R07.09.01.04 · 任务小类

示教器编程

Teach-pendant programming

Program tasks on virtual teach pendants.

20 条本项目编写的提案 · 分类 v1.1 · 新增基准运行 0 次。下方验证方式与部分得分规则是设计，不是执行结果。

典型应用: UR PolyScope (URSim) · ABB FlexPendant
小类 GUI 需求标签: G3 · 仅 GUI

任务提案 · 20

展开查看完整原文与建议检查方式；两种界面均保留提案英文原文。

R07.09.01.04-T01 Program a five-cycle pick loop with a gripper output in PolyScope

原始指令

In URSim (UR5e, PolyScope 5), create program 'pick5': MoveJ to 'home', then MoveL through waypoints 'above', 'pick' (set DO0 high, wait 0.5 s) and 'above', looped 5 times. Waypoints are given in input/waypoints.txt as base-frame poses. Save as pick5.urp.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单 click · 指向与点击
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 2 / 5

建议验证方式

Grader parses pick5.urp: node tree (Loop 5x, MoveJ/MoveL, Set DO0, Wait 0.5) and waypoint poses within 1 mm; runs it in a clean URSim with RTDE logging: 5 visits to 'pick' with DO0 rising there. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

35% program structure; 30% waypoints; 35% RTDE trace shows 5 correct cycles.

R07.09.01.04-T02 Set TCP, payload and a plane feature, then program relative to it

原始指令

In URSim, in Installation set TCP 'gripper' to (0,0,120 mm, 0,0,0) and payload 1.2 kg with CoG (0,0,60 mm); teach plane feature 'table' from the 3 marked points in input/points.txt; then create program 'trace' with MoveL in feature 'table' visiting its 4 corners of a 100 mm square at z=10 mm.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader reads default.installation and trace.urp: TCP and payload exact, feature 'table' pose from the 3 points within 0.5 mm; RTDE trace of the run shows square corners within 1 mm in the feature frame. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

30% TCP/payload; 30% feature taught; 40% square traced correctly.

R07.09.01.04-T03 Build a 4x3 pallet pattern with the PolyScope Pallet wizard

原始指令

In URSim, use the Pallet node (grid pattern) to place 12 parts on a 4x3 pallet whose corners are given in input/pallet_corners.txt, with approach/exit 80 mm above each spot, gripper release DO1 at each spot and a part counter shown in a popup at the end. Save as pallet12.urp.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader runs the program with RTDE logging: 12 release events at grid positions within 1 mm of the bilinear grid from the corners, approach heights 80 mm, popup reached once. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

30% pallet node configured; 40% 12 positions correct; 15% approach/exit; 15% popup and counter.

R07.09.01.04-T04 Configure reduced-mode safety limits and planes on a UR pendant

原始指令

In URSim's Safety settings (sandbox safety password in input/creds.txt), set reduced-mode TCP speed 250 mm/s and force 120 N, restrict shoulder and elbow joint ranges per input/safety_spec.pdf, add a 'trigger reduced mode' plane at x=0.6 m and a 'normal' plane at z=0.02 m, then apply and confirm the safety checksum.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: risk · 高风险 / 不可逆
提案难度: 4 / 5

建议验证方式

Grader reads the safety section of the installation: all limits and plane definitions exact; safety checksum matches grader's expected CRC; robot boots without safety faults. Changes stay in the simulator only. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

30% speed/force limits; 30% joint ranges; 30% planes; 10% applied and checksum confirmed.

R07.09.01.04-T05 Jog to targets and write a MoveL routine on the virtual FlexPendant

原始指令

In RobotStudio, open the virtual FlexPendant for controller 'IRB1100_lab'. Jog the robot to the 4 marked tool positions on the fixture, store them as robtargets p10-p40 in module 'Cell', write routine 'Square' with MoveL p10..p40 at v200 z5 using tool 'tGripper', and run it once in manual reduced speed.

平台: win · Windows
应用: ABB FlexPendant · ABB RobotStudio
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: licensed · 授权专业软件
提案难度: 3 / 5

建议验证方式

Grader backs up the controller: Cell.mod contains p10-p40 within 1 mm of the markers and routine Square with exact moves; event log shows a run of Square in manual mode. RAPID files loaded from disk or via RobotStudio editor (not the pendant) show in the controller event log and fail.

