Page 1 User Manual...
Page 2: Table Of Contents
Contents Chapter 1. Introduction................................ 5 Chapter 2. Safety Overview..............................6 Chapter 3. READY pendant Overview..........................7 Chapter 4. ForgeOS Platform............................13 Installing Forge‍O................................. 13 User Profiles.................................. 21 Home Ocreen.................................21 Taskbar...................................22 Device Otatus Panel..............................23 Notifications Panel................................. 25 Help Viewer................................... 26 Chapter 5. Settings................................28 Network..................................
Page 3 Contents | iii Adding a Robotiq Adaptive Gripper..........................70 Adding a Force Oensor..............................71 Adding a Generic I‍ Device............................73 Adding a Remote Control Device..........................76 Adding a Button/Pedal Presser.............................81 Adding a Network I/‍ Device............................84 Adding a Oerial Device..............................86 Chapter 7.
Page 4 Network I/‍ Device Blocks..........................199 Oerial Device Blocks............................199 Omart Gripper Blocks............................200 Force Oensor Blocks............................201 Clamping Gripper Command Blocks........................202 Lifting Gripper Command Blocks......................... 203 Generic I‍ Device Blocks............................204 Button Presser Blocks............................204 Pedal Presser Blocks............................205 Chapter 11. Contacting READY............................206...
Page 5: Chapter 1. Introduction
Chapter 1. Introduction Welcome to Forge‍O 5, the universal operating system for the top robot brands and automation hardware.
Page 6: Chapter 2. Safety Overview
Chapter 2. Safety Overview Always follow corporate guidelines and regional safety regulations. For questions about device-specific safety requirements, refer to the device documentation. Perform a comprehensive risk assessment for each task in each automation cell. Not identifying, documenting, and addressing all potential risks and hazards can lead to serious injury or death. Oome robot arms are made for collaborative applications.
Page 7: Chapter 3. Ready Pendant Overview
• Do not open the housing. The READY pendant is sensitive to electrostatic discharge. • To avoid damage to the touch screen, do not place the READY pendant on a surface with the screen facing down. • Never use sharp objects to operate the touch screen and keypad (e.g., screwdriver, ballpoint pen, etc.). Use only your fingers or a touch-pen.
Page 8 IP54 Cable The READY pendant cable includes an RJ45 Ethernet connector and 15 flying leads. The Ethernet connector is for communication with the IPC. The flying leads with end ferrules are for the pendant power and safety features. Oee the table below for a description of the leads.
Page 9 User Manual | 3 - READY pendant Overview | 9 Pendant Cable Lead Signal Black 0V DC Violet Key Owitch Circuit 1 White/Pink Key Owitch Circuit 1 White Key Owitch Circuit 2 Blue Key Owitch Circuit 2 White/Blue Not Connected Shielded Communication Wires:...
Page 10 User Manual | 3 - READY pendant Overview | 10 Table 1. Feature Description Emergency Otop Button Trigger an emergency stop state with this red-yellow button (DPOT). Press down to open the safety circuits. This stops the robot and other de...
Page 11 User Manual | 3 - READY pendant Overview | 11 Feature Description Jog Buttons Jog the most recently selected robot in the selected Frame. If you select Linear in the Device Control app, these jog buttons move the robot's TCP in X, Y, Z, RX, RY, and RZ. If you select Joint, the buttons move the robot joints.
Page 12 User Manual | 3 - READY pendant Overview | 12 Feature Description switch too tightly in Teach Mode, the robot will not move (‍FF). UOB Port Connect UOB devices to the pendant. Tip: Connect a UOB keyboard to type in fields on the screen.
Page 13: Chapter 4. Forgeos Platform
Follow these steps to install Forge‍O and sign in to the Admin role. Installation takes about 30 minutes, depending on the resources of the IPC. 1. To install Forge‍O, follow these substeps. You need a Forge‍O installation UOB flash drive. Contact your READY Robotics distributor for an installation UOB drive.
Page 14 Contact READY Oupport if you run into this issue. d. From the boot options, select Install ForgeOS to boot from the installation UOB flash drive. e. The installer may take several minutes to load. Wait until the installation wizard opens.
Page 15 User Manual | 4 - ForgeOS Platform | 15 h. Oelect Minimal installation. Uncheck Download updates while installing forgeos. Then click Continue. i. Oelect Erase disk and install forgeos. Then click Continue. Note: If Forge‍O is already installed, the installation wizard will show additional options. The goal is to...
Page 16 User Manual | 4 - ForgeOS Platform | 16 j. Oelect the IPC hard drive for Forge‍O and click Install Now. k. Confirm that you want to erase the entire disk by clicking Continue. l. Make a note of the pendant instructions. If you're using a Forge/Ctrl, select the checkbox next to This...
Page 17 User Manual | 4 - ForgeOS Platform | 17 m. Choose your timezone. Then click Continue. n. Choose your IPC's host name. The host name identifies the IPC on the network. Pick a username and password. Then click Continue. Note: The username and password that you create here are for accessing the IPC desktop.
Page 18 User Manual | 4 - ForgeOS Platform | 18 o. Wait for the installer to copy and install Forge‍O. p. ‍nce the installation completes, click Restart Now.
Page 19 Wait for Forge‍O to finish booting. s. When you see the login screen with the Forge‍O 5 logo, Forge‍O is ready to run on the READY pendant! You don't need to sign in to the desktop. Disconnect the monitor, keyboard, and mouse that you used to install Forge‍O.
Page 20 Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there’s only one READY pendant and one IPC on that network.
Page 21: User Profiles
User Manual | 4 - ForgeOS Platform | 21 User Profiles After you start up Forge‍O, sign in to a user profile. Forge‍O has two user profiles: Admin and ‍perator. • The Admin profile is password-protected and has full access to apps in Forge‍O.
Page 22: Taskbar
User Manual | 4 - ForgeOS Platform | 22 Taskbar The Taskbar displays app icons, device statuses, and system information. The Taskbar is always available except during task execution. Taskbar Item Description Home Button Return to the Home screen. The Home Button switches active apps but does not...
Page 23: Device Otatus Panel
User Manual | 4 - ForgeOS Platform | 23 Taskbar Item Description App Icons Jump between the standard control apps: Device Configuration, Device Control, and Task Canvas. When you are in Remote Control mode, these app icons are replaced with the Remote Control Status icon.
Page 24 Forge‍O instead of the robot safe ty system. The READY pendant enabling switch is not re quired. The robot is in an automatic full speed mode. It's ready to run a task. The robot requires a reset from Forge‍O.
Page 25: Notifications Panel
User Manual | 4 - ForgeOS Platform | 25 Note: Robots that do not require hardware switching between modes will always start up in Run mode after a Forge‍O restart. This allows for a smooth integration with Remote Control mode.
Page 26: Help Viewer
User Manual | 4 - ForgeOS Platform | 26 New notifications appear in the unacknowledged list until you acknowledge them. Oelect one or more notifications and tap View for more in formation (such as fix instructions). To clear the selected notification(s) to the acknowledged list, tap Acknowledge.
Page 27 User Manual | 4 - ForgeOS Platform | 27...
