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    FANUC Roboguide HELP

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    FEATURES • Animation tool easily enables a quick and low cost verification of robot application systems • Easy to create the environment for devices and machines. Special skills are not required. • Program creation using animation • Extreme reduction of start-up time and maintenance time...

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    Modeling Function • Reduces of device modeling time o Select from the library and modify using dimension settings o Import CAD data and create the parts o Create the parts by simple modeling function Program Function • Same user interface as the actual Teach Pendant • Simulates actual pro...

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    Simulation Function • Simple simulation by using virtual robots. • Simulation not only of robot movement but also application commands • Highly accurate simulation by using robot simulators. Specifications Software Specifications Comments Standard Package Modeling Standard functions Layout...

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    iPendant I/F Option ROBOGUIDE layout is displayed on iPendant screen. Software Specifications Comments Option Arc Welding Package Navigation menu Option software for Standard Package. The Standard Package is necessary in addition to this software. Program generation for arc welding Simulation fo...

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    It is possible to display more than 1024x768, 65000 colors Mouse available under Windows

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    Table of Contents 9,1 9, 9,ROBOGUIDE 9, INTRODUCTIO 9,N 9, ......................................................................................................... 9, 1 9, 9,1.1 9, 9,HANDLINGPRO 9, 9,INTRODUCTION 9, .............................................................................

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    215,8 215,ROBOGUIDE'S VIRTUAL 215, ROBOT ............................................................................................... 207 218,8.1 215, 218,USING 218, THE 218, I 218,PENDANT 215, ............. 215,.................................................................................

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    Roboguide Introduction 1 1 Roboguide Introduction 1.1 HandlingPRO Introduction 1.1.1 New features in Roboguide 6.40 Features included in Roboguide PRO software V6.40 versions are described below. Note: key functions are listed by Revision. V6.40 Rev E. · Object Transparency: property page ...

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    Roboguide Introduction 2 V6.40 Rev D. · Support for R-J3iC robots · Multiple node position edit: you can now select multiple TP nodes and shift them in. For more information see topic Using the Node Editing dialog. · New serialize wizard structure: the serialize wizard has been modified t...

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    Roboguide Introduction 3 V6.40 Rev. A · Ability to add objects to links of the robot. For more information see About adding objects to links of the robot · Main Menu o New Projects Main Menu item o Reorganized window menu · Machines: new capabilities have been added to Roboguide machine...

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    Roboguide Introduction 4 o Relative move: moves relative to the current position can be executed in different frames of the selected robot. For more information see Using the Current Position Tab of the Virtual TP · Move Re-Try / Align · Robot configuration enhancement: you can now define...

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    Roboguide Introduction 5 § Files in a loadset definition can be imported from a PC loadset directory or directly from a robot controller. § Individual programs or variable files can be exported directly to a PC loadset directory or directly to a robot controller § Individual programs or v...

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    Roboguide Introduction 6 o New Project menu · Nodemap support o Coordinated motion programs: Program instructions that use the coordinated motion option are drawn in the coordinated frame. o Remote TCP programs: Program instructions that use the Remote TCP motion option are drawn in the RT...

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    Roboguide Introduction 7 • Moving to a surface point Workcell_Procedures • Creating a workcell! • Determining robot reach capability • Adding a workcell object • Selecting objects in the workcell • Opening an objects property page • Deleting a workcell object • Move objects in...

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    Roboguide/PRO Software Workcell Examples 8 2 Roboguide/PRO Software Workcell Examples 2.1 SimPRO: A simple pick and place with animation program A simple simulation workcell creation example The following procedures provide a procedure for creating a Roboguide workcell. The example assumes t...

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    Roboguide/PRO Software Workcell Examples 9 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...

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    Roboguide/PRO Software Workcell Examples 10 Previous Step Next Step 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 Simple Workcell Step 3: Add a part to the workcell Simple Work...

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    Roboguide/PRO Software Workcell Examples 11 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 Previous Step Next Step Simple Workcell Step 4: Adding End of Arm Tooling to th...

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    Roboguide/PRO Software Workcell Examples 12 0,0,850,0,0,0 and press Apply 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 ...

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    Roboguide/PRO Software Workcell Examples 13 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...

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    Roboguide/PRO Software Workcell Examples 14 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...

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    Roboguide/PRO Software Workcell Examples 15 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 Hand...

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    Roboguide/PRO Software Workcell Examples 16 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 ...

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    Roboguide/PRO Software Workcell Examples 17 You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling. Pr...

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    Roboguide/PRO Software Workcell Examples 18 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....

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    Roboguide/PRO Software Workcell Examples 19 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 us...

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    Roboguide/PRO Software Workcell Examples 20 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 P...

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    Roboguide/PRO Software Workcell Examples 21 differences in runs. Previous Step Next Step Simple Workcell Step 9: Creating an AVI of your workcell It is easy to create an AVI file of your running workcell. 1. Select Run TP Program from the Run Production category of the Process Navigator. ...

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    Roboguide/PRO Software Workcell Examples 22 Initial state of SimPRO: • HandlingPRO is running with no workcell defined • The Process Navigator window is open Simple Workcell 2 Step 1: Creating a new workcell Simple Workcell 2 Step 1: Creating a new workcell 1. Select Start New Cell f...

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    Roboguide/PRO Software Workcell Examples 23 workcell has a robot. The 3D CHUIWorld view can be viewed and modified. Simple Workcell 2 Step 2: Editing the robot properties Simple Workcell 2 Step 2: Editing the robot properties The robot’s properties can be modified. You can move the robot...

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    Roboguide/PRO Software Workcell Examples 24 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. 3. The Part property page for the new part will now...

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    Roboguide/PRO Software Workcell Examples 25 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...

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    Roboguide/PRO Software Workcell Examples 26 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 d...

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    Roboguide/PRO Software Workcell Examples 27 4. In the Size in Z field of the property page enter 500 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 blue and press OK. When the color palette dialog close...

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    Roboguide/PRO Software Workcell Examples 28 1. Select the Simulation Tab 2. Select Allow Part to be picked are Picked here and press Apply. This tells HandlingPRO that this fixture will be used for picking parts. 3. Change the Part Create to 2.00 seconds and press Apply. This tells PRO softw...

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    Roboguide/PRO Software Workcell Examples 29 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 Associate Part with Fixture You need to...

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    Roboguide/PRO Software Workcell Examples 30 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 ...

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    Roboguide/PRO Software Workcell Examples 31 2. In the Virtual TP, enable the TP, then press the shift key and then press F1 <POINT>. A TPP Line should be created. 3. Jog the robot to create a position near the pick up point 4. In the Virtual TP, enable the TP, and then press F1 <POI...

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    Roboguide/PRO Software Workcell Examples 32 created. 4. Jog the robot near the Place position. 5. In the Virtual TP, enable the TP, and then press F1 <POINT>. A menu is displayed on the virtual TP display. Select item: J P[] 100% CNT100. A TPP Line should be created 6. PRO Software has...

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    Roboguide/PRO Software Workcell Examples 33 Simple Workcell 2 Step 8: Animating a Virtual TP Program Virtual TP programs have no direct support to animate the attachment of parts to the end of arm tooling. To animate, you use a mixture of animation programs and TP Programs. In this step you cr...

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    Roboguide/PRO Software Workcell Examples 34 2. Right click on the Programs category under Robot Controllers / Robot1. A popup menu should display. Select Add Simulation Program. A new simulation program is created, and the Simulation Program Editor is opened. 3. In the Name field of the Progr...

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    Roboguide/PRO Software Workcell Examples 35 Select CALL. A new window shows. Select CALL program. A CALL … instruction is put into the program. Select closeg from the list. 6. Use the Virtual TP arrow keys to move the TP editor cursor to the line after the position where you want to open th...

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    Roboguide/PRO Software Workcell Examples 36 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. Profiling your program wi...

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    Roboguide/PRO Software Workcell Examples 37 2.3 PalletPRO: A Simple Pallet Workcell Example Simple Pallet Workcell Example Overview The following procedures provide a procedure for creating a PalletPRO workcell. The example assumes that you have started PalletPRO and that you have no active w...

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    Roboguide/PRO Software Workcell Examples 38 410iB/160, and press Next. 5. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version. 6. The next step shows robots and positioners for additional motion groups. Select nothing and pres...

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    Roboguide/PRO Software Workcell Examples 39 • The Lock all location values option box should be checked on the Robot / General Property Page Note: The pallet system tab provides many options to change the operation of the pallet workcell. The ability to change how the workcell and robot pr...

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    Roboguide/PRO Software Workcell Examples 40 Simple Pallet Workcell Step 4: Adding and working with pallet stations PalletPRO includes a default pallet station when it creates a workcell. This example workcell has 2 infeeds and 2 pallets. In order to balance the workcell, we will place the obj...

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    Roboguide/PRO Software Workcell Examples 41 3. Set the Lock all location values checkbox on the property page to ensure that the pallet station can not be moved in the workcell 4. Press OK or Apply to make the changes take effect. Resulting State: You should now have 2 pallet stations and ...

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    Roboguide/PRO Software Workcell Examples 42 NOTE: you can also add a new infeed station from the Cell Browser. A second infeed is added to the cell. 2. Direct enter the new location for the infeed station. Enter the values 1100, 100, 750, 0, 0, 0 into the location field on the Infeed Stations...

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    Roboguide/PRO Software Workcell Examples 43 You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The slip sheet pick up positions are automatically set by PalletPRO. Simple Pallet Workcell Step 7: Modifying a pallet stations process properties In...

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    Roboguide/PRO Software Workcell Examples 44 Resulting State: You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The origin of infeed 2 has been switched to the opposite corner which means the units will feed on this side of the infeed. Simple P...

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    Roboguide/PRO Software Workcell Examples 45 You have modified unit load 1. Add a Unit Load In this procedure, a new unit load is created. A double gripper is defined, and the Layer picking is manually modified. You manually modify picking configuration to optimize system efficiency. A double ...

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    Roboguide/PRO Software Workcell Examples 46 load. Resulting State: You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. 2 unit loads are defined. Simple Pallet Workcell Step 10: Running a production simulation Your workcell is now complete, an...

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    Roboguide/PRO Software Workcell Examples 47 2.4 Buid an auxiliary axis example Building an aux axis system example Step 1 Create a new workcell A new workcell is created with the name Aux_System_example. Several steps are required and this step describes each procedurally. Step 1: Create a n...

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    Roboguide/PRO Software Workcell Examples 48 10. Down Arrow to the extended axis item and press enter 11. Press Manual 12. A menu is presented which allows you to select the motion group to modify extended axis information. Select Group 1 and press enter. 13. Enter the hardware start number ...

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    Roboguide/PRO Software Workcell Examples 49 o Master Position Setting: 0 o Accel Time 1 Setting: No Change o Accel Time 2 Setting: No Change o Minimum Accel Time Setting: No Change o Load Ration Setting: 2 o Amplifier Number Setting: 1 o Select Amp Type: Alpha amp - 2 o Brake Number Set...

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    Roboguide/PRO Software Workcell Examples 50 o Upper Limit Setting: 4000 o Lower Limit Setting: -4000 (Press the – key on the numeric keypad) o Master Position Setting: 0 o Accel Time 1 Setting: No Change o Accel Time 2 Setting: No Change o Minimum Accel Time Setting: No Change o Load R...

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    Roboguide/PRO Software Workcell Examples 51 added to define the 8 meter X rail. The robot is then attached to the X rail. The following procedure defines this relationship within the workcell. Build the base of the auxiliary axis system 1. Open the cell browser if it is not open. There should ...

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    Roboguide/PRO Software Workcell Examples 52 11. Locate the Box relative to the Joint 7 Axis Origin of motion. Select the Link CAD tab on the X Rail Property page. Enter Size in X= 8000, Size in Z = 300 and 0, 0, 300, -90, 0, 0 for the CAD Location, and press Apply. The box should be on the flo...

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    Roboguide Menus 53 3 Roboguide Menus Roboguide Menus SimPRO’s main menu • File_Menu o New Cell o Open Cell o Restore Cell Save point o Save Cell o Save Cell As o Package Cell o View File: allows you to open and view a file. o Recent File: provides a list of recently viewed f...

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    Roboguide Menus 54 o Restart All Controllers: Cold starts all controllers in the workcell o IO Interconnections o Workcell properties o Object Properties: opens the property page for the selected object in the workcell. • Robot o Lock Teach Tool Selection o Show Work Envelope; toggl...

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    Roboguide Menus 55 o Reset "Don’ show this again" captions: resets the dialogs that you turned off. • Help o Contents: opens the help system. o Help on Current Windows: opens the help topic for the currently selected window. o Register SimPRO: provides licensing dialogs. o T...

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    Roboguide Menus 56 generating a PaintPRO workcell from Roboguide a paint specific wizard is displayed. Related topics Using the workcell creation wizard The workcell creation wizard provides an interface to create a new workcell and to define the robot within the workcell. The type of robot ...

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    Roboguide Menus 57 Adding a workcell object To add an object using the cell browser 1. Right mouse click the type of element you want to add to your workcell A popup menu will appear with selections. The popup menu will have items based upon the PRO Software plug-in and the options loaded on ...

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    Roboguide Menus 58 Configure your robot controller ROBOGUIDE provides two wizards to help you create and modify the robot controller for your workcell. . • Workcell Creation Wizard: used to create a workcell with its initial robot. Select the File > New Cell menu or press the button on t...

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    Roboguide Menus 59 Step: Workcell name • Enter the desired workcell name • This step is only shown by the Workcell Creation Wizard • It is recommended that you use the Delete Item feature of this step if you wish to remove a workcell. It manages the cleanup of the Robot Neighborhood wh...

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    Roboguide Menus 60 the desired robot directory and press Select. When you press the Next button, the wizard tree is populated with information in from the robot. You will not be able to modify the details of the robot configuration. After the robot is created you may re-enter the serialize wiz...

