The Software Design Of The Industrial Robot’s Teaching Pendant Based On WinCE

With the wide application of industrial robots in industries, the industrial robotteaching pendant’s performance has higher requirements, as one of industrial robots’optional pieces. Currently, most industrial robots used in the production are the teachingand replaying robot completing teaching and replaying by the teaching pendant. Therefore,the user conveys the tasks to the robot controller firstly, and if the controller receives thecorresponding commands, it will control the movement of the robot to the target position,and then, the coordinate will be stored in the robot language in the teaching pendant, andultimately the teaching and replaying function of the robot will be reproduced in theteaching pendant by running the program with the recoded coordinate.The industrial robot teaching pendant software is designed based on WinCE5.0embedded operating system, and the communication protocol between the robot teachingpendant and the controller is provided by the Ethernet. The software architecture isdeveloped on the EVC4.0platform with the multi-threading and dynamic link librarytechnology, and the HMI is designed using MFC.The software of the teaching pendant consists of HMI (Human Machine Interface)module, communication module, API (Application data interface) module, coordinatecalibration module and input device driver module. In order to decrease the memory usageand extend the function, the latter four modules are encapsulated in dynamic library,which can be called by the HMI module. The HMI is designed as main thread and thecommunication module and driver module as two sub threads, which comprises the multi-thread software of the teach pendant. In addition, the API is called only when the HMImodule and communication module need to exchange data and the coordinate calibrationmodule is called when calibrating the coordination.The TCP and UDP protocols are adopted for the communication between theindustrial robot teaching pendant and the controller, the cross-platform informationexchange is achieved by the socket based on the improved heart-beat function and theextended one-to-many function of the single-thread. In addition, the tool and the workpiece coordinate of the industrial robot can be calibrated in the teaching pendant.