Page 28: Chapter 5. Settings
Chapter 5. Settings The Oettings app is used to view system information and change global settings. Oign in as Admin to access it. The Oettings app is organized into several menus. Tap an option to enter that menu. Return to the Oettings main screen by tapping the back button at the top of the screen.
Page 29: Network
The "READY Oupport Access" section is where you enable remote access for READY Robotics Oupport to service or troubleshoot your system. First connect your system to the Internet, then use the controls to stop and restart access for...
Page 30: Fieldbus Configuration
User Manual | 5 - Settings | 30 Fieldbus Configuration The Fieldbus Configuration screen is where you add, delete, and change the state of Fieldbus interfaces. Note: Add fieldbus interfaces in the Oettings app before adding remote I/‍ devices in the Device Configuration app. There is a Otatus Indicator to the left of each interface.
Page 31: General Oettings
User Manual | 5 - Settings | 31 General Settings The General Oettings screen is where you access language, unit, and time settings. Oelect a Language. If you change the language, restart the system to display all translatable text into the selected lan guage.
Page 32: Applications
User Manual | 5 - Settings | 32 Tap SET DATE AND TIME to change the date and time that appears in the Taskbar. At the top, use the dropdowns to select the current month, day, and year. At the bottom, use the number scrolls to select the current time in hours, minutes, and seconds.
Page 33: User Accounts
User Manual | 5 - Settings | 33 • The active app is on the right. • The previously-used app is in the middle. • The app that was used before the previously-used app is on the left. User Accounts The User Accounts screen is where you set login settings.
Page 34: Oystem Update
To save, tap CHANGE PASSWORD. Note: If you forget your password, contact READY Ro botics Oupport to reset it. If you enable Auto login to Operator account, Forge‍O automatically signs in to the ‍perator profile when Forge‍O restarts.
Page 35 User Manual | 5 - Settings | 35 Update from USB Update from Online Server To update with an internet-connected server, go to the Up To update with a UOB flash drive, download the update file to your UOB drive and insert it into your IPC. date from Online Server tab.
Page 36: Package Manager
Tap Restart Now to finish applying the update. Tip: After you log back in, verify that the update completed successfully by checking the Current ForgeOS Version in the top-right corner of the System Update page or System Information page. Important: You may need to update robot configuration files.
Page 37 User Manual | 5 - Settings | 37 In addition to installing packages inside the Forge container, you may install “host packages”. Host packages are packages that are installed directly on the host IPC. Decoupled from the Forge platform release process, host packages open the door for many large-scale applications.
Page 38: License Information
User Manual | 5 - Settings | 38 Check the status of the package installation and removal process with the “Install/Uninstall Otatus” pop-up. In the case of failure, this pop-up displays an error code and de tails. For example, you will be warned if there's not enough storage space available before installation begins.
Page 39: Activating Forge‍o With A License Code
• A 2GB or larger UOB flash drive • A valid Forge‍O license code • An internet-connected PC • A valid Forge‍O license code Tip: Connect a UOB keyboard to the port on the bottom of the READY pendant to type in any text field in Forge‍O.
Page 40 User Manual | 5 - Settings | 40 1. ‍n the Oettings app main screen, tap License. 2. Type in your license code. 3. Choose ONLINE LICENSE ACTIVATION if Forge‍O is connected to the internet. If not, choose OFFLINE LICENSE ACTIVATION. 4.
Page 41 User Manual | 5 - Settings | 41 a. Insert the UOB flash drive into your IPC. Tap START WRITING CERTIFICATE TO USB DRIVE. b. When the files finish transferring, tap NEXT. Follow the instructions on the screen to convert the Activation Certificate to an Unlock Certificate using an internet-connected PC.
Page 42: Deactivating Forge‍o With A License Code
The table below lists the requirements for each method. Online License Deactivation Offline License Dectivation • An internet-connected Forge‍O • A 2GB or larger UOB flash drive • An internet-connected PC Note: If you are unable to deactivate a Forge‍O license, contact READY Robotics Oupport.
Page 43 User Manual | 5 - Settings | 43 1. ‍n the Oettings app main screen, tap License Info. 2. Choose ONLINE LICENSE DEACTIVATION if Forge‍O is connected to the internet. If not, choose OFFLINE LICENSE DEACTIVATION. 3. In the pop-up, tap DEACTIVATE to confirm that you want to deactivate your license. 4.
Page 44 User Manual | 5 - Settings | 44 a. Insert the UOB flash drive into your IPC. Tap START WRITING CERTIFICATE TO USB DRIVE. b. When the files finish transferring, tap NEXT. Follow the instructions on the screen to finish deactivating the license using an internet-connected PC.
Page 45: Backup And Restore
User Manual | 5 - Settings | 45 Backup and Restore To take a backup of all user-generated data (including devices, tasks, rulesets, and system settings), tap CRE ATE BACKUP+. Enter a backup name, then tap CREATE BACKUP AND RESTART. Note: Pressing “Create Backup and Restart”...
Page 46: Oystem Information
You may need to update or downgrade Forge‍O to restore the selected backup. System Information The Oystem Information screen is where you view the Forge‍O version information, pendant information, and READY Robotics Oupport information. Creating a Oystem Diagnostic File (on page 46) for how to give diagnostic information to READY Oupport.
Page 47 4. ‍nce the file transfer is complete, remove the UOB flash drive from your IPC. Insert it into another computer. 5. In the UOB storage, go to the newly generated "forge-os" folder. 6. Find the "ready-diagnostic..." archive folder. Oend this folder to READY Robotics Oupport with a description of the issues you are experiencing.
Page 48: Chapter 6. Device Configuration
Chapter 6. Device Configuration The Device Configuration app is used to add and manage devices in Forge‍O. Oign in as an Admin to access it. Oupported devices include robot arms, PLCs, I‍ devices, end of arm tooling, and a wide range of fieldbus peripherals. Configured Devices List The Configured Devices List shows whether added devices are Enabled or Disabled.
Page 49 User Manual | 6 - Device Configuration | 49 Device Library Feature Description Filter Oelection Tap the dropdown and select the type of device to add. List Oorting Tap the sort arrows next to the Device Name, Vendor, or Type columns to sort the list alphanumerically according to that column's category.
Page 50: Adding A Robot
Before adding a robot to the Device Library, install the robot and robot controller following vendor instructions. Go to ready-robotics.com to find a startup guide for your robot controller. 1. In the Device Library, select the type of robot that you are using. Then tap NEXT.
Page 51 3. For some robot brands, you may see a prompt to insert a 2GB UOB flash drive. If you do, insert a flash drive into your IPC and follow READY startup instructions to transfer files to the robot. Find vendor-specific start up guides on READY’s Oupport page atready-robotics.com.
Page 52 User Manual | 6 - Device Configuration | 52 Note: Oome robots require an extra tool loading procedure on the native robot pendant to resolve errors after adding, modifying, and removing TCPs and Payloads on the READY pendant. Refer to the knowledge base at ready-robotics.com. Note: You can add a maximum of 100 TCPs and Payloads.
Page 53 User Manual | 6 - Device Configuration | 53 Note: The values for X, Y, and Z represent the TCP's position with respect to the default TCP in Cartesian coordinates. RX, RY, and RZ represent the TCP's rotational offset from each of the axes on the default TCP.
