Data Sheet

Software

Our software is called RoboForth II and RobWin7.

RoboForth is embedded in the controller flash memory. RobWin is a project manager that runs in your PC.

Teaching the robot

may be achieved by choosing one of two 'entities':

1. A Route:

This is a list of spatial coordinates each of which is a row of numbers representing motors counts away from the

zero (HOME) position or absolute Cartesian coordinates. The route is created by the user with his/her given name

e.g. ROUTE I66. RobWin makes this simple with a dialog box that creates the entry in the controller as well as on

disk. Coordinates are then added to the list by clicking 'insert position' or using the tick key on the teach pad. The

robot moves from point to point with the command RUN, moving through them at optimum speed or at constant

velocity. Associated commands provide editing and the ability to run parts of a route, or to retrace. A route is also

used as a reference for discrete positions, for palletizing for example. Editing is achieved using dialog windows or

with ROBOFORTH commands such as REPLACE which also permit self learning features, for example the robot

can modify its own positions according to the programmed procedure. Functions such as gripper operation,

delays, speed changes, spray/glue on/off etc. can be embedded in the route to take effect in the required

sequence.

A grid (matrix) is also a list, organized in 2 dimensions and a row is one-dimensional. The number of rows and

columns are specified in dialog boxes, the corners of the matrix learned and the system computes the rest of the

positions and downloads them to the controller. This is useful accessing trays of items etc.

2. A Place:

This is a single named coordinate. It is self learning and self executing. It is created by the user with his/her given

name using a dialog box or with a native command e.g. PLACE JIG.

To return the robot to this position later simply use the word JIG.

Finally all these learned and named entities are used in the procedure file to create new definitions or 'words'

which determine how the positions are used, i.e. in what order, in what circumstances etc.

For example a word might be defined using a place named JIG and a matrix route named TRAY:

: GETPART

TRAY INTO

GRIP

JIG

UNGRIP

WITHDRAW

;