roboguide training manual [frde][z kae trn roboguide 1 01 en]

Z-KAE-TRN-Roboguide-1/01 1

AccompanyingTraining Manual

Roboguide V6.40 Rev.B

Name:


© Copyright FANUC Robotics Deutschland GmbH

Do not copy this document or parts of this document and give it to a third partywithout the express written permission of FANUC.Other than the described functions may run on the controller. However, you do nothave any rights to claim these functions at delivery.We have checked the contents of this document for correspondence with thedescribed hardware and software.However, we do not ensure full correspondence. We do, however,regularly check the contents of this document and make necessary corrections in thesucceeding editions.Design and specifications that do not affect the functioning are subject to changewithout notice.

Author: Werner Schollenberger


Preface

Training your staff is the key to your success

A profound training of your staff is the key to your success. Training your staff meansto give them the necessary information to be able to control the system andunderstand the applied technology. General knowledge as well as detailedknowledge about the system is as important as the practical knowledge of the appliedprogramming.This is the aim of our training concept.Our training is a successful mix of well explained theory and practical applications. Toguarantee a successful training, we use detailed training documents, state-of-the-arttraining methods and means in our training center in Neuhausen.More than two thirds of the course are reserved for training on the machine. Yourstaff collects practical knowledge of the robot and the appropriate applicationprograms.

A qualified training means for you:

Maximum utilization ... of the system and optimum cycle times throughprofessional programming.Long service life ... and insignificant wear because of qualifiedmaintenance.Minimum downtime ... because of fast fault removal and program correctionsas well as repair measures according to good professional practive.Less operator errors ... because of extensive knowledge.Optimum robot integration ... in the work cell because of profoundknowledge of the interfaces.Motivated staff ... understanding what you do brings fun!Desired Flexibility ... understanding the robot and system functionsallows fast and flexible adaptions to your specialneeds. We offer you a diverse training and course program for your staff fromnovice to expert, according to the training level, and treating the diverseapplication programs. These courses allow you make full use of your FANUCrobot. In addition to our standard courses, we offer individual training courseson demand.In these courses, we can treat special uses, systems, and functions.Furthermore, we offer on-site courses on agreement.


ContentsContents ......................................................................................................... 4

System requirements..................................................................................... 8

Installation ...................................................................................................... 8

Registration .................................................................................................... 9Registration Step 1 .....................................................................................................................9

Registration .................................................................................................. 10Registration Step 2 ...................................................................................................................10

License transfer ........................................................................................... 11General ....................................................................................................................................11Procedure.................................................................................................................................11

License transfer ........................................................................................... 12Procedure.................................................................................................................................12

Directory structure....................................................................................... 12

Directory structure....................................................................................... 13

Generate a new cell...................................................................................... 14Generate a new cell..................................................................................................................15Generate a new cell..................................................................................................................16Generate a new cell..................................................................................................................17Generate a new cell..................................................................................................................18

Mouse commands........................................................................................ 19

Functions of the triad .................................................................................. 20

Add a tool...................................................................................................... 21Add a tool (Option 1).................................................................................................................22Add a tool (Option 1).................................................................................................................23Add a tool (Option 1).................................................................................................................24Add a tool (Option 1).................................................................................................................25Add a tool (Option 2).................................................................................................................26Add a tool (Option 2).................................................................................................................27

Create a tool.........................................................................................................................27

Indicate TCP (Tool Center Point) ................................................................ 28

Add a positioner (fixture)............................................................................. 29General ....................................................................................................................................29

Add a positioner (fixture)............................................................................. 30Insert ........................................................................................................................................30

Add obstacles............................................................................................... 31General ....................................................................................................................................31

Add obstacles............................................................................................... 32Add a fence ..............................................................................................................................32

View of the created work cell ...................................................................... 33

Insert and remove the yellow position lines.............................................. 34

Change the background color .................................................................... 35


Explanation of icons.................................................................................... 36


Explanation of icons.................................................................................... 38The Run Panel .........................................................................................................................38


