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1.Introduction
1.1 Introduction Roboguide simulation and its family of process
plug-ins is targeted to provide an easy to use interface to create
workcells and robot programs. Roboguide simulation provides offline
process programming for FANUC Robots. Roboguide simulation is
centered on an offline 3D-World, and includes robot workcell
modeling, TPP Program teaching, and path playback. Accurate cycle
time and robot motion trajectory data are outputs from the
Roboguide simulation teaching system. Roboguide simulation is built
upon the FANUC Robotics Virtual Robot Controller that enables
accurate program teaching and cycle time information. Roboguide is
the core application for other FANUC Robotics PROcess software.
HandlingPRO enables the building of material handling workcells
with all the capability of an actual FANUC Robot controller. Other
PROceses include: PalletPRO: for a more detailed list of PalletPRO
features click here. WeldPRO PaintPRO
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1 .INTRODUCTION......................................... 1-1
1.1
Introduction.........................................................................
1-1
2 SIMPLE WORKCELL CREATION.............................. 2-1 2.1
Simple Workcell Step 1: Creating a new workcell
...................................... 2-3 2.2 Simple Workcell Step
2: Editing the robot properties .................................
2-7 2.3 Simple Workcell Step 3: Add a part to the workcell
................................... 2-8 2.4 Simple Workcell Step 4:
Adding End of Arm Tooling to the robot......................
2-12
2.4.1 Defining the end of arm tooling and the mounting of the
tooling of the robot..... 2-12 2.4.2 Defining the Tooling UTOOL
value of the robot ................................... 2-15
2.5 Simple Workcell Step 5: Add a pick fixture to the workcell
.......................... 2-22 2.6 Simple Workcell Step 6: Add a
place fixture to the workcell ......................... 2-29 2.7
Simple Workcell Step 7: Create a robot program
...................................... 2-34 2.8 Simple Workcell
Step 8: Run the program
............................................. 2-44 2.9 Simple
Workcell Step 9: Creating an AVI of your workcell
............................ 2-51
3 BASIC OPERATION....................................... 3-1 3.1
3D
World.............................................................................
3-1
3.1.1 Using the Navigation Tips Screen in the 3D
CHUIWorld.............................. 3-1 3.1.2 About collision
detection in 3D CHUIWorld ........................................
3-2 3.1.3 To zoom the 3D World:
............................................................ 3-3
3.1.4 Panning the view
.................................................................
3-5 3.1.5 Rotating the view
................................................................
3-5
3.2 Jogging the
robot....................................................................
3-6 3.2.1 About the teach pendant jog panel
................................................ 3-7 3.2.2 Jogging
using the teach tool
..................................................... 3-9
4 ROBOGUIDE WORKCELL.................................... 4-1 4.1
About the Cell
Browser...............................................................
4-1 4.2 .....................................Error! Bookmark not
defined. 4.3 Working with
Fixtures................................................................
4-8
4.3.1 Working with the Fixture property page
........................................... 4-8 4.3.2 Using the
Calibration Tab
....................................................... 4-17
4.4 Working with
Obstacles..............................................................
4-21
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4.5 Working with
Parts..................................................................
4-21 4.6 Working with Robot Controllers
...................................................... 4-26
4.6.1 Restarting the Virtual Robot Controller
......................................... 4-26 4.6.2 Use the robot
property page general tab .........................................
4-27 4.6.3 Loading a TPP Program onto the robot
............................................ 4-28 4.6.4 About using
end of arm tooling
.................................................. 4-32 4.6.5
Working with machines
...........................................................
4-37
4.7 ........................................ 4-50 4.7.1
................................................................
4-50 4.7.2
............................................................ 4-53
4.7.3 .
......................................................................
4-62
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2 Simple Workcell Creation The following procedures provide a
procedure for creating a Roboguide workcell. The example assumes
that you have started Roboguide and that you have no active
workcell in the workspace of Roboguide. When complete your workcell
should contain the following entities: An R-2000iA/165F robot with
end of arm tooling 2 rectangular fixtures for holding a part A
Roboguide Simulation TPP Program which moves the part
from one fixture to the other. This workcell is built, and is
available in Directory: Install directory used for install.
Typically this is c:\Program Filles\FANUC\PRO\SimPRO\Sample
Workcells\Workcell Example Initial state of Roboguide: Roboguide is
running with no workcell defined The Process Navigator window is
open
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2.1 Simple Workcell Step 1: Creating a new workcell Simple
Workcell Step 1: Creating a new workcell 1. Select Start New Cell
from the Process Navigator. Or select File / New from the Menu Or,
Press the New Workcell Icon () on the toolbar A Workcell Creation
Wizard is presented which guides you through the steps to build a
workcell definition.
2. The type of workcells that can be created are presented in a
list. The types listed are based upon the plugins available in
Roboguide on the PC being used. Select HandlingPRO Basic Material
Handling Cell and press Next
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3. Enter the name: simprog example, and press Next 4. If
prompted with a list of Application/Tool packages to be loaded
select HandlingTool (N.A.), and press Next.
5. The next step is where you define the type of robot. Select
R-2000iA/165F from the list of robot models presented, and press
Next. 6. If multiple controller versions exist, the next step shows
Virtual robot versions available. Select the latest version.
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7. The next step shows robots and positioners for additional
motion groups. Select nothing and press next. 8. The next step
shows controller options that can be loaded. No additional options
are required. Press Next. 9. .A summary page is presented that
describes your workcell type, robot, and controller options. Press
Finish to build the robot. Roboguide will start a Virtual Robot and
then create a 3D virtual world with a robot. At this point the
robot can be jogged on the screen
Resulting Roboguide state: You should now have a new workcell
with a robot. The workcell has a robot. The 3D CHUIWorld view can
be viewed and modified.
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2.2 Simple Workcell Step 2: Editing the robot properties
Simple Workcell Step 2: Editing the robot properties The robot
properties can be modified. You can move the robot around the
workcell and set other properties for the robot. 1. Select Edit
Robot Properties on the Process Navigator
2. For this example you will use the HandlingPRO defaults. Set
the Lock All Location Values checkbox on the property page to
ensure that the robot base can not be moved in the workcell
Resulting HandlingPRO state: A robot should be in your workcell
The Lock All Location Values option box should be checked on
the Robot Property Page
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2.3 Simple Workcell Step 3: Add a part to the workcell Simple
Workcell Step 3: Add a part to the workcell In this step you will
add a part to the workcell to be picked and placed. There are a few
basic steps to create a simulation of the robot picking and placing
parts. Add a part to the workcell This step Define the part
orientation in the End of Arm Tool Step
4 Define the part orientation in the pick fixture Step 5 Define
the part orientation in the place fixture Step 5
Add a part to the workcell 1. Select Add a Part to the cell from
the Define the Cell category of the Process Navigator
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2. You will see a dialog with several options. Select CAD Model
Browse for file and press OK. A browse dialog will appear on the
screen. Browse to C:\Program File_Menus\FANUC\PRO\SimPRO\Robot
Library and select the file lrmate200i-3d.csb. Press the Open
button on the browse dialog.
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3. The Part property page for the new part will now appear on
the screen. In the Name field enter Little Robot Part and press
Apply. 4. On the property page change the scale parameters to Scale
X = 0.5, Scale Y = 0.5, Scale Z = 0.5 and press Apply. You have now
defined a part for the workcell. The part is shown visible on the
Part Fixture. In order to use the part you will have to assign it
to a fixture. For a description of the part / fixture relationship
see Working with Parts and Working with Fixtures
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2.4 Simple Workcell Step 4: Adding End of Arm Tooling to the
robot
In this step, you will add End of Arm Tooling to the robot. This
includes defining the CAD model to be used, how the tool is mounted
on the robot, and the Tools UTOOL definition.