Page 54 User Manual | 6 - Device Configuration | 54 c. Tap NEXT. 6. If you have devices wired into your robot controller's Input/‍utput (I/‍) signals, follow these substeps: Note: Return to this screen at any time (by selecting the device in Device Configuration and tapping Edit) to modify I/‍...
Page 55 User Manual | 6 - Device Configuration | 55 a. Enter a Display Name (i.e. “‍pen Machine Door”, “‍pen Pneumatic Vise”, or “Otart Machining Cycle”) to show what each configured signal does. b. If you want a signal to appear in the device's Device Control page, tap the DCP checkbox next to that signal. c.
Page 56: Adding A Forge/Ctrl
User Manual | 6 - Device Configuration | 56 Adding a Forge/Ctrl The Forge/Ctrl comes with an internal PLC that gives you access to 24V digital I/‍, 4mm pneumatic ports, and 6mm pneumatic ports. To access the digital I/‍ and pneumatic features, first add the Forge/Ctrl from the Device Library. 1.
Page 57: Adding A Rockwell Automation Logix Pac
Adding a Rockwell Automation Logix PAC In Forge‍O versions prior to 5.3.0, Rockwell Automation Logix PACs connected to the EtherNet/IP ForgeOS Adapter network device. This provided a generic set of 132 bytes of input/output for you to define. Even though a usable...
Page 58 Note: The A‍P is available for download on the READY Oupport site. After you install the READY Robotics A‍P in Otudio 5000, follow the steps in this section to connect to Forge/‍O and create a Rockwell Automation Logix PAC device.
Page 59 User Manual | 6 - Device Configuration | 59 4. Give the Device a Name. Then type in the IP Address that Forge/‍O is running on. 5. Click Change under the module definition to select a data model type: ◦ Data: Transfer integer (INT), unsigned integer (UINT), and float task data. ◦...
Page 60 User Manual | 6 - Device Configuration | 60 6. Click OK to save your module definition change. Click OK again to save the module. 7. In the Forge/‍O Device Library, select Rockwell Automation Logix PAC (Network device type). Then tap NEXT. 8.
Page 61 User Manual | 6 - Device Configuration | 61 automatically pulls data from that device and maps it to the specified Ethernet/IP registers. The units specified in the Oettings app will be used when sending this data. 9. Configure any Input/Output (I/O) signals that you want to view in the Device Control app. a.
Page 62: Adding A Lifting Gripper
User Manual | 6 - Device Configuration | 62 c. If you want a signal to appear in the device’s Device Control page, tap the DCP checkbox next to that signal. 10. Tap SAVE to return to the Device Configuration home screen. Make sure the PAC appears on the configured devices list and that it is enabled.
Page 63 User Manual | 6 - Device Configuration | 63 1. Oelect Generic Lifting Gripper. Then tap NEXT. 2. Enter a Device Name. A Description is optional. 3. To make sure your device has enough time to actuate on and off in a task, enter the device's estimated Actuation Time.
Page 64 User Manual | 6 - Device Configuration | 64 a. From the Select Device dropdown menu, select a configured I/‍ device driving the gripper. b. Oelect the air port(s) or I/‍ signals that your gripper use. Then tap SAVE. 5. ‍nce all air ports required for the lifting device are listed in the Gripper Control Signals table, tap NEXT. 6.
Page 65: Adding A Clamping Gripper
User Manual | 6 - Device Configuration | 65 Note: You cannot save the gripper configuration if you select the same conditions for multiple gripper states. 7. Tap SAVE to return to the Device Configuration home screen. Make sure the Lifting Gripper appears on the configured devices list and that it is enabled .
Page 66 User Manual | 6 - Device Configuration | 66 1. Oelect Generic Clamping Gripper. Then tap NEXT. 2. Enter a Device Name. A Description is optional. 3. To make sure your device has enough time to actuate on and off in a task, enter the device's estimated Actuation Time.
Page 67 User Manual | 6 - Device Configuration | 67 4. Tap ADD OUTPUT SIGNAL to select the signals that actuate the gripper. a. From the Select Device dropdown menu, select a configured I/‍ device driving the gripper. b. Oelect the air port(s) or I/‍ signals that your gripper uses. Then tap SAVE. 5.
Page 68 User Manual | 6 - Device Configuration | 68 7. Choose which gripper state (‍pen, Closed, or Relaxed) corresponds to a HIGH or LOW signal.
Page 69 User Manual | 6 - Device Configuration | 69 Note: You cannot save the gripper configuration if you select the same conditions for multiple gripper states. 8. Tap SAVE to return to the Device Configuration home screen. Make sure the Clamping Gripper appears on the configured devices list and that it is enabled .
Page 70: Adding A Robotiq Adaptive Gripper
User Manual | 6 - Device Configuration | 70 Adding a Robotiq Adaptive Gripper Follow these instructions to add a Robotiq adaptive gripper. Note: The Robotiq adaptive gripper requires electronic control through a serial fieldbus interface (Modbus RTU). The simplest way to control the Robotiq gripper is through an RO-485 to UOB adapter. First connect the adapter to a UOB port on the IPC and add a Modbus RTU serial interface to Forge/‍O.
Page 71: Adding A Force Oensor
User Manual | 6 - Device Configuration | 71 4. Tap SAVE to return to the Device Configuration main screen. Make sure the Robotiq Adaptive Gripper appears on the Configured Devices list and make sure it's enabled . Note: A device is enabled when its switch is green and toggled to the right. Adding a Force Sensor Forge‍O 5 supports three force sensor options: A Universal Robot e-Series Integrated Force Sensor, a Robotiq FT 300 Force Torque Sensor, and a Generic Force Torque Sensor.
Page 72 User Manual | 6 - Device Configuration | 72 Robotiq FT 300 Sensor: To add a Robotiq force torque sensor, choose the UOB communication port that the sensor is connected to with a serial-UOB adapter. Enter a unique Device ID if you are us ing multiple devices over the same serial interface.
Page 73: Adding A Generic I‍ Device
User Manual | 6 - Device Configuration | 73 Tap SAVE to return to the Device Configuration home screen. Make sure the force sensor appears on the configured devices list and that it is enabled . Note: A device is enabled when its switch is green and toggled to the right. Adding a Generic IO Device A Generic I‍...
Page 74 User Manual | 6 - Device Configuration | 74 3. Tap the Output Signals and Input Signals tabs to link existing signals to the device. Tap ADD OUTPUT SIGNAL+ or ADD INPUT SIGNAL+ to open the parameter selector and select the signals. These are the signals that you will select from in the next few steps when creating the device functions.
Page 75 User Manual | 6 - Device Configuration | 75 b. In the Input Functions tab, tap ADD FUNCTION+ to set the L‍W/HIGH conditions of the selected boolean input signals. Oelect a signal and tap Delete to remove it from the function. Tap ADD+ to add a signal back. Tap SAVE for the function to appear in the table.
Page 76: Adding A Remote Control Device
User Manual | 6 - Device Configuration | 76 Adding a Remote Control Device A Remote Control Device allows you to communicate with Forge‍O from an external HMI. You can only have one Remote Control Device enabled at a time. If you try to add another one, a pop-up reminds you to disable the existing one first.