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    Roboguide Menus 61 With the option unchecked, you can assign your own I/O configuration after the robot is started. Using the Target Quickbar The Target quickbar is displayed by pressing the Target quickbar toolbar icon (). There are buttons/ modes for: • Air Target: when depressed an air ...

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    Roboguide Menus 62 A feature can be broken into segments. A segment can be broken into multiple segments. The result is a feature that can contain many separate segments. When creating a program from the feature, different creation properties can be given to each segment in the feature to gene...

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    Roboguide Menus 63 define how robot programs should be generated from the feature. Properties can be adjusted and programs generated so that you can very quickly make changes to output programs to obtain desired robot programs. For more information on what features can be created see What featu...

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    Roboguide Menus 64 feature, the segment properties control the approach and retract positions. The approach point is generated using the orientation of the first point of the first segment in the feature. The retreat point is generated using the orientation of the last point of the last segment...

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    Roboguide Menus 65 Defaults property page . Fine control of positions being generated Once a feature and its programs have been generated it may be necessary to offset positions either by translation or rotation about the feature. Examples include, work angle for arc welding or deburring angle ...

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    Roboguide Menus 66 o Load TP Program o Draw Part Features is removed. o Teach Program is removed. o Program Properties is removed. o Teach perch position o Teach maintenance position · Test-Run o Run Panel o Run Options: allows options available on the run panel to be modified fro...

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    Roboguide Menus 67 Using the Fixture General tab The General Tab of the Fixture Properties page provides fields to edit general obstacle properties. These fields include: • Name: enter the name you want for the fixture. • CAD File: defines the CAD file used for this fixture. • Visible...

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    Roboguide Menus 68 Working with the Infeed Fixture Infeed Property tab The infeed fixture Infeed property tab has fields to define various infeed properties. • Infeed Properties o Number: defines the infeed number that PalletPRO uses when running a simulation. You should not have to change...

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    Roboguide Menus 69 For further information on origins and orientation click here. o X offset, Y offset: specifies the distance to shift the origin of the infeed along the length of the infeed station. Infeed offset (length) and (width) are typically used when the robot cannot reach the corner...

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    Roboguide Menus 70 • Pallet station, which is the area where the unit load is located. • Infeed station, which is the area at the end of the conveyor where the robot picks up units for palletizing or places units for depalletizing. The figure below shows standard layouts for single inf...

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    Roboguide Menus 71 When the fixture plate is positioned correctly for pallet stations, P1 will be in the corner where PalletTool will place the first unit. P2 will lie along the build direction of the pallet station (or the arrow of the fixture plate). The build direction is the direction in w...

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    Roboguide Menus 72 number and you may "starve" the infeed at the pickup point. For proper throughput calculations you must make sure that setting this value does not "starve" the conveyor at the pickup point. Maximum parts value can be adjusted to show "stackup" on...

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    Roboguide Menus 73 • Size: defines the parametric values for primitive objects. • Scale: defines the scale parameters for CAD type objects. • Show robot collisions: when checked this fixture is checked for collisions with robots in the workcell. • Lock All Location Values: when chec...

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    Roboguide Menus 74 The orientation selection on the Pallet Tab provide the following definitions for the pallet.  Length on Length. The arrow is along the length of the pallet and defines the X direction of the UTOOL to be along the length of the pallet.  Width on Length. The arrow is ...

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    Roboguide Menus 75 o If you record a new slip sheet position and then move the pallet, PalletPRO will move the slip sheet position to center of the pallet at the new location, and maintain the recorded slip sheets z height. • Diagonal Return position: can be used to decrease cycle time. A d...

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    Roboguide Menus 76 About the PalletPRO Upload dialog PalletPRO provides an Upload menu under the main File menu to read all palletizing data from a backup directory, a networked robot or from the virtual controller in PalletPRO, and update the 3-D simulation world in PalletPRO. Why is this fe...

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    Roboguide Menus 77 mm), Skin image. DIOCFGSV.IO I/O data Configures virtual controller in PalletPRO to be the same as the real robot. Description of Features: Upload From: The combo box allows you to select the "Upload source". The choices are 1) Workcell Robot Controller 2)...

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    Roboguide Menus 78 Status Combo: The status of the upload operations or error messages will be stored in this combo. The combo continuously lists the last 100 status messages. Upload: This button performs the actual uploading of the files and refresh of the 3-D world. Upload is performed only...

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    Roboguide Menus 79 o Now run the Upload procedure. o This procedure must be followed for pallet stations which are taught width on length and which will run pallets whose width dimension is not the same as 40 inches or 1016 mm. If the pallet is taught length on length, then this procedure is...

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    Roboguide Menus 80 So, you must do this manually and either jump over or delete lines that might prevent simulation from running such as waiting for an Input that PalletPRO does not recognize. 7. You are expected to upload the proper version of the files to PalletPRO. For example, if you have ...

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    Roboguide Menus 81 If not all the I/O points are assigned to the infeed, then PalletPRO will display error messages indicating that. 10. If you wish to load all the TP programs also, we suggest that you first run it with standard PalletTool or Turbo and then phase in your loads. Otherwise, due...

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    Roboguide Menus 82 5. Select the desired files to download. File types and names include: o Unitload data files – PMULxxx.DT o Infeed Station files – PMINFxxx.DT o Pallet Station files – PMSTAxxx.DT o Gripper data file – PMGRIPDT.DT o PalletStation data file – PMPSYSDT.DT 6. If ...

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    Roboguide Menus 83 FLPY:\PMUL*.DT 1/5 ITEM UNIT LOAD FILE \\1 PMGRIPDT 2 PMINF001 3 PMPSYSDT 4 PMSTA001 5 PMUL001 [ TYPE ]TRANSFER HELP Select the file you wish to download and press the TRANSFER key. File types and names include: o Unitload data files – PMULxxx.DT o Infeed Stati...

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    Using the 3D World 84 4 Using the 3D World 4.1 Navigating the 3D CHUIWorld Roboguide provides several ways to control the present view in the 3D World. 3D world manipulation includes: • Zooming the view • Panning the view • Rotating the view Zooming the view To zoom the 3D World...

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    Using the 3D World 85 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 th...

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    Using the 3D World 86 If you have a mouse that has a wheel and button: 2. Press and hold down on the center button 3. Drag the mouse to pan the field of view 4. Release the center mouse button to stop panning mode Rotating the view To rotate the view The field of view will rotate about th...

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    Using the 3D World 87 3D CHUIWorld Roboguide simulation software’s 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 indust...

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    Jogging the robot 88 5 Jogging the robot 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. PR...

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    Jogging the robot 89 About jog coordinate frames PRO Software Virtual Teach Pendant supports the following jogging coordinate frames • Joint: when a jog button is depressed the specified robot joint moves • User: jogs the robot in a UFRAME.. See Jogging using UFRAMEs for more information...

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    Jogging the robot 90 Changing the robot speed override To change the robot speed override from the teach pendant 1. Open the virtual Teach Pendant 2. Press the speed override up/ down buttons To change the robot speed override from the Speed override toolbar 1. Press the speed override t...

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    Jogging the robot 91 Selecting the teach tool To select the teach tool using the toolbar or 3D World Select the teach tool by either clicking on the end of arm tooling or clicking on the teach tool icon on the toolbar (). Note: when you use the teach tool select toolbar button the teach tool b...

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    Jogging the robot 92 Jogging using the teach tool For translation Along a teach tool coordinate axis: 1. Select the teach tool 2. Put the mouse cursor over the coordinate of the teach tool that you want to move the robot. The cursor will change to a hand (). 3. Click the left mouse button...

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    Jogging the robot 93 2. Put the mouse cursor over the coordinate of the teach tool that you want the robot to move about.. The cursor will change to a hand (). 3. Press and hold down the shift key. 4. Click the left mouse button and drag mouse. The tool will rotate about the selected axis. ...

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    Jogging the robot 94 2. Virtual TP Fctn Menu. The jog modifier can be selected by pressing the Fctn key on the teach pendant. When the robot is put into RTCP jog mode, the teach ball available in Roboguide will move to the remote TCP and be displayed in the selected coordinate jog frame. You...

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    Jogging the robot 95 Changing the teach tool size The size of the teach tool (the green sphere at the robot TCP) can be modified. To change the teach tool size 1. Open the Virtual TP 2. Select the current position tab at the bottom of the virtual TP 3. Change the teach tool size by chang...

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    Jogging the robot 96 Moving to a point on a surface It is very easy to move to a point on a surface. Each End of Arm Tool can be setup to make moving to a surface simple. To move to a position that is normal on a surface 1. Position the mouse cursor at the point on the object that you want to...

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    Jogging the robot 97 position. All of these move functions are available from the Move Quickbar menu Roboguide provides a move to retry function that is applied when Roboguide is in MoveTo retry mode. When the mode is enabled, Roboguide will re-calculate the position orientation that it is at...

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    Jogging the robot 98 1. In the TP Point frame on the Move To quickbar select the desired .TP position from the drobdown list. 2. Press the MoveTo button.

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    Creating, Opening and Working with Workcells 99 6 Creating, Opening and Working with Workcells 6.1 Adding and modifying cell components Adding a workcell object To add an object using the cell browser 1. Right mouse click the type of element you want to add to your workcell A popup menu will...

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    Creating, Opening and Working with Workcells 100 Selecting objects in the workcell Objects in the workcell include the robot, the robot’s end of arm tooling, obstacles, fixtures, and parts. You can select them by clicking the mouse while the mouse cursor is over the object, or clicking on th...

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    Creating, Opening and Working with Workcells 101 About property page visibility Roboguide manages the visibility of object property pages. The following general rules apply. • If a property page is visible for an object selecting another object will bring the new selected objects properties...

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    Creating, Opening and Working with Workcells 102 objects origin. 2. Select from the menus Edit / Cut, Copy, or Paste <object name> Copy and Paste of Location data for objects An objects Location data (X, Y, Z, W, P, R) can be copied and pasted to another objects Location data. To co...

  • Page 111

    Creating, Opening and Working with Workcells 103 6.2 Placing/moving objects in the 3D world Moving objects in the workcell Objects in the workcell can all be translated and rotated in the workcell. There are different methods to move objects. • With the mouse for translation or rotation ...

  • Page 112

    Creating, Opening and Working with Workcells 104 4. Release the mouse button where you want the part to be. Show me an AVI Moving an object in the workcell using direct entry To locate an object in space using direct entry: 1. Select the object by clicking on it. A triad coordinate syste...

  • Page 113

    Creating, Opening and Working with Workcells 105 Grouping objects Objects in the workcell can be grouped. Groups have the following properties: • The group may be moved together as a single object. • The group can be selected by selecting any member in the group. The selected object in...

  • Page 114

    Creating, Opening and Working with Workcells 106 Procedure to ungroup objects Procedure to ungroup objects: 1. Right mouse click in the cell browser on any object in the group. Select UnLump objects. The objects should no longer be grouped. Moving an object using measurement and dimension...

  • Page 115

    Creating, Opening and Working with Workcells 107 6.3 Opening a workcell Opening an existing workcell To open an existing workcell using the recent workcells list: 1. Select File from the main menu 2. Select the desired workcell from the list at the bottom of the menu To open an existing wor...

  • Page 116

    Creating, Opening and Working with Workcells 108 6.4 Saving a workcell Saving a workcell When a save is performed, many actions take place. • The workcell file is saved in the workcell directory • All simulation programs are saved in the workcell file and .TP versions are loaded on the...

  • Page 117

    Creating, Opening and Working with Workcells 109 6.5 Managing Roboguide data Locating where my workcell files are saved The default directory is based upon your user profile in Windows. Roboguide uses the following path to save your workcells. Drive: /Documents and Settings /"USERNAME&q...

  • Page 118

    Creating, Opening and Working with Workcells 110 • Multisync.bin: contains Roboguide IO management information • *.csb. When an IGES part is imported to the workcell, Roboguide converts the file to a .CSB graphics filetype. The .CSB file is FANUC Proprietary. When re-opening a workcell Ro...

  • Page 119

    Creating, Opening and Working with Workcells 111 opened from a share or save function the virtual robot is restored and re-load at generation time. o Share a workcell: copies necessary files from the current workcell state to a directory of your choice. The target directory is specified. o Sh...

  • Page 120

    Creating, Opening and Working with Workcells 112 Restoring a workcell file from a savepoint A workcell saved in a Savepoint can be restored. To restore a workcell from a Savepoint Open the workcell from the File Main Menu – Open a workcell 1. Browse to the workcell. 2. Select the workce...

  • Page 121

    Creating, Opening and Working with Workcells 113 6.6 Measurement and Dimensions About measurement and dimensions Roboguide has a measurement function. The measurement system is enabled by pressing the measurement toolbar button. The measurement function is used to create a distance line betw...

  • Page 122

    Creating, Opening and Working with Workcells 114 Fields include: Measurement frame: fields are used to create the measurement starting and ending point. • FROM button: when pressed the FROM point can be selected in the workcell. As you move the mouse the cursor highlights entities in the wo...

  • Page 123

    Creating, Opening and Working with Workcells 115 o If a non robot object is selected you can choose between:  Entity: the point on the entity clicked on.  Origin: the origin of the object that contains the entity is automatically selected. o If a robot is selected you can choose betw...

  • Page 124

    Creating, Opening and Working with Workcells 116 • All components visible: when checked all components (x,y,z,d) are shown. • Color property: allows you to modify the color of the dimension line (D) • Camera center: centers the camera in the current view. • Create dimension button: ...

  • Page 125

    Creating, Opening and Working with Workcells 117 point on the dimension that represents the starting point of the dimension (FROM) concatenated with the point on the dimension that represents the ending point of the dimension (TO). The FROM and the TO default names use the object name in the Ro...

  • Page 126

    Creating, Opening and Working with Workcells 118 • TO Snap to: when an entity is selected, you can change which object attribute can be used to anchor the FROM point. o If a non robot object is selected you can choose between:  Entity: the point on the entity clicked on.  Origin: t...