2.4.1 Defining the end of arm tooling and the mounting of the
tooling of the
robot.
1. Select Edit End of Arm Tooling in the Define the Cell
category of the Process Navigator 2. In the Primary CAD field
select Browse to file icon (). Browse to the C:\Program
files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and
select the file: 36005f-200.csb
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2. ROBOGUIDE :\Program Files\FANUC\PRO\SimPRO\ Image Library
\EOATs \grippers 36005f-200.IGS
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3. Press the Apply button. A tool should appear on the end of
the robot. The tool does not appear mounted correctly on the robot.
You modify how the tool is connected to the robot by modifying the
Location value on the Tool Properties / General Tab. You can think
of this like physically mounting a tool to a robot.
4. In the W value of Location on the Tool Properties / General
Tab enter the value 270 and press apply. The tool should now be
mounted correctly on the robot.
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2.4.2 Defining the Tooling UTOOL value of the robot
1. Select the Tool Properties / UTOOL tab
2. There are 2 methods to define the tooling offset: Method 1:
Select the Edit UTOOL option box. The tooling mounted on the end of
the robot in CHUIWorld now has a triad coordinate system. You can
adjust the Tool Center Point by dragging or rotating the triad to
the desired location. Press the Use Current Triad Location and
press Apply to set the TCP UTOOL value for the robot tooling.
Method 2: You can directly enter the value. For this example,
direct enter the values 0,0,850,0,0,0 and press Apply
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3. Select the Tool Properties / General Tab. 4. Enable the Lock
All Location Values property by checking
the box on the tab and press Apply. The end of arm tooling is
now defined for jogging the robot. You can jog the robot by using
teach tool jogging or by using the virtual TP.
Define the part orientation in the end of arm tooling 1. Click
on the end of arm tool and open its property page. You can open the
property page from the Cell browser by right clicking on the
Tooling/UT:1 and selecting Eoat1 properties from the menu.
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2. On the General Tab of Eoat1 property page uncheck the option
box for Lock All Location Values and press Apply.
3. Select the Simulation tab.
4. In the Function field select Material Handling- Clamp.
5. In the Actuated CAD field select Browse to file icon ().
Browse to the C:\Program files\FANUC\PRO\SimPRO\Image
Library\EOATs\grippers directory and select the file:
36005f-200-4.csb.
6. Press Apply. The CAD for a closed gripper is loaded. You
can toggle between the two CAD images by selecting Open or
Closed and pressing Apply.
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7. Select the Parts Tab 8. In the Parts field select Little
Robot Part. Press Apply. You should see the part attached to the
tooling
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9. Select the Edit Part Offset field by checking the box. You
can now edit the part offset in the EOAT.
10. There are multiple methods to define the Part Offset in the
tooling: Method 1: Select the Drag-Teach Part Offset option box.
The Little Robot Part now has a triad coordinate system. You can
adjust the part offset in the tooling by dragging or rotating the
triad to the desired location When finished moving the part press
Apply to set the Part Offset value for the part in fixture
location. Method 2: Use the automatic calculate method. For this
example the offset will be entered directly- method 3. Method 3:
You can directly enter the value. For this example, direct enter
the values (0, -1170, -45, 225, -85, 45) and press Apply.
11. On the General Tab of Eoat1 property page check the option
box for Lock All Location Values and press Apply. You should now
have the robot with end of arm tool holding the Little Robot Part.
You can view the open and close states for the robot and end of arm
tool by toggling between the Open and Closed buttons on the
Material Handling Tab, or by pressing the open/closed icon button
() on the toolbar. Resulting HandlingPRO state: The workcell should
now have a robot with an end of arm tool, and a part defined for
the end of arm tooling. The Tool Center Point should be defined for
the robot with the Z axis of the TCP pointing out from the tooling
in line with the
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robot arm. The TCP UTOOL value should be 0, 0, 850, 0, 0, 0.
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2.5 Simple Workcell Step 5: Add a pick fixture to the workcell
In this step, you add a fixture to the workcell where the robot
will pick your defined part. The Fixture, called Pick Fixture, will
be a blue box which a part can be picked from. You then associate
the part created earlier, Little Robot Part, with this fixture.
Create Fixture 1 1. Select Add a fixture to the Cell in the
Define the Cell category of the Process Navigator 2. You will see a
dialog with several options. Select Box Primitive Model and press
OK. A box will appear on the screen and the Fixture Property Page
dialog window will appear defaulted to the General Tab
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3. In the Name field of the property page enter the text
"Pick
Fixture" and press Apply 4. In the Size in Z field of the
property page enter 500 and
press Apply.
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5. In the Color field of the property page select the color
wheel. When the color palette appears select a nice shade of blue
and press OK. When the color palette dialog closes select Apply.
The box color should change to Blue. You can now move the box
around the workcell to place it where you want to pick parts
from.
6. Move the box in front of the robot. For this example, move
the box to location 1500, 0, 500, 315, 0, 0. These values should be
in the Location properties on the Pick Fixture Property Page
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Associate Part with Fixture You need to define what part will
work with the fixture. Once you have defined what part goes with
this fixture you can define its placement in the fixture. 1. Select
the Parts Tab on the Fixture property page 2. Select Little Robot
Part from the Parts list and press
Apply. You will see Little Robot Part appear relative to the
fixture. Note: if you do not see the part, make sure the Part
Visible at Teach Time box is checked.
3. Enable the Edit Part Offset button. 4. There are Multiple
methods to define the Part
Offset in the fixture: Method 1: Select the Edit Part Offset
option box. The Little Robot Part now has a triad coordinate
system. You can adjust the part location by dragging or rotating
the triad to the desired location. When finished moving the part
press Apply to set the Part Offset value for the part in fixture
location.
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Method 2: Use the automatic calculate method. For this example
the offset will be entered directly- method 3. Method 3: You can
directly enter the value. For this example, direct enter the values
0, 0, 0 ,0 ,0 ,0 and press Apply.
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Define Simulation parameters You now must assign properties to
the fixture so that it can accept parts.
1. Select the Simulation Tab 2. Select Allow Part to be picked
are Picked here and press Apply. This tells Roboguide that this
fixture will be used for picking parts. 3. Change the Part Create
to 2.00 seconds and press Apply. This tells PRO software to wait 2
seconds after the part is picked before creating a new part in the
fixture. 4. Select the Fixture Properties / General Tab. 5. Enable
the Lock All Location Values property by checking the box on the
tab and press Apply.
Resulting HandlingPRO state: You should now have a pick fixture
in your work cell. The pick fixture should be blue and directly in
front of the robot, tilted on an angle.
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2.6 Simple Workcell Step 6: Add a place fixture to the
workcell
Fixture two, called Place Fixture, will be a red box which a
part can be placed on. In this step you create fixture 2 and define
how the part is placed on the fixture.
Create Fixture 2: 1. Select Add a Fixture to the Cell in the
Define
the Cell category of the Process Navigator. 2. You will see a
dialog with several options.
Select Box Primitive Model and press OK. A box will appear on
the screen and the Fixture Property Page dialog window will appear
defaulted to the General Tab
3. In the Name field of the property page
enter the text "Place Fixture" and press Apply
4. In the Size in Z field of the property
page enter 750 and press Apply. 5. In the Color field of the
property page
select the color wheel. When the color palette appears select a
nice shade of red and press OK. When the color palette dialog
closes select Apply. The box color should change to red.
