1. Denso Training

2. Denso Training - Agenda
Hardware Overview
Jogging the robot
Teaching Positions (using the Teach Pendant)
Configuring the Robot
Programming (Using the Teach Pendant)
I/O Interfacing (Hardware)
Overview of Development Software
Maintenance

3. Denso – Hardware Overview -Controller

4. Denso – Hardware Overview -Joints

5. Denso – Hardware Overview -Joints

6. Denso – Hardware Overview – Connections - VSG
The VS-G Series is equipped with 2 air inputs, 10 signal lines and 3 solenoid valves.

7. Denso – Hardware Overview –Connections - VSG
There are two air inputs. One feeds the three solenoid valves, one is pass-through.

8. Denso – Hardware Overview –Connections - VPG
The VP Series is equipped with 4 air lines, 9 signal lines and does not have solenoid valves.

9. Denso – Hardware Overview –Connections - HSG
The HS-G Series is equipped with 4 air lines, 19 signal lines.

10. Denso – Hardware Overview -Pendant

11. Denso – Pendant
Top Screen

12. Denso – Modes of Operation
The Robot has 3 modes of operation.
Manual- operate the robot from the teach pendant.
Teach Check – restricted automatic operation
Auto – Allows the robot to operate automatically.
(Pendant Control)
(PLC control)
Manual and Teach Check mode speed is limited to 10% of the robot max speed.

13. Denso – Manual Operation–Joint Mode -VS
Joint Mode- allows moving each axis independently

14. Denso – Manual Operation – X-Y Mode -VS
XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.)
(WORK 0)

15. Denso – Manual Operation – Tool Mode -VS
Tool Mode- allows moving the robot in mechanical interface coordinates.

16. Denso – Manual – Joint Mode -Scara
Joint Mode- allows moving each axis independently.

17. Denso – Manual – XY Mode -Scara
XY Mode- allows moving the robot arm in base coordinates (The origin is located at the center of the base.)
(WORK 0)

18. Denso – Manual – Tool Mode -Scara
Tool Mode- allows moving the robot in mechanical interface coordinates.

19. Robot Exercise - Jogging

20. Robot Exercise - Jogging
Enable Auto Switch to Manual
Pendant Mode Key Switch to Manual Mode
Clear E-Stops
Manual Mode
ARM (Speed 10%)
P -J -T buttons -Viewing Current Position using XY coordinates, Joint coordinates or tool coordinates
OpeMode – Selects coordinate System for movement
Motor ON
Joint/Coordinate Movement using J1 through J6
Move Robot using all three operating modes
Inching the Robot

21. Denso – Work Coordinates
Up to 7 more work coordinate systems may be specified, WORK 1 – WORK7.

22. Denso –Tool Coordinates
Multiple Tool coordinate systems may also be defined, TOOL 1 – TOOL 63.
TOOL 0 is always defined as at the flange of the robot.
(TOOL 0)

23. Denso – Figures of the Robot -Scara
The two figures for the SCARA robot. Both show the robot at the same location with a lefty and righty figure.

24. Denso – 6 Axis Robot -Shoulder Figure
The rotary axis of the 1st axis is defined as the boundary between LEFTY and RIGHTY.
When viewed from the normal line on the side of the arm link, if point Pw exists in the left-hand side of the rotary axis of the 1st axis, the figure is LEFTY; if point Pw exists in the right-hand side, it is RIGHTY.

25. Denso – 6 Axis Robot –Elbow Figure
The centerline of the arm link (connecting the shoulder with elbow) is defined as the boundary between ABOVE and BELOW.
If point Pw exists in the + side of the centerline, the figure is ABOVE; if point Pw exists in the -side, it is BELOW.

26. Denso – 6 Axis Robot-Wrist Figure
The rotary axis of the 4th axis is defined as the boundary between FLIP and NONFLIP.
If the normal line on the flange surface tilts up the rotary axis of the 4th axis, the figure is FLIP; if it tilts down the rotary axis, it is NONFLIP.

27. Denso – 6 Axis Robot-6th Axis Figure
If the rotation angle of the 6th axis is within the range of
-180 to 180° around
the Z axis in mechanical interface coordinates, the figure is SINGLE; if it is within the
range of 180° to 360° or -360° to -180°, the figure is DOUBLE.

