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3.4.5.2 High Program
Point the status selection switch to \"MANUAL\", the manipulator enters the
manual page, click the \"High programming\" button to enter the programming page,
where the program can be edited and modified. For detailed operations, please
refer to \"4.3 High program\"
Click the \"action menu\" button in the lower left corner to enter the
action teaching main page, where you can edit various actions. As shown
below:
Click \"axis action\" to enter the following interface:
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Insert: Check the action, select the position to insert, and click Insert
once to insert the target action. (* Note: The next action in the
program to insert the target action must be selected first, that is,
the inserted target action is the previous line of the selected
action)
Set in: After manually controlling the axis to the target position, click
\"set in\" to automatically set the point coordinates of the current
position, and then click\"Insert\" can teach the position of the target
point into the program.
Reference point: After creating a new node in the reference point edit
button page, you can directly reference the existing joint
points by checking the reference point.
Reference address: Check \"reference address\" to directly enter the address
value to be referenced in the axis position box, which
represents the content of the address referenced. 3.4.6 Automatic Mode
Point the status selection switch to \"AUTO\", and the manipulator enters the
automatic page, as shown in the following figure:
In this interface, press the \"START\" key on the manual controller, and the manipulatorwill start running the taught program.
Speed regulation enable: When checked, the global speed can be adjusted.
Follow: When running the program after selection, the current running action will bemarkedby color difference.
Enter module: Only available after checking. After checking, it will follow and jumptotherunning action in the current running sub module.
Single step mode: Single step operation under automatic state.
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Please refer to the following figure for the use method of single step mode:
Single cycle mode: The program goes from the first step to the end of the module.Cycle time: The time that the whole program runs to the end of the module.
Cycle display button: Click this button to display the upper mold cycle time and currentcycle time, as well as the counting status of all counters, timertiming and stacking parameter setting.
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Chapter 4 Manual State
4.1 Manual Operation
4.1.1 Signal Output
The signal output page is shown in the figure. The point text is displayed in theupperpart and the corresponding output point is displayed in the lower part. Sliding pageturning is not supported. You can only click the previous page and the next page to switchthe page. Set the number of IO boards in \"structure parameters\" - \"number of IO boards\".This page will automatically display the points of all IO boards.
Edit: Click the Edit button to enter the output point display editing page. You can selectthe IO to be displayed. Green is display and gray is hidden. Click \"finish\" toexitthe editing page. Display part: Only the IO points selected on the edit page are displayed.
Display all: The point output buttons of all IO boards are display.
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4.1.2 Programmable Keys
In this interface, you can view and use programmable keys.
Programmable key creation process: Click \"High program\" → program selection, click
\"programmable key [0]: Origin\" →click \"new programmablekey\" → enter a new key name → creation is completed(Note:teach the corresponding program on this page after
creation).
How to use the programmable key: Press the edited programmable key once, and
the manipulator will automatically run the
program taught in the key.
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4.1.3 Bench Calibration
P0: starting point position.
PX: position on the X axis.
PY: position on Y axis.Enter the name of the coordinate system and click \"new\"tocreate a new coordinate system. Set P0, PX and PY points on the
workbench.Click the \"OK to modify\" button to convert the coordinates.
*Note: The intersection of lines P0, PX, P0 and PY is 90 °, and the four fingersofthe right hand are held from the X axis to the Y axis, and the thumb shouldface up.
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4.1.4 Address Data Monitor
Address data monitoring: Fill in the address and sampling time to be
monitored, and click start to record the data in the address.
Click export to export to USB flash disk with the name
SystemAddrRecord.log.
Data address: enter the data address to query;
Sampling interval: the time interval between sampling again;
Record length: the maximum length of recorded data is 1000000, and the length
of recorded data is displayed;
Start / stop: click the start button to start recording, click the stop
button to stop recording, and then press start to continue
recording;
Clear: clear the recorded data;
Export: export the recorded data from the host to the manual controller;
Open locally: open the data record file exported to manual control;
Copy to USB flash disk: copy the data record file exported to manual control
to USB flash disk.
*Note: the two functions of \"open locally\" and \"copy to USB flash disk\"
should be exported before use, otherwise the opened data is exported
before.
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4.1.5 Operating Instruction
4.2 Shortcut Button
4.2.1 Citation Point
The reference point interface is as follows: add, replace, delete, saveandclose buttons.
Reference point edit button: Use this button to set reference points.
New joint point: You can select the axis contained in the point position, butnotwithout any axis.
Trial: Press and hold the trial button, and the machine will run to the coordinateposition displayed in the current line.
Replace: Clicking replace will replace the name entered in \"point name\" andthecoordinates entered on the left to the current line, which is used tomodifythe coordinates stored in the current line. After replacement, the fontcolorwill change to light red to mark the modified reference point.
