Delta Robot Solutions Online Training: DRAStudio & Programming Overview

[00:00:05]so uh first in the today's training I will introduce the our Delta robot system so in the Delta robot this I will start to uh introduce the keywords of Robotics but the uh keywords usually we will see in the Robotics and then I will introduce the the Delta robot solution what solution we provide and uh then the system overview of a Delta robot and then robot arm itself and the quick start when you get the robot how you uh do the wiring and all the settings to start to use the robot and in the end we have some appendix about robot information so let today's uh contents okay let's continue so first is the uh keyword of robotics so uh the first page have four important keywords of the robotics so uh first is the palow payow means the in the the uh end effect of robots how uh heavy of your uh Grier or object or World piece will be and then this is very important for robot because when you are choosing robot then you need to choose the payLo is higher than than your uh work pieces then robot can handle the work pieces so this is first keyword and second is the arm length and the or reach so of course when you choose a robot you need to know the work space like in your machine or your production line how long the robot need to reach so you need to choose the robot arm which is uh longer or just similar to the distance you need in the uh machine or your production line and then the next one is a standard cycle time so this is so important for robot because uh we use robot we want usually want to speed the fast speed of robot so this is also a spec of robot that we know how fast the robot is so that's even standard in the iso 9283 let defin when the robot move in this uh pass uh from the start pass uh go vertical up 25 mm and move horizontal 300 millimet and then go down vertical by 25 mm again so this is one cycle and the payload usually will use one kilogram to test so in this uh uh pass how long the robot how fast the robot will move will become a standard cycle time so with the stand cycle time you will know the speed of the robot and the last it's a degree of Freedom so uh when you choose a robot you will want to know how flexible of a robot so uh I will introduce later that the Delta provide two different robot has two different degrees of freedom one is a scalar one is a vertical articulated so of course if the degree of the freedom DF is higher then the robot is more flexible but usually will be sore but the if the degree of freedom is smaller like only three or four uh usually is faster but then it's not that uh flexible of a robot okay and the next page is another uh important uh idea in the robot uh one is a accuracy the other one is the repeatability so usually you will only see uh repetitivity as a robot spec in the uh brocher or C log but there's also another importance accuracy so let's see uh right picture to see what's the difference between these two uh ideas so in the first picture uh you can see the middle is our Target we want to reach this uh Center Point and uh all those Bo start uh dots are robot uh reach the target so you can see all this dots not in the Target we want and is really randomly so we will say this robot is not accurate also not uh repeatable and let's see a second picture you can see there's already some blue dots is already on the uh Target but not all of them still some is outside Target then we will say uh this robot is accurate because it's already reach the target exactly the middle some points but not all of them so we will say it's not uh repeatable uh so and let's see uh next picture third one you can see all the dots are really uh only on the same points they are not randomly on the uh Target but these points are still not on the target so we will say this robot is not accurate because it cannot reach the target uh well but all the Dos can stay in the same point so we say this is is uh repeatable because robot can always go to the same point so uh in the end the last picture you can see all the dots are on the uh Target and also there are every time can be in the uh Target so we will say this robot is accurate and also uh repeatable so uh what this idea will affect our because for robot usually we only teach a few point then they will uh reach every time the same in the application so repetitivity is more uh important for robot for now because robot need to go to the same position every time you cannot uh every time go to a different position then uh the robot is totally not usable but now accuracy is more important nowadays because uh now robot not only working by itself sometime it will cowork with like uh sensors or Vision system so uh when the position is not defined predefined before is come from Vision system or sensors then accuracy will be uh important because it need to also be accuracy to reach the targets not just always go go to the same point so this is the uh accuracy and the repeatability and next one is a robot type so uh basically there are many different uh industrial robot type in the market and for Delta we only provide two type of robot for now so I only introduce these two type so first is a scar robot it only has four the degree of freedom because it only has four Motors in the robot uh uh robot arm itself and scalar stand for Selective compliance articulated robot arm why we call it uh SE selective compliance because in the for degree of Freedom the an effect here only can uh have uh compliance in the XY plan so that's why we say uh it's a stative because we only stack XY plan to have a uh compliance not all Direction like in a z or Z don't have a compliance so uh it usually has parel AIS join layout like picture you see all the AIS is in a par arrow and generally it will be the faster because of its uh design and the second one is a vertical articulated robot it has a six degree of freedom because it has uh six Motors in a robot arm and as you can see it's more like a human arm so it has a more flexible than the scar robot it can go into a more space or uh go to a position with a different angle yeah but generally it has a lower repeatability and also lower speed okay and uh next I will start to uh introduce the Delta robot solution what we provide of a robot station so in the Amia in the Europe area we start to uh provide our robots in the 2018 with the Scala robots and in 2019 we also release our uh articulated robot and in 2020 this year we uh start to release more different uh models like maybe 5x's scar robot we attach one more AIS here it's become more flexible and also some application robots like a vertical Artic robot with some special application and then uh here is the our model name because uh you need to choose the robots with the different um specs then the model name will be important so I will introduce the mod model name here so first is a scolar series so in the scalar series it will start with DRS let's stand for uh Delta robot scalar and then the next is uh number 40 that means arm length so uh you need to choose uh arm length with this number so for now we have uh 14 means 400 MM 160 means 600 millimeter but in this year we start to have also uh 50 and 70 means uh 500 and 700 millimeter up lens and the next is a light series uh light series means uh now our controllers are outside of robot arm is another uh cabinet and the robot arm itself is uh quite light so we call it a light Series so this l means the light series and then next is also important one this number means the payload so you need to choose payload with this number and now we have 3 kilog and 6 kilog version and the next two will be about uh join three and join four uh so first it's a zaxis stroke so for the zaxis stroke uh we have a standard lens but um in a some application maybe you have or need the longer uh these Str so you can have other opportun to have a longer Z stroke and