Transformations in V , VAL3, and TPP

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Transformations in V, VAL3, and TPP

• Sebastian van Delden
• USC Upstate
• svandelden_at_uscupstate.edu

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V
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Defining Transformations

• The built-in V trans function creates a new
  transformation
• trans(X, Y, Z, Yaw, Pitch, Roll)

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Related V Functions

• set curpos HERE
• The here function returns a transformation that
  represents the current location of the tool frame
  (NOTE set needs to be used to populate location
  variables).
• decompose curvals curpos
• The decompose function can be used to return the
  6 position values.
• dx (location)
• Returns X value of location
• dy (location)
• Returns Y value of location
• dz (location)
• Returns Z value of location
• inverse (transformation)
• Return the inverse of its parameter

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Related V Functions

• RX(angle)
• Create a pure rotation transformation of angle
  degrees around X.
• RY(angle)
• Create a pure rotation transformation of angle
  degrees around Y.
• RZ(angle)
• Create a pure rotation transformation of angle
  degrees around Z.
• SHIFT(transformation BY x_shift, y_shift,
  z_shift)
• Return a transformation resulting from shifting
  the translation values of the transformation
  parameter.
• scale(transformation BY factor)
• Returns a scaled transformation

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Applying Transformations

• Transformations can be multiplied together using
  a colon() to create a new location.
• move trans(10,2,30,90,0,0)rx(30)a
• ORDER MATTERS
• move rx(30)trans(100,0,0,0,0,0)
• Make a 30 degree rotation around robot world X
  and then translate 100 mm down this direction.
• I.e. rotation happen around world frame
• move trans(100,0,0,0,0,0)rx(30)
• Translate 100 mm down the original world X, and
  then a 30 degree rotation
• I.e. rotation happen around tool frame

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Defining Tool Transformations/Frames

• The tool frame is
• located on the tool
• flange.
• Usually the tool frame
• is moved to an
• appropriate location in
• the tool.
• Allows for better tool control
• tool trans(X,Y,Z,Yaw,Pitch,Roll)
• X,Y,Z,W,P,R are manually determine by user.

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Tool Transformations

• IMPORTANT Always assign the tool transformation
  before you teach points AND before you visit
  those points.
• All motion instructions after the tool trans
  declaration use that tool frame.
• The tool can be redefined at any point in the
  program with another tool trans statement

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Tool Transformation Example

• What is the tool trans for this tool?

Original tool frame on flange
Desired location of tool frame
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Defining Generic Frames

• A coordinate system, or frame, can be created in
  V by teaching 3 locations
• An origin, origin.
• A location on the X axis, x.
• A location on the Y axis, y.
• set f frame(origin, x, y, origin)
• The first parameter is where X and Y cross. This
  is usually the origin, but you can move this up
  or down.

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More on Frames

• Be careful when moving to a frame.
• Consider trying to touch the origin of the frame
  in the picture with the tip of tool.
• move f
• Will crash the arm in the box
• move ftrans(0,0,0,0,180,0)
• Will align Zs properly

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Approaching and Departing Locations

• appro(A, 50) or appros(A,50)
• Go to a location 50 mm above A, where above
  is along the Z axis associated with A
• depart(50) or departs(50)
• Move 50 mm away from the current location along
  the locations Z axis.

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VAL3
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Defining Tool Transformations/Frames

• Any number of tool transformations can be defined
  as global variables

1. Cursor to flange 2. Press New Key - Give
the tool transformation a name, for example,
mytool
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Manually Enter X, Y, Z, W, P, R
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Tool Transformation and Motion

• Every motion instruction must include a tool
  transformation as a parameter
• movej(somePoint, mytool, motionDescription)
• movel(somePoint, mytool, motionDescription)
• movec(viaPoint, somePoint, mytool,
  motionDescription)
• No guesswork!

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Defining Transformations

• Transformation Variable trsf enables to make
  computation on Cartesian points
• Ex Approach on point, Shift in pallet, Compose
  a new point, .
• 6 numeric field x, y, z, rx, ry, rz
• If trsf trShift is defined, two possible ways to
  populate it with values
• trShift0,0,-100,0,0,0
• or trShift.x0 trShift.y0 trShift.z-100
  trShift.rx0 ...

