Robot Expert Quick Start Guide

RobotExpert Quick Start Guide

Copyright Notice Proprietary & Restricted Rights Notice This software and related documentation are proprietary to Siemens Product Lifecycle Management Software 2 (IL) Ltd. © 2015 Siemens Product Lifecycle Management Software 2 (IL) Ltd . Trademarks Siemens and the Siemens logo are registered trademarks of Siemens AG. Tecnomatix is a trademark or registered trademark of Siemens Product Lifecycle Management Software Inc. or its subsidiaries in the United States and in other countries. All other trademarks, registered trademarks, or service marks belong to their respective holders . Adobe Reader is a trademark or registered trademark of Adobe Systems Incorporated . Apache is a registered mark or trademark of The Apache Software Foundation or its subsidiaries in the US and other countries . AutoCAD is a registered mark or trademark of Autodesk, Inc. or its subsidiaries in the US and other countries . CATIA is a trademark or registered trademark of Dassault Systèmes or its subsidiaries in the United States and/or other countries . Firefox is a trademark or registered trademark of Mozilla Foundation. Intel is a registered trademark of Intel Corporation . Java is a registered trademark of Oracle and/or its affiliates . Microstation is a registered mark or trademark of Bentley Systems, Incorporated or its subsidiaries in the US and other countries . Oracle is a registered mark or trademark of Oracle Corporation or its subsidiaries in the US and other countries . Pro/E, Creo, Creo Parametric, Windchill and Wildfire are trademarks or registered trademarks of Parametric Technology Corporation or its subsidiaries in the United States and in other countries . Siemens is a registered mark or trademark of Siemens Corp. or its subsidiaries in the US and other countries . TiCon is a registered mark or trademark of MTM or its subsidiaries in Germany and other countries . Windows, Microsoft, Internet Explorer and Microsoft Office are trademarks or registered trademarks of Microsoft Corporation

Table of Contents

Contents Introduction .............................................................................................................................................. 6

Getting Started ...................................................................................................... 7 Initial Setup ............................................................................................................................................... 8 Convert CAD Files .................................................................................................................................... 13 Convert .co Component(s) ...................................................................................................................... 16 Insert a Robot or Part from File .............................................................................................................. 19

Basic Tasks ........................................................................................................... 21 Manipulating the View............................................................................................................................ 22 Pick Level and Pick Intent.................................................................................................................... 22 View Tools ........................................................................................................................................... 22 Zoom Tools.......................................................................................................................................... 23 Object Viewing Modes and Options ....................................................................................................... 24 Viewing Modes ................................................................................................................................... 24 Viewing Options .................................................................................................................................. 26 Blank and Display Objects ................................................................................................................... 28 Relocate Robot, Tool, or Part .................................................................................................................. 29 Placement Manipulator ...................................................................................................................... 29 Relocate .............................................................................................................................................. 31 Fast Placement .................................................................................................................................... 32 Measurements ........................................................................................................................................ 33 Point-to-Point Distance ....................................................................................................................... 33 Minimal Distance ................................................................................................................................ 35 Recording Information in Snapshots....................................................................................................... 37 Attaching Parts to a Resource ................................................................................................................. 46 Mount Tool ............................................................................................................................................. 51

Modeling and Kinematics..................................................................................... 53 Basic Modeling ........................................................................................................................................ 54 Creating a Solid Box ............................................................................................................................ 56 Scaling Objects .................................................................................................................................... 57 Creating a Solid Cylinder ..................................................................................................................... 57 Uniting Objects ................................................................................................................................... 58 Creating Curves ................................................................................................................................... 58 Creating Fillets .................................................................................................................................... 59 Creating Chamfers .............................................................................................................................. 60 Revolute Curve to Create Solid ........................................................................................................... 61 Duplicating Objects ............................................................................................................................. 62 End Modeling ...................................................................................................................................... 63 Kinematics Modeling Procedure ............................................................................................................. 65

Table of Contents Robot Jog and Reachability ..................................................................................................................... 73

Designing and Managing Processes ..................................................................... 82 Basic Process Planning ............................................................................................................................ 83 Create Arc Mfgs ...................................................................................................................................... 91 Create a Continuous Operation with Project Arc Seam.......................................................................... 94 Create Arc Mfgs using Modeling Capabilities ....................................................................................... 105 Continuous Robotic Path Planning and Simulation .............................................................................. 110 Creating Collision Sets....................................................................................................................... 110 Performing Torch Alignment............................................................................................................. 113 Configuring Robot External Axes ...................................................................................................... 114 Performing Robot Configuration ...................................................................................................... 116 Tracking the Robot TCP ..................................................................................................................... 118 Using the Robot Viewer .................................................................................................................... 119 Arc Torch Alignment ............................................................................................................................. 121

Robotics ............................................................................................................. 126 Apply Path Template Action ................................................................................................................. 127

Off Line Programming ........................................................................................ 131 OLP - Off Line Programming.................................................................................................................. 132

Introduction

Introduction This quick start document describes common procedures used in the RobotExpert application. It gives step-by-step guidance and is designed to get you up-and-running quickly. Further details about all the commands referred to in this document are available in the RobotExpert Reference Manual. The document is divided into the following major sections: Getting Started – Describes the initial one-time configurations and operations required after installing RobotExpert. Basic Tasks – Describes the most common tasks when working with RobotExpert. Modeling and Kinematics – Describes how to perform modeling of parts and resources in order to create optimal simulations. This section also describes how to define kinematics for devices and robots. Designing and Managing Processes – Describes how to create different types of operations and simulate them. Robotics – Describes how to apply attributes and settings to robots. Off Line Programming – Describes how to upload a program from a robot, modify the program, and download the modified program back to the robot.

6


Getting Started

Getting Started

7


Getting Started

Initial Setup

Initial Setup This procedure describes how to configure the library root for RobotExpert. 1. Run the RobotExpert installation procedure, as described in the RobotExpert Installation Guide. 2. Arrange your data so that each cell includes: •

A cell file containing cell information

•

A pointer to the cell components library

•

Pointers to component files and the cell components library

3. Select a data location – it is recommended to use the C or D drive: a. Create a new folder and name it RobotExpert Data. b. In the RobotExpert Data folder, create two sub-folders and name them Cell Files and Library. c. In the Library folder, create two sub-folders and name them Resources and Parts. 4. Perform license setup: a. Browse the RobotExpert installation folder and navigate to \Tecnomatix\License. b. Launch RELicenseManager.exe. The RobotExpert Utility dialog appears.

8


Getting Started

Initial Setup

c. Type your License server name and port number, or browse to your license file. d. Click OK.

9


Getting Started

Initial Setup

5. To launch RobotExpert, double-click the RobotExpert shortcut on your desktop starts up.

. RobotExpert

6. Configure the Library Root: a. Click Tools→Options or press on your keyboard. The Options dialog appears.

10


Getting Started

Initial Setup

b. Click the Library tab.

c. In Library Root, click the browsing button

11

. The Browse a Library Root path dialog appears.


Getting Started

Initial Setup

d. Navigate to the Library folder you created and click OK. The Library Root control is updated accordingly.

e. Click OK to save the configuration.

References For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual: •

Tools Menu→Options

12


Getting Started

Convert CAD Files

Convert CAD Files To view a movie of this procedure, click Convert CAD Files. This procedure demonstrates converting CAD files to .cojt components. 1. Click File→Import/Export→Convert CAD Files or

. The Convert CAD Files dialog appears.

2. Add CAD files to convert: a. Click Add. The Add dialog appears.

b. Select one or more CAD files. Use the Ctrl key for multiple file selection. Note: You can use the Files of type dropdown list to filter the files.

13


Getting Started

Convert CAD Files

c. Click Add to complete CAD file selection. The File Conversion Settings dialog appears.

3. Define the target folder and the .cojt component type: a. Click the Browse button to set the .cojt component Target Folder. Note: The folder name appears in the Path field. b. Select .cojt component Class Types:  Select a Base Class (Resource or Part) from the drop down menu.  Select a Component Class from the drop down menu. c. Click OK in the File Conversion Settings dialog to store the settings and close the dialog. 4. Click the Convert button in the Convert CAD Files dialog to begin the conversion. The Convert CAD Files Progress dialog is displayed. Note: At the end of the conversion process the system displays a status notification together with a link to the log file.

5. Click Close to close the Convert CAD Files Progress dialog.

14


Getting Started

Convert CAD Files

6. Click Close to close the Convert CAD Files dialog. 7. Insert the converted components into the cell: a. Click Modeling→Insert Component from File. b. Browse the libraries and select components by double-clicking or selecting and clicking Open. Use the Ctrl key for multiple file selection. The system adds the components to the Object tree.


File Menu→Import/Export→Convert CAD Files

•

Modeling Menu→Insert Component From File

15


Getting Started

Convert .co Component(s)

Convert .co Component(s) To view a movie of this procedure, click Convert CO Components. This procedure demonstrates converting .co components to .cojt components. Robot models from robot vendors with accurate geometry and kinematics definitions are usually available in .co format. As RobotExpert uses .cojt format, it is necessary to convert the .co files to .cojt format. 1. Click File→Import/Export→Convert CAD Files or

. The Convert CAD Files dialog appears.

2. Add .co components to convert: a. Click Add. The Add dialog appears.

b. Select one or more .co components. Use the Ctrl key for multiple file selection. Note: You can use the Files of type dropdown list to locate the .co components you need.

16


Getting Started


c. Click Add to complete .co component selection. The File Conversion Settings dialog appears.

3. Define the target folder and the .cojt component type: a. Click the Browse button and set the .cojt component Target Folder. Note: The folder name appears in the Path field. b. Select .cojt component Class Types: 

Select a Base Class (Resource or Part) from the drop down menu.



Select a Component Class from the drop down menu.

c. Click OK in the File Convert Settings dialog to store the settings and close the dialog. 4. Click the Convert button in the Convert CAD Files dialog to begin the conversion. The Convert CAD Files Progress dialog is displayed. Note: At the end of the conversion process the system displays a status notification together with a link to the log file.