next is the RX is a gearbox ratio uh we also have a standard and optional gearbox ratio because uh in the somec application if you need higher Talk of the joint for then you can select the higher talk or higher gear ratio version of uh XIs and next is the uh uh hardware version so for uh Europe area because uh we all need uh C certification so in this area I only have one choice is a a means uh ip20 and we see uh certification hardware and next is the control type and for control type here we use for choosing the cable lens so for the cable between the robot and the controller we have a 3 meter and the 5 meter option you can choose and next is the uh TP so uh this one will be a teach pendant uh number but uh because in here our strategy we sell a teach pendant uh as uh other products but you still can uh choose with a different uh cable length of uh T pendant so we have a 3 m 5 m and 10 m option of a teach pendent cable lens and that's is always is in the future if we have other accessories then we will put into this uh number to that you choose okay so let's SC and the next will be a VA vertical articulated Series so the same the star will be DV that means uh Delta robot VA and then next the same will be on lens so for now we have 70 and 90 means 700 and 900 mm and the next is also series now we also only have a light series but in the future we will release more different series like integrate with the drive into arm okay and next is is the payload now it's a seven we only have seven kilog option and the next also the hardware version and for here you have more option for uh different uh IP protection so uh now we have two options one is IP 4 40 and also the other is IP 65 if you need uh waterproof or the proof dust then you can choose the ip65 version and next is the XIs number and for now we only have a 6xd version of the articulate robot but for more uh flexible maybe in the future we'll have seven exess version and for the generation uh we have a generation new two for now is also fixed and for the wiring this means the tool in the end uh how to wiring the tool in the and Defector for now we don't have a standard version but in the future we Al also will have a different version choice and with this number is choose the also the same the cable between uh control and robots so you also have a 3 meter and a 5 meter uh choice and in the end this up bate is for the uh T pendant uh cable lens so let's say you have a 3 m 5 and 10 m uh options okay so uh here is our uh robot series model name and the next will be the syi overview so uh you can see this our uh basic architecture so we have a robot here can be a scolar or a articulated robot and then we have a control here and between them we will use the cable to connect them to uh transfer like a power and encoder uh by this cable and then with our cabinet the on the panel we have many different connector we can support many different device or communication so in this picture you can see like we have R2 2 and also 45 we can connect to our field devices like Machine Vision or some sensors and we also have EET to Comm communicate to our device like uh HMI or tendent and both of them are B based on mobus so for 232 we have mobas rtu and foret we have more B TP but for now we're also working on other ethernet protocols like opcua and ethernet IP and we also support this to uh protocol soon and also we have a safety uh connector so with this safety connector you can connect to like a fence or maybe some door sensor for safety if the S since uh fence has been triggered or the door has been triggered then it will stop post the robot immediately and we can also uh Conta connect to the external encoder because for some application like conver tring uh we the robot assist need to know the speed of the conveyor then we use need we need to use the encoder to feedback the speed data to the controller so we also have possibility to connect to the uh external encoder and next is the uh DMC Nate protocol so uh for dcet protocol it's our Delta Property uh protocol uh only uh Delta product support this protocol so for the robot controller usually we can connect two different products one's the Sero drives and the motors so we we can use a robot uh controller to control external axis up to uh 6 AIS that means you can control six uh different uh drives and also we can uh connect to a remote Io if the uh digital input output in the control is not enough for you you can use the desate to extend your digital input output by the remote IO module so uh this is our system overview of the robot there any question for now no okay then uh let's go to the next part it's a robot arm so uh in this part I will introduce the uh robot arm itself so uh first this is the coing system our uh robots so first we have uh uh this normal uh coordinate system with X Y and Z Direction so the front of the robot will be the X positive direction and the left side will be the uh y direction and the upside will be a z Direction and The rotate system we use is uh counter clockwise so also means the right hand uh rotation and then uh for the AIS uh itself so we can see uh The Joint one is on the base of the robot and the joint two is connect between uh M1 and M2 and Joint three is the lar motion it will move a joint uh and effect up and down and the for the joint for is for our AIS rotation so this is the uh DRS series joints and here is the DRS uh series working range pictures so when you are designing the uh machine or production line it will be important to refer to these pictures because this picture shows how the robot working range looks like so for example this a DRS 40 L Series the uh length of the robot is 400 mm so you can see the radius here is uh Arrow indict that the radius here is the 400 mm so you can see this big circle the Border are over 400 MM from the center robot to the Border but you can see there are two small uh Circle here this means when the robot turn to uh this angle uh you can see the angle is 130 degrees it's also indicates here the first arm will be uh reach a limit so only the second arm can still go to uh Bank of the robots so in this this a small circle we also indect the uh radius is 200 mm so that means in this small circle the robot can move uh 200 in this area with a 200 millimeter radius so right side is the same so uh on the right it's a d6l uh Series so you can see the working range picture is quite similar so you can also reference to this uh picture to uh design your machine or application and next is the DV series uh joints so the same the Cod system also defined like this the one is X Direction left is y and the top is z Direction and then is a con clockwise rotation system and because we now this uh type of robot looks more like human arm so we also name the parts as human arm so you can see the uh this part to attach tool it's also wrist like just like a human wrist and in the middle connect between the first arm and second arm is the our elbow and on the base part is the should shoulder parts and on the right side will introduce the uh X's joints so you can see the first joint it's on the base of the robot and you rotate whole arms like uh this Direction and The Joint two and three and five are parallel so joint two is uh up of the base and Joint three is contact between the M1 and M2 and the joint five in the end to move the wrist in the same direction of our two axis and the joint four and Joint six is on the one line of the robot it will be uh here's joint six and the in the middle of the arm two is the joint four and then they move in the same direction so uh here is the uh working range of the DV Series so you can see because uh DV series is more flexible than the scal series is not only on a plant it's a a 3D architecture so you can see in the working range you will need two picture to show a working range so let's look right side first this is the working