Basic training

Roboguide V8 Rev.J

Name:

FANUC RoboGuide V8 Rev I 20141024 1

© Copyright FANUC Nordic AB

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.

Author: Pär Olsson

FANUC RoboGuide V8 Rev I 20141024 2

Introduction

Training of staff is the key to success

An in-depth personnel training is the key to success.
Train staff means giving them the necessary information to be able to maintain the
system and understand the applied technology.
General knowledge and detailed knowledge of the system is as important as the
practical knowledge and application programming.
This is the purpose of our training concept.
Our training is a successful blend of choice both theory and practical applications.
To ensure a successful exercise, we use detailed training documents, state-of-the-art
training methods and means in our training center in Sollentuna.
More than two thirds of the course is reserved for training on the robot
Your staff gather practical knowledge of the robot and the appropriate application
programs.

A qualified education means to you:

• Maximum utilization ... of the system and optimal cycle times through professional
programming.
• Long life ... and minor wear due to qualifying Maintenance.
• Reduce downtime ... because of rapid fault removal and patches and repairs in
accordance with good professional practice.
• Less operator faults ... because of extensive knowledge.
• Optimum integration with a robot ... in the work cell because of the deep knowledge
of interfaces.
• Motivated staff ... understand what you are doing is fun!
• Desired Flexibility ... understanding of robot and system functions enables fast and
flexible adaptation to your special need.

We offer you varied educational and training programs for your personnel ranging
from beginner to expert, according to the knowledge level they are on, and knowledge
in managing the different application programs
These courses can help you take full advantage of having a FANUC robot.
In addition to our standard courses, we offer individual courses on demand.
In these courses, we can treat special applications, systems and functions.
Furthermore, we offer courses on site by appointment.

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Content
Content ........................................................................................................... 4
System requirements..................................................................................... 8
Installation ...................................................................................................... 8
Before the installation please read the README file included in the
software. .................................................................................................................... 8
Once you done all as recommended in the README file to start the
installation using setup.exe..................................................................................... 8
Carefully read and follow the instructions that appear on your screen. ... 8
Registration ..................................................................................................................................... 9
Registration Step 1 ......................................................................................................................... 9
Registration ................................................................................................................................... 10
Registration Step 2 ....................................................................................................................... 10
License transfer between computers. ........................................................ 11
Generally ....................................................................................................................................... 11
Process ......................................................................................................................................... 11
File Structure ................................................................................................ 13
Imported IGES data is converted by Roboguide and get the suffix .CSB.
................................................................................................................................. 13
Create a new cell .......................................................................................... 14
Create a new cell .......................................................................................................................... 15
Create new cell ............................................................................................................................. 16
Create new cell ............................................................................................................................. 17
Create new cell ............................................................................................................................. 18
Mouse commands ........................................................................................ 19
Functions of the "Triad" .............................................................................. 21
Add a tool ..................................................................................................... 22
Add tool (Option 1) ........................................................................................................................ 23
Add too (Option 1) ......................................................................................................................... 25
Add a tool (Option 1) ..................................................................................................................... 26
Add tool (Option 1) ........................................................................................................................ 27
Add a tool (Option 2) ..................................................................................................................... 28
Add a tool (Option 2) .................................................................................................................... 29
Create a tool. ................................................................................................................................ 29
Correct TCP (Tool Center Point) ................................................................. 30
Add a fixture. ................................................................................................ 31
Common ....................................................................................................................................... 31
Add a fixture ................................................................................................. 32
ADD............................................................................................................................................... 32
Add an obstacles ......................................................................................... 33
Common ....................................................................................................................................... 33
Add an Obstacle ........................................................................................... 34
Add Fence .................................................................................................................................... 34