5. Click Close to close the Convert CAD Files Progress dialog. 17


Getting Started


6. Click Close to close the Convert CAD Files dialog. 7. Insert the converted component(s) into the cell. a. Click Modeling→Insert Component from File. b. Browse the libraries and select components by double-clicking or selecting and clicking Open. Use the Ctrl key for multiple file selection. The system adds the components to the Object tree.


File Menu→Import/Export→Convert CAD Files

•

Modeling Menu→Insert Component From File

18


Getting Started

Insert a Robot or Part from File

Insert a Robot or Part from File To view a movie of this procedure, click Insert a Robot or Part from File. This procedure demonstrates how to insert components from a file. The components can be either resources or parts. 1. Open an existing RobotExpert cell or a new cell: 

Double-click an existing cell file to open it in RobotExpert.



Double-click the RobotExpert icon

. RobotExpert is launched and the new cell is created.

2. Insert a component: a. Click Modeling→Insert Component from File. The Insert Component dialog appears.

19


Getting Started

Insert a Robot or Part from File

b. Browse the library root folders and select the desired .cojt file. c. Double-click the file or select it and click Open. The system inserts the component into the cell. It is visible both in the Object tree and the Graphic Viewer.

Notes:  You can also use the Insert Component option for parts (products) and resources (robots, fixtures and more).  The predefined Base class that you set in the File Conversion Settings dialog causes RobotExpert to insert the object in the correct section of the Object tree (Resources or Parts).  The inserted item is located at the Working Frame. 3. Save the cell, as follows:  

Click File→Save Cell to save changes to the existing cell. Click File→Save Cell as to save the new cell. The Save As dialog appears.

4. Define the location and cell name and click Save.

References For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual: • Modeling Menu→Insert Component From File • File Menu→Save Cell

20


Basic Tasks

Basic Tasks

21


Basic Tasks

Manipulating the View

Manipulating the View This procedure demonstrates tools to manipulate the image in the Graphic Viewer. Pick Level and Pick Intent When selecting objects in the Graphic Viewer, the selection of objects is determined by two parameters: Pick Level and Pick Intent. 

Pick Level

. Defines the selection level:

•

Component . Selecting any part/entity of the component causes the entire component to be selected.

•

Entity

. Only the entity (that is part of the entire component) is selected.

•



•

Surface

•

Edge

. Only the surface is selected. . Only the edge is selected.

Pick Intent

. Selects the precise point on an object according to where you click it.

•

Snap . Selects a vertex, the center of an edge or the center of a face, whichever is closest to the actual point clicked.

•

On Edge

•

Where Picked

•

Self-Origin . Depends on the Pick Level (above) - if the Pick Level is set to Component the component self origin is selected. If the Pick Level is set to Entity - the picked entity self origin is selected.

. Selects the point on the edge that is closest to the actual point you clicked. . Selects the exact point you clicked.

View Tools Click View→Viewers→Graphic Viewer to launch these commands. 

Select

. This is the default tool which enables you to select objects from different tree windows

or from the Graphic Viewer. Note: By picking an object, the selected object is highlighted in green in the Graphic Viewer and its name is emphasized in the corresponding tree. 

View Center

. Defines the view center to be used as the pivot point around which objects rotate.

a. Pick an object or a place in the Graphic Viewer. b. Click View→Viewers→Graphic Viewer and select the View Center command. The command pans the view to place the selected point at the center of the Graphic Viewer. Note: By default, the origin frame constitutes the view center.

22


Basic Tasks 

Manipulating the View Rotate

. Rotates the image in the Graphic Viewer.

a. Click View→Viewers→Graphic Viewer and select the Rotate command. b. Click and hold the left mouse button and move the mouse to rotate the image. Note: Even without invoking Rotate, you can also rotate the image by pressing and holding the middle and right mouse buttons simultaneously. Moving the mouse in any direction changes the view point. The distance you move the mouse across the screen affects the amount of rotation. 

Pan

. Moves the image in the Graphic Viewer horizontally and vertically.

a. Click View→Viewers→Graphic Viewer and select the Pan command. b. Click and hold the left mouse button and move the mouse to pan the view. Note: Even without invoking Pan, you can also pan the view by clicking and holding the right mouse button. Moving the mouse in different directions changes the panning direction. Zoom Tools



Zoom

. Increases or decrease the size of the image in the Graphic Viewer.

a. Click View→Viewers→Graphic Viewer and select the Zoom command. b. Click and hold the left mouse button and move the mouse to zoom in and out. Note: Even without invoking Zoom, you can also zoom by clicking and holding the middle mouse button. To zoom out, move the mouse to the left. To zoom in, move the mouse to the right. 

Zoom to Selection

. Adjusts the image in the Graphic Viewer so that the selected object is

displayed in close-up. This tool is convenient to use for small selections. a. Pick an object. b. Click View→Zoom to Selection. 

Zoom to Fit 

. Adjusts the image in the Graphic Viewer so that all visible objects are displayed.

Click View→Zoom to Fit.


Working with Viewers→Graphic Viewer→Manipulating Images in the Graphic Viewer

23


Basic Tasks

Object Viewing Modes and Options

Object Viewing Modes and Options To view a movie of this procedure, click Object Viewing. This procedure describes how to make the best use of the RobotExpert object viewing modes and options, enabling you to change the way objects are represented in the Graphic Viewer. Viewing Modes By default, objects are represented in the Graphic Viewer in Shaded viewing mode.

1. Click View→Feature Lines Over Solid or

2. Click View→Feature Lines or objects are omitted.

. The feature lines are displayed over the shaded solid.

. The feature lines are displayed in Graphic Viewer but the shaded

24


Basic Tasks 3. Click View→Wireframe Mode or Wireframe viewing mode.

Object Viewing Modes and Options . The objects are represented in the Graphic Viewer in

4. Wireframe viewing mode does not always provide an intelligible image. If this is the case, click Tools→Options, select the Graphic Viewer tab, and enable the Show Silhouette in Wireframe Mode option.

5. Click View→Shaded Mode or . The objects in the Graphic Viewer are displayed in Shaded viewing mode (the default viewing mode).

6. Press repeatedly to toggle between Shaded, Feature Lines over Solid, Feature Lines, and Wireframe viewing modes.

25


Basic Tasks


Viewing Options The object viewing options enable you to change between Shaded, Wireframe, and Transparent viewing of objects in the Graphic Viewer. This information is saved in the cell for the selected object only. 1. Right-click an object in Graphic Viewer and select Object Viewing→Transparent.

2. Unselect the object. The object is displayed in the Transparent viewing option.

3. Right-click the object in Graphic Viewer again and select Object Viewing→Wireframe. The object is displayed in the Wireframe viewing option.

26


Basic Tasks


Note: The state of the Show Silhouette in Wireframe Mode option (Tools→Options, select the Graphic Viewer tab) is ignored when using the Wireframe object viewing option. It is only relevant for Wireframe viewing mode. 4. Display an additional object in the Graphic Viewer. Note: Currently, the object viewing mode is set to Shaded and the object viewing option for the selected object is set to Wireframe. Therefore, the original object is displayed in Shaded mode (applied to all the displayed data) and the new object in Wireframe (when the Wireframe viewing option is applied to the selected object, the viewing option overrides the viewing mode).

5. Right-click the wireframe object and select Object Viewing→Shaded. The object is displayed in the Shaded viewing option. Both objects are shown in Shaded viewing mode, according to the selected object viewing mode.

27


Basic Tasks


Blank and Display Objects To view a movie of this procedure, click Blank_Display. This procedure demonstrates how to blank and display objects in the Graphic Viewer. 1. Select an object in the Graphic Viewer or in the Object Tree and click View→Blank. The selected object is blanked - it is hidden in the Graphic Viewer and appears in the Object tree with an empty square to the left of its name

2. Right-click the object in the Object tree and select Display. The object is displayed in the Graphic Viewer and appears in the Object tree with a blue solid square to the left of its name.

3. Alternatively, click the square to the left of the item’s name in the Object tree to toggle between blanked and displayed . The square appears partially filled when a component includes some blanked entities.

References For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual: 

View→Shaded Mode



View→Feature Lines Over Solid



View→Feature Lines



View→Wireframe Mode



View→Object Viewing→Shaded



View→Object Viewing→Transparent



View→Object Viewing→Wireframe



View→Display



View→Blank

28


Basic Tasks

Relocate Robot, Tool, or Part

Relocate Robot, Tool, or Part To view a movie of this procedure, click Placement. This procedure demonstrates three methods for positioning robots, tools, and parts in the workcell. The final object position is determined by the object location and orientation. Placement Manipulator 1. From the Graphic Viewer or Object tree, select an object. . The Placement Manipulator dialog 2. Click Tools→Placement→Tool Placement Manipulator or appears. It opens for the selected object and a manipulator frame is placed on the object.

3. Click the arrow to the right of the Frame of Reference list and select a reference frame. 4. Translate (move) the selected object along an axis, as follows: a. In the Translate area, click the Step Size link. The Step Size dialog appears.

b. Set the Step value and click OK. c. Select the X, Y, or Z button.

29


Basic Tasks

Relocate Robot, Tool, or Part d. Click

or

to move the object one step forward or backward along the selected axis.

Or In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse button, and drag the object to the required position on the selected axis. 5. Rotate the selected object around an axis, as follows: a. In the Rotate area, click the Step Size link. The Step Size dialog appears.

b. Set the Step value and click OK. c. Select the Rx, Ry, or Rz button. d. Click or selected axis.

to rotate the object one step clockwise or counterclockwise around the

Or In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse button, and drag the object. This rotates the object to the required orientation around the selected axis.

6. Click Close to close the Placement Manipulator dialog or Reset to return the object to its initial location and orientation when you launched the Placement Manipulator dialog.

30


Basic Tasks


Relocate This method enables you to position objects at exact locations in the workcell. 1. From the Graphic Viewer or Object tree, select an object. 2. Click Tools→Placement→Relocate or object.