range on the XY plan it's very wide almost the full circle only the in the end they are like around 20° it cannot reach in the back and uh on left you can see is the side view of the robot so you can see a range is very wide uh here means the uh like this is a 700 mm because it DV 70l Series so that means from Center here until here will be a 700 uh mimet and others it's the working range it can reach not always 700 mm but still very uh wide so for the 90l series is the same it's uh very wide area just the lens is longer is 900 uh millimeter is also in radius here and then next is the uh connectors on the robot because for the user uh convenience we also design different connector on the robot arm itself when you are going to desde the uh tool of the robots sometimes it you need a a signal or air to control it like maybe it's a Grier or it's a vacuum pad then you must need to to uh connect uh horse or the digital input uh signal so on the base of robots we have uh one uh Dr sorry d sub connector with a digital input output signal and also the air Hol is here and it will go through a robot uh arm itself and to the second arm and you can connect here to the uh robot tools then you don't need to wear in the this uh air hose or uh digal input output signals on the robot arm it can go through inside the robot so for the 6L series The basically the same design and the for the DV series is the same we have the digital input output in the a base and then you can control the uh tool by connect the tools the input output signal to second arm and then in the base you can wiring out all these uh signals and for the air hoses is the same for the DV series we have two air hoses in the base and on the M two there will be a few uh air hoses you can connect to the uh robot tools okay and with all this introduction we are going to the quick start part once you uh have the robot how can you quick start the robot and to use it so of course first you need to uh do the power wiring so for the robot controller we support a snle face and the FR 200 to 230 volt AC with the p ground and we support both the 50 or 60 hertz uh AC power and then the Maxima Uh current will be 15 amp so uh if you are us going to use a breaker conductor uh it's better to support until 50 amps and then next will be about the control interface so the first you need to must connect these three uh connectors then you can start to uh use the robot so first is easy the robot uh connector itself so you just need to connect the controller with the robot arm with this uh uh cable then uh it's done and next is the uh emergency St this is mouse connected sorry so uh it's a two channel uh emerging Stu so both Channel you need to connect it then it will work and if you want to connect the more imaging stop buttons then you can connect like this apparently and next this one is also need to uh connect this is a functional safety Channel it has two channels so uh this usually you can connect to uh maybe door [Music] or uh sa defense and then uh if you want to connect more than one is the same you can connect uh parall like this and next one this is only for the DV series for the DV series we have uh uh safety reset button so this reset button also have two channel and you can connect a button like this and this is for when the uh errors happen or uh the saf has been triggered and we you resume it then you need to uh reset by this button to reset the state of a robot safety so this is what this buttons do and the next you need to connect is the uh syst input output so for the syst input output you can see we provide many uh functions you can use by the digital input output and the first you need to connect it mod mode selection this mode selection is going to stack is in the auto mode or it's in teaching mode so it's important and we'll introduce details later and for others like you can control project State like a run project or stop project and also you can reset the alarm of the robots from the digital inputs and for the outputs you can get the state of the robot like uh abnom alarm States Sero States also in place means if the robot reach the position and also uh function no post States if the robot uh safety has been triggered then this will be on and also what project States now it's running or stop and in the end it's the control ready when you turn on the robot and you will do a initialization when the initialization is done then the control lady R will be on then you will know you can start to uh operate the robot so so uh here is the more choose uh input so for more choose input you must choose one when you are using the robots so first is U T1 mode if are choosing T1 mode it's uh input one to the digital input four and interior mode means this is a manual teacher mode so for safety it will limit the speed uh under 250 mm second so it will be slower and for auto mode this means when you are finishing the programming and you need to start to uh run the project and you can choose this mode so this mode you just need to input digital input five to one then of course it's running in the full speit and you can uh run the project under is the mode and here here is the for reference you can use the digital input six and seven to control the project and only the special is the for wrong signal you need to keep this signal on for 3 seconds because for safety reason then project will be uh running and also uh if you need to connect the use the digital input output that means this uh digital input output for uh user definition user can Define what the function of this uh input output for so for the input we have 24 pins and then we support both MP and PMP uh wiring and for output the same we have 12 pins and we also support both the PMP and npn uh wiring okay and the the rest will be the pendex like some Hardware limit and installation so just quick go through this part so for the uh because for C cerification we have Hardware limit on all robots and if you need to adjust this limits you can uh refer to this part in the menu to adjust those Hardware limits also DV series and for robot insulation we use four ma screws and we suggest a 20 Newton meter to fix it and for D series is similar just the torque we reest higher 25 uh Newton meter also with suggest for the controller you need to install with some space to uh let it has space to uh do hit sync then it won't be a overheat okay so this all for all the introdu of the robot system is there any uh question for now okay and uh if not uh I'm going to the uh software part I will introduce the software Dr St Studio how to use it to control robot what okay uh so the next presentation will be about uh D studio so D studio is the main software we are going to use uh for controlling the uh robot and uh here's the contents so first I will introduce uh about the user interface how it look like and then the basic commissioning how we uh ja robot and uh teach some points and uh then we I will introduce how to uh measure the product and then also how to measure point or a point table in the uh project and in the end will be some uh General functions you will be using in the uh commissioning so first is the uh user interface so once you open uh Dr Studio you will see this interface so basically the left side is our main screen to uh control robot and right side is actually screen that you can use some functions as a uh help to control robot and of course you can see the version and also re this St here and so first uh what you need to do is uh log to the subware itself for now we have uh three different uh permissions uh this is for different operators like first is 1111 we defined as a operator for the production line they can use this uh permission to like around the projects. project those are basic stuffs and the 2222 is for the engineers who are going to program the robots and set some uh settings of the robot and the last one is the