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 View of the created cell ............................................................................... 35
Add or remove lines of position ................................................................. 36
Change background color ........................................................................... 37
Explanation of Icons .................................................................................... 38
Explanation of Icons .................................................................................... 38
Explanation of Icons .................................................................................... 40
Run Panel ..................................................................................................................................... 41
Explanation of Icons ................................................................................... 42
Check the reach of the with a mouse click (Option 1) .............................. 43
Check the reach of the with a mouse click (Option 2) .............................. 44
Check the reach with a mouse click (Option 3) ......................................... 45
Place userframe. .......................................................................................... 46
Teach pendant .............................................................................................. 47
Create programs on Teach pendant ........................................................... 48
Create a program in cell browser ............................................................... 49
Start program ............................................................................................... 50
Start Programm from Teach pendant ........................................................................................... 50
Start program ............................................................................................... 51
Start program from Run Panel ...................................................................................................... 51
Record an AVI ............................................................................................................................... 51
Measurement tool ........................................................................................ 52
Measurement tool ........................................................................................ 53
Save measurement ....................................................................................................................... 53
Add a part ..................................................................................................... 56
Ad part .......................................................................................................................................... 56
Add a Part ..................................................................................................... 57
Move Part ...................................................................................................................................... 57
Add a Part ..................................................................................................... 58
Add a Part ..................................................................................................... 59
1. Prepare for a "pick and place" simulation ................................................................................. 59
Add a Part ..................................................................................................... 60
2. Prepare for a “Pick and place” simulation ................................................................................. 60
Add a Part ..................................................................................................... 61
3. . Prepare for a “Pick and place” simulation ............................................................................... 61
Add a Part ..................................................................................................... 62
3. Prepare for “Pick and place” simulation ............................................................................... 62
Program ........................................................................................................ 63
1. Prepare a program to pick up and leave part. .......................................................................... 63
Program ........................................................................................................ 64
2. Prepare a program to pick up and leave part. .......................................................................... 64
Program ........................................................................................................ 65
3. Prepare a program to pick up and leave part. .......................................................................... 65

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 Program ........................................................................................................ 66
4. Prepare a program to pick up and leave part....................................................................... 66
Program ........................................................................................................ 67
1. Prepare a program to pick up and leave part....................................................................... 67
Program ........................................................................................................ 68
1. Prepare a program to pick up and leave part....................................................................... 68
Program ........................................................................................................ 69
2. Prepare a program to pick up and leave part....................................................................... 69
Program ........................................................................................................ 70
3. Prepare a program to pick up and leave part....................................................................... 70
Program ........................................................................................................ 71
1. Other ways to create a program “the easy way”. ................................................................. 71
Program ........................................................................................................ 72
2. Other ways to create a program “the easy way”. ................................................................. 72
1. Other ways to create a program “the easy way”. ................................................................. 73
3. Other ways to create a program “the easy way”. ................................................................. 74
1. Other ways to create a program “the easy way”. ................................................................. 75
1. Other ways to create a program “the easy way”. ................................................................. 76
Overview ....................................................................................................................................... 77
Machinery. ................................................................................................... 78
1. Create a machine (Activate by DO) .......................................................................................... 78
Machinery. ................................................................................................... 79
2. Create a machine (Activate by DO) .......................................................................................... 79
Machinery. .................................................................................................... 80
3. Create a machine (Activate by DO) .......................................................................................... 80
Machinery. .................................................................................................... 81
1. Create a machine (controlled by servo) ............................................................................... 81
Machinery. .................................................................................................... 82
2. Create a machine (controlled by servo) ............................................................................... 82
Machinery. .................................................................................................... 83
3. Create a machine (controlled by servo) ............................................................................... 83
Machinery. .................................................................................................... 84
4. Create a machine (controlled by servo) ............................................................................... 84
Machinery. .................................................................................................... 85
5. Create a machine (controlled by servo) ............................................................................... 85
Machinery. .................................................................................................... 86
6. Create a machine (controlled by servo) ............................................................................... 86
Machinery ..................................................................................................... 87
7. Create a machine (controlled by servo) ............................................................................... 87
Replace an existing robot against another. ............................................... 88

