FANUC RoboGuide HELP.pdf

FANUC Roboguide HELP

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 by offline check in a shop floor Standard Package which supports various robot application Robot application specific package with high operationability o Arc welding package o 2 coordinated robots arc welding package o Chamfering package

Easy and Highly Accurate design, teaching and confirmation of Robot System

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 program o Execute actual program and confirm robot motion by animation o Confirmation of Interlock logic (using simulated I/O)

Layout Function • •

Place objects by mouse operation on graphic screen Place objects by numeral input

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

Modeling Layout Programming Standard functions

Standard Package Simulation Remote Monitor Profiler

Auto Place Option

Option

Line Tracking Option

Calculate robot placement position so as to minimize cycle time for robot movement. Robot tracking movement is realized.

Duty Estimation Option

Robot movement duty is calculated.

System Monitoring Tool Option

Monitor function for system trouble analysis

Option software for Standard Package. The Standard Package is necessary in addition to this software.

iPendant I/F Option

Software

ROBOGUIDE layout is displayed on iPendant screen. Specifications

Comments

Navigation menu Arc Welding Package

Program generation for arc welding Simulation for arc welding

Option 2 coordinated robots Arc Welding Package Chamfering Package Hardware

Robot Simulator

Program generation for 2 robots arc welding

Option software for Standard Package. The Standard Package is necessary in addition to this software.

Navigation menu

Specifications

Highly accurate simulation

Comments Option software for Standard Package. The Standard Package is necessary in addition to this software.

Condition Item OS CPU Memory HDD Others

Contents Windows 2000 or Windows XP, DirectX 8.0 or later Pentium III 500MHz or more than 500MHz More than 256MB Space more than 2GB is available It is possible to communicate with robot controller via Ethernet

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

Table of Contents 1

ROBOGUIDE INTRODUCTION ......................................................................................................... 1 1.1 HANDLINGPRO INTRODUCTION ............................................................................................................ 1 1.1.1 New features in Roboguide 6.40.............................................................................................. 1 1.1.2 Getting started with Roboguide ................................................................................................ 6 1.1.3 Categorized Procedures for Roboguide PRO Software ....................................................... 6

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ROBOGUIDE/PRO SOFTWARE WORKCELL EXAMPLES ........................................................... 8 2.1 2.2 2.3 2.4

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ROBOGUIDE MENUS ...................................................................................................................... 53 3.1

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SIMPRO: A SIMPLE PICK AND PLACE WITH ANIMATION PROGRAM ....................................................... 8 SIMPRO: A SIMPLE PICK AND PLACE WITH TP PROGRAM .................................................................. 21 PALLETPRO: A SIMPLE PALLET WORKCELL EXAMPLE ..................................................................... 37 BUID AN AUXILIARY AXIS EXAMPLE ...................................................................................................... 47

PALLETPRO MENUS ........................................................................................................................... 65

USING THE 3D WORLD .................................................................................................................. 84 4.1 4.2

NAVIGATING THE 3D CHUIWORLD .................................................................................................... 84 VIEWING MODES .................................................................................................................................. 86

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JOGGING THE ROBOT ................................................................................................................... 88

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CREATING, OPENING AND WORKING WITH WORKCELLS ..................................................... 99 6.1 6.2 6.3 6.4 6.5 6.6

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ADDING AND MODIFYING CELL COMPONENTS ..................................................................................... 99 PLACING/MOVING OBJECTS IN THE 3D WORLD ................................................................................. 103 OPENING A WORKCELL ...................................................................................................................... 107 SAVING A WORKCELL ......................................................................................................................... 108 MANAGING ROBOGUIDE DATA ........................................................................................................... 109 MEASUREMENT AND DIMENSIONS .................................................................................................... 113

WORKING WITH ROBOT CONTROLLERS ................................................................................. 124 7.1 WORKING WITH A ROBOT................................................................................................................... 124 7.1.1 Working with robot variable files .......................................................................................... 124 7.1.2 PalletPRO Configuration ....................................................................................................... 125 7.2 ROBOT ARM DRESSOUT ..................................................................................................................... 132 7.3 WORKING WITH MULTIPLE ROBOTS ................................................................................................... 133 7.4 WORKING WITH KAREL PROGRAMS ................................................................................................ 135 7.5 WORKING WITH ROBOT END OF ARM TOOLING.................................................................................. 136 7.5.1 Using End of Arm Tolling with PalletPRO ......................................................................... 136 7.6 WORKING WITH COORDINATE FRAMES (CD PAIRS) ........................................................................ 138 7.7 WORKING WITH ROBOT MACHINES - POSITIONERS, AUX AXES ........................................................ 140 7.7.1 Working with extended axes/integrated axes .................................................................... 140 7.7.2 Working with positioners ....................................................................................................... 160 7.7.3 Working with IO driven machines ........................................................................................ 180 7.8 WORKING WITH JOBS ........................................................................................................................ 181 7.8.1 Working with PaintPRO Jobs ............................................................................................... 184 7.9 WORKING WITH THE ROBOT VIRTUAL TEACH PENDANT (TP) ........................................................... 201 7.10 ESTIMATING ROBOT DUTY CYCLE .................................................................................................... 203

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ROBOGUIDE'S VIRTUAL ROBOT ............................................................................................... 207 8.1

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USING THE IPENDANT ........................................................................................................................ 210

USING UFRAMES .......................................................................................................................... 217

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WORKING WITH FIXTURES ..................................................................................................... 225

10.1 WORKING WITH PALLETPRO FIXTURES ........................................................................................... 234 10.1.1 PalletPRO Infeed Fixture Property Tabs ............................................................................ 234 10.1.2 PalletPRO Pallet Fixture Property tabs ............................................................................... 241 10.1.3 PalletPRO Slip Sheet Dispenser Fixture Property Tabs .................................................. 247 10.1.4 PalletPRO Pallet Dispenser Fixture Property Tabs .......................................................... 249 11

WORKING WITH OBSTACLES ................................................................................................ 252

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WORKING WITH PARTS ........................................................................................................... 257

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TEACHING A PROGRAM .......................................................................................................... 266

13.1 ADDING AND DELETING A TP PROGRAM ........................................................................................... 270 13.2 USING THE TP PROGRAM PROPERTY PAGE ..................................................................................... 274 13.3 JOGGING THE ROBOT WHILE TEACHING ............................................................................................ 280 13.4 USING THE ROBOGUIDE SIMULATION EDITOR .................................................................................. 283 13.5 MULTIPLE NODE EDIT ....................................................................................................................... 291 13.6 VIEWING A TP PROGRAM .................................................................................................................. 292 13.7 VALIDATING A PROGRAM ................................................................................................................... 294 13.8 TEACHING USING UFRAMES ........................................................................................................... 296 13.9 USING UTOOL'S WITH ROBOGUIDE PROGRAMS .............................................................................. 299 13.10 COORDINATING MULTIPLE ROBOT WORKCELLS ............................................................................ 301 13.11 WORKCELL LEVEL POSITIONS - TARGETS .................................................................................... 307 13.12 AUTOMATIC PATH GENERATION ................................................................................................... 323 13.12.1 Creating robot paths from CAD Features....................................................................... 327 14

CONVEYOR TRACKING WITH ROBOGUIDE ......................................................................... 378

14.1 LINE TRACKING WITH ROBOGUIDE .................................................................................................... 389 14.1.1 Line Tracking with PaintPRO and PaintTool ...................................................................... 395 14.2 RAIL TRACKING WITH ROBOGUIDE .................................................................................................... 397 14.2.1 Rail Tracking with PaintPRO and PaintTool....................................................................... 402 15

CALIBRATING YOUR WORKCELL ......................................................................................... 404

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PALLETPRO-WORKING WITH UNIT LOADS ......................................................................... 410

16.1 16.2 16.3 17 17.1 18

UNIT LOAD BACKGROUND INFORMATION .......................................................................................... 410 PALLETPRO UNIT LOAD PROPERTY PAGES .................................................................................... 413 COMMON PROCEDURES WITH UNIT LOADS ....................................................................................... 430 RUNNING A PROGRAM ............................................................................................................ 435 ABOUT PALLETPRO SIMULATION ..................................................................................................... 440 EXAMPLE ................................................................................................................................... 443

Roboguide Introduction

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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 for objects in the workcell have a transparency slider bar. · View individual objects in wireframe: property page for objects in the workcell have a checkbox to enable/ disable wireframe view for the object. · Copy/ paste location data: support to copy/ paste location data for all 6 items on property pages. For more information see topic Copy and Paste of Location data for objects · Coordinated Pair property pages: for systems that use coordinated motion, cell browser entries are now available to edit CD pair information. Support is provided for multi arm coordinated pairs, but not for robot to positioner type systems. For more information see topic Using the Coordinate Frames (CD_Pair) Property Page · Support handling coordinated motion program generation: CAD to Path supports the generation of programs between multiple group robots. Specifically, the case where there is a combination of robots coordinating holding a part using handling coordinated motion and robots processing features on the part that the handling robots are processing. · Support coordinated motion program generation for linear positioners: when a system includes a robot and a positioner that is a linear device, you can use CAD to path to coordinate the motion between the two devices. Previous to the Rev E. release, you could only do CAD to Path on rotary type positioner axes. · Coord motion jogtype in jog panel: when coordinate motion is present, a button and dropdown box is available for selecting the coord motion jog frame. For information see About the teach pendant jog panel. · EOAT and Part in EOAT calibration: you can now calibrate the location of the EOAT cad on the End of the robot arm. Parts in the EOAT can also be calibrated. For more information on this topic see Using the Calibration Tab


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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 to support the R-J3iC robot controller. The wizard process flow is changed. You must first select robot controller version. For more information see Configure your robot controller · TCP trace now supports viewing trace results in the a tracking frame of reference for line tracking programs. · CAD to Path Enhancements: o Spin control on raw normals tab: for more information see Using the feature Raw Normals Property page tab o Extended axis smoothing: when a robot has an extended axis defined new edit boxes are shown on the CAD to Path Pos offsets tab. You can define start and end rail values. Generated auxiliary axis positions are smoothed between the start and end values defined. · PaintPRO Enhancements: o New position distance generation o TP Process and Job validation: quickly analyze Paint processes for process issues. See Validating a Paint Job or Process program for more information. o Preset and Estat automatic generation: the Paint Zone generation property pages have been modified to support additional flexibility in the placement of Elecrostat and Preset instructions. o TCP Trace capability: Paint simulations now support viewing the robot trajectory as a trace. Robot tracjectory can be viewed in robot frame of reference or if your system uses line tracking, the trace can be viewed in the tracking frame of reference. V6.40 Rev. C · Resolves issues found in earlier releases · PaintPRO additions: o Allows more flexibility on the Paint Zone Painting tab of the Paint Zone property page when defining where to place Estat commands when generating programs. o Support for different line tracking detect distances when generating process programs.


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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 machines: o Workcell Level: Non end of arm machines are defined at the workcell level. In previous versions, machines were under each robot controller. Moving machines to the workcell level provides additional flexibility. Any robot controller in the workcell can control a link of the machine. Multiple robot controllers can be attached to a rail. For more information regarding machines see Working with machines o IO Driven links: This allows IO programming to control clamps and other IO driven devices in the workcell. See Use the machine axis Motion tab for more information o X-Type Gun: X-Type EOATs are generally used for clamping or welding applications. A machine can be built that defines a mathematical relationship when calculating its motion. · CAD to Path Enhancements o Additional information on how to use CAD to Path. § General use with examples § Use with Remote TCP § Use with multi group coordinated motion o Blend segment normals: before V6.40, rotational offsets could be applied to features by rotating about one of the tool vectors that are defined for CAD to Path generation. The rotations would take effect on the generated TP program, and not on the feature that generates the program. V6.40 provides a feature to blend CAD to Path segment normal from start of segment to end of segment. The blending is applied to the segment normals before program generation. See Using the Raw Normals tab for more information. o Coordinated motion generation o Reverse generation: the order of generation can be reversed from that defined by the generated CAD to Path feature. See Using the feature general property page for more information. o Supports entering speed data in in/min · Teach Pendant current position tab: the move functions have been enhanced. o Group select: the desired group can be selected on the Teach Pendant current position tab.


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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 the memory configuration of the virtual robot when generating a virtual robot. See Configure your robot controller for more information. · Simulation editor enhancements o Extended axis support and Multiple group support: new capability to create simulation programs for robots with auxiliary axes and for multiple group configured robots. Extended axes will be recorded automatically with simulation programs. Multiple groups are recorded like the actual robot controller. The groups recorded are dependent on the programs group mask found on the TP program property page. · Targets – Workcell level positions o For more information see About Target Positions · New Engineering features: capabilities that assist in managing information that is shared with the physical robot that the workcell is simulating. o Automatically create a virtual robot from a file backup. Accessed through the serialization wizard. o Create Loadsets: A loadset is a user definable collection of files used to transfer information between Roboguide and a real robot. Loadsets allow you to more easily manage information that will be transferred to a real robot. You mark what files should be included in a loadset, and then export to the loadset. The loadset directory can then be loaded onto a real controller. Loadset definition lists are managed using different Roboguide interface elements: § Loadset list: accessed through Project Main Menu / Import / Edit List and Project Main Menu/ Export / Edit List. § Items can be added for inclusion in a loadset list on different property pages. System files, Robot programs, variables are examples of information that can be added to a loadset list. o Import/Export a loadset, programs, or variables to enable transfer of work between the workcell and real robot. § Files in a loadset definition can be exported to a PC loadset directory or directly to a robot controller.