maintenance permission which this one you can change the parameters of the robots also you can upgrade the frameware also some maintenance stuff so you can use these three different uh permissions to log into the software and uh usually we will use a 2222 to log in here so after login you can uh go to click this button to choose the uh robot type so you need to choose the right robot type to uh update the robot here so we can see robot type here like this example you choose a VA and then choose a robot model and the control and application and of course in this software we show the set state of robots so first is the uh current user on the this top uh menu and second is the robot type you choose before if you choose a VA this will show VA and if you choose a scolar you will show a scolar robot here and next is uh connection if you connect to the robot then this will be green because now it's a disconnect so this will be orange I'll show this function later and then the Sero State and if all the servos on robots on this will be on and if any uh joints is off server Sol then this will be off and then here's a TB States so if your robot connect to a teach pendant then uh and the teach pendant operation is also on then this will be a green that means now operat permissions on T pendant and next is a state now uh it's a T1 that means uh you choose the T1 mode in the system digital input and if you choose Auto this will show Auto and next is alarm when alarm happen this uh icon will show uh red that means you have a alarm you cannot operate otherwise it will be gr out and here's a button to uh reset the alarm and also when you open the project you will show the project name under the State Bar so this just the same as the uh digital digital put I showed before it going to choose a different mode and then when you are connect to the touch pendant it will show different state if it's connected or not so let's start the basic commissioning part so in the beginning of course you need to connect to the robots itself so basically we are using the EET to connect to the robot we are strongly suggest use the uh iset but actually you also can use the USB to uh connect to robot but with USB connection there are many uh functions will be missing so we only suggest use the USB connection to get the IP address because sometimes maybe you forget or lose the IP address setting then you can use USB connection to get IP address and then go back to internet connection so uh usually the default uh IP address of uh robot control is uh2 16 168 and 1.1 so after set we can connect so after uh connecting to the robot the first thing we are going to do is the server on the robot because if uh the server is off then we cannot control robot it's cannot move so there are two way one just click this uh Ser on button once you click it then all the exits on robot will be Ser on and you can also go to the Sero page on left here and you will see the all the Sero states on the main screen and if you click the slide on the top here you will also s on uh all the access and also uh sometimes you you need to uh release the break of the robots then you can also upgrade the breake here to on and off the brake and after you uh serve on robot then you can start to jack it to check if the robots moving correctly so on the right panel you can see there's a jack page then when you go to Jack page you will see this panel then uh there are many different options like you can choose the Jack mode also speed and distance and the for testing I just choose a medium and continuous distance then it's easier for uh chug in and you can also choose a user friend to friend I will introduce the later so after this setting done you can use these buttons when you click and don't release it then the robot will move okay and next is the projector management so uh basically our software is also a project base so for each uh maybe machinal application you can create a project and in the project we store like uh Point information or also programming information and some settings of robot so in the project uh page you can right click on the doe solution then you can add a new iio project and then it and of course you can also choose the project to edit and also this project and the rename project and also in the end when you are done for uh programming or commissioning you can upload to the controller then the robot will run the project by itself so in this project page on right side uh controller storage part then on the controller you right click and click update it will show all the projects inside the controller uh storage location and with the two buttons in the middle you can transfer the project between the controller and the PC and the this is really easy just need to click the object sorry project then click this button it will transfer to controller and on the controller side if you choose the project and click this button and it will transfer to uh PC side and next is the uh Point uh measurement so in our uh robot system we have uh two different point table one's a global point this is uh a point table which just store in the robot controller so this one only can store up to uh 100 sorry 1,000 points but this 1,000 points can share by old projects and the the other one local point it can store up to 30,000 points it's much a lot but uh this points only store in the project so means only the project itself can read this uh points and for each points what we what data we store inside uh we store different data between different uh robot type so on left side first is a scalar for scal we store the ID and name of this uh point and we also store the coordinates but the for the coordinators we only store XYZ and RZ because scolar only have a four uh degree of freedoms and they are x y and RZ XYZ and RZ and also post because uh beside the coate uh position the post of the robot itself is also need to be storage that means the arm can be uh on the right hand side or left hand side we need to record it so we also have hand information and then we also have storage the friend information like uh user ID or to ID and this I will introduce later and we also store a joint index uh what's joint index basically is the how many turns of the joint has already turned and why only join four because actually only joint four in the scalar can be rotate unlimited because from Jo one to three they are always limited when they uh tend to angle so it cannot even finish a one turn but only joint four can turn more than uh one turn so we need to recall how many turns of uh joint four that's why we need to recall joint deex of coin join for and on right side PR same but for the uh V robots it has uh six uh degree of Freedom so we need to recall all six uh coordinates like XYZ r i z also for the Post because for VA we have uh elbow shoulder and the Flip Flip actually means the the wrist part we also need to will recall this status and we also have a friend the same I introd later and for joint X is also the same just uh for the V robots it for joint 6 it also can rotate uh unlimited turns so in the v robot we recall join six and four uh join index and next is the teacher and go function so uh for this joint table of course we won't ask user to imaginate those points and input by himself we have a function to uh teach this uh points by moving the robots so first you can use the jug function in the before I introduced then you can drag a robot to the position you want and then uh use the teach function to teach a current robot position to a point so when you click teach all the information in current position will record into uh point then the all information is on this point but when you are going to uh teach sorry test this uh point and you can C point and click go go function means they will move the robot go back to this position so uh it will uh move to the position okay so before going to the