You can now move the box around the workcell
to place it where you want to place parts. 6. Move the box in
front of the robot to the
robots left. For this example, move the box to location 850,
1500, 750, 0, 0, 0. These values should be in the Location
properties on the Pick Fixture Property Page
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Associate Part with Fixture You need to define what part will
work with the fixture. Once
you have defined what part goes with this fixture you can define
its placement in the fixture.
1. Select the Parts Tab on the Fixture property page 2. Select
Little Robot Part from the Parts list and press
Apply. You will see Little Robot Part appear relative to the
fixture. Note: if you do not see the part, make sure the Part
Visible at Teach Time box is checked.
3. Enable the Edit Part Offset button. 4. There are Multiple
methods to define the Part
Offset in the fixture: Method 1: Select the Edit Part Offset
option box. The Little Robot Part now has a triad coordinate
system. You can adjust the part location by dragging or rotating
the triad to the desired location. When finished moving the part
press Apply to set the Part Offset value for the part in
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fixture location. Method 2: Use the automatic calculate method.
For this example the offset will be entered directly- method 3.
Method 3: You can directly enter the value. For this example,
direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply.
Define Simulation parameters You now must assign properties to
the fixture so that it can accept parts.
1. Select the Simulation Tab 2. Select Allow Part to be placed
and
press Apply. This tells HandlingPRO that this fixture will be
used for placing parts.
3. Change the Part Destroy to 2.00
seconds and press Apply. This tells PRO software to wait 2
seconds after the part is placed before destroying the part in the
fixture.
4. Select the Fixture Properties /
General Tab. 5. Enable the Lock All Location Values
property by checking the box on the tab and press Apply.
Resulting HandlingPRO state: You should now have a fully defined
workcell with Fixtures and
Parts. Parts are associated with fixtures and are visible in
each
fixture.
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End of arm tooling is defined for open and closed with the
closed state displaying a part in the tooling.
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2.7 Simple Workcell Step 7: Create a robot program Create a
robot program In this step you will create a new robot animation
program that can be run in the simulation
environment. You will learn how to add a program, and record and
touchup points.
Create a Robot TPP Program The first step is to create a new TPP
Animation Program.
1. Select Add a TP Program from the Teach TP Programs category
of the Process Navigator. A new TP Program is created. The Program
Teach Edit Window and the Program Properties Page are
displayed.
2. In the Name field of the Program Properties
page enter exmpl_wc and press Apply. 3. In the Program
Properties page select OK. The
page should close.
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You now have a TP Program called exmpl_wc which shows in the
Cell Browser window under the Robot Controllers / Robot1 /Programs
category. Exmpl_wc is loaded into the Program Teach window with no
TP Lines created.
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Creating and editing TP Program lines You will now create an
animation TP program that performs a pick and place function.
Pick Sequence teach: 1. Jog the robot to a position that will
serve as a home
position.
2. In the Program Teach Window press Record from the menu. A
position should be created.
3. Set the motion type to Joint by selecting the combo box
that specifies motion type.
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4. Jog the robot to create a position near the pick up point 5.
In the Program Teach Window press Record from the menu. A
second position should be created. 6. In the Program Teach
Window press Record from the menu. A third position should be
created. This position will be used for the pickup of the part.
7. Press the close hand icon ()to close the gripper and see
the part on the EOAT. 8. In the Program Teach Window select
Pickup from the Inst
dropdown. A Pickup instruction should be entered into your
program.
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9. Select Little Robot Part from the Pickup field, Pick
Fixture from the drop down list in the From field, and select
UT:1 from the With field.
10. Select the program statement immediately before the
Pickukp
instruction. (in this example line 3)
11. Select Touchup to Pick/Place Point in the dropdown list
included in the Touchup instruction toolbar item. HandlingPRO
automatically records the position which optimizes the robot pickup
point. This is determined by how you oriented the part in the
fixture.
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12. Press MoveTo from the toolbar. The robot moves to the
pickup point that was automatically calculated.
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14.
15.
Place Sequence Teach: 1. Select the last line of the TP Program
in the Program Teach
Window.
2. Jog the robot away from the pick position and press record..
A new TP Program line is created.
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3. Press the close hand icon ()to close the gripper and see
the part on the EOAT. 4. Jog the robot near the place fixture 5.
Press record to create a via position.
6. PRO Software V6.22 adds new features to quickly teach fixture
positions. Open the place fixture property pages.
7. Select the parts tab 8. Select Little Robot part 9. In the
dropdown box in the part offset
frame select UT:1 (EOAT1). 10. Press the MoveTo button. The
robot
should move to the place position. 11. Press Record from the
menu to create a
new TP line. This line will be used for the place of the
part.
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12. In the Program Teach Window select Drop from the Inst
menu
dropdown. Drop instruction should be entered in your
program.
13. Select Little Robot part from the Drop field, UT:1 from
the
From field, and Place Fixture from the On field.
14. Jog the robot away from the place point and press record. A
move away position is created after the Open Hand instruction You
have now created your TP Program for this example.
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2.8 Simple Workcell Step 8: Run the program
You will now run a simulation of your workcell.
Running the program 1. Select Run TP Program from the Run
Production category of the Process Navigator. The Roboguide Run
panel window will appear on your screen.
2. Press Run on the toolbar.of the UOP window The program should
run, and you should see the part get picked and placed.
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Profiling your program for cycle time 1. Select Profile TP
Program from the Run Production category of the Process Navigator.
The Roboguide Run panel and Profiler windows will appear on your
screen. Enable the Collect TCP Trace option on the Run Panel. The
Profiler window is shown that displays information for each run of
the program. There are 2 tabs on the windows. Display options are
set to define how you want to see the robot data as the cycle runs.
The Profile tab shows the cycle time and alarms for the running TP
Program.
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2. Select the Profile Tab. 3. Press Run on the toolbar.of the
UOP window The program should run, and you should see the part get
picked and placed. The profiler window shows times for the program
and each TP program line. Note: the profiler can also be opened
from the main menu Test-Run / Profiler menu selection.
Profiling your program with TP Trace 1. Select Run TP Program
from the Run Production category of the Process Navigator. The
Roboguide Run panel window will appear on your screen.
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2. Select Test-Run / Profiler from the main menu 3. Select the
following options (make sure a check mark appears), Collect TP
Trace, Refresh Display, and Compress AVI on the Display Options
tab.
4. Select the Profile tab in the Profiler window. 5. Press Run
on the toolbar.of the Run Panel window
The program should run, and you should see the part get picked
and placed. The profiler window shows times for the program and
each TP program line. You will see a trace line that runs with the
robot as the robot moves. This is the actual robot motion.
The profiler provides several features. If you run the
program multiple times, a separate profile set is created for
each run. You can experiment with different settings to view
results. For example, if you change motion
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parameters in your TP Program, you can run the Profiler TP Trace
and view the results to determine how the change effects your robot
motion. The Keep Visible check box on each Profile Display Options
tab can be checked to determine differences in runs.
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2.9 Simple Workcell Step 9: Creating an AVI of your workcell
It is easy to create an AVI file of your running workcell. 2.
Press Record on the toolbar.of the UOP window
The program should run, and you should see the part get picked
and placed. Roboguide is creating an AVI file of your run. When the
run is complete, Roboguide will popup a window that describes where
the AVI file was placed on your computer.
AVI
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3 Basic Operation
3.1 3D World Roboguide simulation software working environment
is centered around a 3D virtual robot world. CHUI designates the
new developing Robot CH User Interface standard for 3D world
environments. It is a highly optimized graphics environment
developed by industry experts targeted for use in Robotic
simulation systems. The world view can be manipulated with mouse
and keyboard commands.
