F1 Key			online help, press F1 any time for help
-1 +1 ... -6 +6  [7-12]	move the robot in joint space
-X +X ...-C +C  Cnfg 1	move the robot in Cartesian space,
			current robot configuration is one
AX			switch to joint mode
KART			switch to Cartesian mode
Adj.			goto the Adjustment line (world view etc.)
Menue			open the MENUE window for more functions
EXIT			Exit EASY-ROB
-+_*			increase or decrease the moving step of robot

F1 Key		online help, press F1 any time for help
-X +X ...-Z +Z	translate or rotate the 'activated' (cyan coloured) state
Zoompoint	activate 'Zoompoint'
trn_world	activate 'translate world view'
trn_base	activate 'translate base view'
rot_world	activate 'rotate world view'
Refr		refresh the screen
Menue		open the MENUE window for more functions
Quit		return to the Command line
-+_*		zoom in "+","*" or out "-","_"

F1 Key			online help, press F1 any time for help
Tool Data		enter the TCP values
Save			save the current work
Delete			delete the current work
Load			load a new robot, tool, view, cell, etc.
Miscellaneous		activate additional functions
Exit EASY-ROB		bye
Quit			goto Command line or Adjustment line

Block
A block is determined by its X-,Y- and Z-length. Each body has reference position (light cyan coloured coorsys) and a position (cyan coloured coorsys) frame. The position frame is related to the reference position frame.

Pyramid
A pyramid is determined by its X- and Y-length and the height in Z-direction.
Values dx and dy shift the top of the pyramid.

Pyramid X
A pyramid X is determined by its X- and Y-length for the bottom, its X- and Y-length for top and the height in Z-direction.
Values dx and dy shift the top of the pyramid.

Cylinder
A cylinder is determined by its bottom and top radius, 2 heights and a scaling value in y direction.
Values dx and dy shift the top of the cylinder.

Cone
A cone is determined by its radius, the height and a scaling value in y direction.
Values dx and dy shift the top of the cone.

Sphere
A sphere is determined by its radius and a scaling value.


Arc gun
The Arc gun is a composition off the basic bodies available in EASY-ROB
| Top | MENUE | 3D CAD |

The blue coorsys presents the TCP (Tool Center Point) of the robot. You can modify the Tool Data every time. If you give a new Cartesian location (XYZ ABC) the robot interpolates in a straight line moving to the new location if this location is reachable. If not, a message appears and this location is rejected. You can also give new joint values (in [m] and/or [deg]) for the robot. The robot interpolates in synchro PTP (Point to Point) to the new joint values.
Robot in wire frame | MENUE | Top |

The Switch ON-OFF Menu allows you to switch ON and OFF different things, like the output window for the position, show the robot TCP track, the render mode (wire or flat), etc.
The left window Show joint & position data displays the current joint values, Cartesain location and the configuration of the loaded robot. If the travel ranges are exceeded, the joint values of these axis are red coloured (see joint 4 and 5). The Position is the TCP location related to the robot's base. If a robot's program is executed, the total time (Time), the time for the current move command (Tipo), the stepsize (dt) and the current override are displayed.

| MENUE | Top |

When you switch ON the robot coorsys, the robot joint coorsys are displayed in yellow colour. A yellow coloured coorsys determines an active robot joint. Green coloured coorsys determines passive joints like the back link. This is very helpful to understand a robot kinematics, specially when you use the DH or the Universal kinematics notation to design your own robot.
| MENUE | Top |

PTP, LIN, Configuration
These images show another robot with 6 DOF (Degrees Of Freedom). The TCP-Track is switched to ON (green colour). The robot was moved in straight line in -Y direction related to its TCP coorsys (blue colour). The right image shows a PTP move to a new configuration. The final location is the same. This robot kinemartics type has 8 configurations, i.e. 8 different sets of joint values for one Cartesian location. The inverse kinematics in EASY-ROB calculates all possibilities for this kinematics.