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§ 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 variable files can be imported directly from a PC loadset directory or directly from a robot controller The above items are exported or imported by using the Project Main menu or by using right mouse click popup menus in the cell browser § Project main menu selection: selections for import and export are present on the Project main menu item. § Right mouse click in the cell browser: select the variable file or program to import or export and press right mouse button. Import and export are available from popup menu. o Variables category in the Cell Browser for each robot to view and edit variable information. Before V6.40, the information could only be edited from the virtual teach pendant. Roboguide V6.40 has graphical user interface dialogs to edit the following robot information: . § System Variables § Numeric Registers § Position Registers § Program Variables For more information see Using the robot variable file property page o File category in the Cell Browser for access to files stored on your PC for: § Viewing and editing program source using the supplied full-featured editor. § Translating KAREL and TPP source into loadable binary programs § Compressing KAREL dictionaries into their loadable versions. · Workcell backup and sharing Methods have been added to better organize workcell backups. Workcells can be shared more efficiently without having to copy an entire workcell and complete virtual robot directories. o Save creates a SavePoint from which a virtual controller can be fully recovered o Recover from SavePoint fully recovers the entire workcell o Share a Workcell or SavePoint outputs the most compact file set required to send a workcell to another person. See Workcell backups and restores - Savepoints for more information. · OLPCPRO o KAREL development support - translator


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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 RTCP frame · TCP Trace enhancements: When teaching in a coordinated frame you can view TCP trace data in the coordinated frame (Part Relative). See Using the TCP trace display property page for more information.

1.1.2 Getting started with Roboguide Roboguide simulation products are targeted to provide an easy to use interface to create workcells and robot programs. Roboguide simulation products help has many examples to help you get started. It is strongly encouraged that you work through the simple workcell creation example provided in the help file. After implementing the workcell, you should have the basic and advanced familiarity with Roboguide simulation products to create your own workcells. Also included with Roboguide simulation products are example workcells. · Simple Workcell Creation Example 1 · Simple Workcell Creation Example 2 · Create a positioner · Create an aux axis system

1.1.3 Categorized Procedures for Roboguide PRO Software 3D CHUIWorld Navigation • • • •

Using the Navigation Tips Screen Zooming the view Panning the view Rotating the view

Jogging the robot • • • • • •

Jogging using the teach tool Showing and hiding the teach pendant jog panel Changing speed override on the robot Jogging using frames Jogging using Utool Detecting collisions while jogging


•

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 the workcell Opening a workcell Saving a workcell Locating where workcells are saved

Robot_Controllers and End of arm tooling • • • • • • • • • •

Show the robot work envelope Changing the robot model in a workcell Set the pallet switch Control how pallets are processed Set the pallet system options Teach the perch position Teach the maintenance position Change the end of arm tooling used Change the utool offset for pallet system Change the UTOOL Offset in SimPRO

Teaching_a program • •

Creating a TP program Automatic_path generation

Running_a program • • • • • • • • • •

Program run Opening the run panel window Controlling a program from the toolbar Controlling a program from the run panel Detecting collisions Setting the refresh rate of the screen Selecting run panel options Running a program in a loop Creating an AVI movie Improving performance in PRO Software

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Roboguide/PRO Software Workcell Examples

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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 that you have started Roboguide and that you have no active workcell in the workspace of Roboguide. When complete your workcell should contain the following entities: • An R-2000iA/165F robot with end of arm tooling • 2 rectangular fixtures for holding a part • A Roboguide Simulation TPP Program which moves the part from one fixture to the other. This workcell is built, and is available in Directory: Install directory used for install. Typically this is c:\Program Filles\FANUC\PRO\SimPRO\Sample Workcells\Workcell Example Initial state of Roboguide: • Roboguide is running with no workcell defined • The Process Navigator window is open

Simple Workcell Step 1: Creating a new workcell Simple Workcell Step 1: Creating a new workcell 1. Select Start New Cell from the Process Navigator. Or select File / New from the Menu Or, Press the New Workcell Icon () on the toolbar A Workcell Creation Wizard is presented which guides you through the steps to build a workcell definition. 2. The type of workcells that can be created are presented in a list. The types listed are based upon the plugins available in Roboguide on the PC being used. Select HandlingPRO – Basic Material Handling Cell and press Next


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3. Enter the name: simprog example, and press Next 4. If prompted with a list of Application/Tool packages to be loaded select HandlingTool (N.A.), and press Next. 5. The next step is where you define the type of robot. Select R-2000iA/165F from the list of robot models presented, and press Next. 6. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version. 7. The next step shows robots and positioners for additional motion groups. Select nothing and press next. 8. The next step shows controller options that can be loaded. No additional options are required. Press Next. 9. .A summary page is presented that describes your workcell type, robot, and controller options. Press Finish to build the robot. Roboguide will start a Virtual Robot and then create a 3D virtual world with a robot. At this point the robot can be jogged on the screen Resulting Roboguide state: You should now have a new workcell with a robot. The workcell has a robot. The 3D CHUIWorld view can be viewed and modified. Next step

Simple Workcell Step 2: Editing the robot properties Simple Workcell Step 2: Editing the robot properties The robot’s properties can be modified. You can move the robot around the workcell and set other properties for the robot. 1. Select Edit Robot Properties on the Process Navigator 2. For this example you will use the HandlingPRO defaults. Set the Lock All Location Values checkbox on the property page to ensure that the robot base can not be moved in the workcell


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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 Workcell Step 3: Add a part to the workcell In this step you will add a part to the workcell to be picked and placed. There are a few basic steps to create a simulation of the robot picking and placing parts. • Add a part to the workcell – This step • Define the part orientation in the End of Arm Tool – Step 4 • Define the part orientation in the pick fixture – Step 5 • Define the part orientation in the place fixture – Step 5 Add a part to the workcell 1. Select Add a Part to the cell from the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select CAD Model – Browse for file and press OK. A browse dialog will appear on the screen. Browse to C:\Program File_Menus\FANUC\PRO\SimPRO\Robot Library and select the file lrmate200i-3d.csb. Press the Open button on the browse dialog. 3. The Part property page for the new part will now appear on the screen. In the Name field enter Little Robot Part and press Apply. 4. On the property page change the scale parameters to Scale X = 0.5, Scale Y = 0.5, Scale Z = 0.5 and press Apply. You have now defined a part for the workcell. The part is shown visible on the Part Fixture. In


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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 the robot In this step, you will add End of Arm Tooling to the robot. This includes defining the CAD model to be used, how the tool is mounted on the robot, and the Tools UTOOL definition. Defining the end of arm tooling and the mounting of the tooling of the robot. 1. Select Edit End of Arm Tooling in the Define the Cell category of the Process Navigator 2. In the Primary CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200.csb 3. Press the Apply button. A tool should appear on the end of the robot. The tool does not appear mounted correctly on the robot. You modify how the tool is connected to the robot by modifying the Location value on the Tool Properties / General Tab. You can think of this like physically mounting a tool to a robot. 4. In the W value of Location on the Tool Properties / General Tab enter the value 270 and press apply. The tool should now be mounted correctly on the robot. Defining the Tooling UTOOL value of the robot 1. Select the Tool Properties / UTOOL tab 2. There are 2 methods to define the tooling offset: Method 1: Select the Edit UTOOL option box. The tooling mounted on the end of the robot in CHUIWorld now has a triad coordinate system. You can adjust the Tool Center Point by dragging or rotating the triad to the desired location. Press the Use Current Triad Location and press Apply to set the TCP UTOOL value for the robot tooling. Method 2: You can directly enter the value. For this example, direct enter the values


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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 robot by using teach tool jogging or by using the virtual TP. Define the part orientation in the end of arm tooling 1. Click on the end of arm tool and open its property page. You can open the property page from the Cell browser by right clicking on the Tooling/UT:1 and selecting Eoat1 properties from the menu. 2. On the General Tab of Eoat1’s property page uncheck the option box for Lock All Location Values and press Apply. 3. Select the Simulation tab. 4. In the Function field select Material Handling- Clamp. 5. In the Actuated CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200-4.csb. 6. Press Apply. The CAD for a closed gripper is loaded. You can toggle between the two CAD images by selecting Open or Closed and pressing Apply. 7. Select the Parts Tab 8. In the Parts field select Little Robot Part. Press Apply. You should see the part attached to the tooling 9. Select the Edit Part Offset field by checking the box. You can now edit the part offset in the EOAT. 10. There are multiple methods to define the Part Offset in the tooling: Method 1: Select the Drag-Teach Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part offset in the tooling by dragging or rotating the triad to the desired location When finished moving the part press Apply to set the Part Offset value for the part in fixture location.


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Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values (0, 1170, -45, 225, -85, 45) and press Apply. 11. On the General Tab of Eoat1’s property page check the option box for Lock All Location Values and press Apply. You should now have the robot with end of arm tool holding the Little Robot Part. You can view the open and close states for the robot and end of arm tool by toggling between the Open and Closed buttons on the Material Handling Tab, or by pressing the open/closed icon button () on the toolbar. Resulting HandlingPRO state: The workcell should now have a robot with an end of arm tool, and a part defined for the end of arm tooling. The Tool Center Point should be defined for the robot with the Z axis of the TCP pointing out from the tooling in line with the robot arm. The TCP UTOOL value should be 0, 0, 850, 0, 0, 0.

Previous Step Next Step

Simple Workcell Step 5: Add a pick fixture to the workcell In this step, you add a fixture to the workcell where the robot will pick your defined part. The Fixture, called Pick Fixture, will be a blue box which a part can be picked from. You then associate the part created earlier, Little Robot Part, with this fixture. Create Fixture 1 1. Select Add a fixture to the Cell in the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Pick Fixture" and press Apply 4. In the Size in Z field of the property page enter 500 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of blue and press OK. When the color palette dialog closes


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select Apply. The box color should change to Blue. You can now move the box around the workcell to place it where you want to pick parts from. 6. Move the box in front of the robot. For this example, move the box to location 1500, 0, 500, 315, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page Associate Part with Fixture You need to define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts. 1. Select the Simulation Tab 2. Select Allow Part to be picked are Picked here and press Apply. This tells Roboguide that this fixture will be used for picking parts. 3. Change the Part Create to 2.00 seconds and press Apply. This tells PRO software


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to wait 2 seconds after the part is picked before creating a new part in the fixture. 4. Select the Fixture Properties / General Tab. 5. Enable the Lock All Location Values property by checking the box on the tab and press Apply.

Resulting HandlingPRO state: You should now have a pick fixture in your work cell. The pick fixture should be blue and directly in front of the robot, tilted on an angle.

Previous Step Next Step

Simple Workcell Step 6: Add a place fixture to the workcell Fixture two, called Place Fixture, will be a red box which a part can be placed on. In this step you create fixture 2 and define how the part is placed on the fixture. Create Fixture 2: 1. Select Add a Fixture to the Cell in the Define the Cell category of the Process Navigator. 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Place Fixture" and press Apply 4. In the Size in Z field of the property page enter 750 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of red and press OK. When the color palette dialog closes select Apply. The box color should change to red. You can now move the box around the workcell to place it where you want to place parts. 6. Move the box in front of the robot to the robots left. For this example, move the box to location 850, 1500, 750, 0, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page


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Associate Part with Fixture You need to define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts. 1. Select the Simulation Tab 2. Select Allow Part to be placed and press Apply. This tells HandlingPRO that this fixture will be used for placing parts. 3. Change the Part Destroy to 2.00 seconds and press Apply. This tells PRO software to wait 2 seconds after the part is placed before destroying the part in the fixture. 4. Select the Fixture Properties / General Tab. 5. Enable the Lock All Location Values property by checking the box on the tab and press Apply. Resulting HandlingPRO state:


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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. Previous Step Next Step

Simple Workcell Step 7: Create a robot program Create a robot program In this step you will create a new robot animation program that can be run in the simulation environment. You will learn how to add a program, and record and touchup points. Create a Robot TPP Program The first step is to create a new TPP Animation Program. 1. Select Add a TP Program from the Teach TP Programs category of the Process Navigator. A new TP Program is created. The Program Teach Edit Window and the Program Properties Page are displayed. 2. In the Name field of the Program Properties page enter exmpl_wc and press Apply. 3. In the Program Properties page select OK. The page should close. You now have a TP Program called exmpl_wc which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. Exmpl_wc is loaded into the Program Teach window with no TP Lines created. Creating and editing TP Program lines You will now create an animation TP program that performs a pick and place function. Pick Sequence teach: 1. Jog the robot to a position that will serve as a home position. 2. In the Program Teach Window press Record from the menu. A position should be created. 3. Set the motion type to Joint by selecting the combo box that specifies motion type. 4. Jog the robot to create a position near the pick up point


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5. In the Program Teach Window press Record from the menu. A second position should be created. 6. In the Program Teach Window press Record from the menu. A third position should be created. This position will be used for the pickup of the part. 7. Press the close hand icon ()to close the gripper and see the part on the EOAT. 8. In the Program Teach Window select Pickup from the Inst dropdown. A Pickup instruction should be entered into your program. 9. Select Little Robot Part from the Pickup field, Pick Fixture from the drop down list in the From field, and select UT:1 from the With field. 10. Select the program statement immediately before the Pickukp instruction. (in this example – line 3) 11. Select Touchup to Pick/Place Point in the dropdown list included in the Touchup instruction toolbar item. HandlingPRO automatically records the position which optimizes the robot pickup point. This is determined by how you oriented the part in the fixture. 12. Press MoveTo from the toolbar. The robot moves to the pickup point that was automatically calculated. Place Sequence Teach: 1. Select the last line of the TP Program in the Program Teach Window. 2. Jog the robot away from the pick position and press record.. A new TP Program line is created. 3. Press the close hand icon ()to close the gripper and see the part on the EOAT. 4. Jog the robot near the place fixture 5. Press record to create a via position. 6. PRO Software V6.22 adds new features to quickly teach fixture positions. Open the place fixture property pages. 7. Select the parts tab


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8. Select Little Robot part 9. In the dropdown box in the part offset frame select UT:1 (EOAT1). 10. Press the MoveTo button. The robot should move to the place position. 11. Press Record from the menu to create a new TP line. This line will be used for the place of the part. 12. In the Program Teach Window select Drop from the Inst menu dropdown. Drop instruction should be entered in your program. 13. Select Little Robot part from the Drop field, UT:1 from the From field, and Place Fixture from the On field. 14. Jog the robot away from the place point and press record. A move away position is created after the Open Hand instruction You have now created your TP Program for this example. Previous Step Next Step Resulting HandlingPRO state: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling. A TP Program is created to run a pick and place process.