  • Page 127

    Creating, Opening and Working with Workcells 119 have the same orientation as workcell zero, relative to FROM and relative to Workcell are the same. • All components visible: when checked all components (x,y,z,d) are shown. • Color property: allows you to modify the color of the dimension...

  • Page 128

    Creating, Opening and Working with Workcells 120 • Right mouse click on the root dimensions node in the cell browser. A new dimension is added with the measurement objects used as the FROM and TO components. The dimension can be modified on the dimension property page. Extruding dimension ...

  • Page 129

    Creating, Opening and Working with Workcells 121 below the component line in either plane. 4. Release the mouse button when the extrusion is as desired. When the mouse is released an extrusion of the selected component line is created. If a dimension exists that contain the objects that de...

  • Page 130

    Creating, Opening and Working with Workcells 122 be used from either the measurement dialog or from a dimensions property page. 1. Move the mouse over the distance text displayed on the dimension / measurement line (thick blue line in picture). 2. Hold down the left mouse button and the CTRL ...

  • Page 131

    Creating, Opening and Working with Workcells 123 To modify the extrusion angle 1. Open the property page for the dimension that has the extrusion line 2. Select the extrusion tab 3. Select the desired extrusion line by left mouse clicking on the extrusion line in the Extrusion list. 4. Modi...

  • Page 132

    Working with Robot Controllers 124 7 Working with Robot Controllers 7.1 Working with a robot 7.1.1 Working with robot variable files Using the robot variable file property page A robot controller has variables that are logically grouped. Variable groupings contain information about the robot...

  • Page 133

    Working with Robot Controllers 125 7.1.2 PalletPRO Configuration 7.1.2.1 PalletPRO Pallet System Tab Use the Pallet System Tab The Pallet System property page allows modifications of all the settings with the exception of pallet picking. You can choose Part ID method, Cycle Start Control, Part...

  • Page 134

    Working with Robot Controllers 126 button. o • UOP means that you will signal to start production from the cell controller. Recovery Control This item specifies where to control part drop recovery. o • TP means that you will do part drop recovery and cycle stop using teach pend...

  • Page 135

    Working with Robot Controllers 127 not at the infeed. Pallet System Options: Production Control - the following items control production related functions. Not all options are available in PalletPRO. PalletPRO configures the system to enable running of simulations. Diagonal return enable ...

  • Page 136

    Working with Robot Controllers 128 any pallet station. End of Batch Enable This item controls whether to use the end of batch option: o • NO disables the end of batch option. o • YES enables the end of batch option. When a partial pallet is indexed, any remaining boxes will be ...

  • Page 137

    Working with Robot Controllers 129 To define how the robot should switch pallets: 1. Open the robot system property page 2. Select the Pallet System tab 3. Select the desired pallet switch option 4. Press OK or Apply to save changes 7.1.2.2 PalletPRO PalletTool Positions Tab Use the Palle...

  • Page 138

    Working with Robot Controllers 130 Teach the pallet system maintenance position To teach the pallet system maintenance position. 1. Select the robot 2. If the robots property page is not visible, open the robots property page 3. On the General Tab ensure that the Lock All Location Values ...

  • Page 139

    Working with Robot Controllers 131 Loading Files using the File Menu Steps 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 ENTE...

  • Page 140

    Working with Robot Controllers 132 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. 7.2 Robot arm dressout About adding objects to links of the robot Roboguide version V6.40 adds the ability to att...

  • Page 141

    Working with Robot Controllers 133 7.3 Working with multiple robots Roboguide simulation software supports multiple robot workcell creation. Robots in the workcell can synchronize though shared IO. When running simulations the robot motion system for each robot and the shared IO is synchronized...

  • Page 142

    Working with Robot Controllers 134 o IO Tag: the input type and number to be mapped • Commands: are used to add and delete lines from the IO connections table. o Add 1: adds a single IO mapping to the table. o Add 8: adds a group of contiguous 8 IO mapping to the table. NOTE: Double cli...

  • Page 143

    Working with Robot Controllers 135 Enter. 7. Press OK or Apply. 8. Add additional definitions as desired. The IO interconnection should now be defined and functioning. 7.4 Working with KAREL Programs Working with KAREL Programs KAREL programs can be loaded into Roboguide virtual robots. ...

  • Page 144

    Working with Robot Controllers 136 o Set var $rmt_master = 1 o Open the virtual TP o you must set the Remote/Local Setup to Remote - Select Menus/System (on the second page). Select Type[F1] and select Config - Go to Remote/Local setup item (~37 in the list) and set it to Remote o you shoul...

  • Page 145

    Working with Robot Controllers 137 Use the End of Arm Tooling Palletizing tab The end of arm tooling palletizing tab has fields to define gripper type, tool definition, and tooling IO. Fields include: • Gripper type: defines the end of arm gripper type. The list provides grippers that are ...

  • Page 146

    Working with Robot Controllers 138 Setup Item Single Case Gripper Double ICC or Triple Case Gripper Case 1 Case 2 Case 3 Close RO[1] on RO[2] off RO[1] on RO[2] off RO[3] on RO[4] off RO[5] on RO[6] off Open RO[1] off, pulse RO[2] for 0.1 second RO[1] off, pulse RO[2] for 0....

  • Page 147

    Working with Robot Controllers 139 4. Set the follower robot UFRAME to match the CD_Pair. This is very useful when teach robot positions. If coordinated motion is enabled and multiple groups exist on the controller, the CDPair Frames show in the cell browser under a robot controller. NOTE: Ro...

  • Page 148

    Working with Robot Controllers 140 coordinate transformation from the CHUIWorld robot origin of the follower group to the robot origin of the leader group.  "Locate Follower": the Roboguide location of the follower group is modified relative to the leader group to match the $CD_PA...

  • Page 149

    Working with Robot Controllers 141 HandlingPRO. 3. Name the workcell and press Next. This example uses the workcell name Aux_System_Example. 4. Select the desired robot from the list and press Next. This example uses the R-2000iA/165F. 5. On the Additional Motion Groups Page select Next. 6....

  • Page 150

    Working with Robot Controllers 142 window, and answer the questions as detailed below (the answers provided may not be correct for the hardware on an actual auxiliary axis hardware. See the Robot manuals for more information). 16. Aux axis 1 Initialization o Enter the axis to add: 1 o Motor ...

  • Page 151

    Working with Robot Controllers 143 o Brake Number Setting: 2 o Servo Timeout: Disable 17. After answering the last question, the Ext Axis Setting program menu is shown again. Select the Add Ext Axis item and press Enter 18. Aux axis 2 Initialization o Enter the axis to add: 2 o Motor Size...

  • Page 152

    Working with Robot Controllers 144 o Amplifier Number Setting: 1 o Select Amp Type: Alpha amp - 2 o Brake Number Setting: 2 o Servo Timeout: Disable 19. The axes have been defined and setup. The Ext Axis Setting program menu is shown. Select Exit and press Enter. 20. The select group menu...

  • Page 153

    Working with Robot Controllers 145 0, 0 for the CAD Location, and press Apply. The box should move to the floor and be 10 meters in the Y direction. 5. Select Lock All Location Values and press Apply to lock the base in the workcell. 6. The base now exists for the robot Y rail of travel. The ...

  • Page 154

    Working with Robot Controllers 146 To quickly change this association, open the property page for the X Rail and select the Negative checkbox on the General property page. The robot teach ball should now move with the rail as it is jogged. Attach the robot to the X rail Axis 14. Right Click o...

  • Page 155

    Working with Robot Controllers 147 Working with extended axes and integrated axes Auxiliary axes systems are mechanical devices that are controlled by the robot controller. Auxiliary axes systems are used in several applications and are generally used to move the robot to different locations i...

  • Page 156

    Working with Robot Controllers 148 • Robot on a rail. • Robot on a rail doing rail tracking. (Integrated axes) • Robot on an RTU. • Robot controlling a conveyor motor. • Aux axis on the end of the robot arm When building auxiliary axis devices in Roboguide the virtual robot has ...

  • Page 157

    Working with Robot Controllers 149 Cell Browser representation of auxiliary axes on the robot arm 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. Auxiliary axis devices are built from the additional axes defined for ...

  • Page 158

    Working with Robot Controllers 150 Process to configure virtual robot and PRO 3D world for an aux axis system This topic provides a high level procedure to configure a Roboguide workcell that supports an auxiliary axis system. Several procedures are required to build a working auxiliary axis w...

  • Page 159

    Working with Robot Controllers 151 1. Select and Right click on the Machines category under the robot, and select how the base CAD should be created. Generally this is from an IGES file. If file is chosen, select the file that will be used for the base CAD. The base should be loaded into Robo...

  • Page 160

    Working with Robot Controllers 152 NOTE: it is possible to add "dummy" links that have no servo axis control. This is useful to build a machine out of many parts, even if they have no motion characteristics. The added links will move with whatever links they are associated (links abov...

  • Page 161

    Working with Robot Controllers 153 5. Modify the Link CAD for the axis and modify the location of the link CAD relative to the axis link. 6. Select the Motion Tab. 7. Select the group and the joint that drives the axis by selecting the Group and Joint from the dropdown box shown on the gener...

  • Page 162

    Working with Robot Controllers 154 Configuring a virtual robot for an aux axis system The virtual robot in the workcell must have the Extended Axis control before axes can be added to the robot. To configure a virtual robot for an aux axis system If the workcell is already created and the opt...

  • Page 163

    Working with Robot Controllers 155 Adding an extended or integrated axis to the virtual robot An axis can be added to the virtual robot in the same way that you add an axis to a robot on an actual robot. The axis is added to the robot group from controlled start. Procedure to add an axis to a...

  • Page 164

    Working with Robot Controllers 156 The robot will restart in controlled start. 2. Press Menu button, and then select Maintenance 3. Down Arrow to the Extended Axis Control item and press the Manual Softkey. A menu is presented which allows you to work with the motion group axis setup. 4. Sel...

  • Page 165

    Working with Robot Controllers 157 (linear). A links axis is dependant upon the previous link’s Link CAD origin. Changing the CAD used for a machine axis Objects can be defined from IGES CAD or PRO primitives. CAD used for the machine axis can be changed on the property page that defines t...

  • Page 166

    Working with Robot Controllers 158 5. Click OK or Apply 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 f...

  • Page 167

    Working with Robot Controllers 159 for the DEF file to appear in the robot list. <Install Drive> 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 ro...

  • Page 168

    Working with Robot Controllers 160 7.7.2 Working with positioners Robot positioners are mechanical devices that are controlled by the robot controller. Positioners are used in several applications and are generally used to manipulate parts and tooling. Motion groups can be defined on the robot ...

  • Page 169

    Working with Robot Controllers 161 Positioners are built from the groups defined for the robot. A group is a series of joints. A positioner is modeled in the cell browser as a machine controlled by the robot. A machine is a series of groups that are configured to represent a positioner’s con...

  • Page 170

    Working with Robot Controllers 162 along the axis of rotation (rotary) or translation (linear). o Link CAD: defines the CAD to be used for the joint and the location of the CAD origin relative to the axis link Process to configure virtual robot and PRO 3D world for positioners This topic pro...

  • Page 171

    Working with Robot Controllers 163 6. If you chose Basic Positioner when defining additional motion groups the virtual robot is initialized with additional groups, but need to have axes added to each group to match the actual hardware configuration. This is done at robot controlled start. Foll...

  • Page 172

    Working with Robot Controllers 164 o Box, Cylinder, Sphere – Basic shapes that can be used to model many simple machines 5. The link should show and is placed relative to the previous links CAD position. 6. Select the group and the joint that drives the axis by selecting the Group and Join...

  • Page 173

    Working with Robot Controllers 165 • Positioner with definitions: enables group motion of the stated type. Includes definition files for the positioner. After a positioner is built the first time, it can be saved to a Positioner with definitions, and would show up in the list as a Positioner...

  • Page 174

    Working with Robot Controllers 166 Multiple devices can be selected until the group information table is populated. Adding a positioner group to the virtual robot A group can be added to a virtual robot in the same way that you add a group to an actual robot. The group is added from controll...

  • Page 175

    Working with Robot Controllers 167 The robot will restart in controlled start. 2. Press Menu button, and then select Maintenance 3. Down Arrow to the desired group and press enter 4. Press Manual A menu is presented which allows you to work with the motion group. 5. Select the Add Axis item...

  • Page 176

    Working with Robot Controllers 168 You can step through the items by following the menus. 7. After changing the desired item, finish stepping through the settings until you return to the top level menu. 8. Select Exit and press Enter. 9. Press Fctn -> Start (Cold) The robot will restart. ...

  • Page 177

    Working with Robot Controllers 169 Note: makes sure that the Z, X, and Y settings fot he calibration point are such that the robot can move to the position. 7. Open the Coord Motion setup screen on the virtual teach pendant. Open the Virtual TP and select Menus / Setup/ Type (F1)/ Coord (may ...

  • Page 178

    Working with Robot Controllers 170 17. Enable the Virtual TP and down arrow to Point 3 and Press Shift – Record. 18. Press Shift – and the EXEC softkey. The coordinated pair is now defined. The controller must be cold started for the pair to be initialized. 19. From the Main Menu select...

  • Page 179

    Working with Robot Controllers 171 4. Select the desired robot from the list and press Next. This example uses the M-6iB/ARCMate100iB robot. 5. If a list of software versions is presented, select the highest support virtual robot version. 6. Select the positioner type for each group used by ...

  • Page 180

    Working with Robot Controllers 172 If asked the hardware start axis, enter 7 for Axis 7. 13. If asked for the Kinematics Type Setting, select Unknown Kinematics. 14. A menu is then presented. Select the Add Positioner Axis item and press Enter 15. The Virtual TP screen shows question that mu...

  • Page 181

    Working with Robot Controllers 173 o Master Position Setting: 0 o Accel Time 1 Setting: No Change o Accel Time 2 Setting: No Change o Exponential Filter Setting: False o Minimum Accel Time Setting: No Change o Load Ratio Setting: 2 o Brake Number Setting: 0’ o Servo Off Setting: False...

