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Wuhan Huazhong Numerical Control HSpad-201 Instruction Manual

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HSpad-201 Instruction manual
HSC3_V1.6.5
Note：Programming manual of the teach pendant Hspad-201.

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Summary of Contents for Wuhan Huazhong Numerical Control HSpad-201

  • Page 1 HSpad-201 Instruction manual HSC3_V1.6.5 Note：Programming manual of the teach pendant Hspad-201.

  • Page 2: Preface

    Preface This series of manuals is about the teach pendant Hspad-201. The manual introduces its characteristics, system composition, system commands and usage of each part, operation steps, user programming methods and examples, etc. It is a basic manual for users to quickly learn and use the teach pendant.

  • Page 3: Table Of Contents

    Contents Preface ............................2 Version History ......................... 6 1 Introduction ..........................9 1.1 Target users ......................... 9 1.2 Icon description ......................9 1.3 Terminology ........................ 9 2 Introduction to Type Ⅲ Control System ................9 2.1 System composition ....................9 2.2 Software of teach pendant Type Ⅲ...
  • Page 4 6.1.1 Continuous ..................... 35 6.1.2 Incremental ..................... 36 6.2 Jog Override ......................37 6.3 Tool selection and workpiece selection ..............38 6.4 Show the current actual position ................40 6.5 Move to point ......................40 6.6 P point online editing ....................41 7 Auto Running ........................
  • Page 5 17 Help ............................ 73 17.1 Information ......................73 18 System ..........................74 18.1 System language setting ..................74 18.2 Restart the teach pendant ..................75 18.3 Clean up the system ....................75 18.4 Restart the system ....................76 18.5 Shut down the system....................76 18.6 System Upgrade ......................

  • Page 6: Version History

    19.7.1 PAUSE instruction ..................110 19.7.2 ABORT instruction ..................110 19.7.3 END instruction ..................111 19.8 Other instructions ....................112 19.8.1 THROW instruction ................... 112 19.8.2 RUN multi-threaded running instructions ..........113 19.8.3 SET_TR instruction ................... 116 19.8.4 Tool workpiece value modification instruction .......... 119 19.9 Offset instruction ....................
  • Page 7 Update the external running configuration and V1.4.4 Update 2019.05.11 other function notes, etc. Add codec, examples, supplementary calibration V1.4.5 Update and program configuration instructions, update the 2019.10.24 input signal description Combine teach pendant programming manual to V1.4.5 Update 2019.11.16 Instruction manual Added conditional instruction parentheses, output pulse instruction, program control instruction, skip interrupt instruction, trim instruction, acquisition...
  • Page 8 Update logic operators, supplement import and export user PLC, UTUF modification instructions, V1.6.5 Update 2020/11/24 timeout instructions, output pulse instructions, multi-threaded operation, and typesetting.

  • Page 9: Introduction

    1 Introduction HSR control system Type Ⅲ is a new control system developed by the robotics subsidiary of Wuhan Huazhong Numerical Control Co., Ltd. 1.1 Target users This manual is mainly for users who use HSR industrial robots. Users are required to have basic knowledge of industrial robots 1.2 Icon description Reminder message.

  • Page 10: Software Of Teach Pendant Type Ⅲ

     Connect cables  Electronic control system  HSpad teach pendant Figure 2-1 Connection diagram of HSpad and HSR robot 2.2 Software of teach pendant Type Ⅲ The software of teach pendant Type Ⅲ control system mainly includes  Software of the teach pendant: HSC3-HSpad 3 Safety 3.1 Attentions 1.

  • Page 11: Occasions The Robots Cannot Be Used

    observed. 7. The robots can move large distances at high speeds. 8. Never turn your back to the robot. If the robot is powered off, it needs to wait for the discharge to complete before being powered on again. 3.2 Occasions the robots cannot be used 1.

  • Page 12: Hspad Teach Pendant Type Ⅲ

    4 Hspad Teach Pendant Type Ⅲ 4.1 Front Pic 4-1 Hspad Front Label Description Used to call up the key switch connected to the controller. Only after inserting the key, the state can be changed. The operation mode (manual/automatic/external) can be switched by connecting the controller.

  • Page 13: Back

    is running. Stop button. Used to stop and uninstall the running program. Back button. Used to roll back program operation. Start button. When the program is successfully loaded, click this button to start the program. Spare button. 4.2 Back Pic 4-2 Hspad Back Label Description Three-stage safety switch.

  • Page 14: Hspad Operation Interface

    U disk USB socket. The USB interface is used for archive/restore operations. 4.3 HSpad Operation interface Pic 4-3 Operation interface Label Description Information prompt counter.
  • Page 15 The information prompt counter shows how many pieces of each information type are waiting to be processed. Touch the information prompt counter to enlarge the display. Status Bar. Display the current model, load level, loaded program, enable state, program state, operation mode, magnification, program operation mode, tool workpiece number, incremental mode.

  • Page 16: Status Bar

    initialization of the controller is not completed, and the robot cannot be controlled. Green means that the network has been initialized successfully and HSpad is normally connected to the controller to control the movement of the robot. Clock The clock can display the system time. Click the clock icon to display the system time and current system running time in digital form.

  • Page 17: Main Menu

    Mode status display. The mode can be set by the key switch, and the mode can be set to manual mode, automatic mode, and external mode. Display magnification adjustment When the mode is switched, the override value of the current mode will be displayed.

  • Page 18: Settings Page

    Pic 4-5 Main menu interface 5 Settings page 5.1 Communication connection Description Establish a communication connection with the controller. Steps: 1. Select "User Group" in the menu "Configuration-Teach Pendant Configuration", log in to the "super" user (switch to super user and above authority) 2.