Delete: Delete the current reference point, you need to make sure that thereference point is not used in the teaching program, otherwise the deletionfails.
Save: Save the modified reference point. If there is no modification at present,itwill not be saved. The reference point not used in the teaching program willnotbe saved after restart.
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4.2.2 Counter
Displays the counters used in the current program. The \"target\"
input box of pure count counter is disabled, and the target value of
non pure count counter can be modified. The new counter needs to be
added in \"High program\" - \"action menu\" - \"counter\".
4.2.3 Timer
Displays the timers used in the current program. The \"target\" input
box of pure timer is disabled. Non pure timer can modify the target
value. The new timer needs to be added in \"High program\" - \"action menu\"
- \"timer\".
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4.2.4 Setting
The setting page can display the input, output, counter and timer on the
main page of simple programming, which is convenient to monitor the overall
operation of the system. See \"4.2.5 homepage\" for homepage display.
New input monitoring: Input signals can be added and their names can be
customized. Click Save after adding, deleting and
modifying.
New custom key: You can add Y output and m value intermediate variables to
quickly control the output.
New counter monitoring type: Counter or timer can be selected. When it is a
counter, it can be checked to clear, and the reset
button will be displayed on the main page.
Use custom button in automatic mode: Check the custom button, otherwise you can onlycontrol the user-defined button in manual mode it can becontrolled in automatic mode.
4.2.5 Homepage
Simple programming home page can control the start, pause and stop
of the system, input monitoring, output control, counter and timer
monitoring. The displayed content can be added or deleted in \"4.2.4
settings\". The left side is the input monitoring part, which is green
when input is on and red when input is off. On the right is the display
of timer and counter. The lower part is system control and output
control. The button is green when the output is on and white when it is
off.
Start: Not available in manual mode, but available in automatic mode. After
clicking, a confirmation box will pop up, as shown in the figure below.
Click OK in the confirmation box to start
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Pause: It is unavailable in manual mode and available in automatic state.
After clicking, the system will pause immediately, and the program will
continue to execute when clicking start next time
Stop: Not available in manual mode, but available in automatic mode. After
clicking, a confirmation box will pop up. Click OK in the confirmation
box to stop. The next time you click start, the program will be executed
from the first line
Clear alarm and continue: It is unavailable in manual mode and available in
automatic state. After the alarm, click this button to
clear the alarm and continue running the program. If
the alarm cannot be cleared as the current alarm, it
can not be ignored, and it is necessary to find out
the cause of the alarm.
Clear alarm and pause: It is unavailable in manual mode and available in
automatic state. After the alarm, click this button to
clear the alarm and pause the program. If the alarm
cannot be cleared as the current alarm, it can not be
ignored, and the reason for the alarm needs to be
found.
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4.3 High program
The High program page is shown in the figure. You can teach actions, IO control andother instructions on this page. In the automatic state, the system will execute theminsequence. Please refer to \"4.3.6 action menu\" for instructions.
The teaching program is divided into main program, subroutine 1 - subroutine 8. Intheautomatic state, the main program and other subroutines other than subroutine 8 run atthesame time, and subroutine 8 can run when powered on.For reusable instructions, you cancreate a new module and put the instructions into the module to simplify the operation.*Note: Subroutine 8 is not allowed to teach action instructions.
Modules can be used except subroutine 8.
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Select a line of teaching program, you can display \"trial\", \"modify\",
\"Mask\" and other buttons. Long press the current line to display \"copy\",
\"paste\" and other buttons.
Trial: Keep pressing this key, and the manipulator will run this step.
Copy: Click Copy to open the content selection box for copying, as shown in
the following figure:
*Note: The number entered in the \"selected line\" edit box represents the sequencenumber of the program.
Copy use case: Suppose you need to copy the programs with serial numbers 0 and 1 to waitfor x011 communication. The following operation steps are as follows:
Step 1: Long press the action to start copying, click the copy button, enter 1 in the\"selected line\" edit box, and then click the \"copy serial number to current.
Step 2: Select the next line of the program to be tested and click the \"paste\"
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*Note: If the sentence \"module end\" is copied and passed into the program,
it is invalid. The sentence \"module end\" must be in the last step
of the program.
Paste: Click to paste the copied program.
Modify: Click Modify to open the modify dialog box to modify the program
content.
Shielding: One click means shielding. To cancel, click shielding again.
Insert: Check the action, select the position to insert, and click Insert
once to insert the target action.
(* Note: The next action in the program to insert the target action must be
selected first, that is, the inserted target action is the previous
line of the selected action)
Move up: Click the program to move up to the previous line.