general functions I want to use the software to uh demo the robot how to use those functions for okay uh I think for now you can see the uh the software on my share screen and from uh my personal screen you can see a robot itself if it's too small for you you can uh zoom zoom out a video by yourself so as I mentioned sorry as I mentioned when you open the software you can only see uh like this without any uh functions and the first step we need to log in the someware and here we use 2222 and cck log in then then you can see all the functions the pages you can use when you log in and the next we need to uh choose the robot type here so now for the demo robot we are using the scalar and it's DRS 6l6 SSA Series so we choose this model and then we click okay now we have a red model and next step we need to uh connect to the robot and for this robot because I Chang your IP so it's uh 41 in the end and let's click uh connect okay so now you can see this buttons become green that means we already connected so first we go to Sero page now we can uh Ser on robot by this uh Ser on button so you can see all exits are on now so that mean we so on successful and then also the mode you can see here is auto that means in this robot I connect the system digital input output to auto mode okay so now it's already still on then let's go to the job page on the right so in here we only need to choose the spit to medium and the distance to uh continuous okay so then now we can start to jugle robot so if you can see uh when I click this button X you can see a robot is moving if you click the button it don't release and also the XYZ information is changing when I doing the robots moving robot so this is the uh basic Jack function and then let's go to the uh project here so uh asign mentioned we need to uh create project here to store different projects or point or application point and also programming so let's uh right click here and add iio project and let's say it's project one and click yes so now we have a project one it's already open if you are not sure you can choose project one here and click edit project then it will also open the project okay now if you see the uh project name here it's a project one the one we open then it's successfully then next let's go to the point so in point it's a new project so you can see it's all empty so now we can start to teach VI a point here so now for example I Dr a robot to a position I want then I now I choose a EMP Point here and I can click uh t button so here has a dialog to inform you then click yes so we can see all the information is in the uh point now so uh now I want to teach two more points so I click the add points here so I have two new points and let's move a robot again and then te and the next one and then teach again so now we have H three points already told and it's all in Orange because it haven't uh save into uh project yet so we can click the save button here then it will save the point into the project so now it's all white again so now uh I want to uh test this points then I will click uh the points here it become highlight then I click Go Button you can see robots moving to this point and next one and the next one so uh now you can see how to attach point and also test this points is correct or not okay and then let's let's go back to the presentation okay so uh next part I will introduce some uh General functions of this uh software so first is the very important the robot editor uh language ler uh this is for programming robot and also debug it and I will introduce this later after I introduce the language and next is the uh function page on right side this is uh using for uh read uh mobas in uh mobas address in the robot controller because the for controller is default as a mobile server a slave so uh it has its own mobile addresses and you can use this function to read a values in this addresses and here's the homepage in this page you can uh uh set all the so not set is let all the joints go to home and you can check if the uh robot robot home is still correct because if robot home position is not correct then all the uh points or maybe accuracy will be uh [Music] wrong and here's the io page in this out page you can uh check your user uh input output and also the system input output that uh it's on or off and for this uh wide area you can also write your own command then to remind you this uh input or output function and for output you even can click on this buttons then it will enable the uh output to test and next is the tool frame function so this function is uh when you attach a tool on the robots usually you need to let robot know the tool tips how the where is the the tool tip relate to robot itself then you can uh teach this uh tools points uh correctly and uh next is the user friend uh because for some application you need a your own definition coordinate not only the robot coordinate so you can use this function to uh Define few different uh coordinates by yourself so for this two functions I'll introduce the details later and the next is the information page so in the information page uh you can check all the information about robot like uh the position of each joint and the velocity here and also the torque and also the uh coordinate information just like a j page and also all information if alarm happens then you can check where is the alarm from it's from controller or the motor group or the each motor itself and for control information page the important here is you can check the your frameware version uh usually we will ask to this verion when we are help you to solve issues then we will know in which version has this issue happened and for alarm history it's also uh useful for troubleshooting so you can see all the alarm happens before what happened to this robot and to check maybe it has a damage before or uh something is not okay and the last is the system settings and in here basically is uh for communication settings like uh IP address you can change the IP address here of the robot controller and also you can change your eyes to 32 45 parameters like uh which mobile protocol you're going to use also the B rate of the uh code and the last is you can change the uh software language but for now we only support English and Chinese and I think most of you will choose the English version okay so for the software introduced this is uh all part is there any questions here okay uh if now we are going to uh robot language part okay then uh let's start next part uh next part I will introduce about robot language how to use a robot language to program the robot for okay uh because I just answer one question and we can continue so for the uh robot uh language part we will have a list of contents so first I will introduce a basic uh syntax of the robot language and next will be uh the motion instructions and then uh for the uh point point management we also have a instruction in the Roba language and then will be the communication part of the Roba language and in the end will be some Advanced functions will be uh convenient to use so first part is the uh basic syntax so uh for Bas syntax is a first is a statement separator if you have Language basic all the language need to have a Steven separator so in the our robot language you can use uh commands or just a blank space or uh a new line so for example on right uh it's a separate uh statement by a blank space and also can do like the second line here ex separate by uh commands and we also have a single command and uh for single command you can see you just need to use a two dash in the beginning then list L will become a command and uh if you need a block command that also means a multiple lines command you can use uh Double Dash and then uh double baret then you can uh write all your commands in this area and then in the end you can use the Double Dash and then double write uh bucket again so in this area