Check the reachability with a mouse click (Option 1)............................... 40

Check the reachability with a mouse click (Option 2)............................... 41

Check the reachability (Option 3) ............................................................... 42

Set a user frame ........................................................................................... 43

The teach pendant ....................................................................................... 44

Create programs on the teach pendant ..................................................... 45

Create programs in the cell browser .......................................................... 46Create a simulator program ......................................................................................................46

Start programs ............................................................................................. 47Start programs from the teach pendant .....................................................................................47

Start programs ............................................................................................. 48Start programs from the Run Panel...........................................................................................48Record AVI...............................................................................................................................48

Measuring tool.............................................................................................. 49

Measuring tool.............................................................................................. 50Record dimensions ...................................................................................................................50Specifiy measuring points .........................................................................................................50

Measuring tool.............................................................................................. 51Define and change the distance between two components .......................................................51

Measuring tool.............................................................................................. 52Define dimensioning lines .........................................................................................................52

Add parts ...................................................................................................... 53Add a part.................................................................................................................................53

Add parts ..................................................................................................... 54Shift parts .................................................................................................................................54Change part properties .............................................................................................................54

Add parts ...................................................................................................... 55Link a part with a positioner ......................................................................................................55

Add parts ...................................................................................................... 561. Prepare a part for a pick-and-place simulation.......................................................................56




Parts .............................................................................................................. 601. Prepare a program for a pick-and-place simulation................................................................60


Parts .............................................................................................................. 612. Prepare a program for a pick-and-place simulation................................................................61

Parts .............................................................................................................. 623. Prepare a program for a pick-and-drop simulation ............................................................62

Parts .............................................................................................................. 634. Create a pick program (simulator program).......................................................................63

Parts .............................................................................................................. 645. Create a pick program (simulator program).......................................................................64

Parts .............................................................................................................. 656. Create a drop program (simulator program) ......................................................................65

Parts .............................................................................................................. 667. Create a drop program (simulator program) ......................................................................66

Parts .............................................................................................................. 678. Complete a simulator program..........................................................................................67

Parts .............................................................................................................. 689. Other options to create a simulator program .....................................................................68

Machines....................................................................................................... 69General ....................................................................................................................................69

Machines....................................................................................................... 701. Create a machine (actuated via DO) .....................................................................................70



Machines....................................................................................................... 731. Create a machine (actuated via servo) .............................................................................73







Replace the robot in an existing work cell................................................. 80

Add a second robot ..................................................................................... 81

Generate a path (Automatic program generation) .................................... 82General ....................................................................................................................................82

Generate a path (Automatic program generation) .................................... 83Procedure for path generation related to an edge......................................................................83



Change the approach and return position .............................................................................84


1. Other setting options (feature) ..........................................................................................85


2. Other setting options (feature) ..........................................................................................86


3. Other setting options (feature) ......................................................................................87

Generate a path (Automatic program generation) .................................... 88Segmentation ...........................................................................................................................88

Target points ................................................................................................ 89Define target points as points in space......................................................................................89

Target points ................................................................................................ 901. Define a target group ............................................................................................................90



Target points ................................................................................................ 93Define target points on a surface and assign a positioner..........................................................93

General ................................................................................................................................931. Procedure.........................................................................................................................93

Create a dynamic tool.................................................................................. 94General ....................................................................................................................................94Procedure.................................................................................................................................94

New functions as from V.6.40 Rev. C ......................................................... 95Projects ....................................................................................................................................95


System requirements

Windows XP1024 MB RAMPentium 4 > 3.0 GHzNvidia Quadro 4 oder Nvidia Quadro FX

Installation

1. Start License Checker Setup.2. Start SimPro Setup.

During the installation, you can select the language under Custom (1).You can choose between German and Japanese (2). If you select Typical, thesoftware will be installed with German menus (please observe note). If you selectTypical, you have to select the virtual controller you want to use.

If you select German, the menus will be in German language.If you select Japanese, the menus will be in English.

