1. Lesson Topic: Handshaking Process -narrated version-

2. Handshaking The process of interfacing and coordinating the milling machine and the robot arm to work together to manipulate and manufacture a part.

3. What you should know... Programming and Control of the Robot Arm Programming and Control of the Milling Machine and Vice

4. Objectives

5. Identify G&M codes used to sense and control inputs/outputs (CNC) You will be able to... Identify process and decision statements associated with inputs/outputs (Robot Arm) Explain how signals are interpreted between the CNC and the Robot Arm Give examples of Robot Arm and CNC positioning for safe operations

6. G&M Codes

7. G-codes wait for a change G25 - Wait until TTL output #1 goes on G26 - Waits until TTL output #1 goes off G35 - Wait until TTL output #2 goes on G36 - Waits until TTL output #2 goes off These G-codes behave like decision statements. If the condition is met, the program will drop to the next line. If the condition is not met, the program will wait until the proper output state is changed. The actions of the CNC mill can be controlled by the state of the outputs…as opposed to the Robot Arm, whose actions can be controlled by the state of the inputs.

8. M25 - Sets input #1 to off M26 - Sets input #1 to on M35 - Sets input #2 to off M36 - Sets input #2 to on M-codes cause a change These M-codes are used to turn the Robot Arm on and off. Typically used in combination with a pause in between to “unlock” the robot’s input “door”…give the robot time to act…and then “lock” the input “door”. N10 M25 ; Turn input #1 to off N11 G04 F2 ; 2 second pause N12 M26 ; Turn input #1 to on N13 G25 ; Wait for output #1 on Example...

9. Scorbase Programming

10. If Input 1 on jump to Some_Label If Input 1 off jump to Some_Label Decision Statements These decision statements are used mostly in “dead” loops. If the condition is met, the program will jump to a new location and start a series of actions. If the condition is not met, the program will continue to loop until the proper input is changed. The actions of the Robot Arm can be controlled by the state of the inputs…as opposed to the CNC Mill, whose actions can be controlled by the state of the outputs.

11. Turn on output 1 Turn off output 1 Process Statements These statements are used to manipulate the CNC by controlling the output. Typically used in combination with a pause in between to “unlock” the CNC’s output “door”…give the CNC time to act…and then “lock” the output “door”. 26: Turn on output 1 28: WaiT 10 (10 ths of seconds) 30: Turn off output 1 32: WAIT_2 Example...

12. Handshaking The Process

14. #3 “home” position #1 #1 #2 #4 #6 #5

15. #6 #4 #5 #3 #2 “home” position #1 #1

16. Individual Steps

17. Step #1 …CNC to “Load”

18. Step #2 …Loading the Part

19. Step #3 …Milling the Part

21. Step #4 …Unloading the Part

22. How they “Talk”

23. Flowchart G&M Code Scorbase Program

24. “State of Activity” Input #1Output #1 (default state) ON

25. Input #1Output #1 “State of Activity” 2: WAIT_1 3: IF Input #1 off jump to START_1 6: Jump to WAIT_1 7: START_1 Scorbase... (default state) ON

26. Input #1 “State of Activity” N1 M5 ; Turn Spindle Off N2 G90 ; Absolute Coordinate Mode N3 G20 ; Inch Mode N4 M10 ; Open the Vise CNC Mill... ON Step #1…CNC to “Load” Output #1

27. ONOFF Input #1Output #1 “State of Activity” N4 M10 ; Open the Vise N5 G00 X10.2003 Y2.7850 Z1.3 ; Load N6 M25 ; Turn Input #1 Off N7 G04 F2 ; 2 Second Pause Step #1…CNC to “Load” N4 M10 ; Open the Vise N5 G00 X10.2003 Y2.7850 Z1.3 ; Load N6 M25 ; Turn Input #1 Off N7 G04 F2 ; 2 Second Pause CNC Mill...

28. OFF Input #1Output #1 “State of Activity” 2: WAIT_1 3: IF Input #1 off jump to START_1 6: Jump to WAIT_1 7: START_1 Scorbase...