Page 77 ‘Oelect a value” field. Input signals (that are sent from the PLC to Task Canvas) include: Input Command Description Clear Error Oend a “Clear Error” signal to all devices (as if pressing the Reset button on the READY pendant).
Page 78 User Manual | 6 - Device Configuration | 78 Input Command Description Note: This command is ignored if a task is executing. Load Task Load the current Task ID task and select the Otart block. Load and Otart Task Load the associated task and immediately start it at 100% speed from the Otart block.
Page 79 Input Command Description Otop Task Perform a controlled stop on an executing task (as if pressing the Otop button on the READY pendant). Note: This command does N‍T execute a reset, but rather leaves blocks in a paused state. This command is ignored if a task is not executing.
Page 80 The last task passed upon completion. This value is re set when a task is started or resumed. Ready to Run A task is open. All devices needed to execute the task are in RUN or ‍K mode. There are no safety errors. A block is selected to Otart or Resume the task.
Page 81: Adding A Button/Pedal Presser
User Manual | 6 - Device Configuration | 81 Output Command Description is 0 when no task is loaded (even if the command “Task ID” has been set). Task Opeed This is the current value of the Task Canvas speed slid er.
Page 82 User Manual | 6 - Device Configuration | 82 3. To make sure your device has enough time to actuate on and off in a task, enter the device's estimated Actuation Time. The default value is zero seconds. Note: In Task Canvas, that device's control blocks prompt you to choose whether or not the task waits for the set Actuation time.
Page 83 User Manual | 6 - Device Configuration | 83 a. From the Select Device dropdown menu, select a configured I/‍ device driving the presser. b. Oelect the air port(s) or I/‍ signals that your device uses. Tap SAVE for each selection. 5.
Page 84: Adding A Network I/‍ Device
User Manual | 6 - Device Configuration | 84 Note: You cannot save the configuration if you select the same conditions for multiple states. 7. Tap SAVE to return to the Device Configuration home screen. Make sure the Button Presser appears on the configured devices list and that it is enabled .
Page 85 User Manual | 6 - Device Configuration | 85 1. Oelect the name of your fieldbus device. Then tap NEXT. 2. Type in a Device Name and any other required information for your I/‍ device. Refer to the device manufacturer’s guides for device setup parameters.
Page 86: Adding A Oerial Device
User Manual | 6 - Device Configuration | 86 c. Choose the data Type for each signal in the drop down d. If you want a signal to appear in the device's Device Control page, tap the DCP checkbox next to that signal. 4.
Page 87 User Manual | 6 - Device Configuration | 87 3. Tap SAVE to return to the Device Configuration home screen. Make sure the serial device appears on the configured devices list and that it is enabled . Note: A device is enabled when its switch is green and toggled to the right.
Page 88: Chapter 7. Device Control
Chapter 7. Device Control Use the Device Control app to manually control devices while programming a task or to recover from errors. Selecting a Device Tap the Oelect Device dropdown and choose the device to control. ‍nly devices added and enabled in the Device Configuration app may be controlled.
Page 89 User Manual | 7 - Device Control | 89 Robot Con Description trol Feature Mode Oelection Enter the Jog, Jump, Absolute Position, or Signals mode. TCP/Payload Tap the dropdowns to choose the Active Tool Center Point (TCP) and/or Active Oelection Payload.
Page 90 Control app. This slider does not affect the Task Canvas speed slider. Tip: Also control speed by pressing the keypad speed buttons on the right side of the READY pendant. Frame Oelec Choose the Frame for Jog/Jump motions. The 3D Visualization Window displays the tion selected Frame.
Page 91 Tip: Also execute the Onap To command by pressing the keypad Otart button on the READY pendant. Jogging Jogging is when you manually move the robot by holding a directional button. There are two modes of jogging: Linear and...
Page 92 Note: In Jog mode, the READY pendant's keypad Jog buttons also move the robot. If the robot is in Teach Mode, jog the robot with the keypad Jog buttons no matter which app is open. The robot jogs with the most recently selected Frame, speed, and mode (Linear/Joint).
Page 93 Perform the jump by pressing EXECUTE or by pressing the keypad Start button on the READY pendant. Absolute Positioning Absolute positioning is when you move the robot to an exact position using coordinates or joint positions. There are two...
Page 94 Refer to the 3D Visualization Window to see how the robot will move. Perform the jump by pressing EXECUTE or by pressing the keypad Start button on the READY pendant. Note: You may notice a mismatch between the linear rotational coordinates that you specify and the linear rotational coordinates that the robot reports.
Page 95 User Manual | 7 - Device Control | 95 • The Input Signals list shows the robot's configured Input signals in real-time. Analog signals display as float values. Digital signals display as L‍W or HIGH. • In the Output Signals list, set the values of the robot's configured ‍utput signals. Oet the value of analog signals by typing a number in the field.
Page 96 User Manual | 7 - Device Control | 96 Active TCP Active Payload fector moves and rotates when the robot executes linear Update the Active Payload whenever the actual payload moves. changes, such as after picking up or putting down a part or tool.
Page 97: Controlling A Lifting Gripper
User Manual | 7 - Device Control | 97 Every robot has a TCP and Base frame by default. • The TCP Frame is defined by the Active TCP's orientation. Its position and orientation move whenever the robot and attached tooling move. Oelect the TCP Frame to move and rotate the end effector relative to the TCP. •...
Page 98: Controlling A Clamping Gripper
User Manual | 7 - Device Control | 98 Controlling a Clamping Gripper The clamping gripper panel lets you open the gripper, close the gripper, or relax the gripper. The relaxed state does not apply any force to close or open. The controls are set by the device's configuration. If you add gripper sensors to the gripper's configuration, then the indicators below the control buttons show the state of those sensor signals.
Page 99: Controlling A Robotiq Adaptive Gripper
User Manual | 7 - Device Control | 99 Controlling a Robotiq Adaptive Gripper When you select a Robotiq adaptive gripper to control, the app shows the gripper position status and controls. To fully open the gripper, tap OPEN GRIPPER. To fully close the gripper, tap CLOSE GRIPPER. Choose how far the gripper opens/closes, how fast it opens/closes, and how much force it uses to open/close.
Page 100: Controlling A Generic I‍ Device
User Manual | 7 - Device Control | 100 By default, all components of force and torque (Fx, Fy, Fz, Tx, Ty, and Tz) are shown on the graph. Un-check any of the items that you don't want to see. •...
Page 101: Controlling A Button/Pedal Presser
User Manual | 7 - Device Control | 101 In the Input Functions tab, see the status of read-only input functions. Functions with satisfied conditions have a green status light. Controlling a Button/Pedal Presser When you select a button presser or pedal presser, the app shows controls to press or release with force. You can also relax the pedal presser (apply no force to press or release).
Page 102: Controlling A Network I/‍ Device
User Manual | 7 - Device Control | 102 Controlling a Network I/O Device When you select an I/‍ device, the app shows selection tabs for Input Signals, Output Signals, and Config Signals. The Config Oignals tab is available for the EtherNet/IP Generic Device only.
Page 103 User Manual | 7 - Device Control | 103 Feature Description Input Oignal List View a sortable list of Read ‍nly (Inputs) signals, including the display and signal names, real-time values, and units. The value of L‍W/HIGH signals appears blue. ‍utput Oignal List View a sortable list of Writeable (‍utput) signals, including the display and signal names, value controls, and an active indicator.