Note:If you select German or Typical, nearly all (but not all) terms and menus are inGerman.

This manual uses the German menus.

After the installation, you can use Roboguide for 30 days.After 30 days, you have to register the software. (see registration)

Please note: You get the registration key after approx. 3 days.

1 2


Registration

Registration Step 1

Open the License Manager.

Generate a screen shot.

Copy the software codes 1 and 2 from RTL-SIMPRO640.

Send the screen shot and the software codes 1 and 2 to the following e-mail address:

[email protected]

Beispiel Darstellung


Registration

Registration Step 2

After receiving registration key 1 and 2, follow this procedure:

Open the License Manager and mark the check box (1).Enter the two keys in the appropriate columns (2).Click on Register (3).

12

3Beispiel Darstellung


License transfer

General

Roboguide has been successfully installed on computer 1.You want to transfer the license to another computer (computer 2).

Procedure

Install Roboguide on computer 2.Connect the storage medium (e.g. USB stick) to computer 2.Open the License Manager on computer 2 and choose the Transfer Licensestab.Select the USB stick using the Browse button.Click on the Prepare button.

The USB stick is ready for a license transfer.

1 2


License transfer

Procedure

Open the License Manager on computer 1 and choose the Transfer Licensestab.Connect the storage medium (e.g. USB stick) to computer 1.Click on the button (1) and follow the instructions (2).

Open the License Manager on computer 2 and choose the Transfer Licensestab.Connect the storage medium (e.g. USB stick) to computer 2.Click on the button (3) and follow the instructions (4).

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2

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Directory structure

Roboguide may be installed under Programme > Fanuc > Pro > SimPro.

All data generated in one cell are recorded underC:\Dokumente und Einstellungen\ IHR Profil \ My Workcells.

You can open the folder directly under Tools .

Imported IGES data are converted by Roboguide and then get the extension .CSB


Generate a new cell

1. Start the software.

2. Generate a new cell.

3. Enter the project name and then click on NEXT.

2


Generate a new cell

4. Select an option under Robot Selection Method .

a) Create a new robot: Generate a completely new robot.b) Create a robot from a file backup: You can create a robot from an

existing data recording (All of above).c) Create an exact copy of an existing robot: A sort of cloning the robot,

not a copy of the complete cell, but only of the robot configuration.

This manual describes the procedure (a).

5. After the selection, click on the Next button.6. Select the application software FANUC Handling Tool and then click on the

Next button.

a

b

c


Generate a new cell

7. Select the robot type and then click on the Next button.

8. Select the robot software (deviations from the display may occur), and thenclick on the Next button.


Generate a new cell

9. You can create new groups with Additional Motion Groups . If you do notwant to use additional groups, click on the Next button.

10.Here, you can select software options. Click on the Next button to open theSummary, an overview of your selection. To complete your selection, click onthe Finish button.


Generate a new cell

Your cell has been generated after diverse messages.


Mouse commands

To display the mouse commands, click on this icon.

The following overview is displayed.

Overview of the functions

Click on the rightmouse button to rotate the

layout.

Turn the mouse wheelto zoom-in/out on the cursor

position

Press the wheel to shift thelayout

Press both buttons to zoom.


Functions of the triad

You can place or shift objects via changing the properties or via the triad.

You can shift (x, y, z) and rotate (w, p, r) objects via the triad.

1. Shifting

Select the desired coordinate axis with the mouse and drag.

2. Rotating

Hold down the shift key and select the desired coordinate axis and rotate.

XX

Z


Add a tool

1. Click on this icon to open the cell browser.

2. Open the path as follows.


Add a tool (Option 1)

Double-click on UT:1 (EOAT1) to open the Properties.(EOAT = End of Arm Tool)

Give a name to your tool (1).Import (2) a tool from the data base (Image Library), open the EOAT folder,select Grippers and then Vacuum01.IGS.

1

2



The path has been read in (1), click on Aktiviere.

The tool was adapted to the robot.

1



Note:For a faultless adaptation of the tool, you have to set the origin and the coordinates ina 3D CAD system.