will all be a commands another program and then uh next will be the uh operators so for operators we support all the basic like uh add subtract multiply divide also uh its potential and we also have a logic uh operators like n or or not it's easy just like a English world and also for comparing we also have a greater greater or equal less less or equal equal and not not equal uh operators and uh here's about the variable so for variable in our language easy actually you don't need to Define before to use it you can just use it so in the first example is uh Global variable so you can just assign a value to the variable you want like a equal one b equal 2.1 and c equal test is a string so string just like all strings you can uh quote by a double quote and then there is a local variable so what's the difference between Global and the local variable so for local variable then you need to kindly uh Define it by a local keyword in the beginning then this variable will become local variable and then let's see the example on the right side uh in the beginning uh it say a equal one so they will be a global variable then it will be assessable from all the program and then let's go to here this is a uh if section so in the if we uh Define a a local variable B here equal to and then Global variable C equal 3 so after if section then A and C still can be uh assessed but B variable cannot because it's local that means only a avable in this section so after this section end then you cannot read uh variable B anymore so that's the difference between Global and local uh variable uh next is the table so in the table we can store a list of data so how to define it so first uh you can see this example so for the list one equal two buckets that means this is empty table and secondly this two we use the left the bucket and then the number and separate by commas and write bucket that means we Define a table with some predefined numbers inside and then how to use it we can uh use like this is similar to actually our language like C you can put the list name first and then use the the r bucket with the index inside this is index one and by the way this table the index is start from one and zero so it start from one so we want this index one equal three so that means in the list one this list the index one the value will be uh number three and if you are going to read then the same you use uh table name and then use a that right bucket and with the index inside so this index is three so in the this two index three is uh number three then the data will become a number three to uh from the list so this is a table and the next is the if statement so if uh condition statement is to judge a condition that if uh this condition true then you will go to wrong this uh statements then if a condition is false then you won't wrong this statements so this is example like the first one if uh this uh condition true then it will move to uh 0.1 let and if this is not true you will go to LC then if this condition is true then you will go to move to uh point two but if this also false then you will go to else else means all the condition of other if it's false then it will go to else and move to a point three so this is if statement and then next is the uh Loops so in the uh Rob language have three different Loops uh while do and foro and then uh repeat until so you can see the three different example here but do the same thing so first is W do so in the Y we put true uh in the robot language also have a true keyword it means always true here so it will repeat this uh loop until it if I equal 100 then it will break uh break means it will jump out of this uh loop so in the end this will I will be 100 because it run 100 times and the second is a foro foro is for easily for uh go through the list because for the four you can define a a index I uh begin with is the initial value and the end value so that means this Loop will I will go through from one and add one in each uh loop so it will go from one two three and in the end five and it will want totally five times so in this Loop uh you can use this I as a index of the uh table then you can assess to each uh elements in this uh five times Loop so the last one is a repeat until the difference of repeat until it's uh it will always run the uh section statements once first before judge the condition so for this repeat it will add the sum and also add the index uh once and then judge the condition and the condition here you can see a special symbol shop here so shop means uh it will count the uh elements number in the table so shop a will means the size of table and the a you can see this table have five elements so shop a will means five so in this Loop it will repeat until I is bigger than five then this ROP will be end so here is our three different Loops in the Roba language and the next is the function definition so uh in the Lal language you can also Define your own functions if you are going to code uh some functions multiple times then Define them as a function will be convenient to use so to Define function you need to start with a keyword function and then the function name and then the input you can Define how many input you need and also it's same as a variable you don't need to Define type of it so in the function you can use this Imports uh do everything like a plus or the appliation you want to do and then use a return keyword to return uh output so here we return the X Y and Z and then in the end you need to put the nend to and the function so how to use the function is also similar to our program language so you first you can use the function name to call it and then input the values you are going to input to this function in here like we input uh one and two and three so this will go into uh ABC you define here so of course it will add this three number with the three numbers and then return so because we return three variables so in the left side of equal you can also use the three uh variable to catch them so the X will go to m y will go to n and then Z will go to O So This is how to uh Define and use the function so until now it's the basic syntax and statements then now I going to a motion part that is uh motion instruction of the robot so first it's uh M this is uh the best part if you want to use the Rob movement so you just need to uh Define the point you're are going to move so move p means uh point to point motion that means only uh reach the target position this matter so in the beginning I mean in the between it doesn't maintain the pass so with this instruction it will use the all the motors as a fast speed fastest speed to to reach a Target only the target will be accur accurate and the move L is a linear motion so because it's a linear motion you will try to maintain between uh Target and current position as a line because it's a linear motion so that's a difference between Mo p and mo l so here is the example of a usage of the uh Mo p and mo l so for the move p in beginning you can do very simple just put the point number like one here then the robot will move to 01 and then you can also use the pass function I'll introduce later or you can uh also choose a different speed and the acceleration and deceleration and you can also choose use the name of the point the number and you can see it's the same you can choose speed also pass function and then uh there's another commen function you can use this uh add and then Z with the number this means we're going to this uh Point P1 but I want to shift the direction uh 10 mm and also shift RZ 20° so this is a Comm function to adjust the uh Target to different position and there's also another programming way that you can uh use this uh small functions like a PD to change the speed and add the acceleration and also add the pass function so basically it's the same just a different programming way so on the right side you can see a move