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RoboticsLab

Industrial Robot Laboratory ¦ Robot Stäubli 1

INDUSTRIAL ROBOT LABORATORY

RoboticsLab


TABLE OF CONTENTS

1. Configuration of the Robot.............................................................................................................. 4

2. Getting Started ................................................................................................................................ 5

2.1. Starting up ............................................................................................................................... 5

2.2. Manuel Mode .......................................................................................................................... 5

2.2.1. Moving with Joint mode .................................................................................................. 6

2.2.2. Moving with Frame mode ............................................................................................... 6

2.2.3. Save Points ...................................................................................................................... 6

2.2.4. Run a Program ................................................................................................................. 6

2.2.5. More information’s ......................................................................................................... 7

3. Programming ................................................................................................................................... 7

3.1. Overview .................................................................................................................................. 7

3.2. Transfer Manager .................................................................................................................... 7

3.3. VAL3 Studio ............................................................................................................................. 8

3.3.1. Data ................................................................................................................................. 8

3.3.2. Programs ......................................................................................................................... 9

4. The VAL3 Language Elements ....................................................................................................... 10

4.1. Data Types and Initialization ................................................................................................. 10

4.2. Important instructions .......................................................................................................... 11

4.3. Sequence control instruction ................................................................................................ 13

4.3.1. Comment ....................................................................................................................... 13

4.3.2. Call Program .................................................................................................................. 13

4.3.3. IF control instruction ..................................................................................................... 13

4.3.4. While control instruction ............................................................................................... 14

4.3.5. Do …. until control instruction....................................................................................... 14

4.3.6. For control instruction ................................................................................................... 14

4.3.7. Switch control instruction ............................................................................................. 15

5. Visio OpenCV ................................................................................................................................. 16

5.1. Getting Started ...................................................................................................................... 16

5.2. Programming OpenCV ........................................................................................................... 16

5.2.1. Comunication between the robot and OpenCV ............................................................ 16

5.2.2. Start programming OpenCV .......................................................................................... 16

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6. Exercises RobotPC ......................................................................................................................... 17

6.1. Exercise 1 – first steps ........................................................................................................... 17

6.2. Exercise 2 – Pick and Place movement.................................................................................. 17

6.3. Exercise 3 – precise P&P movement ..................................................................................... 17

6.4. Exercise 4 – Camera and Robot ............................................................................................. 17

6.5. Exercise 5 – Rotating Table.................................................................................................... 17

RoboticsLab


1. CONFIGURATION OF THE ROBOT

The figure shows the assembling. The Robot (1) Arm TX40 by Stäubli is a 6 axis industrial robot.

There are also two Cameras (1+2) to detect the pieces.

ABBILDUNG 1

ABBILDUNG 2

TX40

key

StopButton Blister

6 axis Stäubli Robot

Rotation Table

MCP

Camera2

Camera1

ON / OFF switch

CS8C

Lever of

compressed air

Visio -PC Robot -PC

RoboticsLab


2. GETTING STARTED

2.1. STARTING UP

- Turn on the CS8C Controller. ( to get booted takes about 5 min, once all the flashing LED’s on

the MCP are turned off, the controller is ready to be used)

- Start the Computers (for both: Username: labo-533 Password: labo-533)

2.2. MANUEL MODE

- Put the key to manual mode and be sure the emergency switches are released

- Remove the MCP from the holder and remount it

- press the green button on the right

- (if there is a message appearing on the screen, you have to remove and remount the MCP

again)

ABBILDUNG 3: MCP

Stopbutton

Enable the

arm

mode

Buttons to

move the

Robot

decide

between joint

and xyz

green button: start program

red button; stop program

yellow button: pause

Speed

Menu: first-> load

your program

user: see what is

“putln” from

robot

not used

not used

not used

press it

to enable

the robot

not used

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2.2.1. MOVING WITH JOINT MODE

Press the Joint button and then move the robot.

2.2.2. MOVING WITH FRAME MODE

Press the frame mode and move the robot with x, y, z and the

rotations Rx, Ry, Rz. The robot follows the lines, but it needs more

processing power and is slower.

