Robot Operation: Setup and Jogging

Powering Up, Jogging, and Initial Setup

• Power up the robot
• Jog the robot in Joint and World modes
• View positional data
• Understand robot axis limits
• Perform mastering

Menu Items and Descriptions

• ABORT (ALL): Stops any paused or running program
• DISABLE FWD/BWD: Prevents program execution using SHIFT FWD and SHIFT BWD
• CHANGE GROUP*: Changes the current group, available only if multiple groups are used
• TOGGLE SUB GROUP*: Alters the axes used for jogging between the first six axes/extended axes, only available if extended axes are installed
• TOGGLE COORD JOG**: Enables/disables robot jogging of coordinate pairs with the coordinated motion option
• TOGGLE WRIST JOG: Turns the wrist joint motion option on/off during jogging
• RELEASE WAIT: Overrides program pauses during execution when the robot is waiting for I/O conditions
• TOGGLE REMOTE TCP***: Switches between remote TCP jogging and standard jogging, only if remote TCP is enabled
• CHANGE RTCP***: Modifies the selected remote TCP frame for jogging, only if remote TCP is enabled
• QUICK/FULL MENU: Switches between quick and full menu structures
• SAVE: Saves variables and other data to the default device
• PRINT SCREEN: Prints the current screen to a serial printer or a file if a PC is connected to the P3 port
• UNSIM ALL I/O: Returns all simulated signals to their true state
• CYCLE POWER: Toggles the power relay via external I/O, requires teach pendant enablement
• REFRESH PANE: Updates the active window display

Startup Methods

• Cold Start: Common robot powering method
  • Initializes changes to system variables and I/O setup
  • Displays the utilities hints screen, or the top menu on newer software
• Controlled Start: Infrequently used method
  • Used for functions like loading a controller image
  • Initializes changes to system variables and to I/O setup
  • Activated during Power Up by holding the Prev and Next keys on the teach pendant
• Hot Start: Turns on power to the robot and controller without entering Boot Monitor
  • Useful for controller restarts during production when an error occurs
• Init Start: Initialized (INIT) start happens during software installation
  • Erases all stored information

Turning On the Robot

• Inspect the robot, controller, and workcell to verify all safeguards are in place and the work envelope is clear
• Turn the power disconnect circuit breaker or power switch on the SOP to ON
• Older controllers also have an ON/OFF button on the SOP

Cycling Controller Power (R30iA and R30iB Controllers)

• Ensure the teach pendant is enabled
• Press the FUNCTION “FCTN" button
• Press 0-NEXT
• Press CYCLE POWER
• Enter (or press 8)\
• Select YES

Turning Off the Robot

• Press the HOLD key on the pendant if a program is running or the robot is moving
• Complete any shutdown procedures
• For robot or controller maintenance, turn the disconnect circuit breaker to OFF
• If utilizing an R-J3iB or earlier controller, it is necessary to press the ON/OFF button on the SOP before turning off the disconnect

Jog Speed Values

• 100, 95, 90,...,15, 10, 5, 4, 3, 2, 1: % of jog speed
• FINE (incremental steps)
  • Degrees Approx. 0.001 degrees
  • X, Y, Z Approx. 0.0009055 mm
• VFINE (incremental steps)
  • Degrees Approx. 0.0001 degrees
  • X, Y, Z Approx. 0.00007874 mm

Jog Speed Adjustments

• Setting adjustment range 1% - 100%, FINE or VFINE
• Movement occurs in increments of a fraction of a degree or mm
• Movement is a single step at a time, it is necessary to release and re-press the Jog key to continue moving the robot

Coordinate Systems

• Defines robot movement
• Five Coordinate systems:
  • JOINT
  • WORLD
  • TOOL
  • USER
  • JGFRM

Jogging in Joint Coordinate

• Rotational movement about each joint

World Frame

• The origin is predefined within the robot
  • 2- dimensional Cartesian
• The World Frame Origin is:
  • Centre of J1 perpendicular at the intersection of J2 axis
  • Centre of J1 rotation to the height of J2 rotation

