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Entrenamiento Roboguide PDF
Entrenamiento Roboguide PDF
Training Manual
Roboguide V6.40 Rev.B
Name:
Z-KAE-TRN-Roboguide-1/01 1
© Copyright FANUC Robotics Deutschland GmbH
Do not copy this document or parts of this document and give it to a third party
without the express written permission of FANUC.
Other than the described functions may run on the controller. However, you do not
have any rights to claim these functions at delivery.
We have checked the contents of this document for correspondence with the
described hardware and software.
However, we do not ensure full correspondence. We do, however,
regularly check the contents of this document and make necessary corrections in the
succeeding editions.
Design and specifications that do not affect the functioning are subject to change
without notice.
Z-KAE-TRN-Roboguide-1/01 2
Preface
A profound training of your staff is the key to your success. Training your staff means
to give them the necessary information to be able to control the system and
understand the applied technology. General knowledge as well as detailed
knowledge about the system is as important as the practical knowledge of the applied
programming.
This is the aim of our training concept.
Our training is a successful mix of well explained theory and practical applications. To
guarantee a successful training, we use detailed training documents, state-of-the-art
training methods and means in our training center in Neuhausen.
More than two thirds of the course are reserved for training on the machine. Your
staff collects practical knowledge of the robot and the appropriate application
programs.
Maximum utilization ... of the system and optimum cycle times through
professional programming.
Long service life ... and insignificant wear because of qualified
maintenance.
Minimum downtime ... because of fast fault removal and program corrections
as well as repair measures according to good professional practive.
Less operator errors ... because of extensive knowledge.
Optimum robot integration ... in the work cell because of profound
knowledge of the interfaces.
Motivated staff ... understanding what you do brings fun!
Desired Flexibility ... understanding the robot and system functions
allows fast and flexible adaptions to your special
needs. We offer you a diverse training and course program for your staff from
novice to expert, according to the training level, and treating the diverse
application programs. These courses allow you make full use of your FANUC
robot. In addition to our standard courses, we offer individual training courses
on demand.
In these courses, we can treat special uses, systems, and functions.
Furthermore, we offer on-site courses on agreement.
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Contents
Contents ......................................................................................................... 4
System requirements..................................................................................... 8
Installation ...................................................................................................... 8
Registration .................................................................................................... 9
Registration Step 1 .....................................................................................................................9
Registration .................................................................................................. 10
Registration Step 2 ...................................................................................................................10
License transfer ........................................................................................... 11
General ....................................................................................................................................11
Procedure.................................................................................................................................11
License transfer ........................................................................................... 12
Procedure.................................................................................................................................12
Directory structure....................................................................................... 12
Directory structure....................................................................................... 13
Generate a new cell...................................................................................... 14
Generate a new cell..................................................................................................................15
Generate a new cell..................................................................................................................16
Generate a new cell..................................................................................................................17
Generate a new cell..................................................................................................................18
Mouse commands........................................................................................ 19
Functions of the triad .................................................................................. 20
Add a tool...................................................................................................... 21
Add a tool (Option 1).................................................................................................................22
Add a tool (Option 1).................................................................................................................23
Add a tool (Option 1).................................................................................................................24
Add a tool (Option 1).................................................................................................................25
Add a tool (Option 2).................................................................................................................26
Add a tool (Option 2).................................................................................................................27
Create a tool.........................................................................................................................27
Indicate TCP (Tool Center Point) ................................................................ 28
Add a positioner (fixture)............................................................................. 29
General ....................................................................................................................................29
Add a positioner (fixture)............................................................................. 30
Insert ........................................................................................................................................30
Add obstacles............................................................................................... 31
General ....................................................................................................................................31
Add obstacles............................................................................................... 32
Add a fence ..............................................................................................................................32
View of the created work cell ...................................................................... 33
Insert and remove the yellow position lines .............................................. 34
Change the background color .................................................................... 35
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Explanation of icons .................................................................................... 36
Explanation of icons .................................................................................... 37
Explanation of icons .................................................................................... 38
The Run Panel .........................................................................................................................38
Explanation of icons .................................................................................... 39
Check the reachability with a mouse click (Option 1)............................... 40
Check the reachability with a mouse click (Option 2)............................... 41
Check the reachability (Option 3) ............................................................... 42
Set a user frame ........................................................................................... 43
The teach pendant ....................................................................................... 44
Create programs on the teach pendant ..................................................... 45
Create programs in the cell browser .......................................................... 46
Create a simulator program ......................................................................................................46
Start programs ............................................................................................. 47
Start programs from the teach pendant .....................................................................................47
Start programs ............................................................................................. 48
Start programs from the Run Panel...........................................................................................48
Record AVI ...............................................................................................................................48
Measuring tool.............................................................................................. 49
Measuring tool.............................................................................................. 50
Record dimensions ...................................................................................................................50
Specifiy measuring points .........................................................................................................50
Measuring tool.............................................................................................. 51
Define and change the distance between two components .......................................................51
Measuring tool.............................................................................................. 52
Define dimensioning lines .........................................................................................................52
Add parts ...................................................................................................... 53
Add a part.................................................................................................................................53