  • Page 19: Authority Management

    Pic 5-1 Robot communication configuration 5.2 Authority management Description In version 1.6, there are 4 user groups, namely Normal, Super, Debug, and Final. The specific user permissions are as follows. (Note: Blank means that there is no permission to open the interface. Viewing means that you can only enter the page but not use the function.
  • Page 20 [Note] The default password is "hspad". The default user group will be selected during a new startup. User group First level Second level Third level menu menu menu Normal Super Debug Final You can only choose to set as the Backup and U disk root ——...
  • Page 21 √ √ √ √ The user group Teach Alternate button √ √ √ pendent View configuration configuratio Process package √ √ √ View management Robot √ √ √ communication View configuration Axis group √ View View View configuration Configuratio Robot √...
  • Page 22 piece is marked √ √ Adjustment Calibration View View Software —— √ √ View View limit switch —— √ √ Help Information System —— √ √ language settings Restart teach —— √ √ pendant Clean up the —— √ √ system Shut down ——...
  • Page 23 Manual √ √ √ —— continuous/s √ √ √ —— Trim Manual √ √ √ —— coordinate system The fallback —— √ √ √ √ button —— —— √ √ √ Process pack The procedure 1. Select "Configuration→Teach Pendant Configuration→User Group" in the main menu. The current user group will be displayed.

  • Page 24: Alternate Keys

    Pic 5-2 The user login interface 5.3 Alternate keys The secondary keys can only be used in manual T1, T2 and automatic modes, not in external mode, and the setting permissions are Super and above. Description The teach pendant provides 4 auxiliary buttons on the left, which are used for user-defined button operations and can be configured to output commands after the buttons are pressed.

  • Page 25: Axis Group Configuration

    6. Click the "OK" button to complete the configuration Pic 5-3 Alternate button configuration IO type: Press the corresponding configuration auxiliary button to set the IO value to ON or OFF. Process package: If a process package is installed in the teaching software, press the corresponding configuration auxiliary button to quickly open the process package interface (shortcut key to open the process package)
  • Page 26 1. Under Final authority, select menu bar→ Configuration → Controller configuration → Axis group config to enter the axis group configuration interface. 2. Click the "modify" button. 3. Select the "Type" drop-down box option to select the robot model. 4. Click the "Confirm" button. (Note: When switching models, the load will also switch at the same time, and the load will be switched by pressing the load option below) 5.

  • Page 27: Robot Parameters

    Description Axis Group Information - The number of additional axes is configured to open the external axis Steps: 1. Under Final authority, select menu bar→configuration→controller configuration→axis group configuration to enter the axis group configuration interface. 2. Click the "Edit" button for the number of additional axes. 3.

  • Page 28: Encoding/Decoding Configuration

    Pic 5-5 Robot Parameters 5.6 Encoding/decoding configuration Description The encoding function is to map the R register to the output of IO, and set the IO sequence according to the value of R. This process is binary encoding. The value of R is used to encode the corresponding IO sequence value, such as DO[1]-DO[4] and R[1] is associated, where R[1]=3 (binary 0011b), then DO[1]=1, DO[2]=1, and the remaining DO are all 0;...

  • Page 29: Zero-Point Calibration

    Pic 5-6 Encoding/decoding configuration Pic 5-6-2 Encoding/decoding changes the configuration Example: Code R[0]=42, DO[0~6] is associated, decimal 42 to binary is 01010100, the corresponding value of DO[0~6] is also 010101, if output above DO[6] is associated Signals, such as DO[7~10] are all 0 Decoding is the opposite.
  • Page 30 same. The exact position will vary between different robots of the same robot model. The calibration function is updated to two types: internal and external axis calibration and absolute zero point saving. The difference between the two calibration methods is that after calibrating the zero point through internal and external axis calibration, when debugging, a non-zero point position is accidentally calibrated as the zero point (the zero point position is the position calibrated after the compensation amount is calculated by the plug and professional equipment), resulting in Need to...
  • Page 31 Absolute zero save operation steps 1. Click "Menu → Put into Operation → Adjustment → Calibration". 2. Move the robot to the mechanical origin. 3. After each axis moves to the mechanical origin, click each option in the list, and the input box will pop up, enter the correct data and click OK.

  • Page 32: Soft Limit

    5.8 Soft limit Description By setting the software limit switch, the axis range of all manipulators and positioning axes can be restricted. The software limit switch is used for robot protection, after setting, it can ensure that the robot runs within the setting range. The software limit switch is set when the industrial robot is running.

  • Page 33: Current Limit

    You can also click the external axis to switch to the external axis for external axis limit setting, the operation is the same as that of the internal axis. 5.9 Current limit Description By setting the current limit switch, the current range of each axis can be limited. The unit is ampere. When a certain axis reaches or exceeds the set current limit value, it will alarm and stop for protection.
  • Page 34 like. A. Box-shaped with long, wide, high. Box shape B. Cylinder with a base radius and height. Cylindrical （3）Offset, the allowable error when judging the area inside/outside. (The current system version cannot accurately stop at the edge of the expansion value, and the stopping distance varies according to the movement position and speed) Note: The Offset can also be understood as the regional wall thickness.

  • Page 35: Jog

    A. Ignore B. Error Stop C. Warning Stop （6）Workpiece selection, can be selected according to the calibration of the workpiece, and determine the XYZ direction of the area Interference area (Block Area): refers to the area where the robot cannot enter or stay. Features: The robot is normal when it is outside the area, and it will alarm and stop when it is inside the area.

  • Page 36: Incremental

    right to switch. 6.1.2 Incremental Description Incremental JOG operation mode can make the robot move a defined distance, such as 10 mm or 3° . Then the robot stops by itself, or 0~10° /0~100mm custom inching distance. Applicable scope 1. Positioning points at the same distance 2.