3.1.1 Using the Navigation Tips Screen in the 3D CHUIWorld
Navigation of the 3D CHUIWorld is done through mouse
commands
and combinations of keyboard and mouse commands. Roboguide
provides a tips window to help you learn and remember CHUIWorld
navigation methods.
To turn on/off the navigation tips on the 3D CHUIWorld using the
toolbar
1. Press the Navigation Tips Toolbar icon () to show / hide the
navigation tips window.
To turn on/off the navigation tips on the 3D CHUIWorld using the
menus 1. Select Mouse Commands from the View menu.
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3.1.2 About collision detection in 3D CHUIWorld
Collision detection is enabled by default whenever you operate
in 3D CHUIWorld. Collision detection can be disabled on the Run
Panel while running a simulation. As the robot moves while jogging
or through a simulation, the robot, its end of arm tooling, and, if
present, parts in the end of arm tooling are checked for collisions
with objects in the workcell. When a collision occurs the robot and
the object it collides with change color.
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3.1.3 To zoom the 3D World:
Using the mouse
Using the mouse To zoom in: 1. Press and hold the left and right
mouse buttons 2. Move the mouse up To zoom out: 1. Press and hold
the left and right mouse buttons 2. Move the mouse down
Using the toolbar There are 2 zoom features on the toolbar. To
fill the view with a boxed selection: 1. Select the Zoom Window
Icon on the toolbar (). The cursor changes to select a zoom window
() 2. Press the left mouse button and drag the mouse to make a
window that you want to fill the screen. 3. Release the left mouse
button, The screen is filled with your selection To zoom in from
the current viewpoint: 1. Click the + zoom button () on the toolbar
with the left
mouse button To zoom out from the current viewpoint:
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1. Click the - zoom button () on the toolbar with the left mouse
button
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Using the menus To zoom in: 1. Select from the menu system View
, 3D World, Zoom-In To zoom out: 1. Select from the menu system
View , 3D World, Zoom-Out
3.1.4 Panning the view
To pan the 3D World You use the mouse to pan the 3D world. 1.
Press and hold the CTRL keyboard key 2. Press and hold the left
mouse button 3. Drag the mouse to pan the field of view 4. Release
the left mouse button to stop panning mode
3.1.5 Rotating the view
To rotate the view The field of view will rotate about the
currently selected
objects frame of reference. 1. Select the object with which you
want to rotate the view
about. 2. Press and hold the right mouse button 3. Drag the
mouse. You will see the world rotate. 4. Release the right mouse
button to stop rotation mode.
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3.2 Jogging the robot In PRO Software, the robot acts like a
real robot. If you try to jog to an unreachable position it gives
the same errors as a real robot. You can jog the robot with
traditional Teach Pendant buttons using the Virtual Teach Pendant.
PRO Software also provides a teach/ jog tool which allows you to
"drag" the robot around the work envelope There are multiple ways
to jog the robot. Jogging using the teach tool Jog using the
virtual teach pendant
About the CHUIWorld View Plane The 3D CHUIWorld view plane is
what your eye currently sees in the 3D World locked at the objects
reference frame for depth. For example, assume you have chosen the
robot as the desired object, and its located at the 0 point of the
world. If you view from directly in front of the robot, the view
plane is the robot worlds Y Z Plane locked at the World X for
depth. The best way to understand the View plane is to jog the
robot using View plane jogging.
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3.2.1 About the teach pendant jog panel
The teach pendant jog panel provides a toolbar to quickly modify
the jogging frame of the robot. If options are loaded on the
controller (RTCP, WristJoint) additional buttons are added.
Changing the jog frame using this toolbar effects the Virtual teach
pendant robot jog and how the teach tool operates. Virtual Robot
Jogging: changes the jog coordinate frame Teach tool operation:
changes the view of the teach ball
triad. The teach ball triad is displayed in the selected jogging
coordinate frame
There are two frames on the jog panel toolbar: Coord type: lists
available coordinate jog types. This
sets the Coord on the virtual robot. Teach tool motion: you can
select either Joint or Linear
motion. The selected motion is they type of motion that is
executed when the teach tool ball is used to move the robot.
Enabling and disabling the teach pendant jog panel
To view/ hide the jog panel From the toolbar 1. Click the show
jog panel toolbar icon () with the left mouse button The toolbar
icon acts as a toggle to show and hide the jog panel
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3.2.2 Jogging using the teach tool
TCP
ROBOGUIDE
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3 1. 2.
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5. 6.
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TCP 1.
2.
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1.
2. Shift Ctrl
3. Shift Ctrl
1.
2. Shift Ctrl
3. Shift Ctrl
1.
2. Shift Ctrl
3. Shift Ctrl
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4 ROBOGUIDE WorkCell Workcells consist of different objects that
have properties that are unique to their activity in the workcell.
Roboguide software has the following different workcell objects: z
Robot z End of arm tooling z Fixtures which hold parts z Parts
which are held by fixtures and that have
actions taken with them z Obstacles which are simple objects and
are placed in
the workcell to model fixed objects in a workcell z Part
fixture: which is a special type of fixture that
is used to hold parts. z Machines: are generally machines that
are driven by
additional axes added to the robot. The additional axes may be
auxiliary axes or additional motion groups. For additional
information see working with machines.
z Profiles: are captured information of robot
simulation runs. z Dimensions: are measurements between two
points in a
workcell. As you add objects to your workcell you see them
within the 3D world and you see the cell browser tree grow to show
where the objects fit in the Roboguide cell hierarchy.
4.1 About the Cell Browser The cell browser provides a
hierarchical view of the workcell being created in all .PRO
products. Elements of the view may
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be different based upon the type of .PRO plug-in you are
currently working with. Core .PRO elements include: Robot
Controllers o End of Arm tooling o Machines o Frames o Programs o
Etc. Obstacles and Fixtures Profiles Other items specific to your
PRO plugin. Application plug-in elements might include parts for
Roboguide, unit loads for PalletPRO, and Booths for PaintPRO. With
the cell browser, you can quickly navigate all of the elements of
the workcell environment. You can add objects, open object property
pages, and cut or copy objects. In general, you can select any
element in the cell browser, right click on the element, and select
from a popup menu actions that you can take on that particular type
of element.
1.
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4.2 WorkCell Propaty Page Use the Workcell Property Page The
workcell property page provides global settings for the
workcell. Fields include: General: o Name: workcell name this
can not be modified. o Description: descriptive text for the
workcell. o Lock all Object Locations when enabled all workcell
objects are locked in place o Collision Detect All objects: when
enabled all objects are included in collision detection. When
disabled all collision detects on all objects are cleared. o
Synchronize Time during teach: when running production Roboguide
synchronizes all virtual robots in the workcell. During teach,
Roboguide does not synchronize virtual robots in the workcell. This
is to enhance performance during teach. ChuiWorld: settings for the
3D world. o Floor Size and height: defines the visible floor o
Visible checkbox: when enable the floor is visible o Color: floor
color o Floor Transparency: transparent to opaque how well you can
see through the floor. o Grid spacing: dimensions for the grid that
is shown on the floor. o Show location lines: allows you to enable
and disable the showing of the grid on the workcell floor. AVI
Logos: o Logos that are shown when capturing an AVI IO
Interconnect: provides an interface to setup IO interconnections
between robots. For more information see Using the IO
interconnections setup property page
Open the Workcell property page
To Open the workcell property page 1. The root of the cell
browser represents the property page
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for the workcell. Double click on the node, or right click and
select open property page from the menu to open the workcell
property page.