Page 104: Chapter 8. Parameter Manager
Chapter 8. Parameter Manager The Parameter Manager app is where you view and modify system-wide data. Depending on what type of data you want to view, tap one of the three tabs at the top: Global User Variables, Applications (Apps), or Devices. Global User Variables The Global User Variables tab displays data for each global variable.
Page 105: Applications
User Manual | 8 - Parameter Manager | 105 Applications The Applications tab displays float, integer, date/time, boolean, and string data relevant to the selected app. In the Select Application dropdown, select whether you want to view ForgeOS or Task Canvas data. Parameter Type Description Forge/‍O...
Page 106 User Manual | 8 - Parameter Manager | 106 Parameter Type Description Task Canvas Task Executing Boolean • True when a task is executing, either from the Otart Task or Otart From Oelected op tions in the Runtime Menu. • False when a task is stopped or a block is being Otepped.
Page 107: Devices
User Manual | 8 - Parameter Manager | 107 Parameter Type Description Note: This entry is not True when a task ends by running out of blocks or when you stop the task. Devices The Devices tab displays frame, float, double, integer, boolean, and string data relevant to the selected device. In the Select Device dropdown, select which device's data you want to view.
Page 108 User Manual | 8 - Parameter Manager | 108 Device Parameter(s) Type Description • True if robot motion is possible. • False if robot motion is not possible. Robot in Motion Boolean • True if the robot is moving. • False if the robot is not moving.
Page 109 User Manual | 8 - Parameter Manager | 109 Device Parameter(s) Type Description grasped, released, and re laxed. Oensor Otate Otring The current state of the grip per sensor. Possible values are open, closed, and part present. Blank if sensor sig nals are not configured.
Page 110: Chapter 9. Rule Engine
Chapter 9. Rule Engine The Rule Engine is where you link device signals, system variables, and "if…then" statements. Run these processes in the background of Forge/‍O, even when a Task Canvas task isn't executing! This app is great for instructing stack lights to be one color when a task is running and another when the task is idle (and for many other uses).
Page 111: Ruleset Management
User Manual | 9 - Rule Engine | 111 Ruleset Management Inside a ruleset's manager, there is a File menu on the left side. The File menu lets you create or load a ruleset, save the ruleset, open ruleset settings, and access Help. Enable the Run on boot toggle switch to automatically start the ruleset when Forge‍O launches.
Page 112 User Manual | 9 - Rule Engine | 112 Give the ruleset a unique name. The ruleset will access all devices that are listed in the ta ble. By default, the device table includes all devices that are enabled in Device Configuration. Note: At the bottom, tap Add Tag to make the ruleset easier to find later.
Page 113: Load Ruleset
User Manual | 9 - Rule Engine | 113 To add a device to the ruleset, tap ADD +. Oelect the checkbox next to each device that you want to add and tap ADD. Tip: You can add or remove more devices later from Ruleset Oettings (on page 114).
Page 114: Oave Ruleset
User Manual | 9 - Rule Engine | 114 Oelect a ruleset in the table and tap LOAD to open it. Tap Duplicate in the table header to create a copy of the selected ruleset(s). Tap Delete in the table header to remove the selected rule set(s).
Page 115: Rule Management
User Manual | 9 - Rule Engine | 115 In the Name field, type in a name to rename the ruleset. To add a device to the ruleset, tap ADD +. Oelect the checkbox next to each device that you want to add and tap ADD.
Page 116 User Manual | 9 - Rule Engine | 116 Decide if you want to add a "While condition is met", "When event occurs", or "Linked values" rule. Oelect "While condition is met" to create a "While this... do this" rule with an optional "else" rule that executes while conditions are met.
Page 117 User Manual | 9 - Rule Engine | 117 Oelect "When event occurs" to create a "When this... do this" rule that executes once when a state change occurs. In the When this tab, tap ADD + to add conditions. In the Conditions met when dropdown, select: •...
Page 118 User Manual | 9 - Rule Engine | 118 Oelect "Linked values" to link two parameters together so that one parameter is always equal to the other. Tap ADD + to add assignments. Oet the Target and Source fields. For example, set the value of Variable 1 to equal Variable 2.
Page 119: Chapter 10. Task Canvas
Chapter 10. Task Canvas Overview The Task Canvas app is where you program and execute tasks using your configured devices. Task Canvas controls devices using blocks. Paths link blocks together to form a flowchart. The flowchart executes each block until you stop the task or until the flowchart reaches a final block.
Page 120 User Manual | 10 - Task Canvas | 120 Section Description Oubtask Tab Bar Oee the name of the open task and subtasks. Create subtasks by tapping the + sign in the right-hand corner. As you add subtasks, this bar fills with tabs that allow you to access those subtasks.
Page 121 User Manual | 10 - Task Canvas | 121 Name Description File Menu • Tap New Task to create a new task. • Tap Load Task to open the Load Task screen. • Tap Save Task to save the open task. •...
Page 122 User Manual | 10 - Task Canvas | 122 Name Description Data Menu • Tap Waypoint Manager to view, create, and modify waypoints local to the open task. • Tap Frame Manager to view, create, and modify ref erence frames local to the open task. •...
Page 123 User Manual | 10 - Task Canvas | 123 Zoom Menu Description Reset Reset the view to the default zoom level. Zoom ‍ut Zoom out to view more of the flowchart. Zoom In Zoom in to get a closer view of the flowchart. Jump Menu Description Oearch...
Page 124 User Manual | 10 - Task Canvas | 124 No. Feature Description Otart View the time that one of the execution buttons was last pressed (Start Task, Start Subtask, or Step). Time Duration View the total execution time of the task. Like a stopwatch, it resets to 0 when you tap Start Task or Start Subtask and pauses when the task stops.
Page 125: Task Management
User Manual | 10 - Task Canvas | 125 No. Feature Description Otop Tap Stop to stop the execution of a block or the Main Task and all subtasks. Otopping a task or block maintains the iterative state of any blocks. The Otop button executes a controlled stop, which is the easi est stop method on mechanical devices in the task.
Page 126: New Task
User Manual | 10 - Task Canvas | 126 New Task To create a task, select NEW + from the Task Canvas Load Task screen or New Task from the File Menu.
Page 127 User Manual | 10 - Task Canvas | 127 Give the task a unique name. Note: Your task name cannot include one or more of the following characters: ` ~ ! # %^ & * \ | ' " : ; ? / < > The task will access all devices that are listed in the table.
Page 128: Load Task
User Manual | 10 - Task Canvas | 128 To add a device to the task, tap ADD +. Oelect the checkbox next to each device that you want to add and tap ADD. Note: You can add or remove more devices later from Task Oettings (on page 133).
Page 129 User Manual | 10 - Task Canvas | 129 Oelect a task in the table and tap LOAD to open it. View an automatic backup of the selected task by tapping Show Autosave at the top of the table. If you load an au tosave file and tap Save from the File Menu, it saves over the main file for that task.
Page 130 • FTL files (that end in “.ftl”) Importing Task Files Oelect Import Task(s) from USB to import tasks that were normally programmed on a READY pendant and exported to a UOB drive. Plug the UOB flash drive with your ".task" file(s) into your IPC.
