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Programming of the IRb 6000 robot using SPORTS3

This part of the introduction course shows you how to use the SPORTS3 program is used for
programming of ARLA code. You will find a description of the different parts of the
Graphical User Interface, and how to use them.
Sport S3 user interface

The graphical user interface of SPORT S3 is built up by several different sections. Each
section provides different functionality to the user. Some of the sections can be moved
around, or closed if they are not in use.

View

Functions

The different menus in SPORT S3 :

• File menu, File operations


• Edit menu, Text operations
• View menu, View control
• Help menu, Help system control
• Build menu, compile and decompile tools
• Robot menu, Robot properties
• Logical menu, Logical programming instructions
• Motion menu, Motion programming instructions
• Utility menu, Special programming instructions
• Window menu, Window handling
The different views in SPORT S3:

• TCP register view holds TCP data.


• Source view (3), where you write ARLA code.
• Status view (4) holds compile information, and error messages.
• Frame view holds FRAME data.
• Robot view (2), manages the robot(s) connected to the SC.
• Project view (1), manages offline projects.
• Location view holds location data.
• Position view holds position data.
• Digital I/O view holds I/O data.
• Analogue I/O view holds I/O data.
• Data register view holds data from the register.

FILE MENU
Accessibility
The File menu is always available.
Description:

The File menu provides the following functions:

Close
Close current file.
New Project
Create a new project.
Open Project
Open a project.
Save Project
Save a project.
Save Project As
Save a project with a new name.
Close Project
Close the current project.
Import
TCP
Import TCP definition.
Location
Import Location definition.
Frame
Import Frame Definition
Export
TCP
Export TCP definition.
Location
Export Location definition.
Frame
Export Frame Definition
Print
Print active document.
Print Preview
Preview how active document will print.
Print Setup
Setup print properties.
Recent Files
List of recent files.
Exit
Exit the application

EDIT MENU

Accessibility:

The Edit menu is available as long as a project is opened.


Description:

The Edit menu provides the following functions:

Undo
Undo last operation.
Redo
Redo last operation.
Cut
Cut text, Copy item to clipboard, and delete.
Copy
Copy item to clipboard.
Paste
Paste item from clipboard.
Delete
Delete item.
Search
Search for text.
Replace
Find and replace text.

VIEW MENU
Accessibility:
The View menu is always available.
Description:

The View menu provides the following functions:

Toolbar
Toggles the Toolbar on and off.
Status Bar
Toggles the Status bar on and off.
Workspace
Toggles the Workspace window on and off.
Output
Toggles the Output view on and off.

HELP MENU
Accessibility:
The Help menu is always available.
Description:

The Help menu provide the following functions:

Help
Displays this help file.
About
Contains information about the software you are running.

BUILD MENU
Accessibility:
The Build menu is available as long as the Source view is active.
Description:

The Build menu provides the following functions:

Compile
Compile current file
Decompile
Decompile file
Transfer
Transfer file to robot
Compile and transfer
Compile and transfer file to robot

ROBOT MENU

Accessibility:

The Robot menu is available as long as the Source view is active.


Description:

The Robot menu provides the following functions:

New
Create a new Robot.
Connect / Disconnect
Connect / Disconnect from the selected Robot.
Activate
Activate the selected Robot.
Rename
Rename the selected Robot.
Delete
Delete selected Robot.
Properties
View properties of the selected Robot.
Create Robot

Right click on the Robots icon, and select New from the menu. A Dialog will appear where
you need to specify some parameters:

Custom Name: Your name to the robot.


Robot type: The type of robot you are programming for.
Controller type: The controller Version you are running your robot from.
Robot Id: The robot ID that you configured in setup robot for communication
Com port: The Com port on your PC that you have connected the controller to in hardware
installation

Complete creation by clicking OK button. When you have created one or more new robots,
the robots icon will be expandable, and each robot you have created will be listed beneath.
Each robot can also be expanded further, to access the robot data.

LOGICAL MENU
Accessibility:
The Logical menu is available as long as the Source view is active.
Description:

The Logical menu provides the following functions:

Call prog
See Call program description in the online documentation
Interrupt
See Interrupt description in the online documentation
Jump
See Jump description in the online documentation
Let
See Let description in the online documentation
Output
See Output description in the online documentation
Return
See Return description in the online documentation
Suctrl
See Suctrl description in the online documentation
Transfer
See Transfer description in the online documentation
Visctrl
See Visctrl description in the online documentation
Wait
See Wait description in the online documentation

MOTION MENU
Accessibility:
The Motion menu is available as long as the Source view is active.
Description:

The Motion menu provides the following functions:

Coord
See Coord description in the online documentation
External
See External description in the online documentation
Extframe
See Extframe description in the online documentation
Frame
See Frame description in the online documentation
Gripper
See Gripper description in the online documentation
Pos
See Pos description in the online documentation
Saveloc
See Saveloc description in the online documentation
Softservo
See Softservo description in the online documentation
TCP
See TCP description in the online documentation
Trim
See Trim description in the online documentation
Velocity
See Velocity description in the online documentation
Robot menu
Accessibility:
The Robot menu is available as long as the Source view is active.
Description:

The Robot menu provides the following functions:

New
Create a new Robot.
Connect / Disconnect
Connect / Disconnect from the selected Robot.
Activate
Activate the selected Robot.
Rename
Rename the selected Robot.
Delete
Delete selected Robot.
Properties
View properties of the selected Robot.

Create Robot

Right click on the Robots icon, and select New from the menu. A Dialog will appear where
you need to specify some parameters:

Custom Name: Your name to the robot.


Robot type: The type of robot you are programming for.
Controller type: The controller Version you are running your robot from.
Robot Id: The robot ID that you configured in setup robot for communication
Com port: The Com port on your PC that you have connected the controller to in hardware
installation
Complete creation by clicking OK button. When you have created one or more new robots,
the robots icon will be expandable, and each robot you have created will be listed beneath.
Each robot can also be expanded further, to access the robot data.

WINDOW MENU

Accessibility:

The Window menu is available as long as the Source view is active.


Description:

The Window menu provides the following functions:

Cascade
Cascade open source windows
Tile
Tile open source windows

TCP REGISTER VIEW


View:

Purpose:

The controller can hold 30 different TCP-registers that can be used under program execution.

The TCP register view is the window where you can read and modify your TCP register
values.

When SPORT S3 is online with a robot, you can alter values on robot directly, or you can
copy values to and from your projects TCP register.

Data description:

Nr: TCP reg nr. (0 ... 29)

Values: X, Y, Z (-2048 ... 2047) BX, BY, BZ (-2048...2047)


Source Editor

The source editor is the view where you write the actual ARLA Source code.
View:

Source files operations:


To create a new source file:
Right click the programs entry on the project menu, and select Create new code module
To close a source file:
Activate the source window.
Click the X up in the Top Right corner.
To activate a source file, either of the following will apply:
Click the title bar.
Select it from the Window menu.

Source code operations:

Moving around in files:


Moving around in files is very similar to other text editors like Word, Notepad or Textpad.
You move around using your mouse or keyboard.
Write program statements:
There are two ways of writing program statement in SPORT S3; Directly from the keyboard
as free text, or by using dialogs that generate the code line.
Line number
SPORT S3 provides automatic line numbering with increment of 10.
Cut, Copy and Paste:
These functions work as you are used to from other windows applications.
To Search and Replace text:
You can use these functions to search for specific words, and to replace specific words.
Undo and Redo:
SPORT S3 offers Undo/Redo functionality for the source editor.

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