28. Denso - Robot Configuration
Access: [F2 Arm] – [F6 Aux] – [F7 Config]
Set to 3.

29. Denso - Robot Configuration
Access: [F2 Arm] – [F6 Aux] – [F7 Config]
Set to 1.

30. Denso – Preparation for Programming
To program we need to understand:
Variables
Interpolation Control
Confirming Reach Position
Basic Programming Commands
TAKEARM, MOVE, APPROACH, DEPART, SET, RESET, DELAY, WAIT

31. Denso – Variables (Global)
Access: [F1 Program] – [F4 Variable]

32. Denso – Variables (Global)
Access: [F1 Program] – [F4 Variable] –[F12 VarsUsed]
*All vars configured to 200 on demos.
*Please only use variables numbered greater than 100 for the class

33. Denso – Variables (Global)
Access: [F1 Program] – [F4 Variable] –[F1 Integer]
Access: [F1 Program] – [F4 Variable] –[F4 Position]

34. Denso –Interpolation Control -Point to Point
PTP (Point to Point) can be defined as the movement from one point to another point. The path on which the robot moves depends on the robot posture and is not always a straight line.
If you designate a Type P or Type T variable as the PTP motion destination position and the designate robot figure, the robot moves so that the robot becomes the designated robot figure. If you do not designate any robot figure it will be the current robot figure.

35. Denso –Interpolation Control -Continuous Path - Linear
Continuous Path (CP) control manages interpolation so that the path to reach the motion destination position will be a straight line.
If you designate “L” for designation of the interpolation method with the motion control command, the robot executes the CP motion.
When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure a error may occur.
If the first motion of a program is CP control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

36. Denso –Interpolation Control - Continuous Path – Circular (ARC)
ARC interpolation control manages interpolation so that the path to reach the motion destination position will be an arc.
If you designate “C” for designation of the interpolation method with the motion control command, the robot executes the ARC motion.
When CP control is executed, the robot cannot simply move to the position of a different figure. If you designate a different figure an error may occur.
If the first motion of a program is ARC control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.

37. Denso – Programming Exercise

38. Denso – Programming Exercise
Approach
Place Point
Approach
Pick Point
Pick
P100
Place
P101

39. Denso – Programming Exercise
Teach two Points into P100 & P101
Access: [F1 Program] – [F4 Variable] –[F4 Position]
P100
P101

40. Denso – Programming Exercise -Manual
Move between the two Points
Select the position you want to move to
Make sure motor Power is on
From this screen select [F4 Move]
Select PTP or CP movement
Hold OK button to move
P100
P101

41. Denso – Programming Exercise
Create New Program
Access: [F1 Program] – [F1 NewProg.] – [Program OK]

42. Denso – Programming Exercise
Remove comment mark from TAKEARM
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 END

43. Denso - Programming TAKEARM (Statement) Function Format Note:
Gets an arm group. Upon the execution of this statement, the programmed speed, acceleration and deceleration will be set to If the gotten arm group includes any robot joint, this statement restores the tool coordinates and work coordinates to the origin.
Format
TAKEARM[<ArmGroupNumber>][<KEEP=DefaultValue>]
Note:
TAKEARM command must be issued before any command that may effect robot arm, Ex: SPEED

44. Denso – Programming Exercise
Press [F1 New Line] and type APPROACH
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, F1, S=100
0006
0007 END

45. Denso - Programming APPROACH (Statement) Function Format Example:
The robot moves to a position away from the <Base position> by <Approach length> in the Z direction of the tool coordinate system.
Format
APPROACH <Interpolation method>, <Base position>,[<Path start displacement>]<Approach length>[,Motion option>][,NEXT]
Example:
APPROACH P F1,S=100

46. Denso –Confirming Reach Position
Pass
is to pass the vicinity of a taught motion position or relative position
End
is determined if the robot has reached the destination position when the command value of the servo system meets the destination position.
Encoder Value Check
is determined when the encoder feedback value is within a designated window around the destination position.

47. Denso –Confirming Reach Position End Motion , @##
PROGRAM END_MOVE
TAKEARM
MOVE P2
MOVE P3
END
11mm P2
Speed
Time P3 P2 P3

48. Denso –Confirming Reach Position Pass Motion, @P
PROGRAM PASS_MOVE
TAKEARM
MOVE P2
MOVE P3
END P2
Speed
Time P3 P2 P3

49. Denso –Confirming Reach Position Encoder Check Motion, @E
PROGRAM ENCODER_MOVE
TAKEARM
MOVE P2
MOVE P3
END P2
Speed
Time P3 P2 P3

50. Denso – Programming Exercise
Modify APPROACH command as follows:
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006
0007 END

51. Denso – Programming Exercise
Press [F1 New Line] and type MOVE
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P2, S=100
0007
0008 END

52. Denso - Programming MOVE (Statement) Function
Moves the tip of the tool to the specified coordinates.
Format
MOVE <Interpolation start start displacement>]<Pose>…][,<Motion option>][,NEXT]
Examples:
MOVE P50
MOVE P1,S=75
MOVE (740,0,480,180,0,180,5),NEXT
MOVE C, P101

