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Self-taught programming course of three-axis manipulator (simple programming of three-axis manipulator)

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How to get started with robot programming

To learn the beginning of robot programming, you should choose the appropriate programming language, which must avoid being too difficult to discourage children’s interest in learning programming. It is recommended to consult Tong Cheng and Tong Mei, which will offer different teaching programs for children of different ages.

The engineering major of robot programming is to cultivate the all-round development of morality, intelligence, physique and beauty to meet the needs of social development, with moral and cultural quality and a sense of social responsibility. master the necessary knowledge, technology, strong practical ability and innovative spirit of industrial robot technology, mainly engaged in robot workstation design, adjustment and transformation, robot automation production line design, application and operation management and other related jobs. High-quality applied professionals with strong comprehensive professional ability. From the point of view of educational institutions and parents, children learning programming is a healthy and beneficial way of education, which is of great benefit in promoting children’s thinking ability, and with the country’s goal of becoming an intelligent manufacturing power in the future, the demand for high-quality programmers will continue to improve in the future, so learning programming from an early age will have more choices and more opportunities for children in the future. Learning children’s programming can improve children’s logical thinking and concentration! ]

To learn more about children’s programming, it is recommended to consult Tong Cheng and Tong Mei. Tong Cheng Tongmei Future Education Research Institute, by bringing together the collective wisdom of a team of education experts with international vision, and combining with the reality of the development of quality education in China, has put forward a competency model of digital citizens and future leaders, as well as a new model of “1x” quality education, which is always committed to helping every Chinese family to build a family education system suitable for their children’s characteristics. [Tongcheng Tongmei Children’s programming experience course, click to sign up for free audition]

Use of three-axis manipulator

Do you want to know the scope of use or operation of the three-axis manipulator? If you need a three-axis manipulator, do not know whether it is suitable for your own production line, it is recommended to find industrial robot manufacturers, such as Boris, Kangdao have CNC lathe manipulators, loading and unloading manipulators, multi-axis manipulators, joint robots, punch manipulators, etc., combined with their own production line customization is better. 、

The working principle of three-axis manipulator:

Manipulator: mechanical hand, also known as do-it-yourself, auto hand can imitate some of the movement functions of hands and arms, and is used to grab, move objects or operate tools according to fixed procedures. It can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely used in mechanical manufacturing and metallurgical departments.

The manipulator is mainly composed of the hand, the motion mechanism and the control system. The hand is a part used to hold the workpiece (or tool). It has a variety of structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type, adsorption type and so on. The movement mechanism enables the hand to complete all kinds of rotation (swing), movement or compound movement to achieve the prescribed action and change the position and posture of the grasped object. The independent movement modes of the motion mechanism, such as lifting, expansion, rotation and so on, are called the degrees of freedom of the manipulator. In order to grasp objects in any position and orientation in space, it needs 6 degrees of freedom. The degree of freedom is the key parameter of the manipulator design, the more the degree of freedom, the greater the flexibility of the manipulator, the wider the versatility, the more complex its structure.

Function keys of three-axis manipulator controller

Emergency stop button: press this key to cut off the power supply, stop all actions immediately, contact emergency stop, rotate and unlock the switch according to the marked direction, the power switch, power switch OFF is set to ON again

3.2 Action possible key: when manual operation, press this key and each manual operation key to carry on the manipulator action. If you press the action key too much, you will not be able to operate manually.

Power supply: set the power supply to the state of ON/OFF.

3.4 stop: automatic operation, continuous step-by-step operation, press this key, the manipulator stops.

3.5 switch operation: indicates the operation mode screen.

3.6 reset: clear the alarm when the alarm light is displayed; in addition, return to the operating mode screen from each screen.

3.7 menu: press this button when you want to display the menu screen.

3.8 help: indicates the help in each setting screen or operation screen.

3.9 take out the lower side: press the take-out side, walking axis to the product forming side; press the falling side, the running shaft to walk away from the product forming side.

3.10 Zhuan: make the manipulator walk down, Zmuri: make the manipulator walk down; YQing: make the manipulator move along the direction of moving mold, Zmuri: make the manipulator move along the direction of fixed mold.

3.11 posture return / action: make the clamp board posture action, return.

3.12 rotation reversion / action: make the clamp board turn, return.

3.13 fixture open / close: make the fixture open and close.

3.14 step forward / retreat: perform 1 step forward and return action in the same order as automatic operation. 4. Operation step 4.1 Boot

4.1.1 Control switch to “ON”.

4.1.2 when semi-automatic production is used instead of a manipulator, the control switch turns to “ON”, or the off-line signal is shorted by a technician.

4.1.3 turn on the manipulator function of the injection molding machine: supporting mold-function-manipulator selection.

4.2 check and confirm the air pressure

4.2.1 check whether the air source and air pressure are above 5kg/cm2.

4.2.2 check whether the function key display lights are normal.

4.3 Select clamp

4.3.1 choose a fixture or sucker according to whether there is a nozzle on the side of the product.

4.3.2 choose the specification and quantity of sucker according to the shape, size and weight of the product.

4.4 fixture, sucker

4.4.1 change fixture

4.4.2 turn off the use switch of the auxiliary arm when the jig on the side of the arm is not in use.

4.5 determine the opening position

4.5.1 adjust the mold opening position, in order to save time, adjust to the minimum mold opening.

4.5.2 adjust the ejection length of the thimble, the thimble should not be too long, it can be ejected smoothly and fall off.

4.6 the product is ejected, but it is not allowed to fall off.

4.7 set the standby position to take out

4.7.1 in the axis setting options, find the removal standby position.

