Computer-Controlled Manufacturing Systems: Robot Programming in ACL
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
1
IENG 475 - Lecture 15
Robot Programming in ACL
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
2
Assignment
L
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b
(
t
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p
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)
•
Write program to do the 12” Pick and Place
Cycle in ACL commands for a total of 5 cycles.
(Assume a new payload magically appears
each time)
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t
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s
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Teach positions and run Robot Program
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Complete NC Programming
•
Estimate times, plan for production
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
3
Programming
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c
h
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t
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/
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/
D
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e
s
:
•
AML, AML/2
•
ARMBASIC
•
Karel
•
RAIL
•
RAPL
•
SCORBASE
•
VAL, VAL II
•
Wave ...
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
4
Programming
D
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t
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:
•
Position Diagram(s)
•
Position Table
•
I/O Signal Table(s)
•
Program Listing
•
Well Commented
•
Operating Instructions / Safety Procedures
•
Program Metrics
•
Cycle Times
•
Program Size
•
Bill of Materials (Parts List)
•
Wiring Diagram(s)
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
5
Robot Programming
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g
P
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a
c
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c
e
s
:
•
Always start a program with motion(s) from the
HOME
position
•
Always signal the start of automated operations by
triggering a
warning
output
•
Always have an
interrupt
signal for critical error
conditions
•
Always design programs to be “
fail-safe
” - to fail in a
safe condition
•
Generously
comment
your programs
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
6
Anthropomorphic Spec Sheet
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
7
ACL Programming – ER V+ Robot
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Similar to BASIC
•
Programmed at keyboard in EDIT mode
•
Positions can be taught with teach pendant, or with
keyboard in DIRECT mode
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:
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Teach positions
•
Sketch positions
•
Program
•
Motions & Logic & I/O
•
Verify (slow speed) & Edit as necessary
•
Save program
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
8
Program Editing Commands
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EDIT
program_name
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2
•
COPY
program1 program2
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•
RENAME
program1 program2
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10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
9
Operation Commands
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Run
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A
- or -
Ctrl+A
from keyboard
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(
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STOP
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STOP
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SUSPEND
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CONTINUE
program1
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
10
Motion Commands
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•
Use this as the start and end of every program
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•
SPEED
value(1..100)
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MOVE
position
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MOVEL
position
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MOVEC
position1 position2
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:
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10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
11
Location Commands
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HERE
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HERER
position2 position1
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TEACH
position
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TEACHR
position2 position1
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SET P
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SETPV
position axis value
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SETPVC
position coord value
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
12
Program Control Loop Commands
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IF
variable1 condition variable2
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ANDIF
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ORIF
variable1 condition variable2
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ENDIF
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FOR
variable1 = variable 2
TO
variable3
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ENDFOR
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
13
Program / Branching Commands
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LABEL
number(0..9999)
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GOTO
label_n
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2
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
14
Programming Variables Commands
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GLOBAL
variable1 … variable2
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DEFINE
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DIMG
variable[n]
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DIMG
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SET
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=
variable2 operation variable3
•
Operations can be + - * / SIN COS TAN ATAN EXP LOG MOD OR AND
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
15
Programming Variables Commands
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“
string
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PRINTLN
“
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READ
“
prompt
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variable
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GET
variable
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
16
Robotics Lab
Inking
Mask on
Pad
Inking
Mask &
Pad
Base &
Pallets
Initial
Position
Final Position
Fixture Pins
10/7/2024
IENG 475: Computer-Controlled
Manufacturing Systems
17
Questions & Issues
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s
•
Verify on CNC Lathe
•
Watch for tool interference
•
Watch for chuck interference
•
Detail handling of workpiece origin & running program(s)
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•
Consolidate programs in Team Folders
•
Organization for production – personnel, tools
•
Schedule time for last week’s demo
–
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IENG 475: Computer-Controlled Manufacturing Systems
(c) 2006, D.H. Jensen
Explore the world of robot programming in ACL through hands-on assignments, documentation practices, and good programming principles. Learn about advanced command languages, teach pendant techniques, and programming sequences for efficient manufacturing systems. Dive into creating ACL programs, understanding positions, running cycles, and ensuring safety in automated operations.
