1. Braas Company Denso Training

2. Denso Training - Agenda Hardware Overview Jogging the robot Teaching Positions (using the Teach Pendant) Configuring the Robot Programming (Using the Teach Pendant) I/O Interfacing (Hardware) Overview of Development Software

3. Denso – Hardware Overview -Controller

4. Denso – Hardware Overview -Joints

6. Denso – Hardware Overview – Connections - VS CN21 Connector for hand signals Use attached connectors for wiring. AIR2 Directly connected to AIR2 on the connector panel. (M5) Not available for clean room types. Valve outputAir piping joint for hands (M5)

7. Denso – Hardware Overview –Connections - VSG

8. Denso – Hardware Overview –Connections - VPG The VP Series is equipped with 4 air lines, 9 signal lines and does not have solenoid valves.

9. Denso – Hardware Overview –Connections - HSG The HS-G Series is equipped with 4 air lines, 19 signal lines.

10. Denso – Hardware Overview -Pendant

11. Denso – Hardware Overview - Status Bar

12. Denso – Hardware Overview - Shortcut

13. Denso – Modes of Operation The Robot has 3 modes of operation. Manual- operate the robot from the teach pendant. Teach Check – restricted automatic operation Auto – Allows the robot to operate automatically. Manual and Teach Check mode speed is limited to 10% of the robot max speed. (Pendant Control) (PLC control) (PC control)

14. Denso – Modes of Operation Changing Executable Token Access: [F6 Setting, F5 Communication and Token, F1 Executable Token]

15. Denso – Manual Operation–Joint Mode -VS Joint Mode- allows moving each axis independently

16. Denso – Manual Operation – X-Y Mode -VS XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.) (WORK 0)

17. Denso – Manual Operation – Tool Mode -VS Tool Mode- allows moving the robot in mechanical interface coordinates.

18. Denso – Manual – Joint Mode -Scara Joint Mode- allows moving each axis independently.

19. Denso – Manual – XY Mode -Scara XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.) (WORK 0)

20. Denso – Manual – Tool Mode -Scara Tool Mode- allows moving the robot in mechanical interface coordinates.

21. Robot Exercise - Jogging

22. Pendant Mode Key Switch to Manual Mode Clear E-Stops Manual Mode –ARM (Speed 10%) –Motor ON –Joint/Coordinate Movement using J1 through J6 –Move Robot using all three operating modes –Inching the Robot

23. Denso – Work Coordinates Up to 7 more work coordinate systems may be specified, WORK 1 – WORK7.

24. Denso –Tool Coordinates Multiple Tool coordinate systems may also be defined, TOOL 1 – TOOL 63. TOOL 0 is always defined as at the flange of the robot. (TOOL 0)

25. Denso - Robot Configuration Access: [F2 Arm] – [F6 Aux] – [F1 Config]

26. Denso – Preparation for Programming To program we need to understand: –Variables –Interpolation Control –Confirming Reach Position –Basic Programming Commands TAKEARM, MOVE, APPROACH, DEPART, SET, RESET, DELAY, WAIT

27. Denso – Variables (Global) Access: [F3 Variables]

28. Denso – Variables (Global) *All vars configured to 200 on demos. *Please only use variables numbered greater than 100 for the class

29. Denso –Interpolation Control -Point to Point PTP (Point to Point) can be defined as the movement from one point to another point. The path on which the robot moves depends on the robot posture and is not always a straight line. If you designate a Type P or Type T variable as the PTP motion destination position and the designate robot figure, the robot moves so that the robot becomes the designated robot figure. If you do not designate any robot figure it will be the current robot figure.