Tools may only be imported in the IGES format.

Actual condition Desired condition

+Z +Z



You can place the tool at its correct position by entering changes on theproperty screen.

Mark the Sperre alle Koordinatenwerte check box (1).

1



Click on UT:1 with the right mouse button to add a link.You can choose from

o CAD Bibliothek: Import from data baseo CAD File: Import customer data in IGESo Create customized tools with Box, Cylinder, Sphere

The following tool is created below.



Create a tool

1 2

3 4

5


Indicate TCP (Tool Center Point)

Open the Property windowSelect the UTOOL tabCheck the Bearbeite UTOOL boxDrag the triad with the mouseto the desired position orenter the data directly.

Click on Benutze aktuelleTriad Position

Click on the Aktiviere button


Add a positioner (fixture)

General

Positioners recorded in the data base may be

Conveyor belts (Conveyer)FANUC machines (Maschine)Miscellaneous (Misc)Motors (Motors)Pallets (Pallets)Racks (Racks, Shelf)Tables (Table)

Furthermore, a positioner may be imported as IGES or may be created from scratch.A positioner is used for placing parts.


Add a positioner (fixture)

Insert

Example for inserting a conveyor belt from thedata base

Click with the right mouse buttonon Positionierung and select ZufügenPositionierer and then CAD Bibliothek .

Open the Conveyer path and selectConveyer11.iges .

Click on the OK button.

After the conveyor belt has been placed, you canposition it by means of the triad or a direct entryat the target position.

It is recommended to give the positionera new name.

You can copy and paste the positioner and otherobjects with the known Windows commands.Copying is performed in the cell browser.

For this representation, nobitmap file has been created.

However, themodel exists.


Add obstacles

General

An obstacle recorded in the data base may be

a controllera fence

Furthermore, an obstacle may be imported as IGES or may be created from scratch.


Add obstacles

Add a fence

Click with the right mouse buttonon Hindernis and select ZufügenHindernis and then CAD Bibliothek .

Open the FENCE path and selectSreen-Course-Wire.igs .

Click on the OK button.

After the fence has been placed, you canposition it by means of the triad or a direct entryat the target position.

Renaming is recommended.

You can copy and paste the fence, as well as other objects, by using the knownWindows commands.Copying is performed in the cell browser.


View of the created work cell

ObstacleFence

Tool with TCP

PositionerConveyor belt


Insert and remove the yellow position lines

You can insert and remove the position lines (1).

Select the cell properties in the cellbrowser (double-click on icon (2)).Select the Chui Welt tab.

Uncheck the Zeige Positionslinien check box (3).

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3

1


Change the background color

Click on Tool and select Optionen .Select the Farben tab.

You can change the background colorin this window.


Explanation of icons

Use the process navigator for a step-by-step work cell creation.

New cell

Open a cell

Save a cell

Undo

Open the cell browser

*Process Navigator

Help

Display teach tool(TCP)

Move to retry

To reach positionsthat are out of reachby using another axisconfiguration.

Display motioncoordinates

Display speed controller

Select to directlyapproach a

- Face- Edge- Vertex

To set target points,e.g. point in space.



Graphics mode(may be applied

only in connectionwith parts)

Open/close tool

(may be applied only insimulator programs or

with dynamic tools)Display robot

work cell

Use teach pendant

Call alarm screen

Call web server

Start AVI recording Cycle start

Error ResetPause

*OpenRun Panel

See nextpage

Cancel



The Run Panel

In the Run Panel, you can select settings for the AVI recording as well as for theautomatic mode.

Kollisionserkennung: Enables the collision detectionSammle TCP: TCP motion path is displayed (1)Geteachte Bahn sichtbar: The taught path is displayed (2)Fenster ausblenden: You can display or hide the Run Panel windowAnzeige erneuern: Must be enabledKomprimiere AVI: Must be enabledSimulationszeit auf AVI: The AVI time may be displayed in the AVI

*OpenRun Panel

1

2



Zoom Center selectedobject

Change view

Orthogonalviews

Grid representation

Measuring tool

Mouse commands


Check the reachability with a mouse click (Option 1)

Press and hold down the

SHIFT + CTRL keys on your computer keyboard.