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 ...................................................................................................................................................... 88
Add a second robot ..................................................................................... 89
Automatic program generation ................................................................... 90
Overview ....................................................................................................................................... 90
Automatic program generation ................................................................... 91
Procedure to generate a movement along one edge. .................................................................. 91
Automatic program generation ................................................................... 92
Procedure to generate a movement along one edge .............................................................. 92
Automatic program generation ................................................................... 93
Procedure to generate a movement along one edge ............................................................... 93
1. Other possible changes (feature) ........................................................................................ 93
Automatic program generation ................................................................... 94
Procedure to generate a movement along one edge ............................................................... 94
2. Other possible changes (feature) ........................................................................................ 94
Automatic program generation ................................................................... 95
3. Other possible changes (feature) ................................................................................... 95
Automatic program generation ................................................................... 96
Segment ........................................................................................................................................ 96
Target points ................................................................................................ 97
Target points ................................................................................................ 98
1. Defining a "target group" ...................................................................................................... 98
Target points ................................................................................................ 99
2. Define target group ................................................................................................................... 99
Target points .............................................................................................. 100
3. Define Target Group ............................................................................................................... 100
Target points .............................................................................................. 101
Define target (target) on a surface and add a positioner ........................................................... 101
Common ................................................................................................................................. 101
1. Procedure ........................................................................................................................... 101
Create a moveable tool .............................................................................. 102
Common ..................................................................................................................................... 102
Process ....................................................................................................................................... 102
Connection to robot directly ( RobotNeighborhood) .............................. 103
Common ..................................................................................................................................... 103

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System requirements

• Windows XP Professional SP2 (32 byte and 64 byte)

• Windows Vista SP2 (32 byte and 64 byte)
• Windows 7 and 8 (32 byte and 64 byte)
• 1024 MB RAM
• AMD Athlon 64 3200+,Pentium IV 2.4 Ghz Core(TM)2 Quad or higher
recommended.
• Processor speed minimum 2.4 Ghz
• Video card
RAM 512 MB
Resolution 1280x1024
Colore 24-bit

Installation

Before the installation please read the README file included in the software.

Once you done all as recommended in the README file to start the installation using
setup.exe.

Carefully read and follow the instructions that appear on your screen.

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Registration

Registration Step 1

Start License Manager.

Make a screen shot.

Click on Copy Registration Data to Clipboard :

This clipboard and screenshot is sent to your local FANUC representative along with
information about whom and which company it belongs to.

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Registration

Registration Step 2

After receiving your new licenses you copy and paste them in the fields as indicated
below

Then register your license by pressing the registry field.

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License transfer between computers.
Generally

Roboguide has been installed successfully on computer nr 1.

You want to transfer license to computer nr 2.

1 2

Process

• Install ROBOGUIDE on computer 2

• Connect the storage media (e.x. USB) to computer nr 2
• Open License Manager on computer 2 and select transfer licenses.
• Select USB using the "Browse" function.
• Press the "Prepare" button.

USB memory is now ready to transfer license.

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Licenses transfer

Process

• Open License Manager on the computer 1 and select Transfer Licenses.

• Connect the storage media (e.x USB) to computer nr 1.
• Choose Step 2 TRANSFER licenses to transfer media. Follow the
instructions.

• Open License Manager on computer 2 and select Transfer Licenses.

• Connect the storage media (e.x USB) to computer nr 2.
Choose Step 3 RECEIVE and follow the instructions

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File Structure
ROBOGUIDE is installed in Program> Fanuc> Pro> Simpro..

All data that is generated is saved in

C: \ Documents \ Profile \ My Work Cells

You can open the folder direct under the "Tools".

Imported IGES data is converted by Roboguide and get the suffix .CSB.

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Create a new cell
1. Start Roboguide.

2. Create new cell. (NEW CELL)

3. Choose a name on project after that press Next

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Create a new cell

4. Choose method under “Robot Selection Method”.

a) Create a new robot: Creating new “Robot from scratch.

b) Create a new robot with latest used : Create from latest settings.
c) Create a robot from file backup: Create copy of an existing robot from a
backup
d) Create an exact copy of an existing robot: A variant of "cloning" an
existing robot with direct connection to the real robot.

a
b
c

This manual describes method (a).

5. After choose press NEXT

6. Then select Application / Tool package "FANUC Handling Tool," and press the
Next button

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Create new cell

7. Select the robot type, then press Next button.

8. Choose Robot software (differences from the example may occur), and press
the Next button

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Create new cell

9. You can now add more movement groups "Additional Exercise Groups". If you
do not want to add, more press the Next button.