53. Denso – Programming Exercise
Modify MOVE command as follows:
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007
0008 END

54. Denso – Programming Exercise
Press [F1 New Line] and type RESET
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008
0009 END

55. Denso - Programming RESET (Statement) Function Format Example:
Sets an I/O port to OFF.
Format
RESET <I/O variable>[,Output time>]
Example:
RESET IO66

56. Denso – Programming Exercise
Press [F1 New Line] and type SET
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008 SET IO64
0009
0010 END

57. Denso - Programming SET (Statement) Function Format Example:
Sets an I/O port to ON.
Format
SET <I/O variable>[,Output time>]
Example:
SET IO66

58. Denso – Programming Exercise
Press [F1 New Line] and type DELAY
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008 SET IO64
0009 DELAY 100
0010
0011 END

59. Denso - Programming DELAY (Statement) Function Format Example:
The program processing stops until the time designated by <Delay time> elapses. <Delay time> is expressed in ms, however, the actual delay time changes in increments of 1/60. If multiple tasks are processed at the same time, the delay time may possibly be longer than the designated value.
Format
DELAY <Delay time>
Example:
DELAY 120

60. Denso - Programming WAIT (Statement) Function Format Examples:
The program processing stops until <Conditional expression> is satisfied. If a <Timeout time> is set, controls stops the execution of a wait statement after the designated time elapses and proceeds to the next command. The WAIT command will assign TRUE(1) or FALSE(0) to the designated <Storage variable> if control passes out of the WAIT by the satisfied <Conditional expression or by timeout.
Format
WAIT <Conditional expression> [,<Timeout time> [,<Storage variable>]]
Examples:
WAIT IO10 = ON
WAIT IO134 = OFF, 2000, I1

61. Denso – Programming Exercise
Press [F1 New Line] and type DEPART
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008 SET IO64
0009 DELAY 100
0010 DEPART F1, S=100
0011
0012 END

62. Denso - Programming DEPART (Statement) Function Format Example:
The robot moves by <Depart length> distance from the current position in the Z direction of the tool coordinate system.
Format
DEPART <Interpolation method>,[<Pass start displacement>]<Depart length>[,<Motion option>][,NEXT]
Example:
DEPART L,125,S=F123

63. Denso – Programming Exercise
Modify DEPART command as follows:
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008 SET IO64
0009 DELAY 100
0010 DEPART 75, S=100
0011
0012 END

64. Denso – Programming Exercise
Highlight the APPROACH command, press and hold the shift key, scroll down to the DEPART command.
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005
0006
0007
0008
0009
0010
0011
0012 END
APPROACH P, 75, S=100
MOVE P100, S=100
RESET IO65
SET IO64
DELAY 100
DEPART 75, S=100

65. Denso – Programming Exercise
With the DEPART command highlighted, press copy, then press paste.
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008 SET IO64
0009 DELAY 100
0010 DEPART 75, S=100
0011 APPROACH P, 75, S=100
0012 MOVE P100, S=100
0013 RESET IO65
0014 SET IO64
0015 DELAY 100
0016 DEPART 75, S=100
0017
0018 END

66. Denso – Programming Exercise
Modify the program to match the following:
0001 ‘!TITLE “PRO4”
0002 PROGRAM PRO4
0003 TakeArm
0004
0005 APPROACH P, 75, S=100
0006 MOVE P100, S=100
0007 RESET IO65
0008 SET IO64
0009 DELAY 100
0010 DEPART 75, S=100
0011 APPROACH P, 75, S=100
0012 MOVE P101, S=100
0013 RESET IO64
0014 SET IO65
0015 DELAY 100
0016 DEPART 75, S=100
0017
0018 END

67. Denso – Programming Exercise
Save Program (F6)
Compile Program (From Program list, “Config”; “Make the specified program active?”, ”OK”; Do you want compile?, “OK”)
Set the Robot control to run off the pendant vs. PLC.
Cancel to the Top Screen
Set Pendant to Manual Mode
[F4 IO] – [F6 Aux] –[F1 Set H/W]
Set Parameter 31 “Single Point of Control” to Internal (0)

68. Denso – Programming Exercise- Teach Check
Set hardwired ‘Enable Auto” Switch to Manual
Hold deadman switch on
Press “Motor” button to enable servos on Robot
Set the Pendant to TEACHCHECK Mode
Select the program from the Program List
[F4-CycStart]
To make motion press and hold the “OK”
If you release the “OK” button, repeat steps 13 thru 15.