  • Page 182

    Working with Robot Controllers 174 o Direction Setting: +Y o Gear Ratio Setting: 161 o Maximum Speed Setting: No Change o Motion Sign Setting: True o Upper Limit Setting: 450 o Lower Limit Setting: -450 (Press the – key on the numeric keypad) o Master Position Setting: 0 o Accel Time ...

  • Page 183

    Working with Robot Controllers 175 o Motor Type Setting: /2000 o Amplifier Current Limit Setting: 40A o Amplifier Number Setting: 4 o Amp type : Alpha o Axis Type: Rotary Axis o Direction Setting: +X o Gear Ratio Setting: 161 o Maximum Speed Setting: No Change o Motion Sign Setting: T...

  • Page 184

    Working with Robot Controllers 176 The PRO package opens with a robot in a workcell with no other devices. Expand the Robot Controllers / Robot 1 tree in the cell browser. Under the Robot 1 tree are GP:1 through GP:4. Each group has a single joint axis. The axes exist, but a positioner needs t...

  • Page 185

    Working with Robot Controllers 177 8. Set the location value to 0, 0, 170, 0, 0, 0 and press Apply 9. Set the check box for Lock all Location Values and press Apply Build the center of rotation axis – Group 4, Joint 1. 10. Right Click on the Versa3M3 Machine root node under Machines and s...

  • Page 186

    Working with Robot Controllers 178 this dependency must be defined when building the positioner. This is done by adding a link relative to the G:4, J:1 – Versa3M3_Major node in the cell browser. Right Click on the G:4, J:1 – Versa3M3_Major node under Machines / Versa3M3 and select Add Link...

  • Page 187

    Working with Robot Controllers 179 Versa3M3_Major axis link (G:4, J:1 - Versa3M3_Major node). 23. Change the Name Property to Versa3M3_Minor_Side_B and press Apply. 24. The axis of rotation must now be defined. PRO defines the axis of rotation to be the +Z axis of the Axis origin for the Join...

  • Page 188

    Working with Robot Controllers 180 Now when group 2 is jogged the box / fixture should move with the group. Add group 3 fixture to hold parts: a static box will be added to group 2 to fixture parts 34. Right mouse click on the Side_A fixture you just created and select Copy Side_A fixture The...

  • Page 189

    Working with Robot Controllers 181 Configure a machine link to be driven by robot IO To define a link to be driven by the state of robot IO: 1. Build a machine When defining the motion type for a machine on the Machine Link Motion Tab, select IO as the type. 2. Define the outputs and state ...

  • Page 190

    Working with Robot Controllers 182 Using the Roboguide Job property page The Job property page enables you to quickly create a TP program that CALLs other TP programs. This may be very desirable when you have several separate TP programs that need to be called in a defined order. The Job prope...

  • Page 191

    Working with Robot Controllers 183 • Generate: when pressed, programs are generated as defined on the property page tabs. Processes Tab: • Process Selection Frame: items in the box on the left can be snapped to the box on the right. The contents of the box on the right defines what progr...

  • Page 192

    Working with Robot Controllers 184 Adding a Job To add a new Job 1. Right mouse click on the Jobs Category in the Cell Browser 2. Select Add Job A new Job is created, and the Job property page should show. 7.8.1 Working with PaintPRO Jobs About PaintPRO Jobs PaintPRO supports the generati...

  • Page 193

    Working with Robot Controllers 185 PaintPRO automatically sets up the header information for the left hand job to follow this procedure. • PaintTool uses the multitasking capability of the robot controller. When the right hand (group 2) Job program is executed it runs simultaneously with the...

  • Page 194

    Working with Robot Controllers 186 • That the RIGHT Job TP be generated using Group Mask exchange from LEFT processes to RIGHT then to Generate the Job TP After generation, the right hand Job and TP programs are created as a mirror image of the left side using group mask exchange. The resul...

  • Page 195

    Working with Robot Controllers 187 figure). The Job editor provides the capability to create Jobs uniquely for each arm, or to create Jobs for on arm from the opposite arms process definitions. Using the PaintPRO Job Property Page The Job editor provides fields to create PaintTool jobs from ...

  • Page 196

    Working with Robot Controllers 188 motions as the left on the opposite side of the part. Step 1: Assign processes on the Left Processes tabs. Step 2: On the General tab, select Generate Job TP from LEFT Assignments for the LEFT Job TP. Step 3: On the General tab, select Group Mask Exchange L...

  • Page 197

    Working with Robot Controllers 189 • Right Processes Tab: provides fields to build a job for left processes. Using the PaintPRO Job Property Page General Tab The Job general property page tab provides fields to define Job names, and job generation parameters. It is recommended that you und...

  • Page 198

    Working with Robot Controllers 190 convention, you must modify the names appropriately. • LEFT Job TP frame: o Left TP Name: defines the name of the Job TP to create. Note: PaintPRO creates new Job TP Names using PaintTool conventions. If your controls system requires a different naming con...

  • Page 199

    Working with Robot Controllers 191 o Auto Name enabled: when checked PaintPRO creates the name automatically. When unchecked you may enter a desired Job name. o Generate Job TP from RIGHT Assignments selection: when chosen, and the job is generated, PaintPRO auto generates the Job TP program ...

  • Page 200

    Working with Robot Controllers 192 o Build a job program for the right or left robot o Procedure to create opposite arm jobs and processes from a defined job o Create unique jobs and processes for each arm Non P-500 Workcell Job editor: The job editor for non P-500 workcells has less fie...

  • Page 201

    Working with Robot Controllers 193 the property page. NOTE: if generate all assigned paint zone TPs before the job TP is not enabled process programs may not be available on the robot controller unless they were generated at some other time. Using the PaintPRO Job Property Page Processes Tabs...

  • Page 202

    Working with Robot Controllers 194  Show MR: Macro program type on the robot controller. o Arrow move controls: are used to move processes between Available and Assigned processes list boxes. Controls work as follows:  : moves the selected process on the left to the right  : moves ...

  • Page 203

    Working with Robot Controllers 195 Build a job program for the right or left robot The following procedure describes how to use the Left and Right Processes Tabs of the Job Property page for P-500 workcells, and the Processes Tab for single arm PaintTool configurations. This procedure assumes ...

  • Page 204

    Working with Robot Controllers 196 • Left to Right, Right to Left selector radio buttons: defines the source arm for the selected controller. • Source Job TP List box: When selected the Source Job TP list box shows available source Job TP programs for the selected source arm. Destinatio...

  • Page 205

    Working with Robot Controllers 197 Job programs. 4. Select the destination controller. 5. Define the home macro name. This name is used to generate the call to home macro on the destination controller. 6. Press Do Exchange to build the opposite arm job program. Procedure to build a job pro...

  • Page 206

    Working with Robot Controllers 198 zones of the right arm to the left side because the robot should run the same program motions as the right on the opposite side of the part. Step 1: Assign processes on the Right Processes tabs. Step 2: On the General tab, select Generate Job TP from Right A...

  • Page 207

    Working with Robot Controllers 199 Generate all assigned paint zone TPs before the job TP is enabled. o generates the process TPs for the right side processes by using group mask exchange o generates the Job program for the Left side. o Generates the Job program for the Right side based upon...

  • Page 208

    Working with Robot Controllers 200 mask exchange o generates the Job program for the right side. o Generates the Job program for the left side based upon the right side. Create unique jobs and processes for each arm This procedure is used to handle the following case: CASE 1: Dual arm / ...

  • Page 209

    Working with Robot Controllers 201 12. In the RIGHT Job TP frame, select Generate Job TP from RIGHT assignments. 13. Select Generate Jobs from their assigned zones 14. Press the Generate button NOTE: if generate all assigned paint zone TPs before the job TP is not enabled, process programs m...

  • Page 210

    Working with Robot Controllers 202 • : available only with iPendant. When pressed the iPendant is shown in compressed mode. Note that the top line of the Pendant is not shown. Alarms will show on the bottom of the Roboguide screen. Opening the Virtual TP To open the virtual robot TP from t...

  • Page 211

    Working with Robot Controllers 203 o X, Y, Z, W, P, R: defines the values for the relative move. o Move To: initiates the move. o Move Back: initiates a move back to the position of the robot before the current relative move. o Clear: clears the relative values NOTE: Teach Tool Sphere Radi...

  • Page 212

    Working with Robot Controllers 204 load for the defined temperature. The ideal operating conditions are when the duty values displayed for all joint axes are less than 100%. Duty Value Greater than 100% A duty value greater than 100% means that the load on the servomotor is above the recommend...

  • Page 213

    Working with Robot Controllers 205 duty estimation dialog. Fields on the Duty Cycle Estimation dialog include: • Program Analyzed: Displays the program for which data has been collected and analyzed. • Status: Displays the current status of the analysis. • Plot New Data: Plots / Re-Pl...

  • Page 214

    Working with Robot Controllers 206 Procedure to perform a duty cycle estimation Duty Cycle information can be provided using the Duty Cycle estimation PRO Plug-In. NOTE: in multi robot workcells, duty cycle estimation is provided on the selected robot when the duty estimation dialog is opened...

  • Page 215

    Roboguide’s Virtual Robot 207 8 Roboguide's Virtual Robot Roboguide's Virtual Robot Roboguide contains the FANUC Robotics North America virtual robot, which is the actual robot controller software running on a PC. Included within Roboguide are several controller features that you can utiliz...

  • Page 216

    Roboguide’s Virtual Robot 208 control the use of the virtual TP. • : When pressed the TP keypad is hidden. • : When pressed the PC keyboard keys are mapped onto the teach pendant keys. The mapping can be determined by dragging the mouse pointer over the desired key. A popup mapping box ...

  • Page 217

    Roboguide’s Virtual Robot 209 Opening the Robot Alarm Window To open the Robot Alarms window from the toolbar 1. Press the Robot Alarms icon ()on the toolbar. To open the Robot Alarms window from the main menu 1. Select the Robot Alarms window under the Robot category on the main menu Us...

  • Page 218

    Roboguide’s Virtual Robot 210 o Clear: clears the relative values NOTE: Teach Tool Sphere Radius: In V6.40 Roboguide and higher the teach tool sphere radius is controlled on the robot property page. Using the Virtual Settings Tab of the Virtual TP The virtual settings tab have settings fo...

  • Page 219

    Roboguide’s Virtual Robot 211 Procedure to connect a iPendant device to Roboguide Configuring your PC and iPendant for use with RoboGuide The following instructions assume that you are running Windows 2000 and Windows XP. All the screens are taken from Windows XP Professional. The instruc...

  • Page 220

    Roboguide’s Virtual Robot 212 9. Select the MODEM tab and then set the "Maximum Port Speed " to 115200 and Click OK. 10. Click OK on the Phone and Modem Panel to Exit. Setting up the Network Connection on your PC 1. In the Control Panel Select "Network Connections" 2....

  • Page 221

    Roboguide’s Virtual Robot 213 13. Select the "General" Tab and at the bottom, check the "Show icons on taskbar when connected" box. 14. Select the "Users" Tab and at the bottom, check the "Always allow directly connected devices…" then click OK. Yo...

  • Page 222

    Roboguide’s Virtual Robot 214 16. To test your setup o Make sure your PC (Laptop) is running on AC Power o Attach the iPendant and interface cable to the COM port that you selected in Step 6 o Turn the interface power supply on, you should see a new icon appear in your system tray that wi...

  • Page 223

    Roboguide’s Virtual Robot 215 The Virtual Teach Pendant should look like the following: If it does then go to step 7 If the virtual Teach Pendant looks like the following Then Click the Small/Large Button in the upper right corner of the Virtual Teach Pendant to change it to the Large (iPe...

  • Page 224

    Roboguide’s Virtual Robot 216 seconds after the icon disappears and try to connect again. If this does not work you will need to restart RoboGuide. • If you always want to use the real teach pendant with Roboguide, see the About Roboguide Options Page section of the help.

  • Page 225

    Using UFRAMES 217 9 Using UFRAMES About Frames A frame is a set of three planes at right angles to each other. The point where all three planes intersect is the origin of the frame. This set of planes is called a Cartesian coordinate system . In the robot system, the intersecting edges of the...

  • Page 226

    Using UFRAMES 218 you must define in order to use remote TCP jogging and the remote TCP motion option. You define this frame using the location of the remote TCP as the origin of the frame. Why use UFRAMEs with workcells It is common in real world workcells to not use UFRAMEs and to teach all...

  • Page 227

    Using UFRAMES 219 you define the part frame in the Part Offset fields on the object’s property page Parts Tab of the object that will hold the part. • Tool Frame: this is the UTOOL value for end of arm tooling. The Tool frame defines the end of arm tooling Tool Center Point relative to the...

  • Page 228

    Using UFRAMES 220 • If the UFRAME is associated with a workcell object, programs taught with this frame do not move when the robot is given a new location in the workcell. This is desirable if positions taught interact with the fixture and associated part. An example is when a pick and/or pl...

  • Page 229

    Using UFRAMES 221 Using UFRAMEs to move programs when the robot location is moved The ability to reposition an entire program when moving the robot is accomplished by teaching positions relative to the robots world frame (UFRAME0) To have a program move when you move the location of the robot...

  • Page 230

    Using UFRAMES 222 Using the UFRAME property page The UFRAME property page is used to define controller UFRAME information. When you modify a UFRAME on the property page it is automatically updated on the virtual robot. Available on the UFRAME property page are the following fields: • Name: ...

  • Page 231

    Using UFRAMES 223 Opening a UFRAME's property page A UFRAME’s property page is found in the Robot Controllers / Robot1 / GP.1 / UserFrames category on the cell browser. The property page is opened as others are. Modify a robot UFRAME You can modify a robot UFRAME from SimPRO’s UserFrame...

  • Page 232

    Using UFRAMES 224 Edit the UFRAME data. If UFRAME is not showing on the screen, select choice and select user frames from the list. Assigning a UFRAME to a workcell object To assign a UFRAME to a workcell object 1. Select the UFRAME you want to assign to a workcell object 2. If the UFRAME...

