• Home
  • Lab Facilities
  • User Guide
  • Remote Experiment
  • FAQ
  • vlab
  • Feedback

Computer Integrated Manufacturing System Laboratory

Funded by Ministry of Human Resource and Development, Govt. of India

Axis Control Commands


       Command Tree - Axis Control

Icon

Command

Description

 

SH Search Home

Searches for the Home position of all of the robot’s and the peripherals’ axes.

OG Open Gripper

Fully opens the gripper.

CG Close Gripper

Fully closes the gripper (on itself, or on a grasped

GP Go to Position

Opens the Go to Position Dialog Box. The Go to Position command sends the robot to a recorded position, in the shortest time, using Point to Point (P to P) control. In Point to Point control, all axes move independently and there is no control over the TCP trajectory.

Go To Position Dialog Box
where
Target Position: The destination of the movement. Enter a number or a variable in this field.
Fast: Executes the movement at the fastest speed possible.
Speed: Executes the movement at a slower speed defined as a percentage. Enter a number from 1 through 99. Default speed is 50 (average speed).
Duration: Executes the movement in a specific amount of time. Enter the time in tenths of a second, or a variable.

 

How to run/execute a program

The Program Window and the dialog bars are used for activating and monitoring program execution.
Select Window | Run Screen to display only the Program window, which shows the section of the program currently executed.

Scorbase offers three modes of running a program. To select the running mode do one of the following:

  • Click the appropriate Run icon in the toolbar.
  • Select one of the Run options in the Run Menu.
  • Press the function key.

Icon

Mode

Description

Single line (F6)

Runs the currently selected (highlighted) line.

Single cycle (F7)

Runs the program from the currently selected (highlighted) line. Running stops after the last line is executed.

Continuous (F8)

Runs the program from the currently selected (highlighted) line. After the last line is executed, program execution continues from the first line

Note: Always restart execution of a program from the first line after you have changed program data (e.g., recorded new coordinates for a position, edited a program line, etc.).

Stop and Pause are the two methods of halting program execution from Scorbase.
To stop or pause programs from Scorbase do one of the following:

  • Click the appropriate icon in the toolbar.
  • Select Run | Stop, or Run | Pause.
  • Press F9 / F10 - Make sure the Scorbase application is the currently active window before you press F9 (STOP) or F10 (PAUSE).
  • To STOP the program you can also press the red EMERGENCY button on the controller or press the ABORT key on the Teach Pendant (if installed).

Icon

Mode

Description

Stop (F9)

Program execution is stopped immediately. Use this command only in emergencies.
If the workstation is connected only to a stationary robot such as an ER 9Pro, the STOP command is sent directly to the device.

Pause (F10)

Stops program execution only after the current command has been executed. Thus, axes may continue moving (to complete their motion) after the Pause command is issued.

OpenCIM Screen


Open CIM Screen
The Open CIM Screen option displays the following:

  • Program Window that holds the Scorbase program.
  • Open CIM Device Driver Window, which provides:
  • Toolbar, with button for Manual Stop
  • Operation Mode selector
  • Online
  • Simulation
  • Standalone. When this option is selected, you may press the icon on the toolbar to open the TCP/IP dialog box for establishing communications with other Open CIM applications.

               Previous           Index          Next