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IENG 475 - Lecture 15 Robot Programming in ACL 10/7/2024 IENG 475: Computer-Controlled Manufacturing Systems 1
Assignment Last Lab (this period) Write program to do the 12 Pick and Place Cycle in ACL commands for a total of 5 cycles. (Assume a new payload magically appears each time) Remaining Laboratory Periods Teach positions and run Robot Program Complete NC Programming Estimate times, plan for production 10/7/2024 2 IENG 475: Computer-Controlled Manufacturing Systems
Programming Teach Pendant Lead-through / Walk-through / Dummy Robot Languages: AML, AML/2 ARMBASIC Karel RAIL RAPL SCORBASE VAL, VAL II Wave ... 10/7/2024 3 IENG 475: Computer-Controlled Manufacturing Systems
Programming Documentation: Position Diagram(s) Position Table I/O Signal Table(s) Program Listing Well Commented Operating Instructions / Safety Procedures Program Metrics Cycle Times Program Size Bill of Materials (Parts List) Wiring Diagram(s) 10/7/2024 4 IENG 475: Computer-Controlled Manufacturing Systems
Robot Programming Good Programming Practices: Always start a program with motion(s) from the HOME position Always signal the start of automated operations by triggering a warning output Always have an interrupt signal for critical error conditions Always design programs to be fail-safe - to fail in a safe condition Generously comment your programs 10/7/2024 5 IENG 475: Computer-Controlled Manufacturing Systems
Anthropomorphic Spec Sheet 10/7/2024 6 IENG 475: Computer-Controlled Manufacturing Systems
ACL Programming ER V+ Robot Advanced Command Language Similar to BASIC Programmed at keyboard in EDIT mode Positions can be taught with teach pendant, or with keyboard in DIRECT mode Programming Sequence: Teach positions Sketch positions Program Motions & Logic & I/O Verify (slow speed) & Edit as necessary Save program 10/7/2024 7 IENG 475: Computer-Controlled Manufacturing Systems
Program Editing Commands Edit starts a new program EDIT program_name S goes to the start of the program / line S line_n L lists the lines of a program L n1 n2 Del erases the current line of a program * precedes a comment line Exit quits the editor and validates Copy copies a program to program2 COPY program1 program2 Rename changes the name to program2 RENAME program1 program2 Remove deletes a program from RAM 10/7/2024 8 IENG 475: Computer-Controlled Manufacturing Systems
Operation Commands Run executes a saved program Run program1 A aborts program & motions A - or - Ctrl+A Stop aborts running program(s) STOP program1 STOP Suspend halts program execution SUSPEND program1 Continue continues program execution CONTINUE program1 from keyboard 10/7/2024 9 IENG 475: Computer-Controlled Manufacturing Systems
Motion Commands sends the robot to known position Use this as the start and end of every program Open opens the gripper closes the gripper sets the speed for the axes of motion SPEED value(1..100) moves robot in point to point MOVE position MoveL moves robot in linear motion MOVEL position MoveC moves robot in circular motion MOVEC position1 position2 NOTE: adding a D at the end of a move command allows the robot to delay the next axis motion until all movement is complete Ex. MoveD position, MoveLD position, MoveCD position Home Close Speed Move 10/7/2024 10 IENG 475: Computer-Controlled Manufacturing Systems
Location Commands Here Stores the position as joint coordinates HERE position1 HereR Stores the position as relative to last in joint coords HERER position2 position1 Teach Stores the position as cartesian coordinates TEACH position TeachR Stores the position as relative to last in cartesian TEACHR position2 position1 SetP Transfers positions as variables SET P position1 = position2 SetPV Changes a joint coordinate value SETPV position axis value SetPVC Changes a cartesian coordinate value SETPVC position coord value 10/7/2024 11 IENG 475: Computer-Controlled Manufacturing Systems
Program Control Loop Commands checks condition of two variables IF variable1 condition variable2 AndIf combines If conditions ANDIF variable1 condition variable2 OrIf combines If conditions ORIF variable1 condition variable2 Else subroutine for false If condition ELSE EndIf ends an If routine ENDIF For looping command FOR variable1 = variable 2 TO variable3 EndFor end of looping command ENDFOR If 10/7/2024 12 IENG 475: Computer-Controlled Manufacturing Systems
Program / Branching Commands Label sets a label for branching to LABEL number(0..9999) Goto GOTO label_n sends program to a branch Gosub transfers control to another program, suspending current until subprogram is completed GOSUB program2 10/7/2024 13 IENG 475: Computer-Controlled Manufacturing Systems
Programming Variables Commands Global creates global variables (all programs can use any global variables) GLOBALvariable1 variable2 Define creates local variables (only current program can use local variables) DEFINE variable1 variable2 DimG dimensions an array of size n global variables DIMG variable[n] Dim dimensions an array of size n local vars DIMG variable[n] Set assigns value to variable1 SET variable1= variable2 operation variable3 Operations can be + - * / SIN COS TAN ATAN EXP LOG MOD OR AND 10/7/2024 14 IENG 475: Computer-Controlled Manufacturing Systems
Programming Variables Commands Print Displays text on screen PRINT string PrintLn screen PRINTLN string Starts a new line & displays text on Read READ prompt variable Displays a prompt string & gets input Get GET variable Waits for one keyboard character press 10/7/2024 15 IENG 475: Computer-Controlled Manufacturing Systems
Robotics Lab Initial Position Inking Mask & Pad Inking Mask on Pad Base & Pallets Final Position Fixture Pins 10/7/2024 16 IENG 475: Computer-Controlled Manufacturing Systems
Questions & Issues Finish producing your lid corners & monikers this week. Finish your chess piece program verifications Verify on CNC Lathe Watch for tool interference Watch for chuck interference Detail handling of workpiece origin & running program(s) Finalize design & select production methods Consolidate programs in Team Folders Organization for production personnel, tools Schedule time for last week s demo by the end of this week No lab next week Monday will be last exam In-class review & class assessment this Wednesday 10/7/2024 17 IENG 475: Computer-Controlled Manufacturing Systems
