Toshiba STE 58762 manuel d'utilisation

STE 58762 INSTRUCTION MANUAL INDUSTRIAL ROBOT SR SERIES ROBOT L ANGUAGE MANUAL Notice 1. Make sure that this Ins truction Manual is delivered to the final user of the T oshiba Industrial Robot. 2. Please read this manual before using the T os hiba Industrial Robot. 3. Pleas e read the “Safety Man ual” also. 4. Keep the manual nearby for further[...]

STE 58762 － － i Copyright 1997 by T oshiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in an y form w ithout obtaining prior written permission from the T oshiba Machine Co., Ltd. The information contained in this manual is subject to chan ge without notice.[...]

STE 58762 － － ii PREF ACE This manual explains the SCOL robot language, commands and programming procedure s as they apply to T oshib a SR Series industrial robots. SCOL stands for "Symbolic Code Language for Robots" and is a robot language made up of various commands used to control the rob ot. By using these command s, it is possibl[...]

STE 58762 － － iii [5. Programming Hints and W arnings] This chapter explains timing considerations, things not to do, and things to watch out for when writing a program. Be sur e to read it before beginning work on your own prog ram. Also, be sure to look this chapter over should your program not be working the way you inte nded.[...]

STE 58762 － － iv TA B L E O F C O N T E N T S CHAPTER 1 AN OUTLINE OF ROB OT LANGUAGE 1.1 ROBOT MOVEMENT ・・・・・・・・・ ・・・・・・・・・・・・ 1-1 1.2 ROBOT LANGUAG E ・・・・・・・・・ ・・・・・・・・・・・・ 1-3 1.3 TYPES OF COMMANDS ・ ・・・・・・・・・・・・・・・・・ ・ 1[...]

STE 58762 － － v 2.8 PROGRAM S ・・・・・・・・・ ・・・・・・・・・・・・・・ ・ 2-21 2.8.1 Program Declaration ・・・・・・・・・・ ・・・・・・・・・・ 2-21 2.8.2 Subprograms ・・・・・・・・・・・・・・ ・・・・・・・・・ 2-22 2.8.3 Librar y ・・・・・・ ・・・・・[...]

STE 58762 － － vi APPENDIX A LIST O F COMMANDS ・・・・・ ・・・・・・・・・・・・ 6-1 APPENDIX B LIST OF RESER VED WORDS ・・・・・・・・・・・ ・・ 6-4 APPENDIX C CONTE NTS OF LIBR ARY FILE (SCOL.LIB ) ・・・・・・・・ 6-5 APPENDIX D DOMAINS AND RANGES OF CALCULA TOR FUNCTIONS ･･ 6-8 APPENDIX E HOW TO [...]

STE 58762 － － 1-1 CHAPTER 1 AN OUTLINE OF ROBOT LANGUAGE This chapter describes the connection between robo t language and robot movement, and presents a rough outline of commands used in robot lan guage. 1.1 ROBOT MOVEMENT Robots do work in place of people. For exa mple, let’s say that somebody has to attach a part to a workpiece coming down[...]

STE 58762 － － 1-2 Fig. 1.2 Robot movem ent B: Position j ust above A C: Position j ust above D D: Position wh ere a p art i s mounte d. A: Position where robo t g ri p s a p art.[...]

STE 58762 － － 1-3 1.2 ROBOT LANGUAGE Robots do assembly work and other tasks in place of people. However , someone still has to teach the robot what to do. Robots will only do what you tell them to do, and it's important to tell them exactly what you want it to do. T elling a robot what to do is called "teaching." Making a robot [...]

STE 58762 － － 1-4 If we were to write a program in SCOL for the previous example (in which we attach a part from a parts feeder to a workpiece on a co nveyor), it would look like this: PROGRAM ASSEMBL Y MOVE B Move to Point B. OPEN1 Open Hand 1. MOVE A Move to Point A. CLOSE1 Close Hand 1. DELA Y 0.5 W a it 0.5 seconds before grabbing the part.[...]

STE 58762 － － 1-5 1.3 TYPES OF CO MMAND S In the previous s ection, we saw how SCOL is used to expres s the action of the robot. Here, we explain a little bit more about SCOL commands themselves. In addition to commands like "MO VE A" which actually move the robot, th ere are many other commands which do such things as send signals to[...]

STE 58762 － － 1-6 (6) Movement referenc e command s These commands are u sed to reference and check the movement of the rob ot. For example, these commands could be used to determine what per centage of a certain motion has been completed at a certain time. By including these comma nds in your program, you can set tim ers and make sure robot mo[...]

STE 58762 － － 1-7 T ype Purpose Commands Calculator fu nctions (1) Perform calc ulations for re al numbers. (2) Perform calculations involving positional and coordinate data. (3) Use an array . SIN, COS, T AN, ASIN, A COS, A T AN, A T AN2, SQRT , ABS, SGN, INT , REAL, LN, MO D, LOGIO, EXP , AND, OR, NO T HERE, DEST , PO INT , TRANS DIM, AS (1) [...]