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Use the Workcell Property Page
The workcell property page provides global settings for the
workcell. Fields include: General: o Name: workcell name this can
not be modified. o Description: descriptive text for the workcell.
o Lock all Object Locations when enabled all workcell objects are
locked in place o Collision Detect All objects: when enabled all
objects are included in collision detection. When disabled all
collision detects on all objects are cleared. o Synchronize Time
during teach: when running production Roboguide synchronizes all
virtual robots in the workcell. During teach, Roboguide does not
synchronize virtual robots in the workcell. This is to enhance
performance during teach. ChuiWorld: settings for the 3D world. o
Floor Size and height: defines the visible floor o Visible
checkbox: when enable the floor is visible
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o Color: floor color o Floor Transparency: transparent to opaque
how well you can see through the floor. o Grid spacing: dimensions
for the grid that is shown on the floor. o Show location lines:
allows you to enable and disable the showing of the grid on the
workcell floor.
AVI Logos: o Logos that are shown when capturing an AVI IO
Interconnect: provides an interface to setup IO interconnections
between robots. For more information see Using the IO
interconnections setup property page
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4.3 Working with Fixtures Roboguide uses fixtures as workcell
objects that can be used for the following: z Used to hold parts.
Before a part can be used it must be assigned to a fixture. You can
think of a fixture as workcell tooling that holds parts. It is this
association of part to fixture that allows Roboguide to animate the
part process in the workcell. You can move a fixture in your
workcell and the part moves with the fixture. This allows you to
easily locate workcell fixtures and parts associated with them. z
Define an entity in the workcell to teach positions. You may want
to teach points on a part assigned to a fixture so that you can
then move the fixture to ensure that the points taught are
reachable by the robot. Fixtures support UFRAMEs. If you teach
relative to a UFRAME then you can move the fixture and its
associated points to determine optimum robot and object locations.
z Define a conveyor: this is a smart fixture that supports line
tracking operations in Roboguide.ROBOGUIDE
4.3.1 Working with the Fixture property page
The fixture property page is used to define properties of
fixtures in the workcell. z Fixture General Tab: is used to define
basic fixtures properties such as name, location, color z Fixture
Calibration Tab: is used to calibrate the virtual Roboguide
environment with an actual robot workcell.
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z Fixture Parts Tab: is used to define parts used in the fixture
and the parts location relative to the fixture frame. z Fixture
Simulation Tab: is used to define simulation parameters such as
creation and destruction times for simulations.
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Using the Fixture General tab The General Tab of the Fixture
Properties page provides fields to edit general obstacle
properties. These fields include:
z Name: enter the name you want for the fixture. z CAD File:
defines the CAD file used for this fixture. z Visible: if checked
you can see the fixture. When you change the state of the field,
you must press Apply for the action to take place. z Type: set by
Roboguide. This is a primitive entity of Box, Cylinder, Sphere, or
CAD image. z Color: allows you to change the color of primitive
objects. z Location: defines the location of the fixture relative
to the 3D ChuiWORLD zero reference position.
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z Size: defines the parametric values for primitive objects. z
Scale: defines the scale parameters for CAD type objects. z Show
robot collisions: when checked this fixture is checked for
collisions with robots in the workcell. z Lock All Location Values:
when checked, locks all of the location values for the fixture.
Working with Parts Parts are objects that the robot can take
actions with. There is a direct relationship between fixtures and
parts in the workcell. Parts are used in fixtures. Parts must be
associated with a fixture and/ or with end of arm tooling before
they can be used. When using Roboguide you will see a part fixture
in your workcell. When a part is created it is added to the part
fixture. The part fixture is only for visual confirmation. The part
can not be used until it is assigned to a fixture. The general
sequence for using parts is as follows: z Add a part to the
workcell. After adding a part you see it on the part rack. z
Associate the part with a fixture. This is done on the Parts tab
for a fixture. z Define the location of the part in a fixture. This
is done on the Parts tab for a fixture. z Associate the part with
an End of Arm Tool. This is done on the Parts tab for an End of Arm
Tool. z Define the location of the part in
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the End of Arm Tool. This is done on the Parts tab for an End of
Arm Tool.
Using the Part property page
The part property page is used to define part properties. Fields
include: z Name: enter the name you want for the part z CAD File:
defines the CAD file used for this part. z Type: set by Roboguide.
This is a primitive entity of Box, Cylinder, Sphere, or CAD image.
z Color: allows you to change the color of primitive objects. z
Mass: defines the mass of the part object. This mass value is used
for motion during simulation. z Size: defines the parametric values
for primitive objects. z Scale: defines the scale parameters for
CAD type objects.
Using the Parts Property Page Tab
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The Parts Property Page Tab provides the interface to assign
parts to the selected object. Parts can be added to different types
of objects in Roboguide including fixtures, machines, end of arm
tooling, etc. The property page effectively works the same way when
assigning parts to an object. A very useful feature of the Parts
property page is the ability to move the robot to the part.
Roboguide understands what parts are assigned where and uses the
UTOOL values and the Part location values to automatically move the
robot to the desired part location. This can be done and the part
offset can be "recorded" directly into the values.
Fields on this tab include: Parts list: shows the parts
available in the workcell. The checkbox next
to each box can be selected to assign the part to the current
object.
Part Offset: is used to define the part offset in the current
object. Use
of the MoveTo and Record buttons can ease the accurate teaching
of the part offset values. o X, Y, Z, W, P, R: defines the offset
relative to the object origing that holds the part.
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o Object selection combo box:this box is used in conjunction
with the MoveTo and Record buttons. With these buttons Roboguide
provides efficient capability to move the robot to a part position
on fixtures, and to record part offsets in EOAT and fixtures. The
combo box contains all objects that have reference to the part
selected in the Parts list. If the EOAT property pages are active,
the list is populated with fixtures that reference the selected
part. If a fixture property page is active, the list is populated
with EOAT that reference the selected part. The detail is defined
on how the information is used in the MoveTo and Record field
descriptions. o MoveTo: Works in conjunction with the Object
selection combo box. When pressed the robot is moved to a position
that matches the part offset coordinate value for the selected
property page object with the part offset coordinate value for the
object selected in the Object selection combo box. After moving,
the robot should have the part offsets for the two objects aligned
exactly. This could be very useful when creating programs. If part
offsets are all taught accurately, the robot can be moved very
quickly and accurately to desired part positions. For more detail
see Automatic MoveTo of robot to part in a fixture. o Record: is
active when the Edit Part Offset item is selected. The record
button is used to define the part offset for the selected part in
the Parts field. The part offset position can be automatically
generated if the robot tooling is located at the desired pick /
place point in a fixture. For more detail see Automatically
generate part offsets in tooling and fixtures. o Edit Part Offset:
when checked you can move the part to define the part location
relative to the selected object. o Visible Teach: if enabled the
part is visible when not running a program. o Visible Run: defines
the initial state of the part
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when a program is run. If enabled the part is visible when the
program starts. If disabled, the part does not show at the start of
a run.
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Using the fixture Simulation Tab The fixture simulation tab has
settings to control the simulation parameters for parts in
fixtures. When doing simulations it is desirable to be able control
when parts re-appear / disappear in fixtures after picking and
placing. For example, if you are placing a part into a fixture and
then the process takes the robot to pick another part, you may want
the part to remain in the place fixture for some period of time
before disappearing. The setting on this tab and fixture Parts tab
allow you to control how parts are managed during simulation run.
