LNC Robot Series Operation And Program Manual
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LNC Robot Series Operation And Program Manual

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Joint Manipulator - Software Operation Manual
Error! Use the Start tab to apply title 1 to the words you want to display here.
Robot Series
Joint Robot - Basic Operation and Program Manual
2018/12 Ver：V09.00
Leading Numerical Controller
1
Advantech LNC Technology Co., Ltd.

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Summary of Contents for LNC Robot Series

  • Page 1 Joint Manipulator - Software Operation Manual Error! Use the Start tab to apply title 1 to the words you want to display here. Robot Series Joint Robot - Basic Operation and Program Manual 2018/12 Ver：V09.00 Leading Numerical Controller Advantech LNC Technology Co., Ltd.

  • Page 2: Table Of Contents

    Security point ......................... 31 Coordinate system ......................... 32 10. Introduction to operation interface of program page ............. 34 10.1. Teaching mode ....................... 34 10.1.1. Block operation ....................34 10.1.2. Recording ....................... 35 10.1.3. Basic instructions ................... 36 Advantech LNC Technology Co., Ltd.
  • Page 3 14. Composition of Program Modularization ................66 14.1. Calling program files ..................... 66 14.2. Calling O files ......................67 14.3. Calling G files ......................69 15. NC Editing ..........................71 15.1. Types of files......................71 Advantech LNC Technology Co., Ltd.
  • Page 4 17.23.2. O1 uses position XYZ in the world record ............ 89 17.23.3. O2 uses position and attitude XYZABC in world records ......89 17.23.4. O3 uses coordinate system records ..............89 17.23.5. O4 uses the current position and attitude ............89 Advantech LNC Technology Co., Ltd.
  • Page 5 18. Macro syntax ......................... 93 18.1. Variables ........................ 93 18.1.1. Regional variables: ..................93 18.1.2. Global Variables: ................... 93 18.2. Core resource IOCSAR access ................93 18.3. Mathematical fnctions ................... 94 18.4. Program flow control ..................... 95 Advantech LNC Technology Co., Ltd.

  • Page 6: Instructions Of Handheld Box And Screen Configuration

    Screen lock function, refer to the description of following sections The light signal shows the current alarm and the button reset system (equivalent to the reset button on the screen) Other buttons Refer to the description of following sections Advantech LNC Technology Co., Ltd.

  • Page 7: Instructions For Screen Configuration

    Joint Robot Manipulator - Software Operation Manual 2.2. Instructions for screen configuration Title Bar Page Display Area Left Function Menu Area Right Quick-operating Area Advantech LNC Technology Co., Ltd.

  • Page 8: Title Bar

    After the being ready, there is a way to enter the "automatic mode", because the kinematics calculation path of the robot is meaningful after the coordinates of the axes of the system Advantech LNC Technology Co., Ltd.

  • Page 9: Right Quick-Operating Area

    Handwheel mode: switch whether to operate with the handwheel Automatic mode: adjust the percentage of speed during automatic operation Maintenance and teaching mode: adjust the speed percentage during manual operation Make the program running in automatic mode enter the pause state. Advantech LNC Technology Co., Ltd.

  • Page 10: Left Function Menu

    Each button is linked to the corresponding function page, and the description of each page is described in the following sections. Advantech LNC Technology Co., Ltd.

  • Page 11: Common

    (origin sensor or Z-phase signal). Back to the calibration point: In the "teaching" mode, the mechanism may gradually move toward the coordinates of the calibration point when pressed, and stop when it arrives or is released. Accumulated motion time: Advantech LNC Technology Co., Ltd.

  • Page 12: Permissions

    The default permission of the system after startup is the operator. The method of login permission: Click on one of the manager, developer, and machine factory to pop up the password input screen. After inputting correctly, you can see the functions that can be performed. Advantech LNC Technology Co., Ltd.

  • Page 13: Coordinates

    This page contains coordinate system display and setting, coordinate display, coordinate motion function. When login with administrator or above and in the "teaching" mode, all functions of this page can just be used. 3.3.1. Coordinate system and settings Advantech LNC Technology Co., Ltd.

  • Page 14: Current Coordinates Display

    Note 2: When the "tool" of the coordinate selection is pressed, it is equivalent to pressing the Span key. Path rollback: system automatically records the path that has been traveled. This function can be used Advantech LNC Technology Co., Ltd.

