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Resolution	0.003 deg.
Speed
max. speed	90 deg/sec
max. torque	358. in.lbs
• The workspace is pictured below,

A-axis (290 deg)

R-axis (300mm)

Z-axis (120mm)

39.2.3.2 - DARL Programs

•All DARL comments follow ’ at any position on a line.

•Statements are ended with a colon, and as long as colons are used, more than one statement can be used on a line.

•Line numbering is required for DARL programs.

•Dimensions are given in millimeters in the programs.

•Commas and spaces are treated as equivalent.

•A sample program is given below with comments for explanation,

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10 SPEED 250 ‘set the speed of the robot 20 T1 = 0. -350. -50. 0. ‘ first point

30 T2 = 0. -50. -350. 0. ‘second point 40 T3 = 30. -50. -350. 30. ‘third point

50 MOVE T1:MOVE T2:MOVE T3 ‘move the gripper to different points in space 60 OUTPUT +OG0 200 ‘open gripper

70 MOVE T1 + T2 ‘add two positions and move there 70 OUTPUT +OG1 200 ‘close gripper

80 STOP

39.2.3.2.1 - Language Examples

•First, points can be defined in programs, they can also be defined by moving the robot to the location and storing the value. This allows the robot to accurately find points without measuring. It also means that points location values don’t need to appear in programs, they are stored in memory.

•A example that uses for-next, if-then, goto and gosub-return commands is shown below. These commands are very standard in their use.

10 FOR A = 2 TO 10 ‘ start a loop that will count from 2 to 10

40 IF A = 4 THEN GOTO 100 ‘when a has a value of 4 jump to line 100 50 IF A = 6 THEN GOSUB 200 ‘ when a has a value of 6 go to subroutine

60 NEXT A ‘ go back to line 10 and increase the value of a until it reaches 10 70 END ‘end the program

100 MOVE T1 ‘ go to point 1

110 NEXT A ‘ go back to line 10

200 MOVE T2 ‘ go to point 2

210 RETURN ‘ go back to where we left line 50

• A example that uses motion is shown below. The ‘move’ command causes a motion to another point by only turning the needed joints. ‘moves’ causes a more complex motion resulting in a straight line tool motion between points. ‘movec’ allows a circular interpolation dictated by three points (the start, and the two given). The shave command forces the robot to fully complete a motion and stop before going to the next point. The sync command will move the robot, but keep the gripper in the original position relative to the real world.

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10 T1 = 30. 10. 10. 40.

20 T2 = 15. 5. 5. 10.

30 T3 = 0. 0. 0. 0.

40 MOVE T1 ‘ move to a start point

50 SHAVE ‘ allow motions to “only get close” before moving to the next point 60 MOVE T2: MOVE T3 ’ slows down at t2 before going to t3

70 NOSHAVE ‘ make motion stop fully before going to the next point 80 MOVE T1 ‘ return to the start

90 MOVE T2: MOVE T3’ stops at t2 before going to t3 100 MOVE T1 ‘ return to the start

110 MOVES T2: MOVES T3 ’ moves in a straight line from t1 to t2 and from t2 to t3 120 MOVE T1 ‘ back to the start again

130 MOVEC T2 T3 ‘ follows a smooth path, not slowing down at t2 140 MOVE T1 ‘ back to the start again

150 SYNC ‘ make gripper stay stationary relative to ground 160 MOVEC T2 T3 ‘ the arm moves, but the gripper stays at 0 170 NOSYNC ‘ make gripper follow robot

• A example that defines tool location offsets is shown below. This is particularly useful for a robot that has more than one tool attached. The normal tool location is on the end of the arm. With multiple tools attached we will have multiple tool center points. We can have a tool definition for each one of these. Note that the x-axis is the normal forward for the tool. The tool axis can only be changed in the x-y plane (or the plane perpendicular to the gripper rotation).

30 A = 0.1 ’ the tool center point x offset from the gripper 40 B = 0.2 ’ the tool center point y offset from the gripper 50 C = 0.3 ’ the tool center point z offset from the gripper 60 D = 1 ’ define an offset for an axis

70 E = 0 ’ define a zero offset for an axis

80 DEF TL2 D E A B C ’ tool 2 at (0.1, 0.2, 0.3) with the x-axis pointing forward (1,0) 90 DEF TL3 E D C B A ’ tool 3 at (0.3, 0.2, 0.1) with the x-axis pointing to the left (0,1) 100 TOOL 1 ’ indicate that you are using tool 1

110 MOVE T1 ’ move to position 1 with the tool pointing in the normal direction

111 remark note that the robot gripper will be positioned (-0.1, -0.2, -0.3) from normal 120 TOOL 2 ’ choose the tool on the gripper pointing to the left

130 MOVE T1 ’ this will move the robot to (-0.3, -0.2, -0.1)

140 remark the robot will also move so that the tool is pointing to the left.

• A example that uses pallet commands is shown below. Basically a pallet allows us to create an array of points (it does the calculations). We can then give a location on a pallet and move to

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that point. The basic pallet definition requires that we indicate the number of rows and columns. We also need to define the physical locations of the rows and columns.We do this by giving an origin point, and then defining where the first row and column end. To use the pallet location we can simply refer to the pallet location index.

110 R = 3 ’ define the number of rows on the pallet 120 C = 4 ’ define the number of columns

130 DEF PA2 (R,C) T1 T2 T3 ’ pallet with first row from t1 to t2, the first column from t1 to t3

140 FOR I = 0 TO R-1 ’ loop for the rows 150 FOR J = 0 TO C-1 ’ loop for the columns 160 MOVE T4’ move the pickup point

170 OUTPUT +OG3 ’ close the gripper

180 MOVE PA2(J,I) ’ move to the location on the pallet 190 OUTPUT -OG3 ’ open the gripper

200 NEXT J: NEXT I ’ continue the loop to the next parts

• A example that defines and uses new frames is shown below. We define a new frame of reference by using points. The first point becomes the new origin. The second point determines where the new x-axis points. The z-axis remains vertical, and the y-axis is shifted appropriately.

20 T1 = 2. 1. 0. 0. ’ define a point 30 T2 = 1. 1. 0. 0.

40 T3 = 2. 2. 0. 0.

50 DEF FR1 T2 T1 ’ defines frame with origin at (1,1,0), but x-y axis in original direction 60 DEF FR3 T1 T2 ’ defines origin at T1 and x-axis pointing T2-T1=(-1,0,0)

70 DEF FR2 T2 T3 ’ defines origin at T2 and x-axis pointing T3-T2 = (.71,.71,0) 80 MOVE T2 ’ THIS WILL MOVE TO (1 1 0 0)

90 FRAME 1 ’ USE REFERENCE FRAME #1

100 MOVE T2 ’ THIS WILL MOVE TO FR1+T2 = (2, 2, 0, 0) 110 FRAME 2 ’ USE REFERENCE FRAME #2

120 MOVE T2 ’ THIS WILL MOVE TO FR2+T2 = ( 1, 0, 0, 0) 130 FRAME 3 ’ USE REFERENCE FRAME #3

140 MOVE T2 ’ THIS WILL MOVE TO FR3+T2 = (1.71, 1.71, 0, 0) 150 FRAME 0’ GO BACK TO THE MAIN COORDINATES

80 MOVE T2 ’ THIS WILL MOVE TO (1 1 0 0)

• A example that uses simple inputs and outputs is shown below. Note that there are two connectors for I/O. The main or ‘E’xternal connector is on the main controller box. The other I/O lines