The fixture Parts tab has settings for the initial states of parts
on fixtures when a simulation is run. A key setting for parts is
dependant on how a part will be processed: Part is placed and then
picked from a fixture: when the place destroy delay is set to 0,
the part is not automatically removed from the fixture. The part
remains so that it can by picked using a Pickup simulation
instruction. Part is placed and then destroyed: if a part will not
be acted upon after it is placed, a delay time that is non zero
will force the part to be destroyed from the fixture at the delay
time entered.
Parts frame: shows the parts available in the workcell.
Simulation
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settings can be defined for each part in the list.
Part Simulation frame: Defines how the part may be used with the
fixture. When a part is selected in the Parts Frame these
selections become active. o Allow part to be picked: when enabled
the part is available for picking. When using the Pick instruction
in the simple editor, the fixture and part will show up in the list
of possible fixtures/parts. o Create delay: the time before a new
instance of the part will be created after the pick instruction. o
Allow part to be placed: when enabled the part is available for
placing. When using the Place instruction in the simple editor, the
fixture and part will show up in the list of possible
fixtures/parts. o Destroy delay: the time before the part will be
destroyed after it is placed. NOTE: if the value is set to 0 the
part is not destroyed. This is useful for operations that require a
part to be placed and then picked back out of the fixture.
4.3.2 Using the Calibration Tab
You can calibrate fixture, obstacle, and machine objects in your
workcell. Since parts are associated with fixtures you calibrate
the part within the fixture on the fixture property page
calibration tab. The calibration process matches the location of
the 3D object to its real world counterpart by calculating the
difference between points taught in the 3D world and the same
points touched-up in the real world. Calibration of a workcell
object moves the Roboguide workcell object to match the real world
object. When doing a workcell calibration you teach a program
touching 3 points in the Roboguide workcell and then touch the same
3 points in your real workcell. Roboguide objects are then moved
based upon the least squares difference between these points
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Fields included on the Calibration Tab include: Object to be
calibrated: this selection appears for
fixtures and machines. Since fixtures can hold parts, you can
calibrate the fixture and any parts that the fixture can hold.
Select the object to be calibrated from the drop down list box.
Step 1: Teach in 3D World: when pressed you see the
message: Calibration program xxx has been created for object.
Please teach at least 3 points in the 3D World at unique locations
on the object. Whey you have finished, return to the Calibration
tab and press the tore Points button. NOTE: if you are calibrating
a part that is on a line tracking link, Roboguide creates a TPP
tracking program to do the calibration. This provides the ability
to use the same tracking program on the actual workcell that is
line tracking. Since with conveyor tracking systems it is difficult
to duplicate the location of the part carrier on a conveyor the
tracking system, the line tracking system is used to compensate for
variability in the location of the conveyor on the moving line. The
key is to ensure that the part is synchronized with the conveyor
before doing any teaching. It is important to choose features that
can be taught in both Roboguide and the real world.
Step 2: Copy & Touch-Up in Real World: when pressed
you get the message: Calibration positions stored in memory now
would be a good time to save the workcell. The calibration program
CAL00049 was copied to: < directory >. You must now load it
onto the real controller and touch up each point at the
corresponding location in the real world. When this is done, save
the touched up TPP and copy it back to the same directory,
overwriting the original.
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Step 3: Calibrate from Touch-Up. When pressed,
Roboguide loads the new calibration information and compares the
original Roboguide taught calibration positions with the points
taught in the physical real workcell. A least squares fit algorithm
is applied. You see the following message describing the
differences. The calibration process has compared the TP positions
and determined that the object needs to be shifted in the following
ways (relative to the robot): X, Y, Z, W, P, R offsets, Least
squares fit = xxx Would you like to accept these results and shift
the 3D object? If you press OK the object is adjusted to reflect
these changes. Check the preview box to see the shift and OK to
accept the shift. Check the adjust TPP programs selection if you
want to select TPP programs for which to have positions
shifted.
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4.4 Working with Obstacles Roboguide uses obstacles as basic
workcell objects that can be used for the following: Used as basic
workcell building blocks to get a more
realistic visualization of the components of the workcell
(fences, "things" that are just present in the environment).
Define an entity in the workcell that the robot
should not enter (fences, poles, walls, etc.) In the event that
you jog into an obstacle a collision is signaled
. Define an entity in the workcell to teach positions.
You may want to teach points on an obstacle so that you can then
move the obstacle to ensure that the points taught are reachable by
the robot. Obstacles support UFRAMEs. If you teach relative to a
UFRAME then you can move the obstacle and its associated points to
determine optimum robot and object locations.
4.5 Working with Parts Parts are objects that the robot can take
actions with. There is a direct relationship between fixtures and
parts in the workcell. Parts are used in fixtures. Parts must be
associated with a fixture and/ or with end of arm tooling before
they can be used. When using Roboguide you will see a part fixture
in your workcell. When a part is created it is added to the part
fixture. The part fixture is only for visual confirmation. The part
can not be used until it is assigned to a fixture. The general
sequence for using parts is as follows:
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Add a part to the workcell. After adding a part you see it on
the part rack.
Associate the part with a fixture. This is done on
the Parts tab for a fixture. Define the location of the part in
a fixture. This
is done on the Parts tab for a fixture. Associate the part with
an End of Arm Tool. This is
done on the Parts tab for an End of Arm Tool. Define the
location of the part in the End of Arm
Tool. This is done on the Parts tab for an End of Arm Tool.
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Using the Parts Property Page Tab The Parts Property Page Tab
provides the interface to assign parts to the selected object.
Parts can be added to different types of objects in Roboguide
including fixtures, machines, end of arm tooling, etc. The property
page effectively works the same way when assigning parts to an
object. A very useful feature of the Parts property page is the
ability to move the robot to the part. Roboguide understands what
parts are assigned where and uses the UTOOL values and the Part
location values to automatically move the robot to the desired part
location. This can be done and the part offset can be "recorded"
directly into the values.
Parts list: shows the parts available in the workcell. The
checkbox next to each box can be selected to assign the part to the
current object.
Part Offset: is used to define the part offset in the current
object. Use of the MoveTo and
Record buttons can ease the accurate teaching of the part offset
values.
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o X, Y, Z, W, P, R: defines the offset relative to the object
origing that holds the part. o Object selection combo box:this box
is used in conjunction with the MoveTo and Record buttons. With
these buttons Roboguide provides efficient capability to move the
robot to a part position on fixtures, and to record part offsets in
EOAT and fixtures. The combo box contains all objects that have
reference to the part selected in the Parts list. If the EOAT
property pages are active, the list is populated with fixtures that
reference the selected part. If a fixture property page is active,
the list is populated with EOAT that reference the selected part.
The detail is defined on how the information is used in the MoveTo
and Record field descriptions. o MoveTo: Works in conjunction with
the Object selection combo box. When pressed the robot is moved to
a position that matches the part offset coordinate value for the
selected property page object with the part offset coordinate value
for the object selected in the Object selection combo box. After
moving, the robot should have the part offsets for the two objects
aligned exactly. This could be very useful when creating programs.
If part offsets are all taught accurately, the robot can be moved
very quickly and accurately to desired part positions. For more
detail see Automatic MoveTo of robot to part in a fixture. o
Record: is active when the Edit Part Offset item is selected. The
record button is used to define the part offset for the selected
part in the Parts field. The part offset position can be
automatically generated if the robot tooling is located at the
desired pick / place point in a fixture. For more detail see
Automatically generate part offsets in tooling and fixtures. o Edit
Part Offset: when checked you can move the part to define the part
location relative to the selected object. o Visible Teach: if
enabled the part is visible when
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not running a program. o Visible Run: defines the initial state
of the part when a program is run. If enabled the part is visible
when the program starts. If disabled, the part does not show at the
start of a run.