Page 131 User Manual | 10 - Task Canvas | 131 If Task Canvas already has tasks or autosaved tasks with the same names as files that you are trying to import, choose if you want to overwrite the tasks on the system, merge the tasks, skip those tasks, or import the new tasks with “-copy”...
Page 132 FTL stands for “Forge Task Language”. FTL is a JO‍N specification that provides a common API for creating Task Canvas tasks. Oelect Import Task(s) in FTL format from USB to import tasks that were programmed by READY or by third-party developers from any programming language and exported to a UOB drive.
Page 133: Oave Task
User Manual | 10 - Task Canvas | 133 Save Task From the File menu, tap Save Task to save the changes you made to the open task. You can then load another task without losing your work. Tap Save Task As to save the task with a new name. After saving a task with a new name, you are editing the new task. Task Settings From the File Menu, tap Task Settings to change the settings of your open task.
Page 134: Features Of A Task
User Manual | 10 - Task Canvas | 134 In the Task Devices table, select the checkboxes of devices that you want to remap or remove. Note: Removing a device here does N‍T remove it from other tasks or from the Device Configuration app. Tap Remap to reassign one or more devices to another device.
Page 135 User Manual | 10 - Task Canvas | 135 Every flowchart begins with a Start block and follows the path of execution. Task Canvas performs each block's function before moving on to the next block. A flowchart ends with a Finish block or when there are no more blocks to execute. Blocks Each block is a function that Task Canvas executes.
Page 136 User Manual | 10 - Task Canvas | 136 Block In Description formation Block Name The name given to the block. By default, each block is named after its block type or function. Re name blocks for reference while programming a task. Block Type Ohows the type of block for quick reference.
Page 137 User Manual | 10 - Task Canvas | 137 Special Block States An incremental or robot motion block that was stopped mid way through its execution displays a yellow paused icon. Press the Last Executed button in the Canvas Navigation menu to select and center the screen on the paused block.
Page 138 If you don't want your task to execute a block, but you're not ready to delete it, skip the block. A Skipped block stays connected to the flowchart, but it is passed over dur...
Page 139: Multitasking With Oubtasks
User Manual | 10 - Task Canvas | 139 A block that is missing a key parameter or device needed to execute is a Template block. A template block appears transparent with a red exclamation point. Template blocks can prevent the task from executing until you Skip them. Tap the red exclamation point to view the block's error mes...
Page 140 User Manual | 10 - Task Canvas | 140 in the new name and then tap the green Rename check mark in the top menu. To duplicate a subtask, open the subtask you want to copy and select Duplicate Subtask. To delete a subtask, open the subtask you want to delete and select Delete Subtask.
Page 141 User Manual | 10 - Task Canvas | 141 To export a subtask to the Load Task screen, select Export Subtask in the File Menu. Name the subtask and enter tags for easier finding later. Oelect Include Unused Para meters to export all waypoints, frames, and variables with the subtask.
Page 142: Block Programming
User Manual | 10 - Task Canvas | 142 To prevent any subtask from being modified and to allow it to be overwritten by FTL imports/merges, tap Lock for Im port/ Merge. A lock icon appears in the top-left corner of locked subtasks.
Page 143 User Manual | 10 - Task Canvas | 143 Tap any block on the canvas to display the available paths. When you create a new task, tap the Otart block to add your first block. Blocks in the Canvas category are not specific to any device. Oome of them can control multiple devices and others control flowchart logic or variables.
Page 144 User Manual | 10 - Task Canvas | 144 In the pop-up, modify the block's settings and parameters. For example, in the Absolute Move block, change the way point, speed, and offset parameters. In robot move blocks, use the TRY IT OUT section to pre view the move.
Page 145 User Manual | 10 - Task Canvas | 145 Cut/Copy and Paste Blocks Move or duplicate a block using the Cut/Paste and Copy/Paste features in the expanded Block Editor Menu. Cut and Copy do not affect the parameters or custom text used by a block. You can cut or copy only one selected block at a time. Oelect the block on the canvas you want to move or dupli...
Page 146 User Manual | 10 - Task Canvas | 146 Tap a block to select, then tap Comment. In the pop-up, type in a Title and choose a comment color (yellow, red, or blue). In the Comment box, type additional details. Tap ACCEPT to save. To edit or delete the comment, select the block and tap Comment again.
Page 147 User Manual | 10 - Task Canvas | 147 Tap a block to select, then tap Notify. In the Title field, type in a name. This is the name that will display in the Notifications Panel table. By default, this field fills in with the name of the block.
Page 148 User Manual | 10 - Task Canvas | 148 In the Notification box, type additional details. This info will display in a pop-up when viewing the notification. Finally, choose whether the notification is sent when the block starts or finishes executing. To edit or delete the notification settings, select the block and tap Notify again.
Page 149 User Manual | 10 - Task Canvas | 149 Note: A Count block with the execution state "Count 4" resumes by counting to "Count 5". A Grid block with an execution state "Move to 14" resumes by moving to the 14th position in the grid. A Wait block with an execution state of 20 seconds resumes by counting down from 20 seconds.
Page 150 User Manual | 10 - Task Canvas | 150 While the multi-select mode is on, select one or multiple blocks by tapping them. Task Canvas highlights selected blocks with a blue outline. To deselect a block, tap it again. Note: You cannot access block settings, rename blocks, or change block states in the multi-select mode.
Page 151: Data Management
User Manual | 10 - Task Canvas | 151 Undo/Redo Use the Undo and Redo buttons in the expanded Block Editor Menu to undo or restore actions like creating a block, deleting a block, or modifying paths. Tap Undo to undo an action in the Canvas. Tap Redo to re do an action that was previously undone.
Page 152: Create And Manage Waypoints
User Manual | 10 - Task Canvas | 152 Create and Manage Waypoints A Waypoint defines the pose (position and orientation) of the robot relative to the origin of a Frame. Define waypoints using the Base Frame (at the base of the robot) or a custom Frame. Waypoint defined by the Base Frame Waypoint defined by a Custom Frame Tap NEW in any robot command block waypoint field to...
Page 153 User Manual | 10 - Task Canvas | 153 Linear Waypoint Joint Waypoint a waypoint, the end effector may not move to the expected position. When should you choose this type of When you need the robot to travel the When a straight-line travel to the way...
Page 154 User Manual | 10 - Task Canvas | 154 In the Positions fields, type in new values. Then tap UPDATE WAYPOINT to save. Note: Do not tap UPDATE TO CURRENT POSITION. That button changes the Positions fields to the current robot position.
Page 155 User Manual | 10 - Task Canvas | 155 To make waypoints global, select them on the table and tap Make Global. Global waypoints are accessible to other tasks and apps. If you change a global waypoint, it changes everywhere it is used. Global waypoints have a globe icon next to them in the table.
Page 156: Create And Manage Frames
User Manual | 10 - Task Canvas | 156 To edit a waypoint (change its name or position), select it on the table and tap Edit. You can only edit one waypoint at a time. To remove one or more waypoints from the task, select them on the table and tap Delete.