  • Page 37: Jog Override

    Figure 6-1 Incremental Jog movement 6.2 Jog Override Description Override is the speed of the robot at runtime. It is expressed as a percentage. Operation procedure 1. Touch the override adjustment status icon to open the override adjustment window, and the override will be adjusted after pressing the corresponding button or dragging.

  • Page 38: Tool Selection And Workpiece Selection

    Figure 6-2 Jog override display and adjustment 6.3 Tool selection and workpiece selection Description: Up to 16 tool coordinate systems and 16 workpiece coordinate systems can be stored in the robot control system...
  • Page 39 Figure 6-3 Tool & Workpiece Coordinate System Operation Process: 1. Touch the tool and workpiece coordinate status icon to open the "active tool/workpiece coordinate" window. 2. Select the required tool and workpiece coordinates. Notes: Before loading the program, the current actual position is displayed based on the tool workpiece selected by the user.

  • Page 40: Show The Current Actual Position

    6.4 Show the current actual position Operation procedure 1. Select the main menu display→actual position. The actual Cartesian position will be displayed. 2. Click Axis to display the actual position related to the axis. 3. Tap Cartesian to display the actual Cartesian position again. Description Cartesian actual position: Display the current position (X, Y, Z) and direction (A, B, C) of the TCP.

  • Page 41: P Point Online Editing

    Main menu display→Select JR/LR in the variable list→click "change"→enter the target coordinates→press the safety switch→lick "joint to point" or "straight to point" to run the robot to the target point. If it is a program editing interface, the procedures are as follows: select the motion command line→press the safety switch→click "joint to point"...

  • Page 42: Auto Running

    Figure 6-6 P point online modification The recorded point will directly overwrite the original value, and this operation cannot be undone and restored. 7 Auto Running Operation Procedure 1. Select running mode: T1/T2/Auto mode 2. Select the program to be run in the navigator interface and click "Load" 3.

  • Page 43: Emergency Stop

    【Remarks】 1. It is not allowed to switch modes during the running of the program 2. It is not allowed to edit the program while the program is running 8 Emergency stop The emergency stop switch is used for emergency stop of the robot movement and located at the upper right of the teach pendant (red button).

  • Page 44: Jump Function

    Figure 9-1 Image after optimization Note: The process of program optimization is virtual execution, and it cannot be enabled; The optimization program only optimizes the motion instructions (straight line and arc); After optimization, new motion parameters will be inserted into the program. If you need to keep it, you can copy the program before optimization;...

  • Page 45: Process Package

    2. Select any line of instructions in the program to click the "Run" button and the running pointer of the program running interface jumps to the selected line 3. Click the "Run" button again, the program will execute the current instruction. If the current operating mode is single-step operation, the running pointer will point to the next instruction after the instruction of this line is executed;...
  • Page 46 Command Fallback processing method Movement command（J、L、C） Based on the motion attribute and motion mode of the last executed motion instruction, move to the target point of the movement instruction recorded by the back pointer Condition command Ignore CALL Ignore Flow command GOTO、LBL Encountering this instruction, Fallback is not allowed...
  • Page 47 executed, the fallback cannot be executed, and the robot stops running and alarms TOOL_OFFSET 1. If the additional command is a direct tool compensation instruction (for example: L P[0] ,OFFSET LR[2]), it can execute the fallback. Using the movement attribute and movement method of the last executed movement instruction to move to the point, which is the target point recorded by the motion...

  • Page 48: Document Function

    instruction to be jumped (provided that there is no unexecuted fallback instruction between the two instructions) Jump non- The sequence pointer executes the jump executed fallback instruction, the fallback pointer is not displayed, instruction and the fallback alarm is executed The point data recorded by the motion command Fallback operation is not allowed, and it will is inconsistent with the currently displayed tool...

  • Page 49: New Folder

    Figure 13-1 Navigator interface 13.2 New Folder Operation procedure 1. Select the folder where you want to create the file in the directory structure 2. Click New Folder 3. Select a program or folder 4. Give the name of the new file (the name cannot contain spaces) and press the "OK" button.

  • Page 50: Backup And Restore Settings

    Figure 13-2 New program or folder Note: The group mask is used to define the attributes of the program, and the default is 0. *Indicate logic instruction program (non-motion instruction program), and use for RUN multi-thread program. 13.3 Backup and restore settings Description Used for backup and restore of navigator interface files Operation procedure...

  • Page 51: File Lock And Unlock

    the teaching local), and the backup and restore path can be manually entered under super authority. 3. Select the file you want to back up in the navigator interface and click Backup to complete the backup. The backup file is located in the set path 4.
  • Page 52 File lock 1. Mark files in the directory structure. 2. Select Edit→Lock, and click the "Lock" button in the prompt box. 3. After locking, the selected file icon will display a lock style. Unlock： 1. Select the locked file in the file directory. 2.

  • Page 53: Register File Management

    13.5 Register file management Description This function is divided into two parts: obtaining register file and sending register file (variable list register file). Obtain the controller register file through the U disk, and send the register file to restore the controller's register data.

  • Page 54: File/Folder Deletion

    13.6 File/folder deletion Operation procedure Mark files or folders in the directory structure. Choose "Edit→Delete". (File is not locked) Click the confirmation button in the dialog box, and the marked file or folder will be removed. 13.7 Select or open program Overview You can select or open a program.

  • Page 55: Log File Management

    13.9 Log file management Description This function provides access to related log functions such as controller and teach pendant operation Operation procedure 1. Click to select the menu bar-file-log file management option to enter the log file management interface. 2. Tick the check box of the log objects required. 3.