  • Page 15: Operation For Motions

    “Select Current” to bring the current coordinate value first, and then modify it for specific items. Move to coordinates: Press "To" to move to the target coordinate value, and stop when it is released. 3.4. IO Advantech LNC Technology Co., Ltd.
  • Page 16 Update: Used in the development phase of the developer to re-read the contents of definition files of the resources. Cancel: Close this window Note 1: The sample files of the user-defined resource can be obtained from ReconTool/File/language/UserString_0000.str Advantech LNC Technology Co., Ltd.

  • Page 17: Alarm Warning Page

    Note 1: The user-defined alarm warning exists in ReconTool/file/language/UserAlarm_0000.str, which can be downloaded and edited, and then uploaded to overwrite the original file. The alarm range is from R29000.00 to R29049.31, and the warning range is from R29050.00 to R29099.31. Advantech LNC Technology Co., Ltd.

  • Page 18: Introduction To Basic Concepts

    Refer to the figure below, which is a six-joint manipulator with a schematic diagram of an additional tool. The following is a description of the coordinates of the LNC joint robot: Pbase (the origin of world coordinates) is defined in the center of the base. If you think of the manipulator arm as a person, the direction of the XYZ axis is the same as the direction of our well-known axis.
  • Page 19 Euler’s rotation theorem are not necessarily the same in each robot system. LNC's Euler's rotation theorem is defined as ZXZ, and the universal is the right-hand rule, ie A is the angle of rotation around the +Z axis.

  • Page 20: Various Coordinates And Their Relevance

    (points) through the work coordinate system Work coordinate system Tool coordinate system Reset when (span) pressed Tool coordinates: Converted by world coordinates (points) through tool coordinates Work coordinates Tool coordinates (the value of span) Advantech LNC Technology Co., Ltd.

  • Page 21: Fast Moving

    The radius of the The first half changes to the attitude transition circle can of the transition point by the distance (Starting point – transition be specified on the ratio, and the second half also changes Advantech LNC Technology Co., Ltd.
  • Page 22 The A value changes with the rounding angle, and A+C is the fixed value. 7. Starting point ABC: The BC value of starting point is fixedly used, A value changes with rounding Advantech LNC Technology Co., Ltd.
  • Page 23 (Starting point – arc center – the angle that the arc arc end point) will around in total. Note: The attitude change has its practicality in some processing applications. Please select the appropriate method according to actual needs. Advantech LNC Technology Co., Ltd.

  • Page 24: Maintenance And Teaching Mode

    Teaching mode: It operates according to the type of coordinates required, and cannot enter the teaching mode when it is not ready. Advantech LNC Technology Co., Ltd.

  • Page 25: Differences Between Handwheel And Non-Handwheel Modes

    When the target position is approaching, use the mode so that it can be accurately adjusted to the target point. Advantech LNC Technology Co., Ltd.

  • Page 26: Coordinate System Selection During Motions

    5.4. Coordinate system selection during motions Depending on the selected coordinate system, the direction of XYZ motions is determined by the selected coordinate system. Joint coordinate system：Defines the decision based on the direction in which the joint rotates. Advantech LNC Technology Co., Ltd.

  • Page 27: Direction Rotation In Teaching Mode

    X direction; B+, B- is equivalent to the front and rear of the joystick, which will cause the tool to tilt in the Y direction; C+, C- means rotate in place. Advantech LNC Technology Co., Ltd.

  • Page 28: Tools

    The external point does not move, the world coordinates rotate C about 90 or 180 degrees, then XYZ moves, so that the Ptool is aligned again with the 。 external points, press ， 5. Press to show the value. Advantech LNC Technology Co., Ltd.
  • Page 29 13. Turn the direction of the Ptool so that the tool direction is consistent with the direction of the world coordinates. 14. Press and the system will automatically bring in the value of angle A, angle B and angle C. Advantech LNC Technology Co., Ltd.

  • Page 30: Point Record

    ：Update to the currently selected joint record with the current joint coordinates. ：Move to the selected joint record position in a fast moving manner. Note 1: The point record can be used as a coordinate system in addition to the point of operation. Advantech LNC Technology Co., Ltd.

