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Manual Roboguide V6
Manual Roboguide V6
Introduction
1.1
Introduction
Roboguide simulation and its family of process plug-ins is
targeted to provide an easy to use interface to create
workcells and robot programs.
Roboguide
workcell
playback.
modeling,
TPP
Program
teaching,
and
path
software.
HandlingPRO
enables
the
building
of
1-1
1.
1 .INTRODUCTION......................................... 1-1
1.1 Introduction......................................................................... 1-1
2.4.1 Defining the end of arm tooling and the mounting of the tooling of the robot. .... 2-12
2.4.2 Defining the Tooling UTOOL value of the robot ................................... 2-15
2.5 Simple Workcell Step 5: Add a pick fixture to the workcell .......................... 2-22
2.6 Simple Workcell Step 6: Add a place fixture to the workcell ......................... 2-29
2.7 Simple Workcell Step 7: Create a robot program ...................................... 2-34
2.8 Simple Workcell Step 8: Run the program ............................................. 2-44
2.9 Simple Workcell Step 9: Creating an AVI of your workcell ............................ 2-51
1-2
2.
1-3
1.
1-4
and
that
have
no
active
workcell
in
the
workspace of Roboguide.
When complete your workcell should contain the following
entities:
This
workcell
Install
is
directory
c:\Program
built,
used
and
for
is
available
install.
Filles\FANUC\PRO\SimPRO\Sample
in
Typically
2-1
this
is
Workcells\Workcell
Example
Directory:
2.
2-2
2.
2.1
2.
The
type
of
presented in a list.
workcells
that
can
be
created
Select
2-3
are
2.
3.
4.
5.
2-4
2.
7.
The
next
step
shows
robots
and
positioners
for
9.
Press Finish to
The workcell
2-5
2.
2-6
2.
robot around the workcell and set other properties for the
robot.
1.
2.
For
defaults.
this
example
you
will
use
the
HandlingPRO
property page to ensure that the robot base can not be moved
in the workcell
Resulting HandlingPRO state:
2-7
2.
2.3
2-8
2.
2.
appear
on
the
file and
press OK.
screen.
Browse
Select
A browse dialog
to
C:\Program
2-9
2.
2-10
2.
3.
The Part property page for the new part will now
The part is
For a description of
2-11
2.
2.4
robot
In this step, you will add End of Arm Tooling to the robot.
model to be used, how the tool is mounted on the robot, and the Tools UTOOL definition.
2.4.1
Defining the end of arm tooling and the mounting of the tooling of the
robot.
1.
2-12
2.
2. ROBOGUIDE
:\Program Files\FANUC\PRO\SimPRO\ Image Library \EOATs
\grippers
36005f-200.IGS
2-13
2.
3.
You
You can
4.
2-14
The tool
2.
2.4.2
2.
The tooling
Press
the Use Current Triad Location and press Apply to set the TCP
UTOOL value for the robot tooling.
2-15
2.
page.
You can open the property page from the Cell browser by
right
clicking
on
the
2-16
Tooling/UT:1
and
selecting
Eoat1
2.
2-17
2.
4.
to
the
C:\Program
Library\EOATs\grippers
files\FANUC\PRO\SimPRO\Image
directory
and
select
the
file:
36005f-200-4.csb.
6. Press Apply.
You
2.
7.
Robot Part.
Press Apply.
2-19
2.
9.
(0,
option box for Lock All Location Values and press Apply.
You should now have the robot with end of arm tool holding the
Little Robot Part.
the robot and end of arm tool by toggling between the Open and
Closed buttons on the Material Handling Tab, or by pressing
the open/closed icon button () on the toolbar.
Resulting HandlingPRO state:
The workcell should now have a robot with an end of arm tool,
and a part defined for the end of arm tooling.
The Tool
Center Point should be defined for the robot with the Z axis
of the TCP pointing out from the tooling in line with the
2-20
2.
2-21
2.
2.5
Select Add a
Select
screen and the Fixture Property Page dialog window will appear
defaulted to the General Tab
2-22
2.
3. In the Name field of the property page enter the text "Pick
Fixture" and press Apply
4. In the Size in Z field of the property page enter 500 and
press Apply.
2-23
2.
2-24
2.
5.
color wheel.
These values
2-25
2.
Once
you have defined what part goes with this fixture you can
define its placement in the fixture.
1. Select the Parts Tab on the Fixture property page
2. Select Little Robot Part from the Parts list and press
Apply.
the fixture.
Note: if you do not see the part, make sure the Part
Visible at Teach Time box is checked.
3.
4.
2.
For
2-27
For
0, 0,
2.
2.
This tells
Change
the
Part
Create
to
2.00
Select
the
Fixture
Properties
General Tab.
5.
The
2-28
2.
2.6
Fixture two, called Place Fixture, will be a red box which a part can be placed on.