Move down: Click the program to move down to the next line.
Delete: Click to delete this line of program.
Sorting number: Click the number in the automatic sorting program step
sequence.
Save: Click to save all programs. 4.3.1 Reference point
Reference point\" is the same as \"reference point\" on the \"shortcutbutton\"page. Please refer to \"4.2.1 reference point\".
4.3.2 Search
The search page can search the instructions in the teaching programandquickly jump to the instruction line. The page is shown as follows:
Content input box: Fill the keyword to be searched into the search input
box. It is case sensitive. It can be left blank, but
it can't be filled wrong.
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Classification: The search results can be classified into all, action,
IO signal and others.
Search scope: The search scope can select all or specify subroutines,
modules and programmable keys.
Search button: Search for saved programs in the current module number.
Unsaved programs cannot be searched.
Close: Close the search page.
Batch modify: When the category selection action and program selection
are not all, you can use the batch modify function. Click
batch modify to open the following interface
Enter the start line number and end line number. You can batch modify
the coordinates, speed and delay. You can select three methods: fixed value,
increment and magnification.
Fixed Value: Replaces the current input value into the modification
action instruction.
Increment: Increase or decrease the value on the original basis.
Magnification: Multiply the input value on the original basis. Click
\"save\" to finish the modification.
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4.3.3 New module
Click new module and enter the module name to view the module content in
the module drop-down list. Refer to \"4.3.6.13 module\" for calling module
method.
4.3.4 Programmable keys
Click the \"new programmable key\" button to view the programmable keysinthe program drop-down list.
Programmable key [0]: The default is the teaching program executed by the
origin operation, which can be modified or
automatically generated in the origin setting. Please
refer to \"5.3.6 origin setting\".
Programmable key [1]: The default is the teaching program executed by reset
operation, which can be modified or automatically
generated in origin setting. Please refer to \"5.3.6
origin setting\".
On the \"manual operation\" - > \"programmable keys\" page, the programmable key programsother than origin and reset are displayed.
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New programmable key flowchart:
4.3.5 DXF
New DXF: Used to create a new DXF to automatically generate programs.
Track color: When making CAD files, the color of the selected line, that is, thecolorof the running track, should correspond to the color, otherwise it cannotbe read;
Anti collision color: When running, make a mark and a small yellow circle where itneeds to rise to prevent it from hitting the work piece. Ifasmall yellow circle is marked at the rising place in the CADfile,the anti-collision color is selected as yellow.
Pull up height: It is the height to be lifted.
Track smoothing: If checked, you can select to use track smoothing, and there willbemore path speed smoothing actions in the automatically generatedprogram actions. You can click this action to set the smoothing speed;If it is not checked, track smoothing is not used, that is, thereisnopath speed smoothing action in the generated program action.
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The specific operation steps are as follows:
First copy the CAD file to the USB flash disk, then insert the USB flash disk intothemanual controller, turn the manual controller to manual, click programming, click NewDXF,and the following screen will appear:
Select the DXF file to be created, set the track speed, track color, anti-collisioncolor and lifting height according to the situation, and click OK to pop up a dialogbox\"file parsing, please don't pull out the USB flash drive\", and the drawn CAD graphicswillappear automatically after parsing. In the generated CAD drawing, you can view the CADdrawing by zooming in and out and sliding up, down, left and right buttons.Click the\"hideDXF\" button to automatically hide the CAD drawing and display the automatically generatedprogram action to view the program. Click The \"show DXF\" button displays CAD drawings.
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Press this button to enter the following interface:
4.3.6 Active Menu
4.3.6.1 Axis Action
Click
Insert: Check the action, select the position to insert, and click Insert once to insertthe target action.
Set in: When the axis goes to the target position, click \"set in\" and then click \"insert\"to teach the position of the target point into the program.
Synchronization: Select several axes and check the \"synchronization\" button, then theselected axes will move together at the same time during operation.Reference point: After creating a new node in the reference point edit button
page, you can directly reference the existing joint points
by checking the reference point.
Reference address: Check \"reference address\" to directly enter the address
value to be referenced in the axis position box, which
represents the content of the address referenced.
Early end position: Inserting this step in the instruction indicates that the
next action has started when the axis has not reached the
target position when it reaches the early end position.
Use case: If the advance position is set to 200 and the position is set to
1000, the next action will be carried out when the axis moves to 800
(1000-200), and the program of this step will continue to 1000.
Early deceleration position: Insert this step in the instruction to indicate
that when the shaft reaches the early deceleration
position, the shaft decelerates at the set speed.
Use case: If the advance position is set to 200, the advance deceleration speed
is 5%, the position is set to 1000, and the speed is set to 80%. Then
the shaft starts from0-800 runs at 80% speed and 800-1000 runs at 5%.
