Robot simulation with additional axis - quick start guide
This document shows how to make the robot simulation with addtional axis movement. This function can be used to move any objects from the layout.
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IMPORTANT !
These Function Blocks are demo versions that are only intended to demonstrate program functions and provide general orientation for your software choices. They are not suitable for use in real applications! "
"Improper use of demo versions in applications can lead to serious malfunctions and damage! Programs for real applications must always be configured for the individual application by trained staff and tested thoroughly before being used.
Mitsubishi Electric cannot assume any liability if these examples are used in real applications."
1. Additional axis settings
- Set parameter AXUNUM - number of multi mechanism used (up to 2 mechanisms can be used)
- Set parameter AXMENO, speed ratio parameters and joint limits:
- Write the parameters to robot controller:
2. Layout
2.1 Add user mechanism
- Add the user mechanism in Layout Tree. Click RBM at robot name (RC1):
-Create new user mechanism file (double click on User Mech. or Setttings in Properties menu):
- Edit user mechanism file:
- Close Select User Mech. File window and add moving part of the mechanism (add joint):
In a properties window You can specify the axis type (rotation or linear), direction (reversed or not) and position.
- Add new object as a Joint child:
- Add other elements:
- Save the user file:
Select the mechanism file, set position and axis type:
You can move the axis using an operation panel:
2.2 Add workpiece
Add a workpiece with display condition speification:
2.2.1 User mechanism
Add the workpiece as moving part child. To specify display condition, edit "condition" in the properties window:
2.2.2 Hand
To display the workpiece on hand you can change tool using Tool command. For example, in tracking operation it could be inmossible, so we want to show example with Robot Parts.
- Add Robot Parts element in Layout Tree:
- Add new Robot Parts file
- Add workpiece as last joint child and set position:
- Specify display condition in properties window:
2.2.3 Layout tree
Add element which will be displayed after place operation:
3. Robot program
There are two programs running simultaneously. Slot 1 is used for robot control. Line 5 shows how we can read user mechanism position:
Slot 1: Robot control program
- GetM 1 'Get robot mechanism number
- GoSub *Init 'Robot initial parameters
- *Loop
- Mov pPick,-50 'Start position
- Wait P_Curr(2).X<10 'Wait for add. axis in position
- M_00#=1 'Signal to add. axis program
- GoSub *Pick 'Pick workpiece
- M_00#=0 'Signal to add. axis program - end of pick operation
- GoSub *Place 'Place workpiece
- If M_Cstp<>1 Then *Loop
- End
- '
- '
- '
- *Init
- 'Set signal number
- CallP "SIGNALS"
- 'Start add. axis program
- If M_Run(2)<>1 Then
- XRun 2,"ADDAXIS"
- Wait M_Run(2)=1
- EndIf
- 'Servo On
- If M_Svo<>1 Then
- Servo On
- Wait M_Svo=1
- EndIf
- 'Reset signals
- M_Out(M_UserMechWorkpiece)=0
- M_Out(M_PlaceWorkpiece)=0
- M_Out(M_PartsWorkpiece)=0
- M_00#=0
- Tool 1 'Set tool
- Ovrd 20
- Mov pHome 'Move to home position
- Ovrd 100
- Return
- '
- *Pick
- Mov pPick,-50
- Mvs pPick
- Dly 0.1
- Tool 2
- M_Out(M_PartsWorkpiece)=1 'Display robot part
- HClose 1
- Dly 0.2
- M_Out(M_UserMechWorkpiece)=0 'Hide workpiece on add. axis
- Mvs pPick,-50
- Return
- '
- *Place
- Mov pPlace,-50
- Mvs pPlace
- Dly 0.1
- Tool 1
- M_Out(M_PlaceWorkpiece)=1 Dly 1 'Display placed workpiece
- HOpen 1
- Dly 0.2
- M_Out(M_PartsWorkpiece)=0 'Hide robot part
- Mvs pPlace,-50
- Return
Slot 2: Additional Axis control program
- GetM 2
- *Loop
- Wait M_00#=0 'Wait for pick operation completion
- Mov p1
- M_Out(M_UserMechWorkpiece)=1 'Display workpiece
- Mov p2
- Wait M_00#=1 'Wait for start of pick operation
- GoTo *Loop
- End
SIGNALS:
- M_UserMechWorkpiece=10160
- M_PlaceWorkpiece=10161
- M_PartsWorkpiece=11000
VAR:
- Def Inte M_UserMechWorkpiece
- Def Inte M_PlaceWorkpiece
- Def Inte M_PartsWorkpiece
Attachments:
File name | Description |
| AddAxisSim.7z | Robot project files |
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