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4.6 Working with Robot Controllers FANUC PRO products support an
offline virtual robot controller. The robot you have defined is
shown in the Cell Browser under the Robot Controllers category.
There are many objects that make up a robot. This includes robot
location, tool center point information, and other information that
is required for the application plug-in that is loaded.
4.6.1 Restarting the Virtual Robot Controller
The Virtual Robot controller can be restarted from within PRO
software. Select from the main menu Robot \ Restart Controller \
Cold start or controlled start.
Restarting the Virtual Robot controller into Controlled Start
Mode The Virtual Robot controller can be restarted from within PRO
software. Select from the main menu Robot \ Restart Controller \
controlled start.
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4.6.2 Use the robot property page general tab
The Robot General Property Page Tab defines the following
properties of the robot in the workcell:: Controller information:
Controller information: robot name: the name given to your robot
when
defining a robot. Model: the robot model Visible On/Off
property: controls whether the robot
is visible in the workcell. Teach Ball Visible: controls whether
the teach ball
is shown. Serialize Robot: when pressed the create a robot
wizard is opened. Location: robot location in the workcell
relative to the 3D World zero position robot location in the
workcell. This location is
referenced from the zero position of the 3D CHUIWorld. Show Work
Envelope On/Off: controls whether the robot
work envelope is shown. Show robot collisions: if enabled the
robot will be
included in collision detection. Lock All Location Values On /
Off: controls whether
the robot can be manipulated on the screen. When making changes
to any of the properties on this property page, you must press
Apply to activate the changes entered.
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4.6.3 Loading a TPP Program onto the robot
Typically, you load a file from the default device when You want
to modify a program (teach pendant program
file, .TP) that is not currently in controller memory
Loading programs using the cell browser 1. Open the cell browser
2. Right mouse click on the Programs element under the desired
robot controller
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3. Select Load TP program
A dialog box is presented. Browse to the desired directory.
Select what programs you want to load.
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4. Press Open
Loading Files using the File Menu 1. Set the default device to
the device you want: o Press MENUS. o Select FILE. o Press F1,
[TYPE]. o Select File. o Press F5, [UTIL]. o Select Set Device. o
Move the cursor to the device you want and press ENTER. 5. Press
MENUS.
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6. Select FILE. 7. Press F1, [TYPE]. 8. Select File. o To load a
single file: o Generate a directory of the default device that
contains
the file you want to load. o Move the cursor to the name of the
file you want to load
and press F3, LOAD. 9. Load the file(s): o To load the file(s)
you selected, press F4, YES. o If you do not want to load the
file(s) you selected, press
F5, NO. 10. If the program already exists: o To overwrite, press
F3, OVERWRITE. o To skip the file, press F4, SKIP. o To cancel ,
press F5, CANCEL.
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4.6.4 About using end of arm tooling
End of arm tooling serves multiple purposes in Roboguide. It is
used for teaching as well as for simulation. Roboguide supports the
ability to use multiple images for your end of arm tooling so that
animations can be accomplished. Through the setup of these images
and special programming instructions you can create animations of
your robot process. Like an actual robot, you have multiple end of
arm tooling selections, and you can follow a general process for
defining end of arm tooling in Roboguide. Roboguide supports
definition of multiple Tooling. In the cell browser you can see
that a robot has multiple UT elements under the Tooling category
for a robot. Each of these elements can have associated tooling
properties. To change the end of arm tooling on the robot, left
click on the desired tooling from the EOAT elements in the cell
browser. Roboguide automatically changes the end of arm tool on the
robot. By default, Roboguide uses UT:1 when creating a new program.
On the property page for a created program you can define what
UTOOL the program should use. By defining multiple tooling, you can
change UTool definitions for your program to quickly check
reachability of different end of arm tooling. To use UTOOL with
your TP Program you first define Tool properties for each UTool and
assign a UTool used value in the Program property page. The
simulation manager that runs when you execute programs
automatically changes the EOAT cad displayed based upon the UTOOL
number assigned to the executing position.
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Checking reach with multiple tooling It is very easy to change
the end of arm tooling on the robot. There are multiple situations
where you would want to check reach. Check general reach within the
workcell: by selecting
multiple tool definitions and jogging the robot in the workcell,
you can quickly determine the robots reach for different tooling.
When left click on an EOAT in the Tooling category for a robot in
the cell browser the tooling definition is automatically
loaded.
Check different tooling settings for a program. Different tools
can be checked for a program cycle by first defining the tool
configurations for each EOAT on the robot. On the desired programs
property page you define what Tool the program should use. Change
the tooling used on the program property page, and then move to
program lines or run the program.
Use the End of Arm Tooling General Tab The General Tab of the
End of Arm Tooling Properties page provides fields to edit general
EOAT variables
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These fields include:
Tool Name: enter the name you want for the end of arm tool
Primary CAD: defines the CAD image that is used for the normal
tooling state. Normal references the tooling as Open state for
material handling applications. The closed state image of tooling
is defined on the simulation tab of the EOAT property page.
Visibility: if checked you can see the gripper, as defined in the
Primary CAD field, on the robot. If unchecked you cannot see the
end of arm tool. Location: defines the location of the tool
relative to the end of the robot arm. This includes a translation
and a rotation. Physical Characteristics: defines the mass of the
EOAT. This value is used by the robot to optimize robot motion
planning. Scale Values: defines the scaling on the Primary CAD and
the Actuated / Closed CAD image file. Lock All Location Values:
when checked locks all of the location values for the EOAT. This
includes location of the tool, the Tool Center-Point, and the Part
offset.
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Z CTRL-SHIFT CTRL-SHIFT CTRL-SHIFT Z CTRL-SHIFT Z
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4.6.5 Working with machines
Machines are motion devices that are controlled by the robot
controller. Devices have motors that are driven by servo amplifiers
within the robot controller. Machines include: Positioners:
external robot axes configured as
multiple group. Robot is group 1, and axes of the positioner act
as additional separate motion groups. Coordinated motion between
the robot and the positioner is possible.
o Positioner machines can be external to the robot or mounted on
the end of the robot arm. Robots on aux axes: these have
different
configurations: o Integrated axis: the robot world coordinate
system is on the aux axis. The position on the rail (linear) or on
the arm (rotary) is added to the robot position. o Extended axis:
the robot world coordinate system is at the robot base. The aux
axis device is a joint value and does not participate in defining
the robot tool center point location. The position on the rail
(linear) or on the arm (rotary) is not added to the robot position.
Extended axes can be external to the robot or mounted
on the end of the robot arm. PRO software uses the machines
category under the robot controller to define external devices that
are controlled by the robot servo system. Defining an external
system to the virtual robot is different for the different types of
devices, but building and defining the device in PRO software is
similar. The following figure shows the tree for a robot controller
configured with an integrated rail and integrated rotary axis.
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Extended auxiliary axes can be added to the end of the robot
arm. The axes are added to the end of arm tooling on the robot. The
following figure shows the cell browser tree for a robot controller
configured with and external axis on the end of the arm.
Regardless of whether a positioner, extended, or integrated axis
system is being defined the relationship between the pieces that
define the machine are shown in a tree format. Axes that are
dependent upon another axis are shown under the axis it is
dependent upon (G:1, J:8) is dependent upon G:1, J:7). Therefore,
if G1J7 is moved G1:J8 (robot is connected to J8) moves with it For
further detail on building and using robot positioners see Working
with Positioner help topic. For further detail on building and
working with extended and integrated axes see Working with
integrated axes and extended axes.