Page 157 User Manual | 10 - Task Canvas | 157 1-Point Frames 3-Point Frames Description Define a 3D coordinate system based Define a 3D coordinate system based on the position and orientation of the on three positions of the TCP. TCP. How do you create one? Define with values or position the TCP Position the TCP at the "‍rigin", the "X...
Page 158 User Manual | 10 - Task Canvas | 158 Oome frames have icons to the right of their name to show what type of frame it is: • 1-Point Frame: No icon • 3-Point Frame: Coordinate system icon with the number "3"...
Page 159 User Manual | 10 - Task Canvas | 159 To create a 1-point frame, follow these steps: Enter a Name. Choose a Frame from which to define the new frame. Except for special cases, select the Base frame. If the active TCP is not the TCP that you want to use, switch to a different one in the Device Control app.
Page 160 User Manual | 10 - Task Canvas | 160 To create a 3-point frame, follow these steps: Enter a Name. Choose a Frame from which to define the new frame. Except for special cases, select the Base frame. If the active TCP is not the TCP that you want to use, switch to a different one in the Device Control app.
Page 161: Create And Manage Variables
User Manual | 10 - Task Canvas | 161 To reassign the defining frame for selected frames, tap Reassign Frame. Note: Re-assigning the frame changes the defining frame WITH‍UT changing the frame's position. For example, if you change Frame-2's defining frame to be Frame-1 instead of Base, Frame-2's position will not change. Frame-2's position will change if you modify the coordinates of Frame-1.
Page 162 User Manual | 10 - Task Canvas | 162 Note: Variables are unitless in Forge/‍O. The parameter field determines the unit. Variable Manager Use the Variable Manager to create and manage variables. Listed for each existing variable are its Name, current Value, Default Value, and Type.
Page 163 User Manual | 10 - Task Canvas | 163 In the Complex tab, add a list variable for advanced appli cations. A list variable is a series of one or more values of a chosen sub-type (i.e., integer, float, string, or boolean). Each sub-type item has a current Value and a Default val...
Page 164 User Manual | 10 - Task Canvas | 164 "Use" Function Description Take from back The current value of the last item is evaluated. Immediately afterwards, that item is removed from the list. ‍ther items in the list do not move position, and the list size reduces by 1.
Page 165: Running A Task
User Manual | 10 - Task Canvas | 165 To access a variable in other tasks and in the Parameter Manager (on page 104), select it on the table and tap Make Global. A pop-up asks you to confirm your decision. Important: ‍nce you make a variable global, you cannot make it only local again.
Page 166 User Manual | 10 - Task Canvas | 166 • Start Task/ Start Subtask/ Resume is available when a block is highlighted and all devices in Task Oettings (on page 133) are enabled and in OK or RUN modes. All Template blocks must be skipped. •...
Page 167: Using Remote Control Mode
User Manual | 10 - Task Canvas | 167 block. In the table header, tap Disable All to quickly disable all subtasks or Enable All to quickly enable all subtasks. You must have at least one subtask enabled to tap RESUME SELECTED SUBTASKS. When you start or resume a task, the task executes until one of these events: •...
Page 168: Block Glossary
Remote Control Status button replaces the Taskbar's app icons. While in Remote Control mode, there is limited on-screen interaction with the READY pendant. The Remote Control device sends and receives data, based on what signals you configured for its inputs and outputs.
Page 169: Canvas Blocks
User Manual | 10 - Task Canvas | 169 Canvas Blocks The Canvas blocks include Check, Cout, Finish, Math, Oet, Timer, User Decision, User Input, Wait, and Oubtask blocks. The Oubtask blocks allow for multitasking with subtasks. They include, Exit, Otart, Pause, Resume, and Otop.
Page 170 User Manual | 10 - Task Canvas | 170 Check Block The Check block compares chosen parameters or inputs to expected values. If the inputs meet the expected conditions, the task moves on through the bottom path (Checks Passed). If the inputs don't meet the expected conditions, the task moves on through the right path (Checks Not Passed).
Page 171 User Manual | 10 - Task Canvas | 171 By default, a Check block performs the check right away. To make the Check block check continuously for a set period of time, toggle the Enable Timer switch and enter a timer duration. When the conditions are met, the block passes to the bottom path and the timer resets for the next execution.
Page 172 User Manual | 10 - Task Canvas | 172 For example, in the image below we check if the Current Robot Position is approximately at the same position as Waypoint-2, within +/-0.5 mm and +/-1 degree. When you compare linear positions, you enter a Linear Tolerance and Rotation Tolerance. The Linear Tolerance defines the allowed linear distance from the checked position.
Page 173 User Manual | 10 - Task Canvas | 173 Each time the block executes, the count increases by one, then the path taken depends on the count value. The task follows the right Count < path when the count is less than the chosen value.
Page 174 User Manual | 10 - Task Canvas | 174 To repeat a section of blocks with a Count block, add the Count block at the end of the section and Connect the right path of the Count block to the start of the section. Use Count blocks to create repeating loops in a task. Use the defined value to set how many times the loop repeats before moving on in the task.
Page 175 User Manual | 10 - Task Canvas | 175 Expand the Message Type dropdown to choose the pop- up that appears when the task completes, passes, or fails. Math Block The Math block executes mathematical expressions to set the values of variables. For example, use the Math block to increment a variable as a task runs.
Page 176 User Manual | 10 - Task Canvas | 176 The mathematical expressions are defined in the form: [Variable] = [# or Variable] [‍perator] [# or Variable]. The types of operations you can choose from are addition, subtraction, multiplication, division, and modulo (mod). Set Block The Oet block sets the values or states for chosen variables and parameters.
Page 177 User Manual | 10 - Task Canvas | 177 The block can set these values: Type of Variable or Output Set Value Digital output Low, High, Invert, variable value, or digital signal value Analog output Rational numbers, variable value, or analog signal value Float variable Rational numbers, variable value, or analog signal value Integer variable...
Page 178 User Manual | 10 - Task Canvas | 178 In the Exit block settings, choose whether the subtask ex its to the Bottom or Right path of the Start Subtask: Inline block it returns to. Subtask > Start Subtask: Inline Block The Otart Oubtask: Inline block starts an inline subtask of your choice.
Page 179 User Manual | 10 - Task Canvas | 179 In the Subtask Behavior tab, enable the toggle next to Re set values of incremental and stateful blocks to reset all blocks in the subtask before it starts to execute. This resets Count, Timer, Grid, and other state-based blocks before the subtask executes again.
Page 180 User Manual | 10 - Task Canvas | 180 In the Subtask Behavior tab, enable the toggles to: • Restart the subtasks if they were running when this block executes. • Reset the state of counting blocks (like Count and Grid) before the subtask executes again.
Page 181 User Manual | 10 - Task Canvas | 181 Note: If you are calling a subtask from a string or integer variable, select what happens when a variable sub task cannot be found. You can Stop the task (to stop the task as soon as the flowchart encounters an invalid subtask) or Ignore subtask and contin...
Page 182 User Manual | 10 - Task Canvas | 182 ue (to only ignore the invalid subtasks but still exe cute any valid subtasks). Subtask > Stop Subtasks Block The Otop Oubtasks block stops one or more selected subtasks and immediately continues along the bottom path. Use this block to stop subtasks from another subtask when they no longer need to run.
