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How to Run the Program
- Turn robot controller to AUTO Mode
- Turn Teach Pendant (TP) off
- On TP
- Hit Select button towards top center
- Scroll to CMS_02
- Hit enter
- On computer. open Main.vi
- On controller, hit green Cycle Start button
- Run LabVIEW program
- You can change the values of a & b in the VectorTest02 file to make the robot move
- To stop running program
- On TP
- FCTN (top right)
- Abort all
- On LabVIEW
- Press stop button
- When you’re done with robot, hit FCTN, Abort, and then turn the controller off
Job/Move Robot
- Controller switch (the key on the front) to T1 mode (<250mm/s)
- Teach Pendant (switch in top left corner) ON
- Press COORD repeatedly until the coordinate system you want to move in appears in a yellow box in the top right corner
- WORLD is usually the frame you will use (the directions are on the floor
- Hold deadman switch (yellow bar on the back) to the middle engagement
- Press & release reset button
- Hold shift button down continuously while you want to move
- 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
- Data
- F1 (Type)
- For data registers, scroll to Data Register
- For position registers scroll to Position Register
- Enter
- Note
- Data registers 40-48 are used for this project
- Position registers 20-21 are used for this project
Recover from Dual Check Safety Boundaries
- Controller switch (the key on the front) to T1 mode (<250mm/s)
- Teach Pendant (switch in top left corner) ON
- Press COORD repeatedly until the coordinate system you want to move in appears in a yellow box in the top right corner
- WORLD is usually the frame you will use (the directions are on the floor
- Hold deadman switch (yellow bar on the back) to the middle engagement
- Hold shift button down continuously while you reset and move
- Press & release reset button (sometimes you have to press it a couple times to reset it)
- 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.