| MENUE | Top |

bTt =	RotZ(q1) * Trans(l1x,l1y,l1z) *		// to joint 2   
	RotY(q2) * Trans(l2x,l2y,l2z) *		// to joint 3
	RotY(q3) * Trans(l3x,l3y,l3z) *		// to joint 4,5 and 6
	RotZ(q4) * RotY(q5) * RotZ(q6) * Trans(0,0,l6z);

	The DH parameter allows you to describe a robot kinematics with only 4 values for each robot joint. These 4 values are Theta (Tz | Rz) Translation or Rotation in Z-direction D (Tz) Translation in Z-direction A (Tax) Translation in X'-direction Alfa (RCS) Rotation about X'-direction

1th step Specify or modify the number of joints for the robot. In this case 2. active Jnt 1 RZ means that this robot has one joint, which is rotational about Z-direction.	2nd step Select if this joint is translational or rotational about Z-direction.	3rd step Enter the DH parameter: Theta, D, A, Alfa . . . its done.

'uni_temp.rob'	A universal robot kinematics type is very similar to the DH kinematics. The different is that each joint can translate or rotate about X-, Y- or Z-direction. The robot 'uni_temp' has one active joint (red coloured in flat) and three passive joints (grey coloured in wire frame). Each passive joints is mathematically dependent to this one active joint. Modify the values for the 2. Passive Joints.

The title shows the current values 'RZC0' for this passive joint
1. Type is T or R, Direction is X-,Y- or Z-direction.
2. Chain spec. is inside 'C' or outside '_' the kinematics chain.
3. Attach to active joint prompts you to enter an active joint number.
4. Math. Jnt. dependency prompts you to specify a math. function.
5. Geometric Data for the transformation to the next joint in the kinematics chain.

Geometric Data
Enter the values for this passive joint no. 1 to the next joint in the kinematics chain.

Kinematic Information for the 'uni_temp' robot
This window gives you information about the robot kinematics. The 'uni_temp' robot has 1 active joint (1 DOF), which is rotational about Z-direction and has 3 passive joints.

Each passive joint is mathematically dependent to the active joint no 1.
pJ(1): f1 will call the function f1 from the er_kin.dll.
pJ(2): +1 will rotate with the same angle like active joint 1.
pJ(3): f2 will call the function f2 from the er_kin.dll.
| MENUE | Top |

• The first row is the header line, which contains the file name 'DEFAULT.PRG'.
• The first column shows the program line in the program file.
• A cyan coloured command indicates an ERC (EASY ROB Command).
• An ERC allows you to load a view, rotate the robot and/or bodies, grab and release s.th, etc.
• A green coloured command indicates a motion command (PTP, LIN).
• The yellow coloured in process does mean, that the interpreter is executing this command.

Contents
0. Preface
1. Robot motion and process commands
2. ERC (Easy Rob Commands)
3. Example program

0. Preface

For program generation you can use the EASY-ROB program generator,
or use an editor. Each Program has following basic structure.

PROGRAMFILE
! This is my program
; hello easy-rob
config 1
...
! call a function
call my_fct()
ENDPROGRAMFILE

FCT my_fct()
! do s.th.
ENDFCT

Tips:
- Set a robot configuration first for determined robot
  behaviour
- If you generate a program while editing the program file
  and you like to save the current robots location, then
  you have to "open the program file for append".

  Open File for append
  MENUE - ROBOT PROGRAM - Open Program for append
  allows you to save CONFIG, PTP or LIN commands

  Edit the program file
  MENUE - ROBOT PROGRAM - EDIT current created Program
  choose your preferred editor in the configuration file

  Load program file
  MENUE - ROBOT PROGRAM - LOAD Program
  allows you to execute current created program for test
  !!! Quit the Program Execution, otherwise the program
  file is not closed

Program Contents



1. Robot motion and process commands

BEGIN - program starts here, this is default

PROGRAMFILE - indicator for the interpreter.
  PROGRAMFILE must be in each first program line

END or ENDPROGRAMFILE - indicate the end of a program

FCT - indicator for the interpreter.
  The function definition starts here
  values: string
  example: FCT my_fct()

ENDFCT - indicator for the interpreter.
  This determines the end of the function

CALL - will execute the function call
  values: string
  example: CALL my_fct()

CONFIG - set the robot configuration. The next motion command (PTP or LIN)
  should be a PTP move.
  (a robot cannot change its configuration during LIN move)
  values: integer
  example: config 1

PTP_AX - move the robot to the target joint position in PTP mode.
  The number of values is the DOF of the robot.
  values: float's
  example: PTP_AX  30.0 -90.0 20.0   0.5 0.0 -0.3
	for a RRR:TTT robot with 6 DOF
	PTP_AX  30.0 -90 will keep the values of the last 4 joints.