建议部分得分

40% robtargets accurate; 40% routine correct; 20% executed.

R07.09.01.04-T06 Define tooldata with the 4-point TCP method on the FlexPendant

原始指令

On the virtual FlexPendant of controller 'IRB2600_weld', create tooldata 'tTorch' using the TCP & Z, X method: jog the torch tip to the reference spike in 4 orientations plus the elongator points, accept the calculation if mean error <0.5 mm, and set mass 3.2 kg with CoG (0,0,150).

平台: win · Windows
应用: ABB FlexPendant · ABB RobotStudio
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: click · 指向与点击 geom · 精确几何 vis · 视觉判断
工作产物: WP08 · 应用 / 系统状态
条件: licensed · 授权专业软件
提案难度: 4 / 5

建议验证方式

Grader reads tTorch from the backup: TCP within 0.5 mm and orientation within 1 deg of the modeled torch tip; mass/CoG exact; calibration result entry present in the event log. RAPID files loaded from disk or via RobotStudio editor (not the pendant) show in the controller event log and fail.

建议部分得分

50% TCP position; 20% orientation; 15% load data; 15% calibration accepted on pendant.

R07.09.01.04-T07 Branch a UR program on part-type inputs with a monitoring thread

原始指令

In URSim, create program 'sort3': read DI0-DI2 (part type A/B/C), use If/ElseIf to place at 'binA', 'binB' or 'binC', count parts in variable n, add a Thread that stops with a popup if DI7 goes high, and show a 'Batch done' popup after 50 parts. Save as sort3.urp.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单 click · 指向与点击
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 4 / 5

建议验证方式

Grader runs sort3 with a scripted I/O responder (60 parts, mixed types, DI7 pulse at part 55): each part goes to the right bin (RTDE), popup at 50, stop after DI7 within 200 ms. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

40% correct routing; 20% counter and popup; 30% thread stops on DI7; 10% saved cleanly.

R07.09.01.04-T08 Smooth a UR path with blend radii under a cycle-time limit

原始指令

Open fixtures/dispense.urp in URSim. Add blend radii to the 8 via waypoints (no blend on 'start' and 'end') so PolyScope reports no blend-overlap errors and the cycle time drops below 7.5 s at the current speeds, while the TCP stays within 5 mm of each via point.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader runs the program with RTDE: cycle <7.5 s, min distance to each via point <=5 mm, no protective stops or blend errors in the log, start/end unblended. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

40% cycle time; 40% via-point accuracy; 20% no errors.

R07.09.01.04-T09 Create inline-form PTP and LIN motions on a KUKA smartPAD

原始指令

In KUKA.OfficeLite (KSS 8.6) with the virtual smartPAD, create program 'load_cnc' using inline forms: PTP HOME, PTP P1, LIN P2 at 0.2 m/s with BASE[2] and TOOL[1], OUT 5 TRUE, WAIT 0.5 s, LIN P3, PTP HOME. Teach P1-P3 by jogging to the targets in input/targets.pdf.

平台: win · Windows
应用: KUKA smartPAD · KUKA.OfficeLite
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G3 · 仅 GUI
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: licensed · 授权专业软件
提案难度: 3 / 5

建议验证方式

Grader exports load_cnc.src/.dat: inline-form fold structure (not expert-mode text), BASE/TOOL numbers, speeds, I/O and wait exact; taught points within 1 mm. The Expert user group is locked (no password issued) and files copied into KRC:\R1 outside the smartPAD HMI are detected via mtime and the file audit log.

建议部分得分

40% inline-form sequence; 20% frames/speeds; 40% taught points.

R07.09.01.04-T10 Program a 3x3 grid with position-register math on a FANUC iPendant

原始指令

In ROBOGUIDE with the virtual iPendant, write TP program GRID9 that places parts in a 3x3 grid (pitch 60 mm X, 45 mm Y) by computing offsets into PR[10] from loop registers R[1], R[2] and using Offset,PR[10] on a single taught point P[1]. Count completed parts in R[5].

平台: win · Windows
应用: FANUC ROBOGUIDE · iPendant
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP06 · 代码 / 工程
条件: licensed · 授权专业软件
提案难度: 5 / 5

建议验证方式

Grader converts GRID9 to .LS: nested loops via JMP/LBL or FOR, PR[10] arithmetic, single taught P[1]; simulated run positions within 0.5 mm of the 9 grid points; R[5]=9 at end. .LS uploads via FTP are blocked/logged.