Place the cursor and click at a point

(a small line shows the Z direction)

where the robot is to move.

The TCP (green) jumps to this point and

the robot follows.

If the color of the TCP changes to red

this position is not within reach.

Reachable (green TCP) Not reachable (red TCP)


Check the reachability with a mouse click (Option 2)

Open the Quickbar (1) with the according icon (2).

With a mouth click, select a point where therobot is to move.

Face: FaceEdge: EdgeVertex: Vertex (corner point)Arc Ctr.: Center point (can be used only under certain conditions)

Place the cursor and click on a point(a small line shows the Z direction)where the robot is to move.

The TCP (green) jumps to this point andthe robot follows.

If the color of the TCP changes to redthis position is not within reach.

Face Edge Vertex

2

1


Check the reachability (Option 3)

The robot may be moved via the triad and themouse.

Enable the icon.

Drag the triad with the mouseto the desired position.The robot follows the TCP.


Set a user frame

Move the robot TCP to a vertexof the conveyor belt (Figure 1).

Open the path, as shownin Figure 2.

Check the Bearbeite UFrame check box (1).Click on Use Current TCP Location (2).The user frame (3) is displayed and may bepositioned via the triad or by means of direct entry.Click on the Aktiviere button and then on OK .

Figure 11

1

2

3

Figure 2


The teach pendant

You can use all functions of theteach pendant.

Useteach pendant

Bei der Version V6.40 (Rev B) kanndas i-Pendant inVerbindung mit derApplikations-SoftwareFANUC HandlingTool nicht genutztwerden.Wenn Sie mit dem i-Pendant arbeitenwollen, müssen Siedie Applikations-Software HandlingTool (N.A.) benutzen

Display current position or entercurrent position. Use MoveToto approach current position.

Data backup path


Create programs on the teach pendant

On the teach pendant, you can createvirtual reality programs.In addition, the programs are displayed in the cell browser.


Create programs in the cell browser

You can choose between two methods tocreate a program in the cell browser.

1. Simulator Program2. Teach Pendant Program (TP)

(Known procedure)

Create a simulator program

Select Simulationsprogrammzufügen .Give a name to your program (1).Select the Simulation subtype (2).Click on the Aktiviere button and then on OK .The window (3) is still visible.In the Record menu, you canteach positions.In the Inst menu, you can insert Wait/Calland Remark(Pickup and Drop will be explained later.)

Use FWD and BWD to startthe programs.

Convert your simulator program intoa TP program.

Open the properties of theprogram (5).Select the None (TP) subtype.The program is displayed on the select screenon the teach pendant.

5

1

2

3

4


Start programs

You can start programs from the teach pendantor the Run Panel.

Start programs from the teach pendant

(Known procedure)In the Ansicht menu, you can select the followingitems (2).

You can change the positions by means of the triadand the mouse.Click on the triad. If the triad isdisplayed as in Figure 3, you canchange the positions.

This change is immediatelyupdated in the program.

1

2

Figure 3


Start programs

Start programs from the Run Panel

Select the program in thecell browser (no double-click).

Open the Run Panel (1) and enablethe desired settings.

Start the program (2).

If Sammle TCP has been enabled, themovement of the TCP is recorded (3).If you want to remove the connecting lines (4),disable the appropriate function in theAnsicht menu (see Start programs from the

teach pendant).

Record AVIUse the record button to createan AVI file.After the AVI file has been created, the storage pathis displayed.In case of not registered versions (30-day demo)a message appears to report that this version has not beenregistered.Note: If you have enabled the Starte Programmin Schleife function,you have to end the AVI recordingwith the Cancel button.

1

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34


Measuring tool

This example explains how to measure the widthof the conveyor belt.

Open the measuring tool (1).Click on the Von button (2).

