robotics-university.com | Hello my friends! Today I will continue guide you learning about EPSON robot motion control. In this article, we will learn how to teach EPSON robot.
Before you build your program to control the EPSON robot motion, as a robot trajectory planner (robot path planner), you have to teach your EPSON robot, i.e. teach the EPSON robot to know some destination point where it must move to accomplish a task follow the engineer/programmer wanted.
On this section, I will guide you how to teach the EPSON robot on Robot Simulator environment. To start teaching, make sure the robot motors has been in ON condition (Motor ON). See figure 1!
Figure 1. Robot Teaching - Motor ON
Next, open Robot simulator! Then activate the “Teach” button with left-click “Object Rotation/Jog Robot” button, lay your mouse-cursor to a robot joint, and try to jog that joint. After that, see the “Teach” button! Is it already red? If “Yes,” it’s indicated that the Teach button has been activated and ready to use. See figure 2 and figure 3!
Figure 2. Robot Simulator - Object Rotate/Jog Robot button
Figure 3. Robot Simulator - Teach button has been activated
To start teaching the robot, left-click the Teach button on the Robot Simulator windows, so the Teach windows will opened. See figure 4!
Figure 4. Teach windows on Robot Simulator
Teach windows have some information about related robot, i.e. Robot number, robot current position, robot local position, robot point file, and robot point. About Robot point, robot point is a robot position that related with actual position of each robot joint that read by motors encoder.
Related the robot point, EPSON RC+ software allow the user/programmer use up to 1000 robot point (P0 - P999) when teach a EPSON robot in order it can work (move) to accomplish an expectation tasks.
Teach the Robot for P0 Point
Next, to teach EPSON robot, make sure that you have set a robot position that you wanted (set for P0 point). Example, for robot home position, set the robot position with follow the figure 5 below.
Figure 5. Robot position for home position (set for P0)
After that, select a point you wanted. Select on the point drop-down. P0 is for the first robot point or robot home position, P1 is for second robot position, P2 is for third robot position, and so on.
Figure 6. Teach windows - Set point for P0
If you have selected a robot point, P0 for example (for home position), then click “Teach” button to teach the EPSON robot about its P0 position/point. See figure 6! So a “Ready to teach point P0 - (undefined)?” confirmation windows will open, then click YES, to continue! See figure 7!
Figure 7. “Ready to teach point P0 - (undefined)?” confirmation windows
Up to here, you have been success teach the EPSON robot to memorize a robot position that you set with name P0 and you can call this robot position/point as the robot motion destination on your SPEL+ program.
Teach the Robot for P1 Point
To determine Robot position/point for P1, do same steps when you determine robot position/point for P0 before, i.e.
1. Set (Jog) robot position (Second robot position, P1). See figure 8!
2. Click Teach button on Robot Simulator windows. See figure 3!
3. Select robot point number (P1). See figure 9!
4. Click Teach button on teach windows to teach the robot about its P1 position/point. See figure 9!
5. Confirm Yes, if “Ready to teach point P1 - (undefined)?” confirmation windows open. See figure 10!
Figure 8. Robot position for P1 point
Figure 9. Teach windows - Set point for P1
Figure 10. “Ready to teach point P1 - (undefined)?” confirmation windows
Teach the Robot for P2 Point
To determine Robot position/point for P2, do same step when you determine robot position/point for P1 before, i.e.
1. Set (Jog) robot position (Third robot position, P2). See figure 11!
2. Click Teach button on Robot Simulator windows. See figure 3!
3. Select robot point number (P2). See figure 12!
4. Click Teach button on teach windows to teach the robot about its P2 position/point. See figure 12!
5. Confirm Yes, if “Ready to teach point P2 - (undefined)?” confirmation windows open. See figure 13!
Figure 11. Robot position for P2 point
Figure 12. Teach windows - Set point for P2
Figure 13. “Ready to teach point P2 - (undefined)?” confirmation windows
Teach the Robot for P3 Point
To determine Robot position/point for P3, do same step when you determine robot position/point for P2 before, i.e.
1. Set (Jog) robot position (Fourth robot position, P3). See figure 14!
2. Click Teach button on Robot Simulator windows. See figure 3!
3. Select robot point number (P3). See figure 15!
4. Click Teach button on teach windows to teach the robot about its P3 position/point. See figure 15!
5. Confirm Yes, if “Ready to teach point P3 - (undefined)?” confirmation windows open. See figure 16!
Figure 14. Robot position for P3 point
Figure 15. Teach windows - Set point for P3
Figure 16. “Ready to teach point P3 - (undefined)?” confirmation windows
If you have taught EPSON robot already, this step will make it memorized position/point P0 (home), P1, P2, and P3. So when the robot moving, it will move to the right position.
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