1 වන පාඩමI/O mapping උදාහරණ: cycle start, machine ready, door locked, part detect, gripper open/close, fault outputs mappingTending cell සඳහා robot I/O CNC සහ peripheral signals වෙත සිල්පා කරන්න. Cycle start, machine ready, door locked, part detect, gripper control සහ fault outputs සඳහා clear naming සමඟ උදාහරණ ඉගෙන ගන්න.
Digital outputs for cycle start and resetInputs for machine ready and in cycleDoor locked and guard closed feedbackPart detect and part clamped signalsGripper open close and fault outputs2 වන පාඩමVariable naming conventions, persistent variables, trays සහ counts සඳහා නිර්දේශිත data structuresVariables සඳහා clear naming rules නිර්මාණය කරන්න, persistent data organize කරන්න, trays, slots, counters සඳහා arrays structure කරන්න. Production හි stops හෝ power cycles පසුව readability, reuse සහ safe restart මත අවධානය.
Naming rules for positions, flags, and countersUsing persistent variables for production dataArrays for tray slots, rows, and columnsStructures for part counts and batch trackingReset and recovery of counters after stops3 වන පාඩමනිර්දේශිත program modularization: high-level cycle loop, motion library, IO handlers, error handlers, teach pendant utilitiesClear main loop, motion library, I/O සහ error handlers, pendant utilities සමඟ modular Polyscope program නිර්මාණය කරන්න. Production support වේලාවට reuse, readability සහ quick troubleshooting මත අවධානය.
Designing the main cycle loop structureCreating reusable motion library subprogramsStandard I/O handler subroutinesCentralized error and alarm handler logicTeach pendant helper screens and wizards4 වන පාඩමMotion planning strategy: move types (movej, movel, movec), speed/accel profiles, pick/place සඳහා blending සලකා බැලීම්CNC tending සඳහා moveJ, moveL, moveC අතර තේරීම ඉගෙන ගන්න, speed සහ acceleration tune කරන්න, blending යොදන්න. Reliable pick සහ place paths සඳහා cycle time, path accuracy, payload, collision risk මත අවධානය.
When to use moveJ vs moveL vs moveCSetting speed and acceleration for each moveUsing blend radius for smooth continuous motionBalancing cycle time against path accuracyAvoiding singularities and joint limits5 වන පාඩමSafety-relevant waypoints vs production waypoints නිර්මාණය සහ භාවිතයSafety waypoints production waypoints වෙතින් වෙන්කර roles නිර්මාණය කරන්න. ඒවා ස්ථානගත කිරීම, නම් කිරීම, ආරක්ෂා කිරීම සහ safe approach, retreat, recovery, operator interaction සඳහා භාවිතය ඉගෙන ගන්න.
Defining safe approach and retreat waypointsNaming and grouping safety critical posesProtecting safety waypoints from editsUsing safety poses in recovery routinesValidating clearance from fixtures and doors6 වන පාඩමEvent සහ alarm handling design: CNC faults, part jam, missing part, communication loss detect සහ respond කිරීමCNC faults, jams, missing parts, communication loss වෙත react කිරීමට event සහ alarm handling නිර්මාණය කරන්න. Detection methods, safe stop strategies, operator prompts, clear recovery procedures ඉගෙන ගන්න.
Detecting CNC faults and interlock tripsLogic for part jam and collision suspicionHandling missing part and empty tray casesDetecting and reacting to comms lossOperator messages and guided recovery7 වන පාඩමඅවම 5 අත්යවශ්ය waypoints: Home/park, Pre-pick approach, Pick pose, Pre-insert/transfer, Place pose — අරමුණු සහ tolerance සලකා බැලීම්අවම පස් core waypoints සහ roles නිර්මාණය කරන්න: Home, Pre pick, Pick, Pre insert or transfer, Place. Tolerance, approach direction, wear සහ fixture drift සඳහා adjust කිරීම ඉගෙන ගන්න.
Home and park pose purpose and placementPre pick approach pose and clearance rulesPick pose accuracy and grip alignmentPre insert or transfer pose strategyPlace pose tolerances and fine adjustment8 වන පාඩමSensor integration points: part present sensors, CNC door interlock feedback, machine state monitoringReliable CNC tending සඳහා sensors integrate කිරීමේ ස්ථාන හඳුනාගන්න. Part present, door interlock, machine state signals කියවීම, inputs debounce කිරීම, changes වෙත safely react වන logic නිර්මාණය ඉගෙන ගන්න.
Part present and part seated sensor logicCNC door closed and locked feedback useMachine ready and cycle complete signalsDebouncing and filtering noisy inputsFail safe design for sensor loss or faults9 වන පාඩමPolyscope project structure: main program, subprograms, events, installation setupMain program, subprograms, events, installation සමඟ Polyscope project structure තේරුම් ගන්න. Cell level data program logic වෙතින් වෙන්කර easier reuse සහ maintenance සඳහා ඉගෙන ගන්න.
Organizing the main program entry pointCreating and reusing subprogram librariesUsing event programs for background tasksManaging installation level I/O and TCPsVersioning and backing up project files10 වන පාඩමSimulation සහ offline testing strategies: UR simulator, Polyscope teach mode, safe dry runsURSim, Polyscope teach mode, dry runs භාවිතයෙන් programs test කිරීමේ safe ways explore කරන්න. Paths, I/O, timing validate කිරීම equipment damage නොකර, test plans සහ acceptance criteria ලේඛනගත කිරීම ඉගෙන ගන්න.
Setting up and using URSim for offline testsImporting and validating CAD based cell layoutsTeach mode strategies for first path trialsDry run routines with reduced speed and no partsDocumenting test plans and pass criteria