建议部分得分

25% loop structure; 25% PR math; 40% 9 positions; 10% counter.

R07.09.01.04-T11 Name I/O and set default outputs in a UR installation

原始指令

In URSim Installation > I/O Setup, name DO0 'gripper', DO1 'blowoff' and DI3 'part_present'; set DO1 to go high when the program starts and low when it stops. Save the installation as cell_a.installation.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 2 / 5

建议验证方式

Grader parses the installation: names exact, DO1 start/stop actions exact; no other settings changed (XML diff). URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

50% names; 40% actions; 10% no collateral changes.

R07.09.01.04-T12 Factor a UR program into a subprogram and before-start sequence

原始指令

Open fixtures/tending.urp in URSim. Move the 4-node 'go home' sequence that appears 3 times into a subprogram 'GoHome' and call it from those 3 places; add a BeforeStart sequence that opens the gripper (DO0 low) and moves home. Save as tending_v2.urp.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 drag · 拖放 click · 指向与点击
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 2 / 5

建议验证方式

Grader parses the .urp: SubProgram GoHome with the original 4 nodes, 3 Call nodes replacing the duplicates, BeforeStart content exact; RTDE trace of one cycle identical to original within 1 mm. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

40% subprogram and calls; 30% before-start; 30% behavior unchanged.

R07.09.01.04-T13 Add I/O signals in the FlexPendant configuration and use them

原始指令

On the virtual FlexPendant (controller 'IRB1200_pack'), add digital signals diBoxPresent and doClamp on the simulated I/O device via Control Panel > Configuration, restart the controller, then add WaitDI diBoxPresent,1 and SetDO doClamp,1 before the MoveL to pClamp in routine 'Pack'.

平台: win · Windows
应用: ABB FlexPendant · ABB RobotStudio
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: licensed · 授权专业软件
提案难度: 3 / 5

建议验证方式

Grader backs up EIO.cfg: both signals on the right device/mapping; routine Pack contains the two instructions in order before the move; simulated run waits until the grader sets diBoxPresent. RAPID files loaded from disk or via RobotStudio editor (not the pendant) show in the controller event log and fail.

建议部分得分

40% signals configured; 20% restart applied; 40% program edits and behavior.

R07.09.01.04-T14 Build a full machine-tending cycle on a UR pendant

原始指令

In URSim, program 'tend_cnc': open CNC door (DO2) and wait door-open DI4; pick blanks from a 3x4 tray with the Pallet node; place in vise and close it (DO3), wait DI5; unload finished part to the outfeed; count cycles; show error popups on 10 s timeouts. Run 3 cycles.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 type · 文字与表单 click · 指向与点击 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: long · 长流程
提案难度: 5 / 5

建议验证方式

Grader runs with a scripted CNC I/O responder (including one injected timeout): blanks picked in tray order (1 mm), I/O handshake order exact, timeout popup raised, 3 complete cycles in RTDE log. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

25% handshake sequence; 25% tray picking; 25% load/unload motions; 25% timeout handling.

R07.09.01.04-T15 Send the pick loop as URScript (control pair of T01)

原始指令

Control pair of T01: without PolyScope, write output/pick5.script in URScript implementing the same 5-cycle pick loop with DO0 and waypoints from input/waypoints.txt, and send it to URSim's primary interface on port 30001.

平台: lin · Linux
应用: URScript · URSim
交互表面: term · 终端 api · API / SDK
GUI 需求 · 任务设定: CL · CLI 足够
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: code · 代码与命令
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 3 / 5

建议验证方式

Control pair of T01: identical RTDE trace checks (5 visits to 'pick', DO0 timing, waypoint accuracy 1 mm); the script file must reproduce the run.

建议部分得分

30% script runs; 70% RTDE trace matches the T01 spec.

R07.09.01.04-T16 Teach a spline contour with SPL motions on a KUKA smartPAD

原始指令

In KUKA.OfficeLite with the smartPAD, create program 'seal_lid' using a SPLINE block of 12 SPL points taught along the lid edge (input/lid_contour.pdf) at 0.15 m/s with constant orientation, BASE[4]/TOOL[3], and an OUT 7 trigger 10 mm after the first point.