  • Page 56: Display Function

    14 Display function 14.1 Display digital input/output Terminal The input terminal REAL can only give signals through real external pulses, while VIRTUAL can give pulse signals through the teach pendant. Operation procedure 1. Select Display→Input/Output→Digital Input/Output in the main menu. 2.
  • Page 57 Figure 14-1-2 Digital output No.: Description Serial No.: Digital input/output serial number IO number Digital input/output IO number Input/output value. If an input or output is TRUE, it is marked in Value red. Click the value to switch the value to TRUE or FALSE. Indicates that the digital input/output terminal is real IO or virtual Status IO.

  • Page 58: External Automatic Operation

    Switch Can switch between virtual and actual input/output. Value The selected IO can be set to TRUE or FALSE. Add an explanation to the digital input/output of the selected row, Description and click to change it after selecting it. Save Save IO description 14.2 External automatic operation Description...
  • Page 59 Figure 14-2-1 Run input configuration...
  • Page 60 Figure 14-2-2 Run output configuration Note: The running configuration can only be operated in manual mode T1/T2. Note: When the external program is ready, it can be unloaded through the unload signal. Program in running state, pause program signal → stop program signal (complete uninstall program)/or stop program signal →...
  • Page 61 Stop the program signal. Stop the user Falling edge takes Automatic mode, iPRG_STOP program and uninstall the program. effect external mode Load program signal. Load the Rising edge takes External mode iPRG_LOAD specified user program. effect Uninstall the program signal. Automatic mode, Falling edge takes iPRG_UNLOAD...
  • Page 62 Rising edge enable to Same as above iSHARED_EN[8] Shared area [8] enable switch turn on, set to 0 to turn off Rising edge enable to Same as above iSHARED_EN[9] Shared area [9] enable switch turn on, set to 0 to turn off Rising edge enable to Same as above...
  • Page 63 oPRG_READY The user program has been loaded. these signals have ALL modes only one to output oPRG_RUNNING User program running status. ALL modes oPRG_ERR User program alarm status. ALL modes oPRG_PAUSE The user program is paused ALL modes ols_Moving The robot is moving ALL modes oMANUAL_MODE The system is in JOG mode.
  • Page 64 ALL modes oAREA_OUT[10] Area [10] output signal ALL modes oAREA_OUT[11] Area [11] output signal ALL modes oAREA_OUT[12] Area [12] output signal ALL modes oAREA_OUT[13] Area [13] output signal ALL modes oAREA_OUT[14] Area [14] output signal oAREA_OUT[15] Area [15] output signal ALL modes Run program configuration After the external program is configured, if the program is modified...
  • Page 65 Figure 14-2-3 Run-program configuration Reference configuration: 10. Click the "reference configuration" button to enter the reference configuration interface. Reference configuration function: the designated JR register can be configured, when the robot is currently in the position of the designated JR register (for example: JR[0]={0,-90,180,0,90,0}).

  • Page 66: Variable List

    Figure 14-2-4 Run configuration-program configuration 14.3 Variable list Operation procedure 1. Select the main menu display→variable list. A list of related variables will be displayed. 2. Click the list of different variables, and the related variables will be displayed. 3. The function buttons on the right can be used to turn pages, modify and save registers. 4.

  • Page 67: Diagnosis

    Figure 14-3 Variable list 15 Diagnosis 15.1 Run log Description The teach pendant provides a log function, and you can view the generated running log. Operation procedure 1. Select Diagnosis→Run Log in the main menu to display the Run Log window. Key Description Number Description...

  • Page 68: Filter

    Figure 15-1Run log 15.1.1 Filter Description The specified content can be filtered and filtered. Operation procedure 1. Click the filter button on the run log interface. 2. Set the log content to be displayed. 3. After clicking OK, it will return to the running log interface and display the filtered log content.

  • Page 69: Log Configuration

    Figure 15-1-2 Run log-filter 15.1.2 Log configuration Operation procedure 1. Click on the main menu and select Diagnosis→Run Log→Configuration to display the log configuration interface 2. Set the log output file, etc 3. Click the "OK" button.

  • Page 70: Calibration Of Tool/Workpiece

    Figure 15-1-3 Log setting 16 Calibration of tool/workpiece 16.1 Base coordinate three-point calibration Operation procedure 1. In the menu, select Put into operation→Measure→User part calibration. 2. Select the user workpiece number to be calibrated, and set the user workpiece name. 3.

  • Page 71: Four-Point Calibration Of Tool Calibration

    6. Move to a certain point in the Y direction of the calibration base coordinates and click [Y direction] to obtain the coordinate record coordinates. 7. Click the [Calibration] button to confirm that the program calculates the calibration coordinates 8. Click the [Save] button to store the calibration value of the base coordinates 9.
  • Page 72 Operation procedure 1. Select Put into Operation→Measure→User Tool Calibration in the menu 2. Select the user tool number to be calibrated, and set the user tool name. 3. Click the [Start Calibration] button. 4. Move to a certain point of the calibrated reference point 1, and click [reference point 1] to obtain the coordinate record coordinates.

  • Page 73: 6-Point Calibration Of Tool Coordinates

    Figure 16-2 Tool coordinate calibration 16.3 6-point calibration of tool coordinates Description Similar to the 4-point method, the 6-point method can calibrate the posture of the tool. When recording points, the fifth and sixth points are used to record points on the z-axis and zx plane of the tool respectively.

  • Page 74: System

    information of the current teach pendant and the controller (controller version information, click the drop-down icon option). You can see the version description in the "Version Information" interface. Figure 17-1 Information display window 18 System 18.1 System language setting Description The teach pendant provides the choice of alarm language...