Stop when the input is on or off or stop immediately: When an
input signal is detected, slow down and stop or stop
immediately.
Case 1: When the program runs to the first sentence, if x17 is
general, axis X will slow down and stop.
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Case 2: When the program runs to the second program, if x17 is
general, axis X will stop running immediately.
The instruction of the program is shown in the figure below:
When reaching the advance position, output on or off: When the distance from the setvalueof the advance position, the signal is output.For example, to outputY15signal when the X axis moves to 70mm, 30 (100-70 = 30) can be inputintheadvance position.
Relative: Move the set distance relative to the current position.
Stop: Check \"stop\" while selecting an axis, and the axis will stop immediately when theprogram runs to this step during automatic operation.
(* Note: This function is only applicable to the axis with speed start)
Speed forward start: Keep moving in the positive direction at a certain speed.
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Speed reverse start: Always move in the opposite direction at a certain speed.
Detection end point & accuracy: Detect whether the actual end point position
and the taught end point position are within the set
accuracy range. If the end point position of the actual
movement and the taught end point position are within the
set accuracy range, it is determined that this step of
action is completed, and the next action can be continued.
If it is not within the accuracy range, Then run this step
until the end position of the actual motion and the taught
end position are within the set accuracy range.
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4.3.6.2 Route
Click
Area 2 is the type of action to insert:
Line 2D (line XY, line XZ, line YZ): The position from the current position to \"setasend point\" in a plane.Keep your posture in a straight line.
Straight line 3D: Walk a straight line from the current position to the \"set asendpoint\" position in space.
Curve 2D (curve XY, curve XZ, curve YZ): In a plane, from the current position to the\"set as middle point\"Position and \"set as end point\" position keep postureand walk an arc.
Curve 3D: Keep the pose one step from the current position to the \"set as the
middle point\" and the \"set as the end point\" in space A curve.
Pose: Transforms from the current pose to the target pose.
Relative line: Offset to the coordinate direction with the current point as
the starting point.
Relative curve: Offset to the coordinate direction with the current point as
the starting point.
Pose straight line: A straight line from the current point to the target pose
to the position set as the end
Posture curve: The curve goes from the current point to the target
posture to the positions of \"set as the middle point\" and
\"set as the end point\".
Pose circle: A circle drawn from the current point to the target pose to
\"set as the middle point\" and \"set as the end point\".
Free path: No track movement, the axis moves and stops at the same time.
Relative joint: Offset in the axis direction relative to the joint
coordinates.
Relative pose line: With the current point as the starting point, u, V
and W maintain a pose offset to the coordinate
direction.
Press this button
to enter the
following
interface:
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Relative pose curve: Taking the current point as the starting point, u, V
and W maintain a pose offset to the coordinate
direction.
Circle: Draw a circle using three known points. *Note: Some actions in the above path can only be realized by using at least threeaxes.Area 1 is the method of setting the coordinate position.
There are two methods of setting:
First,if you edit the coordinate position displayed on the current manualcontroller into the coordinate position editing box, you need to click \"set\" firstpress the \"enter\" button and then click \"set as end point\". If you need to set zero,directly click the \"set zero\" button.
Second,use the reference point, check the reference point selection box,select the \"point\" to be referenced by the drop-down triangular arrow, and finally clickthe \"set as middle point\" or \"set as end point\" button to replace the coordinate valueofthe reference point with the target coordinate value. Please refer to \"4.2.1 reference points\" for the use method of reference points.4.3.6.3 Signal Output
Click the button to enter the following interface:
Output signal insertion method: Select the output point type Y / □board output/intermediate variable / □ time output Y / □interval output y/□interval output (m) → select on / off of output point (□on /□off)→ set delay time → Click\"Save\" → select the position to be insertedon the teaching page, and then click \"insert\".
*Note: Click an output button to turn green, that is, the output point
currently has output.
Y: Wait for the delay before y turns on or off. (only one signal can be controlled)
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Board output: By selecting the board type as IO board or m board, the number
of board ID represents the point on the IO board or m board to
wait for delay for output (multiple signals can be controlled),
as shown in the figure below:
Intermediate variable: A variable value that can be changed.
(only one signal can be controlled)
Use example of intermediate variable: Teach m015 intermediate variable output
in the main program and wait for m015
intermediate variable in the subroutine.
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Teaching of main program:
Instruction of subroutines:
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Time output Y: When the program reaches this step, first make the Y output on,
and then automatically disconnect it according to the set time.
While waiting for disconnection, the program will execute the next
step synchronously.
Interval output Y: Output y according to the action time after the module set
by the interval.
Interval output M: Output m according to the action time after the module set
by the interval.
