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RAPID Basic Commands

The document provides information about robot safety, hardware, and programming: - The robot can operate in three modes - Manual, Manual 100%, and Auto - and it is unsafe to be inside the robot cell in Manual 100% or Auto modes. - The teach pendant is used for programming and the emergency stop button stops robot movement. - Rapid is the robot programming language used and programs are called modules. Common commands include MoveJ/MoveL for joint and linear moves and IF/FOR loops for control flow. - Coordinate systems like tool and work object frames are important for programming and can affect jogging and move directions.

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343 views

RAPID Basic Commands

The document provides information about robot safety, hardware, and programming: - The robot can operate in three modes - Manual, Manual 100%, and Auto - and it is unsafe to be inside the robot cell in Manual 100% or Auto modes. - The teach pendant is used for programming and the emergency stop button stops robot movement. - Rapid is the robot programming language used and programs are called modules. Common commands include MoveJ/MoveL for joint and linear moves and IF/FOR loops for control flow. - Coordinate systems like tool and work object frames are important for programming and can affect jogging and move directions.

Uploaded by

asd
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Rapid and robot programming

Lab preparation and exercises

Mikael Norrlf

Mikael Norrlf
PhDCourse Robot Modeling and Control

Robot safety
The robot control system can be in three distinct
modes
Manual, the speed is reduced to a maximum 250 mm/s
Manual 100%, full performance is reached but the user has
to keep pushed an extra button on the flex pendent
Auto, the robot moves at full speed completely autonomous

Under no circumstances it is allowed to be inside the


robot cell when the robot runs in Manual 100% or
Auto!
The robot is potentially dangerous also at low
speeds. Do not stay close when running a program
(also in Manual)

Mikael Norrlf
PhDCourse Robot Modeling and Control

Robot hardware
Teach pendent
(FlexPendant)

Motors on / acknowledge restart of


motors after system stop

Mode selector key

Emergency stop
button (also available
on the TeachPendant)
Mikael Norrlf
PhDCourse Robot Modeling and Control

Robot hardware
Teach pendant

Mikael Norrlf
PhDCourse Robot Modeling and Control

Robot hardware

Mikael Norrlf
PhDCourse Robot Modeling and Control

Moving the robot with the joystick (jogging)


Choose jog-mode
Motion mode decides how to use the joystick
Coordinate system affects the jogging directions
Tool affects the position and also the jogging directions if
Coordinate system is tool
Work object affects the position and also the jogging directions if
Coord is wobj

Mikael Norrlf
PhDCourse Robot Modeling and Control

Coordinate systems

Tool frame

Work object / User


frame
y
x

Base frame

World frame
y
x

To help in the programming it is possible to define a number of


coordinate systems. Some can be defined/calibrated using the robot.

Mikael Norrlf
PhDCourse Robot Modeling and Control

Define a tool coordinate system


Approach a world fixed tip
from (at least) four directions.
Mass and inertia data can be
identified using pre-defined
movements of the robot.

Mikael Norrlf
PhDCourse Robot Modeling and Control

Define a work object


The work object coordinate frame can be defined
using a three point method.

Mikael Norrlf
PhDCourse Robot Modeling and Control

A Rapid module (program)


Language originally developed in collaboration with SoftLab.
MODULE
VAR
VAR
VAR

MainModule
num length;
num width;
num area;

PROC main()
length := 10;
width := 5;
area := length * width;
TPWrite "The area of the rectangle is \Num:=area;
END
PROCENDMODULE

Mikael Norrlf
PhDCourse Robot Modeling and Control

Controlling the program flow

IF THEN ELSE (ELSEIF)


VAR num time := 38.7;
IF time < 40 THEN
TPWrite "Part produced at fast rate";
ELSEIF time < 60 THEN
TPWrite "Part produced at average rate";
ELSE
TPWrite "Part produced at slow rate";
ENDIF

FOR
FOR i FROM 1 TO 5 DO
TPWrite "Hello";
ENDFOR

WHILE
VAR num sum := 0;
VAR num i := 0;
WHILE sum <= 100 DO
i := i + 1;
sum := sum + i;
ENDWHILE

Mikael Norrlf
PhDCourse Robot Modeling and Control

Other useful commands


Control external devices (digital output)
To close the gripper,
SetDO do1, 1;
To open the gripper,
SetDO do1, 0;

Mikael Norrlf
PhDCourse Robot Modeling and Control

Syntax comments
A statement in Rapid ends with a semicolon, exceptions are IF
ENDIF, FOR ENDFOR,
A comment in Rapid starts with a !
! Calculate the area of the rectangle
area := length * width;

The Rapid interpreter is not case sensitive but it is


recommended that all reserved words (e.g. VAR, PROC) are
written in capital letters.