10. Here you can choose different software .Push the Next button to open the
compilation of your choice. To finalize your selection, press the Finish button.

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Create new cell

Your robot cell has now been created after various announcements.

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Mouse commands

To display mouse commands, press the mouse

icon.

The following overview is displayed.

Overview of functions

Right click
Rotate picture

Wheel for zoom in and out on Left and right click to zoom.
pointer position

Press wheel for moving the

hole layout

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FANUC RoboGuide V8 Rev I 20141024 20
Functions of the "Triad"
You can place or moving object with properties or through the Triad.

You can move (x, y, z) and rotating (w, p, r) objects via the triad.

1. Movement

Select the coordinate axis you want to move with the mouse and dragging to
where you want.

X
X

2. Rotation

Hold down the shift key and select the coordinate axis to rotate around.

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Add a tool
1. Click on this icon.

2. Open following menu

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Add tool (Option 1)

Double click on the UT:1 (EOAT1) to open the Properties.

(EOAT = End of Arm Tool)

1. Give your tool a name (1)

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Add tool (Option 1)

2. Import a tool from the data base (Image library), open EOT folder , select
Grippers and choose Vacuum01.IGS

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Add too (Option 1)

• The path is registered (1), Press Apply.

• The tool is now attached to the robot.

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Add a tool (Option 1)

Note:
For a correct application of the tool, you must place origin off the coordinates in a 3D
CAD system at the place you want the origin.

Current configuration desired configuration

+Z +Z

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Add tool (Option 1)

• You can change the position of the tool in the Properties menu. (1)

• Select Lock All Location Values for lock of tool (2).

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Add a tool (Option 2)

• Click on UT: 1 with the right mouse button to add a link (link).
You can choose from
o CAD Library: Import from Cad data base.
o CAD File: Import from own 3D drawing.
o Definition file: Import from definition file.
o Create own tool with: Box, Cylinder, Sphere

The following tool are created

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Add a tool (Option 2)

Create a tool.

1 2

3 4

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Correct TCP (Tool Center Point)

• Open properties
• Choose “UTOOL” menu
• Mark “Edit UTOOL” box
• Move “Triaden“ to right place or wright in valuse directly

• Click on “User Current Triad Location“

• Click on “Apply” button

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Add a fixture.

Common

Fixture saved in database can be

• Conveyer
• JIG
• FANUC Machine
• Misc
• Motors
• Pallets
• Parts_feeder
• Racks, Shelf
• Table

Otherwise, the fixture is imported from a 3D CAD drawing or created as a box,

cylinder, sphere, or container (Box).

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Add a fixture

ADD

Example for adding from a CAD library

• Right click on the mouse on Fixtures

and choose “CAD Library”.
• Open Conveyer and select
“Conveyer11.iges”.
Press “OK” Button

After the conveyer has been placed, you can move it by using the "Triad" or enter a
value directly for the position of the conveyer

Recommended is to give it a unique name.

You can copy and paste just like in Windows.

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Add an obstacles

Common
An obstacle is something that is in the cell but is not handle by the robot.

An obstacle can be following in the data base:

• Arc ( power source)

• Camera_stands
• Chamfering’s
• Controllers
• Fence
• Hand_stands
• Misc
• Operators
• PC
• Robot_bases
• Robot_options

You can import your obstacle from a cad drawing

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Add an Obstacle
Add Fence

• Right click on “Obstacles”

Choose “Add obstacle” and after that “Cad library”.
• Choose “fence” and after that “Screen-Course-Wire
Press Ok button

After the obstacle has been placed, you can move it by using the "Triad" or enter a
value directly for the position of the obstacle

Recommended is to give it a unique name.

You can copy and paste just like in Windows.

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View of the created cell
Tool with tcp

Fixture
Conveyer

Obstacle
Fence

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Add or remove lines of position
You can remove or add lines of position (1).

• Choose Cell from menu and press work cell “?” Properties.
Choose “Chui World” menu. (2)

• Check or uncheck “Show location lines “ (3).

• You also can change the spacing of the lines “Grid Spacing” (4) and color” (5)

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Change background color

• Click on “Tool” and choose “Option” (1).