  • Page 233

    Working with Fixtures 225 10 Working with Fixtures Working with Fixtures Roboguide uses fixtures as workcell objects that can be used for the following: • 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 h...

  • Page 234

    Working with Fixtures 226 To add an object using the main menu 1. From the main menu select Cell. And then select the type of object to add. 2. Select from the popup menu (if applicable) the source of the object from which it should be added. Roboguide supports a CAD Library, importing of IG...

  • Page 235

    Working with Fixtures 227 Working with the Fixture property page The fixture property page is used to define properties of fixtures in the workcell. • Fixture General Tab: is used to define basic fixtures properties such as name, location, color • Fixture Calibration Tab: is used to cal...

  • Page 236

    Working with Fixtures 228 • Scale: defines the scale parameters for CAD type objects. • Show robot collisions: when checked this fixture is checked for collisions with robots in the workcell. • Lock All Location Values: when checked, locks all of the location values for the fixture. U...

  • Page 237

    Working with Fixtures 229 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 pa...

  • Page 238

    Working with Fixtures 230 delay time entered. Fields include: • Parts frame: shows the parts available in the workcell. Simulation 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 th...

  • Page 239

    Working with Fixtures 231 5. Enter a value of 0 for the Destroy delay time 6. Press Apply 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 pr...

  • Page 240

    Working with Fixtures 232 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 s...

  • Page 241

    Working with Fixtures 233 4. Select the desired part in the Parts frame. 5. Visibility for a part is controlled by two settings: o Visible at Teach Time: when enabled the part will show during teach o Visible at Run Time: when enabled the initial state of the part in the fixture is on. When...

  • Page 242

    Working with Fixtures 234 4. There are multiple ways to define the part location value: o Direct Entry: enter the part location values into the , Y, Z, W, P, R Part Offset fields and press Apply. o Move with the mouse: Check the Edit Part Offset check box, and move the part triad to the desi...

  • Page 243

    Working with Fixtures 235 • Color: allows you to change the color of primitive objects. • Wire Frame: when enabled the object is shown as wireframe • Transparency slider bar: controls the transparency of the object. • Location: defines the location of the fixture relative to the 3D ...

  • Page 244

    Working with Fixtures 236 the robot will find the units PalletTool uses a standard teach plate to define the origin. PalletPRO can automatically determine the proper station origin since it has knowledge of the workcell and where objects are located. You must select which side of the conveyor ...

  • Page 245

    Working with Fixtures 237 o Part Request DO: requests a part from the conveyor About defining and teaching stations When you set up PalletTool/ PalletPRO you must teach/ define the stations for your application. A station is the area where the robot picks up or places units. When you teac...

  • Page 246

    Working with Fixtures 238 interfere with the application. Station Origin The station origin is the corner of the station closest to where you teach P1 using the fixture plate. PalletPRO automatically determines location based upon how properties are set. For infeed stations, the station or...

  • Page 247

    Working with Fixtures 239 Defining the origin of the infeed To define the origin / orientation of the infeed. 1. Select the desired infeed 2. Select the Infeed tab On the tab, you see the Teach Aid frame of selections. You may specify if you want the origin (where you pick boxes) to be on ...

  • Page 248

    Working with Fixtures 240 boxes to stack up on the conveyor. This may or may not be desirable. Increasing this value can make the visualization appear as more of a "flow" of units on the conveyor. Too high a number and you may "starve" the infeed at the pickup point. For pro...

  • Page 249

    Working with Fixtures 241 Controlling the number of units that can be queued on an infeed To control the number of units that can backup on the infeed 1. Open the Infeed property page 1. Select the Infeed tab 2. Enter the desired number of parts in the Maximum Parts field 3. Select OK or ...

  • Page 250

    Working with Fixtures 242 • Color: allows you to change the color of primitive objects. • Wire Frame: when enabled the object is shown as wireframe • Transparency slider bar: controls the transparency of the object. • Location: defines the location of the fixture relative to the 3D ...

  • Page 251

    Working with Fixtures 243 When you select an orientation a flat box with an arrow appears on the pallet (). The arrow lies along the build direction of the pallet station (or the arrow of the fixture plate). The build direction is the direction in which PalletTool will build the unit load. It ...

  • Page 252

    Working with Fixtures 244 Working with the Pallet Fixture Pallet Positions Property Page The Pallet Fixture pallet positions property page is used to teach special positions specific to a pallet. Positions include: • Slip Sheet Position: the slip sheet position is the initial drop location ...

  • Page 253

    Working with Fixtures 245 Teach the Pallet Slip Sheet Position Since PalletPRO has knowledge of the pallet, it automatically initializes the pallet position to the center of the pallet station at the surface of the pallet station. You may modify the position with the following procedure. To t...

  • Page 254

    Working with Fixtures 246 Reducing cycle time when the pallet retreat position is lower than the infeed clear position PalletTool / PalletPRO supports a clear enable path. This can be used when the pallet retreat position is lower than the infeed clear position. Using this path, you can direct...

  • Page 255

    Working with Fixtures 247 10.1.3 PalletPRO Slip Sheet Dispenser Fixture Property Tabs Using the Slip Sheet Dispenser Fixture property tabs A slip sheet or tier sheet is a sheet of heavy paper or cardboard that is placed between the layers of a unit load. Slip sheets provide added load stabili...

  • Page 256

    Working with Fixtures 248 image. • Color: allows you to change the color of primitive objects. • Wire Frame: when enabled the object is shown as wireframe • Transparency slider bar: controls the transparency of the object. • Location: defines the location of the fixture relative to ...

  • Page 257

    Working with Fixtures 249 10.1.4 PalletPRO Pallet Dispenser Fixture Property Tabs Working with Pallet Dispensers Simulation of Pallet Picking PalletPRO 6.31 Rev E supports the simulation of picking a pallet from a pallet dispenser and placing it at the pallet station with a vacuum gripper, ba...

  • Page 258

    Working with Fixtures 250 If you are running Depalletizing, the robot will pick slip sheets and boxes and place them on the slip sheet stand and the infeed conveyor respectively. Finally, it will pick up the pallet and place it in the dispenser. Notes & Limitations 1. Pallet picking is a...

  • Page 259

    Working with Fixtures 251 Using the Pallet Dispenser Fixture Property Tabs Simulation of Pallet Picking PalletPRO 6.31 Rev E supports the simulation of picking a pallet from a pallet dispenser and placing it at the pallet station with a vacuum gripper, bag gripper or fork gripper. Conversely, ...

  • Page 260

    Working with Obstacles 252 11 Working with Obstacles 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, &quo...

  • Page 261

    Working with Obstacles 253 1. From the main menu select Cell. And then select the type of object to add. 2. Select from the popup menu (if applicable) the source of the object from which it should be added. Roboguide supports a CAD Library, importing of IGES files, and primitive objects. 3. ...

  • Page 262

    Working with Obstacles 254 Working with the Obstacle property page The obstacle property page has fields used to define obstacles in the workcell robot. Multiple tabs are used on the obstacle property page. • General Tab: is used to define basic obstacle properties such as name, location, c...

  • Page 263

    Working with Obstacles 255 • Lock All Location Values: when checked locks all of the location values for the obstacle. 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...

  • Page 264

    Working with Obstacles 256 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 s...

  • Page 265

    Working with Parts 257 12 Working with Parts 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 tool...

  • Page 266

    Working with Parts 258 Deleting a workcell object To delete an object using the cell browser 1. Right click on the desired object from the cell browser. 2. Select Delete <object name> from the menu. The object is deleted from the workcell. To delete an object using the keyboard 1. ...

  • Page 267

    Working with Parts 259 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...

  • Page 268

    Working with Parts 260 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 offse...

  • Page 269

    Working with Parts 261 2. Select the Parts tab 3. Select the desired part from the Parts frame. The enable check box next to the part name must be enabled to make the part available with the fixture. 4. Select the fixture that you want to move the robot to from the Object selection combo bo...

  • Page 270

    Working with Parts 262 5. Select the desired part in the Parts frame by left clicking on the name. The enable check box next to the part name must be enabled to make the part available with the fixture. 6. Enable the Edit Part Offset field. 7. Select the robot EOAT from the Object selection ...

  • Page 271

    Working with Parts 263 Make a part visible or invisible in a fixture It is possible to control the visibility of a part at teach time and the initial visibility of a part when running a program. To make a part visible or invisible in a fixture 1. Select the desired fixture that has the part ...

  • Page 272

    Working with Parts 264 Define the part location in a fixture To define the part location in a fixture 1. Select the desired fixture that has the part associated 2. Open the property page for the fixture 3. Select the Parts Tab 4. Select the desired part from the Parts frame 5. Check th...

  • Page 273

    Working with Parts 265 5. There are multiple ways to define the part location value: o Direct Entry: enter the part location values into the , Y, Z, W, P, R Part-in-Tool Offset fields and press Apply. o Move with the mouse: Check the Edit Part Offset check box, and move the part triad to the...

  • Page 274

    Teaching a Program 266 13 Teaching a Program Teaching a program Roboguide provides the capability to create robot programs. As you edit in PRO Software, you record and adjust robot program lines. Key features that Roboguide provides include: • Reach validation: when you record a robot po...

  • Page 275

    Teaching a Program 267 With this TP you can create .TP programs directly from the TP just like you create programs on a physical robot and TP. The limitations of using this to create programs are that there is no direct support for animating the pick and place of objects onto and off the end of...

  • Page 276

    Teaching a Program 268 program that you want to run 4. Insert the Call to the Close Program you defined in step 1 when you want to attach a graphic to the end of arm. 5. Insert the Call to the Open Program you defined in step 1 when you want to detach a graphic from the end of arm. Creating...

  • Page 277

    Teaching a Program 269 4. Select Pick from the Instruction pull down menu item 5. Enter the fixture/ part that you want to detach from the drop down list in the instruction 6. Select Wait 0.5 from the instruction pull down menu item. 7. Save the workcell. When the save is executed Roboguid...

  • Page 278

    Teaching a Program 270 controller based type you lose the ability to modify the UFRAME and UTOOL used for the program. Roboguide does this because there is no way of ensuring that the setting is correct. TP programs can use multiple UTOOL’s and UFRAME’s. To use multiple UFRAME’s and UTOOL...

  • Page 279

    Teaching a Program 271 To Add a TP Program from the main menu From the main menu, select Teach / Add TP Program To Add a TP Program from the Virtual TP The following is a summary from the robot setup and operations manual. For additional detail see your robot documentation. 1. Open the Virt...

  • Page 280

    Teaching a Program 272 a. Review the settings on the screen.  If you like the settings that are displayed on the screen and want to skip setting program header information and begin editing the program. press F1, END, and skip to Defining Default Motion Instructions in this procedure. 5. ...

  • Page 281

    Teaching a Program 273 To Select a TP Program from the Virtual TP The select method is the same as the robot TP. For detailed information see the setup and operations manual for the robot. 1. Press SELECT. 2. Press F1, [TYPE]. Select from the following list (NOTE: the list might vary depend...

  • Page 282

    Teaching a Program 274 The program will be opened in the appropriate editor. Removing Programs To delete a program 1. Select the program to delete under the Robot Controllers / Robot/ Programs category from the cell browser by left clicking on the program name 2. Press the keyboard delet...

  • Page 283

    Teaching a Program 275 Simulation: simulation programs are ones that Roboguide uses to animate workcells. Use a simulation type if you want to attach objects to the end of arm and move them in your workcell. When the type is Simulation you can specify what UFRAME and UTOOL to use. None: is the...

  • Page 284

    Teaching a Program 276 single program. If you disable all groups, you cannot add motion instructions to your program. You can enable available groups by enabling the check box for the group. • Options: Ignore pause: If the program type has been set to NONE, you can use ignore pause to spec...

  • Page 285

    Teaching a Program 277 Using the TP Program Selected Motion Line Property page An individual TP position can be modified. • The Motion line can be modified • The position data can be modified directly or by using position "bumpbox" functionality. Fields included on the Proper...

  • Page 286

    Teaching a Program 278 Specify the TP Program UTOOL Simulation programs allow you to specify what UTOOL to use for the program. Roboguide inserts UFRAME and UTOOL setting TP statements into the animation program. When using standard TP programs on the virtual robot you cannot modify the UTOOL...

  • Page 287

    Teaching a Program 279 used when setting UFRAME_NUM = in your TP program. You can set this by pressing Shift and Coord on the virtual TP. Changing a simulation program to a TP Program on the virtual robot You can convert a simulation program created with the Roboguide simple editor to a .TP ...

  • Page 288

    Teaching a Program 280 13.3 Jogging the robot while teaching 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 Vir...

  • Page 289

    Teaching a Program 281 6. The robot will move to the position if possible. For rotation 1. Select the teach tool 2. Put the mouse cursor over the coordinate of the teach tool that you want the robot to move about.. The cursor will change to a hand. 3. Press and hold down the shift key....

  • Page 290

    Teaching a Program 282 2. Put the mouse cursor over the coordinate of the teach tool that you want to move the robot. The cursor will change to a hand. 3. Click the left mouse button and drag the coordinate system triad. 4. Release the mouse button where you want the robot to move to. 5. Th...

  • Page 291

    Teaching a Program 283 Notes: If the robot cannot physically move to the selected position it will not. The sphere at the center of the coordinate triad will turn to red. The motion type used when the teach ball is dragged to move the robot can be set to linear or joint motion. See About the t...

  • Page 292

    Teaching a Program 284 Changing TP editor record defaults To change the TP Editor record defaults – for simulation editor 1. Open the main menu Tools / Options / Teach page 2. Edit the 4 Record Templates listed on the Tab 3. These defaults now show up on the Record Dropdown of the Program...

  • Page 293

    Teaching a Program 285 Moving to a point on a surface It is very easy to move to a point on a surface. Each End of Arm Tool can be setup to make moving to a surface simple. To move to a position that is normal on a surface 1. Position the mouse cursor at the point on the object that you want ...