Add parts ..................................................................................................... 54
Shift parts .................................................................................................................................54
Change part properties .............................................................................................................54
Add parts ...................................................................................................... 55
Link a part with a positioner ......................................................................................................55
Add parts ...................................................................................................... 56
1. Prepare a part for a pick-and-place simulation.......................................................................56
Add parts ...................................................................................................... 57
2. Prepare a part for a pick-and-place simulation.......................................................................57
Add parts ...................................................................................................... 58
3. Prepare a part for a pick-and-place simulation.......................................................................58
Add parts ...................................................................................................... 59
4. Prepare a part for a pick-and-place simulation.......................................................................59
Parts .............................................................................................................. 60
1. Prepare a program for a pick-and-place simulation................................................................60
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Parts .............................................................................................................. 61
2. Prepare a program for a pick-and-place simulation................................................................61
Parts .............................................................................................................. 62
3. Prepare a program for a pick-and-drop simulation ............................................................62
Parts .............................................................................................................. 63
4. Create a pick program (simulator program).......................................................................63
Parts .............................................................................................................. 64
5. Create a pick program (simulator program).......................................................................64
Parts .............................................................................................................. 65
6. Create a drop program (simulator program) ......................................................................65
Parts .............................................................................................................. 66
7. Create a drop program (simulator program) ......................................................................66
Parts .............................................................................................................. 67
8. Complete a simulator program..........................................................................................67
Parts .............................................................................................................. 68
9. Other options to create a simulator program .....................................................................68
Machines....................................................................................................... 69
General ....................................................................................................................................69
Machines....................................................................................................... 70
1. Create a machine (actuated via DO) .....................................................................................70
Machines....................................................................................................... 71
2. Create a machine (actuated via DO) .....................................................................................71
Machines....................................................................................................... 72
3. Create a machine (actuated via DO) .....................................................................................72
Machines....................................................................................................... 73
1. Create a machine (actuated via servo) .............................................................................73
Machines....................................................................................................... 74
2. Create a machine (actuated via servo) .............................................................................74
Machines....................................................................................................... 75
3. Create a machine (actuated via servo) .............................................................................75
Machines....................................................................................................... 76
4. Create a machine (actuated via servo) .............................................................................76
Machines....................................................................................................... 77
5. Create a machine (actuated via servo) .............................................................................77
Machines....................................................................................................... 78
6. Create a machine (actuated via servo) .............................................................................78
Machines....................................................................................................... 79
7. Create a machine (actuated via servo) .............................................................................79
Replace the robot in an existing work cell................................................. 80
Add a second robot ..................................................................................... 81
Generate a path (Automatic program generation) .................................... 82
General ....................................................................................................................................82
Generate a path (Automatic program generation) .................................... 83
Procedure for path generation related to an edge......................................................................83
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Generate a path (Automatic program generation) .................................... 84
Procedure for path generation related to an edge......................................................................84
Change the approach and return position .............................................................................84
Generate a path (Automatic program generation) .................................... 85
Procedure for path generation related to an edge......................................................................85
1. Other setting options (feature) ..........................................................................................85
Generate a path (Automatic program generation) .................................... 86
Procedure for path generation related to an edge......................................................................86
2. Other setting options (feature) ..........................................................................................86
Generate a path (Automatic program generation) .................................... 87
Procedure for path generation related to an edge......................................................................87
3. Other setting options (feature) ......................................................................................87
Generate a path (Automatic program generation) .................................... 88
Segmentation ...........................................................................................................................88
Target points ................................................................................................ 89
Define target points as points in space......................................................................................89
Target points ................................................................................................ 90
1. Define a target group ............................................................................................................90
Target points ................................................................................................ 91
2. Define a target group ............................................................................................................91
Target points ................................................................................................ 92
3. Define a target group ............................................................................................................92
Target points ................................................................................................ 93
Define target points on a surface and assign a positioner..........................................................93
General ................................................................................................................................93
1. Procedure.........................................................................................................................93
Create a dynamic tool.................................................................................. 94
General ....................................................................................................................................94
Procedure.................................................................................................................................94
New functions as from V.6.40 Rev. C ......................................................... 95
Projects ....................................................................................................................................95
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System requirements
Windows XP
1024 MB RAM
Pentium 4 > 3.0 GHz
Nvidia Quadro 4 oder Nvidia Quadro FX
Installation
During the installation, you can select the language under Custom (1).