. The Relocate dialog appears. It opens for the selected

3. From the To frame list, select a target frame to which to move the object. A yellow line appears in the Graphic Viewer indicating the proposed move.

Note: To create a new frame, click . For more information on creating new frames, see Create Frame in the RobotExpert Reference Manual. 4. Click Apply to perform the move or Reset to cancel the proposed move. If you have already applied the move, Reset returns the object to its initial location when you launched the Relocate dialog. 31


Basic Tasks


Fast Placement This method enables you to move objects in the X-Y plane (the Z coordinate of the object remains unchanged). This method is fast but not accurate. 1. From the Graphic Viewer or Object tree, select an object. 2. Click Tools→Placement→Fast Placement or

. The cursor changes to a hand symbol.

3. Select and drag an object to the desired location in the workcell. The coordinates (X, Y, and Z) of the object are displayed near the hand.

4. Press or click

to exit fast placement mode.


Tools→Placement→Tool Placement Manipulator

•

Tools→Placement→Relocate

•

Tools→Placement→Fast Placement

32


Basic Tasks

Measurements

Measurements Point-to-Point Distance This procedure demonstrates how to measure the point-to-point distance between two points 1. Click Edit→Selection→Component Pick Level. 2. Click Point to Point Distance on the Measurements toolbar. The Point to Point Distance dialog appears.

3. Click First object and then pick a point in the Graphic Viewer. The name of the object on which the point is located and its exact location are displayed in the First Object field. 4. Pick another point in the Graphic Viewer - the name of the object on which the point is located and its exact location are displayed in the Second Object field.

33


Basic Tasks

Measurements A measuring line connecting the two points is displayed in the Graphic Viewer. The exact distance between the two points is calculated and displayed beside the measuring line. Additionally, the Result area displays the distance, the vector distance, and the rotation delta difference for each of the X, Y, and Z axes.

5. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances (dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.

6. Click Close to close the Point to Point Distance dialog.


Tools→Measurements→Point to Point Distance

34


Basic Tasks

Measurements

Minimal Distance This procedure demonstrates how to measure the minimal distance between two points 1. Click

Minimal Distance on the Measurements toolbar. The Minimal Distance dialog appears.

2. Click First object and then pick an object in the Graphic Viewer, Object tree, or Groups Viewer. The name of the object and its exact location are displayed in the First Object field. 3. Pick another object in the Graphic Viewer, Object tree, or Groups Viewer - the name of the object and its exact location are displayed in the Second object field. A distance line connecting the two objects is displayed in the Graphic Viewer. The exact distance between the two points is calculated and displayed beside the measuring line. Additionally, the Result area displays the distance and the vector distance between the objects.

35


Basic Tasks

Measurements

4. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances (dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.


Tools→Measurements→Minimal Distance

36


Basic Tasks

Recording Information in Snapshots

Recording Information in Snapshots To view a movie of this procedure, click Snapshot. Snapshots preserve the current view of the workcell – they include a variety of object attributes, for example; point of view, visibility, location and more. This procedure demonstrates how to create and apply snapshots with various options. The Snapshot Editor displays snapshots created from engineering data as displayed in the Graphic Viewer. Snapshots are used to store specific views and viewing angles during your work and can be used for later reference and collaboration. 1. Click View→Viewers→Snapshot Editor. The Snapshot Editor appears – it is empty.

2. Create a snapshot, as follows: a. Display the objects in the Graphic Viewer as you wish to record them. For example, change the point of view, rotate, and zoom in/out. b. In the Snapshot Editor toolbar, click Create New Snapshot. A snapshot listing appears in the upper pane of the Snapshot Editor – its default name is snapshot1. You can rename the snapshot. Additionally, the snapshot preview is displayed in the lower part of the viewer.

37


Basic Tasks


3. Create another snapshot, as follows: a.

Display the objects in the Graphic Viewer as you wish to record them.

b. In the Snapshot Editor toolbar, click appears - give it a unique name.

Create New Snapshot. Another snapshot listing

38


Basic Tasks


4. Edit snapshot properties: a. Select a snapshot listing in the upper pane of the Snapshot Editor and click Properties. The Edit Snapshot dialog appears.

Edit Snapshot

b. Type a new snapshot Name and meaningful description, and click OK. The snapshot name changes in the upper pane and its description is displayed next to the snapshot preview in the lower pane.

39


Basic Tasks


5. Apply snapshots to the Graphic Viewer – this step enables you to set the display in the Graphic Viewer as captured previously in a snapshot. a. Select a snapshot in the upper pane. b. Click the arrow of

Apply Snapshot.

c. Select the options you wish to apply. Point of View is checked and applied by default. d. Click or double-click the snapshot listing in the upper pane to apply them to the Graphic Viewer. The Graphic Viewer jumps to the view recorded in the selected snapshot. Note: When applying snapshots, the system applies only the options you set in the previous step. You can change these options at any time.

40


Basic Tasks

Recording Information in Snapshots e. Select other snapshot listings in the upper pane and click Viewer.

again to apply them to the Graphic

Note: The Graphic Viewer displays different objects preserved in snapshots while maintaining their visibility, points of view and locations.

41


Basic Tasks


6. If you wish to delete a snapshot, select its listing in the upper pane and click The selected snapshot is removed from the Snapshot Editor.

Delete Snapshot.

7. If you set Object Attachments in the snapshot apply properties, any object attached to an object in the snapshot moves together with the first object: a. Create a snapshot and name it Attached. b. In the Attached snapshot, create an attachment between two displayed objects in one of the following ways: 

Click Modeling→Attach. The Attach dialog appears.



Click Kinematics→Mount Tool. The Mount Tool dialog appears.

Note: The attachment/mount information is saved in the snapshot.

42


Basic Tasks

Recording Information in Snapshots c. Apply the Attached snapshot to the Graphic Viewer. This snapshot contains the attachment information. d. Click Tools→Placement→Placement Manipulator to open the Placement Manipulator and move one of the objects. If the object is a device, use Kinematics→Joint Jog instead. e. Select one of the attached objects and use the Placement Manipulator or Joint Jog to move it. Both objects move. f. Create a snapshot without any attachment information and name it Unattached. g. Apply the Unattached snapshot to the Graphic Viewer. The attachment is cancelled when applying the snapshot. h. Select one of the objects and use the Placement Manipulator or Joint Jog to move it. Only the selected object moves – the previously-attached object remains stationary. i. Apply the Attached snapshot to the Graphic Viewer - the attachment is restored.

8. You can update a snapshot so that it records the current display in the Graphic Viewer, as follows: a. Select the snapshot you wish to update. b. Set up the objects in the Graphic Viewer as you wish to record them. c. Click Update Snapshot. The selected snapshot now records the image currently displayed in the Graphic Viewer. d. You can apply the snapshot and see the changes. 9. You can mark up a snapshot, as follows: a. Select a snapshot and click snapshot loaded.

Add Markup. The Markup Editor appears with the selected

43


Basic Tasks

Recording Information in Snapshots b. Use the markup tools to add information. c. Click to save the snapshot as a JPG file. The system prompts you for a file name and path. d. Click Close to overwrite the selected snapshot in the Snapshot Editor.

Note: When displaying the snapshot in the preview pane, the markup icon is also displayed to indicate that you have marked up this snapshot.

10. You can also edit the markup of a snapshot that already contains markup, as follows: a. b. c. d.

Select a snapshot and click Add Markup. Change the markup. Click to save the snapshot as a JPG file. The system prompts you for a file name and path. Click Close to overwrite the selected snapshot in the Snapshot Editor.

44


Basic Tasks


11. To remove markup, select a snapshot and click

Remove Markup. The markup is removed.

Note: There is no markup icon in the preview pane.


View→Viewers→Snapshot Editor



View→Viewers→Snapshot Editor→Markup Editor



Modeling→Attach



Kinematics→Mount Tool

45


Basic Tasks

Attaching Parts to a Resource

Attaching Parts to a Resource This procedure demonstrates how to attach parts to resources. In some cases the part is held by a kinematic device. Any movement of the joints of the device affects both the part location and orientation. It is not sufficient to locate the part on the device, it also necessary to attach the part to the device in order to perform movement as a unified body. 1. Open a robotic cell containing: •

A Kinematic Device

•

The part to-be-held

2. Relocate the part: Note: It is recommended to open the part and the kinematic device for modeling in order to reveal all the entities of the part and the device, including frames. a. Click Modeling→Set Modeling Scope. b. Select the part in the Object tree or the Graphic Viewer. c. Click Tools→Placement→Relocate. The Relocate dialog is displayed for the selected part.

d. Select a From frame in the Object tree or the Graphic Viewer. e. Select a To frame in the Object tree or the Graphic Viewer. A yellow line is displayed to show the movement to be performed. 46


Basic Tasks


f. Click Apply to perform the relocation. g. Click Close to close the dialog. Note: At this stage, jogging the device joints does not affect the part location and orientation. This is only possible after completing the following steps for attaching parts. 3. Attach the part: a. Select the part either in the Object tree or the Graphic Viewer. b. Click Modeling→Attach. The Attach dialog appears for the selected part.

c. Select the type of attachment: One Way or Two Way.  If you select One Way only the part follows the movement of the device.  Selecting Two Way causes both the part to follow the movement of the device and also the device to follow the movement of the part. d. Select To Object. Be careful to select the correct entity. Make sure that pick level is set to Entity – use the Entity Pick Level command. e. Click OK.

47


Basic Tasks


4. Add an Attachment attribute in the Object tree: a. Click

Customize in the Object tree.

The Customize Columns dialog appears.

b. Expand the General collection in the Available Fields pane. c. Select the Attachment attribute. d. Click the right arrow button

to include it on the Show Fields in Following Order list.

Note: This is the new state.

48


Basic Tasks


e. Click OK. Note: This is the new state for the Object tree. f.

Verify that attachment information is correct in the Object tree.

