters

=xcept )or Init*osit is rare#y necessary to preset sero parameters. 4n the unusua# casewhere the con)i1uration you choose is too #ar1e to )it the ,sbor contro##er+s memory youcan sae a )ew bytes by chan1in1 some addition parameters to $onst )rom Mar. 9therwisethere is #itt#e reason to make any adustments.

a1e 3 o) 3

robótica - manual robix softwaretutorials

Documents