STE 58762 － － 2-1 CHAPTER 2 WRIT ING PR OGR AMS IN RO BOT LAN GU AGE In Chapter 1, we got a rough idea of what a robot language is and how it works. No w , in Chapter 2, we will describe how to write a prog ram in robot language. 2.1 PROGRAM CONFIGURA TION Below we present a general outline of program con figuration with the SCOL language. 2.1.[...]

STE 58762 － － 2-2 Programs are edited with the teach pe ndant using the controller screen editor fun ction. For information on how to use the screen edito r , see the "operating Manual." 2.1.3 Positio nal D ata Positional dat a for use in a pro gram (or p rograms) m ust be p laced in the s ame file as the program (or programs) . Posit[...]

STE 58762 － － 2-3 2.2 CHARACTER SET The SCOL character set is made up of alp hanumeric characters and the following special symbo ls. Alphanumeric characters A B C D E F G H I J K L M N O P Q R S T U V W X Y Z a b c d e f g h i j k l m n o p q r s t u v w x y z 1 2 3 4 5 6 7 8 9 0 S pecial symbols “ ‘ ( ) + - * / , . < > = ! [ ] ( ) %[...]

STE 58762 － － 2-4 2.3 IDENTIFIERS In the SCOL robot language, iden tifiers are used to expr ess commands, program names, varia ble names, and labels (which are used to specify pro gram branches). Identifiers must start with an alphabetic character , although alphabetic characters, nume rals, or any combination of th e two may follow . There is [...]

STE 58762 － － 2-5 2.4 V ARIABLES AND CONST ANTS Not all data takes the same form, and these different forms of data are called data types. S calar type (integer type, r eal number type and characte r string) and vector type (po sition type, coordinate type and load type) can be used in the SCOL language. V ariables ar e divided into global vari[...]

STE 58762 － － 2-6 (b) V ariables V ariable s are distinguished by identifiers and can be in the range of - 2147483648 to + ~147483647, just as above. Th e data type of a variable is determined by th e data type of the first number you assign to that variable. For example, if the first thing you assign to a var iable is an integer , all other nu[...]

STE 58762 － － 2-7 Example) 1234.567 -28.16 0.00985 1234567. -369. As mentioned above, the precision of the comp uter is somewhat limited when hand ling decimal values. Usually this is no problem if the num ber of decimal places is reasonable. Therefor e, when working with the robot, try to use the following as th e minimum set units. Distance ([...]

STE 58762 － － 2-8 V ector type da ta other than the vector type global variable such as data taught by the data editor are temporarily stored in the working area of the controller . Th e data are not created in the file. The vector type variable can b e used only in the declared program. Thus , even if the same variable is used in another progr[...]

STE 58762 － － 2-9 What we did above was take an original coo rdinate system (centere d about 0), applied a coordinate vector (x, y , z , c) to it, and came up with a new coor dinate system (centered about 0' ). In short, coordinate vectors allow us to conver t between different coordinate systems. Fig. 2.1 Coordinate transformation (3) Loa[...]

STE 58762 － － 2-10 2.4.3 System V ariables The SCOL language provides special variables that are used in the programs to specify and referent robot operating conditions. These variables are called system variables. Just like other variables, you can re fer to these variables in the pro gram, change their value, etc. However , you have to be car[...]

STE 58762 － － 2-1 1 Should you ch ange the content s of a system variable relat ed to movement contr ol, that change w ill not take ef fect until the next motion; it will have no ef fect at all on a motion in pr ogress at th e time; However , by using a WITH construct, it i s possible to temporarily set a system variable with regards to one mot[...]

STE 58762 － － 2-12 2.5 MA THEMA TICAL FUNCTIONS This section describes the mathematical functions provide d by SCOL for substitution, calculation and judgement. With SCOL, mathematical functions ca n either be used independently or included in a command. A mathematical function included in a command may be a compu tational expression (in which [...]

STE 58762 － － 2-13 T ype Operand Function Example Functions A T AN ATA N 2 SQRT ABS SGN INT REAL LN LOG10 EXP Arctangent Arctangent Square root Absolut e value Sign Changes number to an integer . Changes number to a real number . Natural logarithm Common logarithm Exponen tial to base e. A T AN (A) A T AN2 (A, B) (Arctangent of A / B) SQR T (A)[...]

STE 58762 － － 2-14 The order of computation for the above expression is: 1.Calculate e - f. e-f 2.Calculate C * d. c * d 3.Divide C * d by e - f. (c * d) / (e - f) 4.Add the above result to b. b + (c * d) / (e - f) 5.Subtract g from th e above result. (b + (c * d) / (e - f)) - g T able 2.4 presents the order of computational priority for variou[...]