2.2.3. SAVE POINTS

If you have loaded a Program with predefined points to the MCP, the

actual Position can be safe in one. (loading Program to MCP we see

later)

- first of all press esc to return to “main menu”

- with the arrow go to application manager

- Click open (F7)

- open Disk with the arrow and search your program with

pg up/ pg dn ↑↓

- Press ok (F8) to “load” the program

- go to Global data – world with the arrows ↑↓

- decide which point should be at this position

- now click here(F2) and then ok(F8) and SAVE (F8)

- Finished

2.2.4. RUN A PROGRAM

- Change the key to automatic mode

- Press the green Button on the MCP

- To reload the folder with the Program:

o go to your program folder

o press Rld. (F5)

o confirm with Yes (F8)

- A blue light should blink on the left side of the “Move /

Hold”

- Press the green “Run” button thereunder

- Select the Program and continue with OK (an orange

light is on)

- Press the “Move/ Hold” and the program starts

- To hold the program, press “Move/ Hold” again

- To stop the program, press “Stop” and confirm with OK

ABBILDUNG 4: JOINTS (1-6)

ABBILDUNG 5: ACCESS AREA

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2.2.5. MORE INFORMATION’S

The Help function in the Program is good. Search MCP and there are all Buttons described.

3. PROGRAMMING

3.1. OVERVIEW

3.2. TRANSFER MANAGER

Double Click to Transfer Manger

and continue with OK, when it

asks the connection details

The Image shows the Manager. On

the left side is the tree with the

data on the computer and on the

left side is the tree with the MCP

data. Search the Project and tick it.

The data can be transferred to

MCP. To load saved points to the

Computer, refresh the tree of MCP

and choose the project. Now

transfer the data to computer.

Transfer Manager Makes a connection to the robot, to transfer files or points between robot and PC

VAL3 Studio The Editor to Write VAL3 code, is only working with the dongle (small green USB-Stick)

3D Studio Shows the robot as 3D Model, when connected with the Emulator you see the movement

CS8 Emulator Simulation of the controller, there you can check network connection, programs and so on as the robot would run.

Cell Manager Defines the robot which is used

ABBILDUNG 6: OVERVIEW

ABBILDUNG 7 : TRANSFER MANAGER

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3.3. VAL3 STUDIO

Open the VAL3 Studio and create a new Project.

3.3.1. DATA

Direct under the title you find Buttons for exploding and

the scara or the RX/TX – Robot.

In this column is an overview of the definitions of

variables.

Aio is the analog in- and output.

Dio is the digital in- and output. Here used for the Blow

and Vacuum.

Config include the configuration and Config the same

for a scara robot.

Flange is always one need. For movements we have to

give a tool.

Joint for 6 axis robot and Joint (Scara) for 4 axis robot

contain the angle of each “joint”. ( similar with point)

In Mdesc can be different speed mode declared.

Num lists all the numerical variables.

Sio for serial ports inputs/outputs and ethernet sockets.

Strings are used to communicate with the Visio

computer and the rotation table.

In Trsf can be defined transformations.

In the category world create all needed Frames and

Points. Attention: Use Point RX!

Frames will be declared with the program (create Frame

see example) and for declaring points: load all to the

MCP, then create the points and load them back to

computer. To see the Points, reload your program (right

click on Your Program).

select

Your Program

ABBILDUNG 8: DATA TYPES

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3.3.2. PROGRAMS

A program is a sequence of VAL3 instructions to be

executed. A program consists of the following elements:

The sequence of instructions A set of local variables A set of parameters

Predefined are the start and stop programs. For a better

overview you can create new Programs.

Now open the Example program: (C:\Documents and

Settings\labo-533\My

Documents\Staubli\CS8\Default\usr\usrapp)

Start() program

The start() program is the program called when the VAL3

application is starting. It cannot have any parameters.

Typically, this program includes all the operations

required to execute the application: initialization of the

global variables and the outputs, starting up the

application tasks, etc.

The application does not terminate at the end of the

start() program, if other application tasks are still running.

The start() program can be called from within a program

(call instruction) in the same way as any other program.

Stop() program

The stop() program is the program called when the VAL3

application stops. It cannot have any parameters.

Typically, this program includes all the operations

required to stop the application correctly: resetting the

outputs and stopping the application tasks according to

an appropriate sequence, etc.

The stop() program can also be called within a program

(call instruction) in the same way as any other program

but, calling the stop() program does not stop the

application.

Your Program

ABBILDUNG 9: PROGRAMS

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4. THE VAL3 LANGUAGE ELEMENTS

The VAL3 language does not have any terminator at the end of each line. Brackets are not often used

as well. But the loops are, always terminated with a terminator, like while…. endWhile.

Detail information’s are in the VAL3 Help – search VAL3 language elements. In the hand out is just a

little overview with the most important information’s.