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4.3.6.4 Signal Detection
Insert the start detection and end detection actions, detect whether
there is an input signal from the start detection action to the end
detection action, and alarm immediately if the conditions are met. As
shown in lines 1 and 3 above.
4.3.6.5 Conditional Jump
Click the button to enter the following interface:
sing
le
clic
k
Press this button
to enter the
following
interface:
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Label usage:
1. Check the \"define label\" option, click the label edit box, and the keyboardwill pop up to edit the name for customization.
2.Insert the tag name from the previous step where you need to jump in theprogram.
3.Check the \"□ use label\" option to enter the condition selection interface:Note: Counter and timer functions will not be displayed on thispageuntil they are added.
4. After editing the conditions, click the \"insert\" button at the positionto be inserted.
Note: The label must be inserted before using conditional jump.
4.3.6.6 Wait
Click the button to enter the following interface:
Insertion method of waiting signal: Select the type of waiting point (x or
intermediate variable) → select the on-off condition of the
waiting point → set the delay time → click the \"save\"
button → click \"insert\" in the next step of the position to
be inserted on the teaching page.
Simple delay: After inserting a simple delay action, the running will
automatically run to this action and wait for the set delay
time before continuing to run the next action.
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Rising edge: Signal from scratch.
Falling edge: Signal from yes to No.
Time limit: When the time limit expires and the signal conditions are not met,
an alarm will be given.
Unlimited time: Wait in the current line until the signal conditions are met.
Confirmation time: When the signal condition is reached and remains unchanged
within the confirmation time, execute the next line, otherwise
continue to wait (* Note: It can only be used when unlimited
is checked).
4.3.6.7 Counter
Click the button to enter the
following interface:In this interface, you can
edit the counter.
Counter classification: Add type 1 counter, clear type counter, set the current valuecounter, minus type 1 counter.
Counter creation method: Select counter type → create counter name →click \"new\" →click\"save\"→ done.
Current: the count value of the current counter. The value can be set according to theactual situation of the user.The first mock exam is set up in the current valuesetting: if the counter used in defining the stack is a self defined counter,assuming that the current value of the counter defined by itself is set to 2,thenthe manipulator starts to pile up from second items when it re runs the firstmode.Target: The target output counted by the counter.
Counter plus 1: Execute the instruction in this line after insertion, and the
current value of the corresponding counter is + 1.
Counter minus 1: Execute the instruction in this line after insertion, and the
current value of the corresponding counter is - 1.
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Counter reset: After insertion, execute the instruction in this line, and the
current value of the corresponding counter becomes 0.
Use address: Enter a value in the input box below. The value represents the
address used by the counter, and the current value of the counter
is the data value in the address.
Use case: If the address 800 = 100, check the use address and enter the value:
800 in the lower input box. Check any counter and insert it into the
teaching page. After saving, switch to the automatic mode and run
automatically. The result shows that the current value of the
selected counter changes to: 100.
Set current value counter: After checking the set current value, directly
enter the value in the input box under the use address, it means
that the value is the current value of the counter; If the use
address is checked after setting the current value, the value
entered in the input box is the value, and the value under the
address is the current value of the counter. The instruction is
shown in the figure below:
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4.3.6.8 Time
Click
If the timer starts the first mock exam, it starts running automatically when thetimeris running, and the timer does not count or zero when it reaches the target value. Ifresetstart is selected, it means that the timer will be cleared and timed again when it reachesthe target value and runs to this action; When the automatic reset function is selected,the timer will be reset automatically once when the timer is timed. When it runs to thisaction, it will start to count again.
Timer creation method: Create a counter name → click \"new\" →click
\"save\". After checking the ID and timer buttons and
selecting their types, click \"insert\" in the next step
of the position to be inserted on the teaching page.
Current: The time value of the current timer. The time value can be set
according to the actual situation of the user.
Target: The target time of the timer.
After the \"function\" button is checked, the following functions
can be selected:
Single point output: Output or disconnect at a y value point on the IO
board after the timing time in the timer expires.
Whole board output: After the time in the timer expires, select an IO
board in the IO board column to output or disconnect
all y values on the whole IO board.
EU output: output or on-off at an EU point on the EU board after the timing
time in the timer.
M-point output: When the time in the timer reaches a certain m-value point on theMboard, it will be output or disconnected.
M board output: After the time in the timer expires, select an M board
in the IO board column to output or disconnect all m
values on the whole m board.
this button to enter the following interface:
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Detection input: After the timing time in the timer expires, detect whether
there is a signal at an x input point on the IO board. If it is
detected that the conditions are not met, alarm immediately. If
the target value of the teaching timer is 5, the detection
input X25 is on. When the timer time reaches 5S in automatic
operation, the X25 signal will be detected. If there is no
signal input for X25, the alarm will be given immediately.