STE 58762 － － 2-15 (2) Computation of scalar type data Scalar type data can be used in calculation s in combination with computational operands. However , should even one number in an expression be a real number , the output of that expression will also be a real number . Also, the foll owing functions will all return a real number . SIN, COS, [...]

STE 58762 － － 2-16 (3) Computation of vector-type data Y o u can add and subtract correspon ding elements of two vectors. Computation is a possib1e only between the same type variables. Th e <CONFIG> element is not involved in the calculations bu t rather takes the value of the variab le substituted into it. Example: Given the follow ing [...]

STE 58762 － － 2-17 Examples: P1 = POINT(P2.X, P2.Y , P2.Z + 50, 0, 0) C1 = C2 + TRANS(100, 100) The more alert reader may have noticed that somethin g is missing in the second example. Tha t is, although the TRANS command is used to create coor dinate vector types (which have fou r elements), only two numbers (10 0 and 100) have b een assigned [...]

STE 58762 － － 2-18 Note 3: The substitution and reference to the array type data (type of variable name [in dex number]) are dealt in the same manner as the original data type (scalar type and vector type ) of the array type data. 2.5.2 Logical Expressions With SC OL, logical ex pressions can be used in combination w ith the commands I F , W AI[...]

STE 58762 － － 2-19 2.6 LABELS With the SCOL language, program branches are specified by labels placed a t the beginning of the branch destination. When labelling a s tatemen t as a branch, put a colon at the end of the identifier . When directing the program to branch to an other location with the GOTO command, do not put a colon at the end of [...]

STE 58762 － － 2-20 2.7 REMARKS AND COMMENTS The SCOL language allows you add comments to your program in order to make it easier to understand (and debug). Comments can be entered by using the teach pe ndant to type in whatever you want to say . However , you have to use on e of the following formats so that your comments do not get mixed in wi[...]

STE 58762 － － 2-21 2.8 PROGRAMS This section describes SCOL programs. 2.8.1 Program Declaration A program has to have the follo wing basic structure. If it do es not, it is not a valid program. PROGRAM <name of your program> Contents of your program END A program is made up of everything from the PROGRAM statement to the END statement. Wr[...]

STE 58762 － － 2-22 2.8.2 Subpro grams Y o u can call up a subprogram by just writing its name in the main program. Example: Here is a main program which calls a su bprogram called SUB1. PROGRAM MAIN REMARK *** SAMPLE 1 *** SUB1 END Here is the subprogram which has been named SUB1. PROGR AM SUB 1 REMARK *** SUBPROGRAM NO. 1 *** Body of subprogra[...]

STE 58762 － － 2-23 When calling the subprogram from the main progr am, w rite (in the main program) the name of the subprogram and the data you wish to pass over to that subpr ogram. For exam ple, the corresponding subp rogram will have the statement: PROGRAM SUBEXAMPLE (M1, M2, M3) The subprogram SUBEXAMPLE will now do whatever it does while t[...]

STE 58762 － － 2-24 When you execute this program, K1 w ill be passed of f as 15 (to N1 of the s ubprogram) and K2 will be passed off as 28 (to N2 of the subpr ogram). The subprogram will a dd these toge ther and call the result (w hich is 43) N3. The K variabl e of the mai n program w ill also change to 43. The RETURN command will se nd control[...]

STE 58762 － － 2-25 2.8.4 Multitask Processing This paragraph describes how to use the mu ltitask function of the SCOL language together with the relevant commands and system variables. Program execution of single task and multitask operation is shown in Fig. 1 and Fig. 2. The number in the figure designates the or der of the program execution. [...]

STE 58762 － － 2-26 As shown in Fig. 2, the multitask operation is realized, chan ging over a plural number of individu al programs by time sharing, as if the pro grams were executed in parallel. The order of p rogram execution is shown in the following table. Order Program to be executed 1 A1 Program 1 start 2 B1 Program 2 start 3 C1 Program 3 [...]

STE 58762 － － 2-27 The task ID (the number assigned to the task) is described. The characteristic numbers (task ID) are assigned to the tasks which have been started by the T ASK comman d respectively . In the example of Fig. 2, “1” is assigned to the program 1, “2” is assigned to the program 2 and “3” is assigned to the program 3. [...]

STE 58762 － － 2-28 (4) When the predetermine d conditions specified in the system ar e satisfied and the program is changed over by the system . The task change-over conditions specified in the system ar e as follows: (1) A program in a task is executed for more than 50 msec. (2) When the data area for movement command becomes full. Up to four [...]

STE 58762 － － 2-29 (2) Global variable declaration by type T o defin e the global variable of each type , use the following forma ts. Integer type: A = 1 Real number type: B = 1.0 Position type: C = POINT (1.0, 2.0, 3.0, 4.0, 5.0, 1) Array type : DIM D(10) AS INT Array of ten integer ty pe element s is defined. (Note 1) DIM E(10, 3) AS REAL Arr[...]