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Robotmaster

Quick Start Guide

Quick Start Guide


RE AD ME FI RST

Version 4.0.1300.1, April 2009


The information contained within this document is the proprietary property of Jabez Technologies, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Jabez Technologies, Inc. Because we are constantly improving our products, we reserve the right to change specifications without notice. Robotmaster is a registered trademark licensed exclusively to Jabez Technologies Incorporated. 2003-2009 by Jabez Technologies All Rights Reserved MASTERCAM products and trademarks are property of CNC Software Inc. MICROSOFT FRAMEWORK V3.5 products and trademarks are property of Microsoft Corporation.

Robotmaster
Quick Start Guide
Table of contents

Installing Robotmaster ................................................................................ 3 1. Setting up your software ......................................................... 3 2. Installing Microsoft .NET Framework 3.5 and Visual J# Redistributable ......................................................................... 3 3. Installing Robotmaster toolbars into Mastercam X4 .......... 4 4. Installing access code ............................................................. 6 How to use Robotmaster ............................................................................ 7 1. Configuring Mastercam X4 for Robotmaster ...................... 7 2. Starting robot parameters window ......................................... 9 3. Using simulator ...................................................................... 10 a. Using Robotmaster simulator settings ............................ 10 b. Using Robotmaster simulator .......................................... 11 4. Generate robot codes ............................................................ 12 Installing new robots and tools ................................................................ 14

Robotmaster
Quick Start Guide
Installing Robotmaster
1. Setting up your software a. Place CD in computer and the installation procedure should launch automatically. b. In the case the installation does not launch automatically, browse to your CD and double click on Setup.exe. c. For the installation directory chose the root directory of your current Mastercam X4 installation. The default location is: C:\McamX4. d. The installation procedure will create a Robotmaster directory in the Mastercam chooks directory and place most files in this location as well as a corresponding sub folder called <robot name> that contains the postprocessor and robot models. e. Once the installation is complete you need to configure Mastercam properly to use Robotmaster.

2.

Installing Microsoft .NET Framework 3.5 and Visual J# Redistributable Microsoft .NET Framework 3.5 and Microsoft Visual J# Version 3.5 Redistributable Packages are required to use Robotmaster. To install Microsoft .NET, either visit the Microsoft .NET Download page and follow the instructions provided, or visit Windows Update website to update your system with the latest .NET components.

Robotmaster
Quick Start Guide
3. Installing Robotmaster toolbars into Mastercam X4 To activate toolbars select Robotmaster by right clicking on the main toolbar. The Robotmaster toolbars should be automatically created during installation. If they are not created, this section will guide you in creating them manually. To setup simulation toolbars select Customize by right clicking on the main toolbar.

Robotmaster
Quick Start Guide
Then select Robotmaster from the list as shown in the screen shot below

Drag and drop all command icons onto the Mastercam main toolbar.

Robotmaster
Quick Start Guide
4. Installing access code Robotmaster works with an access code. To activate the software a valid access code file needs to be placed in the directory: McamX4\Chooks\Robotmaster. Access code file are named either psimxxxxxx.acc or tsimxxxxxx.acc, where xxxxxx is the Mastercam SIM number. Tsim files are temporary codes and the psim files are for permanent codes.

Robotmaster
Quick Start Guide
How to use Robotmaster
Robotmaster is an add-on to Mastercam comprising of a robot parameter interface, a robot simulator and a post processor that generates robot programs. 1. Configuring Mastercam X4 for Robotmaster

Please refer to the previous section on how to install the simulation icons within Mastercam X4. Robotmaster is initialized by setting the current mill machine in Mastercam to a Robot. To do this: a. From top menu choose: Machine Type then Mill then Manage list

b.

Select your brand of robot then click Add

Robotmaster
Quick Start Guide
c. Choose the machine: ROBOTMASTER_<robot name>.MMD

Robotmaster
Quick Start Guide
2. Starting robot parameters window Robotmaster allows a user to input robot specific parameters and generates off-line codes for 6 axis robots. The first step in using Robotmaster is to access the robot parameter window. In the Mastercam operation manager, select any operation and go to the Robot Config page.

Select the Launch application button and the robot parameter window is launched. In order to properly launch the robot parameter window the operation needs to have a valid program name. The robot parameter graphical interface allows the user to input robot specific information and configurations.

Robotmaster
Quick Start Guide
3. Using simulator Please follow the steps outlined on page 4 for the installation of the simulator toolbars. a. Using Robotmaster simulator settings On the simulator toolbar, click Robot Simulator Settings.

The main window of the simulator settings appears. This window is used to select the part model that will be displayed in the simulator as well as set some simulation tolerances.

Please refer to the Robotmaster Reference Guide for the set up of your simulator.

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Robotmaster
Quick Start Guide
Note: Please ensure that a robot has been specified in the robot parameter page otherwise the simulator settings window will output no robot as shown below.

b. Using Robotmaster simulator On the simulator toolbar, click Robot Simulator.

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Robotmaster
Quick Start Guide
The simulation process will start using the settings previously saved. Note: Please ensure that a robot has been specified in the robot parameter page otherwise the simulator will output a warning message

4.

Generate robot codes

Once robot parameters have been entered, Robotmaster can generate offline codes for 6 axis robots. Use the following steps to generate off-line codes. Create/Open your .MCX file. Create toolpaths. Input parameters in the robot parameter page. On the Toolpaths tab, click G1 icon.

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Robotmaster
Quick Start Guide
The Post processing window appears.

Fill in Post processing window then click OK

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Robotmaster
Quick Start Guide
Installing new robots and tools Robotmaster requires the definition of two elements for proper simulation and inverse kinematics calculations. These elements are: 1. Robot definition The robot definition is a series of files that defines the kinematical properties of the robot as well as the geometries necessary for simulation of the robot and/or work cell. Robot definition files are grouped by robot manufacturer in the Robot_Setups directories under a sub-folder with the same name as the robot kinematical parameters file (*.ROB). Tool definition The tool definition is a series of files that defines the tooling that is attached to the end of the robot arm. The tool definition is comprised of a tool information file (XML based) that contains the orientation and position of the tool as well as accompanying geometry files (in STL format) for simulation. All tool definition files are placed in the Tools folder and a tool definition is universal and can be used with any make of robot.

2.

A selection of basic robot and tool definition files are supplied with the installation kit. For additional robot or tool definition files please contact your Robotmaster dealer along with 3D CAD models of the tooling, robot and work cell. It is possible to take an advanced Robotmaster training course to learn how to create robot and tool definitions. To install new robot and tool definition files copy all files provided in the appropriate directories:

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Robotmaster
Quick Start Guide
Copy all ABB robot definitions into a sub-folder in this directory

Copy all Fanuc robot definitions into a sub-folder in this directory

Copy all Kuka robot definitions into a sub-folder in this directory

Copy all Motoman robot definitions into a sub-folder in this directory

Copy all Staubli robot definitions into a sub-folder in this directory

Copy all tool definition files here

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Robotmaster
Quick Start Guide
Notes

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