Simple Workcell Step 8: Run the program You will now run a simulation of your workcell. Running the program 1. Select Run TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel window will appear on your screen. 2. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed.


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Profiling your program for cycle time 1. Select Profile TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel and Profiler windows will appear on your screen. Enable the Collect TCP Trace option on the Run Panel. The Profiler window is shown that displays information for each run of the program. There are 2 tabs on the windows. Display options are set to define how you want to see the robot data as the cycle runs. The Profile tab shows the cycle time and alarms for the running TP Program. 2. Select the Profile Tab. 3. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line. Note: the profiler can also be opened from the main menu Test-Run / Profiler menu selection. Profiling your program with TP Trace 1. Select Run TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel window will appear on your screen. 2. Select Test-Run / Profiler from the main menu 3. Select the following options (make sure a check mark appears), Collect TP Trace, Refresh Display, and Compress AVI on the Display Options tab. 4. Select the Profile tab in the Profiler window. 5. Press Run on the toolbar.of the Run Panel window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line. You will see a trace line that runs with the robot as the robot moves. This is the actual robot motion. The profiler provides several features. If you run the program multiple times, a separate profile set is created for each run. You can experiment with different settings to view results. For example, if you change motion parameters in your TP Program, you can run the Profiler TP Trace and view the results to determine how the change effects your robot motion. The Keep Visible check box on each Profile Display Options tab can be checked to determine


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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. The Roboguide Run panel window will appear on your screen. 2. Press Record on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. Roboguide is creating an AVI file of your run. When the run is complete, Roboguide will popup a window that describes where the AVI file was placed on your computer.

2.2 SimPRO: A simple pick and place with TP program A simple pick and place workcell creation using TP Program The following procedures provide a procedure for creating a HandlingPRO workcell. The example assumes that you have started Roboguide and that you have no active workcell in the workspace of SimPRO. The difference between this workcell and the Simple Workcell Example is that this example creates a Robot TPP program and not a simulation program. The same workcell is built as the first example except you now create a program using the Virtual TP. If you have already built this workcell you can open the example workcell and skip to Step 7: Create a robot program. When complete your workcell should contain the following entities: • An R-2000 robot with end of arm tooling • 2 rectangular fixtures for holding a part • A robot TPP Program which moves the part from one fixture to the other. This workcell is built for you and is available in Directory: Install directory used for install. Typically this is c:\Program Filles\FANUC\PRO\SimPRO\Samples Workcells\Workcell Example


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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 from the Process Navigator. A Workcell Creation Wizard is presented which guides you through the steps to build a workcell definition. 2. The type of workcells that can be created are presented in a list. The types listed are based upon the plugins available in Roboguide on the PC being used. Select HandlingPRO – Basic Material Handling Cell and press Next 3. Enter the name: simprog example2, and press Next 4. If prompted with a list of Application/Tool packages to be loaded select HandlingTool (N.A.), and press Next. 5. The next step is where you define the type of robot. Select R-2000iA/165F from the list of robot models presented, and press Next. 6. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version. 7. The next step shows robots and positioners for additional motion groups. Select nothing and press next 8. The next step shows controller options that can be loaded. No additional options are required. Press Next. 9. .A summary page is presented that describes your workcell type, robot, and controller options. Press Finish to build the robot. HandlingPRO will start a Virtual Robot and then create a 3D virtual world with a robot. At this point the robot can be jogged on the screen Resulting HandlingPRO state: You should now have a new workcell with a robot. The


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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 around the workcell and set other properties for the robot. 1. Select Edit Robot Properties on the Process Navigator 2. For this example you will use the HandlingPRO defaults. Set the Lock All Location Values checkbox on the property page to ensure that the robot base can not be moved in the workcell Resulting HandlingPRO state: • A robot should be in your workcell • The Lock All Location Values option box should be checked on the Robot Property Page

Simple Workcell 2 Step 3: Add a part to the workcell In this step you will add a part to the workcell to be picked and placed. There are a few basic steps to create a simulation of the robot picking and placing parts. • Add a part to the workcell – This step • Define the part orientation in the End of Arm Tool – Step 4 • Define the part orientation in the pick fixture – Step 5 • Define the part orientation in the place fixture – Step 5 Add a part to the workcell 1. Select Add a Part to the cell from the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select CAD Model – Browse for file and


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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 appear on the screen. In the Name field enter Little Robot Part and press Apply. 4. On the property page change the scale parameters to Scale X = 0.5, Scale Y = 0.5, Scale Z = 0.5 and press Apply. You have now defined a part for the workcell. The part is shown visible on the Part Fixture. In order to use the part you will have to assign it to a fixture. For a description of the part / fixture relationship see Working with Parts and Working with Fixtures

Simple Workcell 2 Step 4: Adding End of Arm Tooling to the robot Simple Workcell Step 4: Adding End of Arm Tooling to the robot In this step, you will add End of Arm Tooling to the robot. This includes defining the CAD model to be used, how the tool is mounted on the robot, and the Tools UTOOL definition. Defining the end of arm tooling and the mounting of the tooling of the robot. 1. Select Edit End of Arm Tooling in the Define the Cell category of the Process Navigator 2. In the Primary CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200.csb 3. Press the Apply button. A tool should appear on the end of the robot. The tool does not appear mounted correctly on the robot. You modify how the tool is connected to the robot by modifying the Location value on the Tool Properties / General Tab. You can think of this like physically mounting a tool to a robot. 4. In the W value of Location on the Tool Properties / General Tab enter the value 270 and press apply. The tool should now be mounted correctly on the robot. Defining the Tooling UTOOL value of the robot 1. Select the Tool Properties / UTOOL Tab


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2. There are 2 methods to define the tooling offset: Method 1: Select the Edit UTOOL option box. The tooling mounted on the end of the robot in CHUIWorld now has a triad coordinate system. You can adjust the Tool Center Point by dragging or rotating the triad to the desired location. Press the Use Current Triad Location and press Apply to set the TCP UTOOL value for the robot tooling. Method 2: You can directly enter the value. For this example, direct enter the values 0,0,850,0,0,0 and press Apply 3. Select the Tool Properties / General Tab. 4. Enable the Lock All Location Values property by checking the box on the tab and press Apply. The end of arm tooling is now defined for jogging the robot. You can jog the robot by using teach tool jogging or by using the virtual TP. Define the part orientation in the end of arm tooling 1. Click on the end of arm tool and open its property page. You can open the property page from the Cell browser by right clicking on the Tooling/UT:1 and selecting Eoat1 properties from the menu. 2. On the General Tab of Eoat1’s property page uncheck the option box for Lock All Location Values and press Apply. 3. Select the Simulation tab. 4. In the Function field select Material Handling- Clamp. 5. In the Actuated CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200-4.csb. 6. Press Apply. The CAD for a closed gripper is loaded. You can toggle between the two CAD images by selecting Open or Closed and pressing Apply. 7. Select the Parts Tab 8. In the Parts field select Little Robot Part. Press Apply. You should see the part attached to the tooling 9. Select the Edit Part Offset field by checking the box. You can now edit the part offset


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in the EOAT. 10. There are multiple methods to define the Part Offset in the tooling: Method 1: Select the Drag-Teach Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part offset in the tooling by dragging or rotating the triad to the desired location When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values (0, -1170, -45, 225, -85, 45) and press Apply. 11. On the General Tab of Eoat1’s property page check the option box for Lock All Location Values and press Apply. You should now have the robot with end of arm tool holding the Little Robot Part. You can view the open and close states for the robot and end of arm tool by toggling between the Show Open and Show Closed option buttons on the Material Handling Tab. You must press Apply each time you change your selection. Resulting HandlingPRO state: The workcell should now have a robot with an end of arm tool, and a part defined for the end of arm tooling. The Tool Center Point should be defined for the robot with the Z axis of the TCP pointing out from the tooling in line with the robot arm. The TCP UTOOL value should be 0, 0, 850, 0, 0, 0.

Simple Workcell 2 Step 5: Add a pick fixture to the workcell In this step, you add a fixture to the workcell where the robot will pick your defined part. The Fixture, called Pick Fixture, will be a blue box which a part can be picked from. You then associate the part created earlier, Little Robot Part, with this fixture. Create Fixture 1 1. Select Add a Fixture to the Cell in the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Pick Fixture" and press Apply


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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 closes select Apply. The box color should change to Blue. You can now move the box around the workcell to place it where you want to pick parts from. 15. Move the box in front of the robot. For this example, move the box to location 1500, 0, 500, 315, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page 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!JumpID(`SimPRO_Parts.hlp',`Using_the_Parts_Property_Page_Tab') on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts.


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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 software to wait 2 seconds after the part is picked before creating a new part in the fixture. 4. Select the Fixture Properties / General Tab. 5. Enable the Lock All Location Values property by checking the box on the tab and press Apply. Resulting HandlingPRO state: You should now have a pick fixture in your work cell. The pick fixture should be blue and directly in front of the robot, tilted on an angle.

Simple Workcell 2 Step 6: Add a place fixture to the workcell Fixture two, called Place Fixture, will be a red box which a part can be placed on. In this step you create fixture 2 and define how the part is placed on the fixture. Create Fixture 2: 1. Select Add a Fixture to the Cell in the Define the Cell category of the Process Navigator. 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Place Fixture" and press Apply 4. In the Size in Z field of the property page enter 750 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of red and press OK. When the color palette dialog closes select Apply. The box color should change to red. You can now move the box around the workcell to place it where you want to place parts.


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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 define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts. 1. Select the Simulation Tab 2. Select Allow Part to be placed and press Apply. This tells HandlingPRO that this fixture will be used for placing parts. 3. Change the Part Destroy to 2.00 seconds and press Apply. This tells PRO software to wait 2 seconds after the part is placed before destroying the part in the fixture. 4. Select the Fixture Properties / General Tab.


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5. Enable the Lock All Location Values property by checking the box on the tab and press Apply. Resulting HandlingPRO state: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling.

Simple Workcell 2 Step 7: Create a robot program Create a robot program In this step you will create a new robot TPP program that can be run in the simulation environment. You will learn how to add a program, and record and touchup points. Additionally, you learn how to animate picks and places using the virtual TP. Create a Robot TPP Program 1. The first step is to create a new TPP on the virtual robot Program. 2. Open the cell browser 3. Right click on the Programs category under Robot Controllers / Robot1. A popup menu should display. Select Add TPP Program. A new TPP Program is created on the virtual robot, and the property page should show for this program. The virtual TP window opens with the edit page showing. 4. In the Name field of the Program Properties page enter exmpl2wc and press Apply. 5. In the Program Properties page select OK. The page should close. 16. You now have a TP Program called exmpl2wc which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. Exmpl2wc is loaded into the Virtual TP Editor with no TP Lines created. Creating and editing TP Program lines You will now create a TPP program that performs a pick and place function. Pick Sequence teach: 1. Jog the robot to a position that will serve as a home position.


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2. In the Virtual TP, enable the TP, then press the shift key and then press F1 . 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 . A menu is displayed on the virtual TP display. Select item 4: L P[] 100mm/sec CNT100. A TPP Line should be created. 5. Using the arrow keys on the Virtual TP, move the cursor over the 100 mm/sec. Enter 1000 using the Virtual TP keypad and Press the Enter key on the Virtual TP. The speed for the line changes to 1000 mm/sec. 6. Press the down arrow key on the Virtual TP. The cursor should be on the [End] statement of the TP Program. 7. Press the close hand icon on the toolbar (). The EOAT should now show the gripper holding the part. 8. PRO Software has features to quickly teach fixture positions. Open the pick fixture property pages. 9. Select the parts tab. 10. Select Little Robot part 11. In the dropdown box in the part offset frame select UT:1 (EOAT1). 12. Press the MoveTo button. The robot should move to the pick position. 13. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item : L P[] 100mm/sec FINE. A TPP Line should be created. Place Sequence Teach: 1. With the Virtual TP arrow keys move the cursor to the [End] statement of the program. 2. Jog the robot away from the pick position. 3. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: L P[] 100mm/sec CNT100. A TPP Line should be


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created. 4. Jog the robot near the Place position. 5. In the Virtual TP, enable the TP, and then press F1 . 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 features to quickly teach fixture positions. Open the place fixture property pages. 7. Select the parts tab. 8. Select Little Robot part 9. In the dropdown box in the part offset frame select UT:1 (EOAT1). 10. Press the MoveTo button. The robot should move to the place position. 11. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: L P[] 100mm/sec FINE. A TPP Line should be created. 12. Press the close hand icon on the toolbar. The EOAT should now show the gripper open. 13. Jog the robot away from the place point. 14. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: J P[] 100% CNT100. A TPP Line should be created. Resulting HandlingPRO state: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling. A TP Program is created to run a pick and place process. The TP Program that runs has no animation.


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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 create a animation TP program that closes the gripper and a program that opens the gripper. These programs are then inserted into the Virtual TP program with Calls to pickup and drop respectively. Create a Close Gripper Animation Program The first step is to create a new animation TPP program that only closes the gripper. 1. Open the cell browser 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 Program Properties page enter closeg and press Apply. 4. In the Program Properties page select OK. The page should close. You now have a TP Program called closeg which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. closeg is loaded into the Simulation Program Editor with no TP Lines created. 5. In the Simulation Program Editor, select the dropdown for Inst menu item, and select Pickup. A Pickup instruction is inserted into the program. 6. Select Little Robot Part from the Pickup field, Pick Fixture from the drop down list in the From field, and select UT:1 from the With field. Pick Fixture should now show in the Pickup instruction. 7. In the Simulation Program Editor, select the dropdown for Inst menu item, and select WAIT 0.5(sec) A Wait instruction is inserted into the program. The pickup (closeg) program is now created and will be inserted into the Virtual TP program in a later step. Create a Open Gripper Animation Program The next step is to create a new animation TPP program that only opens the gripper. 1. Open the cell browser


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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 Program Properties page enter openg and press Apply. 4. In the Program Properties page select OK. The page should close. You now have a TP Program called openg which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. openg is loaded into the Simulation Program Editor with no TP Lines created. 5. In the Simulation Program Editor, select the dropdown for Inst menu item, and select Drop. A drop instruction is inserted into the program. 6. Select Little Robot part from the Drop field, UT:1 from the From field, and Place Fixture from the On field Place Fixture should now show in the Drop instruction. 7. In the Simulation Program Editor, select the dropdown for Inst menu item, and select WAIT 0.5(sec) A Wait instruction is inserted into the program. The Drop program is now created and will be inserted into the Virtual TP program in a later step. Inserting Call statements into the TP program The next step is to insert Call statements into your virtual TP program which call the above created programs. 1. Select exmpl2wc from the cell browser. 2. Open the virtual TP Editor 3. Use the Virtual TP arrow keys to move the TP editor cursor to the line after the position where you want to close the gripper. 4. Insert a blank line. Enable the Virtual TP, and press the Next button. Press F5 [EDCMD] and select Insert (1). Press the Enter button on the keypad. A blank line is inserted. 5. Insert a Call Instruction to closeg. Press F1 [INST]. A window shows on the display.