Not possible to make motions on trsf !! Used
ONLY for computation on Cartesian !!
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Apply a Transformation using APPRO
POINT ? appro(POINT,TRSF) APPRO computes a
Cartesian point related to a point on which is
applied a transformation
POINT p POINT pPick TRSF trShiftz NUM
nDistance100 are defined trShiftz0,0,-nDistan
ce,0,0,0 pappro(pPick,trShiftz) movej(p,tGrip,m
Fast)
Or movej(appro(pPick,trShiftz),tGrip,mFast)
Or movej(appro(pPick,0,0,-100,0,0,0),tGrip,mFas
t)
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Transformation Example 1
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Transformation Example 2
(Blend off)
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Defining Generic Frames
Importance The robot is in production, The
application is working at full capacity, but .
Joe is driving the forklift and ... !!!!
DISASTER !!!!! one day for re teaching
locations.. Except if ...
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Frame Creation

• Local Coordinate system
• to make points re teaching easier
• used to duplicate locations
• shift of points in a pallet

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Frame Teaching

• Defined with 3 points to teach
• Use a precise tool pointer
• Define this tool as current
• Teach points as far as possible each other (
  accurate)

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POINTS IN A FRAME

• Teach points using the frame so that they are
  created in the tree branch of the frame.
• During teaching coordinates are displayed in
  frame reference
• For the move instruction, it is not needed to
  specify the frame
• movej(pA ,tGrip, mFast)

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Setting a Frame in the Program
nError setFrame(pOrigin, pX, pY, fRef)
3 points O, X, Y
Frame to compute (A Pass-by-Reference Parameter)
Error Code 0 no error -1 ptX too
close to ptOrigin -2 3 points are nearly
aligned
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Compose can be used to define a new point in the
frame
Compose(point,frame,trsf) compute a point
shifted by trsf expressed in frame
pcompose(pFirst,fPallet,160,50,0,0,0,0) movel(p
,tGrip,mSlow)
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Using 2 Identical Frames

• To use a point with same coordinates in 2 frames
  
• Create a point in each frame
• Teach one of the point
• Copy trsf of point in second one

pRef2.trsfpRef1.trsf
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TPP
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Defining the Tool Transformation/Frame

• The tool coordinate system is defined by using
  the frame setup screen or changing the following
  system variables.
• Ten tool coordinate systems can be defined. The
  desired one can be selected.
• MNUTOOL 1, i (Frame number i 1 to 10) is
  set the value.
• MNUTOOLNUM group is set the used tool frame
  number.
• Three ways to set a tool frame.

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Navigate to the Tool Offset Menu

• Press the MENU key on the teach pendant and then
  navigate to SETUP -gt FRAMES.

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You can define up to 10 tool frames

• Select the one you want to define and click
  DETAIL. SETIND sets the current tool frame.

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Choose which method you want to use to define the
tool frame
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Direct (Manual) Method just type in the X, Y,
Z, W, P, R values
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Three Point Method

• Defines the only X, Y, Z location of the tool
  center point (TCP).
• Teach three points that approach the TCP from
  different angles
• The bigger difference in the angles the better.
• Use a stationary point.
• There is no built-in three point method in V
• Exercise Figure out how to do this in V/VAL3 ?

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The Three Point Method Idea
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Think about the Geometry/Math
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(No Transcript)
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TPP walks you through the three point method

• The three points to be taught

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Six Point Method
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Setting the Tool Frame in a Program

• A taught location can only be revisited if the
  active tool frame is the same one it was taught
  with.
• The program will generate a run time error if a
  different tool frame is active.
• The tool frame can be changed in the program
  using the UTOOL_NUM command. To find this,
  press INST, then

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Setting the Tool Frame in a Program

• Set the appropriate tool frame before the motion
  instruction
• Taught using tool frame 2
• Taught using tool frame 1

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Defining Generic Transformations/Frames

• In TPP, you can define offsets which can be
  applied to any motion command.
• It can be inserted directly in the motion
  command.
• Example - move to location p1 with an offset
  located in position register 2 (pr2)

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Step-by-Step Example Offsets

• Recall the previous program a couple slides back
• Lets add an offset/transformation so that the
  point P3 is visited with a -50 Z translation
  and a 20 degree Yaw rotation (around X).

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Defining the Offset in a Position Register.
2) Press TYPE (F1) and cursor to Position Reg
1) Press Data Key
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Enter the values 0,0,-50,20,0,0 and press done
when finished
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Modifying the Motion Instruction

• Press Edit key to get back to program and cursor
  over to the end of the desired motion
  instruction. Then press CHOICE.

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Navigate to Offset, PR
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Finish Inserting the Offset

• P3 is now visited with an offset of -50 in tool
  Z and a Yaw of 20 degrees.

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Offset VERSUS Tool_Offset

• Offset
• Performs the transformation w.r.t the world
  coordinate system
• Tool_Offset
• There is also a Tool_Offset that you can
  navigate using the menus which performs the
  transformation w.r.t the tool coordinate system.

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Defining Generic Frames

• Called User Frames in TPP, these frames are
  defined and used almost exactly like how tool
  frames are.
• Like with tool frames, navigate to Frames

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If you are still looking at the tool frames,
press the OTHER function key and choose User
Frame
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Manually Enter in the User Frame data or use one
of the built-in methods
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Selecting the User Frame

• Just go back to your program, and insert the
• UFRAME_NUM
• command similar to how a tool frame is declared
  in the program.