Reset timer: The timer will be reset when it runs to this action
(it will be re timed only when it runs to start the timer
action).
Pause timer: When running to this action, the timer will pause the timer
(it will continue only when running to start the timer
action)Timing).
4.3.6.9 Synchronization / Smoothing
Click the button to enter the following interface, including synchronousaction and smooth action.
Synchronization function:
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The start and end of synchronization are inserted before and after a program,indicating that the program is combined and moves at the same time.
*Note:
1.Synchronization cannot be nested.
2. The jump cannot use the synchronization function.
3. Synchronization start and synchronization end must be combined. Ifthereis synchronization start, you must teach another synchronization end.4. Conditions can use the synchronization function.
Smoothing function:
Function: Used to adjust the speed of the connecting point when
walking straight line and arc.
Scope of application: Only applicable to straight line and curve motionin the path.
Smoothing level: The higher the smoothing level is, the larger the arc is.Themaximum is 9 and the minimum is 0. When the smoothing levelis0, it is not smooth
Start speed: Inserted between straight line and curve statements. If
the speed of the previous sentence is less than that of
the next sentence, the start speed setting is the same
as that of the next sentence. If the speed of the
previous sentence is greater than that of the next
sentence, the starting speed setting is the same as that
of the previous sentence.
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4.3.6.10 Notes
Click the button to enter the following interface:
Annotation means marking. When users teach many programs, it will look
messy if there are too many programs. At this time, corresponding annotations
can be made before and after different programs to facilitate problem finding.
Note editing method: Click in the blank to open the text editing box →edit the name and click \"save\" → select the next line of the
position to insert and click \"insert\".
4.3.6.11 Stack
Click the button to enter the stack editing page, as shown in thefollowing figure:
The stacking types are classified into five categories: General stacking, packingandbox stacking, data source stacking , stacking,rectangular material tray.
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1.General stacking
General stacking can be divided into two categories:
1).Rectangular shape, as the name suggests, can stack square items;2).The offset stack can be stacked into a diamond shape or on aninclined plane (Z axis offset).
2.Operation method of stacking moment shape:
1)First click the \"new\" button to create a new stack name
or open the created file name.
2)Click \"→\" to enter the stacking editing interface.
3)Set the starting point coordinates and spacing.
There are two settings:
Use the three-point method: the three-point method is to automatically
calculate the offset and spacing by using the three
points already set.
Step 1: Click the \"three-point method setting\" button in the manual state
to enter the editing page as shown in the figure below.
Step 2: Move the manipulator to the stacking starting point in the manual
state, and then click the \"set\" button to set the current coordinate
value into the coordinate editing box of each axis.
Step 3: Move the manipulator to the nth point in the X axis direction, and
then click the \"set\" button to set the coordinate value into the X and
Y coordinate editing boxes. Then move the manipulator to the nth point
in the Y axis direction and click The \"set in\" button sets the
coordinate value to the X and Y coordinate edit boxes.
Step 4: Enter the value of N in the n value input box
Step 5: Click \"OK\" to return to the previous page
for other settings.
Do not use the three-point method: Calculate the spacing manually.
Step 1: After entering the interface shown in the figure below, move the
manipulator to the starting point of stacking in the manual state, and
then click the \"set\" button to set the current coordinate value into the
coordinate editing box of each axis.
Step 2: Manually measure the spacing between points in each axis direction and
edit the spacing value to the corresponding edit box.
Step 3: Set the stacking direction of each axis. The positive direction refers
to the direction of axis position + (press the axis on the manual
controller)The reverse direction refers to the direction of the axis
position -.
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4) Set arm, stack count, sequence, counter and running sequence.
The interface is shown in the figure below:
Arm selection: When six XYZUVW axes are used, arm 1 is the XYZ axis stack, arm
2 is the UVW axis stack, arm 3 is the ZUV axis stack, and arm 4
is the XYW axis stack. The arms to be stacked can be selected
according to the situation.
Count: Set the number of stacking points on the axis.
Operation sequence: Set the sequence of operation when stacking each axis.
Counter selection: \"The self\" indicates that the program runs the first mock
exam, and the default counter of the system has been
increased by 1. Custom counter (can be set in \"action
menu\" → \"counter\").
5) Click the \"save\" button after editing the data.
6)Tick √ \"use stack\", select use stack in \"stack\", set the stacking
speed, select a good position in the program, and click \"set in\" to
edit the stack into the instruction.
7)If you use a custom counter, you should insert the stack counter plus
1 in the teaching process, otherwise the counter will not count.