This button has been enabled

Place the cursor on thevertex (3).Click on the Nach button (4).Place the cursor on theopposite vertex (5).

or

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3

4

5


Measuring tool

Record dimensions

Use the button (1) to record dimensionsin the cell browser.Thus, you can display these dimensionsat any time.

Specifiy measuring points

Use the button (2) to specify the startingand end point ofthe measurement.

Entity: The selected pointUrsprung: From the origin

If a measurement starts from the robot,you have these additional choices,see Figure 3. Figure 3

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32


Measuring tool

Define and change the distance between two components

Generate a layout with two boxes.Measure from origin to origin.Record the dimensions in the cell browser.

Open the recorded dimensions in the cellbrowser.

Enter a number in the X/Y/Z or D boxto position the objects.


Measuring tool

Define dimensioning lines

Select the Extrusion tab.Click on the mm value of the X measurement and drag the dimensioning linein position.Click on the OK button.Open the window again.An X should now be displayed in the Extrusion window.Select the X and change the position of the dimensioning line in the Erweitern(L) and the Winkel boxes.


Add parts

The following simulations are possible with a part:

1. You can move parts.2. You can draw on parts (path generation, see Path generation ).

Add a part

Open the cell browser.Click on Teile with the right mouse button.Add a part (BOX).The part properties will be displayed (1).

The part has been placed (2).

1

2


Add parts

Shift parts

Click on the base plate of the part (1).Shift the part by means of the triadto a position in the layout, so that itwill not be visible in an AVI recording ora screen shot.Regard this position as a pseudo-storage location.

Change part properties

In the Property window, you can change names,colors, dimensions, and the weight.

1

2


Add parts

Link a part with a positioner

Double-click on the conveyor belt to openthe Properties window.

Select the Teile tab.Check the check box of the desiredpart (1).Click on the Aktiviere button.

The origins of the part and the conveyor beltwill be linked (2).

Check the Bearbeite Teile Offsetcheck box (3).

Position the part by means of the triad ordirect entry (4).

In order to complete the procedure, clickon Ativiere and then on OK (5).

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4

1

5


Add parts

1. Prepare a part for a pick-and-place simulation

By means of a simulator program, you can pickand place parts.The description below explains the necessarysettings step-by-step.

Create a work cell as displayed in the figure below.

In this simulation, the robot is to pick the part (1) from the conveyor belt andplace it on the table.

Positioner 1Conveyor belt

Link part with conveyorbelt and position

Positioner 2Table

Tool mit TCP

1


Add parts


Link the part with the table.Position the part at the target position.


Add parts


Link the part with the tool.Position the part at the target position (where is the part to be positioned at the tool).

Be sure to use the correct link.In case the tool was created by yourself, use the same LINK as shown in Figure 1.


Add parts


This is how your work cell should look like.

When you click on the icon (1), the part at the tool should be removedor inserted.

1


Parts

1. Prepare a program for a pick-and-place simulation

Create a teach pendant program using the positions necessary for such a sequence.The pick-and-place operations will be included later.

Start

AheadBelt

Pick Belt

AheadTable

PlaceTable


Parts

2. Prepare a program for a pick-and-place simulation

Insert blank lines (see figure).These lines will be needed for thepick-and-place operations.


Parts

3. Prepare a program for a pick-and-drop simulation

Before you can complete the programs, you have to make some adjustments to theproperties (tool, conveyor, and table).

Make the following adjustments:

Tool adjustments Table adjustments Conveyor adjustments


Parts

4. Create a pick program (simulator program)

Open the Programme path.Click on the itemSimulationsprogramm zufügen

with the right mouse button.You will see Figure 3.

Name your program (1)Pick and click on the Aktiviere

button and then on OK .

Figure 3 1

Figure 4


Parts

5. Create a pick program (simulator program)

Select Inst > Pickup.You will see Figure 2.

Set the following items.

Close the window and store the program withthe following procedure.

Figure 2


Parts

6. Create a drop program (simulator program)

Open the Programme path.Click on the itemSimulationsprogramm zufügen

with the right mouse button.You will see Figure 3.