Arrow basically are the same usage just uh it's a line linear motion and this one is uh to introduce a pass function so pass function is also a useful function to use for example you can see here now our Target is uh here point three but because maybe here there is a obstacle or or somewhere we need to avoid we cannot go through here then we must to have a middle a point to avoid the obstacle here and then reach the point three but if you use a normal injection like move L to uh 02 and then move L to3 it will be uh slower because in point two you will also try to uh reach a Target uh accurately then you will spin spend a little the time may be a few milliseconds then slower but this point is not uh important because we just want to avoid obstacle here so we want to don't want to spend time in this point so now we can use the pass function then that means uh we can write the program like this we want to pass point two so in on robot you can see this the result when the robot going to move to a0 two it won't really reach Point 2 it will start to turn to a three before reach point two and so it will be a smoo curve here and then go to a point three uh our Target so with the save function you can uh save a little bit time in the point two and so in your whole application if you use it to save time then you can save a lot time in the total uh operation time and the next side is the relative uh distance motion so it's similar you has have two version It's one move PR it's one is a move LR so move PR is move a relative distance by uh P2P motion and the move LR is the move relative distance in linear [Music] motion so how to use it then in the move R move PR you can assign One Direction like here we assign the X Direction and we want to move 10 uh mm positive of course we can also use a negative value then you will move uh the other direction the negative Direction so you can use in all other different direction even like rxr Z and you can also Define in which coordinate like here want to move uh in the two coordinate RX and then the 10 degrees also you can change the speed here and for the move LR is the same similar uh usage just uh different motion is a linear motion and the next is uh MP this is the uh special motion for pick and place so uh this is the pick and place motion you can pick a stuff on the right side and move up and then move horizontal and then go to to the place uh uh Target so here's the usage uh first is the poget and then the zero means the D top and then 50 and 40 means H1 and H2 so we can Define all this distance to finish your pick and place motion and then next is a motion Arc that means uh doing a Arc Motion in this uh introdu instruction so we use the Border mes to Define arc so b m means we Define uh three points on this border then the robot will calculate and move a Arc motion uh by these three points on the border so uh because uh current position is also the one of the three point so you just need to Define point one and the0 three the middle B position and the target position and in the end you can choose the B mode now is the only mode we can use now so uh for hours you can also change uh speed also use the pass function is similar to our instructions and the next one is the m Circle it can move the robot in the circle motion so uh the for definition is similar to the AR motion just the for Circle instruction you will finish the whole circle and then go back to uh original position so L the M Circle so you can see the usage also similar to Mr uh motion okay and then here is the point measurement so I'll go fast here it's uh uh first you can use this to manager global point and then you can use the read right point to uh change the informational point but it's only a temporary for the global part it's uh permanent but for the uh rewrite Point function just uh temporary and you can also copy the uh points between each other and then the communication part we can also use a Di and do function to uh read or change the speed sorry change the state of the digital output so you just need to take the number of the input output then you can set it on off or read the the state the next is a mobile State function so as I mentioned before the robot controller itself is a mobile slave so it has a addresses mobile addresses and you can use the Write mobile function and also read mobile function to rewrite uh this information and for the Rob controller we only let user to use a station id2 and from address zx1000 to uh zx1 FF F in this section user can Define the usage of uh those addresses and use the robot language you can also use the mob TCB client function so with this uh functions you can connect to to our devices by uh IP address and then Rewrite by write MVC and read MVC function to other uh mobas TCP uh servers and then here is the uh Advance functions uh first one is the multitask so for the multitask uh you can wrong many different Tex in the same time so if you define the test you want to run in the three different functions and then run the multitex function and put the function name inside like this as a input then once you run this multitest then all the test will run in the same time and uh let's is uh to quit or post the uh program so you can use the quit function to uh quit the program then the all project will just stop or you can use just a post function to uh post the project then the project will be posted and you can use the wrong button or the fromong mob to run the project again from the uh post position okay so for language part is there any question until now okay uh if no I will going to show you how to uh debug the uh robot language for now okay so now I'm going back to the uh di studio so uh in the before we already told there are three uh points in the project right so now we are going to use these three points and then let's go to I page so in our page basically you can see all the function you need like start this means start B and then here's uh this breakpoint because we can set breakpoint in the language I'll show you later and all other uh text functions like cut undo command so let's start to uh write a program so first you can also do the uh Ser on in the program so let's see on right there are many uh buttons so this buttons is uh a convenient to uh insert uh examples like now we want to do uh robot on so you can just click this button then it will insert figger insert robot Sub on commands here okay and then now I want to uh set a speed in the beginning so you can see here also many uh buttons you can just click so now I insert the speed joint as joint dis joint also speed linear assertion linear and the deration linear so we Define two different group of speed for the speed joint means uh for point to point motions and the unit is percentage so now it's a 10% speed and 25% acceleration and the deceleration and for linear uh motion speed we Define in another group here and the unit is uh mm/ second so uh now for the testing 1,000 it's a little fast I change to uh 100 so now we finish uh set up a speed now we can start to do the motion so for the move L and move P of course we also have buttons here to insert okayer one move P move L and move P again so now we have three motion commands and then let's change the points here to the points we told before so first is the 1,1 one we can check the first point number is 1,1 and second one I want to use the point name so just remember you going to uh use the point name you need to use this as a string so you need to use a double C to call it and let I use the number again 1 and three so uh it's already finished our basic functions so we can try to click a star here to uh test it so it will inform you start programming so you can also see the green highlight that means the Rob is running this uh line so if you so can see on our screen the robot is moving yeah so then it's a finish now so this is the basic program of