  • Page 75: Restart The Teach Pendant

    Figure 18-1 Language setting Operation procedure In the main menu, select System→Language Selection, the language selection dialog box is displayed, and the alarm language is selected. 18.2 Restart the teach pendant Operation procedure In the main menu, select System → Restart teach pendant, and select "OK" in the pop-up dialog box to Restart teach pendant 18.3 Clean up the system Description...

  • Page 76: Restart The System

    This function is used to release the storage space of the controller and clean up the remaining upgrade package files. The system must be cleaned up first when upgrading the system version Operation procedure Select System→Clean System in the main menu, and select "OK" in the pop-up dialog box to complete the cleaning work 18.4 Restart the system Description...

  • Page 77: Import And Export Plc Of Users

    Note: Before upgrading the system, return the robot to the zero position first, and power off and restart once or power on for the first time. Do not perform any operation before performing the upgrade operation. Need [Clean up the system] to free up space Figure 18-2 Upgrade the system 18.7 Import and export PLC of users Description...

  • Page 78: Import And Export Calibration Parameters

    3. Click the [Select Directory] key of the export module to confirm the export path 4. Click the [Export] key, after prompting that the export is successful, the corresponding file will be found under the selected export path Figure 18-3 Import and export user’s PLC-1 Steps of importing user’s PLC 1.
  • Page 79 With the function “ import and export calibration parameters”, you can export the calibration parameters in the existing controller system through the U disk for backup, or import the calibration to restore the calibration parameters. Steps of importing/exporting calibration parameters 1.

  • Page 80: Programming Instructions

    19 Programming instructions 19.1 File and program structure Huashu III control system has only one program for users to use: PRG files, which support PRG programs to call other PRG programs, that is, the caller is [main program], and the called program is [subprogram].

  • Page 81: Coordinate Type

    <program> LBL[1] Main program: J P[1] VEL=50 add sentence block L P[2] VEL=50 C JR[1] LR[1] VEL=50 GOTO LBL[1] <end> The above coordinate variables have customized coordinate type--- P point, and the joint coordinate JR and Cartesian coordinate LR of the register; 19.1.2 Coordinate type Define a variable P[1] point, articulated coordinate, the meaning is as follows：...

  • Page 82: Overview Of Programming Instructions

    Figure 19-1 Program editing interface 19.2 Overview of programming instructions The instructions type and the instructions contained in the type are as follows： Instructions Types Instructions Movement instruction Conditional instruction...
  • Page 83 SELECT CALL Process instruction GOTO WHILE Loop instruction BREAK WAIT IO instruction WAIT TIME PULSEE TIME Timeout instruction WAIT TIMOUT LBL PULSE output pulse instruction PULSE TIME PAUSE Program control instruction ABORT THROW SET_TR Other instructions SET_TOOL SET_FREME OFFSET_CONDITION TOOL_OFFSET_CONDITION Offset instruction OFFSET TOOL_OFFSET...

  • Page 84: Movement Instruction

    UFRAME_NUM UTOOL_NUM J_VEL J_ACC J_DEC L_VEL L_ACC L_DEC Assignment instruction L_VROT C_VEL C_ACC C_DEC C_VROT TIME Trim instruction VORD Manual instruction Enter instructions manually 19.2.1 Movement instruction Instruction The movement instructions include movement of joint J and movement of and linear L, as well as the C instruction for drawing an arc.
  • Page 85 record joints or record Cartesian coordinates Set running speed For parameter setting, you can add the attribute corresponding to the deleted point in the parameter setting dialog box. After editing the parameter, click OK to map the parameter to the point. Assign joint coordinate values to the newly recorded point Assign Cartesian coordinates to the newly recorded point Click it to open a dialog box for modifying coordinates, open to manually modify the...
  • Page 86 Instruction Instruction： The L instruction takes the current position of the robot as the starting point and controls it to do [Linear Motion] within the Cartesian space. It is often used in occasions that requires trajectory control. The control object of this instruction can only be [Robot Group]. Instruction sentence: L [target point] Optional Properties Example：...
  • Page 87 movement in Cartesian space (three points form an arc), and the posture interpolation is attached. Instruction sentence: C [circle point] [target point] Optional Properties} Example： L P[1] C P[2] P[3] ‘State as below to perform a complete circle L P[1] C P[2] P[3] C P[4] P[1] Comple...
  • Page 88 6. Click the "OK" in the operation column to add the C instruction. Three points make an arc Program Example J P[1] VEL=100 C P[2] P[3] VEL=600 ACC=100 DEC=100 19.2.1.3 A instruction Description: A instruction makes three points of the robot’s current position to form two arcs with the same radius, so that the first two points form an arc with one radius, the last two points form another arc with another radius, and points can be added and deleted between the two arcs.
  • Page 89 A [target point] Optional Properties Exxample： J P[1] VEL =100 A P[2] VEL =500 A P[3] VEL =500 A P[4] A P[5] L P[6] The sentence above means (see the figure below), when the first circular motion A command (line 2) is executed, the robot motion mode is linear motion, that is, the robot move from current point P[1] to the target point P[2] through linear motion, from P[2] to P[3] through circular arc motion, from P[3] to P[4] through circular arc movement, from P[4] to P[5] through circular arc movement, from P[5] to P [6] through linear movement.