• Choose “colors” menu.(2)

Here you can choose the background color + various other color settings

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Explanation of Icons

New cell
Help

Open cell
*Process navigator

Save CELL

Undo

Open cell browser

* Use the "process navigator” for a step by step tutorial for creating a cell.

Show tool TCP Move to

To move the robot directly to
the location
- Face
- Edge
- Vertex
- Arc Ctr
- Part
- Target
Move TO RETRY
TARGET
To reach positions To set a target.
outside the scope using e.x in the air
a different axis
configurations.

SPEED CONTROLLER
Change % on
speedoveride

Jog coordinate bar.

Show coordinate system
for jog

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 Explanation of Icons
Work Envelope
View the robot
FANUC WORKER workarea
Quick settings
Fanuc workers ALARM SCREEN
alarm

Label
To put a name
plate on the Call WEB SERVER
selected object

Open/CLOSE TOOL Use

TEACH PENDANT
(Only works if it is set in
the simulation)

Draw features.
To create lines on
objects

Cycle START
Start avi recording Start off program
Emergency stopp

Fault reset
Pause

STOP

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 Explanation of Icons

View called
Activates so you can move programs Copy and move objects
the axes on the robot one
by one by dragging them
to where you want

Editing positions
RUNPANEL
Description on the next
page

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Run Panel

In the Run panel you can set how things should be displayed when you press Play or
how the recording should be

Collision Detect: Activate collision detect

Collect TCP trace: (1)
Taught Path Visible: (2)
Hide windows
Refresh Display: Must be activated
Compress AVI: Must be activated
Simulation Time on AVI

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Explanation of Icons

Zoom Center of choosed Measuring TOOL

OBJEKT

Mouse COMMANDS

Change VIEW

Wire frame
Orthogonal
Views

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Check the reach of the with a mouse click (Option 1)

Press
SHIFT + CTRL keys on the data keyboard

Position the cursor and click a point

(A narrow line marks the Z direction)
Where you want to move the robot.

TCP (green) umps to this point and robot follows

after.
If TCP change to red robot cannot reach the
selected point

Within range (green TCP) Outside the scope (red TCP)

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Check the reach of the with a mouse click (Option 2)

2
Open Quick Menu (1) with Ikon (2).

Face
Edge
Vertex
Arc Ctr

Position the cursor and click a point

(A narrow line mark the Z direction)
Where you want to move the robot.

TCP (green) jumps to this point and robot follow after 1

If TCP change to red robot cannot reach the
Selected point

Face Edge Vertex

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Check the reach with a mouse click (Option 3)
Robot can be moved to the desired position using the
“Triad” and the mouse.

Activate with.

Drag the "triad" to the desired location and

the robot will follow.

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 Place userframe.

• Move the robot TCP to a vertex

on conveyer (Figur 1).

• Open the destination (Figure 2).

• Open “Edit UFrame“ box (1).

• Open “Use Current TCP Location” (2).
• User frame (3) is displayed and can be positioned
with the "triad" or direct entry.
Click "Apply" to activate.
Figure 2
Figure 1

1
3

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Teach pendant
You can use all the features found on a real TP

Use
Teach pendant
Change size

Keyboard
activation

TP in separate
i d
Switching between
iPendant and old look

Cold start

Displays the current position and you can Backup destination

enter the destination of the robot and
moving it there with “Move To”

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Create programs on Teach pendant
On Tp you can create real programs and they will be visible in the cellbrowser under
Programs

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Create a program in cell browser
There are 2 choices of programs to create

1. Simulator Program
2. Teach Pendant Program (TP) 1

Create a simulation Programm

• Choose “Simulation Program”.

• Give the „baby“ a name (1).
• Choose Simulation on Sub type (2). 3
• Click on “Apply” and “OK”.
• Window (3) is still visible
• n the "Record" menu, you can learn the positions
(Teach positions) (4)
• In the “settings” you can add instructions
Ex WAIT, IF, FOR, JMP, CALL. (4)
(Pickup and Drop described later)

Use FWD and BWD to start

program.
4

convert a simulation program to Tech pendant programs.