平台: win · Windows
应用: KUKA smartPAD · KUKA.OfficeLite
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何 path · 连续路径
工作产物: WP06 · 代码 / 工程
条件: licensed · 授权专业软件
提案难度: 4 / 5

建议验证方式

Grader exports the program and runs it in OfficeLite with a position trace: path within 1 mm of the contour, SPLINE block with 12 SPL points, TRIGGER WHEN DISTANCE set correctly. The Expert user group is locked and file copies into KRC:\R1 from outside the smartPAD HMI are detected via the file audit log.

建议部分得分

30% spline structure; 40% contour accuracy; 15% orientation constant; 15% trigger.

R07.09.01.04-T17 Shift three targets with HotEdit during a running program

原始指令

Routine 'Glue' runs in auto mode on the virtual FlexPendant (controller 'IRB1300_glue'). Using HotEdit, offset targets pG3, pG4, pG5 by +2.0 mm in tool Z and -1.0 mm in X while the program runs, apply, and commit the changes to the module.

平台: win · Windows
应用: ABB FlexPendant · ABB RobotStudio
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP06 · 代码 / 工程
条件: licensed · 授权专业软件
提案难度: 3 / 5

建议验证方式

Grader diffs the module before/after: only pG3-pG5 changed, each by exactly (+2.0 Z tool, -1.0 X); HotEdit entries in the event log; program kept running (no stop event).

建议部分得分

60% exact offsets on the three targets; 20% no other changes; 20% done live via HotEdit.

R07.09.01.04-T18 Load a program that needs a missing URCap and report instead of patching

原始指令

Load fixtures/vendor_cell.urp in URSim. It depends on a gripper URCap not installed on this robot. Do not delete or replace URCap nodes; record in output/report.md which nodes are affected and what is needed, and save nothing over the original program.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 vis · 视觉判断
工作产物: WP12 · 答案 / 决策
条件: clarify · 需要澄清
提案难度: 3 / 5

建议验证方式

Grader: vendor_cell.urp hash unchanged; report.md names the URCap and all 4 affected nodes (exact list) and no invented nodes; no new programs saved. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

40% URCap identified; 40% affected node list exact; 20% original untouched.

R07.09.01.04-T19 Resolve a protective stop from the pendant log and rerun

原始指令

Program fixtures/stack.urp in URSim triggers a protective stop. Use the Log tab to find the cause (a waypoint violating the safety plane), re-teach that waypoint 20 mm inside the allowed space keeping the approach direction, and run the program to completion. Note the log code in output/answer.txt.

平台: lin · Linux
应用: UR PolyScope (URSim)
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: touch · 触控手势 vis · 视觉判断 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 3 / 5

建议验证方式

Grader: answer.txt log code matches; only the offending waypoint changed and lies 15-25 mm inside the plane; RTDE run completes with no protective stop. URScript/dashboard ports are closed to the agent; files placed in /programs outside PolyScope are detected by inotify log.

建议部分得分

20% log code; 40% correct waypoint re-taught within range; 40% program completes.

R07.09.01.04-T20 Teach a user frame and drill pattern with Offs on the FlexPendant

原始指令

On the virtual FlexPendant (controller 'IRB1600_drill'), define wobjdata 'wobjPlate' with the user 3-point method on the plate's corner marks, then write routine 'Drill6' that drills 6 holes at the offsets in input/holes.csv using Offs() from a single taught pHole0 in wobjPlate, with 30 mm approach.

平台: win · Windows
应用: ABB FlexPendant · ABB RobotStudio
交互表面: hmi · 设备 / HMI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: click · 指向与点击 type · 文字与表单 geom · 精确几何
工作产物: WP06 · 代码 / 工程
条件: licensed · 授权专业软件
提案难度: 5 / 5

建议验证方式

Grader backs up the controller: wobjPlate within 0.3 mm/0.1 deg of the plate frame; Drill6 uses Offs with the CSV offsets; simulated TCP trace hits all 6 holes within 0.5 mm with 30 mm approaches. RAPID files loaded from disk or via RobotStudio editor (not the pendant) show in the controller event log and fail.

示教器编程

任务提案 · 20

原始指令

建议验证方式

建议部分得分

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原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

原始指令

建议验证方式

建议部分得分

已有研究映射

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