#HOW TO PROGRAM ROBOTC HOW TO#

This helps users to not cause unattended motion when only small re-orienting motions are required. When using hand guiding with only the Tool Joints the robot user can carefully re-orient the tool by rotating any of the last three links of the robot. This option is ideal for those that want to be able to move to various angles or to perform dramatic robot position changes. Hand guiding with All Joints enabled allows the user to rotate all six of the joint(s) freely by pushing on any link of the robot. Yaskawa allows a programmer to choose between several motion types:

While hand-guiding, users can constrain the motion of the robot to best suit their preference and application. More importantly, hand-guiding allows users to recover from a robot error in a fast and efficient manner, making it easy to get back on track. Ideal for users branching out into robotics, this method uses built-in torque sensors to allow a programmer to physically guide robot movement, providing a user-friendly learning curve. Hand-guiding is a collaborative mode that allows intuitive pendant-free programming and rough position of the robot. Note: the directions of the Y- and Z-axes are automatically calculated based on which side of the X-axis the XY point is taught. For Yaskawa robots, these three defining points are ORG (origin position), XX (a point on the X-axis) and XY (a point on the Y-axis). User coordinates are defined by three points that have been taught. This is also useful when a robot uses a camera to locate a part because the robot can pick up multiple parts in different locations, using the same programmed motion relative to the part’s user frame. When working with pallets, a user could teach a position relative to the user coordinate system attached to the pallet, before easily transferring to another pallet in a different location. This coordinate system is any reference point that a user has defined for a given application and allows for positions to be reused efficiently. Setup for the operation is typically in the direction of the approach/departure, but is application related. Furthermore, this coordinate system is not stationary, allowing the X, Y, Z origin to “float” with the tool’s movement. Tool Frame X, Y, Z Ideal for welding, cutting, painting and gluing applications, this coordinate system is unique to the end-effector or active TCP of a robot, and it moves relative to that tool’s programmed X, Y, Z axis. In addition, this motion allows for rotation about each axis which is designated as Rx, Ry or Rz depending on the axis. Keep in mind that the sign (+ or -) indicates the point’s direction along each axis, and that two varying points will never have the same coordinates. This system is based on the “right hand rule” – which involves the programmer knowing his or her orientation to the robot relative to the frame of operation – and uses the base of the robot as the origin for each axis. In this form of robot control, a robot’s Tool Center Point (the physical location in space of an easily defined point relative to the tool flange) automatically calculates the exact amount to rotate each joint to allow a user to move the robot relative to the X, Y, Z coordinate system. Highly-flexible robots, like the Yaskawa VS100, VA1400 II, SP100B or GP110B, have an additional 7 th axis, which is represented by the letter E (elbow). With Yaskawa robots, each joint is represented by the letters S (swing), L (lower), U (upper), R (rotate), B (bend), and T (twist). Using this type allows the operator to easily move each motor/link in a positive or negative direction. The default coordinate system upon power up with Yaskawa industrial robots, joint-based motion directly rotates the robot’s servo motors or machine axis positions. Here are the most common options available: This form of programming uses a teach pendant to drive the robot and its peripherals to desired locations.

The most common type of programming, the teach method, is used to program nearly 90% of industrial robots used in production today.

Common ways of programming a robot include: Regardless of programming experience, there are multiple programming methods available, depending on preference and complexity of the application. Thanks to Industry 4.0 and the subsequent introduction of smart technologies, many applications are within grasp of a new robot programmer.

#HOW TO PROGRAM ROBOTC HOW TO#

While having automation experience is advantageous to reducing integration time or reprogramming downtime, anyone can learn how to effectively program a robot. A common misconception about robot programming is that you must be a highly skilled programmer to get a robot up and running.

How to program robotc