30. Denso –Interpolation Control -Continuous Path - Linear Continuous Path (CP) control manages interpolation so that the path to reach the motion destination position will be a straight line. If you designate “L” for designation of the interpolation method with the motion control command, the robot executes the CP motion. When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure a error may occur. If the first motion of a program is CP control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

31. Denso –Interpolation Control - Continuous Path – Circular (ARC) ARC interpolation control manages interpolation so that the path to reach the motion destination position will be an arc. If you designate “C” for designation of the interpolation method with the motion control command, the robot executes the ARC motion. When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure an error may occur. If the first motion of a program is ARC control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

32. Denso – Programming Exercise

33. Pick P100 Place P101 Approach Pick Point Approach Place Point

34. Denso – Programming Exercise Teach two Points into P100 & P101

35. Denso – Programming Exercise Create New Program Access: [F1 Program] – [F1 NewProg.] – [Program OK]

36. Denso - Programming TAKEARM (Statement) –Function Gets an arm group. Upon the execution of this statement, the programmed speed, acceleration and deceleration will be set to 100. If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin. –Format TAKEARM[ ][ ] –Note: TAKEARM command must be issued before any command that may effect robot arm, Ex: SPEED

37. Denso – Programming Exercise Press [F1 CreateNew] and type in the APPROACH command

38. Denso - Programming APPROACH (Statement) –Function The robot moves to a position away from the by in the Z direction of the tool coordinate system. –Format APPROACH,,[ ] [,Motion option>][,NEXT] –Example: APPROACH P,P1,@0 F1,S=100

39. Denso –Confirming Reach Position Pass Motion, @P –is to pass the vicinity of a taught motion position or relative position End Motion, @## – is determined if the robot has reached the destination position when the command value of the servo system meets the destination position. Encoder Value Check Motion, @E or @C –is determined when the encoder feedback value is within a designated window around the destination position. @E – all encoders are within 20 counts of destination @C – tool position is within 0.1mm and 0.1 deg of destination

40. Denso –Confirming Reach Position End Motion, @## PROGRAM END_MOVE –TAKEARM –MOVE L, @11 P2 –MOVE L, @E P3 –END 11mm P2 P3 Speed Time P2P3

41. Denso –Confirming Reach Position Pass Motion, @P PROGRAM PASS_MOVE –TAKEARM –MOVE P, @P P2 –MOVE P, @E P3 –END P2 P3 Speed Time P2P3

42. Denso –Confirming Reach Position Encoder Check Motion, @E PROGRAM ENCODER_MOVE –TAKEARM –MOVE L, @E P2 –MOVE L, @E P3 –END P2 P3 Speed Time P2 P3

43. Denso – Programming Exercise Press [F1 CreateNew] and type in the MOVE command

44. Denso - Programming MOVE (Statement) –Function Moves the tip of the tool to the specified coordinates. –Format MOVE,[@ ] [,[@ ] …][, ][,NEXT] –Examples: MOVE P, @P P50 MOVE L, @E P1,S=75 MOVE P, @0 (740,0,480,180,0,180,5),NEXT MOVE C, P100, @P P101

45. Denso – Programming Exercise Press [F1 CreateNew] and type in the RESET command

46. Denso - Programming RESET (Statement) –Function Sets an I/O port to OFF. –Format RESET [,Output time>] –Example: RESET IO66

47. Denso – Programming Exercise Press [F1 CreateNew] and type in the SET command

48. Denso - Programming SET (Statement) –Function Sets an I/O port to ON. –Format SET [,Output time>] –Example: SET IO66

49. Denso – Programming Exercise Press [F1 CreateNew] and type in the DELAY command

50. Denso - Programming DELAY (Statement) –Function The program processing stops until the time designated by elapses. is expressed in ms, however, the actual delay time changes in increments of 1/60. If multiple tasks are processed at the same time, the delay time may possibly be longer than the designated value. –Format DELAY –Example: DELAY 120

51. Denso - Programming WAIT (Statement) –Function The program processing stops until is satisfied. If a is set, controls stops the execution of a wait statement after the designated time elapses and proceeds to the next command. The WAIT command will assign TRUE(1) or FALSE(0) to the designated if control passes out of the WAIT by the satisfied <Conditional expression or by timeout. –Format WAIT [, [, ]] –Examples: WAIT IO10 = ON WAIT IO134 = OFF, 2000, I1

