NI公司的机器人资料汇编资源-CSDN文库

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机器人

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Robotics_Resource_Kit.zip （8个子文件）

嵌入式图形系统设计助力救生机器人蜘蛛.url 69B

在线研讨会：定义机器人系统的通用构架 - 在线教程和视频.url 68B

Victor Tango车队“Odin”战车杀手锏：应用NI LabVIEW助威 DARPA无人驾驶汽车城市挑战赛.url 69B

Robotics in Action Video Series.pdf 242KB

ImagingLab Robotics Library for DENSO Reference Guide.pdf 729KB

Graphical System Design Inspires a New Age of Robotics.url 69B

Robotics 411 -Four Platforms for One Prototype in One Month or Less.pdf 13KB

使用NI公司LabVIEW软件和视觉硬件建立集成视觉和机器人的化妆品包装生产线.url 69B

Contents

Overview ....................................................................................................................................................... 1

Configuring Your System .............................................................................................................................. 1

Robslave .................................................................................................................................................... 1

Allowing Ethernet Control......................................................................................................................... 1

Wiring ........................................................................................................................................................ 1

Initialization .................................................................................................................................................. 2

Connecting to the Robot Controller .......................................................................................................... 2

Settings Speeds ......................................................................................................................................... 3

Power On/Off ............................................................................................................................................ 3

Work and Tool ........................................................................................................................................... 3

Move Robot .................................................................................................................................................. 4

Move by Coordinates ................................................................................................................................ 4

Move by Position ...................................................................................................................................... 4

Denso Drive ............................................................................................................................................... 5

Wait for Movement to End ....................................................................................................................... 5

Multiple-Point Moves .................................................................................................................................. 6

Pick and Place ............................................................................................................................................ 6

Movement Parameters ............................................................................................................................. 7

Interpolation .................................................................................................................................... 7

Pass Motion ..................................................................................................................................... 7

Move Option .................................................................................................................................... 8

Vision-Guided Robotics ................................................................................................................................ 8

Calibration ................................................................................................................................................. 8

Relative and Absolute Movements ........................................................................................................... 9

Parallel Processing .................................................................................................................................... 9

Other product and company names listed are trademarks or trade names of their respective companies. A National Instruments Alliance Partner is a business entity

independent from National Instruments and has no agency, partnership, or joint-venture relationship with National Instruments.

1 | P a g e

ImagingLab Robotics Library for DENSO Reference Guide

Overview

This reference guide introduces the basic concepts of the ImagingLab Robotics Library for DENSO with

examples to serve as a starting point for programming your own DENSO robotics and vision-guided

system. Learn how to use the ImagingLab Robotics Library for DENSO and explore single-point moves,

blended moves, and vision-guided applications. The DENSO robot should be operational with the

teaching pendant to get the most out of the example code. Note that this reference guide is a

configurable example – not a turnkey application – and does not introduce every aspect of the

ImagingLab Robotics Library or DENSO robots. If you are developing a complicated robotics system,

consider consulting a National Instruments Alliance Partner.

Configuring Your System

Robslave

To switch the robot into a slave state that you can control with NI LabVIEW software, you must load and

start a DENSO program called robslave.pac, which comes with the DENSO b-CAP software on the robot

controller. Use the DENSO software to download robslave.pac to the controller. After connecting to the

controller, use the Denso-Robslave VI to start the program and to stop the program when exiting the

LabVIEW application.

Allowing Ethernet Control

All of the robot commands from LabVIEW are sent over an Ethernet connection to the robot controller.

The robot controller allows control from only one IP address, which you must add to the controller as a

valid client. To do this on the teaching pendant, navigate to Settings»Communications Setting»Client.

With this menu, you can change the IP address to match the IP address of the PC or real-time device

that you are connecting to the robot. You also must set the robot to receive commands over Ethernet.

Navigate to Settings»Communications Setting»Ext Run on the teaching pendant and select Ethernet as

the communication port from which to run programs. The Ethernet port must also have Read/Write

permissions, which are set in Settings»Communications Setting»Permit.

Wiring

To control the DENSO robot with LabVIEW, you must turn the teaching pendant’s key to Auto and turn

on the Enable Auto lines on the Safety I/O port. In addition, you must connect the Stop all Steps input of

the min-I/O connection on the DENSO controller, or the step-stop line, to a 24 V supply. This can be an

external 24 V power supply, or you can change the jumpers within the controller to have the 24 V be

supplied internally. Refer to the DENSO manual for more information.

2 | P a g e

Initialization

Figure 1. Simple Single-Point Move Block Diagram

Connecting to the Robot Controller

The first step in programming a DENSO robotics application is the initialization of the robot and its

parameters. Open a connection to the robot controller by using the Denso-Open VI and specifying the IP

address of the controller and how many axes the robot has. To find the IP address of the robot’s

controller, navigate to Settings»Communications Settings»Address on the DENSO teaching pendant.

Note that you must add the IP address of the PC or real-time target connecting to the robot controller as

a valid client in the robot’s communications setting menu as mentioned above. The Denso-Open VI

options for number of axes are 6, 5, 4, and Undefined. You do not need to differentiate between

different models of each robot that have the same number of axes. For example, you can run some

programs written for a VS series six-axis robot using a VP series six-axis robot without changing any

LabVIEW code.

3 | P a g e

Setting Speeds

You can set two different robot speed types within LabVIEW: external and internal. External speed is

most often used to control the variations between moves once deployed. For instance, the robot may

need to move at a slower speed while assembling a part, but it can move at a faster speed when

returning to pick up another part. After the robot has placed the part or before it picks up a part, simply

call the external speed VI to set the current desired speed. Internal speed is commonly used for testing

purposes. If a test needs to be completed at 25 percent speed, you can set the internal speed at 25 and

all the velocities across the robot’s movements are scaled back to 25 percent of their value. Otherwise,

you need to go into the code and set each speed to be 25 percent of its original value. This can be

tedious because some applications require a large variety of speeds for various movements. For safety,

set the internal and external speeds after starting robslave.pac to ensure the robot moves at the correct

speed each time you run the program.

Power On/Off

After opening a connection to the robot controller, power is not turned on to the robot until you call the

Denso – Servo – Set ON-OFF VI. Call this VI with the motor status input set to Motor On before sending

any move commands and change the motor status input to Motor Off after all movement is completed.

Work and Tool

With DENSO robots, the user can set the current tool, or end-affecter, which is attached to the end of

the robot. With this feature, changing the end-affecter does not require a complete change in

programmed positions. Instead, this feature automatically offsets the movements to reach the same

target position based on the parameters of the end-affecter being used. The coordinate system, or work

area, defines the absolute positions when commanding the robot using Cartesian and Trans coordinates.

The ImagingLab Robotics Library for DENSO allows the user to set and edit the current tool and work

area as well as add new tools and work areas using the VIs shown in figures 2 and 3. These screenshots

show how to set the current tool/work and new values for a specific tool/work, but you can change the

input from Set to Get to return the current values and settings.

Figure 2. Setting the Current Tool and Work Figure 3. Changing the Parameters for Work and Tool

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