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Machine
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Use the machine General Tab The machine general tab defines the
properties for the Base of the machine. Generally, the base is a
structure that holds moving joints. The Link CAD tab on the machine
links also have these fields. Name: The name of the machine. CAD
File: The CAD file used for the base. Visible: when checked the
object is shown. Type: defines the type of object that can be used
for
the object. Color: sets the color of the object. CAD Location:
the location of the object in the
workcell relative to workcell 0 position. The CAD origin
position is what is used for referencing the object.
Scale: the scale factor applied to CAD objects. If a primitive
object is used, dimensions for the object can be set.
Show Robot Collisions: enables collision detection for this
object. When the robot collides with the object the object will
change color.
Lock All Location Values: when checked locks all of the location
values for the machine.
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Use the machine axis General Tab The positioner general Tab
shows the properties for a joint on a group. A joint on a group has
locations for 2 key coordinate systems. The axis origin defines the
motion of the joint, the axis link CAD defines the object that
moves when the axis origin is jogged / moved.
Name: The name of the axis. Group: The robot motion group that
drives the joint axis. Joint: The group joint that that drives the
axis Axis origin: the origin of the coordinate system that will
move when the axis is moved.
When defining the axis link origin Roboguide requires that the
+Z axis be along the axis of rotation (rotary) or translation
(linear). It is located relative to the previous links CAD location
(base or another axis joint).
Motor direction: defines the direction of motion for the axis.
If selected + motion of
the joint results in a positive rotation/ translation around/
along the Z Axis. PRO forces the Z axis to be the axis of rotation/
translation.
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Select 3D Axis: when pressed the Axis origin is selected. The
axis origin is the coordinate system that defines the motor
travel.
Motor Visible: when checked the motor is shown as part of the
axis. Lock Axis Location: when checked locks all of the location
values for the Axis Origin.
ROBOGUIDE Z Z 1. 2. 3D
3.
Z Z
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Use the machine axis link CAD tab The machine axis link CAD is
the CAD that is shown for the axis. It is located relative to the
axis origin. The axis origin defines the motion of the joint, the
axis link CAD defines the object that moves when the axis origin is
jogged / moved. The CAD Location is relative to the axis link CAD
defined on the machine axis general tab.
CAD File: The CAD file used for the link. Visible: when checked
the object is shown. Type: defines the type of object that can be
used for the object. Color: sets the color of the object. CAD
Location: the location of the joint CAD relative to the joint axis
origin. Scale: the scale factor applied to CAD objects. If a
primitive object is used,
dimensions for the object can be set. Lock All Location Values:
when checked locks all of the location values for the joint.
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Saving a machines information for future use A machine
information can be saved for later re-use in workcells. All the
required information for the machine is defined in the .def file
that defines the machine. The .DEF file created and all associated
CAD for the positioner should be in the same directory. For
auxiliary axis systems: the auxiliary axis definition file can be
loaded in one of two ways: after configuring the virtual robot for
auxiliary axes from the workcell creation wizard robot selection
list. A saved .DEF file will show in the list for robot selection.
For positioners: The positioner def file will show in the Add
additional groups wizard page. To have the positioner .DEF
information show up in the Create Workcell Wizard the .DEF file and
positioner CAD must be under the Roboguide Image Library Positioner
directories. Program Files\FANUC\PRO\SimPRO\Image
Library\Positioners
Saving a machine information for future use
1. Right click on the machine / positioner in the cell browser.
Select the Save menu item.
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2. A save dialog box is shown. Select the desired directory,
give the definition file a name and press save. To have the.DEF
information show up in the Create Workcell Wizard the .DEF file and
CAD must be under the Roboguide Image Library Positioner
directories. The definition file and CAD files for the positioner
can be put into their own sub directory under the Roboguide Image
Library Positioners directory. Program Files\FANUC\PRO\SimPRO\Image
Library\Positioners For positioners: the def file information will
show on the Add Groups wizard page. For extended axis machines: the
def file information will show on the robot selection page. The
.DEF file should show in the list. When selected the workcell
should initialize with the machine built and configured.
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Saving an end of arm machine information for future use 1. Right
click on the robot / tooling / UTOOL that has the
machine built in the cell browser. Select the Save menu
item.
2. A save dialog box is shown. Select the desired directory,
give the definition file a name and press save.
3. The machine file is now available for future use, and can be
loaded by right clicking on the UTOOL to which it should be
added.
Loading a previously defined machine
A previously defined machine can be loaded into a workcell.
There are multiple ways a .DEF file can be loaded: After the
workcell has been generated, and the
virtual robot has been configured for additional groups and/or
axes, a machine definition file can be loaded from the cell
browser.
During workcell generation: o Auxiliary axis DEF files are seen
in the robot list, and can be selected. o Positioner DEF files
(multiple groups) are shown on the Add groups workcell wizard
page.
Loading a previously defined machine after a workcell has been
created If the workcell has been defined, and the virtual robot has
been configured for the machine axes, a saved machine definition
can be loaded. 1. From the cell browser, right click on the Robot /
Machines Category and select Add Machine / Positioner Library.
Select the .DEF file you desire, and press Open. The selected
machine will be loaded into the workcell.
Loading a previously defined auxiliary axis machine from the
workcell wizard The .DEF file must be saved in the image library
directory structure of Roboguide in order for the DEF file to
appear in the robot list. Program Files\FANUC\PRO\SimPRO\Image
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Library\Positioners 1. Create a new workcell 2. Select the saved
DEF file from the Select Robot list 3. Step to the end of the
wizard and select Finish
Loading a previously defined positioner (multi group) machine
from the workcell wizard The .DEF file must be saved in the image
library directory structure of Roboguide in order for the DEF file
to appear in the robot list. Program Files\FANUC\PRO\SimPRO\Image
Library\Positioners 1. Create a new workcell 2. Select the saved
DEF file from the group list on the Add Group wizard step 3. Add
the def file to the robot by pressing the Hand icon in the list 4.
Step to the end of the wizard and select Finish
Loading a previously defined end of arm machine after a workcell
has been created
If the workcell has been defined, and the virtual robot has been
configured for the machine axes, a saved machine definition can be
loaded. 1. From the cell browser, right click on the Robot /
Tooling / Desired UTOOL and select Load Tooling. Select the .DEF
file you desire, and press Open. The selected machine will be
loaded into the workcell onto the end of arm.
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4.7 ROBOGUIDE V6 1(C-Gun) R-2000iA/165F
4.7.1
FANUC Robotics ROBOGUIDE ROBOGUIDE V6 1.
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FANUC Spot Tool (H540)
R-2000iA/165F (H740)
2 Basic Nobot (H895) 2 ()
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Servo Gun PackageJ685
12
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R-2000iA/165F 1
4.7.2
CAD IGES Z
2NoBot
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NoBot
9
2. Basic Nobot F4 MANUAL
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2. Add Nobot Axis
MOTOR SIZE=50, MOTOR TYPE=2, CURRENT LIMITI FOR AMPLIFIER=7
80
1. Linear Axis
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2. No Change
Upper Limit Lower Limit
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2. No Change
LOAD RATIO
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SERVO TIMEOUT2. Disable
4. Exit
1.
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4.
CAD IGES CAD
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TCP x, y, z, w, p, r
UT: 1 (Eoat1) CAD IGES
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GP:2 Basic NoBot CAD Z
TP 2
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UT: 1 (Eoat1) Eoat1
TCP
4.7.3.
2 TP