Operation and programming units
Programming robots is much more complicated than programming NC machines, because of the position spots and the gripper or tool orientation that also have to be programmed for the robot.
Typical programming methods are:
- Play-back-Programming
- Teach-in-Programming
- Off-Line-Programming
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For the Play-back programming the user has to guide the robot and show the correct movement by moving the robot hand manually in the designated path. The control stores during 20ms the position value of the each robot axes. The position values are used as set points. This programming is less accurate than the teach-in programming and is mostly used for simple robots, such as for robots with painting tasks. |
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The Teach-in programming is a programming method where the user moves the robot with a teach pendant to the designated areas and machining points(see picture to the right). The position and orientatin of the gripper or the tool is programmed the same way. |
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The Off-line programming is a grafical interactive method to generate programming and moving commands such as the position and orientation data at the programming computer. The robot movements are shown in a grafical simulation on the computer. This allows a quick optimization of the arrangement of equipment as well as for the moving course. |
Play-back Programming
Teach-in Programming
Off-line Programming
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