  • Page 294

    Teaching a Program 286 position. All of these move functions are available from the Move Quickbar menu Roboguide provides a move to retry function that is applied when Roboguide is in MoveTo retry mode. When the mode is enabled, Roboguide will re-calculate the position orientation that it i...

  • Page 295

    Teaching a Program 287 Automatic MoveTo of robot to part in a fixture Roboguide provides the ability to quickly move the robot to pick and place locations in fixtures. This capability requires that the part offsets have been defined for the desired EOAT and the desired fixture. This capabili...

  • Page 296

    Teaching a Program 288 Modifying TP Program Statement Elements To modify TP Program Statement Elements 1. Select the desired TP Line by left clicking on the line in the Program Teach Window 2. Associated with each instruction field is a drop down box. Select the desired line element by click...

  • Page 297

    Teaching a Program 289 Move to points To move to a position recorded in a TP Program 1. Select the desired TP Line in the Program Teach editor by left clicking on the line. 2. Press MoveTo on the Program Teach menu 3. If possible, the robot moves to the position recorded with the TP Line. ...

  • Page 298

    Teaching a Program 290 Adding Wait statements To add a Wait statement to your program 1. Select Wait (desired time) from the Inst menu item in the Program Teach Window 2. A Wait instruction is added to the program. If desired, edit the field within the Wait instruction to change the time. ...

  • Page 299

    Teaching a Program 291 13.5 Multiple Node Edit About multiple node edit Multiple node edit provides functions to graphically edit multiple TP program positions. The interface shows the TP program and selections to modify single and multiple line position data of a program. Using the Node E...

  • Page 300

    Teaching a Program 292 Node selection Procedure to use the Program grid to select nodes 1. Left mouse click on a TP line in the Program grid to start the selection. 2. While holding the CTRL key, select additional TP lines by left mouse clicking on the TP line in the Program grid. While hold...

  • Page 301

    Teaching a Program 293 • Remote TCP nodes are drawn in reference to the remote TPC frame in which they are taught. • TP positions are drawn with connecting lines between TP Program lines in the program. o The color of joint, linear, and circular are designated with unique colors • The...

  • Page 302

    Teaching a Program 294 Changing viewing options for TP Program Nodemap Viewing Nodemaps and the EOAT’s associated with positions in a program can be controlled. Different line information can be enabled and disabled for display as part of a nodemap. The EOAT can be shown at all TP positions...

  • Page 303

    Teaching a Program 295 To run the validation tool on a job or process 1. Right mouse click on the job or process in the cell browser. Selection Validate from the popup menu After selection the selected job or process is analyzed. Process programs that are defined in a Job are analyzed. When...

  • Page 304

    Teaching a Program 296 13.8 Teaching using UFRAMEs About Frames A frame is a set of three planes at right angles to each other. The point where all three planes intersect is the origin of the frame. This set of planes is called a Cartesian coordinate system . In the robot system, the inters...

  • Page 305

    Teaching a Program 297 you must define in order to use remote TCP jogging and the remote TCP motion option. You define this frame using the location of the remote TCP as the origin of the frame. Teaching using UFRAMEs UFRAME’s provide a very useful way to localize taught points relative ...

  • Page 306

    Teaching a Program 298 Changing taught positions from World (no UFRAME) reference to a UFRAME reference Roboguide programs, by default, use robot World coordinate system (UFRAME0) to record positions. If no UFRAME is assigned to a program, positions are recorded relative to the robot world coo...

  • Page 307

    Teaching a Program 299 2. Select the desired UFrame from the drop down list field UFrame used To Specify the UFRAME used with your TP Program in the virtual TP Editor 1. Use the UFRAME_NUM =, and UTOOL_NUM = statements in your TP program 2. Ensure that the UFRAME being used while teaching i...

  • Page 308

    Teaching a Program 300 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 rob...

  • Page 309

    Teaching a Program 301 13.10 Coordinating multiple robot workcells Control issues with multiple robot workcells Multiple robot workcells require may require coordination between robots in the workcell. In workcells where robots must work in the same workspace, communication between robots ...

  • Page 310

    Teaching a Program 302 coordinated. If many signals must be coordinated, the TP Condition method may have less overhead. The example workcell has 2 robots. Robot 1 picks a part from a fixture and places the part on a work fixture. Robot 2 picks the part from the work fixture and places the par...

  • Page 311

    Teaching a Program 303 16:L P[6] 1000mm/sec CNT100 ; 17: DO[2]=ON ; 18: JMP LBL[1] ; To coordinate the robot 2 to robot 1 clear to enter signal, the Main2 TP program does a RUN HNDSHAK1. On Robot 1, MAIN2 starts a task (RUN HNDSHAK1) to control the handshake signal that tells robot 2 that rob...

  • Page 312

    Teaching a Program 304 17: CALL PLACE ; 18:L P[7] 1000mm/sec CNT100 ; 19: JMP LBL[1] ; To coordinate robot 2 to robot 1 clear to enter signal, the Main2 TP program does a RUN HNDSHAK1. Robot 2 uses DO[1] to signal to robot 1 that it is ok for robot 1 to enter the work fixture and place the p...

  • Page 313

    Teaching a Program 305 13:L P[5] 300mm/sec FINE ; 14: CALL DROP ; 15:L P[6] 1000mm/sec CNT100 ; 16: DO[2]=ON ; 17: JMP LBL[1] ; Two condition handler programs (CHDROP.TP and CHR2PCK.TP) are defined to handle handshakes. Each TP has a subtype of condition. The RUN HNDSHAKE instruction starts a...

  • Page 314

    Teaching a Program 306 15:L P[6] 300mm/sec FINE ; 16: CALL PLACE ; 17:L P[7] 1000mm/sec CNT100 ; 18: JMP LBL[1] ; Two condition handler programs (CHR1DROP.TP and CHPICK.TP) are defined to handle handshakes. Each TP has a subtype of condition. The RUN HNDSHAKE instruction starts and additional...

  • Page 315

    Teaching a Program 307 13.11 Workcell level positions - Targets About Targets Targets are workcell level positions. A target position provides a level of indirection for robot positions. .TP positions are directly owned by a robot within the program that it is taught in. Targets can be assi...

  • Page 316

    Teaching a Program 308 • Targets can be reused on different robots in the workcell. This allows for a common position (such as pickup) to be reused for different robots. • Programs cannot be generated from targets until they have been assigned to a Target Group. Target representation in ...

  • Page 317

    Teaching a Program 309 when an object moves, you will want to attach the target to the object. • Will the targets be attached with a robot? If you want the target to move when a robot is moved in the workcell, you will want to attach the target to the desired robot. • Will groups of targe...

  • Page 318

    Teaching a Program 310 To create a target at the center of an arc, the SHIFT and Alt key must be depressed to show a crosshair at the center of the arc. When the left mouse button is clicked a target is generated at the center of the arc. • At robot TCP: when depressed a target is generated...

  • Page 319

    Teaching a Program 311 3. When the left mouse button is pressed and released, a Target is generated at the location of the mouse cursor. For more detail on the location of the generated Air Target see the Additional background information on Target creation further on in this topic. To create...

  • Page 320

    Teaching a Program 312 implementation. It is only presented to attempt to explain the target creation technique): The following figure shows the creation of a target relative to a selected target. The light purple plane shown in the figure attempts to show the imaginary plane used to define t...

  • Page 321

    Teaching a Program 313 Import point data to targets Targets can be created from .CSV format. To import CSV data into targets: 1. Right mouse click in the cell browser on the object in the workcell that you want the point data to be relative to. If you want the target to be workcell relative ...

  • Page 322

    Teaching a Program 314 14. 3,300.3,500.6 This is a sample csv file of 3 targets with x, y, z, w, p and r values: 1. 1,100.1,200.1,0,90,180 15. 2,200.2,400.2,0,90,90 16. 3,300.3,500.6,-90,0,0 Creating Target Groups Target groups are collections of Targets that are grouped to create robot...

  • Page 323

    Teaching a Program 315 Using the Target Property Page The target property page has fields that define the properties of a target. Fields include: • Name: the name of the target. • Visible: when enabled, the target is visible. When disabled, the target is not visible. • Attached: defi...

  • Page 324

    Teaching a Program 316 Edit a target group Targets in a target group can be modified using the Target Group Edit Dialog. The Target Group Edit dialog has fields to edit single targets or multiple targets. General information on Edit Target Group dialog: • Open the dialog by right mouse cli...

  • Page 325

    Teaching a Program 317 o Option: the optional Motion information o Approach: Yes/No: defines if approach point should be added o Retreat: Yes/No: defines if retreat point should be added The grid works as a target selector. Individual lines or multiple lines can be selected. Multiple lines ...

  • Page 326

    Teaching a Program 318 • Motion frame: o Preview: when pressed the robot moves to each target in the group. The robot is not actually moved to the position. Only the joint angles are checked and shown for reachability. When complete the robot will return to the position it was in before Pre...

  • Page 327

    Teaching a Program 319 Target Edit Tab: Motion Line Data frame: fields in this frame are adjusted to control target position (location and orientation), teach pendant motion line, and approach/ retreat motion enable disable and location information. When a field is changed in the frame all se...

  • Page 328

    Teaching a Program 320 created with the displayed motion line information. Pressing the button expands the interface so that motion and position information can be modified. Position information entered defines a retreat position relative to the target for which the retreat is being generated....

  • Page 329

    Teaching a Program 321  Set orientation to normal of closest surface: when selected Roboguide searches to find the closest object to the target and sets the target’s orientation to the normal of the surface found.  Set the orientation same as Tx (where x is the first target selected i...

  • Page 330

    Teaching a Program 322 23. As targets are generated they are added to the selected Target Group. To add Targets to a Target Group after they have been created: Targets have been created, and you want to add them to a Target Group. 1. Open the Target Edit Dialog for the desired Target Group. ...

  • Page 331

    Teaching a Program 323 13.12 Automatic Path Generation About program generation Robot programs can be generated from defined features in PRO software. Features and parts Features are owned by the parts they are created on. Since parts can be used in multiple fixtures, a feature can be used ...

  • Page 332

    Teaching a Program 324 Once a feature is defined you can break the feature into segments that make up the feature. Each segment can then have a unique path taught for it. This allows multiple process changes to easily be handled when creating programs from features. As you define features, th...

  • Page 333

    Teaching a Program 325 PRO generates the number of positions based upon several factors including: • The specified speed: PRO optimizes the spacing between created positions by placing positions at a distance based upon the motion system capability at the specified speed. • Linearity betw...

  • Page 334

    Teaching a Program 326 generated. • Tooling axis alignment to the feature and its segments: For example, it may be desirable to have the tooling +Y vector follow along the feature. • Orientation tracking along a feature and its segments. In some cases, it is desirable to have a tool vecto...

  • Page 335

    Teaching a Program 327 Feature Definition Features are 3 dimensional lines in PRO’s CHUIWorld. Robot programs can be generated from PRO’s features automatically 13.12.1 Creating robot paths from CAD Features What features are available in PRO Software The following features are supporte...

  • Page 336

    Teaching a Program 328 Setting up a UTOOL for path generation Default program generation parameters are defined by end of arm tooling. The robot supports multiple tool values and information. Program generation defaults can be defined for every tool available on the robot. Each tool that will ...

  • Page 337

    Teaching a Program 329 Using the Feature Property Pages The feature property pages are used to define program properties that are used when generating programs. Properties on the general tab are common to all segment programs generated. Some properties can be overridden on individual segment p...

  • Page 338

    Teaching a Program 330 name based upon the part, and the fixture the part is on. The name may be changed. TP Generation Targets • Parts: the desired fixture that is holding the part. Since parts can be assigned to multiple fixtures a desired fixture must be selected. • Controller: lists ...

  • Page 339

    Teaching a Program 331 Using the feature Prog Settings property page tab The Program Settings tab is used to define: • Feature and segment motion settings • Feature and segment call programs Fields include: • Segment/ Feature Motion Settings o Feature First Point MoType: defines the...

  • Page 340

    Teaching a Program 332 • Segment CALL Program a program can be called at the beginning and end of a segment. This is useful for cell and process control capability. When set at the feature level all segments in the feature get the CALL defined. When set at the segment level, only the selecte...

  • Page 341

    Teaching a Program 333 • Tool Frame Axis < = > Feature Axis Assignments: Defines how PRO will generate the orientations along the feature. This definition can be defined as defaults for end of arm tooling on the CAD to Path tab for the end of arm tooling. Settings here override the def...

  • Page 342

    Teaching a Program 334 points along the feature. Setting the value to Strict means that PRO must find close to exact linearity between generated points to determine that they lie on a line. The Straight Line Detection setting is defined as the threshold angle used by PRO to determine if two lin...

  • Page 343

    Teaching a Program 335 Offsets and translations can be made. The text associated with each field is dependent upon which PRO plugin is active. Regardless of which plugin is used the effects are the same depending on which position coordinate triad parameter is used (X for WeldPRO is the same as...

  • Page 344

    Teaching a Program 336 o (RZ): defines a Z rotation offset when generating a program. NOTE: for process plugins the PRO Plugin determines what process modification is done based upon how the Tool Frame Axis < = > Feature Axis Assignments is defined on the Pos Defaults property page. Fo...

  • Page 345

    Teaching a Program 337 • Add retreat point: when enabled the automatic path generation software inserts a retreat point. • Motype: the desired motion to TO the retreat point. • Speed: the speed for the move to the approach point • Term Type: the termination type for the move to the ...

  • Page 346

    Teaching a Program 338 The following figure shows the resulting program when an Orientation offset of 45 degrees is applied on the Pos Offsets tab. Note that the orientation change is constant at each generated position. The following figure shows the resulting program when a Start normal offs...

  • Page 347

    Teaching a Program 339 Setting 3: Program generated with settings: Pos Defaults: Fixed tool spin for the entire path, Pos Offsets: no offsets, Raw Normal: 45 degree Start Normal to surface office and 135 degree End Normal to surface offset. NOTE: There is no difference in the outputs between...