5. Attachment validation: a. Select the device in the Object tree or the Graphic Viewer. b. Click Kinematics→Joint Jog. The Joint Jog dialog appears for the selected device.

49


Basic Tasks

Attaching Parts to a Resource c. Use the mouse to slide the Steering/Poses controls to the right and left. Notice that the device entities move accordingly. d. Examine the resulting movement of the attachment and determine if it is correct. The following figures illustrate the states before and after jogging the device joints.

6. To cancel the attachment, if necessary: a. Select the attached part in the Object tree or the Graphic Viewer. b. Click Modeling→Detach.


Modeling Menu→Set Modeling

•

Modeling Menu→Attach

•

Tools Menu→ Placement→Relocate

•

Kinematics Menu→ Joint Jog

50


Basic Tasks

Mount Tool

Mount Tool To view a movie of this procedure, click Mount Tool. This procedure demonstrates how to mount a tool on a robot. When you mount a tool with its own defined tool frame (TCPF), the robot TCPF is adjusted to coincide with the tool frame. Therefore, when the robot moves, the mounted tool moves together with the robot TCPF. 1. Select Component as the Pick Level.

2. From the Graphic Viewer or Object tree, select a robot. 3. Click Kinematics→Mount Tool or

. The Mount Tool dialog appears.

Note: The Mount Tool dialog opens for the selected robot and the Tool control is highlighted. 4. In the Mounted Tool area, select the Tool and Frame, as follows: a. While the Tool control is highlighted, select the tool either in the Graphic Viewer or Object tree. Note: The Frame list in the Mounted Tool area is populated with all the tool frames in the cell. b. From the Frame list, select a frame. Note: In the Graphic Viewer, the selected mounted tool frame is highlighted in red and the selected mounting tool (robot) frame is highlighted in blue.

51


Basic Tasks

Mount Tool

5. Optionally, select the Mounting Tool and Frame, as follows: a. From the Mounting Tool area, click in the Mount on control. b. From the Graphic Viewer or Object tree, select a robot. c. From the Frame list, select a frame. Note: The Mounting Tool area is already populated with the selected robot. You can change the robot or its frame. 6. Click Apply. The mounted tool jumps to the mounting robot frame. 7. Optionally, click Flip Tool to flip the tool orientation. Use the arrow in the Flip Tool button to set the flip axis (X, Y, or Z). 8. Click Close to save the changes and exit the Mount Tool dialog or Reset to return the tool to its initial location and orientation when you launched the Mount Tool dialog.


Kinematics→Mount Tool

52


Modeling and Kinematics


53



Basic Modeling

Basic Modeling To view a movie of this procedure, click Modeling. This procedure describes several modeling tools and demonstrates some of the RobotExpert capabilities, including the creation of solids, the creation of curves, editing, scaling, and integration. 1. Launch RobotExpert and load a cell. 2. Set the measuring units, as follows: a. Click Tools→Options. The Options tab appears.

b. Click the Units tab. c. Define the Unit Type for each parameter and click OK.

54



Basic Modeling

3. Create a new device, as follows: a. Click Modeling→Create Part/Resource→New Resource. The New Resource dialog appears.

b. Select Device and click OK. Note: The new device is listed in the Object tree under the Resources section. By default, the device is open for modeling and is marked with a red M overlay.

Note: To open an object for modeling, select the object and click Modeling→Set Modeling Scope.

55



Basic Modeling

Creating a Solid Box RobotExpert enables you to create several types of solid; box, cylinder, cone, sphere, and torus. 1. Select a Device in the Object tree. 2. Click Modeling→Create Solids→Box Creation→

Create a box. The Create Box dialog appears.

3. Type a Name for the box. 4. Define the box Dimensions. Note: The box changes dynamically in the Graphic Viewer as you define its dimensions. 5. Click OK to create the box or

to expand the dialog and reveal the Location area.

Note: When created, the box is located on the Working frame. It is recommended to perform all the required procedures and only then to relocate the whole component to the desired location (using the placement tools).

6. To relocate the box: a. Click Reference on object or create a frame using Create Frame. b. Click Locate at frame or create a frame using Create Frame. c. Click OK. 56



Basic Modeling

Scaling Objects 1. Select a parent object either from the Object tree or from the Graphic Viewer. 2. Click Modeling→Edit→Scale. The Scale dialog appears, displaying the dimensions of the selected object.

3. Optionally, click the Step size link to set the size of steps when configuring the parameters in this dialog. 4. Configure the scale size in the X, Y, and Z directions. Note: The object changes dynamically in the Graphic Viewer as you define its scale.

Note: You can change any dimension by using the dialog controls or picking and dragging the relevant yellow line in the Graphic Viewer. 5. Click OK. Creating a Solid Cylinder 1. Select a parent object either from the Object tree or from the Graphic Viewer. 2. Click Modeling→Create Solids→Cylinder Creation→ Create a cylinder. The Create Cylinder dialog appears and a cylinder with default dimensions appears in the Graphic Viewer.

57



Basic Modeling

3. Define the cylinder Name and Dimensions. 4. Click OK. Uniting Objects 1. Click Modeling→Edit→

Unite. The Unite dialog appears.

2. Type a New Name for the new object. 3. Select the entities to be united either from the Graphic Viewer or from the Object Tree. The entities are added to the Objects list. Note: It is recommended to clear the Delete original entities option. You will be able to delete the original entities later (from the Object Tree). 4. Click OK. Tip: Display only the united entity and blank its elements. Creating Curves There are several types of curves: Polyline, curve, circle, and arc. This procedure demonstrates the creation of a polyline. 1. Select a device either from the Object Tree or from the Graphic Viewer. 2. Click Modeling→Create Curve→

Create Polyline. The Create Polyline dialog appears.

58



Basic Modeling

3. Type a Name for the new polyline. 4. You can select points from the Graphic Viewer or type their X, Y, and Z values in the Polyline Points table. The polyline will pass through these points. 5. Click OK. The new polyline is created. Creating Fillets This command operates on two intersecting curves or polylines. 1. Click Modeling→Create Curve→Fillet. The Fillet dialog appears. The From Curve field is active.

2. Pick the first polyline in the Graphic Viewer. The name of the selected polyline is noted in the From Curve field and the To Curve field becomes active. 3. Pick the other polyline in the Graphic Viewer. The name of the selected polyline is noted in To Curve. 4. Enter a value for the fillet Radius. 5. Click Preview to see the expected results in the Graphic Viewer.

59



Basic Modeling

6. Click OK to accept the results or change some of the parameters to get better results. A new fillet curve is created and appears in the Object Tree and the Graphic Viewer. The original polylines are removed if you selected Delete original entities.

Creating Chamfers This command operates on two intersecting curves or polylines. 1. Click Modeling→Create Curve→Chamfer. The Chamfer dialog appears. The From Polyline field is active.

2. Pick the first polyline in the Graphic Viewer. The name of the selected polyline is noted in the From Polyline field and the To Polyline field becomes active. 3. Enter a Distance from the intersection point along the first polyline.

60



Basic Modeling

4. Pick the other polyline in the Graphic Viewer. The name of the selected polyline is noted in To Curve. 5. Type a Distance from the intersection point along the second polyline. 6. Click Preview to see the expected results in the Graphic Viewer. If necessary, change some of the parameters to get better results. 7. Click OK to accept the results. A new chamfer curve is created and appears in the Object Tree and the Graphic Viewer. The original polylines are removed if you selected Delete original entities. Revolute Curve to Create Solid 1. Select an entity either from the Object Tree or from the Graphic Viewer. 2. Click Modeling→Edit→Revolute. The Create Revolved Solid dialog appears.

3. Type a Name. 4. Set the Start and End points. 5. In the Rotation area, define the rotation degrees. 6. Click Preview to see the expected results in the Graphic Viewer. If necessary, change some of the parameters to get better results. 7. Click OK. The solid created from the Revolute command is added to the Object Tree and the Graphic Viewer.

61



Basic Modeling

Duplicating Objects 1. Select a device or part either in the Graphic Viewer or the Object Tree. 2. Click Modeling→Duplicate Objects. Τhe Duplicate dialog appears for the selected component.

3. In Number along X, type the number of requested components along the X-axis. 4. Type the X Spacing value between the components along the X-axis. 5. Perform the same configuration for the Y and Z-axes. 6. Check Preview. The layout of the duplicated objects are previewed in yellow.

62



Basic Modeling

While the Preview checkbox is checked, any change of value updates the Graphic Viewer. 7. Click OK to create the previewed objects.

End Modeling 1. Select a device or part either in the Graphic Viewer or from the Object Tree. 2. Click Modeling→End Modeling. The Save Component As dialog appears.

3. Browse to one of the following folders to save the newly modeled component: •

For resources: library root→libraries→resources

•

For parts: library root→libraries→parts

4. Click Save to save the component.

63



Basic Modeling

References For additional information on the features described in this procedure, refer to the following topics in RobotExpert Reference Manual: 

Tools Menu→Options→Units Tab



Modeling Menu→Create Part/Resource→New Resource



Modeling Menu→Create 3D→Creating Boxes



Modeling Menu→Create 3D→Creating Cylinders



Modeling Menu→Edit→Uniting Solids



Modeling Menu→Create 3D→Creating Cylinders



Modeling Menu→Create 2D→Creating Polylines



Modeling Menu→Create 2D→Creating Fillets on a Curve



Modeling Menu→Create 2D→Creating Chamfers on a Polyline



Modeling Menu→Edit→Revolute



Modeling Menu→Duplicate Objects



Modeling Menu→End Modeling

64



Kinematics Modeling Procedure

Kinematics Modeling Procedure To view a movie of this procedure, click Modeling Kinematics. This procedure demonstrates the following: 

Modeling of a simple device



Creating device links and joints



Jogging device joints



Editing poses

1. Insert the device into the cell (this step is optional). a. Click Modeling→Insert Component From File or click appears.

. The Insert Component window

b. Browse the libraries and double-click the device to insert it into the cell or select the device and click Open. The device is added to the Object tree.