69. Denso – Programming Exercise- Auto
Set hardwired ‘Enable Auto” Switch to Auto
Set the pendant to AUTO
Press “Motor” button to enable servos on Robot
Select the program from the Program List
[F4-Start]
Select “Single-Cycle” or “Continuously”

70. Denso – Programming Exercise-Cycle Time
Monitoring Cycle Time
To Enable:
[F1 Program] [F6 Aux.] [F1 Set PRJ]
Parameter 14 – Delete cycle time calculation code
0 Measure the run time of all programs
1 Measure the run time of programs in the folder, that can be called through IO. (Roots are named “PRO*”)
2 Do not measure the run time of programs.

71. Denso Training - Agenda
Hardware Overview
Jogging the robot
Teaching Positions (using the Teach Pendant)
Configuring the Robot
Programming (Using the Teach Pendant)
I/O Interfacing (Hardware)
Overview of Development Software
Maintenance

72. Denso – Control Interfaces
Safety I/O
Hardwired Handshake
Standard
Optional Expansion IO
DeviceNet
Ethernet/IP
Operator Panel

73. Denso – I/O Command Details
To determine which documentation to use look for Hardware Type and I/O Mode.
Hardware
Type
I/O
Mode
Compatible
OLD RC3
Global
US & Europe
Standard
RC7
Standard
Japan Only

74. Denso -Safety I/O Connector
E-Stops must be made for Manual, Teach-Check and Auto modes.
The Protective Stop and Enable Auto inputs must be made for Automatic operation.

75. Denso -Safety I/O Connector
Each row is a twisted pair in the cable.

76. Denso –Mini I/O Connector Internal / External Power
The default wiring is for an external 24VDC supply on the Mini I/O Connector.

77. Denso – I/O Command Details

78. Denso – I/O Command Details

79. Denso – I/O Command Details – w/Parallel I/O

80. Denso – I/O Allocation

81. Denso – DeviceNet DeviceNet Option Card
May be ordered with the controller (Recommended) or field installed.
Slave Board, Master Board, Master/Slave Board options
Uses the Extended Command area & Data area implementation
Same as the Expansion IO approach
Same as the RC5 DeviceNet Implementation
PLC
DeviceNet

82. Denso – DeviceNet Ethernet/IP Option Card
May be ordered with the controller (Recommended) or field installed.
Slave Board only
Uses the Extended Command area & Data area implementation
Same as the Expansion IO approach
PLC
Ethernet/IP

83. Denso – Operator Panel
The operator panel is a feature of the operator pendant. It allows the pendant to be used as an operator interface for the robot.
Access: [F5 OpePanel] Exit: [[Shift]-[Cancel]]

84. Denso Training - Agenda
Hardware Overview
Jogging the robot
Teaching Positions (using the Teach Pendant)
Configuring the Robot
Programming (Using the Teach Pendant)
I/O Interfacing (Hardware)
Overview of Development Software
Maintenance

85. Denso –Software – WinCaps III

86. Denso – Software
Always upload Robot Configuration from the controller before doing any programming!
Save the settings from the factory and the last programs, so that you can restore what you had.
Robot controller

87. Denso – Software – Project Wizard
Wizard for setting up the application

88. Denso –Software – Variable View

89. Denso –Software -DIO View

90. Denso – Software – Arm View

91. Denso –Software – WinCaps III - CAD Import

92. Denso –Software -ArmPlayerPlus
Robot simulation software
Allows the user to:
Visually see the robot cycle
Determine the execution time of a program cycle
Step thru the program to see the time for each step
Build a trial program

93. Denso –Software -ArmPlayerPlus
ArmPlayerPlus -Simulate the robot moving between multiple points and determine the cycle time.

94. Denso – Software - Error Log
Access: [F6 –Set] [F2 –Log.] [F1 -ErrLog]
Document: error-e.pdf

95. Denso – Software - Operation Log
Access: [F6 –Set] [F2 –Log.] [F2 -OprLog]

96. Access: [F6 –Set] [F6-Maint.]
Denso – Maintenance
Access: [F6 –Set] [F6-Maint.]

97. Access: [F6 –Set] [F6-Maint.]
Denso – Maintenance
Access: [F6 –Set] [F6-Maint.]

98. Denso – Robot Training
Thank you!
Please fill out the evaluation.

99. Denso – Appendix A –Collision Detection
Example Collision Detection Components
Used on Demo Cell
Part Number Quantity Description
QSAP-25AISOBC Denso VS6556 to QS25 Adapter
QS-25ANP-T3 1 Applied Robotics Quickstop
98506-C103A 1 PAK-QS25A/CXC10 Adapter
CXC10R NP 1 AR Robot Tool Adapter Unit
CXC10T NP 2 AR Tool Adapter Unit
CXC10F S 2 AR Tool Support Fixture Plate
CXC10UAP-BP 2 AR Product Adapter Kit