  • Page 348

    Teaching a Program 340 the start and end normal are blended. • Blend with respect to only the start and end point normals. Each intermediate normal is ignored. Blending is applied from start to end of the feature or selected segment. Hiding and Showing feature Raw Normals Raw normals ar...

  • Page 349

    Teaching a Program 341 Using the Segment Property Pages The segment property pages are used to define segment properties that are used when generating programs. By controlling motion and process properties on the segment property pages, features can be controlled at a very detailed level. In g...

  • Page 350

    Teaching a Program 342 2. Select the part to find and create a feature on. The Draw selection popup will highlight the Surface entities buttons that can be used to generate 3D features. 3. Select Edge line from the Draw selection popup. After the Edge line entity button is selected, and the m...

  • Page 351

    Teaching a Program 343 Note: when using the surface fit line and curve tools, if it is desired to have the feature follow the contour of the part across a surface boundary you must click close to the boundary when you cross a boundary. The is required because it is not possible to know how to c...

  • Page 352

    Teaching a Program 344 Segment properties can now be set for this segment in the segment property pages. The feature shows the new segment in the cell browser. A program can be generated from the feature. Creating a robot program from a feature Features and the segments that define the feat...

  • Page 353

    Teaching a Program 345 1. Select the feature or segment and ensure that its property page is open. 2. Select the Pos Offsets TabUsing_the_feature_Pos_Offsets_Property_Page_tab 3. Set the fields as desired 4. Press Ok or Apply to regenerate the program. To generate a program so that a to...

  • Page 354

    Teaching a Program 346 When the program is generated the tool orientation is set such that the Along the Segment selection in the Tool Frame Axis to be aligned with the feature / segment 3D line. Controlling line tolerance during program generation Roboguide minimizes the number of points t...

  • Page 355

    Teaching a Program 347 Move Line Detection setting is defined as the threshold angle used by the code to determine if an arc should be executed as a single circular move or many short linear moves. The picture below shows how the angle is used where the dots represent positions. To control ci...

  • Page 356

    Teaching a Program 348 Working with the path generation to create runable programs Automatic path generation does not necessarily create robot programs with reachable positions. Robot positions are generated mathematically from 3D lines in space. Roboguide generates the positions correctly, an...

  • Page 357

    Teaching a Program 349 o Show the teach tool in tool coordinates o Look at how the tool axes line up with the feature and with the program points that were automatically generated. o Modify the generate along feature field on the Pos defaults tab to match what the "jogged to" robot...

  • Page 358

    Teaching a Program 350 13.12.1.2 Creating Remote TCP Programs Remote TCP Automatic Path Generation CAD to Path program generation can be used to generate Remote TCP programs. The purpose of this topic is to give information and techniques relevant to using CAD to Path programming with Remote T...

  • Page 359

    Teaching a Program 351 start of the feature. 2. Display the RTCP frame. 3. Select what axis of the RTCP aligns with the feature normals and the direction of travel along the feature. 4. Define Pos Offsets: If there is not exact alignment of the RTCP frame axis for the desired orientation of ...

  • Page 360

    Teaching a Program 352 For the example shown, the (–X) of the Remote TCP frame most closely aligns with the feature line for the Along the segment setting. The –Z of the Remote TCP frame most closely aligns with the normal line of the feature. Note: it is very common for the Normal to Surfa...

  • Page 361

    Teaching a Program 353 Creating a program at a Remote TCP Path generation can be used with a remote TCP reference. The remote TCP option must be available on the Virtual Robot controller. The option can be selected when creating the workcell using the options list in the Create Workcell Wizar...

  • Page 362

    Teaching a Program 354 • Multiple group system • Coordinated pair is defined and calibrated between 2 groups that will have a program generated. The feature coordinated motion property page tab is used to determine key generation parameters including: • Leader group and what axis of t...

  • Page 363

    Teaching a Program 355 o Swing: o Range: o Option Using the Coordinated Motion tab to achieve desired results may be an iterative process. There are many solutions to generating a program that coordinates multiple motion devices because there are multiple solutions. Roboguide attempts to pr...

  • Page 364

    Teaching a Program 356 13.12.1.3.1 Single arm robot and positioners applications Creating programs for single arm robot and positioner applications This topic addresses using the CAD to Path feature coordinated motion property page tab to define generation parameters for a robot and a basic po...

  • Page 365

    Teaching a Program 357 o Step amount: defines how much the leader should move when forward or backward is pressed. o Forward/ Backward search buttons: when pressed the select joint number is incremented by the step amount. The robot then attempts to move to the Start position. When the robot ...

  • Page 366

    Teaching a Program 358 approximately as desired for the starting orientation when the program is executed. By manually moving the robot TCP to and approximate orientation for start position, determine which tool axis should be "Along" the segment axis. 5. View the EOAT triad teach b...

  • Page 367

    Teaching a Program 359 13.12.1.3.2 Dual arm controller with a positioner applications Creating programs for dual arm controller with a positioner applications This topic addresses using the CAD to Path feature coordinated motion property page tab to define generation parameters for a dual arm ...

  • Page 368

    Teaching a Program 360 Group). A procedure will better exhibit the process later in this topic. Fields included on the coordinated motion property page include: • Coordinated motion generation parameters frame: o Leader group selection combo box: defines the leader group for coordinated mo...

  • Page 369

    Teaching a Program 361 and follower groups. This recorded position is useful to quickly get the leader and follower groups to a previously searched start position. The position is also checked when a program is generated. If the leader and follower groups are not at this recorded position a pr...

  • Page 370

    Teaching a Program 362 To create a coordinated motion program for dual arms using CAD to Path features: 1. Create the CAD to Path featuresWhat_features_are_available_in_PRO_Software for each arm. Example shows a feature on each side of a box. 2. Define generation parameters for each feature ...

  • Page 371

    Teaching a Program 363 To orient the CAD to Path feature start point relative to the 3D world Z direction, the positioner group is rotated so that the normal at the start of the feature is oriented in 3D +Z world direction. 5. Move the robot close the start point using surface mouse click. O...

  • Page 372

    Teaching a Program 364 note that Roboguide uses the settings on the Pos Defaults and Pos offsets during its search. 12. The Select Children listbox shows a list of features defined. Multiple features are defined on the part with each unique feature having a different follower group (robot) as...

  • Page 373

    Teaching a Program 365 the follower robot groups. • Part: It is necessary to attach a target part to the leader robot end of arm tooling. • A feature has been generated on the part. The appropriate groups are selected on the General tab of the Feature property page. Group mask is set, and...

  • Page 374

    Teaching a Program 366 o Next (>>): The target part and the leader robot are rotated by the specified Step The tool tip of the follower robot moves to the starting position of the feature with specified tool orientation, and rotates around Z-axis of the follower robot’s TCP in the minu...

  • Page 375

    Teaching a Program 367 listbox is moved to the Children Listbox. o Remove (<): when pressed the selected feature in the Children Listbox is removed from the Children Listbox. • Option button: o Compensation: use to change:  the follower robot tool rotation at approach and retreat p...

  • Page 376

    Teaching a Program 368 o Option: includes general generation options:  Single Circular Command checkbox: when enabled circular command ‘C’ will be changed to single circular command ‘A’ . This function can be used on V6.33 virtual robot.  Write TCP: For vision shift, active lea...

  • Page 377

    Teaching a Program 369 12. If the robot moves to appropriate position, click ‘Apply’ button. 13. If Preview is checked, Message box ‘May the robot be moved?’ will be displayed. Then Select Yes. If select No, the robots will move back to current position. 14. Message box ‘Record th...

  • Page 378

    Teaching a Program 370 Program Start Position frame This function searches for a program start position. The EOAT of the Robot selected on the General property is aligned with the normal of the feature at the start of the feature. Tool axis alignment definition on the Pos Defaults Tab and the...

  • Page 379

    Teaching a Program 371 4. Restart the virtual robot by selecting main menu item Robot/ Restart Controller / Cold Start. The calibration data becomes effective Define Feature 1. Open the Draw selection popup menu by pressing the Draw Features on Parts toolbar icon () or select Draw Features...

  • Page 380

    Teaching a Program 372 6. Select the Prog Settings tab on Feature property page and input operation speed in the Segment speeds field. 7. Select the Pos Defaults Tab. 8. Setup the fields as follows: o Tool Frame Axis <=> Feature Axis Assignment: Normal to Face is +Z. Along the feature...

  • Page 381

    Teaching a Program 373 middle position between robots. ) 3. Search an initial position by clicking ">>"(Next) or "<<"(Back)button. (The initial orientation of the TCP will be searched by spinning group 1 robot’s TCP.) When an initial position that can rea...

  • Page 382

    Teaching a Program 374 5. Input 5 and 10 to "Retreat" of "Work Angle Revision" and "Travel Angle Revision", respectively. 6. Click "Apply" button. (Select "No" in the message box of the confirmation.) 7. Confirm that starting posture is revi...

  • Page 383

    Teaching a Program 375 generation of the program or the stroke limit is generated, it uses it. 1. Open "Coordinated Motion" tab on the feature property window. to click "Range" button for showing "Range" settings 2. Select "Shift Rotation" from "S...

  • Page 384

    Teaching a Program 376 Program" button. The TP program is generated. The program can be validated by stepping the TP program from the TP editor. Rotation function of Arc tool The program is generated for rotating the arc tool by specified rotation angle. When interference and the stro...

  • Page 385

    Teaching a Program 377 Writing center position to TCP Circular arc center coordinates are calculated from specified feature, and it writes it in the actual tool frame of handling robot. 1. Open "Coordinated Motion" tab on the feature property window, and Click "Option" b...

  • Page 386

    Conveyor Tracking with Roboguide 378 14 Conveyor Tracking with Roboguide About Conveyor Tracking with PRO Software Conveyor tracking includes: • Line Tracking: where the robot is stationary • Rail Tracking: where the robot is on a rail The setup for the two tracking types is differ...

  • Page 387

    Conveyor Tracking with Roboguide 379 After selection the object should appear relative to the conveyor object. The property page for the new link is shown. 4. On the general tab select the desired robot and robot tracking frame that will be used. 5. Press the Select 3D Frame button on the Ge...

  • Page 388

    Conveyor Tracking with Roboguide 380 4. Cold start the controller The encoder is now defined. The encoder will be simulated from TP Programs. It is also possible to now set the simulate feature to ON at the same encoder setup screen. The conveyor toolbar should now function. Enable the virt...

  • Page 389

    Conveyor Tracking with Roboguide 381 • Frame Location: defines the visualized tracking frame for the conveyor. The conveyor will follow this frame’s X direction when driven by the simulated conveyor on the virtual robot. By definition, the tracking frame must have the +X direction of the f...

  • Page 390

    Conveyor Tracking with Roboguide 382 Using the tracking schedule general tab The tracking schedule general property page has fields to define tracking type and other general tracking parameters. Settings on this tab can set parameters on the virtual robot that can also be defined on the virtua...

  • Page 391

    Conveyor Tracking with Roboguide 383 axis is the same direction as the conveyor and NEG if the +X direction of the robot extended axis is opposite of the conveyor. o Extended axis: defines which robot extended axis tracks the conveyor. PaintPRO modifies selections on this tab for the painting...

  • Page 392

    Conveyor Tracking with Roboguide 384 For Cartesian (6 axis) tracking systems: the field defines which UFRAME should be used for the tracking frame data. A value of Default means that he default nominal tracking frame data is used. NOTE: the data needs to define the direction of the conveyor al...

  • Page 393

    Conveyor Tracking with Roboguide 385 This should be understood when setting the boundaries for a tracking schedule. Fields on the boundaries tab include: • Active Boundary: o Boundary set listbox: defines the boundary set of the selected schedule to be defined. o Upstream: defines the ups...

  • Page 394

    Conveyor Tracking with Roboguide 386 Create a program that synchronizes conveyor movement in a workcell Roboguide uses controller events to enable the simulation of the conveyor. When Roboguide detects a Line Set trigger command, the object attached to the conveyor is set at the body detect di...

  • Page 395

    Conveyor Tracking with Roboguide 387 When this program is run the conveyor speed goes to zero. Creating a TP Program that uses tracking Creating a TP program within the PRO software environment that uses tracking works exactly as you would on an actual robot. The steps are: • TP Program ...

  • Page 396

    Conveyor Tracking with Roboguide 388 The teach pendant editor is now opened where positions can be taught. 9. If you want to control the conveyor from your TPP program add tracking instructions for line enable, line simulation, line count and set trigger. LINE[1] ON LINESIM[1] ON R[2] – wher...

  • Page 397

    Conveyor Tracking with Roboguide 389 • Detect: initiates a body detect. The part defined for the conveyor is placed the body detect distance from the nominal frame. • Speed: speed of the line in mm/sec • 1X, 2X, 4X: changes the speed of the conveyor. Opening the conveyor toolbar If ...

  • Page 398

    Conveyor Tracking with Roboguide 390 Cartesian circular tracking consists of a circular conveyor or rotary table which moves parts past a robot. The robot can be located either inside or outside the circle of the conveyor. The robot can also be mounted above or below the conveyor, or on a rail...

  • Page 399

    Conveyor Tracking with Roboguide 391 New Workcell icon on the toolbar. 2. Follow the steps for the workcell creation wizard until the Robot Options step. 3. Select the Line Tracking Option 4. Finish the wizard When the virtual robot is finished serializing the Line Tracking Option is availa...

  • Page 400

    Conveyor Tracking with Roboguide 392 5. Configure the robot tracking schedule information. The workcell should now be available for line tracking robot programs. 6. Create a program that tracks. This includes simulating the conveyor, triggering the body detect, and running a tracking motion...

  • Page 401

    Conveyor Tracking with Roboguide 393 non zero DIN is not used, the teach menu that tells you to setup the tracking schedule will be shown when you select a program. 3. On the Frame property page define the Nominal tracking frame. The nominal track frame defines the frame that is used for line ...

  • Page 402

    Conveyor Tracking with Roboguide 394 o Track Axis Direction: Positive – used for rail tracking o Tracking Encoder Num: must be the same as defined in the encoder setup o Enc Scale Factor: defines the number of counts of the encoder for every mm movement of the conveyor. This can be manual...