Open the "Properties" off program (5).

Select "None (TP)" during the subtype.
The program now appears on the Teach pendant.
5

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Start program

You can start programs from Teach Pendant or Run Panel

Start Programm from Teach pendant

(known process)
Under the View menu, you can select the following (1)

You can change the position using the mouse and the Triad.
1
Click the triad. If the triad is shown as in figure 3, then
you change the position

This change updates the position immediately.

Bild 3

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Start program
Start program from Run Panel

• Select the program from the file tree (no double clicks).(1)
1
• Open Runpanel (2) and activate
settings
• Start program(3).

).
3
4

Record an AVI
Use the (record button) to record an AVI. (4)
When the AVI file is created the file destination is displayed
If you have a 30 day trial version will a
message pop up for registration
Note, if you have enabled the "Run program into the loop"
When you must press the Abort button to stop recording.

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Measurement tool 1

This example explains how to measure the width

of the conveyor belt.
2
4
• Open the measuring tool (1).
• Click on FROM” (2).

This has been activated

• Place the cursor on the selected object and click the

Left button (3).
• Move the cursor to the where you want to measure
Control that to be selected (4).
• Click with the left button where you want to have the
Measurement point (5).

Or

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Measurement tool
2

Save measurement

Use “Create Dimension” (1 to save the measured

value.
Then you can look at it whenever you want

Specify measurement points

Use the menu (2) and (3) to specify the starting point and
End point of the measuring range.

Entity: selected point 3

Origin: From zero

If the measurement is started from the robot,

there are more choices.

RobotZero
RobotTCP
FacePlate.

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Measurement tool
Define and change the distance between two objects

Create a layout with 2 boxes

Measure from Origin to Origin
Store the measurement result
Open the saved results
Change a value in the X / Y / Z or D box
to position the object.

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Measurement tool
Define dimension lines

• Choose “Extrusion”
• Click on Z value as an example and drag the line in position.
• Click on “OK”
• Open the window again.
• One Z is now showed in the “Extrusion” window.
• Choose Z and change position of dimensioning line with the “Length” (L) and
"Angel "boxes

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Add a part
The following simulations are possible with the "PARTS":

1. You can move parts for example with the robot

2. You can create paths on the product (path generation, look at “Path
generation”).

Ad part

• Open “Cell browser”.

• Right click on “Part”.
• Add a product (Part) (BOX).
• Part (Properties is opened (1).

Part has been placed (2).

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Add a Part

Move Part

• Click on the base plate (1).

• Move it to a place in layout there it’s not visible if you create an AVI movie

Think of this as your inventory of products. 2

Changing part properties

In “Properties” menu you can change size, color and weight. (FIGUR1).
You can also add logos or pictures “IMAGE” (Figur2)

Figur 2
Figur 1

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 Add a Part

Linking a Part with a Fixture

• Double-click the track to open the detail window (Properties)

• Choose “Part” menu

• Mark Part) 1
(1).
• Click on “Apply”.

Origin on Part and Fixture

Will be together. (2)

• Mark “Edit part Offset” (3).

Positioning the product using the "triad" or

Enter a value directly (4).

To complete click "Apply"

And then "OK” (5).

3
2

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Add a Part

1. Prepare for a "pick and place" simulation

With the help of a simulation program, you can pick up and leave the products.
This is a step by step through how to do.
Create a cell as below
Tool with TCP

Fxture 1 Fixtur 2
conveyer table
Link part with link part with
conveyer(Fixtur) table(Fixtur)

In this simulation, the robot picks from the conveyer to the table..

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Add a Part
2. Prepare for a “Pick and place” simulation

Link product with table.

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Add a Part

3. . Prepare for a “Pick and place” simulation

Link part with Tool (UT).

Positioning the product in the tool (where you want it)

Be sure you are using the correct link.

If you use the tool you created the actual use (Link) according to Figur 1.

Figur 1

Move using the "Triad" or

enter directly.(1)

! Be careful the direction of,

will be the same on both
tracks and tools!

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Add a Part
3. Prepare for “Pick and place” simulation

Your cell should look as below.

