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Creating Pick-and-Place Program with SEE Editor

Learn to create, store, load, and execute pick-and-place programs in SEE editor. Define location points, modify, edit, and store them to disk for efficient robot programming.

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Creating Pick-and-Place Program with SEE Editor

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  1. Lab 5: Creating Pick-and-Place Program Using the SEE editor

  2. Lab 5: Creating Pick-and-Place Program Using the SEE editor Objectives: 1. Create a pick and place program in the SEE editor. 2. Store the program in a disk file. 3. Load into system memory the program and location file. 4. Execute a program in single step mode 5. Execute a program in continuous mode

  3. Step 1. Create the location points using HERE. The most straightforward method of creating a location variable is to place the robot or motion device at a location and enter the monitor command: HERE loc_name To just see the location without creating a location variable type: WHERE

  4. Step 1. Create the location points using HERE. • Use the MONITOR commands, location points can be created for a program to be created after a location file is created of all the points to used by a program. • Create the location points using HERE. • HERE #SAFE • Here Point1 • Here Point2 • Store (save) the points in a file using STOREL • StoreL ABCLAB4

  5. Step 1. Create the location points using HERE. • HERE loc_variable • Define the value of a transformation or precision-point variable to be equal to the current robot location. If no task is specified, the HERE monitor command returns information for the robot selected by the V+ monitor • Examples • Define the transformation “place” to be equal to the current robot location. • HERE point1 • HOME is saved as a precision point (joints) defined by the # sign • Start the program with a location of your choice in the envelope • HERE @SAFE

  6. 2. Modify and edit location points using the POINT command. Editing a location POINT loc_variable = loc_value POINT @task:program loc_variable = loc_value Sets the value of the location variable equal to the value on the right, providing the variable and value are the same type of location representation. That is, they must both be transformations or precision points. If no “loc_value” is specified and the variable was previously defined, its value is unchanged and the user is given the opportunity to make changes to its components as described below. If the value is not specified and the variable is not defined, the variable is set equal to the value of the null transformation (0, 0, 0, 0, 0, 0). The value of the variable is displayed and its components may be modified by typing new values after the query “Change?”. Component values must be separated by commas and values that are not being changed may be omitted. Changes are asked for repeatedly until no change is made.

  7. 2. Modify and edit location points using the POINT command. Modifying Location Variables: (Monitor ) The individual components of an existing transformation or precision point can be edited with the POINT monitor command: POINT loc_name displays the transformation components of loc_name and allows you to edit them. If loc_name is not defined, a null transformation is displayed for editing. A location variable can be duplicated using the POINT monitor command to give you a back up locations. The monitor command: POINT loc_name = loc_value The result in the variable loc_name being given the value of loc_value. The POINT monitor commandbest use is to edit a loc_name after it has been assigned using the here command.

  8. 2. Modify and edit location points using the POINT command. • Modifying Location Variables: (Monitor ) • Here is an example to change the Y axis to -120.2 • Change? • X Y Z P R Y • 240.03 - 125.2 125 0 172 0 • Type the following. The comma is a place holder • , - 120.2 , , ,

  9. 3. Store (save) the points in a file using STOREL STOREL (Store the location Ffile) STOREL file_spec = program_name, ..., program_name STOREL /levels file_spec = program_name, ..., program_name Store location variables in a disk file. STOREL can be used while a program is executing. There must be sufficient room on the disk to hold the new disk file. Otherwise, the store operation will fail. Note: when resaving using a new file name

  10. abovesafe nearpick aboveplace DEPART,40 #Safe APPRO,40 DEPART,40 APPRO,40 Place Pick 4. Create a V+ Program Using the SEE Editor Lab Procedure - Part 1: The locations for the following were developed in lab 3. The location file will contain your locations and coordinates.

  11. 4. Create a V+ Program. For the COBRA use ADEPT WINDOWS Enter the following program instructions. (There are no line numbers on the left as shown below) Type ZERO to clear the monitor memory

  12. 4. Create a V+ Program. For the COBRA use ADEPT WINDOWS Modify the program by adding speed changes Always approach the part pick up point or the place point slowly with care Then Move fast away from the parts to save time.

  13. 5. Store (save) the V+ program using STOREP • 1. In lab 3 you created a locations file and in this lab you created a program file. This file was saved as • nameLAB4 Location file using the .STOREL • 2. You can now save the program file as • nameLAB5 Program file saved using the .STOREP • 3. To check to see if both files have been saved, open the directory .FDIR • Load your file from the hard drive or a drive into the monitor. .LOAD Filename

  14. 5. Store (save) the V+ program using STOREP • 1. In lab 3 you created a locations file and in this lab you created a program file. This file was saved as • nameLAB4 Location file using the .STOREL • 2. You can now save the program file as • nameLAB5 Program file saved using the .STOREP • 3. To check to see if both files have been saved, open the directory .FDIR • Load your file from the hard drive or a drive into the monitor. .LOAD Filename • You must type the correct path to store a program in AdeptWindows PC. • See next slide

  15. 6. Step through a program to test all moves using XSTEP XSTEP program Execute a single step of a program. XSTEP can be used to single-step any of the system program tasks, independent of the execution status of other system tasks. When using the program debugger, you can press CTRL+X to generate an XSTEP command for the task being debugged. Examples Initiate execution of program “pack” for three cycles as task #0 (or the current debug task). The parameters “p2” and “17” are passed to the program. The first (executable) step of “pack” is displayed in anticipation of its execution with a subsequent XSTEP command (without parameters). XSTEP pack(p2,17),3 Prepare the program “assembly” for execution as program task #0 (or the current debug task) starting at step number 23. If “XSTEP” is then typed, step 23 would be executed. XSTEP assembly,,23 Execute the next step of the program executing as program task #2. XSTEP 2

  16. DOS Commands used in the monitor How to list the contents of a disk file FLIST filename How to list out your location file LISTL (Shows all the location coordinates) Load Location file first. How to list out you program file FLIST filename.V+ or pg (Shows all the program steps) How to save a location file STOREL filename How to save a program file STOREP filename How to save your location STORE filename and program file together

  17. DOS Commands used in the monitor How to change directory or path CD C: or CD A: List your files in on the hard drive FDIR How to load your file (C Drive) LOAD filename How to load your file (A Drive) LOAD or a:\filename How to rename a file RENAME new_program_name = old_program_name How to delete a file FDELETE filename.ext How to change the name FRENAME new_file_name = Old_file_name

  18. Lab 5: Creating Pick-and-Place Program Using the SEE editor The End

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