4.7.2 Let the manipulator frame drop slowly, select the appropriate standby position, and remember the position

4.8 set the position of the removal fixture.

4.8.1 attach the fixture or sucker to the product, adjust the sucker or clamp screw to determine the left and right position, so as to adapt to the shape of the product (that is, adjust the position of the sucker to absorb the product), and remember the position.

4.9 set slip position

According to the structure of the product, set the slip position so that the manipulator can safely take out the product and remember the position.

4.10 set the lift position for removal

After the manipulator pulls the product out of the mold, adjust the front and rear position of the manipulator product so that the manipulator can rise safely and remember the position.

4.11 set the location of product packing 1

According to the process requirements, place the product taken out by the manipulator in the required position, and remember the location. 4.12 set the location of product packing 2

4.12.1 Open the mode function and select the packing location 2.

4.12.2 place the product taken out by the manipulator in the required position according to the process requirements, and remember the location. 4.13 step Test confirmation

4.13.1 use step test to check whether each action stroke is OK, which should be confirmed by craftsmen and technicians. 4.14 time adjustment

4.14.1 set the switching speed and time of each cohesion action. 4.14.2 when the mold is fully opened, the manipulator drops rapidly.

4.14.3 during ejection, the manipulator moves forward quickly and sucks or clamps the product. 4.14.4 the manipulator retreats quickly and the thimble returns.

What are the programming steps of the manipulator?

After entering the editing state with EDIT instructions, you can use C, D, E, I, L, P, R, S, T and other commands to further edit. Such as:

1. C command: change the editing program and replace it with a new program.

2. D command: delete the n-line program from the current line, and delete the current line by default.

3. The E command: exit editing and return to monitoring mode.

4. I command: moves the current instruction down one line to insert an instruction.

5. P command: displays the content of the program text from the current line to the next n lines.

6. T command: initialize the joint interpolation program teaching mode, in which the MOVE instruction is inserted into the program by pressing the “RECODE” button on the teaching box once.

Extended data:

Execute instruction

ABORT instruction: emergency stop (emergency stop) after execution of this instruction.

DO instruction: execute a single-step instruction.

EXECUTE instruction: this instruction executes the user-specified program n times, n can range from-32768 to 32767, and when n is omitted, the program executes once.

NEXT instruction: this command control program is executed in a single-step mode.

PROCEED instruction: this instruction implements the execution of the program from the next step after a pause, sudden stop, or running error.

RETRY instruction: the function of the instruction is to rerun the program from that step after a running error occurs at that step.

Source: Baidu Encyclopedia-Robot programming

How to use three-axis programming instructions

Format: F4 (COMM) + command code

CM: clearing drill hole fil

CA: setting of cleaning process parameters and tool library location

CLT: clear process parameters (except current count B)

CLM: clear tool library location setting and current count B

CBRK: clear the record of the broken knife record table

CD: clearing default tool parameter tabl

COMM, N: do not drop down to display previously entered commands

T * *: take a knife (* * represents a number)

T: return the knife on the spindle to its original position

P: machine to parking space

R: the machine moves to zero position of the raster ruler

CT blade: forcibly place the knife on the spindle at the tool location specified by the tool holder.

Change the starting position H value.

H: spindle moving cutter drill position H

Changing the final bit means changing the depth of the drill plate.

M22: pressure foot rising

M23: pressure drop under foot

M26: robot rising

M27: robot drop

M34: mechanical fingers open

M35: mechanical fingers close

M36: enter manual tool change mode

FP****: switch drilling file format (* represents a drilling file format of 4205 4215 4220 4210, etc.)

FV *: switch file quadrants when drilling (1m / m / 8 quadrants)

DMAG*: toggle the display quadrant of the tool library (the HANS- F6L machine is DMAG8, that is, the 8th quadrant cannot be changed)

FAX***.***FAY***.***: input zero offset value

FAIX***.***FAIY***.***: modifies the zero offset value (relative to the original zero)

NOMO: turn off all servo motors

NOMO**: turns off the servo motor specified by * * (column * * can be X Y Z1 Z2 Z3 Z4 Z5 Z6)

MO: turn on the servo motor

LENK: turn on the detection of the tool detector to measure the length of the tool (turn this function off for NOLENK)

TOTO: turn on the broken knife detection function in conductive mode (NOTOTO turns this function off)

BROK: enables the tool breaker detection recording function (NOBROK disables this function)

TC-D: turn off the diameter error alarm function (TCD turns on the diameter error alarm function)

TC-L: turns off the length error alarm function (TCL turns on the length error alarm function)

TC-R: turns off the yaw error alarm function (TCR turns on the yaw error alarm function)

METR: automatic conversion machine coordinates are displayed in metric mode (note that the drill belt in memory must be emptied with CM before conversion

INCH: automatic conversion machine coordinates are displayed in imperial mode (automatic conversion machine coordinates are displayed in metric mode

TMET: automatic conversion of tool parameters and other information is displayed in metric form (can be converted at any time as needed)

TIN: automatic conversion of tool parameters and other information is displayed in imperial form (can be converted at any time as needed)

QUIK***.*** (turn on the fast drilling function and set the height away from the plate, that is, the fast drilling height is *. * *, NOQUIK is to turn off the fast drilling function.

Ctrl+ALT+S: switch to Chinese display

CTRL+ALT+E: switch to English display

This is the end of the introduction to the self-study of the three-axis manipulator programming tutorial and the simple programming of the three-axis manipulator. I wonder if you have found the information you need? If you want to know more about this, remember to collect and follow this site.



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