65




2. Set the modeling scope for the device as follows: a. Select the device in the Object tree or the Graphic Viewer. b. Click Modeling→Set Modeling Scope or click

.

Note: A red M overlay appears with the device symbol in the Object tree to indicate that it is open for modeling.

3. Create three links in the Kinematic Editor. a. Select the device in the Object tree or the Graphic Viewer. b. Click Kinematics→Kinematics Editor or click c. In the Kinematics Editor toolbar, click

. The Kinematics Editor opens and is empty.

Create Link.

The Link Properties dialog opens. d. From the Elements list, select a link element and click OK.

66




e. Create lnk2 and lnk3.

4. Create a rotational (revolute) joint (J1) with limits, as follows: a. In the Kinematics Editor, select lnk1 and lnk2. b. Click

Create Joint. The Joint Properties dialog appears.

67




c. In the Axis - Select two points area, set From and To to select the axis line. d. e. f. g.

Click to expand the dialog. In the High Limit and Low Limit fields, enter limit values. In the Speed field, enter the speed value. In the Acceleration field, enter the acceleration value.

5. Repeat step 4 to create J2.

68




6. Close the Kinematics Editor. Closing the dialog automatically defines the device. The HOME pose is created. 7. Jog the joints as follows: a. Select the device in the Object tree or the Graphic Viewer. b. Click Kinematics→Joint Jog or click . The Joint Jog dialog opens. The joints you created are displayed with the current joint value and the limits with which they were defined.

c. Jog the joints by using the slider, entering values, or using the value arrows.

d. To return the device to the original joint values, either click Reset or select the HOME pose. e. Click Close to close the Joint Jog dialog. 8. Create additional poses as follows: a. Select the device in the Object tree or the Graphic Viewer. b. Click Kinematics→Pose Editor. The Pose Editor dialog opens, displaying the HOME pose.

69




c. To create a new pose, click New. The New Pose dialog appears.

d. Enter a pose name. e. Set joint values by using the Steering/Poses sliders, entering values, or using the value arrows. f. Click OK. The New Pose dialog closes and the new pose is added to the Pose Editor dialog.

g. Create additional poses. h. To jump between poses, either double-click the pose name in the list or select a pose name and click Jump. i. Alternatively, use the Joint Jog dialog to jump between the poses by selecting a pose from the Steering/Poses list box.

70




9. To edit, update, or delete poses, perform the following: a. Select the device in the Object tree or the Graphic Viewer. b. Click Kinematics→Pose Editor. The Pose Editor dialog opens with the defined poses displayed. c. Do any of the following:  To edit a pose, select a pose from the list and click Edit. The Edit Pose dialog opens.

Change the values of the joints (use the Steering/Poses sliders, enter values, or use the value arrows) and click OK. 

To update a pose, jog the joints to the desired values using the Joint Jog dialog, select a pose from the list, and click Update. The following message appears:

To update the pose with current joint values, click Yes. 

To delete a pose, select a pose from the list and click Delete. The following message appears:

To delete the pose, click Yes. d. To store your changes as a library prototype, click Modeling→End Modeling or click

71

.





Kinematics Menu→Kinematics Editor



Kinematics Menu→Joint Jog



Kinematics Menu→Pose Editor



Modeling Menu→Insert Component from File



Modeling Menu→Set Modeling Scope



Modeling Menu→End Modeling

72



Robot Jog and Reachability

Robot Jog and Reachability To view a movie of this procedure, click Robot Jog and Reachability. This procedure demonstrates: 

Jogging robot joints by using Joint Jog and Robot Jog functionality



Reachability check between robot and operation locations

1. Open a cell that contains: •

A kinematic device

•

An operation with assigned part

2. Insert a robot: a. Click Modeling→Insert Component from File. The Insert Component dialog appears.

b. Browse through your libraries, select a robot and click Open. The robot is inserted in the cell.

73




3. Define external axes for the robot a. Select the Robot in the Object tree or the Graphic Viewer. b. Click Robotics→Robot Properties. The Robot Properties dialog appears.

c. Select the External Axes tab.

d. Click the Add button in order to add an external axis. The Add External Axis dialog appears.

e. f. g. h.

Select a device in the Object tree or the Graphic Viewer. Select a joint from the Joint dropdown list. Click OK. Use the steps above to add several additional external joints.

Note: The external axes are displayed so that each line specifies the device name and joint.

74



i.


Click Close to close the Robot Properties dialog.

4. Move the robot's joints using Joint Jog: a. Select the robot in the Object tree or the Graphic Viewer. b. Click Kinematics→Joint Jog. The Joint Jog dialog appears.

The Joint Jog dialog enables you to move the joints of the selected robot (or device). Each line displays the properties of a specific joint: Revolute or Prismatic, Value, Lower Limit and Upper Limit. Note: Lines with the red E overlay (the two bottom lines in the picture above) refer to the robot’s external axis.   

You can now jog the joints by using the dials, entering values or using the value arrows. In order to change the Lower and Upper Limits select the control and type the exact value. You can change the robot pose by selecting another pose from the pose list.

5. Move the robot using Robot Jog: a. Select the Robot Object tree or the Graphic Viewer. b. Click Kinematics→Robot Jog. The Robot Jog dialog appears. In addition, a manipulator frame appears on the robot’s toolframe. You can use it to jog the robot by clicking on an axis and dragging the mouse.

75




c. Translate the robot Tool Center Point (TCP) frame along the X-axis: 

Click the X button in the Manipulations section.



Click the arrow buttons to move the robot tool frame along the X axis.

d. Rotate the robot TCP frame around the Y-axis: 

Select the Ry button in the Manipulations section.



Click the arrow buttons to rotate the robot tool frame around the Ry axis.

76




Note: The dialog displays the step size for Translate and Rotate. Click the links to change the step size value. e. Select the robot configuration: The robot can reach a location in any of several configurations, enabling you to switch between the options.

f.

Select a configuration from the list. You can lock the robot configuration if you wish to ensure that only this configuration is used. g. Jog the robot's external joints: Follow the steps described above for the Joint Jog dialog. It is recommended to lock the robot's TCP frame by clicking the Lock TCPF button. For example, for a robot on a rail, the rail joint is defined as an external axis of the robot.

77




h. Set the Coordinate Reference:  Define a frame of reference for the robot's TCP location:

i. j.

If you need to return the robot the state it was in when you opened the Robot Jog dialog, click Reset. Click Close to close the dialog.

6. Perform a reachability check of the robot with the operation location: a. Select the robot in the Object tree or the Graphic Viewer. b. Click Kinematics→Reach Test. The Reach Test dialog appears.

78




c. Keep the Locations table control in focus and select the operation from the Operation tree. Note: All locations of the operation are displayed in the table and a reachability indication (Full/Partial/None) is displayed for each location.

d. With the Reach Test dialog open, select the device (with the attached part) and from Tools→Placement→Placement Manipulator change the device location using the Placement Manipulator.

79




Note: Changing the device and part location automatically updates the Reach Test indication. e. Place the device and part on a location that enables full reachability to all locations of the operation. 7. Assign the robot to the operation: a. Select the operation from the Operation tree. b. Click Operation→Operation Properties. The Operation Properties dialog appears for the selected operation.

c. Click the Process tab.

80




d. With the Robot control in focus, select a robot from the Object tree or the Graphic Viewer. The robot and its mounted gun are correctly inserted in the Simulated Resources section.

e. Click OK. 8. Run the simulation: a. Select the operation from the Operation tree. b. From the Path Editor select Add Operation to Editor. c. In the Path Editor dialog click the Play Simulation Forward button. The simulation runs using the defined robot and tool.

References For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual: • • • •

Modeling Menu→Insert Component from File Kinematics Menu→Joint Jog Kinematics Menu→Robot Jog Kinematics Menu→Reach Test

81


Designing and Managing Processes


82



Basic Process Planning

Basic Process Planning To view a movie of this procedure, click Basic Process Planning. This procedure demonstrates how to create operations and define their sequence. 1. Open a cell containing a robot, tools, fixtures, and parts. In the following example, the cell contains two robots, a fixture with clamps, two rails, and a part. The target sequence of operations is as follows: a. b. c. d. e. f.

The part moves along the right rail. Robot1 (on the right) grips the part and places it on the fixture. The fixture clamps close. Robot2 (on the left) works on the part. The fixture clamps open. Robot1 grips the part and places it on the left rail.

Each operation commences only after the previous operation has finished.

2. Create a New Object Flow Operation: The New Object Flow Operation option enables you to move an object from one place to another. This operation is used primarily for assembly cells. a. Click Operations→New Operation→New Object Flow Operation. The New Object Flow Operation dialog appears.

83




b. Type a Name for the new operation. c. Click the Object field and select the object to be moved either from the Graphic Viewer or the Object tree. d. From the Scope list, select the Operation Root (later in this procedure, you can define the correct scope by dragging and dropping the operation in the Operation tree, see step e. below). e. In the Graphic Viewer, pick the Start Point and End Point for the operation.

f.

Click OK. The New Object Flow operation is created under the Operation tree.

84




3. Create a New Device Operation: The New Device Operation enables you to move a device from one pose to another. In the following example, the device includes four clamps, each possessing Open and Close poses.

a. Click Operations→New Operation→New Device Operation. The New Device Operation dialog appears.

b. Type a Name for the new operation. c. Click the Device field and select the device with defined poses either from the Graphic Viewer or the Object tree.

85




d. From the Scope list, select the Operation Root (later in this procedure, you can define the correct scope by dragging and dropping the operation in the Operation tree, see step e. below). e. From the From pose list, select the starting pose. f. From the To pose list, select the ending pose.

g. Click OK. The New Device Operation is created under the Operation Tree.

The following figure shows the Operation Tree after creating device operations for all the clamps.