When you click on icon (1), the product of the tool appears or disappears.

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Program

1. Prepare a program to pick up and leave part.

Create a "teach pendant" program and use the necessary positions to achieve the
desired result

"Pick-and-place" function is added later.

Above
Table

Start

Above
conveyer
Place on
Table
Conveyer

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Program

2. Prepare a program to pick up and leave part.

Add blank lines (see figure).

These lines are needed to "pick and place" instructions.

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Program

3. Prepare a program to pick up and leave part.

fore you can create applications for leave, picking, you must make some settings
under "Properties" in each place
Tool adjustment Fixture2 adjustment Fixture1 adjustment

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 Program
4. Prepare a program to pick up and leave part.

• Open program.
• Right click on “Add simulation Program,
Figur 3

• Give the program a name (1)

“Pick” and”Apply”
and after that OK.(2)

1 Figure 3

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Program
1. Prepare a program to pick up and leave part.

• Choose instruction (Inst) > Pickup.

• You will see figure 2.

. Figure 2

• Sett following instructions

Close window

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 Program
1. Prepare a program to pick up and leave part.

• Open program
• Right click on “Add simulation Program,
Figur 3.
• Give your program a name(1)
“Leave “and”Apply”
After that OK. (2)

1 Figure 3

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Program
2. Prepare a program to pick up and leave part.

• Choose instruction (Inst) > Drop.

• You will see figure 2.

. Figure 2

• Set the following settings

Close window

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Program
3. Prepare a program to pick up and leave part.

To edit your sequence program, use the following procedure.

Start your program with Run Panel

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Program

1. Other ways to create a program “the easy way”.

First you have to switch to a tool created with the model described earlier in creating
a tool Option 1
So it is created from a CAD drawing and inserted directly in the properties of the tool.
CAD drawings can be your own created gripper or from the library. (Figure 1).
Figur 1

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Program

2. Other ways to create a program “the easy way”.

• Add product under the tab "Parts" as you did in the previous exercise. (1)
• Under the tab "Feature App / ret positions can be added. Before (Approach
Point) and after position (retreat position) (2).
• There are choices for the movement type, speed, finish data and offset data
from set position.(3)

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 Program

1. Other ways to create a program “the easy way”.

• Open program.
• Right click on “Add simulation Program,
Figur 3
• Give your program a name (1)
“ProgCyc” and ”Apply”
And after that OK.(2)

1 Figure 3

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Program

3. Other ways to create a program “the easy way”.

• Click the part on conveyer (1)

• In the simulation program it pops up icons for pickup and drop(2)
• Choose Pickup and something similar to Figure 1 appears.
2

Figure 1

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Program

1. Other ways to create a program “the easy way”.

• Click the part on table (1)

• In the simulation program it pops up icons for pickup and drop( (2)
2
• Choose Pickup and something similar to Figure 1 appears.

Figure1

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Program

1. Other ways to create a program “the easy way”.

• Now you have a complete simulation program.(1)

• A pick part (2)
• A leave part (3)
• This can now be run from the run panel
1

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Machinery

Overview
If you create a machine you can make objects removable
Example:
• Open and close a door
• Movement on a conveyer.
• Open and close a press.
• Others

There are two methods to do something movable

• Use a digital out signal (DO)

• Use a servo motor

Movements must follow the following rules

Rotary or linear movements have to be performed around or in the Z direction.

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Machinery.

1. Create a machine (Activate by DO)

In this example, you create a machine in the form of a

Simple moving conveyer.
The movement is activated by an output (DO)

• Remove the conveyer you have in your simulation

(properties).
• Add a BOX under Machines use size in field (1)
and place it in front of robot (1)
• Change name to “Basic element” (2).

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Machinery.

2. Create a machine (Activate by DO)

• Right click on
“Basicelement” choose “Add Link”
And after that “Box”.

Box has now been placed (1).

• Change name. New name: “Slide” (2).

• Click on button (3) (motor origin
Will appear as a “Triad”)

Oriente“triad” by proposal below.

• Set “W” to
90 or -90.
3
“Triad has changed position

• Click on button (4).

• Choose “Link CAD” menu.

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Machinery.

