Robcomm3 is a Windows-based software application designed for use with the RAPL-3 robot programming language. Robcomm3’s integrated development environment allows you to:
What ActiveRobot Does
ActiveRobot enables Microsoft Windows NT4/2000 ActiveX applications to fully access and control up to eight CRS Robotics robot systems from one host computer. (Each robot system consists of one A255, A465 or F3 articulated arm, one C500C controller, and up to two additional axes, one of which could be a track.)
Figure 1-1: Multiple ActiveRobot applications can access multiple robot systems from a single host computer.
ActiveRobot Features
ActiveRobot has the following features:
• Programming interfaces compliant with the Microsoft Component Object Model (COM)
• Compatibility with a wide range of ActiveX development tools, such as Microsoft Visual Basic 6 and Visual C++ 6, and ActiveX-compatible applications such as Microsoft Access 97/2000 and National Instruments LabVIEW.
• Access to and control of all C500C operating system features, motion control capabilities, and input/output capabilities
• Context-sensitive online help
The
Teach Pendent is a hand-held robot control terminal that provides a convenient
means to move the robot, teach locations, and run robot programs. It features a
four-line 20-character LCD display, a 45-key keypad, a live-man switch, and an
emergency stop (e-stop) button.
Executing a Force Mode Command
When a force mode command is executed, the servo gripper voltage increases until
the fingers are moving with the specified amount of force. The motor continues
to operate at this voltage until the fingers contact an object or a hard stop
limit. Note: A force of 30% or greater is required when opening or closing the
gripper fingers from a stationary position. This force is required in order to
overcome the station of the fingers. For very fragile objects, you can reduce
the grip force once the fingers are in motion. If there is nothing available to
grip, the fingers move to the end of their travel. The specified force is
maintained until another gripper command is issued.
Executing a Position Mode Command
Position mode commands let you accurately set or read the position of the
gripper fingers. In position mode, the gripper fingers move at maximum gripper
force until the feedback potentiometer detects that the fingers are at the
specified location. At the commanded position, the gripper fingers stop moving
and maintain their position. Use position mode commands to improve the
efficiency of your gripper application. By precisely specifying how far apart
the fingers should open or close for a particular task, you can reduce the time
necessary to complete the operation. Warning! Never use a positional
gripper command to grip an object. Position commands are used to accurately
position the gripper fingers and operate at maximum gripper force. When applied
to an object, this force can damage the gripper motor and shorten the life of
your gripper.
GPIO Termination Block Option
A GPIO termination block is available as an optional component for Thermo Fisher Scientific robot systems. It provides easier access to GPIO connections by extending the pins in the GPIO port to external screw terminals. The mounting rail bracket on the underside of the GPIO block fits all standard DIN EN rails.
Pneumatic EOA Port (CataLyst-5 only)
A round connector on the wrist provides an interface for end-of-arm tools. If your CRS CataLyst-5 is configured for pneumatic control, a double-valve pneumatic port replaces the gripper connector.
Homing bracket (CataLyst-5 only)
The homing bracket is an optional component for the CRS CataLyst-5 arm. It provides a repeatable starting location for the arm so that homing can be automated via a custom routine. The homing bracket proximity sensor connects to the GPIO port. When the arm is in the homing bracket, the proximity sensor LED lights and the connected GPIO input reads on, allowing you to check whether the arm is in the homing bracket using RAPL-3 or ActiveRobot.
Figure C-1: The homing bracket
The homing bracket is typically recommended for applications where:
• Obstructions in the workcell limit the space available for homing
• The arm is not easily accessible
• Automatic operation with minimal operator intervention is required
This Appendix describes how to install a homing bracket and provides an overview of how to develop a basic homing routine using the bracket.
A linear track provides an additional degree of freedom for the CRS CataLyst-5 or F-3 Robot System. The C500c controller automatically incorporates motion along the linear track into its trajectory planning, making it easy to add track motion to an application. The linear tracks offer programmable speeds from 0.01 m/s to 1 m/s, with repeatability better than 0.08 mm.
Track systems are suitable for any applications requiring an extended work space. For example, they can be used to load/unload multiple CNC machines, to dispense compounds over a very large surface area, or to serve multiple assembly lines.
Optional inverted mounting configuration is available.
F3 TrackA round RP17 Hirose connector on the wrist provides an interface for either the CRS servo gripper or the End-of-arm I/O option.
Note:
The connector is usually covered by a protective plug.