Mikael Norrlf
PhDCourse Robot Modeling and Control

Move instructions
MoveL p10, v1000, fine, tool0;

p10 specifies the position that the robot shall move to.
v1000 specifies that the speed of the robot shall be 1000 mm/s.
fine specifies that the robot shall go exactly to the specified position
and not cut any corners on its way to the next position.
tool0 specifies that it is the mounting flange at the tip of the robot that
should move to the specified position.

MoveC p10, p20, v1000, fine, tool0;


MoveJ p10, v1000, fine, tool0;
MoveAbsJ j10, v50, z50, tool0;

Mikael Norrlf
PhDCourse Robot Modeling and Control

Offset function
With Offs() it is possible to add an offset to a point in the x-, y-,
and z-direction
MoveL Offs(p10,0,0,20), v1000, fine, tool0;
The robot will move to a point 20mm i z-direction relative to p10.
Offs() is a very efficient tool to offline produce a desired motion
given a reference-point.

Mikael Norrlf
PhDCourse Robot Modeling and Control

Configuration supervision
To avoid problems with configuration warning/error it
is possible to use
ConfL \Off; ! For MoveL
ConfJ \Off; ! For MoveJ

Mikael Norrlf
PhDCourse Robot Modeling and Control

Coordinate systems
z

Tool frame
z

Work object / User


frame

y
x

Base frame

World frame
y
x

The coordinates can be expressed in another coordinate system


(work object) by attaching an additional argument to the move
instruction:
MoveL p10, v1000, fine, tool0 \WObj:=wobj1 ;

Mikael Norrlf
PhDCourse Robot Modeling and Control

RobotStudio some tricks and tips


Zoom in and out,
ctrl + right mouse button + move mouse left/right
Pan
ctrl + left mouse button + move mouse
up/down/left/right
Rotate
shift + ctrl + left mouse button + move move mouse
up/down/left/right

Mikael Norrlf
PhDCourse Robot Modeling and Control

Lab
Exercise 1.
a) Jog the robot using the teach pendant while testing the different
jog-modes.
b) Try jogging close to a singularity
c) Jog the other mechanical units while using different coordinate
systems.

Mikael Norrlf
PhDCourse Robot Modeling and Control

Lab
Exercise 2.
Program the robot to draw the figure below. The inner geometry is
optional. Simulate that the robot uses a pen by moving to a
specified fixed position before and after the figure is drawn.

It is important that the program uses the right tool and work object.
Try to move the work object (using the positioner) to see how this
affects the program. You can also move the robot using the track
while drawing.
Mikael Norrlf
PhDCourse Robot Modeling and Control

Program template
MODULE MainModule
CONST jointtarget jpos10:=[[0,0,0,0,0,0],[0,0,0,9E+09,9E+09,9E+09]];
TASK PERS wobjdata wobj1:=[FALSE,FALSE,"STN1",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
CONST robtarget p10:=[[200,0,100],[0.7071,0,0.7071,0],[0,0,0,0],[0,0,0,9E+09,9E+09,9E+09]];
CONST robtarget p20:=[[1662.50,0.00,2055.00],[0.707107,0,0.707107,0],[0,0,0,0],[0,0,0,9E+09,9E+09,9E+09]];
PROC main()
MoveAbsJ jpos10\NoEOffs, v1000, z50, tool0;
!MoveJ p10, v1000, z50, tool0\WObj:=wobj1;
ENDPROC
PROC DrawLiuLogo(
PERS tooldata LocalTool,
PERS wobjdata LocalWorkObj)
ENDPROC
PROC TestInterpSingPos()
SingArea\Wrist;
MoveL Offs(p20,0,-400, 0), v100, fine, tool0;
MoveL Offs(p20,0, 400, 0), v100, fine, tool0;
SingArea\Off;
ConfL\Off;
MoveL Offs(p20,0,200, 20), v100, fine, tool0;
MoveL Offs(p20,0, -200, 20), v100, fine, tool0;
ConfL\On;
ENDPROC
ENDMODULE

Mikael Norrlf
PhDCourse Robot Modeling and Control

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