  • Page 403

    Conveyor Tracking with Roboguide 395 14.1.1 Line Tracking with PaintPRO and PaintTool Line Tracking with PaintPRO and PaintTool PaintPRO and PaintTool utilize line tracking extensively, and utilize many advanced capabilities of the line tracking system. This topic discusses specific functions...

  • Page 404

    Conveyor Tracking with Roboguide 396 If the conveyor were to stop after beginning motion from the gun on position the robot would stop waiting for the Gun off position to come into the window. PaintPRO and PaintTool have the ability to define a conditional off node. By marking the Gun off posit...

  • Page 405

    Conveyor Tracking with Roboguide 397 14.2 Rail Tracking with Roboguide Rail Tracking with PRO Software In single axis tracking, the position of the robot’s extended axis (an integrated or non-integrated base axis) is adjusted to track the motion of a linear conveyor. The conveyor motion di...

  • Page 406

    Conveyor Tracking with Roboguide 398 General procedure for setting up a rail tracking workcell The following general procedure outlines the steps to create a rail tracking workcell. This includes encoder setup, tracking setup, adding conveyors to the workcell, TP programs to simulate the conv...

  • Page 407

    Conveyor Tracking with Roboguide 399 Configure the robot rail tracking schedule information The tracking schedule information defines the rail tracking parameters that will be used for a running program. Tracking schedules are defined on the virtual teach pendant on the Tracking Setup pages. ...

  • Page 408

    Conveyor Tracking with Roboguide 400 3. On the Frame property page ensure that the nominal frame value is all zeros. 4. On the boundaries tab define the boundaries. defines the upstream and downstream line tracking boundary that the robot should move within. The robot will not move to a point...

  • Page 409

    Conveyor Tracking with Roboguide 401 o Tracking Encoder Num: must be the same as defined in the encoder setup o Enc Scale Factor: defines the number of counts of the encoder for every mm movement of the conveyor. This can be manually entered and should be obtained from the real world system ...

  • Page 410

    Conveyor Tracking with Roboguide 402 14.2.1 Rail Tracking with PaintPRO and PaintTool Rail Tracking with PaintPRO and PaintTool PaintPRO supports rail tracking with PaintTool. To rail track with PaintPRO, the robot must be configured for rail tracking and built as an auxiliary axis machine. A...

  • Page 411

    Conveyor Tracking with Roboguide 403 To configure PaintPRO for rail configuration 1. After configuring PaintTool, you can setup the tracking system. 2. Open the desired tracking schedule from the cell browser 3. In the type field, select Rail and press apply. Note: the other parameters on t...

  • Page 412

    Calibrating your workcell 404 15 Calibrating your workcell About workcell calibration Roboguide provides procedures to calibrate your Roboguide workcell with the physical hardware within the actual workcell. If you want to transfer robot programs into and out of the Roboguide environment, i...

  • Page 413

    Calibrating your workcell 405 Calibration and using programs with frames When calibrating a workcell, Roboguide simulation software moves objects in your workcell based upon the difference between the object in the real workcell and the object in Roboguide simulation software workcell. If you ...

  • Page 414

    Calibrating your workcell 406 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...

  • Page 415

    Calibrating your workcell 407 and copy it back to the same directory, overwriting the original. • 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 phys...

  • Page 416

    Calibrating your workcell 408 Step 3 does the shift of the object to match the real world. To calibrate a part within a fixture 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...

  • Page 417

    Calibrating your workcell 409 Procedure to have program points move when calibrating a workcell The following procedure can be used for the following situations: • If you want program positions to move when you calibrate an object you need to attach the object you are calibrating to a robot...

  • Page 418

    PalletPRO-Working with Unit Loads 410 16 PalletPRO-Working with Unit Loads 16.1 Unit Load Background information About PalletPRO/PalletTool Unit loads A unit load consists of all the units that are stacked in layers on a pallet. You must set up the unit load before you can run PalletPRO /...

  • Page 419

    PalletPRO-Working with Unit Loads 411 • Enter complete layer spacing information during Unit Load Setup, for each unit load that uses slip sheets • Position the slip sheet magazine (container holding slip sheets) properly in the workcell. • Record the position registers used by the s...

  • Page 420

    PalletPRO-Working with Unit Loads 412 • Flip on Length and Width: flips the pattern on both the length and width of the pallet. • Rotate 90 degrees: rotates the pattern 90 degrees around the origin of the pallet. • Not Flipped: the pattern is in the original orientation Graphic views...

  • Page 421

    PalletPRO-Working with Unit Loads 413 16.2 PalletPRO Unit Load Property Pages Working with PalletPRO Unitload Definition Property Pages The unit load definition property pages provide fields to completely define / customize unit loads for PalletPRO and PalletTool. There are numerous fields t...

  • Page 422

    PalletPRO-Working with Unit Loads 414 Load description field. o Part Number: is the part number of the unit load. This number is used to define the program that PalletPRO/ PalletTool will run during production. PalletPRO enters defaults for this value when a new unit load is created. o Custom...

  • Page 423

    PalletPRO-Working with Unit Loads 415 In the event that parameters are changed such that the selected pattern no longer has a valid solution, the words "No Solution Available" will show in the view. o Enter Dimensions Tab  Units field: select mm or inches  Unit Dimensions ...

  • Page 424

    PalletPRO-Working with Unit Loads 416 on the pallet. Once you enter these values, they should not be exceeded. However, actual patterns can be smaller than the specified maximum dimensions. NOTE: o Select Pattern Tab  Patterns • Show Solutions for Pattern: allows you to display the s...

  • Page 425

    PalletPRO-Working with Unit Loads 417 • Solution grid: shows the detail for the solutions that PalletPRO found for the selected pattern. Units per layer, Units per Unit Load, and pallet efficiency are shown. Pallet efficiency is the total area of the boxes in the pattern divided by the total...

  • Page 426

    PalletPRO-Working with Unit Loads 418 Defining a unique pattern You can define a unique pattern. A unique pattern is one where you define the unit offsets for a layer. A unique pattern type is selected on the Select Pattern Tab, after the unit definitions are made on the Unit Load Parameters p...

  • Page 427

    PalletPRO-Working with Unit Loads 419 Using the Unit Load Palletizing Parameters Property Page The Palletizing Parameters Property Page defines the process taken to palletize the units defined in the Unit Load Parameters property pages. This includes number of layers, flipped layers, slip shee...

  • Page 428

    PalletPRO-Working with Unit Loads 420 o Current Pattern Graphic: shows the current selected pattern. As you change the layer in the Pallet Layer configuration graphic the current pattern graphic changes to reflect the normal and flipped patterns. Note: when running production the unit at the t...

  • Page 429

    PalletPRO-Working with Unit Loads 421 box exists, pressing the space bar will toggle through the selections.  Layer Cycles Frame • Layer / Cycle detail process definition grid: The Configure Cycles / Layer Cycles grid allows you to change the original pick and place sequence for the l...

  • Page 430

    PalletPRO-Working with Unit Loads 422 o Row ; - Changes the grouping to ";" for the selected row o Col & - Changes the grouping to & for the selected column o Col ; - Changes the grouping to ; for the selected column. • Insert Cycle Button: used to add cycles at the end ...

  • Page 431

    PalletPRO-Working with Unit Loads 423 o Pallet Approach Width: used to optimize the placement path for an individual box along the width of the pallet. + the robot will use the original approach width set in optimal path. • the robot will use the negative of the approach width set in optim...

  • Page 432

    PalletPRO-Working with Unit Loads 424 Using the Layer Cycle detail process definition grid The grid allows you to change pick and place sequences. This screen is used mainly for customizing the original palletizing sequence that the PalletTool software automatically determines. This is sometim...

  • Page 433

    PalletPRO-Working with Unit Loads 425 Infeed Unit Orientation, Facing Conveyors • XX Drop: the number of drop columns depends on the gripper type selected in the Process Parameters Frame. The number in each field defines what unit number will be picked in the selected cycle. Numbers co...

  • Page 434

    PalletPRO-Working with Unit Loads 426 • The cycles are repeated for the remaining unts. Example 2: Use of Infeed Orientation with simultaneous placement (&) Configuration: Double case gripper. Interlock Pattern: , Table: What does the grid say: • This is configuration for Normal...

  • Page 435

    PalletPRO-Working with Unit Loads 427 placed simultaneously. • Cycle 3has a unit orientation of Width on Length, and has a single pick and place with unit 4. • Cycle 4 has a unit orientation of Length on Length. Units 5 and 6 are picked and placed simultaneously. • Cycles 5 and 6 have ...

  • Page 436

    PalletPRO-Working with Unit Loads 428 Using the Palletizing Parameters Property Page Optimal Path Tab A path is the route the robot takes to go from one place to another. An optimal path is the best path the robot can take to perform the application. Optimal path data adjusts the path of the r...

  • Page 437

    PalletPRO-Working with Unit Loads 429 • Fine tune the pick-and-place paths that the robot takes during each palletizing cycle • Indicate offsets from the pallet origin and the unit load origin on the pallet (unit load seating) Customizing the Palletizing Sequence You can customize the ...

  • Page 438

    PalletPRO-Working with Unit Loads 430 Breaking the layer barrier For increased throughput and reduced cycle time, the Configure Cycles / Layer Cycles grid allows you to change the original pick and place sequence for the layer selected and allows you to break the layer barrier. Breaking the la...

  • Page 439

    PalletPRO-Working with Unit Loads 431 To add a slip sheet to a unit load Slip sheets can be added between layers in a unit load. You do this by working with the Pallet Layer configuration graphic The graphic is interactive. It can be modified by clicking on a desired layer, pressing the right ...

  • Page 440

    PalletPRO-Working with Unit Loads 432 Only valid flip types are enabled options when selecting different patterns. To define flip type for a selected pattern in a unit load 1. Open the desired unit load The Unit Load Setup Property page is opened. 2. Select the Unit Load Parameters Property...

  • Page 441

    PalletPRO-Working with Unit Loads 433 To change the image shown on box sides You may change the image ("skin") shown on the outside faces of units. You do this on the Unit Load Palletizing Parameters property page. 1. Open the desired unit load The Unit Load Setup Property page is ...

  • Page 442

    PalletPRO-Working with Unit Loads 434 2. Select the Unit Load Parameters Property page button 3. On the Select Pattern tab there is a field for selecting Unit Load Seating. Select the your desired seating type and enter the appropriate length and width values where appropriate.. 4. Press OK ...

  • Page 443

    Running a Program 435 17 Running a Program Running a program Roboguide /PRO products have several features for running a program: • Program control panel toolbar buttons • Program control run panel window: The run panel windows has the control panel buttons and run options. • Prog...

  • Page 444

    Running a Program 436 Program options include: Note: all options are not available to all PRO plug-ins. • Refresh Rate: is the number of screen updates the 3D CHUIWorld performs per second. This setting effects performance. As the number is increased the robot moves smoother, but slows down ...

  • Page 445

    Running a Program 437 • Simulation time on AVI: when checked a time is displayed on the AVI. • Abort on fault: when selected the simulation is aborted when a fault occurs. Controlling a program from the toolbar The toolbar buttons on the Roboguide simulation software toolbar allow you ...

  • Page 446

    Running a Program 438 • Abort the program (): aborts the program • Reset the robot (): sends a reset to the virtual robot controller To control a program from the run panel 1. If not selected, select the desired program to run from the cell browser 2. Open the run panel window 3. ...

  • Page 447

    Running a Program 439 Viewing taught paths while running As program lines are created, a nodemap is created which shows each position connected with lines in the 3D CHUIWorld. To view the theoretical taught paths (nodemap) while running 1. Open the Run Panel window 2. Enable the Taught Path...

  • Page 448

    Running a Program 440 run, but refreshes the latest display. 17.1 About PalletPRO Simulation Using the Simulation Cycle Start Page The Simulation Cycle Start Page presents fields to define how you want your simulation to run. You define what unit load to run on which infeed and which pallet...

  • Page 449

    Running a Program 441 There is also a check box to not show the Cycle Start Page again. If you do this, when you press Run from the run panel, PalletPRO will execute the last configuration you entered. You can uncheck this option by opening the Simulation Cycle Start Page from the Main Menu &g...

  • Page 450

    Running a Program 442 • Robot Run Time: The time the robot has run for this simulation. To define a partial layer production run The number of layers and units can be defined for an initial condition when running a palletizing simulation. To define a partial layer production run 1. Run ...

  • Page 451

    Example 443 18 Example After you install and run the environment we create a new project. To this end, the menu "File" select the "New Cell". At the beginning we have to configure the basic parameters of our project. In this activity helps us to 8-point "Workcel...

  • Page 452

    Example 444 and select "Add Fixture -> CAD Library" - Figure 2. In this way, we call a library of ready-made with the supplied software ROBOGUIDE. With this library you choose either a table or tray, which satisfy the assumptions of our project. If the finished items, we can not...

  • Page 453

    Example 445 Figure 3. Adding Parts of''type''and the properties of elements. Each item, which is located in our project has its own characteristics. The window with the characteristics we call double-clicking on the item under the "Cell browser. Also, we added the "box" ha...

  • Page 454

    Example 446 Air in the closed position - Figure 6. Finally, the eye-catcher in the simulation to work properly, you should have two teams in the form of two files with extensions CSB, or IGS. One for the open position and the other for the closed position. And so our eye-catcher from the ope...

  • Page 455

    Example 447 Figure 6. Configuration clutch - Part 3. In this way, we prepared a virtual environment to write the program. To start the editor, click the right mouse button under the "Cell Browser" to "Robot Controllers -> Robot Controller1 -> GP :1-R2000iA / 165F ->...

  • Page 456

    Example 448 When you are finished writing the whole simulation run by clicking on the toolbar, the "Cycle Start" - Figure 7. If we wrote a good program, and all points in space can be achieved by the robot, you press "Cycle Start" will see the simulation, which was the ...

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