How to Run the Program

  1. Turn robot controller to AUTO Mode
  2. Turn Teach Pendant (TP) off
  3. On TP
    1. Hit Select button towards top center
    2. Scroll to CMS_02
    3. Hit enter
  4. On computer. open Main.vi
  5. On controller, hit green Cycle Start button
  6. Run LabVIEW program
    1. You can change the values of a & b in the VectorTest02 file to make the robot move
  7. To stop running program
    1. On TP
      1. FCTN (top right)
      2. Abort all
    2. On LabVIEW
      1. Press stop button
  8. When you’re done with robot, hit FCTN, Abort, and then turn the controller off

Job/Move Robot

  1. Controller switch (the key on the front) to T1 mode (<250mm/s)
  2. Teach Pendant (switch in top left corner) ON
  3. Press COORD repeatedly until the coordinate system you want to move in appears in a yellow box in the top right corner
    1. WORLD is usually the frame you will use (the directions are on the floor
  4. Hold deadman switch (yellow bar on the back) to the middle engagement
    1. Press & release reset button
    2. Hold shift button down continuously while you want to move
    3. Press the right 2 columns of blue buttons to move it the direction you want

See Position Coordinates

  • Press POSN button in bottom left corner
  • Press F2 for joint theta values
  • Press F4 for world frame coordinate values

View Data and Position Register

  1. Data
  2. F1 (Type)
    1. For data registers, scroll to Data Register
    2. For position registers scroll to Position Register
  3. Enter
  4. Note
    1. Data registers 40-48 are used for this project
    2. Position registers 20-21 are used for this project

Recover from Dual Check Safety Boundaries

  1. Controller switch (the key on the front) to T1 mode (<250mm/s)
  2. Teach Pendant (switch in top left corner) ON
  3. Press COORD repeatedly until the coordinate system you want to move in appears in a yellow box in the top right corner
    1. WORLD is usually the frame you will use (the directions are on the floor
  4. Hold deadman switch (yellow bar on the back) to the middle engagement
    1. Hold shift button down continuously while you reset and move
    2. Press & release reset button (sometimes you have to press it a couple times to reset it)
    3. Press the right 2 columns of blue buttons to move it the direction you want, towards the center of the safe space for the robot to move in.