You can choose between German and Japanese (2). If you select Typical, the
software will be installed with German menus (please observe note). If you select
Typical, you have to select the virtual controller you want to use.
Note:
If you select German or Typical, nearly all (but not all) terms and menus are in
German.
Please note: You get the registration key after approx. 3 days.
1 2
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Registration
Registration Step 1
Beispiel Darstellung
Send the screen shot and the software codes 1 and 2 to the following e-mail address:
Licenses@fanucrobotics.de
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Registration
Registration Step 2
Open the License Manager and mark the check box (1).
Enter the two keys in the appropriate columns (2).
Click on Register (3).
2
1
Beispiel Darstellung 3
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License transfer
General
1 2
Procedure
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License transfer
Procedure
Open the License Manager on computer 1 and choose the Transfer Licenses
tab.
Connect the storage medium (e.g. USB stick) to computer 1.
Click on the button (1) and follow the instructions (2).
Open the License Manager on computer 2 and choose the Transfer Licenses
tab.
Connect the storage medium (e.g. USB stick) to computer 2.
Click on the button (3) and follow the instructions (4).
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Directory structure
Roboguide may be installed under Programme > Fanuc > Pro > SimPro.
Imported IGES data are converted by Roboguide and then get the extension .CSB
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Generate a new cell
1. Start the software.
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Generate a new cell
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Generate a new cell
7. Select the robot type and then click on the Next button.
8. Select the robot software (deviations from the display may occur), and then
click on the Next button.
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Generate a new cell
9. You can create new groups with Additional Motion Groups . If you do not
want to use additional groups, click on the Next button.
10. Here, you can select software options. Click on the Next button to open the
Summary, an overview of your selection. To complete your selection, click on
the Finish button.
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Generate a new cell
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Mouse commands
To display the mouse commands, click on this icon.
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Functions of the triad
You can place or shift objects via changing the properties or via the triad.
You can shift (x, y, z) and rotate (w, p, r) objects via the triad.
1. Shifting
Select the desired coordinate axis with the mouse and drag.
X
X
2. Rotating
Hold down the shift key and select the desired coordinate axis and rotate.
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Add a tool
1. Click on this icon to open the cell browser.
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Add a tool (Option 1)
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Add a tool (Option 1)
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Add a tool (Option 1)
Note:
For a faultless adaptation of the tool, you have to set the origin and the coordinates in
a 3D CAD system.
+Z +Z
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Add a tool (Option 1)
You can place the tool at its correct position by entering changes on the
property screen.
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Add a tool (Option 2)
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Add a tool (Option 2)
Create a tool
1 2
3 4
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Indicate TCP (Tool Center Point)
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Add a positioner (fixture)
General
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Add a positioner (fixture)
Insert
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Add obstacles
General
a controller
a fence
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Add obstacles
Add a fence
Renaming is recommended.
You can copy and paste the fence, as well as other objects, by using the known
Windows commands.
Copying is performed in the cell browser.
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View of the created work cell
Positioner
Conveyor belt
Obstacle
Fence
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Insert and remove the yellow position lines
You can insert and remove the position lines (1).
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Change the background color
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Explanation of icons
New cell
Help
Open a cell
*Process Navigator
Save a cell
Undo
- Face
- Edge
- Vertex
Display motion
coordinates
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Explanation of icons
*Open
Run Panel
See next
page
Error Reset
Pause
Cancel
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Explanation of icons
In the Run Panel, you can select settings for the AVI recording as well as for the
automatic mode.
*Open
Run Panel
1
Kollisionserkennung: Enables the collision detection
Sammle TCP: TCP motion path is displayed (1)
Geteachte Bahn sichtbar: The taught path is displayed (2)
Fenster ausblenden: You can display or hide the Run Panel window
Anzeige erneuern: Must be enabled
Komprimiere AVI: Must be enabled
Simulationszeit auf AVI: The AVI time may be displayed in the AVI
Z-KAE-TRN-Roboguide-1/01 38
Explanation of icons
Mouse commands
Change view
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Check the reachability with a mouse click (Option 1)
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Check the reachability with a mouse click (Option 2)
2
Open the Quickbar (1) with the according icon (2).
Face: Face
Edge: Edge
Vertex: Vertex (corner point)
Arc Ctr.: Center point (can be used only under certain conditions)
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Check the reachability (Option 3)
The robot may be moved via the triad and the
mouse.
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Set a user frame
Figure 1
1
Move the robot TCP to a vertex
of the conveyor belt (Figure 1).