Name your program (1)Drop and click on the Aktiviere

button and then on OK .

Figure 3 1

Figure 4


Parts

7. Create a drop program (simulator program)

Select Inst > Drop.You will see Figure 2.

Set the following items.

Close the window and store the program with the following procedure.

Figure 2


Parts

8. Complete a simulator program

To edit your sequence program, use the following procedure.

Start your sequence program in the Run Panel (program must be stored in cellbrowser).


Parts

9. Other options to create a simulator program

You can insert and remove parts by means of the pick-and-drop programs at anytime.In order to do so, you have to create the following simulator programs.

If you create and call this program, the part on the conveyor belt will be positioned.

If you create and call this program, the part on the table will be removed from thelayout.


Machines

General

If you create a machine, you can make componentsmovable.

Examples:The door of a machine is to be opened andclosed.A conveyor belt is to move.A press is to be opened and closed.Etc.

There are two methods to open and close a door:

Using a digital output (DO)Using a servo motor

Movements must comply with the following rule:

Rotational and linear movements have to be executed around or in z directionrespectively.


Machines

1. Create a machine (actuated via DO)

In this example, you have to create a machinein the form of a simplified conveyor belt.The movement is to be actuated via a digitaloutput.

Remove the existing conveyor belt from yoursimulator work cell (properties).Add a box with the followingdimensions (1) and place the boxin front of the robot.Rename the box. The new name should beGrundelement (2).

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2


Machines


Click with the right mouse buttonon Grundelement and select Linkzufügen and then Box .

The box has been placed (1).

Rename the box. New name: Schlitten (2).Click on the button (3) (the motor orientationwill be displayed as a triad).

Orient the triad asdescribed below.

For W set90 or -90.

The triad is repositioned.

Click on the button (4).Select theLink CAD tab.

1

2

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4


Machines


Position the slide (Schlitten) bymeans of the triad or direct entry (2).

Change the color of the slide.

Select the Motion tab.

Make the settingsaccording to figure 3.

Adjust the time value (3).

The number (4) specifies thedistance.

Set the outputs in the TP programin order to make the slide move.

1

Fig. 3

3

4

2


Machines

1. Create a machine (actuated via servo)

The layout is identical with the layout forthe machine actuated via DO.Except for the type of actuationand the configuration of the additional axis.

Create a new robot work cell and make the followingselections:


Machines


Configure the additional axes as shown below:

1 2

3 4

5 6


Machines


7 8

9 10

11 12


Machines


13 14

15 16

17 18


Machines


19 20

The work cell has been created.


Machines


Create the basic element (Grundelement) of the machine

Create the link Schlitten (slide).


Machines


Select (1) and position the slide by means of the triad or by direct entryas shown below.

Select the Motion tab and make the following settings.

To complete the procedure, click on Aktiviere and then on OK .

You can now use the additional axis in your programs.

1


Replace the robot in an existing work cell

Open the robot properties and clickon the button (1).Select the desired robot type inthe wizard.Click on the Aktiviere button.The new robot type is read in.All data, except for the TP programs arerestored.However, you can copy (2) and paste (3)the TP programs.

After the copy-and-paste procedure, you can load theprograms on the teach pendant.The programs do not have to be re-taught.

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3

1


Add a second robot

You can add a second robot to an existinglayout. The number of robots that may be addedis limitless.

Use the wizard to configure the secondrobot.

Teaching is possible for both robots.Make sure on the teach pendant display (2)that the correct robot is activated.If the wrong robot is activated, keep theteach pendant activated and click on thedesired robot.

2


Generate a path (Automatic program generation)

General

Use the graphics function (1) to generate a path (program)automatically.You can use the graphics function only in connectionwith parts.You can choose between the following options:

Edge line (2)Freehand line (3)Surface fit line (projection on surface) (4)Curve (5)

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Procedure for path generation related to an edge

Select the part (single mouse click).Open the graphics icon menu.Click on the edge line symbol (Kantenlinie).Move the mouse cursor along theedge. The distance is displayede.g. 78.1 mm).Use a double-click to complete theselection of the desired section.The window (1) isdisplayed.Name the program (2).Check the settings (3).Click on the button (4).

