PROGRAMMING THE

MAKER ROBOT
The teach pendant
Moving the robot
Teaching points
 Teaching programs
• The system has to be in TCH mode
• <ID#> TCH <step#><description of program step>
• If no steps have been taught the desc will read, END
OF PROGRAM
• Function:
– MOVE STEP GRIPPER GOSUB OTHER
– OTHER
• REPLACE STEP INSERT DELETE OTHER
• OTHER
– MODIFY STEP COPY CONTROL OTHER
 TCH PROGRAM

MOVE STEP GRIPPER GOSUB OTHER

REPLACE STEP INSERT DELETE OTHER

MODIFY STEP COPY CONTROL OTHER

• MOVE
• DISPLAY
– MOVE PT <xxxx> SPD <yyy> <ABC>
– ABC is motion type
• Functions
– ACCEPT POINT SPEED PTP/CP OTHER
– OTHER
– ACCEPT JI/ST TOUCH blank OTHER
• ACCEPT- when all the parameters are correct the operator pushes
ACCEPT to teach that program step
• ABC consists of:
– Point to point or continuous path (PTP/CP)
– Joint-interpolated or straight line (JI/ST)
– Normal or touch-terminated (TOUCH)
• A touch terminated point stops the robot motion when a specified input
sensor signal is true.
• Eg: MOVE PT 342 SPD 75 SCN
STEP Used to step to a specific step in the program
GRIPPER To teach a gripper operation step
GOSUB Used for calling another program as a subroutine. It invokes a menu which allows choices
such as unconditional subroutine calls, conditional subroutine calls (IF, THEN, ELSE), and
loops

REPLACE Used to invoke various types of motion steps

MOTION Invokes the various types of motion steps
OFFMOVE To move joints or the tool relative to their present position by specified offsets
APP To teach an approach to a point
DEP To define a departure path from a point
INP DLY For teaching various responses to input signals such as delays, interlocks, reacts
BRANCH Invokes the same options as selecting GOSUB
PLT CMD Selects the special functions for operating on pallets
SET REG Allows the register operations such as setting, incrementing and decrementing register
values
INSERT Allows the insertion of steps between other steps
DELETE Delete steps
MODIFY Allows simple modifications to taught steps
COPY Allows the copying of steps
CONTROL Allows operator to set certain system control parameters.
 Teaching Pallets
• 67 TCH SELECT PALLET TYPE
• Function:
– REG PLT IRR PLT
• 67 TCH REG PLT DIM1<x> DIM2<y> DIME3<z>
– Function:
– ORIGIN DIM1 DIM2 DIM3 OTHER
– OTHER:
• COUNT GROUP CONTROL blank OTHER
• ORIGIN –used to define the physical position at which we wish to begin unloading the
pallet.
• DIM1-used to define the number of points along the axis to be unloaded first
• DIM2-used to define points along the second axis
• DIM3 used to define point along the third axis
• REG PLT DIM <n> SIZE <x> IND <q>
• FUNCTIONS:
– ACCEPT SIZE END POS MOVE END INDEX
– SIZE- used to define the number of points along that axis
– END POS- define the position of the last point along that axis
– MOVE END-move the arm to the endpoint if it is already been taught.
– INDEX- set the number which will be loaded or unloaded in the row first.
• COUNT- set the pallet counter.
• GROUP-assign pallet points to the group number
• CONTROL-set control parameters of the system.
 Special motion function
• PLT CMD from REPLACE menu
– SELECT PALLET STEP TYPE
– FUNCTIONS:
• PMOVE PAPP PUT TAKE RESET
• PMOVE- move to a pallet point defined by the present value
of the pallet counter
• PAPP- is an approach to the pallet defined by the present
pallet counter
• PUT- adds 1 to the value of the pallet counter
• TAKE-subtracts 1 from the pallet counter
• RESET-resets the pallet counter to the empty or full value