4.1. DATA TYPES AND INITIALIZATION

Simple Types:

- bool type: for Boolean values (true/false) - num type: for numeric values - string type: for character strings - dio type: for digital inputs/outputs - aio type: for numeric inputs/outputs (analog or digital) - sio type: for serial ports inputs/outputs and ethernet sockets

bBool = true

nPi = 3.141592653

sString = "this is a string"

Structured Types:

- trsf type: for Cartesian geometrical transformations - frame type: for Cartesian geometrical frames - tool type: for robot mounted tools - point type: for the Cartesian positions of a tool - joint type: for robot revolute positions - config type: for robot configurations - mdesc type: for robot movement parameters

program dummy

p = {{100, -50, 200, 0, 0, 0}, {sfree, efree, wfree}}

in another program:

call dummy

RoboticsLab


4.2. IMPORTANT INSTRUCTIONS

To move the robot

movel(pPosition, tTool, mDesc) moves the robot on a straight line from the actual position to the point pPosition

movej(pPosition, tTool, mDesc) movej(jPosition, tTool, mDesc)

moves the robot to a point pPosition moves the robot to a point jPosition

pPosition: is a variable “world-point scara” jPoint: is a variable “joint-scara” tTool: is a variable “flange-tool” mDesc: is a variable “Mdesc” (movement description)

Note: The difference between points and joints is that a joint position is defined by only

one arm configuration. In opposition, almost all points can be reached in two

different arm configurations (left and right) -> we saw it in chapter 2.2.1 and 2.2.2

waitEndMove() wait until the arm reaches the destination point

note: without the command waitEndMove() the controller goes on even if the movements

are not completed or it’s not even possible to complete them.

To define a specific frame and move relative to it

setFrame(pPoint01,pPoint02,pPoint03,fFrame) create a frame fFrame with the help of 3 Points

pPoint04 = compose(pPoint01, fFrame, {j*trTrsform.x,k*trTrsform.y,0,0,0,0})

create the point pPoint04 in the robot frame

movej(pPoint04, tTool, mDesc) move to point pPoint04

fFrame: is a variable “world-frame” trTrsform: is a variable “Trsf” trTrsform define the steps in x and y direction in the frame

The point pPoint04 is calculated

form the point pPoint 01 plus j

time the transformation

trTransform in x direction and k

time the transformation

trTransform in y direction j and k

are numerical increments.

RoboticsLab


To use the vacuum griper

dioLink (dVacuum, io:dOut1) create a link between dVacuum and digital Output 1

dioLink (dBlow, io:dOut0) create a link between dBlow and digital Output 0

dVacuum=true ; dVacuum=false enable / disable vacuum

dBlow = true ; dBlow = false enable / disable blowing

To write or read a socket connection – general case

sioLink(<sioMessage>,io:<sioSource>) makes a link to an existing socket – connection

sioMessage: this variable must be declared local or global as an Sio type sioSource: is the name of the socket to which the connection shall be made; in our

example either labclient or portSerial. The socket is declared in the controller.

sioVariable = string to write a string to the socket

string = sioVariable to read a string from the socket

To write or read a message to OpenCV

sioLink(sSocket, io:OpenCV) create a link between sSocket a OpenCV’s PC

clearBuffer (io:OpenCV) clear the link

sToOpenCV=”send1” // “send0” assign sendO or sendE to the string sToOpenCV

sSocket = sToOpenCV transfer the message to OpenCV’s computer

sFromOpenCV = sSocket read the message from OpenCV’s computer

To control the rotating table

sioLink(sRotatingTable,io:portSerial1) create a link between sRotationTable and port serial 1

sRotatingTable = “EN” enable table rotation

sRotatingTable =”V300” set motor speed to 1000 rpm cw

sRotatingTable =”V-300” set motorspeed to 1000 rpm ccw

sRotatingTable =”DI” disable table rotation

note: There is a gear between the motor and the rotating table. The velocity will be reduced

with i=370.

Other useful instructions

toNum() Computes the numerical represented at the beginning of the string specified, and returns a string in which all the characters have been deleted until the next representation of a numerical value

toString() Returns a character string representing nValue according to the display format

insert() Returns a string which a string is inserted after positon index character

RoboticsLab


4.3. SEQUENCE CONTROL INSTRUCTION

4.3.1. COMMENT

// This is an example of a comment

4.3.2. CALL PROGRAM

Runs the specified program with the specified parameters.

//Calls the pick() and place() programs for i,j between 1 and 10

for i=1 to 10

for i=1 to 10

call pick (i, j)

call place(i,j)

endFor

endFor

4.3.3. IF CONTROL INSTRUCTION

When the evaluation of the Boolean Condition is (true), all the following instructions up to the else

keyword, if present, or the next endIf are evaluated. When the expression is (false), the instructions

evaluated are those between the else and endIf keywords, if else keyword is present. In all cases, the

program then resumes after the endIf keyword.