  • Page 31: Security Point

    If the robot's point is wrong when starting, it will directly send an alarm to avoid the danger of collision. Note 2：When the program starts, you can check the position of the robot by checking whether Advantech LNC Technology Co., Ltd.

  • Page 32: Coordinate System

    After the coordinate system is determined using three points, it can be stored in the coordinate system record for use in the program. View of coordinate Select three-point calibration system record coordinate system : bring the current world coordinates of the robot into the coordinate system record. Advantech LNC Technology Co., Ltd.
  • Page 33 Coordinates" into P1 coordinates. 7. Press XYZABC below to align the tool Ptool to P2, then press "P2" to bring "Current World Coordinates" into P2 coordinates. 8. The system automatically calculates the attitude of the coordinate system. Advantech LNC Technology Co., Ltd.

  • Page 34: Introduction To Operation Interface Of Program Page

    Modify speed: Change all the commands including the speed field in the setting range to the input speed value. Export: Export the current file to G file, O file or insert file. Advantech LNC Technology Co., Ltd.

  • Page 35: Recording

    In place In place Range of in-place Delay Delay Delay time Set O Different setting states ON pulse ON background OFF1 ON background OFF2 ON background OFF3 Advantech LNC Technology Co., Ltd.

  • Page 36: Basic Instructions

    "OK" to add the instruction to the program list. The following sections are described in detail. 10.1.5. Editing columns Detail: It can be used to switch the display mode of the program. There are three types: detailed, simple, and G code. Advantech LNC Technology Co., Ltd.

  • Page 37: Automatic Mode

    10.2. Automatic mode Current files Current Total timing Total number Timed average name of the program lines time of timings processing time program Click to zero Advantech LNC Technology Co., Ltd. processing...

  • Page 38: Process Of Editing And Running The Program

    2. Move the robot to the target position with a button or handwheel 3. Set "Select coordinate system" 4. Click on the line or other action command 5. Repeat steps 2~4 to complete the action flow. Advantech LNC Technology Co., Ltd.

  • Page 39: Step", "Forward", "Back" Function Confirmation And Correction Track

    3. If you think that the program does not work as expected, you can reset the program and then switch to manual mode to adjust the program. 4. After the adjustment is completed, execute the single step to the command line that the test just interrupted. Advantech LNC Technology Co., Ltd.

  • Page 40: Operation Observation Of "Repeat

    7. Press Start to continue the unfinished run test. 10.3.5. Operation observation of "Repeat" 1. Click to change it to 2. Close the handwheel. 3. Start the program, observe the effect of repeated running, and continuously adjust and optimize to the best. Advantech LNC Technology Co., Ltd.

  • Page 41: Introduction To Program

    Absolute line number: (ie the actual program line number). Relative line number: (relative to the current line of line number, for example, currently line 8, -4 means skipping to the 8 - 4 = line Advantech LNC Technology Co., Ltd.
  • Page 42 No.: R value number Comparison method: Value: Constant (fixed value), R value (refer to the content of another R value). Right box (constant value / R value number) Skip mode: refer to skip command Advantech LNC Technology Co., Ltd.

  • Page 43: Waiting Type

    R value). Right box (constant value / R value number) Skip mode: refer to skip command Waiting: The longest waiting time. Failure processing: processing after waiting time Moves after waiting time Delay：The time need to wait Advantech LNC Technology Co., Ltd.

  • Page 44: Status Setting

    Value field to this R value. Add 1 to the circulation: Add 1 to the current R value and set it to 0 when the value is greater than the set value in the Value field. Value: Reference mode description Advantech LNC Technology Co., Ltd.

  • Page 45: Motion Command

    Joint record: Display the value of the Joint record directly based on the record number. Current joint coordinates: Displays the current joint coordinates. Point type: fast, linear... Flexibility: input blank or 0~5 (corresponding to Advantech LNC Technology Co., Ltd.
  • Page 46 Sample type: There are three types of winding, moving back and forth, moving left and right, and can be expanded according to actual needs in the future. Moving range: The swing range, that is, the maximum distance from the original path. Advantech LNC Technology Co., Ltd.
  • Page 47 -1~-100 represents the percentage of the set speed in the debugging page. Set to the current: Fill the current coordinates of the coordinate system into the set value according to the selected coordinate system. Advantech LNC Technology Co., Ltd.