In this
step you create fixture 2 and define how the part is placed on the fixture.
Create Fixture 2:
1. Select Add a Fixture to the Cell in the Define
the Cell category of the Process Navigator.
2. You will see a dialog with several options.
Select Box Primitive Model and press OK.
will
appear
Property
on
Page
the
screen
dialog
and
window
A box
the
Fixture
will
appear
The box
2-29
2.
2-30
2.
Once
you have defined what part goes with this fixture you can
define its placement in the fixture.
1. Select the Parts Tab on the Fixture property page
2. Select Little Robot Part from the Parts list and press
Apply.
the fixture.
Note: if you do not see the part, make sure the Part
Visible at Teach Time box is checked.
3.
4.
2.
fixture location.
Method 2: Use the automatic calculate method.
For
For
0, 0,
the
Part
Destroy
to
2.00
This tells
the
Fixture
Properties
General Tab.
5. Enable the Lock All Location Values
property by checking the box on the
tab and press Apply.
2.
End of arm tooling is defined for open and closed with the
closed state displaying a part in the tooling.
2-33
2.
2.7
2-34
The
2.
is
loaded
into
the
2-35
Program
Teach
2.
2-36
2.
menu.
This position
7. Press the close hand icon ()to close the gripper and see
the part on the EOAT.
8. In the Program Teach Window
dropdown.
program.
2-37
2.
in
HandlingPRO
the
Touchup
automatically
instruction
records
the
item.
position
which
This is determined by
2-38
toolbar
2.
13
2-39
2.
14.
15.
2.
Jog the robot away from the pick position and press
2-40
2.
3. Press the close hand icon ()to close the gripper and see
the part on the EOAT.
4. Jog the robot near the place fixture
5. Press record to create a via position.
Open
the
MoveTo
button.
The
robot
2.
12. In the Program Teach Window select Drop from the Inst menu
dropdown.
program.
13. Select Little Robot part from the Drop field, UT:1 from the
From field, and Place Fixture from the On field.
14. Jog the robot away from the place point and press record.
A
move
away
position
is
created
after
the
Open
instruction
You have now created your TP Program for this example.
2-42
Hand
2.
2-43
2.
Select
Run
TP
Program
from
the
Run
Production
2.
The program should run, and you should see the part get picked
and placed.
2-44
2.
Display options are set to define how you want to see the
robot data as the cycle runs.
2-45
2.
2-46
2.
2-47
2.
2.
3.
The program should run, and you should see the part get picked
and placed.
2-48
2.
3.
mark
appears),
Collect
TP
Trace,
Refresh
Display,
and
This is
to view results.
2-49
2.
Profile
Display
Options
2-50
tab
can
be
checked
to
2.
window that describes where the AVI file was placed on your
computer.
AVI
2-51
Basic Operation
3.1
3D World
Roboguide
simulation
software
working
environment
is
3.1.1
Roboguide
3-1
3.
3.1.2
3-2
3.
3.1.3
To zoom in:
1. Press and hold the left and right mouse buttons
2. Move the mouse up
To zoom out:
1. Press and hold the left and right mouse buttons
2. Move the mouse down
The
3-3
3.
3-4
3.
To zoom in:
1.
In
To zoom out:
1.
Out
3.1.4
3.1.5
1.
2.
3.
4.
1. Select the object with which you want to rotate the view
about.
2. Press and hold the right mouse button
3. Drag the mouse. You will see the world rotate.
4. Release the right mouse button to stop rotation mode.
3-5
3.
3.2
If you try
PRO Software
also provides a teach/ jog tool which allows you to "drag" the
robot around the work envelope
There are multiple ways to jog the robot.
3-6
3.
3.2.1
This
3-7
3.
3-8
3.
3.2.2
TCP
ROBOGUIDE
3-9
3.
1.
2.
1.
2.
3.
4.
5.
3-10
3.
3
1.
2.
3. CTRL
4.
5.
6.
1.
2.
3.
4.
5.
6.
3-11
3.
TCP
1.
2.
3.
3-12
3.
3-13
3.
1.
2. Shift Ctrl
3. Shift Ctrl
1.
2. Shift Ctrl
3. Shift Ctrl
1.
2. Shift Ctrl
3. Shift Ctrl
3-14
ROBOGUIDE WorkCell
Workcells consist of different objects that have properties
that are unique to their activity in the workcell.
Roboguide
Robot
For
Profiles:
are
captured
information
of
robot
simulation runs.
z
As you add objects to your workcell you see them within the 3D
world and you see the cell browser tree grow to show where the
objects fit in the Roboguide cell hierarchy.
4.1
Robot Controllers
Machines
Frames
Programs
Etc.
1.
1.