  • Page 90: Conditional Instruction

    VROT Posture speed SKIP Interrupt 【Note】 Instructions for interrupt instruction: add the motion parameter SKIP to the motion instruction and set the corresponding IO. During the movement of the current motion instruction, if the corresponding configured IO has a value (that is, there is a corresponding input and output value), when the condition is satisfied, the robot will immediately end the current movement and start executing the next line of the program.
  • Page 91 the condition is false, execute the program block of the next line sequentially. IF <condition> , GOTO LBL[1] Example： IF DI[1]=ON ,GOTO LBL[1] ‘ J P[1] VEL=50 J P[2] VEL=50 ‘If the condition is true, go to the Label[1] LBL[1] DI[1]=OFF ……….
  • Page 92 J P[2] R[1]=R[1]+1 GOTO LBL[1] LBL[2] 19.3.2 IF…. , CALL Description： IF…. ,CALL subprogram，if the condition is true, execute the subprogram.PRG, then execute next programs sequentially. If the condition is false，execute the program of the next line after IF, ignoring the called subprogram. IF <condition>...
  • Page 93 The sentence is: IF…. ,GOTO LBL[], if the condition is true, execute the GOTO code block; when the condition is false, execute the program of the next line after IF sequentially, ignoring the called subprogram.. Steps: 1. Select the previous line of the IF instruction which needs to be added 2.
  • Page 94 state in the figure above. Figure 19-3 IF Instruction-2 8. Click the OK button in the operation column to add the IF instruction. Example LBL[1] IF (R[1]=10 AND R[2]=20 AND R[30]=30) OR DO[31]=ON , GOTO LBL[2] J P[1] VEL=50 GOTO LBL[3] LBL[2] IF R[1]=2,CALL"TEST.PRG"...
  • Page 95 Operators Operatonal rules Example（x=5，y=2） Left number plus the right number — Left number menos the right number Left number multiply the right number Left number divide the right number Left number divide the right number take remainder The left and right division operations take integers The currently supported logical operators are shown in the following table: Operators...

  • Page 96: Select Sentence

    NOT：Take the opposite value of the logic. It has the highest priority. 19.3.3 SELECT Sentence Description Compare the value after the CASE with the value stored in the register after the SELECT. If they are equal, execute the instruction (GOTO or CALL) after this line of CASE, and the subsequent CASE and ELSE instructions associated with the SELECT will no longer be executed;...

  • Page 97: Process Instruction

    19.4 Process instruction 19.4.1 CALL Instruction Description： CALL instruction is used for calling subprogram, execute the content of subprogram. CALL Program’s name.PRG Example：These are two programs, main program MAIN.PRG, subprogram SON.PRG. ‘MAIN.PRG(Main program) J JR[1] VEL=50 J JR[2] VEL=50 CALL SON.PRG ‘Calling the subprogram ‘SON.PRG（Subprogram）...

  • Page 98: Goto Lbl[]

    Remarks: program call supports multi-level nesting, 10 levels and above. Steps 1. Select the previous line of the instruction line which needs to be inserted 2. Select instruction→Flow instruction→CALL. 3. Click to Select Subprogram button. 4. Select the subroutine and confirm. 5.

  • Page 99: Loop Instruction

    Figure 19-4 Process Instruction-1 3. Click “OK” in the operation column to insert the LBL instruction 4.Select the instruction line to which needs to be skipped. 5.Select instruction→Process instruction→GOTO，enter the Label number. Figure 19-5 Process instruction-2 6.Click “OK” to add the GOTO instruction. Use GOTO LBL[] 、LBL[] can make the program run cyclically.
  • Page 100 Notes: as in the above program, the initial value of the variable R[1] of the loop R[1] is 0, the final value is 3, and the step value is 1. The value will be added by 1after each cycle. The first cycle assigns 0 to R[1].

  • Page 101: While Loop Instruction

    Note：as the program above, when execute the break sentence, regardless of whether it is equal to the final value, it should interrupt and exit the current loop and stop the loop 19.5.2 WHILE Loop instruction The WHILE loop instruction judges whether the loop is over according to the conditional expression.
  • Page 102 WHILE instruction 1. Select the upper line of the command line to be inserted. 2. Select Command→Cycle Command→WHILE→Option. 3. Add condition → such as: "R[1]=0" → confirm. 4. Click "OK" continuously to add WHILE R[1]=0. 5. Select command→Cycle command→END WHILE→option. 6.

  • Page 103: Io Instructions

    The example above: when R[1]=0, P[1] and P[2] are running, and when R[1] ≠0, the motion program of the loop body is not executed; When R[1]=0, when the condition is met, when the BREAK comment is cancelled, P[1] and P[2] will exit the loop after executing only once. Steps FOR instruction 1.

  • Page 104: Wait

    19.6.1 WAIT Instructions: This instruction is used to wait for the value of a certain input, output state or R value to be equal to the set value. If the condition is not met, the program will always block in this line until the condition is met.

  • Page 105: Wait Time

    19.6.2 WAIT TIME The function of the WAIT TIME instruction is to delay the execution of the program (task).The shortest delay time is 1, and the unit is [ms]. Example: J P[1] WAIT TIME 1000‘After moving to P1, after sleeping for 1 second, DI[1] will output the signal DI[1]=ON J P[2]...

  • Page 106: Timeout Instruction

    4. Select the corresponding value or IO in the second selection box. If IO is selected, you need to enter the corresponding IO serial number in the corresponding input box. 5. Click the "OK" button in the operation bar to finish adding IO commands. WAIT instruction 1.
  • Page 107 WAIT DI[]/DO[]/R[]=value/DI[]/DO[]/ON/OFF TIMEOUT LBL J JR[1] VEL=50 WAIT DO[40]=ON TIMEOUT LBL 2 ‘WAIT timeout instruction J P[0] VEL=50 LBL [2] J P[2] VEL=50 In the above execution process, the joint moves to JR[1]. If DO[40]=ON within the timeout period, the instructions will be executed directly in sequence, and the joints will move to P[0] and P[2] in turn.