Figure 2
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The teach pendant
You can use all functions of the
teach pendant.
Use
teach pendant
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Create programs on the teach pendant
On the teach pendant, you can create
virtual reality programs.
In addition, the programs are displayed in the cell browser.
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Create programs in the cell browser
You can choose between two methods to
create a program in the cell browser.
1. Simulator Program
2. Teach Pendant Program (TP) 1
(Known procedure)
Select Simulationsprogramm
zufügen .
Give a name to your program (1).
Select the Simulation subtype (2).
Click on the Aktiviere button and then on OK .
The window (3) is still visible. 3
In the Record menu, you can
teach positions.
In the Inst menu, you can insert Wait/Call
and Remark
(Pickup and Drop will be explained later.)
Z-KAE-TRN-Roboguide-1/01 46
Start programs
1
Start programs from the teach pendant
(Known procedure)
In the Ansicht menu, you can select the following
items (2).
2
Figure 3
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Start programs
Start programs from the Run Panel
Record AVI
Use the record button to create
an AVI file.
After the AVI file has been created, the storage path
is displayed.
In case of not registered versions (30-day demo)
a message appears to report that this version has not been
registered.
Note: If you have enabled the Starte Programm
in Schleife function,
you have to end the AVI recording
with the Cancel button.
4 3
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Measuring tool
This example explains how to measure the width
of the conveyor belt.
or
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Measuring tool
Record dimensions
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Measuring tool
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Measuring tool
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Add parts
The following simulations are possible with a part:
Add a part
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Add parts
Shift parts
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Add parts
2
In order to complete the procedure, click
on Ativiere and then on OK (5).
5
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Add parts
Positioner 1 Positioner 2
Conveyor belt Table
Link part with conveyor
belt and position
In this simulation, the robot is to pick the part (1) from the conveyor belt and
place it on the table.
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Add parts
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Add parts
Z-KAE-TRN-Roboguide-1/01 58
Add parts
When you click on the icon (1), the part at the tool should be removed
or inserted.
Z-KAE-TRN-Roboguide-1/01 59
Parts
Create a teach pendant program using the positions necessary for such a sequence.
The pick-and-place operations will be included later.
Ahead
Table
Start
Ahead
Belt
Place
Table
Pick Belt
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Parts
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Parts
Before you can complete the programs, you have to make some adjustments to the
properties (tool, conveyor, and table).
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Parts
Figure 3 1
Figure 4
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Parts
Figure 2
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Parts
Figure 3 1
Figure 4
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Parts
Figure 2
Close the window and store the program with the following procedure.
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Parts
Start your sequence program in the Run Panel (program must be stored in cell
browser).
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Parts
You can insert and remove parts by means of the pick-and-drop programs at any
time.
In order to do so, you have to create the following simulator programs.
If you create and call this program, the part on the conveyor belt will be positioned.
If you create and call this program, the part on the table will be removed from the
layout.
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Machines
General
Examples:
The door of a machine is to be opened and
closed.
A conveyor belt is to move.
A press is to be opened and closed.
Etc.
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Machines
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Machines
For W set
90 or -90.
1
3
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Machines
Fig. 3
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Machines
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Machines
1 2
3 4
5 6
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Machines
7 8
9 10
11 12
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Machines
13 14
15 16
17 18
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Machines
19 20
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Machines
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Machines
Select (1) and position the slide by means of the triad or by direct entry
as shown below.
1
Z-KAE-TRN-Roboguide-1/01 79
Replace the robot in an existing work cell
1
Open the robot properties and click
on the button (1).
Select the desired robot type in
the wizard.
Click on the Aktiviere button.
The new robot type is read in.
All data, except for the TP programs are
restored.
However, you can copy (2) and paste (3)
the TP programs.
Z-KAE-TRN-Roboguide-1/01 80
Add a second robot
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Generate a path (Automatic program generation)
1
General
2 3 3
4 5
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Generate a path (Automatic program generation)
1 2
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Generate a path (Automatic program generation)
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Generate a path (Automatic program generation)
TCP
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Generate a path (Automatic program generation)
Z-KAE-TRN-Roboguide-1/01 86
Generate a path (Automatic program generation)
4. Offset in Z
5. Offset in X
6. Offset in Y
7.
8.
7
9.
8
14.
13
14
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Generate a path (Automatic program generation)
Segmentation
Figure 4 Figure 5
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Target points
1
Use the target points (1) to specify positions.
You can choose between the following options:
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Target points
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Target points
6 5
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Target points
1 Figure 2
3
4
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Target points
General
1. Procedure
From here on, the procedure is identical with the procedure for defining points
in space.
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Create a dynamic tool
General
Procedure
Note
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New functions as from V.6.40 Rev. C
Projects
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