Controlling a Robot from SA

There are several ways to control a Robot from SA. The following sections will cover the various methods.

 

SA Teach Pendant

The SA Teach Pendant allows for Robot control from SA instead of the physical teach pendant. The SA Teach Pendant allows for individual actuator inputs, Cartesian moves and graphical input.

 

Move to Frame

The Move to Frame commands allow robot movements to be calculated from the selection of Coordinate Frames in SA. When used, the user will be prompted to select a frame. From here, the robot will be moved to the selected position either in controller kinematics or SA Kinematics.

Measurement Plan

The SA Measurement Plan scripting language also includes several commands for controlling Robots. As the above section describes Move to Frame, similar commands are available in MP. MP is a great tool for automating data acquisition and robot movement.

 

Collecting Calibration Measurements

Collecting data for a Robot calibration only takes a few steps. Two scenarios exist: Collecting joint sets from a live robot or importing joint sets.

To Collect Measurements from a Live Robot

  1. Ensure that SA and the Robot are connected via the SA Robot Driver.

  2. Add a new calibration by right-clicking Calibrations and select Add Calibration.

  3. Right-click the newly added calibration and select Trap Measurements from an Instrument.

  4. Now the calibration set is ready to receive measurements and joint sets. As a measurement is received a corresponding joint set is recorded. Simply move the Robot to various poses and record measurements.