  • Page 108: Pulse Output Pulse Command

    19.6.5 PULSE Output Pulse Command Instructions: PULSE output pulse command, through which a certain output state (DO[X]) can be controlled to maintain a certain state for a period of time without affecting the program running beat. The corresponding output result can be updated synchronously in the teach pendant display. WAIT DO[X] TIME=value Situation 1: J P[0] VEL=50...
  • Page 109 WAIT DO[] TIME=value Situation 3: When two pulse commands operate on the same IO at the same time in the same time period, they are superimposed in the time dimension according to the two pulse commands, and the pulse output is performed for the longer duration. Pulse command Pulse command Actual output...

  • Page 110: Program Control Instructions

    19.7 Program control instructions Instructions: This instruction is used for program execution control, including PAUSE pause, ABORT interrupt, END termination instruction. 19.7.1 PAUSE instruction This instruction is used to suspend program execution. Steps 1. Select the upper line of the command line to be inserted. 2.

  • Page 111: End Instruction

    Figure 19-10 Abort instruction Example: J P[1] J P[2] ‘ The program executes to this line, stop and uninstall the ABORT program. J P[3] Remark: As in the above program, the program moves to point P1 and then to point P2 in sequence.

  • Page 112: Other Instructions

    the run button, the program moves to point P1 and then to point P2 in turn, the program state changes from running to ready state, and the pointer returns to the first line. Note: When a subprogram is called in the main program, and the subprogram contains END, the subprogram ends at this time and the main program continues to be executed.

  • Page 113: Run Multi-Threaded Running Instructions

    Note: Reminder, general reminder information that gives users guidance. Info: Information, general system status information or user operation records not prompted by the user. Steps 1. Select the upper line of the command line to be inserted. 2. Select instruction→other instructions→THROW. 3.
  • Page 114 5. Click the OK button in the operation bar to add the RUN instruction to complete. The following case: The main program on the left: the main program with a group mask of 0. The logic program on the right: a multithreaded program with a group mask of *. Load the main program MAIN.PRG, the execution program is as follows, you can click the program interface display soft key in the status bar, and select the program to switch the program interface.
  • Page 115 Figure 19-14 RUN instruction Remarks: As in the above program, the left side is the MAN.PRG main program, and the first line commands the RUN program (that is, the PLC.PRG multi-thread program on the right side. This program is always looping to check whether DO[50] is ON, if it is ON, an error will be reported Stop the program running, otherwise the MAIN main program will keep circulating the movement of P[0] and P[1]).

  • Page 116: Set_Tr Instruction

    main program and RUN program will stop running, and they can be resumed. Other considerations: ①Only one set of logic PRG program and one set of robot motion control program are allowed to run at the same time. ②During the execution of the RUN program, when a motion instruction is found in the program whose group mask is set to "*", the robot will stop running and report an error.
  • Page 117 DE: The abbreviation of DISTANCE END, refers to the distance from the moving target point. DC: Abbreviation for DISTANCE COMPLETE, which refers to the percentage of the entire distance completed. Program example SET TR[1],DE=100, DO[ 9]=ON //Set trigger number 1, specify the distance of the end point target 100mm, output DO[9]=ON L P[1] L P[2],BIND_TR[0,1]...
  • Page 118 distance (command) distance (command) traveled between the robot and between the robot and the (instruction), the starting point is target point is less than xx percentage of the total path greater than xx mm length is greater than xx output When the robot meets the trigger condition, it outputs and closes the signal.

  • Page 119: Tool Workpiece Value Modification Instruction

    Figure 19.16 Specified distance signal command-2 19.8.4 Tool workpiece value modification instruction Instructions: This instruction can assign and modify the tool workpiece coordinate system value UTUF through the program. Example: LR[0]= UT[0] //Assign the coordinate value of tool number 0 to LR[0] LR[1]= UF[15] //Assign the coordinate value of workpiece number 15 to LR[0] LR[0]=LR[0]+LR[1]...

  • Page 120: Offset Instruction

    2. Select instruction→other instructions→SET_TOOL/SET_FRAME. 3. Click the "SET_TOOL/FRAME" input box and enter the tool or workpiece number. 4. Click the "LR" input box again and enter the LR index number. 5. Click the "OK" button to complete the instruction addition. The range of X in UT[X]/UF[X] is 0-15, corresponding to tool number/workpiece number respectively.
  • Page 121 Examples of direct position compensation instructions: ‘Correctly move to JR[0] coordinate position. J JR[0] J JR[1] ,OFFSET JR[2] ‘JR[1]+JR[2] moves to a recalculated position. Remark: As in the above procedure, move to JR[0] point in sequence (without OFFSET, no offset), when the last line is executed, it will move to a re-offset compensation position, that is JR[3]=JR[1] +JR[2] (With OFFSET JR[2], the direct offset is JR[2]).
  • Page 122 Figure 19-17 Position compensation command 19.9.1.2 TOOL_OFFSET tool compensation instruction Description: The robot moves to the compensation position of the target point in the tool coordinate system. The specific performance is that the corresponding XYZ value is first translated in the direction of the tool coordinate system, and then the current position is first rotated around the tool Z axis.
  • Page 123 Examples of direct tool compensation instructions: ‘Correctly move to JR[0] coordinate position. J JR[0] J JR[1] ,TOOL_OFFSET LR[2] ‘Move to (JR[1]+LR[2]) position. Remark: As in the above program, move to JR[0] point in sequence (without setting offset). When the last line is executed, it will move to a position for re-tool position compensation, and the robot will move directly from JR[0] to (JR[ 1]+LR[2]) position.