Operation method of offset heap:The offset stack can be stacked in a diamond shapeoronan inclined plane (Z axis offset)
1)First click the \"new\" button to create a new stack name or openthecreated file name.
2) Click \"→\" to enter the stacking editing interface.
3)Check the \"use offset\" option.
4) Set the starting point coordinates and spacing.
There are two methods to set the starting point and spacing of diamond stacking:
Use the three-point method: The three-point method is to automatically calculate theoffsetand distance by using the three points already set. Step 1: Click the \"three-point method setting\" button in the manual state to entertheediting page as shown in the figure below.
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Step 2: Move the manipulator to the stacking starting point in the manual
state, and then click the \"set\" button to set the current coordinate
value into the coordinate editing box of each axis.
Step 3: Move the manipulator to the next point in the X axis direction, and
then click the \"set\" button to set the coordinate value into the X and
Y coordinate editing boxes. Then move the manipulator to the next
point in the Y axis direction, and then click the \"set\" button to set
the coordinate value into the X and Y coordinate editing boxes.
Step 4: Click \"OK\" to return to the previous page for other settings.
Do not use the three-point method: Manually calculate the offset distance and
spacing of each axis.
Step 1: After entering the interface shown in
the figure below, move the manipulator
to the starting point of stacking in the
manual state, and then click the \"set\"
button to set the current coordinate
value into the coordinate editing box of
each axis.
Step 2: Manually measure the spacing and offset
between points in each axis direction,
and edit the spacing and offset values
to the corresponding edit box.
Step 3: Set the stacking direction of each axis.
The forward direction refers to the
direction of axis position + (it can be
identified by pressing the axis key on
the manual controller) and the reverse
direction refers to the direction of
axis position -. X,Y Offset effect.
The effect diagram of X offset is as follows. The left is not offset,andthe right is the effect after X offset.(left) offset front (right) offsetbackThe effect diagram of Y offset is as follows. The left is not offset, andthe right is the effect after X offset.
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Slope stacking starting point and spacing setting method:
Step 1: Move the manipulator to the stacking starting point in the manual
state, and then click the \"set\" button to set the current coordinate
value into the coordinate editing box of each axis.
Step 2: Set the offset distance in the Z axis direction (the default is to
offset Z in the x-direction). If you want to offset Z in the ydirection, check the \"offset Z in the y-direction\" option.
Step 3: Set the stacking direction, count, sequence, counter and operation
sequence.Direction: positive, axis position + direction, negative,
axis position - direction. Count: sets the number of points stacked
on the axis.Operation sequence: set the sequence of operation when
stacking each axis.Counter selection: \"the self\" indicates that
the program runs the first mock exam, and the default counter of the
system has been increased by 1. Custom counter (can be set in
\"action menu\" → \"counter\").
Step 4: After editing the data, click the \"save\" button.
Step 5: Check √ \"use stack\", select use stack in \"stack\", and set the
stacking speed. Select a good position in the program and click \"set
in\" to edit the stack into the instruction.
Step 6: If you use a custom counter, you should insert the stack counter
plus 1 in the teaching process, otherwise the counter will not count.
Use example of slope offset stack:
Suppose you need to stack four circles on the following slope
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Teaching page setup:
*Note: 1. Because the counter is a custom counter, you need to teachone more sentence after stacking, and the counter is increasedby 1;
2.If the counter is full, if you need to restart after it
is full, you need to use conditional jump to reset. The
setting of conditional jump page is shown in the following
figure:
General stacking examples:
Known conditions:
1.The size of the small square is 100*100*100(mm).
2.need to stack 3 products in XYZ direction, the total number of productsinthe box is 27.
3.The distance between front and back, left and right, up and down is 20mm.4.Use custom counter, create a new counter called \"box stack counter\" plus1counter in the counter.
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The specific settings are shown in the figure below:
Step 1: First customize a counter.
Step 2: Enter the stacking page and set as shown in the figure below. Allcoordinates of the stacking starting point are set to 0.
The editing of the program is shown in the following figure:
The final stacking effect is shown in the figure below:
*Note: The serial number marked in the figure below indicates the orderofheap products
Stack start point
2.Packing and stacking
Packing and stacking methods:
1.Select the box and box stacking option.
2. Click \"→\" to enter the stacking editing interface.
3. First click the \"new\" button to create a new stack name.
4. In this interface, set the spacing, quantity, sequence, directionand counter selection between products in the first box.
5. Click \"→\" to enter the next editing interface, which setsthespacing, quantity, sequence, direction and counter selection betweeneach stacking box.6. Set all data and click the Save button.
6. Tick √ \"use stack\", select which stack to use in \"stack\",setthestacking speed, select a good position in the program, and click\"set
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in\" to edit the stack into the instruction.