86




4. Create Compound Operations: A compound operation is an operation comprised of other operations. It can also include other compound operations. This procedure includes two compound operations: Device_to_open, Device_to_close, and Cell_Operation. a. Click Operations→New Operation→New Compound Operation. The New Compound Operation dialog appears.

b. c. d. e.

f.

Type a Name for the new operation. From the Scope list, select the Operation Root. Click OK. Drag the device operations you created previously and drop them under the matching compound operation (hence defining their current scope as mentioned in step 2d. above). Nest the clamp open operations under the Device_to_open compound operation and the clamp close operations under the Device_to_close compound operation. Create a new parent compound operation, name it Cell_Operation, drag the Device_to_open and Device_to_close compound operations, and nest them under Cell_Operation. The following figure shows the Operation Tree after creating the Cell_Operation.

87




5. Create a New Generic Robotic Operation: a. Click Operations→New Operation→New Generic Robotic Operation. The New Generic Robotic Operation dialog appears.

b. Type a Name for the new operation. c. From the Graphic Viewer or the Object tree, select a Robot. Note: The tool mounted on the robot automatically populates the Tool field. d. From the Scope list, select the Cell_Operation. e. Click OK. 6. Add Locations to the new generic robotic operation: a. From the Operation Tree, select the Generic Robotic Operation or select one of its child locations. b. Click Operations→Path Editing and use any of the following commands to add locations. 

Add Location by Pick



Add Location Interactively



Add Current Location



Add Location After



Add Location Before

88




c. Create more operations. 7. Access the Sequence Editor. 8. From the Operation Tree, select the Cell_Operation and click Operations→Set Current Operation. The Cell_Operation and its contents are added to the Sequence Editor.

The Sequence Editor includes two resizable areas, a Tree area on the left and a Gantt chart area on the right. 9. Drag and drop operations to reorder the tree area. 10. Select two operations and click Link. A new link is created between the selected operations – this means that the second operation will start after the first one finishes.

89




11. Create links for all the other operations. The Sequence Editor appears as follows after reordering and linking the operations.

12. Use the Zoom Buttons in the Sequence Editor toolbar as required. 13. You can modify the duration of an operation by dragging its edge in the Gantt area. 14. Use the simulation buttons to run the simulation, and step it forward and backward.


Operations Menu →New Operation→New Object Flow Operation



Operations Menu →New Operation→New Device Operation



Operations Menu →New Operation→New Generic Robotic Operation



Operations Menu →New Operation→New Compound Operation



Operations Menu →Path Editing



View Menu →Viewers →Operation Tree



View Menu →Viewers →Sequence Editor

90



Create Arc Mfgs

Create Arc Mfgs To view a movie of this procedure, click Create Arc Mfg. This procedure demonstrates how to create arc-weld manufacturing features (Mfg) Preconditions: 

The procedure assumes that your cell has already acquired the required parts and curves from the CAD system.



The robotic cell already contains the required robot and welding torch.

1. Open the robotic cell containing the: •

Welded parts including the curve representing the welding seam

•

Robot and welding torch

•

Positioner with the welded parts mounted on its plate (optional)

2. Create the arc weld manufacturing feature: a.

In the Object tree or Graphic Viewer, select the arc seam curve.

b.

Click Continuous→Create Continuous Mfg from Curves.

Note: The Create Continuous Mfg from Curves dialog is displayed and the Mfg name is automatically assigned using the Source curve name. You can modify the Mfg name by double-clicking the name field and typing the desired name.

91



Create Arc Mfgs

c.

Set the Mfg Type to ArcContinuousMfg.

d. e.

Click Assign to part. In the Object tree or Graphic Viewer, select the part to which the welding seam should be assigned and click OK.

92



Create Arc Mfgs

Notes: •

The newly created Arc Weld Mfg appears in the Mfg Viewer. To open the Mfg Viewer, click View→Viewers→Mfg Viewer.

•

You can emphasize the arc weld feature in the Graphic Viewer by clicking Continuous→ Emphasize Continuous Mfgs or thickness.

and selecting emphasize color and

References For additional information on the features described in this procedure, refer to the following topics in RobotExpert Reference Manual: • •

Continuous Menu →Create Continuous Mfgs from Curve Continuous Menu →Emphasize Continuous Mfgs 93



Create a Continuous Operation with Project Arc Seam

Create a Continuous Operation with Project Arc Seam To view a movie of this procedure, click Continuous Feature Operation. This procedure demonstrates how to:   

Create continuous feature operations for arc welding. Assign the continuous feature operations to previously-created arc-weld manufacturing features (Mfg). Use the Project Arc Seam command to obtain the robotic path.

1. Open the robotic cell containing the: Welded parts including the arc-weld manufacturing feature (refer to Create Arc Mfgs using Modeling Capabilities). 

Robot and welding torch.



Positioner with the welded parts mounted on its plate (optional).

2. Create a continuous feature operation for arc welding, as follows: a. Click View→Viewers→Mfg Viewer. The Mfg Viewer appears. b. From the Mfg Viewer or Graphic Viewer, select the newly-created arc weld Mfg. c. Click Operations→New Operation→New Continuous Operation. The New Continuous Operation dialog appears with the pre-selected arc weld Mfg in the Continuous Mfgs list.

Note: You can open the New Continuous Operation command without pre-selecting the arc weld Mfg. Enter the arc weld Mfg later by clicking an empty field in the Continuous Mfgs list and selecting the arc weld Mfg. d. Rename the operation according to your naming convention. e. Assign the robot and the weld torch. The weld torch is added automatically if it is already mounted on the robot.

94


Designing and Managing Processes f.


Select the Scope under which the new operation is to be created.

g. Optionally, click

to expand the New Continuous Operation dialog and add a Description.

h. Click OK to create the operation. Note: The new operation appears in the Operation Tree under the scope you defined.

95




3. Project the arc seam, as follows: a. Select the new operation in the Operation Tree and click Continuous→ Project Arc Seam or click . The Project Arc Seam dialog appears with the pre-selected operation and the arc weld Mfg displayed in the Features list.

b. Select the arc weld Mfg in the Features list and click

96

Edit Mfg Feature Data.




The Edit Mfg Feature Data dialog appears.

c. In the Parts/Faces area, select Faces. d. Click

Face Selection for the Base (wall).

97




The Face Selection dialog appears and the cursor switches to face selection mode.

e. Pick a face for the weld Base in the Graphic Viewer and click OK. Note: The selected face is highlighted in light blue.

98


Designing and Managing Processes f.


Click Side Face Selection for the Side (wall). The Face Selection dialog appears (the cursor remains in face selection mode). In this example, there are several side faces - pick the desired faces in the Graphic Viewer.

Note: RobotExpert enables smart automatic neighboring face selection. This improves efficiency and ensures accurate selection. To do this, click

Automatically Add Neighboring Faces.

Note: The automatically selected neighboring side faces are those related to the arc weld seam and the previously-selected Base face. The number of the selected faces appears in the dialog and they are highlighted in the Graphic Viewer. g. Click OK to confirm the selection.

99




Note: The Edit Mfg Feature Data dialog now contains the details of the faces selected for projection. You can highlight the Base and Side faces by clicking Highlight.

h. If required, click

i. j.

Swap to swap between the Base and Side faces.

Click OK to close the Edit Mfg Feature Data dialog. In the Project Arc Seam dialog, modify the General Arc Alignment Parameters according to your welding process requirements. Additionally, you can set the parameters in the Projection Parameters section to control the following:  Maximal segment length  Maximal tolerance  Smart recognition of line and arc segments  Check Project on approximation only if your CAD data does not contain exact geometry

100




k. Click Project. Note: The newly-created locations are added to the weld operation in the Operation Tree. Expand the operation in order to view the result.

101



l.


In the Path Editor, click Add Operation to Editor to add the new operation.

Note: The resulting location motion type is automatically assigned according to the circular and linear segments.

4. Optionally, you can split the seam operation - continuous, arc and more - into two seam operations: a. Click Continuous→ Split Seam Operation. The Split Seam Operation dialog appears.

102




b. In the Source Seam Operation area, select the Operation either in the Operation tree or the Path Editor c. From Split location list of locations associated with the selected operation, select the location before which you wish to split the operation. d. In the New Seam Operation area, you can modify the default Name assigned to the new operation. e. From the Robotic operation list, select the operation/compound under which to nest the new operation.

f.

Click OK. The following figure shows the status of the Operation tree after the split.

103





Continuous Menu →Create Continuous Mfgs from Curve



Continuous Menu →Emphasize Continuous Mfgs



Continuous Menu →Project Arc Seam



Operations Menu→New Operation→New Continuous Operation

104



Create Arc Mfgs using Modeling Capabilities

Create Arc Mfgs using Modeling Capabilities This procedure demonstrates how to create an Mfg in RobotExpert. The steps include creating a curve and then an Mfg. The procedure also demonstrates some RobotExpert modeling capabilities. 1. Open a robotic cell containing a welded part. The part is composed of a base and two inclined angle surfaces.

2. Open the part for modeling: a. Select the part, either in the Object tree or in the Graphic window. b. Click Modeling→Set Modeling Scope. RobotExpert opens the selected part for modeling (for example, to add entities to the component or modify existing ones). A new icon overlay is displayed to indicate that the object is currently in Modeling mode and all part entities are visible:

Note: If you are not in Modeling mode, many of the Modeling menu options are disabled. 3. Create a curve – there are several options available to create curves: 

Option 1: Create curve on border: a. Click Modeling→Create Curves→Curve on Borders. The Curve on Borders dialog appears.

105






b. c. d. e.

Select the entity, either in the Object tree or in the Graphic window. Select the Name field and type a name. Click Preview to view the update before confirming. Click OK.

f.

If you wish to delete the original surface or solid after creating the intersection/border curve, check Delete original entities.

Option 2: Create an Intersection curve: a. Select the two intersecting entities, either in the Object tree or the Graphic window. b. Click Modeling→Create Curves→Intersection Curve. The Intersection Curve dialog appears.

c. Type a Name and reselect the entities if necessary. d. Click OK.