PTP - move the robot to the target position in PTP mode.
  The target position is related to the
  BASE position.
  ABC is RotA * RotB * RotC
  values: X Y Z   A B C
  example: PTP  0.1 0.2 0.3   30.0 -60.0 180.0
	     X = 0.1  Y = 0.1  Z = 0.1 unit [m]
	     A = 30   B = -60  C = 180 unit [deg]

LIN - move the robot to the target position in LIN (straight) mode.
  The target position is related to the
  BASE position.
  ABC is RotA * RotB * RotC
  values: X Y Z   A B C
  example: LIN  0.1 0.2 0.3   30.0 -60.0 180.0
	     X = 0.1  Y = 0.1  Z = 0.1 unit [m]
	     A = 30   B = -60  C = 180 unit [deg]

MSG - message to program window
  values: string
  example: MSG I enjoy robotics

WAIT - wait for some seconds
  value: seconds
  example: WAIT 2.0

ERC - Easy Rob Command, see below

PTP_REL - moves the robot relative to the current TCP location in PTP mode.
  values: dX dY dZ   A B C
  example: PTP_REL  0 0.2 0   30 0 0

LIN_REL - moves the robot relative to the current TCP location in LIN mode.
  values: dX dY dZ   A B C
  example: LIN_REL  0 0.2 0   30 0 0

TOOL - set the Tool Data, the TCP location related to the robots tip.
  values: X Y Z   A B C
  example: TOOL  0 0 0.2   30 0 0

BASE_PRG - set the origin of the program base
  values: X Y Z   A B C
  example: BASE_PRG  0 0 0.2   0 0 0

BASE_PRG_REL - shift the origin of the PROGRAM_BASE with respect to the
  PROGRAM_BASE coorsys.
  The new PROGRAM_BASE is: PROGRAM_BASE = PROGRAM_BASE * BASE_PRG_REL
  values: X Y Z   A B C
  example: BASE_PRG_REL  0 0 0.2   0 0 0

BASE - set the base frame for target points
  values: X Y Z   A B C
  example: BASE  0 0 0.2   0 0 0

  The final TCP location of a robot is:
  BASE_PRG * BASE * target_location.

BASE_REL - shift the origin of the BASE with respect to the
  BASE coorsys.
  The new BASE is: BASE = BASE * BASE_REL
  values: X Y Z   A B C
  example: BASE_REL  0 0 0.2   0 0 0

SPEED_CP - set the speed for continuous path motion in [m/s]
  values: float
  example: SPEED_CP  0.375

SPEED_PTP - set the speed for PTP motions in [deg/s] and
  the orientation speed for continuous path motion.
  values: float
  example: SPEED_PTP  30.0

OV_PRO - set the programmed overrride in percent
  Allowed values are 1..200
  values: float
  example: OV_PRO  50.0

Program Contents



2. ERC (Easy Rob Commands)

The following command are used with ERC command parameter_list

Examples:
   ERC TRACK ON
   ERC IPO_STEP 0.5
   ERC RENDER FLAT
   ...

SET_DEFAULTS
- set program window ON
- set robot visibility ON
- set robot coorsys OFF
- set tool visibility ON
- set bodies visibility ON
- set world coorsys visibility ON

TRACK - set track on robot TCP on or off
  syntax: ERC TRACK ON/OFF

IPO_STEP - set the interpolation time step , unit [sec]
  syntax: ERC IPO_STEP 0.25

LOAD - load a tool, robot, view, body or recording file
  syntax:
  ERC LOAD TOOL my_tool
    the extension *.tol in this case is appended automatically
  ERC LOAD ROBOT my_robot
    the extension *.rob in this case is appended automatically
  ERC LOAD VIEW my_view
    the extension *.viw in this case is appended automatically
  ERC LOAD RECORDING my_rec
    the extension *.rec in this case is appended automatically
  ERC LOAD BODY my_body
    the extension *.bod in this case is appended automatically