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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 the gripper. 7. Insert a blank line. Enable the Virtual TP, and press the Next button. Press F5 [EDCMD] and select Insert (1). Press the Enter button on the keypad. A blank line is inserted. 8. Insert a Call Instruction to openg. Press F1 [INST]. A window shows on the display. Select CALL. A new window shows. Select CALL program. A CALL … instruction is put into the program. Select openg from the list. The program is now setup to run animation. When the program is run the gripper will pick and place the part. NOTE: when using Shift FWD on the TP animation does not appear because HandlingPRO only puts animation programs on the virtual robot when it is running a program.

Simple Workcell 2 Step 9: Run the program You will now run a simulation of your workcell. Running the program 1. Select Run TP Program from the Run Production category of the Process Navigator. The Run panel window will appear on your screen. 2. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. Profiling your program for cycle time 1. Select Profile TP Program from the Run Production category of the Process Navigator. The Run panel and Profiler windows will appear on your screen. The Profiler window is shown that displays information for each run of the program. There are 2 tabs on the windows. Display options are set to define how you want to see the robot data as the cycle runs. The Profile tab shows the cycle time and alarms for the running TP Program.


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2. Select the Profile Tab. 3. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line.

Profiling your program with TP Trace 1. Select Run TP Program from the Run Production category of the Process Navigator. The Run panel window will appear on your screen. 2. Select Test-Run / Profiler from the main menu 3. Select the following options (make sure a check mark appears), Collect TP Trace, Refresh Display, and Compress AVI on the Display Options tab. 4. Select the Profile tab in the Profiler window. 5. Press Run on the toolbar.of the 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. You will see a trace line that runs with the robot as the robot moves. This is the actual robot motion. 6. The profiler provides several features. If you run the program multiple times, a separate profile set is created for each run. You can experiment with different settings to view results. For example, if you change motion parameters in your TP Program, you can run the Profiler TP Trace and view the results to determine how the change effects your robot motion. The Keep Visible check box on each Profile Display Options tab can be checked to determine differences in runs.

Simple Workcell 2 Step 10: 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. The Run Panel window will appear on your screen. 2. Press Record on the toolbar.of the run panel The program should run, and you should see the part get picked and placed. Roboguide is creating an AVI file of your run. When the run is complete, Roboguide will popup a window that describes where the AVI file was placed on your computer.


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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 workcell in the workspace of PalletPRO. When complete your workcell should contain the following entities: • An M-410iB/160 robot with end of arm tooling – vacuum – double case. • 2 infeeds for conveying boxes • 2 pallets for stacking boxes

This workcell is built for you and is available in Directory: \PRO\PalletPRO\Example Workcells\Workcell Example\ Workcell Example. Install directory is typically C:\Program Files\FANUC Initial state of PalletPRO: • PalletPRO is running with no workcell defined • The Process Navigator window is open

Simple Pallet Workcell Step 1: Creating a new workcell Simple Pallet Workcell Step 1: Creating a new workcell 1. Select Start New Cell from the Process Navigator . The workcell wizard is opened 2. A step is shown that allows selection of the process to perform Select PalletPRO and press Next 3. A dialog is shown that presents current existing workcells, and a field to enter a new workcell name. Enter a name for your new cell, and press Next. (for this example use the workcell name "PalletPRO Example Workcell". 4. The next step shows a list of supported robots. For this example, select M-


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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 press next. 7. The next step shows controller options that can be loaded. Ensure that PalletTool Turbo is selected and press next 8. A summary page is shown that displays how the virtual robot will be loaded 9. Press Finish PalletPRO will start a Virtual Robot and then create a 3D virtual world with a robot. At this point the robot can be jogged on the screen Resulting state: You should now have a new workcell with a robot. The workcell has a robot, a single pallet, and an infeed. The 3D CHUIWorld view can be viewed and modified.

Simple Pallet Workcell Step 2: Editing the robot and pallet system properties

Editing the robot and pallet system properties The robot’s properties can be modified. You can move the robot around the workcell and set other properties for the robot and pallet system. 1. Select Setup Pallet System on the Process Navigator . From this page you can define how the pallet system should operate. For this example you will use the PalletPRO defaults. 2. Select the General Tab. 3. Set the Lock all location values checkbox on the property page to ensure that the robot base can not be moved in the workcell. Press Apply. Resulting state: • A robot should be in your workcell


• 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 process pallets and multiple infeed systems is provided. For this example, the defaults are used.

Simple Pallet Workcell Step 3: Setup Palletizing Gripper / EOAT

In this step you will setup the palletizing gripper on the robot. PalletPRO starts your workcell with a default vacuum gripper. You may change the gripper CAD on the end of arm. For this example we use the default gripper. 1. Select Setup Gripper from the Process Navigator The End of arm tooling property page should open. There are two tabs on the EOAT property page. The General tab and the Palletizing tab. 2. Select the Palletizing tab 3. Change the Gripper Type to be edited to Vacuum – Double for this example. 4. Select the General Tab 5. Set the Lock all location values checkbox on the property page to ensure that the tooling can not be moved from the robot. 6. Press Apply or OK to make the changes take effect

Resulting state: The robot defined with a double vacuum gripper and has been locked to the end of arm. The default Pallet Station and Infeed are also present.

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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 objects symmetrically in front of the robot. In this step you will modify the location of the default pallet station, and add and locate a new pallet station. Modify the default location of the pallet station 1. Select PalletStation1 in the workcell, and open its property page When you select a pallet station, you see a black arrow on a red box on the pallet. This is the origin teach plate that PalletTool / PalletPRO use. This will be discussed later. We will re-locate pallet station 1. Objects can be moved in the workcell. 2. Direct enter the new location for the pallet station. Enter the values 440, -2100, 24, 0, 0, 0 into the location field on the Pallet Stations General Property tab, and press Apply to make the change take effect. The pallet should now be in a new location. 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.

Add a pallet station 1. From the process navigator select "Add a Pallet Station". NOTE: you can also add a new pallet station using the Cell Browser A new pallet station is entered in the workcell and needs to be located correctly. 2. Direct enter the new location for the pallet station. Enter the values 440, 1300, 24, 0, 0, 0 into the location field on the Pallet Stations General Property tab, and press Apply to make the change take effect. The pallet should now be in a new location.


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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 a single infeed in your workcell.

Simple Pallet Workcell Step 5: Adding and working with infeed stations In this step you work with the properties for the default infeed station and add a second infeed station. You need to define infeed properties that define how units are delivered on the infeed, and transit delay times. PalletPRO attempts to properly configure IO for the infeed. Modify the location of the default infeed station 1. Select Infeed 1 in the workcell and open its property page. When you select an infeed station, you see a black arrow on a red box on the infeed station. This is the origin teach plate that PalletTool / PalletPRO use. This will be discussed later. We will re-locate pallet station 1. Objects can be moved in the workcell. 2. Direct enter the new location for the infeed station. Enter the values 1100, -700, 750, 0, 0, 0 into the location field on the Infeed Stations General Property tab, and press Apply to make the change take effect. The infeed station should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the infeed can not be moved in the workcell 4. Press OK or Apply to make the changes take effect.

Add an infeed station 1. Select Add an Infeed Station from the Process Navigator.


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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 General Property tab, and press Apply to make the change take effect. The infeed station should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the infeed 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 pallets and 2 infeeds in your workcell.

Simple Pallet Workcell Step 6: Adding and working with slip sheet dispensers In this step, you add a slip sheet dispenser to your workcell. Add a slip sheet dispenser 1. Select Add a Slip Sheet Dispenser from the Process Navigator. NOTE: you can also add a new slip sheet dispenser from the Cell Browser. A slip sheet dispenser is added to the cell. 2. Direct enter the new location for the slip sheet dispenser. Enter the values -675, 1300, 0, 0, 0, 0 into the location field on the Slip Sheet Dispenser's General Property tab, and press Apply to make the change take effect. The slip sheet dispenser should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the slip sheet dispenser can not be moved in the workcell 4. Press OK or Apply to make the changes take effect.

Resulting State:


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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 this step, you change the pallet orientation / origin position for pallet station 2. Modifying a pallets orientation / origin for the palletizing process. 1. Select PalletStation2 in the workcell, and open its property page 2. Select the Pallet Tab. 3. Select the length on width picture () in the Teach Aid Frame and press Apply. This moves the origin for the palletizing process to a different corner of the station. Unit Loads are process on a pallet as defined by this origin. The build will start from this origin. 4. Select OK or Apply to accept the changes.

Resulting State: You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The origin of pallet 2 has been switched to the outside corner which means the unit loads will build from this corner.

Simple Pallet Workcell Step 8: Modifying an infeed stations process properties In this step, you change the Infeed orientation / origin position for infeed station 2. Modifying a infeeds orientation / origin for the palletizing process. 1. Select Infeed 2 in the workcell, and open its property page 2. Select the Infeed Tab. 3. Select the length on width picture () in the Teach Aid Frame and press Apply. This moves the origin for the palletizing process to a different corner of the station. Unit Loads are process on a infeed as defined by this origin. 4. Select OK or Apply to accept the changes.


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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 Pallet Workcell Step 9: Editing a unit load and adding a new unit load PalletPRO initializes with a unit load already existing in your workcell. In this example, you will modify the default unit load and add a new unit load. Parameters will be changed on both unit loads so that you can become more familiar with the editing of a unit load. Edit an existing unit load 1. Select unit load UL001-Sample Product from the cell browser The unit load's property page will open. Note:when the page opens, you will see the unit load you are working on as configured shown on pallet 1 in the 3D world. As changes are made in the property pages, the pallet unit load in the 3D world is updated when you press Apply. 2. On the Enter dimensions tab: change the Unit dimensions width value to 300. Remember, you must press Apply to have the change take effect. 3. On the Select Pattern Tab change the pattern to Optimal and press Apply. 4. Press the Palletizing Parameters button This takes you to the property page where you modify the palletizing process. Layer configuration and optimal path are two such processing parameters you can modify. 5. Change the layers field to 3, and press Apply. 6. In the left center of the property page a graphic shows Layer configurations. Right mouse click on the portion of the graphic that shows "Layer 1: Normal". A popup menu is shown. "Select Slip Sheet Above" from the list. Press Apply. A slip sheet is placed in the graphic, and on the pallet in the 3D world 7. In the Process Parameters frame select Double Case from the drop down list for Grippers, and press OK The unit load property pages should close..


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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 case gripper can pick and place multiple units. By default, PalletPRO configures the unit load for multiple unit picks and single unit placements. The unit load created will be modified to place multiple units. 1. Select Add Unit Load from the Setup Unitloads category on the Process Navigator. A new unit load is created and the property page is shown. The defaults for dimensions and pattern are used. 2. PalletPRO allows you to input a "skin" to a unit. A "skin" is an image file that is placed on each face of a unit. Press the folder button to the right of the Skin Image File: field. Select \PRO\PalletPRO\Example Workcells\Workcell Example\frna_logo.jpg. Install directory is typically C:\Program Files\FANUC. Press Apply. Your unit load shown in the 3D world will now have a new "skin" attached on each unit. 3. Select the Palletizing Parameters button to open the property page for processing parameters. It is on this page that we modify the gripper type and Layer cycle definition. 4. In the Process Parameters frame select Double Case from the drop down list for Grippers, and press Apply. The normal layers cycles frame grid changes to reflect a double case gripper. 5. In the Normal Layers cycle frame grid on the Configure Cycles tab we will modify the Group column to configure simultaneous placement of units. For each row in the grid, you modify how boxes are presented on the infeed, and how the robot places units. Modify the grid to have the following entries. Cycle Infeed Pick Orientation 1st drop Group 2nd 1 Length on Length 1 & And 2 2 Width on Length 3 & And 4 3 Width on Length 5 . 6. When you have completed editing the grid, press OK to finish the editing of this unit


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, and we can run a simulation of the palletizing process. Running the simulation of the palletizing process. 1. Select Run Panel from the Run Production category of the Process Navigator. The PalletPRO Run Panel dialog is opened. 2. Make sure the Refresh Display option is checked. Press Run. The Simulation Cycle Start dialog is opened. 3. Ensure that the following entries are made in the table. Line #1 – UL001 – Sample Product, Pick = Infeed1, Place – PalletStation1 Line #2 – UL002 – Sample Product, Pick = Infeed2, Place – PalletStation2 Press Start The Production Data display box is opened and the workcell starts palletizing.