106




e. If you wish to delete the original surface or solid after creating the intersection/border curve, check Delete original entities. 4. Create the Arc Weld Mfgs: a. Select the Arc Seam curve, either in the Object tree or the Graphic Viewer. b. Click Continuous→Create Continuous Mfg from Curves. The Create Continuous Mfg from Curves dialog appears and RobotExpert automatically assigns the feature name according to the source curve name.

c. Set the Mfg type to ArcContinuousMfg. d. In the Assign to part field, select the part to which the welding seam should be assigned, in the Object tree or the Graphic Viewer. e. Click OK. The newly created Arc Weld Mfg appears in the MFG Viewer (opened from View→Viewers). 5. Click Continuous→Emphasize Mfgs to add emphasis to the Arc Weld feature in the Graphic Viewer. You can choose the emphasis color and thickness. 6. Exit Modeling mode from Modeling→End Modeling. 7. Indicate Seam Start – This step is optional and is only relevant for closed curves. It enables you to set a start point and direction for continuous Mfgs created from closed curves.

107




a. Select the Mfg in the Mfg Viewer, the Object tree or the Graphic Viewer.

b. Click Continuous→Indicate Seam Start. The Indicate Seam Start dialog appears. The name of the selected Mfg feature appears in the Mfg feature field.

c. The Start point control is active. Click in the Graphic Viewer to create a start point. A red cross that indicates your selection appears. d. While the Via direction point control is emphasized, click a direction in the Graphic Viewer. A blue cross that indicates your selection appears.

e. Click OK to confirm your selections. After projecting the Mfg, the first location is set on the Start point and subsequent locations are placed according to the Via direction point.

108





Continuous Menu→Create Continuous Mfgs from Curve

•

Operations Menu→New Operation→ New Continuous Operation

109



Continuous Robotic Path Planning and Simulation

Continuous Robotic Path Planning and Simulation To view a movie of this procedure, click Continuous Robotic Path Planning. This procedure demonstrates the planning phase of robotic operations, including collision checking, configuring torch gun parameters, and setting external axis values. Creating Collision Sets 1. Open a robotic cell containing: •

A robot and welding torch

•

A positioner (or other kinematic device) with welded parts mounted on its plate

•

A continuous operation with projected arc seam Mfg

2. Define a collision set to ensure a collision-free path at the planning phase: a. Click View→Viewers→Collision Viewer. The Collision Viewer appears.

110


Designing and Managing Processes b. From the toolbar, click list is active.

Continuous Robotic Path Planning and Simulation New Collision Set. The Collision Set Editor dialog appears. The Check

c. Pick any of the following from the Graphic Viewer or Object tree: robots, robot pedestals, mounted torch guns and other objects attached to robots. The selected objects are added to the Check list and the With list becomes active. RobotExpert will check if any of the selected objects collide with objects in the With list. Note: If you selected objects in the Graphic Viewer or Object tree prior to invoking the Collision Set Editor dialog, these are listed in the Check list when the dialog appears and the With list is active. d. From the Graphic Viewer or Object tree, pick welded parts, devices that hold parts, and other objects attached to parts. The selected objects are added to the With list. e. Click OK. A new collision set is added to the Collision Viewer.

3. If you wish to edit the name of the new collision set, double-click it and type the new name. 4. If you wish to view the collision set in the Graphic Viewer, click Emphasize Collision Set. The Check list objects are colored in yellow, the With list objects are colored in blue, and all other objects in the cell are dimmed.

111



5. If you wish to modify the collision set, click


Edit Collision Set and edit the collision set.

6. Configure simulation to stop on collision: a. Click Tools→Options→Collision Viewer. The Options dialog appears with the Collision tab selected.

b. In Collision Options area, check the Stop Simulation when a Collision is Detected option. c. Click OK to save the change and close the Options dialog.

112




7. From the toolbar, click Collision Mode On/Off Collision Viewer. When a collision is detected, the simulation halts and the colliding pair is colored in red. Performing Torch Alignment 1. Add an operation to the Path Editor. 2. In the Graphic Viewer or Path Editor, select the first seam location in the operation. 3. Click Continuous→Torch Alignment. The Torch Alignment dialog appears for the selected location.

4. Click the Follow Mode button. The robot and torch gun jump to the selected location.

5. Change any of the parameters in the Arc Alignment area (these were defined during the projection phase). 6. Click Next location to move to the second seam location. The robot and the torch gun jump to the next location. Do this to move through all the seam locations. If a collision is detected, the colliding objects are colored in red.

113




7. Modify one or more of the Arc Alignment parameters to fix the collision. 8. Return to the first seam location and verify that the entire path is free of collisions. 9. Run the simulation. Configuring Robot External Axes This procedure demonstrates how to set the external axis values for each location. 1. In the Path Editor, click

Customize Columns. The Customize Columns dialog appears.

2. In the Available Columns list, expand the General folder, select the External Axes Values column, and click to add the column to the Show columns in following order list. 3. Expand the OLP - Dynamic Params folder, select the Ext1 and Ext2 columns, and click columns to the Show columns in following order list.

to add the

4. Click OK.

114




The External Axes Values column indicates the number of the defined external axis values from the total number of the robot external joints. The Ext1 and Ext2 columns indicate the value of the external joint (if defined). 5. From the Operation tree or Path Editor, select the seam operation. 6. Click Kinematics→Set External Axes Values. The Set External Axes Values dialog appears.

7. Click

Follow Mode. The robot and the gun jump to the selected location.

8. Check Approach Value and type the requested values.

115




9. Click Next Location to move to the next location and enter the relevant values. Repeat this for all the other locations.

Note: The external joints information is visible in the related columns of the Path Editor. 10. Run the simulation to validate the changes. Performing Robot Configuration Typically, robots can reach given locations by several configurations. This procedure demonstrates how to set the optimal robot configuration and uses the Abb - Rapid controller as an example. 

Option 1: Set configuration value for a single location

1. Click View→Viewers→Path Editor. The Path Editor appears. 2. Click

Customize Columns. The Customize Columns dialog appears.

116




3. Expand the Abb - Rapid folder, select the Config column, and click Show columns in following order list.

to add the column to the

4. From the Path Editor or Operation tree, select the first seam location. 5. Click Robotics→Robot Configuration. The Robot Configuration dialog appears for the selected location.

6. From the Robot Solutions list, select the optimal solution and click Teach. Note: The Config value in the Path Editor is also updated. 

Option 2: Set a configuration value for the whole path

After creating a collision free path, it is possible to set all path configuration values during simulation. 1. From the Path Editor toolbar, click

Auto Teach.

2. Run the simulation. Note: All configuration values are updated during the simulation.

117




Tracking the Robot TCP The TCP Tracker enables you to select a robot and track its TCP frame during simulation. The command records the motion of the robot TCP as a curve and stores it as a TCP track object. 1. Click Tools→Customize. The Customize dialog appears.

2. In the Commands list, select TCP Tracker, drag it on to your toolbar, and close the Customize dialog. 3. From the Graphics Viewer or the Object tree, select a robot. 4. Click

TCP Tracker. The TCP Tracker toolbar appears.

Note: Tracking mode is activated by default.

118


Designing and Managing Processes 5. Click


Select Color and select a color from the list for the TCP track object.

6. Run the simulation. Any robot TCP movement will be tracked – regardless of what causes the movement, for example, Joint Jog, Robot Jog, or any other command. Note: You can pause the TCP Tracker at any time by clicking the Pause button. Using the Robot Viewer The Robot Viewer includes: Joint Monitor, Joint Status, TCP Speed, and more. 1. From the Graphics Viewer or the Object tree, select a robot. 2. Click Robotics→Robot Viewer. The Robot Viewer appears for the selected robot.

3. Run the simulation. Note: The Robot Viewer is dynamically updated during simulation.

119




4. Use the Panels command in the Robot Viewer top right corner to add or remove panels. 5. Use the Robot command in the Robot Viewer top left corner to select a different robot.


View Menu→Viewers→Collision Viewer

•

Continuous Menu→Viewers→Torch Alignment

•

Kinematics Menu→Viewers→Set External Axes Values

•

Robotics Menu→Robot Configuration

•

View Menu→Viewers→Path Editor→Auto Teach

•

Robotics Menu→TCP Tracker

•

Robotics Menu→Robot Viewer

120



Arc Torch Alignment

Arc Torch Alignment To view a movie of this procedure, click Arc Torch Alignment. This procedure describes how to edit seam locations created with Project Arc Seam. Arc welding parameters such as: Travel angle, Work angle, Seam offset, etc. are defined for all seam locations during projection. By using Torch Alignment you can edit all parameters for each location. 1. Open a robotic cell containing: 

Welded parts including the curve representing the welding seam.



A Robot and welding torch.

121



Arc Torch Alignment

2. Define the Location Orientation: a. Click Options→Tools. The Options dialog appears.

b. Click the Continuous tab. c. Define the Location Orientation for each parameter and click OK. Note: It is recommended to use the following default axes: Movement Vector=Y and Normal=Z. These parameters define the location orientation during the projection for all continuous operations including Arc. 3. Project Arc Seam: The following are only the major steps of the Project Arc Seam process. For additional explanations, see the Create a Continuous Operation with Project Arc Seam procedure. a. Create a new continuous Mfg from the existing or new curve and define it as ArcContinuousMfg. b. Create a new Continuous operation. c. Project the Arc Seam of the new operation.

122



Arc Torch Alignment

Note: After the projection, the General Arc Alignment Parameters become the default parameters for all seam locations. 4. Perform the Torch Alignment: a. From the Operation tree or the Path Editor, select the first seam location. b. Click Continuous→Torch Alignment. The Torch Alignment dialog opens in the selected location.

123



Arc Torch Alignment

Note: The Y axis location points to the next location and the Z axis is used as the approach vector. c. Click Follow Mode. The robot and gun jump to the location and the Graphic Viewer is updated according to the changes. d. Use the browsing buttons to move between the locations. Note: Do not close the dialog box.

