Connecting to the Robot Controller
The first step in programming a DENSO robotics application is the initialization of the robot and its parameters. Open a connection to the robot controller by using the Denso-Open VI and specifying the IP address of the controller and how many axes the robot has. To find the IP address of the robot’s controller, navigate to Settings»Communications Settings»Address on the DENSO teaching pendant. Note that you must add the IP address of the PC or real-time target connecting to the robot controller as a valid client in the robot’s communications setting menu as mentioned above. The Denso-Open VI options for number of axes are 6, 5, 4, and Undefined. You do not need to differentiate between different models of each robot that have the same number of axes. For example, you can run some programs written for a VS series six-axis robot using a VP series six-axis robot without changing any LabVIEW code.
You can set two different robot speed types within LabVIEW: external and internal. External speed is most often used to control the variations between moves once deployed. For instance, the robot may need to move at a slower speed while assembling a part, but it can move at a faster speed when returning to pick up another part. After the robot has placed the part or before it picks up a part, simply call the external speed VI to set the current desired speed. Internal speed is commonly used for testing purposes. If a test needs to be completed at 25 percent speed, you can set the internal speed at 25 and all the velocities across the robot’s movements are scaled back to 25 percent of their value. Otherwise, you need to go into the code and set each speed to be 25 percent of its original value. This can be tedious because some applications require a large variety of speeds for various movements. For safety, set the internal and external speeds after starting robslave.pac to ensure the robot moves at the correct speed each time you run the program.
After opening a connection to the robot controller, power is not turned on to the robot until you call the Denso – Servo – Set ON-OFF VI. Call this VI with the motor status input set to Motor On before sending any move commands and change the motor status input to Motor Off after all movement is completed.
Work and Tool
With DENSO robots, the user can set the current tool, or end effector, which is attached to the end of the robot. With this feature, changing the end effector does not require a complete change in programmed positions. Instead, this feature automatically offsets the movements to reach the same target position based on the parameters of the end effector being used. The coordinate system, or work area, defines the absolute positions when commanding the robot using Cartesian and Trans coordinates. The ImagingLab Robotics Library for DENSO allows the user to set and edit the current tool and work area as well as add new tools and work areas using the VIs shown in the screenshots below. These screenshots show how to set the current tool/work and new values for a specific tool/work, but you can change the input from Set to Get to return the current values and settings.