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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 new workcell 1. Start a new workcell by selecting File / New from the main menu The workcell creation wizard is opened. 2. Select which Roboguide plugin you desire and press Next. This example uses 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 R2000iA/165F. 5. On the Additional Motion Groups Page select Next. 6. Select options to be loaded on the robot. Check the box next to the Extended Axis Control option in the list and press Next. See Configuring a virtual robot for an aux axis system form a more detailed description of this wizard step. 7. The final step of the wizard shows the configuration of the robot that will be serialized. Press Finish to start the creation of the virtual robot. After pressing finish the virtual robot is serialized. The process can be seen on the virtual TP screen. PRO should initialize with a 3D ChuiWorld. Defining the auxiliary axis hardware information. After serializing the virtual robot the configuration has extended axis capability. Axes must be added to the robot group 1 before the axes can be used. 8. Start the virtual robot in controlled start mode by selecting Robot / Restart Controller / Controlled Start from the main menu. The robot will restart in controlled start. 9. Press Menu button, and then select Maintenance


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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 for the extended axes. Select 7 and press enter. 14. A menu is presented which allows you to modify extended axis configurations. Select the Add Ext Axis item and press Enter. 15. The Virtual TP screen shows question that must be answered to define the hardware selected. When the questions appear left click the mouse on the virtual TP 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 Size: Aca6 o Motor Type Setting: /2000 o Amplifier Current Limit Setting: 40A o Extended axis type: Integrated Rail (Linear axis) o Direction: Select Y – this makes joint 7 perform in the robot Y direction. o Enter Gear Ratio: 120 o Maximum Joint Speed Setting: No Change o Motion Sign Setting: False o Upper Limit Setting: 5000 o Lower Limit Setting: -5000 (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 Ration Setting: 2 o Amplifier Number Setting: 1 o Select Amp Type: Alpha amp - 2 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: Aca6 o Motor Type Setting: /2000 o Amplifier Current Limit Setting: 40A o Extended axis type: Integrated Rail (Linear axis) o Direction: Select X – this makes joint 8 perform in the robot X direction. o Enter Gear Ratio: 120 o Maximum Joint Speed Setting: No Change o Motion Sign Setting: False

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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 Ration Setting: 2 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 is shown. Select Exit and press enter. 21. Press Fctn / Start (Cold) Roboguide opens with a robot in a workcell with no other devices. Expand the Robot Controllers / Robot 1 tree in the cell browser. The axes exist but a machine needs to be defined that use the auxiliary axes. To validate that the extended axes have been defined, the additional joints should be available on the Current Position tab of the virtual Teach Pendant.

Building an aux axis system example Step 2 Build the auxiliary axes system Step 1 created a new workcell, and configured a virtual robot with extended axes on the virtual robot. Step 2 uses these extended axes to build a Roboguide machine / auxiliary axis system. A machine is defined that has a base that defines the 10 meter Y rail. An additional joint is


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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 be a Machines element in the tree under the workcell. 2. Right Click on the Machines Element and select Add Machine / Box menu selection. A box is added to the workcell and the property page for the machine is shown. 3. Change the Name Property to X-Y Rail and press Apply. 4. Locate the Box. Enter Size in X = 1000, Y= 10000, Size in Z = 300 and 0, 0, 300, 0, 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 next step is to add the Y rail control such that when axis 7 (Y direction) is jogged or moved the X rail moves in the Y direction (joint 7). Build the dependent X rail axis. 7. Right Click on the X-Y Rail Machine root node under Machines and select Add Link > Box. A box for the X rail axis of the machine should be loaded into the workcell, and the property page for the control of joint 7 should be open. The motion control axis must be defined, the motor must attached to the motion control axis, and the CAD box must be located correctly for the machine. 8. Change the Name Property to X Rail and press Apply. 9. On the General property page press the Select 3D Axis button. This highlights the coordinate system that moves when the axis is jogged or moved. For more information regarding the 3D axis and Link CAD reference frames see Working with machines. 10. Roboguide constrains that the 3D axis origin of the axis link defines the origin of motion with the Z axis of the axis link defining the direction of travel. The Z axis of the axis link must be rotated to align with the Y rail base Box created in an earlier step. In the Axis Origin fields enter 0, 0, 0, 90, 0, 0 and press Apply. Note that the 3D axis reference frame now is in the direction of travel along the rail.


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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 floor and be 8 meters in the X direction. 12. Define the robot axis that controls this axis. On the X Rail Motion Property page select Group = GP:1 R-2000iA. In the Joint field, select Joint 7. Press Apply. 13. Open the virtual Teach Pendant and jog Joint 7. The box just attached to joint 7 moves in the World Y direction relative to the base CAD box. If the teach ball at the end of the robot moves in the opposite direction of the axis, it means that the motor direction is opposite of the CAD link Axis direction defined. 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 on the G:1, J:7 - X Rail Machine node under Machines and select Attach Robot -> GP:1 – R-2000iA/165f. This attaches the robot to J:7 X- Rail so that when the X Rail is jogged the robot moves on the rail. 15. Change the Name Property to Robot R2000 and press Apply. 16. Press the Select 3D Axis button. This highlights the coordinate system that moves when the axis is jogged or moved. 17. Roboguide constrains that the origin of the axis link defines the origin of motion with the Z axis of the axis link defining the direction of travel. The Z axis of the axis link must be rotated to align with the X rail Box created in an earlier step. In the Axis Origin fields enter 0, 0, 0, 0, 90, 0 and press Apply. The Z axis is now aligned with the direction of travel. The robot rotates because the Link CAD is relative to the 3D Axis origin. 18. Locate the Robot relative to the Axis Origin of motion. Select the Link CAD tab on the Robot R2000 property page. Enter 0, 0, 0, 0, -90, 0 for the CAD Location, and press Apply. The box should be on the floor and be 8 meters in the X direction. 19. Define the robot axis that controls this axis. On the Motion Tab of the Property page select the Servo radio button and then select Group = GP:1 R-2000iA. In the Joint field, select Joint 8. Press Apply. An aux axis system should now be defined. Validation can be done by jogging both joints 7 and 8.

Roboguide Menus

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 files. o Export  IGES export  Bitmap export o Recently used Workcell list • Edit o Undo o Redo o Cut: cuts the currently selected object. o Copy: copies the currently selected object to the clipboard o Paste: paste the cut or copied object o Delete: deletes the selected object • View o Cell Browser o Navigator o Zoom In: zooms the 3D world o Zoom Out: zooms the 3D world out. o Zoom Window o Orthogonal Views: snaps the view to the selected view o Center on selected object: centers the selected object o Full View: changes the zoom level of the 3D world such that all objects are in the field of view. o Wireframe: changes the objects to wireframe from surface mode. This setting is a toggle on to wireframe and toggle off to surface mode. o Perspective: toggles the 3D world into Perspective view. o Program Details o Quick bars  Jog coordinates  Gen override  Teach  MoveTo  Targets o Mouse Commands • Cell o Add Robot o Add Part o Add Fixture o Add Obstacle o Add Target group

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Roboguide Menus

• Robot

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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. o Lock Teach Tool Selection o Show Work Envelope; toggles the robot work envelope on/off. o Teach Pendant o Alarms o Web Browser: provides a window that has the Web server output displayed. o KCL Window: if KCL is enabled on the virtual robot, a KCL window is displayed. KCL commands can be entered. o Open/Close Hand: toggles the state of the end of arm tooling. See About using end of arm tooling for more information. o Restart controller: provides ability to restart the virtual robot in controlled start mode or cold start mode. o Load motion optimization: restarts the robot with motion optimization option enabled. This works with MotionPRO. o Launch MotionPRO o Robot Properties: opens the robot property page for the currently active robot controller.

o Add Simulation Program o Add TP Program o Load TP Program o Draw Part Features o Teach Program: opens the currently selected program into the program editor. o Program Properties: opens the property page for the selected program. Test-Run o Run Panel o Run Options: allows options available on the run panel to be modified from the main menu. o Profiler o Duty Estimation Project o Add Files o Recent files o Set Default folder o Build o Import o Export Tools o Explore : opens a MS Windows explorer window with the workcell directory as the active directory. o Options Window o 3D Panes: o Minimize all: Minimize editor windows o Show All: opens all windows

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Roboguide Menus

• Help

o Reset "Don’ show this again" captions: resets the dialogs that you turned off. 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 Transfer Roboguide License: provides dialogs to transfer a valid software license from one PC to another. o About: provides version information about the currently loaded process plugin.

Creating a workcell Roboguide provides a wizard to create new workcells. Within the creation wizard you define workcell name, robot type, and robot options. When complete the wizard creates a new virtual robot. This robot is the configuration for the virtual robot which is real robot software running on your PC. When creating a workcell you must consider whether you want the robot • Created from a blank. Use this option when you want to build a robot and define options for the robot. This is generally used when you don’t have a physical robot that has been configured for your workcell. • Created from the backup of an actual physical robot. Use this option when you want to model an actual workcell that has a robot configured. For more information see Creating a virtual robot from backup. The wizard is initialized when you select create a new workcell. To create a new workcell from the toolbar 1. Left click on the new cell toolbar icon () 2. The workcell creation wizard dialog box is shown To create a new workcell from the main menu 1. From the main menu select File / New Cell 2. The workcell creation wizard dialog box is shown For

more

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using

the

workcell

creation

wizard

press

here.

If you are using PaintPRO, and you have run PaintPRO by opening PaintPRO and not by

Roboguide Menus

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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 can be modified after a workcell is created through the Robot Property Page. When creating a workcell you must consider what type of workcell you want: • Handling Workcell • Pallet Workcell • Etc. When creating a workcell you must consider whether you want the robot • Created from a blank/scratch. Use this option when you want to build a robot and define options for the robot. This is generally used when you don’t have a physical robot that has been configured for your workcell. • Created from the backup of an actual physical robot. Use this option when you want to model an actual robot in a workcell. When the creation wizard is opened you see the steps of the wizard shown as a tree on the left. You can step through the wizard with the next and back buttons, or you can select a step directly by left clicking on the Workcell Navigator step in the left pane. Workcell Creation Step by step description: (specific to creating a workcell). Step: Enter process Selection: • Select the process type you want for your workcell. Roboguide knows what application process plugins are installed on the PC. If only one application is present on the PC it is your default type. Step: Workcell Name: • Enter the name you want for your workcell.

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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 robots in the workcell. For example, if line tracking is enabled, you would see "add line" under the fixtures menu. 2. Select the source of the object from which it should be added. Roboguide supports a CAD Library, importing of IGES files, and primitive objects. 3. If you select CAD File a dialog is opened in which you can select the CAD File desired. You may select multiple CAD files if you want to import multiple CAD images into the workcell as a single object. Note: the origin of the combined object will be the origin of the CAD files overlaid. If you select CAD Library a dialog is opened where you can browse the CAD library and select an object If you select one of the primitives, a primitive object is loaded into your workcell with default parameters. 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 IGES files, and primitive objects. 3. If you select CAD File a dialog is opened in which you can select the CAD File desired. You may select multiple CAD files if you want to import multiple CAD images into the workcell as a single object. Note: the origin of the combined object will be the origin of the CAD files overlaid. If you select CAD Library a dialog is opened where you can browse the CAD library and select an object If you select one of the primitives, a primitive object is loaded into your workcell with default parameters. If you select Robot, the robot serialize wizard is opened.

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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 the main toolbar to launch this wizard. • Virtual Robot Edit Wizard: used to add a new robot to the workcell or modify an existing one. Select Add Robot from the Cell menu or the right-click popup menu on the Robot Controllers category of the cell browser to launch this wizard for adding a robot. Press the Serialize Robot on the General tab of the robot property page to launch this wizard for modifying the selected robot. The wizards are very similar. The Workcell Creation Wizard has one or two additional steps at the beginning to identify the workcell. When the creation wizard is opened you see the steps of the wizard shown as a tree on the left. You can step through the wizard with the next and back buttons, or you can select a step directly by left clicking on the Navigator step in the left pane. NOTE: Version Roboguide V6.40 Rev D and later: the creation wizard order changes. The robot controller version must first be chosen when creating a new robot. The reason for the change is that the R-J3iC controller platform requires a new option selection mechanism. The Virtual Robot Edit Wizard (link to Configure your robot controller) makes it easy to modify the configuration of your robot. It is designed to allow you to quickly try robot variations for simulation purposes only. A number of the motion parameters (for example: axis limits) are reset to their default values by the wizard. Do not use this wizard if you have created this robot from a backup and intend to restore any files from the workcell back to the original robot. Steps in the wizard include: Step: Process Selection • Select the process plugin from the list. • This step is only shown by the Workcell Creation Wizard when more than one process plugin is installed on the PC. • It is also hidden if ROBOGUIDE is initiated by a specific process plugin.

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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 when a workcell is deleted. Step: Robot Selection Method • Select the method to create the virtual robot. o Create a new robot with the default xxxPRO config: The robot configuration in the steps below is initialized with the default selections provided by the selected process plugin.. Note: The text "xxxPRO" is replaced by the actual name of the selected process plugin. o Create a new robot with the last used xxxPRO config. This option is shown if you are creating a workcell or adding a new robot. or Create as a modification of the existing robot. This option is shown if you are reserializing a robot from the robot property page. o Create a robot from a file backup: creates a robot from a controller backup. The robot configuration is defined in the file backdate.dt. Press the browse icon (file folder) and browse to the directory that contains the backup of the desired controller. Select the backdate.dt file and press Open. When you press the Next button, the wizard tree is populated with information in the backdate.dt file. You will not be able to modify the details of the robot configuration. o Create an exact copy of an existing robot: allows you to make a copy of an existing robot. The robot may be a virtual robot or real robot. Press the browse robots () icon to open the Robot Neighborhood. Browse to

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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 wizard and change detail information. You re-enter the serialize a robot from the Robot Property Page Step: Robot Software Version • Virtual robot software that is loaded on your PC is displayed. Select the virtual robot controller version that you desire. Step: Robot Application Tool • Select the desired application Tool for the robot. Step: Robot Model • Select the desired robot from the list Step: Robot Models for additional motion groups • The step shows robots and positioners for additional motion groups. And a table that diagrams how the devices would be configured on the virtual robot. Click here for more information on defining additional motion groups. Step: Robot Options • Robot options, Languages and Memory configuration can be configured: o Software options tab: Scroll through the selections and check the boxes for the options that you desire. o Languages tab: select the desired language settings. o Advanced tab: Select the desired memory configuration for the created virtual robot. Select if FANUC Ltd. or FANUC Robotics America parameters should be loaded. (V7.20 and later) If the checkbox labeled "Configure I/O for simulation" is enabled you can decide if you want 4 process I/O boards to be configured or not. They provide a mix of I/O and UOP assignments suitable for simulation. The UOP assignments are required for proper operation of the run panel controls.