5. Modify the Arc Alignment parameters: Note: Moving between the parameters updates the picture. When moving the mouse over the picture, the parameter definition pops up. You can change any of the following parameters by typing the explicit value, using the arrow buttons next to parameter value, or scrolling with the mouse wheel. 

Travel angle - The angle of approach measured along the seam from the bisector. Lower limit= -180°, Upper limit= 180°



Work angle - The sideways tilt of the welding torch as seen from the broadside view. Lower limit= -90°, Upper limit= 90°



Spin angle - The angle of the torch around its approach vector. Lower limit= -360°, Upper limit= 360°

Note: Each one of these angles is independent. 

Base wall offset - The distance from the seam location to the base wall.



Side wall offset - The distance from the seam location to the side wall.



Seam offset - The distance from the location to the intersection of the side wall with the base wall. The Seam offset is the vectored sum of the Base and Side offsets. Changing the Side or Base offset affects the Seam offset and vice versa. There is no dependency between the Base and Side offsets.

124



Arc Torch Alignment

6. Close or Reset the Torch Alignment: a. Click the arrow button next to the Reset button to: o

Reset Current Location - resets the current location parameters.

o

Reset All Edited Locations - returns the Torch Alignment dialog to the state it was at when originally launched.

b. To apply the changes, click Close.

References For additional information on the features described in this use case, refer to the following topics in the RobotExpert Reference Manual: •

Tools Menu→Options →Continuous Tab

•

Continuous Menu→Project Arc Seam

•

Continuous Menu→Torch Alignment

125


Robotics

Robotics

126


Robotics

Apply Path Template Action

Apply Path Template Action To view a movie of this procedure, click Apply Path Template Action. This procedure demonstrates the following: 

The format of the user-defined XML file containing parameter definitions, for example, Motion Type, Zone, etc.



Applying definitions from the XML file on existing paths

In order to apply path templates (change the parameters of path locations according to user definitions), you must first compose an XML file containing the available template actions. A file like this is created for each robot controller. This document uses the ABB-Rapid controller as an example. The following preconditions apply:   

A robotic cell is loaded in RobotExpert. A robot controller is installed. The robot controller has been defined according to the XML definitions in the file.

1. Create a new XML file under the following location: RobotExpert_Installation_folder\Robotics\OLP\Abb-Rapid\PathTemplateConfiguration\ .xml. The format of the XML file is as displayed in the following figure:

127


Robotics

Apply Path Template Action

Note: In this example, the action called DefineParameters is followed by a text description and a group of parameter settings to be applied (for example changing the Zone value, Speed value, Location color etc.) The XML may contain multiple actions. 2. Apply the path template: a. Click Tools→Customize and select the Commands tab.

b. From the Categories list, select Robot and Device. c. From the Commands list, drag the Apply Path Template Action command to the toolbar area and drop it into the Robotics menu. d. Use the new icon to launch the Apply Path Template Action command. The Apply Path Template Action dialog appears. The Operations list is active.

e. From the Graphic Viewer, Operation tree, or Path Editor, pick an operation. 128


Robotics

Apply Path Template Action f.

Click the Select dropdown list and select the action to apply.

The name of the selected action appears in the Select template action to apply field and its description in the XML files appears in the Action Description field. g. Click the Apply button to apply the parameters defined in the action. The following figure is an image of the path and location in the Graphic Viewer and the Path Editor before applying the parameters. Note the values of the parameters and the color of the locations (white).

129


Robotics

Apply Path Template Action After running the Apply action, the parameters are set and the location color changes to blue (according to the definitions in the XML file).

After the Apply action is complete, an Action Filter Results window appears, specifying the actions summary and any errors that occurred.


Robotics Menu→Apply Path Template Action (after customization)

130


Off Line Programming


131



OLP - Off Line Programming

OLP - Off Line Programming This procedure demonstrates offline programming (OLP) options, including: 

Uploading a real program from the shop floor to RobotExpert.



Editing and optimizing real programs with RobotExpert tools.



Downloading new programs from RobotExpert to the shop floor.

1. Open a robotic cell containing: •

The welded parts including the curve representing the welding seam

•

Robot and welding torch

2. Upload the robotic program: a. In the Object tree or in the Graphic Viewer, select the robot. b. Click Robotics→Robot Program→Robotic Program Inventory. The Program Inventory dialog appears for the selected robot.

132




c. Click the Upload Program button . d. Open the program you wish to use. The newly uploaded program is displayed under the Program Inventory dialog.

133




The newly uploaded program is displayed under the Operation tree.

3. Initialize the robot (two options are described below for initializing and validating the robot controller): Note: This section refers to the ABB controller. The process is identical for other controllers, except that each one has different parameters (and parameter names). 

Option 1: Robot Properties - refers specifically to the selected robot: a. Select the robot, either in the Object tree or the Graphic Viewer. b. Click Robotics→Robot Properties. The Robot Properties dialog appears. c. Select the Controller tab.

134




d. Fill all the necessary fields: Controller, RCS version, Manipulator type and Controller version. e. For both RCS in Simulation and RCS in Non Simulation select the Connect option in order to connect the robot with its RCS module (for accurate simulation). f.

Click the Validate button to implement a validity check of the controller settings and to initialize the RCS. The Validate message appears.

Note: If one or more of the controller settings is incorrect or the RCS communication (client- server) failed, an error message is displayed. g. Click OK. h. Click the Robot Setup button

to open the Robot Setup dialog.

The Robot Setup dialog contains all the necessary parameters to define the robot movement and actions. Each controller (ABB, KUKA, and others) has different parameter definitions; therefore each controller setup dialog is unique. 135






Load Machine Data files - RobotExpert loads machine data files containing the machine data that is used by the RCS module: Speed data, Tool data, Load data and more.



Define additional parameters, for example Speed data.



Click Base Data Definition and select the Speed Data option. The Speed Data dialog appears. Clicking the arrow button next to the Select data field displays all existing speed data (from the loaded machine data files).



Type a new Speed data name in the Select data field. Note: All other controls are enabled.



Define the new speed data parameters: Storage Type, Tcp Speed, Orientation, Linear External Axis, and Rotational External Axis.



Apply the changes and close the Speed Data dialog.



Close the Robot Setup dialog.

•

Option 2: Controller Settings

a. Click Robotics→Controller Settings. The Controller Settings dialog appears, containing all robots in the cell and their controller’s data.

b. In the Robot Name column select one robot (row) and fill all the necessary fields: Controller, RCS version, Manipulator Type, and Controller Version. c. For both RCS in Simulation and RCS in Non Simulation, select the Connect option to connect the robot with its RCS module (for accurate simulation). d. Click the Validate button RCS. e. Click the Robot Setup button

for a validity check of the controller settings and to initialize the to open the Robot Setup dialog.

Note: Continue the process from step g. in Option 1 as described above.

136




4. Perform validation of the program and controller settings. In order to validate the uploaded program and the controller settings, run the simulation: a. Click the operation node in the Operation tree. b. From the Path Editor select Add Operations to Editor. c. From the Path Editor select Play Simulation Forward. The simulation should run with no errors. 5. Make changes – add the new Arc Welds Mfg to the operation: a. Right-click the operation node and select Operation Properties from the menu. The Properties dialog appears.

b. From the Process tab, in the Continuous Mfgs table, select the new Arc Weld Mfg and click OK. c. Project the new Arc Weld Mfg (see the “Create Arc Mfgs & Create a Continuous Operation with Project ARC Seam” document). 6. Assign new robotic parameters via Path Editor: a. Select the new Seam operation in Operation tree. b. In Path Editor click the Add Operation to Editor button. c. Select Seam Location and select the desired cell to add or edit the attribute. The dropdown list opens containing all pre-defined options for the specific attribute.

d. Select the desired value.

137




7. Assign new robotic parameters via Teach Pendant: a. Select a seam location in the Operation tree or the Path Editor. b. From the Robotics menu select Teach Pendant. The Teach Pendant dialog appears for the selected seam location.

Use the Teach Pendant dialog to define robotic location attributes. It applies the relevant parameters and commands with reference to location (seam location/via) and controller types. 

The upper part of the dialog contains browsing buttons to move between locations and the Robot Setup button . The dialog is divided into four sections: Motion Parameters, Process Parameters, Motion Properties, and OLP Commands.



To change Motion or Process parameters click the Value box next to the desired parameter and select a value from the list, for example, changing the zone data:

138






In order to add or edit OLP Commands or Motion properties, click Add. From the menu that opens, select a command, for example, the Send Signal command:

139




In this example, the Send Signal dialog appears:



Set the Signal Name, Value, Destination and click OK. RobotExpert creates a new Send Signal command for the location.

You can apply several commands, reorder the OLP Commands list, edit, or delete commands. 8. Confirm the changes – run the simulation. In order to confirm the changes, run the simulation and search for are any errors or missing data during simulation. a. Add the operation to the Path Editor. b. Run the simulation. The following is an example of a Missing Data error:

The error window displays details of the error such as the exact location and cause of failure. Fix the errors in Path Editor or Teach Pendant.

140




9. Configure value updates with Auto Teach: After changing the program (operation), you should also update the configuration values of the robot for each location. You can manually change the configuration value for each location in Path Editor or Teach Pendant (as explained above). Additionally, there is the automatic Auto Teach option that updates the configuration values during the simulation run. This ensures a collision-free and error-free program. a. b. c. d.

Add the operation to the Path Editor. Run the simulation. Make sure the operation is free of collisions and errors. From Path Editor select Auto Teach. Run the simulation.

10. Download the program. a. Right-click the operation header in the Path Editor and from the right-click menu select Download to Robot. The Select File dialog appears.

b. Set the location, filename and file type for saving the new program. The new updated program is now ready to use.


Robotics Menu→Robotic Program Inventory

•

Robotics Menu→Controller Settings

•

Continuous Menu→Project Continuous Mfgs

•

Robotics Menu→Robot Configuration

141


Robot Expert Quick Start Guide

Recommend Documents