  • Page 48: Function Module Calling

    G-code. Parameter C(#3) : The third parameter to be transmitted to the G-code. Parameter D(#4) : The forth parameter to be transmitted to the G-code. Parameter P(#16) : The fifth parameter to be Advantech LNC Technology Co., Ltd.
  • Page 49 Joint Robot Manipulator - Software Operation Manual transmitted to the G-code. Parameter L(#12) : The sixth parameter to be transmitted to the G-code. Advantech LNC Technology Co., Ltd.

  • Page 50: Extended Instructions

    Please ask the machine for instructions. Used to dynamically switch the tool groups set in the tool page, or dynamically set the desired tool parameters. Advantech LNC Technology Co., Ltd.
  • Page 51 It is used in applications where the robot clamps the workpiece for path editing, such as polishing. When the working coordinates are reversed, the three-point arc of the workpiece surface can be realized, which can greatly reduce the number of teaching points. Advantech LNC Technology Co., Ltd.
  • Page 52 With the settings in the security point page, check whether the current position is within the range of the security point, and provide the function of moving the position of the security point. Advantech LNC Technology Co., Ltd.
  • Page 53 Issue warning when Wait I timeout:it is equivalent to Wait I command, but if the waiting time is exceeded, a warning signal will be issued. Advantech LNC Technology Co., Ltd.
  • Page 54 Joint Robot Manipulator - Software Operation Manual Dynamically switch the flexibility settings in the debugging page You can call the program login the program list page, or the O files exported from the block operation. Advantech LNC Technology Co., Ltd.
  • Page 55 The image files login the map files list page can be loaded, and the path directly from the image file to the corresponding processing action is operated by the system. Match the settings of the matrix page to perform related actions. Advantech LNC Technology Co., Ltd.
  • Page 56 Joint Robot Manipulator - Software Operation Manual Use the settings of the stack page to perform related actions. Advantech LNC Technology Co., Ltd.
  • Page 57 Used for a command for positioning the additional axis separately when the additional axis is not in motion with the body. Follow the EUROMAP67 specification for the signal communicating with the machine. The system has four sets of peset machine Advantech LNC Technology Co., Ltd.
  • Page 58 When used in welding, the workpiece cannot be accurately placed. It is necessary to touch the surface of the workpiece through the welding wire to know the true position of the workpiece and set the actual work coordinate Advantech LNC Technology Co., Ltd.
  • Page 59 Joint Robot Manipulator - Software Operation Manual system. Advantech LNC Technology Co., Ltd.

  • Page 60: Use Coordinate System To Simplify Programming And Maintenance

    Ptool can be recorded as the origin of the coordinate system. 12.3. World record XYZABC Set the position (X, Y, Z) and (A, B, C) in the set world record number to "Work coordinate Advantech LNC Technology Co., Ltd.

  • Page 61: Coordinate System Record

    The content is read from the set R value as the value of the "work coordinate system". It is suitable to match the visual system. The coordinate system converted by the visual result is first filled in the R value, and the coordinate system value is dynamically captured by the program. Advantech LNC Technology Co., Ltd.

  • Page 62: Joint Record

    "work coordinate system". It is suitable for resetting the coordinate system with the offset obtained after recognition when the vision system is mounted on the end of the robot. Advantech LNC Technology Co., Ltd.

  • Page 63: List

    The list page is used to put program files into the list for easy recalling. 13.1. Put the program into the list 1. Switch to teaching mode. 2. Click 3. Select the file intended to put and press Open Advantech LNC Technology Co., Ltd.

  • Page 64: Select To Execute

    5. Number of executions: Advantech LNC Technology Co., Ltd.
  • Page 65 Note 2：O730~O749 corresponds to the status of appointment of the 20 sets of list program. It is always on when it is being appointed, flash when it is appointed, and off when it is not appointed. Advantech LNC Technology Co., Ltd.

  • Page 66: Composition Of Program Modularization

    Joint Robot Manipulator - Software Operation Manual 14. Composition of Program Modularization The program page has multiple ways to call module files. 14.1. Calling program files Call the program files that previously placed in the list page. 清單頁 Advantech LNC Technology Co., Ltd.