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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 target is created with each left mouse click at the mouse cursor. The target is added under the Targets category of the cell browser. • Surface Target: when depressed a target is generated with each left mouse click at the normal of the surface that mouse cursor is over. The target is added under the Targets category of the cell browser. 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 at the active / selected robots TCP. • To Group: when depressed, a new target is added to the Targets category and the current cell browser selected Target group. If not Target group is selected a message is posted.

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 to generate programs for a part in several locations. The fixture to generate a TPP part program on is a setting in the CAD to Path feature property pages. Features and segments defined: Features are 3 dimensional lines in PRO’s CHUIWorld. Robot programs can be generated from PRO’s features automatically. A feature can be generated from: • CAD Edges • Freehand drawn lines: mouse clicking on CAD surfaces to create a node by node line. Similar to a line creation tool in a drawing package.

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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 generate desirable robot process programs. For more information on CAD features click here. The following presents an example feature with 3 segments that was generated along a CAD Edge. Each segment has its own path generation properties. The yellow segment is the actively chosen segment.

A feature is organized in the cell browser, and is owned by the part category in the cell browser. It is visualized as a tree with the feature being the root node. The feature and its segments represent the 3D line that should be used to generate robot programs. Creating features A feature is a "3D" line segment that can be generated in multiple ways in PRO Software. 1. From a CAD entity. Roboguide has tools to track the edges of CAD entities and create a feature. 26. Drawing a line on the CAD. This works like most drawing packages where you click and drag the mouse to create a line segment. As the line segment is drawn it is mapped to the CAD surface on which you are creating the line. There are multiple line drawing options: 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, they are represented in the Cell Browser under the Part object that created the feature with. The feature stays with the part, even if you use the part in multiple locations in your workcell. When generating a program, you can select which instance of the part should have the program generated. The feature property pages provide settings to control the generation of TP programs. Once parameters are defined, TPP programs are generated automatically when Apply is pressed. For more detail on the types of features supported see What features are available in PRO Software. Programs generated from features and segments: A feature and its segments have properties for the program generation for the entire generated program. Each segment can set properties for the generation of the chosen segment. Each segment has properties that can be defined for the loaded PRO process plugin. This provides great flexibility in generating programs from a feature to meet desired process needs. Once a feature has been defined, the feature and its segments have property pages that

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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 features are available in SimPRO. Setting up defaults for program generation to optimize desired results When generating programs it is desirable to have the programs generated take into account the configuration of the end of arm tooling. For example, if the tool center point on the robot has a definition that has the TOOL Z vector defined into the tooling (as ARC does), the paths being generated should take this into account. A TOOL Z vector defined out of the tooling would require the Z vector of a created point to be opposite in direction in order to attain desired results. PRO allows you to setup the CAD to PATH generation properties on the Tooling property pages. Fields include approach and retract distance and speeds, and tooling orientation setup for program generation. For more information see Setting up a UTOOL for path generation . The tooling defines defaults, but many factors can influence the generation of the programs. The tooling defaults can be overridden on a features generation property pages. These include part location and orientation relative to the robot. Program generation methods: When generating a program, PRO uses the normal to the surface that was used to create the feature as its reference starting point for generation. Therefore, if a program is generated with no modifications to the generation parameters, the resulting program provides points with orientation normal to the surface that was used to generate the feature. 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 between points: PRO minimizes the number of created positions by testing for linearity between positions. The determination of linearity can be adjusted on the feature to program generation property pages. • Circularity between points: PRO determines if three created positions define an arc that can be defined using circular motion. If PRO determines and arc exists it automatically creates the circular motion program lines to provide the desired arc. The determination of circularity can be adjusted on the feature to program generation property pages. • By default a feature has one segment when it is first created. Feature properties effect segments that make up the feature. When a segment is first created it inherits the properties of the feature. The first segment properties control the approach position and the last segment controls the retract position. If there is only one segment for the

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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 in the feature. The feature owns the approach/retract distance and speed properties. • Roboguide minimizes the number of points that meet the criteria defined on the property pages for linearity, circularity, and programmed speed. Roboguide uses these settings and automatically eliminates points such that the resulting program is within the parameters specified. Controlling output program parameters being generated When generating programs the output program name, robot group to generate with, UFRAME and UTOOL to be used can be defined on a property page. Controlling Program settings General program speed and program flow must be defined for programs. A program should include approach and retract distances with associated speeds and motion types. Motion parameters for generated positions along a feature must be defined to meet the process needs. Different robot processes require different process control capability, and the ability to call programs while generating programs must be allowed so that additional editing of generated programs can be minimized. Roboguide provides fields to control these parameters on the Feature and Segment Prog Settings property page. Default control of positions being generated There are several factors that effect how position location and orientation should be 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 vector track the feature . This is required when precise alignment of the tooling relative to the part is required (cutting). In some cases, the precise orientation of the end of arm tool relative to the feature is not as critical (deburring) . • Desired robot configuration: a robot can generally reach a position with different arm configurations. • Desired motion types: the types of motions being created is defined by the feature that is used to generate programs. If a feature has many linear pieces it is desirable to reduce the number of positions using linear motions. If arcs are present it is desirable to have circular motion control. The default position generation settings are defined on the Feature and Segment Pos

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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 for a removal application. There are multiple references that may be desirable based upon the application and the parts being used: • Relative to a reference surface: the position is offset relative to the surface that was used to define the feature. Translations and rotations are relative the surface used to generated the feature.f • The normal relative to the normal itself: when this is chosen the position is offset relative to the normal itself. Translations are relative to the surface used to generate the feature and rotations are relative to the normal vector When performing both translation and rotation on positions it is important to specify whether the translation is done first or the rotation is done first. The results are different based upon is chosen. The Fine control generation settings are defined on the Feature and Segment Pos Offsets property page.

3.1 PalletPRO Menus PalletPRO menus are customized for the PalletPRO process. The following lists by Main menu category additional menu items added by PalletPRO. For the core menus see Roboguide menus. · File_Menu o Download · Edit o Same as Roboguide menus · View o Same as Roboguide menus · Cell o Add Part is removed o Add Fixture : PalletPRO has specific fixtures targeted for palletizing. o Add Unit load: available only in PalletPRO. Adds a unit load to the workcell. For more information see About Pallet Unit Loads o Gripper setup: used for end of arm tooling configuration. o Pallet System Setup · Robot o Open/Close Hand is removed · Teach o Add Simulation Program is removed. o Add TP Program

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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 o Run Panel o Run Options: allows options available on the run panel to be modified from the main menu. o Profiler is removed o Duty Estimation o Production data o Cycle start o Same as Roboguide menus o Same as Roboguide menus

Working with the PalletPRO fixture property pages PalletPRO has unique fixture objects. Each have unique properties that you can define through PalletPRO. These include: • Infeeds • Pallets • Slip Sheet dispensers Using the Infeed Fixture Property Tabs Infeed fixtures have general Roboguide fixture properties and Palletizing Infeed unique properties. General properties include location, CAD file, and color. Palletizing properties include defining orientation, simulation parameters, and other pallet specific properties. Related Topics: Working with the Infeed Fixture General Property tab Working with the Infeed Fixture Infeed Property tab

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Using the Fixture General tab The General Tab of the Fixture Properties page provides fields to edit general obstacle properties. These fields include: • Name: enter the name you want for the fixture. • CAD File: defines the CAD file used for this fixture. • Visible: if checked you can see the fixture. When you change the state of the field, you must press Apply for the action to take place. • Type: set by Roboguide. This is a primitive entity of Box, Cylinder, Sphere, or CAD 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 the 3D ChuiWORLD zero reference position. • 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 checked, locks all of the location values for the fixture.

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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 this number. o Transit delay: defines the delay time PalletPRO uses before releasing a unit from the infeed queue to the robot. For more detail on how PalletPRO controls unit flow click here. • Teach Aid o Orientation defines what side of the conveyor that parts are presented to the robot, and is also known as the origin of the infeed. It also defines how the X direction of the UTOOL lines up with the infeed. When you select an orientation a flat box with an arrow appears on the infeed (). , the station origin must be in the corner of the conveyor where the unit will be when it is picked up. The conveyor will place the units in a specific corner of the conveyor. Locate the station origin in the corner where 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 you want the origin to be on which defines the origin to PalletPRO and PalletTool. For infeed stations, the station origin must be in the corner of the conveyor where the unit will be when it is picked up. The conveyor will place the units in a specific corner of the conveyor. Locate the station origin in the corner where the robot will find the units  Length on length:.Parts are received on the right side of the conveyor. Called length on length because the arrow on the PalletTool teach plate is along the length of the conveyor. The X direction of the UTOOL is along the length infeed.  Width on length: Parts are received on the left side of the conveyor. Called width on length because the arrow on the PalletTool teach plate is along the width of the conveyor. The X direction of the UTOOL is along the width of the infeed.

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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 of the infeed in order to teach the origin. Since PalletPRO has knowledge of the workcell and automatically determines the origin, it may not be necessary to set the offset values. o Move To: select this to move the robot to the origin position created by PalletPRO. • Infeed IO o Maximum Parts: defines the maximum number of units that can be queued on the conveyor. o Part Orientation DO: signals PalletTool what orientation the next unit will be. Not used by PalletPRO. o Part Present DI : signals if a part is present 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 teach a station you determine where the pallet or conveyor will be by locating it in your workcell, and then define on the station property page information that PalletPRO uses to calculate the location of each station and the position of each unit. When you teach the stations you • Decide the station location by locating it in your workcell • Locate the station origin by defining the orientation on the respective stations property pages. PalletTool/ PalletPRO uses two kinds of stations:

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• 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 infeed, single pallet station workcell configurations with recommended locations for infeed stations and pallet stations, and example fixture plate locations. These workcells could use a single slip sheet station. Standard Workcell Layouts - Single Infeed, Single Pallet The figure below shows a standard layout for a double infeed, double pallet station workcell configuration. This workcell could use two slip sheet stations. Standard Workcell Layout - Double Infeed, Double Pallet

Station Location and Origin The location of the infeed and pallet stations is determined by the requirements of your installation. If your unit loads require slip sheets or pallet handling , you must also plan where to locate the slip sheets and pallets so that the robot can reach them, and they do not 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 origin must be in the corner of the conveyor where the unit will be when it is picked up. The conveyor will place the units in a specific corner of the conveyor. Locate the station origin in the corner where the robot will find the units. Fixture Plate Orientation for Infeed Stations Infeed offset (length/width) 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 of the infeed in order to teach the origin. Since PalletPRO has knowledge of the workcell and automatically determines the origin, it may not be necessary to set the offset values. For pallet stations, FANUC Robotics recommends that you select the station origin to optimize cycle time and prevent collision of the units during palletizing. This will generally be at one of the two corners farthest from the infeed. If the robot cannot reach the corner, you can place the origin somewhere other than the corner of the pallet, then use pallet offset information under Pallet Station setup.

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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 which PalletTool will build the unit load. It is also the direction in which the arrow of the fixture plate points. The orientation of the fixture plate also determines the positive and negative directions for the pallet approach length and the pallet approach width. The pallet approach length and width are values that can be adjusted to optimize how the robot places units on the pallet. See the following figure for examples of how the positive and negative values are affected by the fixture plate orientation. Fixture Plate Orientation for Pallet Stations Pallet offset (length/width) specifies the distance to shift the origin of the pallet, along the length/width of the pallet station. Pallet offset (Length) and (Width) are typically used when the robot cannot reach the corner of the pallet in order to teach the origin. In this case, teach the station origin on the pallet, in a location where the robot can reach it. . Since PalletPRO has knowledge of the workcell and automatically determines the origin, it may not be necessary to set the offset values.

About controlling infeed rates with PalletPRO The rate at which units are delivered to the robot on an infeed is controlled with several parameters within PalletPRO. The factors that control this include: • Infeed Transit Delay (found on the Infeed's Infeed property tab): defines the delay time PalletPRO uses before releasing a unit from the infeed queue to the robot. This assumes there are boxes in the queue to be released. Boxes in the queue are controlled by the case rate of the unit load. • Maximum Parts: (found on the Infeed’s Infeed property tab). defines the maximum number of units that can be queued on the conveyor. • Case Rate: (found on the unit load dialog under palletizing parameters): controls the rate at which units are fed to the infeed queue. This is the key value to calculate throughput during simulation. You adjust these parameters for multiple purposes: Quality of throughput calculations: the key parameter is the Case Rate defined as part of the unit load. This value provides the throughput assumptions from the real system Quality of visualization: setting the Infeed transit delay to a low value will allow for the 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

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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 the infeed queue. If the value is one then you see little part queuing. If the number is 6 (max) you can see up to 6 parts queued on the infeed. Using the Pallet Fixture Property tabs Pallet fixtures have general Roboguide fixture properties and Palletizing pallet unique properties. General properties include location, CAD file, and color. Palletizing properties include defining orientation, simulation parameters (pallet index time), pallet positions, and other pallet specific properties. It is critical to correctly configure your pallet for proper Palletizing simulation. Related Topics: Working with the Infeed Fixture General Property tab Working with the Pallet Fixture Pallet Property Page Working with the Pallet Fixture Pallet Positions Property Page 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: if checked you can see the fixture. When you change the state of the field, you must press Apply for the action to take place. • Type: set by Roboguide. This is a primitive entity of Box, Cylinder, Sphere, or CAD 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 the 3D ChuiWORLD zero reference position.

