Rainbow Robotics RB Series, Руководство пользователя

Страница: 409 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
409
2) Initializing the Robot
After connecting to the robot's main controller press the button marked ‘Cobot Init’ to
start the initialization process. Robots go through a series of processes called ‘Power
Set’, ‘Device Set’, ‘System Set’ and ‘Robot Init’. As robot’s initialization process
continues, the white edit box in front of each course turns yellow. Processes that
have been completed turn green and processes that have not been performed remain
red. When all four boxes turn green, the robot's initialization process is complete and
ready for use.
3) Robot Status
The status of the robot can be known from the data received from the main program
in the control box. This data is sent to the main program in response to a request for
"reqdata" on port 5001. The format of the data is passed in the form of the
'systemSTAT' structure in 'CommonHeader.h'.
run mode: Displays the operation mode of the robot. There are real mode and
simulation mode. In real mode, motion commands are actually applied to the robot
and the robot moves. In simulation mode, the motion is performed but the command
is not sent to the robot. The teaching pendant will show the translucent robot moving.
The robot operation mode is represented by the value of the 'program_mode' variable
in 'systemSTAT'. A value of 0 for this variable is real mode, and a value of 1 for
simulation mode.
robot state: Indicates whether the robot is currently moving or in a state capable of
receiving motion commands. The robot state can be known from the value of the
'robot_state' variable of 'systemSTAT'. If this value is 1, the idle state can receive
motion commands. If the value is 3, the robot is moving. Motion commands are
ignored while the robot is in motion. If the value is 2, the robot is stopped due to
unspecified reasons or stopped by the pause command. In this case, it is displayed
as paused in the ‘status’ column.
status: Displays current robot special operation status or abnormal status as follows.
Possible ones are ‘teaching’ if teaching directly, ‘ext. collision’ if stopped by external
collision detection, ‘self-collision’ if it is just before self-collision during operation,
‘paused’ if stopped by pause command, ‘ems’ if input without solution in robot
control algorithm comes in. Power problem or robot control problem will change the
color of the ‘sos’ edit window. This is displayed by referring to the values of
'op_stat_collision_occur', 'op_stat_sos_flag', 'op_stat_self_collision',
'op_stat_soft_estop_occur', 'op_stat_ems_flag' and 'robot_state' in 'systemSTAT'.