Page 183 User Manual | 10 - Task Canvas | 183 The timer begins when the Timer block is executed, and it continues until the time reaches zero. When the block is executed again, the path taken depends on the timer value. The task follows the right Elapsed <...
Page 184 User Manual | 10 - Task Canvas | 184 When executed, the User Decision block displays custom text and prompts you to choose which path to follow (the bottom path or the right path). When the block is executed, a pop-up pauses execution and prompts you with the custom message and path choic...
Page 185 User Manual | 10 - Task Canvas | 185 User Input Block The User Input block pauses execution and prompts you to choose the values of task variables before moving on. Note: You can choose Float, Integer, and String vari ables in the User Input block.
Page 186 User Manual | 10 - Task Canvas | 186 In the User Input block settings, add variables for you to set when the block is executed. To add a variable to the table, click ADD + and select it from the Variable Oelector. Wait Block The Wait block pauses execution for a defined length of time.
Page 187: Robot Command Blocks
User Manual | 10 - Task Canvas | 187 Robot Command Blocks The Robot Command blocks are available in the block menu for active robot devices. They include robot move blocks, robot I‍ blocks, and other robot command blocks. All robot move blocks share a few common features: The Main Tab Oet waypoints and other robot motion parameters.
Page 188 User Manual | 10 - Task Canvas | 188 The Travel Speed Tab Oet the speed of the motion. Oelect in the dropdown how you want to define the speed. All robots have the option of defining speed by ‍verall Percent (0%-100%) of the ro bot’s maximum speed.
Page 189 User Manual | 10 - Task Canvas | 189 Note: If you have a force sensor listed in the robot's configuration in Device Configuration, enable the "Force exceeded at end of arm sensor" toggle. In the Magnitude field, set the force threshold that would stop the block. The Offset Tab Enable the Move to ‍ffset toggle to offset the motion.
Page 190 User Manual | 10 - Task Canvas | 190 • A Linear move tells the robot to take the shortest path to the programmed TCP pose. Depending on where the robot is moving from, several joint posi tions may be possible for the same TCP pose. •...
Page 191 User Manual | 10 - Task Canvas | 191 Circular Move Block The Circular Move block performs an arc motion (with a constant radius) relative to the robot's position when the block executes. In the Main tab, tap the Intermediate Waypoint and End Waypoint selectors to choose the waypoints that define those points on the arc.
Page 192 User Manual | 10 - Task Canvas | 192 Continuous Move Block The Continuous Move block performs a fluid and unbroken motion through all the programmed positions and relative motions. Use a Continuous Move to program a motion that requires more than one move type or multiple points to define the motion.
Page 193 User Manual | 10 - Task Canvas | 193 In the Main tab, the Target table shows the list of positions and motions that the robot executes. Tap ADD + to select a motion to add to the table. From the dropdown, select an option. Tip: To program Grid or Array Moves into a Continuous Move, look for the Resolve Position to Waypoint...
Page 194 User Manual | 10 - Task Canvas | 194 After programming a motion, it appears in the table on the Main tab. Oelect a single target in the table to edit it or change its order using the Up and Down arrows. To reverse the order of all targets, deselect all targets and tap Reverse Order.
Page 195 User Manual | 10 - Task Canvas | 195 In the Main tab, choose the grid type from the dropdown, either Line (one-dimensional) or Plane (two-dimensional). For a linear grid, choose the start and end waypoints and the number of positions along the line. The block fills in in termediate positions with equal spacing.
Page 196 User Manual | 10 - Task Canvas | 196 Note: When there is a waypoint in the Resolve field, the grid block does not move the robot. It saves the chosen waypoint at that grid position. Then you may use this waypoint in other move blocks, like the Continuous Move. Execute the Grid Move block to update the waypoint with the next position in the grid.
Page 197 User Manual | 10 - Task Canvas | 197 Array Move Block The Array Move specifies a custom list of waypoints that the robot moves to, one at a time, each time the block exe cutes. In the Main tab, the Target table shows the list of targets that the robot moves to during the Array Move.
Page 198 User Manual | 10 - Task Canvas | 198 Set TCP/Payload Block The TCP/Payload block sets the robot's Active Tool Center Point (TCP) and Active Payload. While the task is running, the Active TCP and Payload stay as the values set until another TCP/Payload block is executed. Note: First add the TCPs and Payloads to a robot's con...
Page 199: Forge/Ctrl Blocks
User Manual | 10 - Task Canvas | 199 Use the TCP/Payload block in a task to update the Active Payload when the actual payload at the end-of-arm changes. For example, change the payload after picking up or putting down a part or a tool. Forge/Ctrl Blocks The Forge/Ctrl includes an internal PLC for Digital I/‍...
Page 200: Omart Gripper Blocks
User Manual | 10 - Task Canvas | 200 Smart Gripper Blocks The Omart Gripper blocks include Close Gripper, Open Gripper, Check Part Present, and Granular Control. The Close Gripper block closes the smart gripper fully. The Open Gripper block opens the gripper fully. In each block, the Wait for gripper to finish checkbox adds a de...
Page 201: Force Oensor Blocks
User Manual | 10 - Task Canvas | 201 The Check Part Present block acts as a Check block, but you don't have to edit any parameters. It checks the force exerted by the gripper to see if it is holding a part. •...
Page 202: Clamping Gripper Command Blocks
User Manual | 10 - Task Canvas | 202 Note: To use force in a move block, add a force sensor to the robot in Device Configuration, then find the Force tab in a move block (see Robot Command Blocks (on page 187)).
Page 203: Lifting Gripper Command Blocks
User Manual | 10 - Task Canvas | 203 Note: Make sure you add the proper delay to gripper in Device Configuration and check the wait box in the gripper block. Without the added delay, the task could move on or finish before the gripper completes its action. Lifting Gripper Command Blocks The Lifting Gripper blocks include Grab Part and Release Part.
Page 204: Generic I‍ Device Blocks
User Manual | 10 - Task Canvas | 204 Generic IO Device Blocks The Generic I‍ Device blocks include menus for calling that device's Output Functions and Input Functions. Button Presser Blocks The Button Presser blocks include Press Button and Re lease Button.
Page 205: Pedal Presser Blocks
User Manual | 10 - Task Canvas | 205 Pedal Presser Blocks The Pedal Presser blocks include Press Pedal, Release Pedal, and Relax Pedal. Enable delay to wait for the time specified in the device configuration before the task moves on. Note: Make sure you add the proper delay to gripper in Device Configuration and check the wait box in the gripper block.
Page 206: Chapter 11. Contacting Ready
FREE hands-on courses to help you deploy a robotic system. Support Visit our site for robot startup guides, FAQs, and more. If you encounter a problem and need to talk to someone, reach out to us. • Email READY Robotics: support@ready-robotics.com • Call READY Robotics: +1-833-732-3977...

READY FORGEOS User Manual

Chapter 1. Introduction

Chapter 2. Safety Overview

Chapter 3. READY pendant Overview

Chapter 4. Forgeos Platform

Chapter 5. Settings

Chapter 6. Device Configuration

Chapter 7. Device Control

Chapter 8. Parameter Manager

Chapter 9. Rule Engine

Chapter 10. Task Canvas

Chapter 11. Contacting READY

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