Is it possible to start the robot automatically and have it ready and waiting for a command to begin a process? I would like to just power up the robot and be ready for an operator to touch a button to start assembly.
Thanks!
Yes it’s possible with system inputs.
Check motors on and start.
I’m not sure I follow - can you please elaborate?
It is all spelled out in the technical reference manual-System parameters.
I believe I have the input device configured, however, I am not sure how to create the variables and program to have this work. Are there proram examples for this in the manual or another document?
I can see the input turning on/off in the IO monitor screen on the Flex Pendant.
Is this the only way to do this?
-Action “MotOnStart”
is there an action to get the Smart Hands calibrated?
A best practice is to set up a series of system signal inputs, combined with system signal outputs which will acknowledge that the robot is in the commanded state. For example, the PLC should first see that the run chain is OK, the robot is not faulted, there are no execution errors or otherwise no faults and that the robot is in automatic mode. The motor on input is given, and then wait for motor on state, then start system input, wait for program is running. At that point the handshakes may begin for what tasks the robot should undertake.
As far as the calibration goes, I cannot help you as I have not worked with the Yumi. Sorry.
I understand the theoretical concept of your point, however, I do not know how to implement this. Where in the Rapid program do I create these events?
Is there a tutorial that outlines the specific steps required to achieve this? For example, just to get the motors to turn on? Maybe some screenshots of where/how to configure this?
It is not done in rapid, they are inputs that you must map, and specifically designate them as system inputs. Same for the outputs. Is there a PLC involved? Do you have robotstudio? In the help tab you can access the manuals.
I greatly appreciate your response.
I currently do not have a PLC, just one touch button connected to the robot. I do have Robot Studio: RobotStudio 2022.1 (64-bit)
Version 22.1.9826.0
I do have the manuals, however, the System Parameters manual does not offer examples of how and where to setup these inputs. So far, I have been able to program the robot moves, and create a program for the assembly sequence we are testing. It is done in Half-Sync mode. When I power up, I use the Flex Pendant to calibrate the gripper hands, then turn the motors on, and finally set the PP to main for the left and right arms. At this point, I can run the program by pushing the Start button on the Pendant.
My goal is to get this all to happen automatically so I can have an operator just touch the button I have wired to the robot.
I have watched several tutorials on Youtube, however, there’s not a lot specifically focused on the two-arm YUMI.
You are welcome. I was remiss in forgetting to steer you to the Robotstudio operating manual. It will show you how and where to configure your signals. If you are merely hardwiring buttons, that’s fine, but I would suggest at least several for other actions such as stop, at a minimum.
I created a new System Input and the Signal List that drops down only shows a handful of selections; mostly related to sensors.
As far as the Actions - are there any actions to calibrate the YUMI hands?
How do I get it to go to Auto Mode and Running, and program ready for execution?
The signals will only be there if you have defined them. If you have an IO board and have wired the button to it, then you map it to where you physically connected it on the board.
Again, I have not worked with the yumi, so I do not know about the hand calibration. Most often, there is a keyswitch to put it into auto.
I am trying to understand the steps I would need to take to have this YUMI power up and be ready when a pushbutton is activated.
I was able to run this line of code which calibrates the YUMI hands: g_Calibrate /Grip
In order for the program to be in Auto Mode and able to start, what do I need to configure?
I do realize I need a separate System Input for an Action.
Is this the order I would need to configure?
1. PP to Main
2. Motors On
3. Start (Auto Mode)
Would these System Inputs be a signal from a separate PLC?
Is there any way to have the YUMI do any of this automatically?
Where do I find the signal Run Chain OK?
Is Start the same as Auto Mode?
Motor on input – is this only possible after the program begins execution?
Motor on state – where do I find this?
Thank you!
The inputs most often come from a PLC which controls a robot and the associated workcell devices. However, it could be just a box with buttons for the operator to press. Of course the buttons have to be wired to the appropriate input in the robot controller.
I personally dislike PPtoMain. Run chain OK ought to be a safety signal. Start is not the same as auto mode. Auto mode is a state, and start is a signal. Program execution cannot begin until the motor on state has been achieved. You need to define a signal for Motor on state and designate it as a system output.
In my testing, I did setup an input and confirmed it was turning on and off.
I then used that input as a System-Input and configured the Action as Motor On, however, once I turned on the robot and triggered the input, it did not turn the motor on. Is there a certain state that the robot must be in to accept System Inputs? Are there other Actions that need to be performed first?
Yes, it must be in automatic mode. Run chain must be OK.
And what is VP_MODEKEY? How is this used?