  • Page 67: Calling O Files

    Joint Robot Manipulator - Software Operation Manual 14.2. Calling O files Calling the O files exported by another program. Advantech LNC Technology Co., Ltd.
  • Page 68 Note: The exported files are the most basic format, which can save the program files from being converted at runtime and the efficiency will be higher. The figure below is the content exported by the above program, which is the G code format of text. Advantech LNC Technology Co., Ltd.

  • Page 69: Calling G Files

    Joint Robot Manipulator - Software Operation Manual 14.3. Calling G files Advantech LNC Technology Co., Ltd.
  • Page 70 Note: The incoming parameters when the exported G code cannot be connected to the calling of upper layer can be achieved to receive parameters by writing the G code and run according to the parameters. Advantech LNC Technology Co., Ltd.

  • Page 71: Nc Editing

    15.1. Types of files Save NCFiles Folder Macro Folder Macro Folder location Rules of Arbitrarily maker_macro_g1000 maker_func_ins_macro1000 file names Name of Start files Start No. executing page External R17022~R17029=File R17004=1000 executing name C22=1 mode R23030=1 C0=1 Advantech LNC Technology Co., Ltd.

  • Page 72: Viewing And Editing Methods

    It is convenient to see more lines of code. When you click to edit, a soft keyboard pops up. Embedded Reduce page jumps, click on the line of code when editing, and then type directly in the keyboard below Advantech LNC Technology Co., Ltd.

  • Page 73: Nc Execution

    G code format requirements of this robot system. For detailed G code and program syntax, please refer to the last two sections. Jump to line Switch view Select the files to run Switch path number mode Click the coordinate button to switch the displayed coordinate type Advantech LNC Technology Co., Ltd.

  • Page 74: Runnable Files

    Change Switch the number of lines you can see. parameters of the display Note: Because it needs to take CPU time for the system to update the displayed lines, only five lines are displayed by default. Advantech LNC Technology Co., Ltd.
  • Page 75 Joint Robot Manipulator - Software Operation Manual Advantech LNC Technology Co., Ltd.

  • Page 76: Description Of Use Of System G Code

    (100, 100, 0) at a speed of 4000 deg/min L2 M1 Z-20 F4000 At a speed of 4000 deg/min, move to the G1 T2 L2 M1 Z-20 F4000 position relative to the current tool Advantech LNC Technology Co., Ltd.

  • Page 77: Path Movement (G1, G1T5)

    0 world, 1 work, 2 tools, 3 joints. (default: work) Absolute, 1 relative. (Default: Absolute) Coordinate X or J1 Coordinate Y or J2 Coordinate Z or J3 Coordinate A or J4 Coordinate B or J5 Coordinate C or J6 Coordinate U Coordinate V Advantech LNC Technology Co., Ltd.

  • Page 78: Linear (S0)

    The R code is the radius of the arc transition. G1 S1 X100 Y100 Z10 A0 B0 C39 R50 The arc transfer to the position of the work coordinates (100, 100, 10, 0, 0, 39) at a speed of 4000 mm/min Advantech LNC Technology Co., Ltd.

  • Page 79: Arc Midpoint (S2)

    K: center relative position Z X: coordinate X or J1. Y: coordinate Y or J2. Z: coordinate Z or J3. A: coordinate A or J4. B: coordinate B or J5. C: coordinate C or J6. Advantech LNC Technology Co., Ltd.

  • Page 80: Wait (G4)

    L: The tool parameter group is 0~3. If not specified, the direct setting value of XYZABC is used. X: Tool parameter X Y: Tool parameter Y Z: Tool parameter Z A: Tool parameter A B: Tool parameter B C: Tool parameter C Examples G5 L1 Switch to tool parameters of group 1 Advantech LNC Technology Co., Ltd.

  • Page 81: Switch Coordinate Inversion Mode (G6)

    10mm, make a circle every 8mm's walk with no initial movement G7 E2 L1 X100 Y0 Z0 Use the linear following process and work coordinate system, read the speed value in the X direction from R100 Advantech LNC Technology Co., Ltd.

  • Page 82: Wait For Arrival Of Interrupt Counting (G8)

    Move quickly to the "joint record" position of number 2 at 10,000 deg / min. G10 P2 T5 F1000 Move linear to the "joint record" position of number 2 at 10,000 deg / min. 17.11. World record movement (G11) Code description Advantech LNC Technology Co., Ltd.