Right Hand Rule

• Defines orientation of +X, +Y, and +Z axes

World Minor Axes

• Yaw (W): Rotation around the X axis
• Pitch (P): Rotation around the Y axis
• Roll (R): Rotation around the Z axis

Jogging the Robot and Other Axes

• Select a coordinate system by pressing the "COORD" key on the teach pendant
• Turn the ON/OFF switch on the teach pendant to the ON position
• Hold the teach pendant, while continuously holding the DEADMAN switch and the SHIFT button
• If your system is configured with multiple motion groups, select the motion group you want to jog by: - Press and hold the SHIFT and COORD key to display the JOG menu - Move the cursor to GROUP and press the appropriate numeric key
• Selecting Jog Sub-Groups: - Press FCTN - Move cursor to TOGGLE SUB-GROUP, press ENTER - Toggle Sub-Group de-selection: Press FCTN, move cursor to TOGGLE SUB-GROUP, press ENTER
• If you want to use wrist jogging: - Press FCTN - Move cursor to TOGGLE WRIST JOG, press ENTER - Wrist JOG de-selection: Press FCTN, move cursor to TOGGLE WRIST JOG, press ENTER
• Using Optional Remote TCP Jogging: - Select the Cartesian coordinate system for remote TCP jogging - Press FCTN - To de-select remote TCP jogging, press FCTN, move the cursor to TOGGLE REMOTE TCP and press ENTER

Robot Positional Status

• Data can be presented in JOINT, User, or World format
• Use the POSN (Position) key on the Teach Pendant to display the positional status, or, positional data can be selected by the MENU key
• JOINT Screen: Displays positional information in degrees for each robot axis i.e. Tool indicating the number of the active tool frame
• USER Screen: Displays positional information in Cartesian Coordinates based on the USER frame i.e. Tool indicates the number of the active tool frame, frame indicating user frame
• WORLD Screen: Data in Cartesian Coordinates based on the world frame, Tool indicates the number of the active tool frame

Displaying Position Status

• Press POSN key
• Select the desired coordinate system
  • Press F2, JNT for joint coordinate system
  • E1, E2 and E3 are only displayed if you have extended axes

Joint Representation

• Robot mechanical arm represented in joint angles for each axis
• Joint angles measured in degrees from the zero degree position
• Initial angle positions are scribed on the arm to represent zero

Robot Axis Limits

• Setting Axis Limits:
  • Defines robot motion range; prevents exceeding restricted areas, tooling interference, etc
  • Axis limits are upper and lower motion degree limitations
• Types of Axis Limits: Prevents hard stops and over travels

  • Axis limit software setting:

    • Upper (+) and lower (-) motion degree limitations

  • Axis limit switches (optional):

    • Over-travel switches, when tripped, cut power to the servo motors
    • Set three to five degrees beyond the software limits

  • Axis hard stops:

    • Limits are upper and lower motion degree limitations
    • Set three to five degrees beyond the axis limit switches

  • Dual Check Safety (DCS):

    • A feature of the R-30iA and newer controller
    • Emergency Stop Control (Standard)
    • Position/Speed Check (Option)

    Setting Axis Limits on the Controller:

    • Press the Menu Button
    • Press 0--NEXT
    • Select SYSTEM
    • Press F1 [TYPE]
    • Select Axis Limits

Mastering

• An operation performed to associate each robot axis angle its corresponding pulse count value from it's absolute Pulsecoder, connected to each axis motor
• The process obtains the pulse count value required for the zero position
• Mastering is necessary after:
  • Motor, Pulsecoder, or Reducer replacement
  • Cable replacement
  • Batteries for pulse count backup fail

Learn to power up and jog a robot in Joint and World modes. Explore menu items like ABORT and DISABLE FWD/BWD. Understand options like TOGGLE WRIST JOG and RELEASE WAIT for efficient robot control.