the robot and then if you want to debug you can set some uh break point this is the easier way to debug so for example if I set a break point here this line I just need to click in front of it and there is a red dot here and also the line will be highlight in red and let's try to stock in okay so you can see now the program stop in this uh line so now we have few options once we can click continue again then the robot will finish rest of the program but we can step this uh line that means we will only run next line until next e okay J can you hear me okay then we are going to start a uh last part of today we'll introduce about friends including the user friends and two friends and also in the end will be the S Singularity of a robots is some uh forbidden points not really forbidden but we suggest not going to Res those points so here's the contents it's the robot coordinates and then uh tool friend first and then user friend and the end is singularity so first is a robot coordinates so in this picture you can see the definition of the robot coins for robot coordinates in the robot so first is the robot friend and the world friend so you can see the robot friend and rooll friend here are separate but in our robot system because we only have one robot so uh our Rob friend and robot friend and World friend are the same one in here on the top of a robot so this a robot friend and we also have a end effect frame here that Define the uh end effect of the robot and but in the factory already do a uh calibration between this uh two friends so robot itself knows the relation uh between uh this two coordinate but if we install new tool on the Anor here and usually we using the tool tip to work on the work piece but robot doesn't know where is the tool tip so we need to do a tool calibration to let robot know the tool frame so we will create a tool frame for Tool andtime some project we want to Define our own uh coordinate we don't use the robot friend then we will use create a user friend here then we need to do this uh work pieces calibration to create this uh user frame and the next is the coordinated rotation system we use the this set system that we rotate RX first and then rot r y and this is R the so order is a pitch row and yellow and then first is the to friend so for the tool friend we have two part we need to teach one's the TCP one is the tool rotation so what's a TCP TCP means a tool center point this means uh is the point we will work on the uh work piece and this originally will be in the French on the robot then after the calibration we will move this point to the TCP here the other is a tool rotation if sometimes this uh tool has angle is not the same as the robot original French then we also need to teach this uh rotation of the tool so uh to teach TCP we have uh this parameters the width and the angle and the height of the tool so where are these uh parameters you can see in these pictures pictures so basically height is the height from the tool tip to uh the end vector and the width will be the WID from the anicator to TCP here and the angle is from the X direction to the Wi so it's a seta here so for the 66 basic is the same so we use these three parameters to define the tool tip so in the Dr Studio here's how to set up the tool frame first we need to go to point page page then to a FR page and then we can choose the ID so we can Cho teach up to nine different tool FRS in the robot system so on the upper part set TCP and the lower part set tool rotation so we will introduce about upper part and upper part if you have the 3D joint of the uh tool you can calculate these three parameter and input this three parameter by yourself but if you don't have then we have the calibration tool can help you to uh do a calibrate of these three parameters so how to use the ction to teach a TCP so basically when you go into the tool you will see this table then this table you need to each uh three to eight different points by this way on the right you can see this arrows you can see is as a tool and we will use another fixed uh point on the ground or table then we try to reach the this of same point from three different angle and this three different angle we can teach on this the uh table by this teach button and after we teach more than three of course more points and will be more accurate then we click calculate arrow and then click output set once you click out uh Arrow calculate Arrow you will see all the parameter already calculated by the software then click the output set you will set into the the uh robot controller so here is the real pictures you can see uh this uh stick is a a demo tool and you always reach a same point by uh this uh TCP but but from a different uh angle and next is the to rotation so for rotation we have three different uh parameters it's uh origin point and x-axis point and y- AIS point so how to teach is similar for or point you also need to touch the uh TCP to a fixed uh point on the ground but the second differ you need to teach the x-axis of your tool and move along the exis axis and then the teacher X point but actually for most of tools this way is not easy to use so for the tool rotation we will suggest to use a 3D drawing and to calculate uh pit uh pcture and roll y directly and input into a system so here is the tool friend and next is the user friend so as I mention before tool user frames to define the customize Cates and you can teach more than one here so then you can teach a point on this uh customized coordinates so how to set up set up the user friend you also go to to a point the page and then user friend page and first you also need to choose the ID we also can teach up to nine user friends in the system and then we need to import put this three uh points to define a uh coordinates so here uh you can see how to teach it so in the beginning uh uh you can teach the original point that means the original of the coordinate and the second point you need to teach the X uh Direction and then the next point is the y direction so with this three points you will Define this uh coordinates and then you can click a set here then you will set into a robot system so uh this is the uh user friend so the last part of today is a singularity there's some uh points that better not that robot pass by layer because it's not good for motor and um mechanical parts and for this part we use a VA as example so first is the RIS the Singularity so that means when the joint four and Joint six are in the same line then the joint for will instantly rotate 180 degrees in the first speed so when you are designing the uh motion of a robot better don't let the joint six and four uh be in know same straight line so how to avoid then of course avoid to join four and Joint six on into a straight line or maybe you join five can jug more than five degrees then also four and six won't be in St line or maybe you need to modify tool to avoid and next is a shoulder uh Singularity when your wrist and the joint one is in the straight line then uh joint one and Joint four will instantly rotate uh 100 degree in the same time then this is also not good position for robot then yeah try to avoid by join to another uh Point avoid this part or also you need to modify the tool to avoid it and next is the elbow Singularity so the this one is you need to avoid join two join three and join five into a St line otherwise the elbow part will be stuck so of course how to avoid don't let the joint two and three and five onto a stra line and maybe also modify tool because usually in this situation because the tool is not long enough maybe if you made the to longer then you can solve this uh situation okay and here's a example video then maybe you can check by yourself this easy you can do search online or YouTube okay so this is the end of this part and so uh I think it's almost time then it's the uh end of the online training today