Station Reteaching Procedure

Commands #

_TREF, _RREF, _FDIFF, _RDIFF, _RETEACH, SAVES, READS

_TREF #

ROBOT AVAILABILITY
ATM

SUMMARY
Teaches the current position as a reference position.

SYNTAX
_TREF [Axis]

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Teaches the current position as a reference position.
Position can be saved to file with SAVES.
Used to assist in reteaching multiple stations when robot has to be dismounted and moved.

See also _RETEACH_, _RREF, _RDIFF, _FDIFF.

EXAMPLE

>_TREF

>

_FDIFF #

ROBOT AVAILABILITY
ATM

SUMMARY
Calculates the difference between the current position and the taught reference position in the Cartesian (XYZ) coordinate system.

SYNTAX
_FDIFF [Axis]

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Calculates the difference between the current position and the taught reference position in the Cartesian (XYZ) coordinate system.

See also _RETEACH_, _RREF, _RDIFF, _TREF.

EXAMPLE

>_FDIFF

>

_RETEACH #

ROBOT AVAILABILITY
ATM

SUMMARY
Reteaches all stations for a specific arm axis applying the difference calculated from _FDIFF in the Cartesian (XYZ) coordinate system.

SYNTAX
_RETEACH [Axis]

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Reteaches all stations for a specific arm axis applying the difference calculated from _FDIFF in the Cartesian (XYZ) coordinate system.
Changes are not saved until SAVES is called.

See also _FDIFF, _RREF, _RDIFF, _TREF.

EXAMPLE

>_RETEACH

>

_RREF #

ROBOT AVAILABILITY
ATM

SUMMARY
Reports the taught reference position in Robot Coordinate system (TRZ) coordinates.

SYNTAX
_RREF

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Reports the taught reference position in Robot Coordinate system (TRZ) coordinates.
Always reports two sets. One for each potential arm that can exist.

See also _FDIFF, _RETEACH, _RDIFF, _TREF.

EXAMPLE

>_RREF
4500, 3500, 241
0, 0, 0
>

_RDIFF #

ROBOT AVAILABILITY
ATM

SUMMARY
Reports the difference from taught reference position calculated from _FDIFF in Cartesian (XYZ) coordinates.

SYNTAX
_RDIFF

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Reports the difference from taught reference position calculated from _FDIFF in Cartesian (XYZ) coordinates.
Always reports two sets. One for each potential arm that can exist.
Units are the same as the R axis unit in Robot Coordinate system.

See also _FDIFF, _RETEACH, _RREF, _TREF.

EXAMPLE

>_RDIFF
3, -1, 3
0, 0, 0
>

SAVES #

ROBOT AVAILABILITY
ATM, CR

SUMMARY
Saves robot parameters to the file PARS-M.DAT .

SYNTAX
SAVES

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Saves robot station parameters to file making changes last after reboot.

This will overwrite the file, make a backup before saving or changes will be irreversible.

See also READS.

EXAMPLE

>SAVES

>

READS #

ROBOT AVAILABILITY
ATM, CR

SUMMARY
Reads robot station parameters from PARS-S.DAT file.

SYNTAX
READS

ROBOT PRECONDITIONS
NONE

USAGE NOTES
Reads and applies robot station parameters from file.

Will overwrite any changes to parameters not saved.
Do not execute while the robot is in motion. May affect the robot’s behavior during the motion.
See also SAVES.

EXAMPLE

>READS

>

Re-Teaching #

Preconditions #

This procedure only works when certain conditions are met.

• The orientation of the X axis (T = 0 degrees) of the robot is close to the same if not exactly the same (error is less than a degree).
  The further away a station is, the greater the effect of the error will be.
• The physical position of the Reference Position does not change, only its coordinates as seen by the robot will change.
• The (Bracket + End Effector) Length to be used does not change.

Procedure #

1. Check gEELength, and set it if incorrect and save.
2. Move robot arm to Reference Position.
3. Teach reference position with _TREF.
4. SAVES to save reference position.
5. Free to remove robot and place back.
6. Move robot arm back to Reference Position.
   Do not use the taught coordinates, they may be different since the robot has moved.
7. Find difference from taught Reference Position with _FDIFF.
8. Apply difference to all stations with specific arm with _RETEACH.
9. Save re-taught stations with SAVES, or undo with READS.

Example #

>.GEELENGTH
0
>.GEELENGTH = 10559

>SAVEP

>MVA Z 6000

>0002

>SOF // Moving robot arm to Reference Position

>SON

>MVR Z -123 
// Move Z to just contact the vertical portion
// of Reference Position

>0002

>_TREF

>_RREF
4312, 5471, 5877
0, 0, 0
>SAVES
--- { POWERING OFF AND MOVING ROBOT OUT} ---
--- { MOVING ROBOT BACK IN AND POWERING ON} ---
>SON

>HOME

>0002

>MVA Z 6000

>0002

>SOF // Moving robot arm back to Reference Position

>SON

>MVR Z -121 
// Move Z to just contact the vertical portion
// of Reference Position

>_FDIFF

>_RDIFF // Reports in XYZ coordinate space, NOT TRZ
5, -3, 2
0, 0, 0
>_RETEACH 

>SAVES

>

Note:

• Reteaching all stations taught for R axis.
• For axis R2, use paramater 1 for _TREF, _FDIFF, and _RETEACH.
• gEELength must be set to the length of the Bracket and End Effector used in robot units ( 1 = 1/1000th of an inch). Or the distance from R axis 0 to End Effector pickup position when R is in overlap.
• Ideal Reference Position can be taught with a Calibrtion Jig where end effector fits just right, so as to reduce error arising from differences in perspective from before and after the robot has been moved.
• It is highly suggested to use slow movement speeds (RSA 1 or RSA 2) when testing, especially when entering and exiting the Reference Position with robot commands (MVA/MVR).