Teach Pendent

Teach pendent is a remote controlling device of

robot. Teach pendent have several controlling
keys.
• We can perform following operation by teach
pendent.
Programming
Program editing
Robot monitoring
Status monitoring
Check all programs
Signals
Manual and test movement of robot
Emergency operation
Monitoring LED

Function keys

Input keys

Selector Emergency switch

keys

Input keys
Motion keys

Special function keys

 Damper
• Damper is balancing weight which helps robot
to work shock proof and reduce impact loading
of motion.
• It helps robot to avoid impact loading during
forward and return motion.
• Damper is a mechanical unit which have a
loaded spring to balance the reacting force.
 Controller
• In controller unit robot have PCB unit (power supply unit, user
interface circuit, motion controlling circuit, memory circuit
and input output circuit.
• It control and convert all digital & analog signal in desired
value (machine language, binary language ).
• Controller have CPU and printed circuit board and slots, racks
for IO’s.
• Memory circuit can store programs and data sated by user in
the C-MOS RAM in CPU
• It co-ordinate with peripheral unit through interface circuit and
I/O circuit board.
 Reducer and transmission system
• Reducer is mechanical unit which transmit power from
motor to joint through bevel gear system and spline gear
system.

Reducer
 Connector and Power Cables

• Connector hub used for tool

Connector hub attachment and air supply to
tool.
• Power cable unit have power
Cable supply cable, pulse coder
cable and break supply cable.
 Pulse Coder
• Pulse coder is a electro mechanical unit which
convert mechanical signals into digital signal.
• Values of pulse generated by pulse coder is
measured in PPR (Pulse per Revolution) .
• Pulse coder measure’s value of displacement
performed by robot joint.
 Tool Attachments
• Robot’s are used for handling and welding
with tool attachments.
• Tool used for handling is called Gripper
(clamper) and tool used for welding called
torch.
• Handling Gripper depends on use of robot
either it will be mechanical ,pneumatic or
vacuum operated.
 Servo Motor
• Servo is induction motor but it have a
feedback system.
• Servo motor can rotate in both directions
with help of amplifier module.
• Servo motor used in robot have accurate
breaking system and controlled RPM
system.
Servo motor
Classification Of Robot

• On basis of use
• On basis of controlling system
• On basis of pay load capacity
• On basis of reach
 Pay load capacity
• Maximum safe load handled by robot with
tool attachment in maximum reach is called
pay load.
• Maximum the reach minimum the pay load
• Minimum reach maximum pay load

Pay
load

Reach
 Reach
Maximum Reach
• Maximum area
covered by robot
Robot
is called reach.
 Safety tips for robot operation and halting
• Never operate robot without knowledge of robot.
• Always follow safety tips or instruction’s given by maker or
working area supervisor.
• Always use safety gear during operation of robot.
• Never do experiments with robot program.
• Never by pass safety fence or space function.
• Never operate robot force fully.
• Never change any point, frame and coordinate with out
knowledge.
• Never run robot with maximum load and reach.
• Never avoid alarms given by robot system or user.
• Never remove battery in power off condition.
• Never enter in restricted area when robot is in running
condition.
Safety tips for robot operation and halting
• Never skip any line during manual operation with out
full knowledge of program and robot.
• Never by pass any instruction given by maker or
programmer.
• Always operate robot in safe condition.
Robot should be used for material handling not for man
handling.
• Base mounting should be solid and robot should be
installed by specialized persons.
• Robot should be carried or installed according to
maker’s instruction.
• Robot requires good earthen system.
• Electric current and voltage should be used for robot
according to makers requirement.
 Robot R-2000 i b

• Robot make Fanuc

• Robot series R-2000
• Controller series i b
• Maximum load capacity 165 kg
Basic Programming Of Fanuc Robot
• Motion instruction
• coordinate system
• Condition Instruction
• Input and output instruction
• Frames
• Macro instruction
• Soft floating instruction
• Mastering
• Touch-up
• Program editing
• Program saving and data back up
Motion Instruction
• Joint frame motion
• Jog frame motion
• World frame motion
• Tool frame motion
• User Frame motion
Coordinate System
• Tool coordinate system
• World coordinate system
• User coordinate system
 Tool Coordinate System
• A tool coordinate system defines the position of the
tool center point [TCP] and the attitude of tool. tool
coordinate system must be specified. if the tool
coordinate system is not defined the mechanical
interface coordinate system substitute for it.
Tool coordinate system can be
defined by three methods.
 Three point method J6 center point