  • Page 124: Inc Incremental Instruction

    Figure 19-18 Tool compensation command Add global offset Steps 1. Select the upper line of the command line to be inserted. 2. Select Instruction → Assignment Instruction, click the leftmost input box, select the second drop-down [Global Variables] option, slide select OFFSET_CONDITION or TOOL_OFFSET_CONDITION option.
  • Page 125 Example of relative motion INC instruction: ‘Move to JR[0] J JR[0] ‘Do incremental movement based on the previous point, J JR[1] INC move to JR[0]+JR[1] ‘Incremental movement based on the last point, movement J JR[2] INC to (JR[0]+JR[1]+JR[2]) Remarks: The above procedure, such as: JR[0]={0,-90,180,0,90,0},JR[1]={10,10,10,10,10,10}, JR[2]={-5,-5,-5,-5,-5,-5}, execution process is the joint movement to JR[0] point, the second line J JR[1] will be based on the...

  • Page 126: Get Coordinates Command

    19.10 Get coordinates command Explanation: In the program, the current position of the robot is obtained through the JPOS/LPOS instruction, which can be transferred to the corresponding position register JR/LR. JPOS records the current joint coordinate position of the robot; LPOS records the Cartesian coordinate position of the robot in the current tool workpiece coordinate system.

  • Page 127: Register Instruction

    Assignment instruction Register Motion-global R[1]=0 variables Coordinate System CNT = 100 JR[1]=JR[0] UTOOL_NUM=0 L_VEL =50 LR[1]= LR[0] UFRAME_NUM=0 L_ACC =50 JR[1]= P[1] L_DEC = 50 JR[1][0]=JR[1][1] L_VROT = 50 LR[1][R[1]]=R[2] etc. J… C… etc. 19.12.1 Register instruction Instructions: The Huashu III system predefines several groups of different types of registers for users to use. Contains floating-point type R registers, joint coordinate type JR registers, Cartesian type LR registers, of which 300 R registers are available for users, and there are 300 JR and LR registers.
  • Page 128 Example: R[1] = 1 R[1] = R[2] R[1] =R[1]+1 R[1] = DI[1] R[1] =DO[1] R[1] = JR[0][0]+LR[0][1]*R[2]-(R[3]/2+R[4]) JR[1]=JR[2] JR[1]=JR[2]+JR[3] JR[1]=(JR[2]*JR[3])+(JR[4]/JR[5]-JR[6]) JR[R[1]]=P[1] JR[1][0]=JR[3][0] JR[1][8]=R[1] JR[1][0]=P[1][0] JR[1][1]=JR[1][R[1]]*2 JR[1][1]= JR[1][1]*R[2] JR[R[1]][R[2]]=JR[1][0]-R[1] JR[(R[23]+JR[1][1])-(JR[1][8]/P[1][0])*2-21] (JR[1]- JR[2])+JR[R[1]]*P[R[1]]/(R[1]+1) As mentioned above, it is used for register compound operation. Same for LR and P.

  • Page 129: Coordinate System Command

    3. In the first input box, select the register type from the "register" drop-down box. 4. Enter the register index number in the input box. 5. Repeat steps 3~4 in the second input box. 6. Click the "OK" button in the operation bar to complete the assignment-adding of register instructions.

  • Page 130: Global Variable Instruction

    Example: UFRAME_NUM = 0 UTOOL_NUM = 0 L P[1] VEL=50 L P[2] VEL=50 UFRAME_NUM = -1 , Do not call tool artifacts at the following points UTOOL_NUM = -1 J P[3] VEL=50 J P[4] VEL=50 In the above expression, P[1] and P[2] call tool, workpiece number 0, P[3], P[4] point does not call tool and workpiece, the value needs to be set to -1, the coordinate system command is to Work under.
  • Page 131 LBL [888] LBL[888] J P[1] CNT =1 ‘Is the default J P[2] J_VEL = 100 motion parameter J_ACC = 100 J P[3] J_DEC = 100 ‘Global motion parameters, work downwards, P[1~4] J P[4] use the above motion parameters GOTO LBL[888] J P[1] J P[2] J P[3]...
  • Page 132 L_DEC = 80 ＇Call tool number 1 and workpiece number 1 and set global linear motion L P[1] parameters. L P[2] VEL = 200 ACC = 60 DEC = 60 ＇ Use your own linear speed, acceleration ratio, deceleration ratio. UFRAME_NUM = -1 UTOOL_NUM = -1 ＇Call the default coordinate system tool number -1 and workpiece number -...
  • Page 133 The path is A->B->C, and the arc transition function is used at point B, then the blending coefficient value defines the position of the starting point of the arc transition, point D: AD=mixing coefficient*AB/100. When this parameter is set to 100, it means that the arc transition starts at point A and ends at point C, and the entire new path is completely different from the original path.

  • Page 134: Trim Command

    【Signal output and smooth transition point】 【WAIT waiting conditions and smooth transition】 L P[1] L P[1] L P[2] CNT=50 L P[2] CNT=50 ‘At this time, the signal is DO[1] = ON ‘At this time, the signal is WAIT DO[1] = ON output at the transition point D.

  • Page 135: Timing Instruction

    program adjustment value is changed to the data executed by the current VORD instruction, and the VORD instruction takes effect downward and can be assigned to the R register. The usage method is: R[1]=VORD Means to obtain the current robot's program adjustment value R[1]. Steps 1.

  • Page 136: Manual Instruction

    4. Click and position the cursor to the right input box. 5. Click the "Global Variables" drop-down box option. 6. Slide the options to find the "TIME" option and click to select. 7. Click the "OK" button to complete the adding instruction. 19.13 Manual instruction Description: Used to manually enter the command line.

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