4-2
4.2
General:
Collision
Detect
All
objects:
when
enabled
all
When disabled
Synchronize
Time
during
teach:
when
running
During
robots
in
teach,
the
Roboguide
workcell.
does
not
synchronize
This
is
to
enhance
on the floor.
o
AVI Logos:
Logos that are shown when capturing an AVI
and select open property page from the menu to open the
workcell property page.
4-4
The workcell property page provides global settings for the workcell.
Fields include:
General:
Collision
Detect
All
objects:
when
enabled
all
When disabled
Synchronize
Time
during
teach:
when
running
During
robots
in
teach,
the
Roboguide
workcell.
does
not
synchronize
This
is
to
enhance
on the floor.
o
o
IO
AVI Logos:
Logos that are shown when capturing an AVI
Interconnect:
provides
an
interface
to
IO
4-6
setup
4-7
4.3
It is this
positions.
a fixture so that you can then move the fixture to ensure that
the points taught are reachable by the robot.
support UFRAMEs.
Fixtures
4.3.1
4-8
4-9
fixture.
z
When you change the state of the field, you must press Apply
for the action to take place.
z
Type:
set by Roboguide.
This is a primitive
Color:
primitive objects.
z
Size:
defines
the
parametric
values
for
primitive objects.
z
type objects.
z
Show
robot
collisions:
when
checked
this
There
Parts must be
fixture.
After adding a
Tool.
z
of Arm Tool.
Using the Part property page
The part property page is used to define part properties.
Fields include:
z
part.
z
This is a primitive
primitive objects.
z
Size:
defines
the
parametric
values
for
primitive objects.
z
Scale:
type objects.
Using the Parts Property Page Tab
4-12
Roboguide understands
what parts are assigned where and uses the UTOOL values and
the Part location values to automatically move the robot to
the desired part location.
Use
4-13
Object
selection
combo
box:this
box
is
used
in
With these
MoveTo:
Works
in
conjunction
with
the
Object
position that matches the part offset coordinate value for the
selected property page object with the part offset coordinate
value for the object selected in the Object selection combo
box.
After moving, the robot should have the part offsets for
If part
offsets are all taught accurately, the robot can be moved very
quickly and accurately to desired part positions.
For more
selected.
Edit Part Offset: when checked you can move the part
4-15
fixture
simulation
tab
has
settings
to
control
the
When doing
simulations it is desirable to be able control when parts reappear / disappear in fixtures after picking and placing.
For
example, if you are placing a part into a fixture and then the
process takes the robot to pick another part, you may want the
part to remain in the place fixture for some period of time
before disappearing.
Parts tab allow you to control how parts are managed during
simulation run.
Part
is
placed
and
then
picked
from
Parts frame:
shows
the
parts
4-16
available
in
the
workcell.
Simulation
simple editor, the fixture and part will show up in the list
of possible fixtures/parts.
o
the simple editor, the fixture and part will show up in the
list of possible fixtures/parts.
o
4.3.2
4-17
4-18
can calibrate the fixture and any parts that the fixture
can hold.
message:
Calibration program xxx has been created for object.
Please teach at least 3 points in the 3D World at unique
locations on the object.
when pressed
4-19
loads
compares
the
the
new
original
calibration
Roboguide
When pressed,
information
taught
and
calibration
You
X, Y, Z, W, P, R
offsets,
Least squares fit = xxx
Would you like to accept these results and shift the 3D
object?
If you press OK the object is adjusted to reflect these
changes.
Check the preview box to see the shift and OK to accept
the shift.
Check the adjust TPP programs selection if you want to
select TPP programs for which to have positions shifted.
4-20
4.4
"things"
that
are
just
present
in
the
environment).
In the
Obstacles support
4.5
There
Parts must be
fixture.
4-21
This is done on
This
This is
Tool.
4-22
Roboguide understands
what parts are assigned where and uses the UTOOL values and
the Part location values to automatically move the robot to
the desired part location.
Parts list:
4-23
Object
selection
combo
box:this
box
is
used
in
With these
MoveTo:
Works
in
conjunction
with
the
Object
position that matches the part offset coordinate value for the
selected property page object with the part offset coordinate
value for the object selected in the Object selection combo
box.
After moving, the robot should have the part offsets for
If part
offsets are all taught accurately, the robot can be moved very
quickly and accurately to desired part positions.
For more
selected.
Edit Part Offset: when checked you can move the part
4-25
4.6
This includes
4.6.1
from
the
\ controlled start.
4-26
main
menu
Robot
Restart
Controller
4.6.2
robot
name:
the
name
given
to
your
robot
when
defining a robot.
This location is
4-27
4.6.3
4-28
4-29
4. Press Open
Press MENUS.
Select FILE.
Select File.
Move the cursor to the device you want and press ENTER.
5. Press MENUS.
4-30
6. Select FILE.
7. Press F1, [TYPE].
8. Select File.
o
Move the cursor to the name of the file you want to load
and press F3, LOAD.