RENDER - set render to wireframe or flat
  syntax: ERC RENDER WIRE/FLAT

ORTHOGRAFIC - set the orthographic view on or off
  syntax: ERC ORTHOGRAFIC ON/OFF

STOP - stop program execution until mouse click or any key
  syntax: ERC STOP txt is default

ROBOTJOINTS - display the robot joint on or off
  syntax: ERC ROBOTJOINTS ON/OFF

ROBOTPOSITION - display the robot Cartesian location
  "robot base to TCP" on or off
  syntax: ERC ROBOTPOSITION ON/OFF

FLOOR - set floor visibility on or off
  syntax: ERC FLOOR ON/OFF

FLOOR_RENDER - set floor render wire or flat
  syntax: ERC FLOOR_RENDER WIRE/FLAT

ROBOT_BASE - set the robots base location related the world coorsys.
  The robots base will interpolate to its new base.

  It's a robot on a gantry now

  values: X Y Z   A B C
  example: ERC ROBOT_BASE  0 0 0.2   0 0 0

ROBOT_BASE_REL
- shift the ROBOT_BASE
- shift the origin of the ROBOT_BASE with respect to the
  ROBOT_BASE coorsys.
  The new ROBOT_BASE is: ROBOT_BASE = ROBOT_BASE * ROBOT_BASE_REL
  values: X Y Z   A B C
  example: ERC ROBOT_BASE_REL  0 0 0.2   0 0 0

GRAB - grab a body to the robot's tip
  syntax: ERC GRAB BODY my_body

RELEASE - release a body from the robot's tip
  syntax: ERC RELEASE BODY my_body

GRAB BODY_GRP - grab all bodies from the group: BODY to the robot's tip
  syntax: ERC GRAB BODY_GRP

RELEASE BODY_GRP - release all bodies from the group: BODY to the robot's tip
  syntax: ERC RELEASE BODY_GRP

TCP_COORSYS - set tcp_coorsys on or off
  syntax: ERC TCP_COORSYS ON/OFF

BASE_COORSYS - set base_coorsys on or off
  syntax: ERC BASE_COORSYS ON/OFF

PRG_WIN - set program window on or off
  syntax: ERC PRG_WIN ON/OFF

DISPLAY_ROBOT - set robot visibility on or off
  syntax: ERC DISPLAY_ROBOT ON/OFF

DISPLAY_TOOL - set tool visibility on or off
  syntax: ERC DISPLAY_TOOL ON/OFF

DISPLAY_BODYS - set bodys visibility on or off
  syntax: ERC DISPLAY_BODYS ON/OFF

DISPLAY_ROBOT_COORSYS - set robot's joint coorsys visibility on or off
  syntax: ERC DISPLAY_ROBOT_COORSYS ON/OFF

RUN_RECORDING - run currently loaded joint recording file
  syntax: ERC RUN_RECORDING [my_rec]
  example:
    ERC LOAD RECORDING my_rec
    ERC RUN_RECORDING
  or
    ERC RUN_RECORDING my_rec
    will load an run my_rec

Program Contents



3. Example program

PROGRAMFILE
! prgfln ..\simrob\my_proj\uni_tmpl.prg 
ERC TRACK ON
erc floor off
erc load view uni_tmpl
TOOL  0 0.15 0 0 0 0
MSG -
MSG using the f1- and f2-fct from the er_kin.dll
MSG -
speed_ptp 20.0
PTP_AX         720.0000
TOOL  0 -0.15 0 0 0 0
PTP_AX           0.0000
ENDPROGRAMFILE

Program Contents

er_tutor.exe (~115KB) is a selfextracting archive.
Copy this file to your EASY_ROB directory, if EASY-ROB is already installed. If not, it does not matter where this file resides on your system. When you unpack with the -d option the directory .\er_tutor\ is created.
Start your Web Browser and open the er_tutor.htm file.

- download here -

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