29. 2: WAIT_1 3: IF Input #1 off jump to START_1 6: Jump to WAIT_1 7: START_1 Input #1Output #1 “State of Activity” 10: Turn off output 1 13: Go to Position 1 fast 14: Open Gripper 15: Go to Position 2 fast Scorbase... OFFONOFF Step #2…Loading the Part

30. ONOFF Input #1Output #1 OFF N7 G04 F2 ; 2 Second Pause N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On CNC Mill... ON N7 G04 F2 ; 2 Second Pause N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On Step #2…Loading the Part “State of Activity”

31. ON Input #1Output #1 “State of Activity” 16: Go Linear to Position 3 speed 5 17: Close Gripper 18: Go Linear to Position 2 fast 19: Go Linear to Position 4 fast Scorbase... OFF 20: Go Linear to Position 5 fast 21: Go Linear to Position 6 speed 5 22: Open Gripper 23: Go Linear to Position 5 fast 24: Go Linear to Position 4 fast 26: Turn on output 1 28: WaiT 10 (10 ths of seconds) ON Step #2…Loading the Part 24: Go Linear to Position 4 fast 26: Turn on output 1 28: WaiT 10 (10 ths of seconds)

32. Input #1 “State of Activity” CNC Mill... N7 G04 F2 ; 2 Second Pause N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On ON Output #1 Step #3…Milling the Part

33. ON 28: WaiT 10 (10 ths of seconds) 30: Turn off output 1 32: WAIT_2 33: If Input 1 off jump to START_2 ON Input #1 Scorbase... “State of Activity” 30: Turn off output 1 32: WAIT_2 33: If Input 1 off jump to START_2 35: Jump to WAIT_2 Step #3…Milling the Part OFF Output #1

34. ON Input #1Output #1 “State of Activity” N10 M11 ; Close the Vise N11 G00 X0 Y0 Z.25 ; Cutter Above Block N12 M3 S3000 ; Spindle On N13 G01 Z-.02 F5 ; Milling the Block CNC Mill... N14 G01 Y2 F20 N15 X3 N16 Y0 N17 X0 N18 G00 Z1 N19 M47 ; Recycle to Beginning N1 M5 ; Turn Spindle Off OFF Step #3…Milling the Part N2 G90 ; Absolute Coordinate Mode N3 G20 ; Inch Mode N4 M10 ; Open Vise N5 G00 X10.2003 Y2.7850 Z1.3 ; Unload

35. ON Input #1Output #1 “State of Activity” CNC Mill... OFF N6 M25 ; Turn Input #1 Off N7 G04 F2 ; Pause for 2 Seconds N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On OFF N6 M25 ; Turn Input #1 Off N7 G04 F2 ; Pause for 2 Seconds N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On Step #3…Milling the Part

36. OFF Output #1 “State of Activity” Scorbase... 32: WAIT_2 33: If Input 1 off jump to START_2 35: Jump to WAIT_2 36: START_2 OFF Input #1 Step #4…Unload the Part

37. Input #1Output #1 OFF CNC Mill... “State of Activity” N6 M25 ; Turn Input #1 Off N7 G04 F2 ; Pause for 2 Seconds N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On Step #4…Unload the Part OFFON N6 M25 ; Turn Input #1 Off N7 G04 F2 ; Pause for 2 Seconds N8 M26 ; Turn Input #1 On N9 G25 ; Wait for Output #1 On

38. ON Input #1 “State of Activity” OFFON Step #2…Loading the Part Scorbase... 36: START_2 40: Go Linear to position 5 fast 41: Go Linear to position 6 speed 5 42: Close Gripper Step #4…Unload the Part 43: Go Linear to position 5 fast 44: Go Linear to position 4 fast 45: Go Linear to position 2 fast 46: Go Linear to position 3 speed 5 47: Open Gripper 48: Go Linear to position 2 fast 49: Go Linear to position 1 fast 51: Turn on output 1 51: Turn on output 1 53: WaiT 10 (10 ths of seconds) 49: Jump to WAIT_1 Output #1

39. Keep it Safe Ideas to remember

40. Make sure you do not go beyond the CNC milling machine’s X-axis and Y-axis limits when setting the Load/Unload position. The robot should be programmed to load the part into the vise using a linear Z-axis motion.

41. Position the Robot Arm in a location where the CNC safety shield cannot contact it during the movements of the mill table.

42. A TTENTION Run the Robot program first…before you start the CNC program !!!

43. Never have the CNC milling machine and the robot arm performing actual movements at the same time…keep your hands on the emergency stop switches when testing your programs!!!