Parameter bool bCondition Boolean expression to be evaluated

//s = ?”

if a==0

“s=0”

endIf

//s= “a=0” If a=0, else “a<>0”

if a==0

s= “a=0”

else

s=”a<>0”

endIf

RoboticsLab


4.3.4. WHILE CONTROL INSTRUCTION

The instructions between while and endWhile are executed when the Boolean Condition expression

is (true). If the Boolean Condition expression is not true at the first evaluation, the instructions

between while and endWhile are not executed.

Parameter bool bCondition Boolean expression to be evaluated

// Causes a signal to flash while the robot is working

diLamp = false

while (isSettled()==false)

diLamp = !diLamp //Inverses the value of the diLamp:true false

delay(0.5) // Waits ½ s

endWhile

diLamp = false

4.3.5. DO …. UNTIL CONTROL INSTRUCTION

The instructions between do and until are executed until the Boolean bCondition expression is

(true). The instructions between do and until are executed once if the Boolean bCondition

expression is true during its first evaluation.

Parameter bool bCondition Boolean expression to be evaluated // Waits until Enter is pressed

do

a = get() // Waits for a key to be pressed

until (a == 270) // Tests the Enter key code

4.3.6. FOR CONTROL INSTRUCTION

The instructions between for and endFor are executed until the nCounter exceeds the specified nEnd

value. The nCounter is initialized by the nBeginning value. If nBeginning exceeds nEnd, the

instructions between for and endFor are not executed. At each iteration, the nCounter is

incremented by the nStep value, and the instructions between for and endFor are repeated if the

nCounter does not exceed nEnd. If nStep is positive, the nCounter exceeds nEnd if it is greater than

nEnd. If nStep is negative, the nCounter exceeds nEnd if it is less than nEnd.

Parameter num nCounter num type variable used as a counter num nBeginning numerical expression used to initialize the counter num nEnd numerical expression used for the loop end test [num nStep] numerical expression used to increment the counter

RoboticsLab


jDest = {0,0,0,0,0,0}

// Rotates axis 1 from 90° to -90° in -10-degree steps

for i = 90 to -90 step -10

jDest.j1 = i

movej(jDest, flange, mNomSpeed)

waitEndMove()

endFor

4.3.7. SWITCH CONTROL INSTRUCTION

Executes the instructions corresponding to the nSelection case specified. When a non integer value is

specified for the nSelection or for a nCase, the nearest integer is used. If no case corresponds to the

nSelection specified, the Default Instructions, if present, are executed. If the same case nCase value

occurs several times, only its last occurrence is taken into account.

Parameter num nSelection num selection type variable num nCase1 test case numerical constant num nCase2 test case numerical constant num nCase3 test case numerical constant num nCase4 test case numerical constant

num nMenu

string s

// Tests the menu key pressed

nMenu = get()

switch nMenu

case 271

s = "Menu 1"

break

case 272

s= "Menu 2"

break

case 273, 274, 275, 276, 277, 278

s = "Menu 3 to 8"

break

default

s = "this key is not a menu key"

break

endSwitch

RoboticsLab


5. VISIO OPENCV

5.1. GETTING STARTED

A. Start the PC labelled as “OpenCV Stäubli NEW”

B. Login local (Username: labo-533 Password: labo-533”

5.2. PROGRAMMING OPENCV

5.2.1. COMUNICATION BETWEEN THE ROBOT AND OPENCV

The Communication is already programmed. The OpenCV PC wait of an Input of the Robot’s PC. If

Robot’s PC send the string “send0”, the OpenCV give back the centrepoints of an Object on the

rotating table. If Robots’s PC send the string “send1”, the OpenCV send the exact centrepoint of the

Object and the orientation.

The style of the return string is: “x;y;angle”.

5.2.2. START PROGRAMMING OPENCV

In the folder “Lab_Projects_OpenCV_2011”, on the desktop, you find your group- folder. There are all

data, which you need to do the OpenCV exercise.

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6. EXERCISES ROBOTPC

6.1. EXERCISE 1 – FIRST STEPS

start the robot

move the robot by hand

get used to the world coordinate (make a draft of the workspace and the values of the robot)

read the coordinates of the points

teach some points

move the robot from point to point

6.2. EXERCISE 2 – PICK AND PLACE MOVEMENT

make a program to move the robot like a P&P with adapted speed and precision

teach points and run the program

6.3. EXERCISE 3 – PRECISE P&P MOVEMENT

make a program to pick up a part and place it into the blister

teach all different shape positions of the blister

6.4. EXERCISE 4 – CAMERA AND ROBOT

make a calibration of the cameras and the robot

search one part, send the coordinates to the robot and do the same as in the previous

exercise.

6.5. EXERCISE 5 – ROTATING TABLE

Let the Table turn, detect pieces with the cam

follow the piece with the same speed as the table and pick up

then do the same as in the previous exercise