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• 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 checked, locks all of the location values for the fixture. Working with the Pallet Fixture Pallet Property Page The Pallet fixture pallet property page has fields to configure the pallet in your PalletPRO workcell. Fields include: • Pallet properties o Number: is the Pallet ID number used by PalletTool. o Index Time: is the time used to determine the delay between when a Pallet is full to when a new pallet is put into the workcell. This delay is used for simulation purposes. • Teach Aid o Orientation: defines the origin of the pallet for palletizing. It also defines how the X direction of the UTOOL lines up with the pallet. FANUC Robotics recommends that you select the station origin to optimize cycle time and prevent collision of the units during palletizing. This will generally be at one of the two corners farthest from the infeed. If the robot cannot reach the corner, you can place the origin somewhere other than the corner of the pallet, then use pallet offset information under Pallet Station setup. 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 is also the direction in which the arrow of the fixture plate points. The orientation of the fixture plate also determines the positive and negative directions for the pallet approach length and the pallet approach width. The pallet approach length and width are values that can be adjusted to optimize how the robot places units on the pallet.

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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 along the width of the pallet and defines the X direction of the UTOOL to be along the length of the pallet. o X offset, Y offset: specifies the distance to shift the origin of the pallet station along the length of the pallet station. Pallet offset (length) and (width) are typically used when the robot cannot reach the corner of the infeed in order to teach the origin. Since PalletPRO has knowledge of the workcell and automatically determines the origin, it may not be necessary to set the offset values. o Move To: select this to move the robot to the origin position created by PalletPRO. • Pallet IO o Pallet Present DI: Is the IO point used to detect that a pallet is present. o Pallet Index DO: Is the IO point used to signal a pallet index.

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 for a slip sheet. Generally, for PalletPRO, this is the surface of the pallet at the center of the pallet. PalletPRO automatically generates this position when the pallet is put in the workcell. o If you move the pallet, PalletPRO automatically updates the position to be the center of the pallet. o If you move the robot and record a new position this would be the new slip sheet position.

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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 diagonal retreat path can be used when the pallet retreat position is higher than the infeed perch position. 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 stability, particularly when columnar patterns are used. Some unit loads are built directly on a slip sheet or tier sheet, instead of on a pallet. Slip Sheet Dispenser property pages are provided to define general fixture properties and slip sheet specific properties. Tabs include: • General Tab • Slip Sheet Dispenser Tab

PalletPRO provides slip sheet dispenser fixtures to enable slip sheet simulation. PalletPRO automatically calculates key Slip sheet positions (search start and search end) because it has knowledge of the slip sheet dispenser in the workcell. If your unit loads require slip sheets, you must • 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 slip sheet program. Slip sheet search attempt information will automatically be calculated from the position register information PalletPRO initializes this value, but you can change it.

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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 feature needed? This feature allows you to synchronize your production workcell with the PalletPRO simulation workcell. Many users first use PalletPRO to test/validate their application as close to the real world conditions as possible. Then all data is downloaded to the real production robot. While running with the real robot, users tweak fixture locations, unitload data and I/O points. It is a great advantage to be able to import or upload all the data back to PalletPRO so that the real-world and simulation world scenarios are exactly the same. With the Upload menu in PalletPRO, the slip sheet dispenser, pallet dispenser, infeeds and pallets can be re-located exactly where they were relative to the robot in the real world. If you made changes to unitloads in the real robot, they would be imported into PalletPRO. The following data are imported into PalletPRO: Data File Read PMINFxxx.VR

PMSTAxxx.VR

POSREG.VR

Description Infeed data

PalletPRO allows maximum 4 infeeds to be refreshed.

Pallet data

PalletPRO allows maximum 4 pallets to be refreshed. Data will be reset in the pallet station file for "Pallet index time".

Perch Position, Maintenance Position, Slip Sheet Positions, Pallet Dispenser Positions

PMGRIPDT.VR

Gripper Data

PMPSYSDT.VR

PalletSystem Data

PMULxxx.VR

Comment

Unitload data

If the pallet dispenser and slip sheet dispenser position registers are uninitialized, then it is assumed that they are not used and PalletPRO will not create/display these fixtures.

Data will be reset in the unitload for: Case Rate, Customer Name, Measurement System (always

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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) Networked Robot 3) Backup Directory. Workcell Robot Controller refers to the virtual robot controller in PalletPRO. Networked robot refers to any FANUC robot on a network, which has an assigned IP address. Backup Directory refers to a directory on your PC or on the network that contains a backup (from File -> Backup All" from the teach pendant) of a real robot. Browse: The Browse button is disabled when the Upload From (source) is Workcell Robot Controller. This command button allows you to open a file dialog as shown below, to navigate to a backup directory on your PC or a networked PC when the Upload From (source) is Backup directory. Highlight the backup directory and then click on ok. If the Upload From (source) is Networked Robot, Browse will open a "Robot Network" dialog as shown below. Users can add/delete Robot IP addresses here. To add a robot, type the network name or the IP address of the robot in the Robot Name/IP text box, and then click on Add Robot. The item will be added to the List of Robots list box. If you wish to delete an item, select it in the List of Robots list box and then click on the Del Robot button. The selected robot for upload operations will be the one that is highlighted in the List of Robots list box. Files To Upload: The list box is populated with the files that are uploadable from either the workcell robot, the networked robot or the backup directory depending on the selection in the Upload From combo. You can use Ctrl and SHIFT buttons on your keyboard while clicking with the mouse to select multiple items. DeleteFrom PalletPRO items that are not found in the Upload Source checkbox: While uploading data, if you wish to delete from PalletPRO, infeeds, pallets, unitloads, slip sheet dispenser or pallet dispenser that were not found in the backup directory, workcell robot or the networked robot, you must check this box. Backup data in Virtual Controller before Uploading checkbox: If you check this box, then before performing an Upload, PalletPRO will backup the data that exists on the Workcell Robot Controller to the "PalletBackup" directory which will be located in your Workcell directory. If for any reason, the Upload failed, you can restore this backup and try the Upload again to go back to your old settings. If you do choose to backup data, this might take a long time depending upon how many unitloads you have in your workcell.

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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 for the selected files in the Files to Upload list box. If the Delete check box is checked, then it deletes the orphan elements in PalletPRO. A progress bar will be displayed in the 3-D world during the Upload operation. When the process is complete, a file called "Upload.log" is created in the workcell directory that stores useful information about the Upload steps – conflicts that PalletPRO encountered, skipping files where it was uncertain, things that it changed, etc. PROCEDURAL RECOMMENDATIONS FOR UPLOAD • If the robot is on a riser, first raise the robot to the appropriate height from the Location control Z value of the Robot General property page. Then do the Upload. You need to do this because the data in the Backup directory on the robot controller does not contain the data for the riser height. If it is not done before invoking the Upload procedure, then all the positions uploaded are likely to be offset by the riser height. This will make many positions not reachable. If you forgot to set the Z height in the robot property page, then fortunately, it is still quite simple to recover. Set the Z height in the robot property page and then repeat the upload procedure. Now all your positions will be correct. • If your infeed stations have a Scale Y other than 1 (you have narrower or wider infeeds than the standard), then first create that infeed station and set its Scale Y correctly before invoking the Upload procedure. Failing to do so, will create the infeed at an incorrect location. The reason you must do this is that Scale information does not exist in the backup or controller data. • If you have Pallet stations that are taught "Width on Length", then Upload may not draw your pallet at the proper location, unless you follow the following procedure. o Insert as many pallet stations as you need into the workcell. Their actual location is not important since they would be updated by "Upload" later. o Create a different unitload to run on each of the pallets. Decide which unitload is going to run on which pallet station. Once you decide that, enter the value of the pallet dimensions in the appropriate unitload. Then run simulation (Press the play button). As soon as the robot goes to perch position and as soon as you see the "Begin Palletizing" message at the bottom of the screen, abort simulation. You will note that in the 3-D world, each pallet station contains a pallet of the size you wish to run there.

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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 not necessary. If the pallet is taught width on length but the width dimension is 40 inches or 1016 mm, then this procedure is not necessary.

Notes & Limitations for Upload 1. There is no UNDO for Upload. Please save your workcell before invoking Upload. If after the Upload, you wish to revert to your items in PalletPRO, exit the workcell without saving and then re-open it. Also, remember that you might have a valid backup of virtual controller data in the "PalletBackup" directory under your workcell directory. 2. At the completion of the Upload, a filed called "Upload.log" is created in your workcell directory. You should get into the habit of reviewing this file after an Upload. 3. When you do a workcell Save, the data for Upload From (source), Upload Path and the selected Robot in Robot Network are saved in the PalletPRO workcell. These settings will be restored when you re-open the workcell. 4. Upload will update any infeed, pallet, slip sheet dispenser, pallet dispenser or unitload in PalletPRO when it finds matching items in both PalletPRO and the Upload From source. If an item in the Upload source is not found in PalletPRO, it will be created in PalletPRO. For example, if you have Unitload number 610 in the Upload Source and not in PalletPRO, a new UL610 is created in PalletPRO. When a new Unitload, infeed or pallet station is created in PalletPRO, it will utilize all the data that was found on the controller. However, certain items will be unique to PalletPRO such as the Case Rate in the unitload menu or the pallet index time in the Pallet menu. For such items, default values will be used. 5. If the "Delete checkbox" is checked, items in PalletPRO that were not found in the Upload source will be deleted. For example, if UL620 did not exist in the Upload source but was found in PalletPRO, it will be deleted. If the "Delete checkbox" is not checked, this deletion of orphan elements in PalletPRO will not be performed. 6. Upload does not use TP programs and System variables If you wish to update PalletPRO with these items, you must manually copy them from the real robot to the virtual robot in PalletPRO. The reason PalletPRO does not automatically do this is because your custom programs may contain I/O logic that will prevent simulation from running or which may need to be simulated manually using the virtual teach pendant.

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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 a PalletPRO workcell with a V6.31 virtual robot containing PalletTool Turbo, you must upload files from a real controller that contains V6.31 version and PalletTool Turbo. If you fail to match versions in the real and simulated robots, your upload will fail and/or the PalletPRO workcell will stop working. 8. Upload function is available only when the PalletPRO workcell is not running. 9. Always verify your data after the Upload. PalletPRO supports uploading data from many versions – primarily from V5.30-3 to the latest 6.40-1 versions. Between these versions, there were many changes to the various data files (VR files). PalletPRO knows about the changes and handles them. However, in handling them, sometimes it has to infer or assume certain pieces of data required by PalletPRO that are not directly available in the VR files. Users must be aware of this and check and rectify data, if necessary. One example is that the Number of cases of a multi-case gripper is not saved in the Unitload VR files. While Uploading data, PalletPRO infers the number of cases by counting the number of units in each row of the "Configure cycle" data. However, users can assign less than the maximum number of cases to each row and PalletPRO might conclude that the multi-case gripper has only 4 cases whereas in reality it had 5. This is not a problem except that when you open the unitload in PalletPRO, you will get a warning and a choice to either reset the data or not reset it. You should always choose not to reset the data. If uploading data from a V5.30 source, then please note that PalletPRO does not support custom grippers. So, if your unitload contains custom grippers, you need to check and correct your data. Another example is Upload of gripper data. The I/O configurations in the PMGRIPDT.VR file might not match the I/O configuration in PalletPRO and this might generate "Write I/O failed" errors. Third, some features such as "Pallet picking" are not supported for certain controller versions such as V5.30 or V6.22. In such a case, the robot will not pickup the actual pallet but it will go through its motions. Fourth, if the I/O assignments for each case of single, double, triple and multi-case grippers are not the same, then box flow on the infeed conveyor will stop or appear to not maintain the specified case rate. You may need to uninitialize the pallet search end and slip sheet search end positions if you do not really have a pallet or slip sheet dispenser in the cell.

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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 to custom logic and special I/O you put into the programs, PalletPRO might not run properly or worse yet, lock up.

To download files from PalletPRO to a robot using ethernet This procedure details the process to download unit load data from PalletPRO to a robot controller using an Ethernet connection. For detailed information about setting up Ethernet on the robot controller, reference robot controller documentation. To download files from PalletPRO to a robot using ethernet 1. Setup the controller for Ethernet communications. Refer to the robot communications manuals for details. After setup you should know the controller’s IP address and name (if setup). You will need this information. Ensure that the robot is communicating with the PC through Ethernet. The following presents a summary of setup. If you are using Ethernet Download, then you will need to setup FTP (Host Comm) on the robot controller. Please make sure to set the following items in the Menus - > Setup - > Host Comm -> TCP/IP Details: SETUP\Host\Comm\\\\\\\\\\\\\\\USER\\10\% TCP/IP 1/31 Node name: \\\\\\\\\PDEROB028 Router name: R32 Board address: 00:E0:E4:F7:94:1D Subnet Mask: 255.255.240.0 Host Name (LOCAL) Internet Address 1 PDEROB028 172.22.194.28 2 R32 172.22.192.1 3 ********** ****************** 4 ********** ******************

2. Ensure that PalletTool is setup for Ethernet communications. 3. From PalletPRO, select from the main menu File / Download. 4. Ensure that the desired download file(s) is in the Download From box. If not, browse to the PC directory that contains the desired files. PRO software places all workcell files in the My Workcells directory of your user profile.

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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 the robot is not in the Download To: list enter the desired robot name or IP address into the Add Robot box, and press Add Robot. The robot entry should appear in the Download To: box. 7. Select the desired robot(s) to download the selected file(s) to. 8. Press the Download button. Files should download with messages posted to the status box. The status box is a dropdown so multiple messages may be viewed. Note: if the robot controller is setup for a file download method of serial, the files will be copied to the controller’s RD: directory. When the file download method is changed to Ethernet the unit load files are loaded automatically.

To download files from PalletPRO to a robot using serial This procedure details the process to download unit load data from PalletPRO to a robot controller using a serial connection. When you download files using a serial connection, you will actually be pulling the files from the teach pendant of the real robot. To download files from PalletPRO to a robot using serial 1. Setup the controller for Serial communications. Refer to the robot manuals for details. Ensure that PalletTool is setup for Serial communications. 2. From PalletPRO, select from the main menu File / Download. 3. Select serial for Type of Connection. 4. Press Download. A DOS window will open. 5. Go to the robot teach pendant to copy files to the controller. Select Menus / File / Type / PC-Robot. After ensuring the serial connection is valid, press Done. The PC-Robot menu will list all the files as shown below (this may take some time): GET_KEY LINE 259 PAUSED FILE\PC\To\Robot\\\\\\\\\\\\\\USER\\10\%

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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 Station files – PMINFxxx.DT o Pallet Station files – PMSTAxxx.DT o Gripper data file – PMGRIPDT.DT o PalletStation data file – PMPSYSDT.DT 6. When you are done downloading, press the ENTER key in the Kfloppy DOS window in PalletPRO to dismiss it.