7. \"Use offset\": when checked, offset the set distance from theprevious stacking point.
Case stacking example:
Known conditions in the box:
1.The size of the small square of the article is 100 * 100 * 100 (mm).
2.Three products need to be stacked in the XYZ direction, and the totalnumberof products in the box is 27.
3.The distance between front and back, left and right, up and down of theproduct is 20mm respectively.
4. The counter uses a custom counter, and a new counter called \"bin stackcounter\" plus 1 is created in the counter.
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The teaching page is as follows:
Known conditions outside the box:
A total of four boxes will be stacked.
It is necessary to stack 2 boxes in the positive direction of X
axis, 2 boxes in the positive direction of Y axis and 0 boxes in the
positive direction of Z axis. The stacking sequence is: X → Y→Z.
The distance between boxes is 500mm, and the upper and lower
distance is 0mm.
The teaching page is set as follows:
The editing of the program is shown in the following figure:
The final stacking effect is shown in the figure below:
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3.Data source stack
Data source stack Usage:
1.Select the data source stack option.
2. First click the \"new\" button to create a new stack name.
3. Click \"→\" to enter the stacking editing interface.
4. Select the data source type. The data source type is divided intotwotypes of 1)irregular points (irregular stacking). If this optionisselected, click \"edit point\" to enter the edit point box and edit2)special user ID for the position.
5. Tick √ \"use stack\", select which stack to use in \"stack\", set thestacking speed, select a good position in the program, and click \"setin\"to edit the stack into the instruction.
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The data source type option is \"irregular point\", and then click the
\"edit point\" button to enter the point editing interface, as shown in the
following :
Replace position: Click the edited position and click the \"replace
position\" button once to replace the old
coordinate position with the current position.
Synchronous replacement: If the user has a position drawing and the
starting coordinates of the drawing are
inconsistent with the origin coordinates of
the manipulator, synchronous replacement can
be used to easily set the position of the
drawing into irregular points.
The operation method when using the six axes of XYZUVW is as follows:
1. Edit the target points first. Suppose you need to edit 5points,as shown in the figure below:
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2.Click the first point to change the coordinate value of the current point tothecoordinate value of the drawing origin (the first point), and finally click save,as shown in the following figure:
Special user ID display interface:
Examples of irregular stacking:
Take stacking 6 irregular points on a horizontal plane as an example.Setsix positions on the point editing page and select the counter to completethe setting. The specific setting steps are as follows:
1. Enter the following interface, drop down the triangle arrow of datasource and select \"irregular point\".
2. Click the \"edit point\" button to enter the edit point box and exportsix positions.
3. Select the counter type. The default is self counter.
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The stacking effect is shown in the following figure:
Automatically generated points can be viewed by clicking \"edit points\"Finally, click the \"save\" button and insert the stacking action into the main program.
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4. Pallet stacking
Stacking Stacking method:
1.Select the data source stack option.
2.First click the \"new\" button to create a new stack name.
3.Click \"→\" to enter the stacking editing interface.
4.Click \"Edit style\" to enter, design the desired stacking style, and
then define the stacking. The specific methods for editing styles
and defining stacks are as follows:
Edit style:
1.Set the area origin, that is, the starting position.
2.Click new style, and \"style 0\" will be displayed below. Click
new style again, and \"style 1\" will be displayed, and so on.
3.Enter the area width and item length and width.
4.Click the new item, and the first item shape will appear in the
white edit box. You can click the up, down, left and right
arrows in the lower right corner to move the newly created item
to the desired position, and then click the new item to
automatically generate the same item. Each time you click the
new item, 0,1,2,3 will appear in turn, Each item is placed in
each position as needed, as shown in the square below.
5.Save the style and close.
*Note: 1.There can be multiple styles, which can be set as needed.
2.Before creating a new item, check the direction of the item that can be rotatedby rotating 90 ° to facilitate editing the required type.
3.X1, X5 and X10 are the speed of moving articles, and the direction
key is to control the moving direction of articles. Check X1 to
move articles the slowest, X5 to move articles faster and X10 to
move articles the fastest.
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Define stack:
1.Edit stacking layers
2.Select the style, edit the height, counter and running order, and then save.3.Check use stack and insert the stack into the corresponding position of the program.*Note: The above stacking examples all use the XYZ axis.
4.3.6.12 Custom alarm
Click the button to enter the following interface:
Select the alarm number and click the \"insert\" button to insert
the alarm into the program. When the program runs to the \"alarm
program\", the manipulator stops running and the alarm content pops up.
*Note: The user-defined alarm content can be modified by the word
change tool. The alarm number range is 9000-9999. Please
refer to \"5.4.4 word change tool\" for details.