 Six point method

 Direct method
New tool
center
point (J6)
 User Coordinate System
• A user coordinate system is a Cartesian
coordinate system defined for each work space
by the user if coordinate system is not defined
word coordinate system is subsitutes for it.
• Setting of user coordinate system
 Three point method
 Four point method
 Direct list method
 World Coordinate System
• A standard Cartesian coordinate system fixed
in a work space. the coordinate system is fixed
at a position determined by the robot. Setting
of user coordinate system
 Three point method Z

 Four point method

 Direct list method X
Y
 Condition Instruction
 Motion  End
 Feed rate [Speed]  Call
 Positioning [cont,fine]  If
 Position data  Wait
 Skip  Wait time out
 Register  Frame and value
 I/o instruction  Pause
 Label and jump label  Abort
 Soft float  User alarm
 Joint Motion Instruction
• Any joint of Robot can move independently for
joint motion.
• In joint motion it is possible Robot can move one
point to other point in straight line, curve line or
zigzag line.
• A joint motion command can stated as below
1. J [P1] 100% fine
2. J [P2] 80% cont
 Linear Motion Instruction
• For linear motion robot joint coordinate with
each other for straight line motion .
• In linear motion , it is possible that Robot’s all
joint’s can move for straight line motion of
robot.
• A joint motion command can be stated as
below
1. L [P1] 100% fine
2. L [P2] 80% cont
 Feed Rate
• Maximum speed of robot R-2000 is 2.5 m/s .
• R-2000 have accuracy of 1mm .
• Maximum allowable speed limit depends on
use and type of robot.
• Speed or feed rate can be defined in mm/s,
m/s, m sec, sec,%. inch/min, cm/min,
deg/sec.
 Cont And Fine
• % effect of cont and fine .
P2
P3

CNT 40

CNT 10

CNT 100
P1
Position Data

• X,Y,Z
• Joint coordinate
• W,P,R
• Any position data
• Angle of joint.
 Skip Function
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. Skip Label [1]
4. Label [1]
5. J[P3] 100% fine
6. J[P4] 100% fine
7. End
 Register Instruction
• Function of register
• Values register
• Data register • A register is a
• Signal register variable for
• Position register holding an integer
• Arithmetic logic register or fraction. two
R[I]= (value )*(value) hundred registers
R[I]= D [ I ] are provided .the
R[I]= Pulse, [width] register screen is
R[I]= G [ I ] used to display
R[I]= D [ O ] and set register.
R[I]=0
R[I]=1+1
 Register Instruction
• 1. Program for value register
2. R[1]=R[1]+1
3. J P[1] 100% Fine
4. If R[1]=100, JMP LBL[100]
5. CALL Sub-program
6. End
 I/O Instruction
• I/O instruction in a program used for condition
true or false, wait, signal wait, timer on/off etc.

1. J[P1] 100% fine

2. J[P2] 100% fine
3. Do[10]=ON
4. Do[11]=ON
5. J[P3] 100% fine
6. J[P4] 100% fine
7. Do[10]=OFF
8. Do[11]=OFF
9. End
 Label Instruction
• Label instruction is used to specify a program execution
branch destination. label is defined with a label definition
instruction.
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. Label[100]
4. Do[11]=ON
5. J[P3] 100% fine
6. J[P4] 100% fine
7. Do[10]=OFF
8. Jump Lable[100]
9. End
 Soft Floating Instruction
• Soft floating is used for synchronization with
reactive force to prevent any accident or
collision of joint’s
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. SOFTFLOAT start
4. L[P3] 100% fine
5. FOLLOWUP
6. J[P3] 100% fine
7. SOFTFLOAT END
8. End
 End Instruction
• End command is used to end a program or sub
program after finishing program or execution
of any user alarm.Generaly end came in edit
screen.
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. SOFTFLOAT[1]
4. L[P3] 100% fine
5. J[P3] 100% fine
7. SOFTFLOAT END
8. End
 Call Instruction
• Call program is used to call any sub program
in a main program.
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. CALL ARIF
4. L[P3] 100% fine
5. J[P3] 100% fine
7. CALL ARIF
8. End
 IF Instruction
• If instruction is used for conditional branch
instruction from one location to other location
in a program when some condition is satisfied.

