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5 R O B O T P R O G R A M M I N G A N D S I M U L A T I O N
Teach Window
The easy way for creating or modifying existing program is by
the Teach Window. You can open the Teach Window by:
Robotics->Robot Program->Teach Window, or by
clicking the TW button in the On/Off Toolbar. The Teach
Window opens the existing loaded program. Otherwise it
creates the new default program file. The picture bellow shows
the Teach Window in Action.
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R O B O T P R O G R A M M I N G A N D S I M U L A T I O N
Button Description
Reload current program into Teach Window
Opens the Robot program with Notepad (or your
preferred editor)
Creates the new Robot program
Saves the existing program with different name.
Overwrites/saves loaded program file.
Allows you to open the existing robot program.
Closes the Teach Window.
Starts EASY-ROB™ Online Help
Allows you to rewrite the next line in the program
with the current selected line of program.
Executes the selected line in the program
Indicators for current selected line.
Inserts the Line in the program.
Cuts the line of the program.
Undo the cut.
Copy the line from the program.
Paste the line in the program.
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Button Description
Allows you to specify the new position and
orientation for the Base frame.
Note:
The goal of all BASE commands is to shift
program commands. The BASE command is
always related to the robots base. (see also ERC
BASE ...) i.e. All following motion commands are
transformed by the current base frame.
Moves the Robot to its zero position.
Moves the robot to target location with PTP type of
motion.
Moves the robot to target location with LIN type of
motion.
Sets the Via point for CIRC motion type.
Moves the robot to target location with the CIRC
type of motion.
Moves the robot to current tag location with PTP
type of motion.
Moves the robot to current tag location with LIN
type of motion.
Sets the Via point for CIRC type of motion to the
current tag.
Moves the robot to current tag location with CIRC
type of motion.
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The Table bellow shows all available motion commands and its
descriptions.
Button Description
Determines the position of each robot joint
with respect to the zero position of the
appropriate joint.
Determines the position of each robot joint
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Button Description
Sets the program override.
Sets wait time in seconds.
Sets the PTP Speed [deg/sec]
Sets the CP speed in [m/sec]
Sets the LIN orientation.
Sets the CIRC orientation.
Sets the location of the tool frame.
Sets the robot configuration.
Calls the defined function.
Sets the name of defined function.
Calls the program files.
Closes the window Control Commands
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EASY-ROB™ commands
are grouped in the buttons.
The picture bellow shows the Dialog Box for enabling the ERC.
The same situation is for disabling the EASY-ROB™
commands.
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The ERC VIEW [] stets the parameters for the Render Scene.
The Picture bellow shows the ERC VIEW [] Dialog Box.
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Button Description
Interrupts the Simulation.
Sets the units to [m], [mm], [inch], [deg], [rad]
Sets the zero position for the Robot Joints.
Stores the current position of Joints.
Renders all objects in the Render scene in Wire
frame.
Renders all objects in the Render scene in Flat.
Stets simulation step size in seconds.
Sets the Controller for motion planer step size in
seconds.
Sets the Controller step size.
Sets the system step size.
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Numerical solutions.
Software Limit values for joints.
C:\...\Easy-Rob\Lib\Robots\Other\Amtec.rob
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With the Robot Name attribute you can change the Name of
the Robot. By choosing the Item, Dialog box appears.
By choosing Yes, the home position (Zero position) is set for the
current position of the Robot. If you answered No, Dialog box
appears.
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Set the
Software/Limit
positive Travel range
for Stop On
command.
Stop On with SWE
stops the Robot
jogging when the
positive travel range
is exceeded.
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Robot Joint offset specifies the offset for each Robot joints.
The Picture bellow shows the Robot Joint offset Dialog Box.
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Robot Joint Speed allows you to specify the speed of the each
loaded Robots Joint. Depending on the type of Joint you can
specify the speed in meters per second or degrees per second.
The picture shows the Dialog Box for speed.
Set the
Acceleration for
the each joint
and press the Ok
button.
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ABC - Orientation
[X2 Y2 Z2] - Via Point Pose
CIRC_REL dX dY dZ dA dB Relative Circular CP motion
dC [dX2 dY2 dZ2] [m,deg] dXdYdZ - delte Position
dAdBdC - delta Orientation
[dX2 dY2 dZ2] - delta Via Point
Pose
CIRC TagName [TagName2] Circular CP motion
TagName - name of target Tag
[TagName2] - name of via
point Tag pose
CIRC_ORI ori_type Orientation Interpolation type
for Circular CP motion
ori_type -
VARIABLE, FIX,
TANGENTIAL, AUX,
VARIABLE2,
QUATERNION
VIA_POS X Y Z A B C Via Position for Circular CP
[m,deg] motion
XYZ - Position
ABC - Orientation
VIA_POS_REL dX dY dZ dA Relative Via Position for
dB dC [m,deg] Circular CP motion
dXdYdZ - delte Position
dAdBdC - delta Orientation
VIA_POS TagName Via Position for Circular CP
motion
TagName - name of via point
Tag pose
WAIT x [sec] Wait Statement
x - time in seconds
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Dynamics
ERC STOP_SWE ON,OFF Enables / Disables monitoring
of software endswitches
ERC STOP_SPEED ON,OFF Enables / Disables monitoring
of joint/axis speed
ERC STOP_ACCEL ON,OFF Enables / Disables monitoring
of joint/axis acceleration
ERC COLLISION ON,OFF Enables / Disables monitoring
of collision
ERC STOP_COLLISION Enables / Disables the
ON,OFF STOP motion on collision
ERC ROBOTJOINTS ON,OFF Enables / Disables the
ERC ROBOTPOSITIONS Online Robot IO Output
ON,OFF
ERC FLOOR ON,OFF Enables / Disables the
Floor
ERC FLOOR_RENDER Enables / Disables the
ON,OFF flat shaded floor (flat or wire)
ERC EXT_TCP ON,OFF Enables / Disables the
brown colored external TCP
Coorsys
ERC ORTHOGRAFIC Enables / Disables
ON,OFF Orthografic view
ERC DISPLAY_ROBOT Enables / Disables the
ON,OFF visualization of Robot
ERC Enables / Disables the
DISPLAY_ROBOT_COORSY visualization of yellow/green
S ON,OFF colored Robot Joint/Axis
Coorsys
ERC DISPLAY_TOOL Enables / Disables the
ON,OFF visualization of Tool
ERC DISPLAY_BODYS Enables / Disables the
ON,OFF visualization of Bodies /
Environment
ERC TCP_COORSYS Enables / Disables the
ON,OFF visualization of blue colored
Tool/TCP Coorsys
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Parameter:
1st : 1 - save status data
every simstep
2 - save status data
at target location
2nd : filename, e.g. "out.dat"
rd
3 : Function number
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0 - default output
1..12 - user defined
output, see API-DYN
status_output_user_1()
defined in dyn_user.cpp
Example: in folder ./proj/proj/
Status_Output.cel and
Status_Output.prg
ERC INTERPOLATION Disables continous
ON/OFF interpolation, robot jumps to
target location
ERC REALTIME_SIM ON/OFF Realtime Simulation causes
program execution in realtime.
This mode will calculate the
simulation step size
permanetly.
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R O B O T P R O G R A M M I N G A N D S I M U L A T I O N
BLUE
GREEN
CYAN
RED
MAGENTA
BROWN
LIGHTGRAY
DARKGRAY
LIGHTBLUE
LIGHTGREEN
LIGHTCYAN
LIGHTRED
LIGHTMAGENTA
YELLOW
WHITE
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This feature gives the user the ability to load a file, e.g. a robot
tool or a view file during program execution.
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