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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: Using the mouse To zoom in: 1. Press and hold the left and right mouse buttons 2. Move the mouse up To zoom out: 1. Press and hold the left and right mouse buttons 2. Move the mouse down If you have a mouse that has a wheel and button: 1. Turn the center wheel of the mouse. One direction zooms in and the other direction zooms out. Using the toolbar There are 2 zoom features on the toolbar. To fill the view with a boxed selection: 1. Select the Zoom Window Icon on the toolbar (). The cursor changes to select a zoom window ()

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2. Press the left mouse button and drag the mouse to make a window that you want to fill the screen. 3. Release the left mouse button, The screen is filled with your selection

To zoom in from the current viewpoint: 1. Click the + zoom button () on the toolbar with the left mouse button To zoom out from the current viewpoint: 1. Click the - zoom button () on the toolbar with the left mouse button

Using the menus To zoom in: 1. Select from the menu system – View , 3D World, Zoom-In To zoom out: 1. Select from the menu system – View , 3D World, Zoom-Out

Panning the view To pan the 3D World You use the mouse to pan the 3D world. 1. Press and hold the CTRL keyboard key 2. Press and hold the right mouse button 3. Drag the mouse to pan the field of view 4. Release the left mouse button to stop panning mode

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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 the currently selected objects frame of reference. 1. Select the object with which you want to rotate the view about. 2. Press and hold the right mouse button 3. Drag the mouse. You will see the world rotate. 4. Release the right mouse button to stop rotation mode.

4.2 Viewing modes View modes Roboguide has different viewing modes: • Normal view: this is the default viewing mode in CHUIWorld. • Wire frame mode: all objects are viewed in wire frame. To enable wireframe select Wire-frame from the main menu View / Wire-Frame or from the toolbar icon wire-frame toggle button (). • Perspective view: the workcell is viewed in perspective view. To select perspective view select Perspective from the main menu View / Perspective.

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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 industry experts targeted for use in Robotic simulation systems. The world view can be manipulated with mouse and keyboard commands.

Using the Navigation Tips Screen in the 3D CHUIWorld Navigation of the 3D CHUIWorld is done through mouse commands and combinations of keyboard and mouse commands. Roboguide provides a tips window to help you learn and remember CHUIWorld navigation methods. To turn on/off the navigation tips on the 3D CHUIWorld using the toolbar 1. Press the Navigation Tips Toolbar icon () to show / hide the navigation tips window. To turn on/off the navigation tips on the 3D CHUIWorld using the menus 1. Select Mouse Commands from the View menu.

About the CHUIWorld View Plane The 3D CHUIWorld view plane is what your eye currently sees in the 3D World locked at the objects reference frame for depth. For example, assume you have chosen the robot as the desired object, and its located at the 0 point of the world. If you view from directly in front of the robot, the view plane is the robot worlds Y – Z Plane locked at the World X for depth. The best way to understand the View plane is to jog the robot using View plane jogging.

About collision detection in 3D CHUIWorld Collision detection is enabled by default whenever you operate in 3D CHUIWorld. Collision detection can be disabled on the Run Panel while running a simulation. As the robot moves while jogging or through a simulation, the robot, its end of arm tooling, and, if present, parts in the end of arm tooling are checked for collisions with objects in the workcell. When a collision occurs the robot and the object it collides with change color.

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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. PRO Software also provides a teach/ jog tool which allows you to "drag" the robot around the work envelope There are multiple ways to jog the robot. • Jogging using the teach tool • Jog using the virtual teach pendant

About the teach pendant jog panel The teach pendant jog panel provides a toolbar to quickly modify the jogging frame of the robot. If options are loaded on the controller (RTCP, WristJoint, coordinated motion) additional buttons are added. Changing the jog coordinate frame using this toolbar effects the Virtual teach pendant robot jog and how the teach tool operates. • Virtual Robot Jogging: changes the jog coordinate frame • Teach tool operation: changes the view of the teach ball triad. The teach ball triad is displayed in the selected jogging coordinate frame Jog modifiers are available for different types of motion including Wrist joint, and Remote TCP. There are two frames on the jog panel toolbar: • Coord type: lists available coordinate jog types. This sets the Coord on the virtual robot. • Teach tool motion: you can select either Joint or Linear motion. The selected motion is they type of motion that is executed when the teach tool ball is used to move the robot.

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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. • World: when a jog button is depressed the robot moves in the world coordinate system along the axis selected. • Tool: when a jog button is depressed the robot moves in the Tool coordinate system along the axis selected. See Jogging using UTOOL for more detail. • Wrist Joint: this jog mode is enabled with another Cartesian jog mode (User, World, or Tool). When the robot moves, the joint axes 4, 5, and 6 are not linear interpolation. Joint interpolation is used on the minor axes. • RTCP: this jog mode can be selected with another Cartesian jog frame, and the robot can be jogged in the RTCP frame. • Coord Jog: this jog mode is used with coordinated frames. The leader group is moved, and follower groups are coordinated with the leader group in the define coordinated motion frame. For more information, see controller documentation on coordinated motion.

Enabling and disabling the teach pendant jog panel To view/ hide the jog panel From the toolbar 1. Click the show jog panel toolbar icon () with the left mouse button The toolbar icon acts as a toggle to show and hide the jog panel

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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 toolbar button () 2. Slide the speed override slide bar to the desired speed override

Jogging using UFRAMEs On the Virtual Teach Pendant or the pop up Coord system toolbar you can select what jog coordinates with which to jog. If UFRAME is selected the robot will jog in the UFRAME that the currently selected for the robot in the cell browser.

Jogging using UTOOL On the On the Virtual Teach Pendant or the pop up coord system toolbar you can select what jog coordinates with which to jog. If Tool is selected the robot will jog in the UTOOL coordinate system that is currently selected in the cell browser / Robot Controllers / Robot / GP:1 / Tooling category. The currently selected Tooling can be set in multiple ways: • When a program is selected from the cell browser, Roboguide sets the Utool to the value defined by the programs UTool Used property • When a Tooling EOAT is selected from the cell browser, Roboguide sets the Utool to the EOAT Tool Center Point defined on the EOAT Property Page / Tool Center Point tab.

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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 ball is locked with a jog coordinate system. This makes it less easy to select other objects in the workcell. To release the lock: • Double click on some other object in the workcell • Release the lock by pressing the teach tool toolbar button

Move Retry - Automatic tool orientation adjust while jogging When jogging the robot with the teach tool it is common to move the teach ball to an unreachable position. The position can be unreachable for several reasons. Two common reasons include: • Location is out of the reach of the robot • Orientation is not reachable by the robot 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 attempting to move to and retry the move. A search is continued until either the position can be moved to or no reachable position is found. When enabled, Move To retry is used for the following types of moves: • Teach ball jog • Surface moves • Virtual TP current position tab moves To enable / disable move retry mode 1. Press the Move Retry Toggle button on the toolbar () When in this mode and the Move Retry functionality is activated the teach ball will turn yellow when it reaches the new modified position.

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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 and drag the coordinate system triad. 4. Release the mouse button where you want the robot to move to. 5. The robot will move to the position if possible.

Show me an AVI Along the CHUIWorld view plane 1. Select the teach tool 2. Put the mouse cursor over any coordinate of the teach tool. The cursor will change to a hand (

).

3. Press and hold down the CTRL Key on the keyboard. 4. Click the left mouse button and drag the coordinate system triad. 5. Release the mouse button where you want the robot to move to. 6. The robot will move to the position if possible. Show me an AVI For rotation 1. Select the teach tool

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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. 5. Release the mouse button where you want the robot to move to. 6. The robot will move to the position if possible. Show me an AVI 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 teach pendant jog panel for more information.

Jogging in a Remote TCP frame Roboguide provides tools that make jogging in a Remote TCP frame easier. There are features that make RTCP jogging simpler in Roboguide’s 3D CHUIWorld. It is important to understand how to jog the robot in the RTCP frame. If there is intent to use CAD to Path for Remote TCP program generation it is important to understand jogging to help define CAD to Path properties. For additional information out Remote TCP application see the robot operations manuals. Remote TCP Jog Mode The robot controller provides a remote TCP jogging mode. When enabled, the robot can be jogged in the remote TCP frame in any Cartesian jog frame. There are two ways to enable RTCP jog mode:

1. Roboguide’s jog coordinate quickbar (

- on toolbar)

The jog coordinate can be selected. If a non-joint jog mode is selected the robot RTCP jog modifier is activated. When pressed the RTCP jog mode is enabled

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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 can move the teach ball to jog the robot. The teach ball snaps back to the RTCP when released since the RTCP is fixed in space. Jogging the robot in Remote TCP Jog Mode Jogging in RTCP with the teach ball may seem different at first. You will notice that you often have to drag the teach ball in the opposite direction of the part to get the part relative to RTCP as desired. Figures to show example: Figure of the Remote TCP frame (UFRAME 1): Figures that show the teach ball for different settings of jog frame. It is recommended to view the RTCP jog frame at the RTCP in the UFRAME coord system for RTCP CAD to Path. Moving to a CAD surface in Remote TCP Jog Mode If Remote TCP jog mode is enabled, a surface click move moves the surface point to the Remote TCP location. This is very useful to move the part on the end of the tooling to the remote TCP. Before Ctrl - Shift click: After Ctrl – Shift Click: The surface point on the part is moved to the Remote TCP. Alignment is as defined on the EOAT property page UTOOL Tab except that the defined normal to surface setting on the UTOOL tab aligns the normal to the surface with the UFRAME axis assigned on the UTOOL tab.

Jogging the robot

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 changing the value on the slider bar. As you zoom in and out in the workcell, the teach tool size automatically scales.

Turning the teach tool on and off The teach tool (ball at the end of the robot arm) can be made visible and not visible. To toggle the visibility of the teach ball 1. Open the property page for the robot 2. Toggle the teach tool visible field 3. Select OK or Apply

Detecting collisions while jogging While jogging, if the robot moves into an object the object and the robot change color to signal a collision. Collision detection can be turned on/ off for any object on its property pages.

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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 move to. 2. Hold down Shift and Ctrl keys on your keyboard. An arrow appears that shows the normal vector on the object. 3. Press the left mouse button while holding the keys and the robot moves to the position. To move to a position that is normal on an edge 1. Position the mouse cursor at the point on the object that you want to move to. 2. Hold down Shift and Alt keys on your keyboard. An arrow appears that shows the normal vector on the object along the edge the mouse is currently over. 3. Press the left mouse button while holding the keys and the robot moves to the position. To move to a position that is normal on a vertex 1. Position the mouse cursor at the point on the object that you want to move to. 2. Hold down Shift, Alt, and Ctrl keys on your keyboard. An arrow appears that shows the normal vector on the object at the closest vertex to which the mouse is over.. 3. Press the left mouse button while holding the keys and the robot moves to the position. To move to a position that is the center of an arc or circle 1. Position the mouse cursor on the edge of the arc or circle on the object that you want to move to the center of 2. Hold down Shift and Alt keys on your keyboard. An cross appears that shows the center of the arc on the object that the mouse is over.. 3. Press the left mouse button while holding the keys and the robot moves to the

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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 attempting to move to and retry the move. A search is continued until either the position can be moved to or no reachable position is found. The move created has a position value, but it is not guaranteed that you can move to this position because of orientation. If the move can not be made the Teach Tool sphere turns red. Re-orient the end of arm tool, and try the move again.

Using the Move To Quickbar menu Roboguide has the ability to make move the robot to CAD locations on CAD data or selected robot program.TP program positions. The robot is moved to the normal on a surface on specific CAD entities. Entities include: • Surface Face • Surface Edge • Surface Vertex • Center of an arc Additionally the move menu provides the ability to move to a position in the currently selected .TP program. To move to a surface entity with the Move To quickbar 1. Open the quickbar by pressing the Toolbar button for selecting from the View / Quickbars main menu item. 2. Select the desired entity by pressing the entity button on the quickbar 3. Drag the mouse over the CAD entity desired. 4. Press the left mouse button and the robot will move to the selected entity if possible. If the robot can not move to the generated position an error should be generated on the virtual TP. To move to a position in the selected TP program from the Move To quickbar:

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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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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 appear with selections. The popup menu will have items based upon the PRO Software plug-in and the options loaded on robots in the workcell. For example, if line tracking is enabled, you would see "add line" under the fixtures menu. 2. Select the source of the object from which it should be added. Roboguide supports a CAD Library, importing of IGES files, and primitive objects. 3. If you select CAD File a dialog is opened in which you can select the CAD File desired. You may select multiple CAD files if you want to import multiple CAD images into the workcell as a single object. Note: the origin of the combined object will be the origin of the CAD files overlaid. If you select CAD Library a dialog is opened where you can browse the CAD library and select an object If you select one of the primitives, a primitive object is loaded into your workcell with default parameters. 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 IGES files, and primitive objects. 3. If you select CAD File a dialog is opened in which you can select the CAD File desired. You may select multiple CAD files if you want to import multiple CAD images into the workcell as a single object. Note: the origin of the combined object will be the origin of the CAD files overlaid. If you select CAD Library a dialog is opened where you can browse the CAD library and select an object If you select one of the primitives, a primitive object is loaded into your workcell with default parameters. If you select Robot, the robot serialize wizard is opened.

Creating, Opening and Working with Workcells

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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 the objects name in the cell browser. A triad coordinate system will appear at the objects origin.

Opening an objects property page To open an objects property page using the cell browser 1. Right click on the desired object from the cell browser 2. Select

FANUC RoboGuide HELP.pdf

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