You have created a program with an approach and a return position.A feature and a segment have been created in the cell browser (5).Segments may be segmented.

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Change the approach and return position

You can modify the approach and return positionwhen opening the Näherung/Rückzug tab (1).

When you do not wish to use an approach or returnposition, you can disable these functions.

After such modifications, you have toregenerate the program. The old version will beoverwritten (3).

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1. Other setting options (feature)

Program settings (1)(self-explaining)

Position standards (2)This setting specifies thetool orientation for the path generation.

TCP

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On the Raw Normals tab (1), you can definethe start and end angle position.In this example, the start angleposition is 30 degrees and the angle position atthe end of the path is -30 degrees.

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On the Pos Offsets tab (1), you can specify thefollowing settings.

2. Translation relative to the standardposition

3. Translation relative to the segment

4. Offset in Z5. Offset in X6. Offset in Y

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10. Rotation around Z11. Rotation around X12. Rotation around Y

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Segmentation

Generate a path (1).Open the graphics window (2)and click on Bearbeiten (3).Click on Segment1 in the cell browser.The Segment teilen button (4) is active.Click on the button (4).

The segment is divided (Figure 4 and 5).For segment 1 and 2, you can now specifydifferent settings.A further segmentation is possible.

After a segmentation, you canshift the segmentation points with the mouseand adjust them.

Figure 4 Figure 5

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Target points

Use the target points (1) to specify positions.You can choose between the following options:

Define positions in space (2).Define positions on a surface (3).Define positions at the TCP (4).When you select button (2) together with button (5),the points in space are stored in a target group.You can also specify a target group separatelyat a later point.

Define target points as points in space

Click on the Air button and specifypoints in space using the mouse.The target points are displayed as acoordinate system.The targets are also displayed in thecell browser.

In order to create a program from thesetargets, you have to define a targetgroup.For explanations, see next page.

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Target points

1. Define a target group

Select Target Groups and then Add TargetGroup .Click on Abbruch (1).

The target group has been established (2).

Open the target group properties (3).

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Target points


Specify a program name (1).Click on the Members button (2).Assign the targets (3) to the group (4).Click on Aktiviere (5) and then on OK (6).

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Target points


Select a motion line (1).Select the Target Edit tab (2). You will see the screen in figure 2.You can now adapt the sequence to your needs, e.g. you can disableApproach and Retreat (3) or the interpolation (4).

Select the Generation Parameters tab.Click on the Erstelle Muster TP Programm button.

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Target points

Define target points on a surface and assign a positioner

General

This method is used to assign target points toa positioner (e.g. a box).When shifting the box, thetarget points are also shifted.

Of course, you can define targets on surfaceswithout defining interactions.

1. Procedure

Use the Surface button to generate 3 points on the surface of a box.

Open the properties of each targetpoint and select the box under Attached (1).

The target points are displayed in the cell browserunder the box (2).

From here on, the procedure is identical with the procedure for defining pointsin space.

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Create a dynamic tool

General

To create and simulate a dynamic tool,you need two different models.

Procedure

Create a new work cell.Import the 36005f-200.CSB modelas the tool (known procedure).

Select the Simulation taband add the 36005f-200-4.CSB modelusing the icon (1).

Use the Öffnen/Schließen buttons (2) tocheck whether the gripper opens and/orcloses.You can also use the symbolfor this check.

The opening and closing isrealized in a program sequence by means of thePick or Drop simulator programs (see Parts).

Note

The parts that are to be moved have to bedefined on the Teile and Simulationtabs (3).

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New functions as from V.6.40 Rev. C

Projects

roboguide training manual [frde][z kae trn roboguide 1 01 en]

Documents

item simulationsprogramm

small line

path generation

automatic

transfer licenses

desired coordinate

select inst

teach pendant