52. Denso – Programming Exercise Press [F1 CreateNew] and type in the DEPART command

53. Denso - Programming DEPART (Statement) –Function The robot moves by distance from the current position in the Z direction of the tool coordinate system. –Format DEPART,[ ] [, ][,NEXT] –Example: DEPART L,125,S=F123

54. Denso – Programming Exercise Highlight the APPROACH command, press and hold the shift key, scroll down to the DEPART command then press Copy

55. Denso – Programming Exercise With the DEPART command highlighted, press paste

56. Denso – Programming Exercise Modify the program to match the following:

57. Denso – Programming Exercise- Teach Check Save Program (F6) Set the Pendant to TEACHCHECK Mode Hold “deadman” switch on Select the program from the Program List [F4-CycStart] To make motion press and hold the “OK”

58. Denso – Programming Exercise- Auto Set hardwired ‘Enable Auto” Switch to Auto Set the pendant to AUTO Press “Motor” button to enable servos on Robot Select the program from the Program List [F4-Start] Select “Single-Cycle” or “Continuously”

59. Denso Training - Agenda Hardware Overview Jogging the robot Teaching Positions (using the Teach Pendant) Configuring the Robot Programming (Using the Teach Pendant) I/O Interfacing (Hardware) Overview of Development Software Maintenance

60. Denso – Control Interfaces Safety I/O Hardwired Handshake –Standard –Optional Expansion IO DeviceNet Ethernet/IP Operator Panel

61. Denso – I/O Command Details To determine which documentation to use look for Hardware Type and I/O Mode. Hardware Type Global US & Europe Standard Japan Only I/O Mode Compatible OLD RC3 Standard RC7

62. Denso -Mini I/O Connector E-Stops must be made for Manual, Teach-Check and Auto modes. The Protective Stop and Enable Auto inputs must be made for Automatic operation.

63. Denso -Mini I/O Connector Each row is a twisted pair in the cable.

64. Denso – I/O Command Details

66. Denso – I/O Command Details – w/Parallel I/O

67. Denso – I/O Allocation

68. Denso – DeviceNet DeviceNet Option Card –May be ordered with the controller (Recommended) or field installed. –Slave Board, Master Board, Master/Slave Board options –Uses the Extended Command area & Data area implementation Same as the Expansion IO approach DeviceNet PLC

69. Denso – Ethernet/IP Ethernet/IP Option Card –May be ordered with the controller (Recommended) or field installed. –Slave Board only –Uses the Extended Command area & Data area implementation Same as the Expansion IO approach Ethernet/IP PLC

70. Denso – Operator Panel The operator panel is a feature of the operator pendant. It allows the pendant to be used as an operator interface for the robot. Access: [F5 OpePanel] Exit: [[Shift]-[Cancel]]

71. Denso Training - Agenda Hardware Overview Jogging the robot Teaching Positions (using the Teach Pendant) Configuring the Robot Programming (Using the Teach Pendant) I/O Interfacing (Hardware) Overview of Development Software

72. Denso –Software – WinCaps III

73. Denso – Software Always upload Robot Configuration from the controller before doing any programming! Save the settings from the factory and the last programs, so that you can restore what you had. Robot controller

74. Denso – Software – Project Wizard Wizard for setting up the application

75. Denso –Software – Variable View

76. Denso –Software -DIO View

77. Denso – Software – Arm View

78. Denso –Software – WinCaps III - CAD Import

79. Denso – Software - Error Log Access: [F6 –Set] [F2 –Log.] [F1 -ErrLog] Document: error-e.pdf

80. Denso – Software - Operation Log Access: [F6 –Set] [F2 –Log.] [F2 -OprLog]

81. Denso – Robot Training Thank you! Please fill out the evaluation.