• 1. J[P1] 100% fine

2. J[P2] 100% fine
3. If DO[10]=On, Jump label [10]
4. If DO[10]=Off, Call ARIF
5. Label[10]
7. J [P3] 100% fine
8. End
 Wait Instruction
• Wait instruction is used for timer or to wait
any internal or external signal for further
operation.
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. wait DO[10]=On, Jump label [10]
4. If DO[10]=Off, wait 1.5 sec, Call ARIF
5. Label[10]
7. J [P3] 100% fine
8. End
 Wait Time Out
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. Wait Do[10]=On, wait time out, Jump label [10]
4. If Do[10]=Off, Call SURESH
5. Label[10]
7. J [P3] 100% fine
8. End
 Pause Instruction
• Pause instruction is used to pause a program
or any signal.
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. Wait Do[10]=On, wait time out, Jump label [10]
4. If Do[10]=Off, Call ARIF
5. Label[10]
7. J [P3] 100% fine
8. Pause
9. End
 Abort Instruction
• Abort instruction is used to abort all
instruction’s or terminate all instruction’s
given in program by internal or external
source.
• 1. Abort all
2. J[P2] 100% fine
3. Wait Do[10]=On, Jump label [10]
4. If Do[10]=Off, Call ARIF
5. Label[10]
7. J [P3] 100% fine
8. End
 User Alarm Instruction
• A user alarm indicate that there is some
condition in a program that is not satisfied.
• It give a alert message to user.
• 1. J[P1] 100% fine
2. J[P2] 100% fine
3. Wait Do[10]=On, wait time out, Jump label [10]
4. If Do[10]=Off, Call ARIF
5. Label[10]
7. UALM[12]
8. End
 Tips For Programming
• Always write program in short steps.
• Always use sub program.
• Always write instruction for identification.
• Always do programming with good knowledge of
process.
• Always check or write program in step mode.
• Always keep feed rate minimum to check a program
for easy control.
• Never forget to write instruction for frame or mode.
• Always keep safety point in mind during
programming
 Tips For Programming
• Never use any special or secret instruction or
command.
• Always try to make user friendly program.
• Always define safety space for working.
• To avoid any human casualty always use
emergency instruction.
• Always do programming with in safe load
limit and limit torque.
 Changing Battery
Always change battery in power turn on
mode. when we replace battery in power off
mode we loss our coordinate and joint data.
When it happened it is must to set zero
position first before running the robot.
Always change battery as per
recommendation of maker .
 Robot Zero Position Setting Or
Mastering
• To set zero position which robot’s internal
memory knows is called mastering. zero
position mastering can be performed for
Single joint or axis
All joint or axis
Fixture position
Quick mastering
 Cause Of Data Loss

Backup battery voltage drop for C-MOS .

Pulse coder’s pulse lost due to any reason .
Changing of any moving part of robot.
Due to some problem in mechanical unit.
Problem with connector wires .
Problem in internal circuit board.
Faulty encoder or problematic axis .
 How To Do Mastering
i. Press MENU
ii. Press 0 or Next
iii. Press 6 or system
iv. Press F1 or type
v. Select variable
vi. Find $MASTER_ENB
vii.Set value of $MASTER_ENB “0” to 1 or 2
Then press F1 again , is there Master/Cal in type menu
if Master/ cal is not There Again repeat same
instruction from 1to 6 . If again it is not there , then
call Some experienced person.
 To Reset The Alarm
i. Press MENU
ii. Press 0 or Next
iii. Press 6 or system
iv. Press F1 or type
v. Then select RES_PCA
vi. Select Yes
vii.A message will appear on screen Alarm
rested .
Now robot start moving in joint motion take
robot manually on marked Zero position.
And turn power off.
 How To Done Mastering
i. Press MENU
ii. Press 0 or Next
iii. Press 6 or system
iv. Press F1 or type
v. Select Master/Cal
vi. Select desired option from menu
vii.Press Enter
viii.Press F4 for Yes
ix. A message appear on screen robot mastered!
master Data
 Calibration of Zero Position
i. Press MENU
ii. Press 0 or Next
iii. Press 6 or system
iv. Press F1 or type
v. Select variable
vi. Find $MASTER_ENB
vii. Set value of $MASTER_ENB “0” to 1 or 2 if already it is ,
so not required to do again but check it.
viii. Press F1
ix. Select CALIBRATION
x. Press F4 for Yes
xi. A message will appear on screen Master Calibrated.
xii. Press F5 for done
 Mastering

• All flowing mastering can preformed after

following instructed instructions.
• If there is any problem refer Robot manual.
 Macro Instruction
• A macro instruction is a function for
registering a program consisting of sequence
of instructions as one instruction, and calling
such a set of instruction for execution as
required
 Program Editing
• EDCMD • Register
• Copy • Call
• Find • I/O
• Delete • If/select
• Insert • JMP/LBL
• Replace • Miscellaneous
• Renumber • Program Control
• Jump LBL[ ]
• LBL[ ]
 Teaching of Robot
• Teaching of robot means touch up of position
or position data.
• By teaching we can teach a new program or
edit previous program for desired motion.
• By teaching any thought point coordinates can
change.
 How to Teach the ROBOT
Teach pendent must be enable
Program edit screen must be selected
Select the point want to change
Take robot in joint motion to desired position
Press shift Touchup
 Press Yes
Message will appear point position changed
 Thank you
Happy learning
Because
learning is continuous process
so
happy learning......