4-31
4.6.4
It
Roboguide
Through
In the
cell browser you can see that a robot has multiple UT elements
under the Tooling category for a robot.
Each of these
To change
the end of arm tooling on the robot, left click on the desired
tooling from the EOAT elements in the cell browser.
Roboguide
4-32
Check
different
tooling
settings
for
program.
Change the
4-33
4-34
tooling
applications.
as
Open
state
for
Normal references
material
handling
Visibility:
if
checked
you
can
see
the
tool.
This includes a
Physical Characteristics:
of the EOAT.
This
4-35
Z CTRL-SHIFT
CTRL-SHIFT CTRL-SHIFT
Z
CTRL-SHIFT Z
4-36
4.6.5
Positioners:
external
multiple group.
positioner
act
robot
axes
configured
as
additional
separate
motion
groups.
Robots
on
aux
axes:
these
have
different
configurations:
o
4-37
4-38
Extended auxiliary axes can be added to the end of the robot arm.
of arm tooling on the robot.
The following figure shows the cell browser tree for a robot
controller configured with and external axis on the end of the arm.
4-39
Machine
4-40
moving joints.
The Link CAD tab on the machine links also have these fields.
If a
4-41
Group: The robot motion group that drives the joint axis.
Axis origin: the origin of the coordinate system that will move when the axis is moved.
When defining the axis link origin Roboguide requires that the +Z axis be along the axis of
rotation (rotary) or translation (linear).
If selected + motion of
the joint results in a positive rotation/ translation around/ along the Z Axis.
the Z axis to be the axis of rotation/ translation.
4-42
PRO forces
Motor Visible: when checked the motor is shown as part of the axis.
Lock Axis Location: when checked locks all of the location values for the Axis Origin.
ROBOGUIDE Z
Z
1.
2. 3D
3.
Z Z
4-43
4-44
The axis
origin defines the motion of the joint, the axis link CAD
defines the object that moves when the axis origin is jogged /
moved.
Type: defines the type of object that can be used for the object.
CAD Location: the location of the joint CAD relative to the joint axis origin.
Lock All Location Values: when checked locks all of the location values for the joint.
4-45
The .DEF
file created and all associated CAD for the positioner should
be in the same directory.
For auxiliary axis systems: the auxiliary axis definition file
can be loaded in one of two ways:
after
configuring
the
virtual
robot
for
auxiliary axes
from
selection list.
the
workcell
creation
wizard
robot
robot selection.
For positioners: The positioner def file will show in the Add
additional groups wizard page.
Drive>
Program
Files\FANUC\PRO\SimPRO\Image
Library\Positioners
Saving a machine information for future use
1.
4-46
2.
files for the positioner can be put into their own sub
directory
under
the
Roboguide
Image
Library
Positioners
directory.
<Install
Drive>
Program
Files\FANUC\PRO\SimPRO\Image
Library\Positioners
For positioners: the def file information will show on the Add
Groups wizard page.
For extended axis machines: the def file information will show
on the robot selection page.
list.
4-47
After
the
workcell
has
been
generated,
and
the
configured
for
the
machine
axes,
saved
machine
Drive>
4-48
Program
Files\FANUC\PRO\SimPRO\Image
Library\Positioners
1.
2.
Select the saved DEF file from the Select Robot list
3.
Loading a previously defined positioner (multi group) machine from the workcell wizard
The .DEF file must be saved in the image library directory
structure of Roboguide in order for the DEF file to appear in
the robot list.
<Install
Drive>
Program
Files\FANUC\PRO\SimPRO\Image
Library\Positioners
1.
2.
Select the saved DEF file from the group list on the
Loading a previously defined end of arm machine after a workcell has been created
If the workcell has been defined, and the virtual robot has
been
configured
for
the
machine
axes,
saved
machine
Select
4-49
4.7
ROBOGUIDE V6
1
(C-Gun) R-2000iA/165F
4.7.1
FANUC Robotics ROBOGUIDE
ROBOGUIDE V6
1.
4-50
R-2000iA/165F (H740)
2
Basic Nobot (H895) 2
()
4-51
Servo
Gun
PackageJ685
12
4-52
R-2000iA/165F 1
4.7.2
CAD IGES
2NoBot
4-53
NoBot
4-54
MOTOR SIZE=50,
MOTOR TYPE=2,
CURRENT LIMITI FOR AMPLIFIER=7 80
1. Linear Axis
4-55
2. No Change
4-56
2. No Change
LOAD RATIO
4-57
SERVO TIMEOUT
2. Disable
4. Exit
1.
4-58
4.
CAD IGES
CAD
4-59
TCP
x, y, z, w, p, r
UT: 1 (Eoat1)
CAD
IGES
4-60
TP 2
4-61
UT: 1 (Eoat1)
Eoat1
TCP
4.7.3.
TP
4-62