  • Page 83: Set Whether The Command Of The Axis Output (G13)

    Get the world coordinates of the final position and the return value is @71~@79 G1T17 Get the world coordinates of the final position and the return value is #71~#79 17.14. Get the work coordinate(G18, G1T18) of the final position Examples Advantech LNC Technology Co., Ltd.

  • Page 84: Get The Joint Coordinates (G19, G1T19) Of The Final Position

    2000ms, an alarm of alarm R29010.3 is issued. 17.17. Wait for R value (G21) Code description R : R value number C : Comparison mode 0 equal, 1 unequal M : Mode, 0 constant, 1R value Advantech LNC Technology Co., Ltd.

  • Page 85: Set O(G22)

    Set O205 to on, the program continues to run (using the first set of auto off, after 100ms, the background program will automatically turn it off). G22 O205 S6 P100 Set O205 to on, the program continues to run (using the Advantech LNC Technology Co., Ltd.

  • Page 86: Set R(G23)

    L: 0 world, 1 work, 2 tool, 3 joint. (default: work) M: 0 absolute, 1 relative. (Default: Absolute) X: Coordinate X or J1. Y: Coordinate Y or J2。 Z: Coordinate Z or J3。 Advantech LNC Technology Co., Ltd.

  • Page 87: Sensing Torque Stop (R Value Comparison) (G32)

    X: Coordinate X or J1. Y: Coordinate Y or J2。 Z: Coordinate Z or J3。 A: Coordinate A or J4。 B: Coordinate B or J5。 C: Coordinate C or J6。 U: Coordinate U V: Coordinate V F:Speed Advantech LNC Technology Co., Ltd.

  • Page 88: Coordinate System Re-Offset (G52)

    X20 Y10 and rotate it 5 degrees Note: When matching with the visual system, it is necessary to perform re-offset on the coordinate system according to the feedback value of the visual system. This command can achieve requirement of this function. Advantech LNC Technology Co., Ltd.

  • Page 89: Set The Work Coordinate System (G54)

    17.23.6. O5 uses dynamic position G54 O5 X100 Y101 Z102 A103 B104 C105 The value of R100~R105 is read to set the work coordinate system. 17.23.7. O6 uses joint records Advantech LNC Technology Co., Ltd.

  • Page 90: O7 Directly Set Joint Coordinates

    Use 0 set of rotating coordinate system 17.25. Coordinated coordinate system (G56) Code description P: the group of rotating coordinate system. Examples G56 P0 Use 0 set of coordinated coordinate system 17.26. Bulk separating axis coordinate system (G57) Code description Advantech LNC Technology Co., Ltd.

  • Page 91: Start Dynamic Compensation (G61)

    @25, @2 17.30. Set the flexibility level (G89) Code description A: The flexibility level set is 0~5. Examples G89 A0 Use the default flexibility level G89 A2 Use the Group 2 of set flexibility level. Advantech LNC Technology Co., Ltd.

  • Page 92: Set The Synthetic Acceleration/Deceleration Time (G90)

    B: Allowable difference. (blank means using default values) Examples G92 A3 B100 Set the tolerance of the 3rd axis to 100. 17.34. Serve lag eliminates and updates coordinates (G95) Examples Eliminate servo lag and update coordinates 17.35. Update coordinates (G96) Examples Advantech LNC Technology Co., Ltd.

  • Page 93: Macro Syntax

    R read, W write R read, W write Handed over Description (interpretation (Interpretation to the core for execute waits for the simultaneous immediately) core to execution complete before executing) I (Input) 1000 R_MLC_I_F R_MLC_I Software number, Advantech LNC Technology Co., Ltd.

  • Page 94: Mathematical Fnctions

    (Avoid causing motion pauses) 18.3. Mathematical fnctions The following table is the mathematical functions supported in the joint manipulator system. Mathematical function Description SIN(DEG) SIN function COS(DEG) COS function Advantech LNC Technology Co., Ltd.

  • Page 95: Program Flow Control

    The following table is the supported program flow control syntax in the joint manipulator system. Process control command IF ~GOTO Select narrative IF …ELSE Select narrative SELECT Cycle FOR … END_FOR, EXIT_FOR Cycle DO …UNTIL, EXIT_DO Calling function CALL_SUB, EXIT_SUB Advantech LNC Technology Co., Ltd.

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