3. Create a machine (Activate by DO)

• Place the “Slide” either by

drag it to the correct location or enter
values directly (1)(2)

• Change color.

• Choose “Motion” menu 1

• Change values to the ones in figure 3.

Change speed (3).

Nr 4 the distance of movement.

Nr 5 selects a linear or rotational movement
Nr 6 test function

The signals selecting at Nr. 7 can control

"Slide" from a TP program.

FIG3

5
3

7
4

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Machinery.

1. Create a machine (controlled by servo)

The layout is exactly the same as the previous and the machine created with the
activation of the DO signal
The difference is that the configuration contains additional axles.

Create a new "cell" and make the following selections:

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Machinery.

2. Create a machine (controlled by servo)

Configuring the optional axle as shown below

1 2

3 4

5 6

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Machinery.

3. Create a machine (controlled by servo)

7 8

9 10

11 12

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Machinery.

4. Create a machine (controlled by servo)

13 14

15 16
5

17 18

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Machinery.

5. Create a machine (controlled by servo)

19 20

The work cell has been created.

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Machinery.

6. Create a machine (controlled by servo)

Creating the basic element for your servo controlled machine (Basicelement)

Create link “Slide”

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 Machinery

7. Create a machine (controlled by servo)

Chose (1) and positioner “slide” with “Triad” or type in.

Select Motion menu and set according to Figure 1.

Click Apply and then OK.
"Slide" is now moving using the the TP control.

Fig1

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Replace an existing robot against another. 1

Open Robot Properties and press Serialize Robot (1).

Choose robotyp under the robot model.
Click "Apply."
New robot loading.
All data except TP programs is loaded
But you can copy (2) and paste (3)
The TP programs

After that you can download programs, positions not

Need to be learned again

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Add a second robot

You can add a robot into the cell.

Numbers are unlimited

Follow the instructions step by step.

Programming possible on both the robots.

Check that the correct robot is turned on
"Teach pendant" (2)
If the fault is on keep The TP on the screen,
Click on the correct robot.
2

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Automatic program generation

1
Overview

Use “Cad to path tool” (1) to create at path along a part

You can only use this feature together with the "Parts”.
The following choices are

• Edge line (2
• Freehand line (3)
• Surface fit line (projection on surface) (4)
• Curve (5) 2
• Closed loop(6)

2 3 3

4 5 6

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Automatic program generation

Procedure to generate a movement along one edge.

• Select part (Part) by clicking with the mouse on it.

• Open Cad to Path menu.
• Choose Edge line symbol.
• Move the mouse pointer along the edge
The distance is shown as. 78.1 mm).
• Use a "double click" to make clear the choice of
Right length Window (1) Appears.

Name program (2).

• Check the settings (3).

• Click on the button (4).

You have now created a program.

Feature and a segment have been created under Parts and detail (5).
The segments can be several
2

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Automatic program generation
1
Procedure to generate a movement along one edge

Change Approach and retreat positions

You can change Approach and Retreat positions under

Menu Approach/Retreat (1).

You can also deactivate them if you not want to

use them(2)

2
After a change like this you need to generate a new program
Generate Feature TP Program (3).

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Automatic program generation

Procedure to generate a movement along one edge

1. Other possible changes (feature)

1
Prog Settings (1)
(Self-Descriptive)

Positions values (Pos Defaults) (2)

Here you can change values for TCP direction.

Tcp

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Automatic program generation

Procedure to generate a movement along one edge

2. Other possible changes (feature) 1

Under "Raw Normals" menu (1), you can define angle

on start and end position.
In this example, the start angle is changed by + 30 degrees
and end position of -30 degrees.

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Automatic program generation

Procedure för att genera en rörelse längs en kant

3. Other possible changes (feature)

Under “Pos Offsets” tab (1), you can change following 1

settings.
2

2. Movements related to default 3

position

3 . . . . movement related to the segments

5

6
4. Offset in Z
5. Offset in X
6. Offset in Y

7.

8.
7

9. 8

9
10. Rotation around Z
11. Rotation around X
12. Rotation around Y 10
12 11
13.

14.
13

14

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Automatic program generation

Segment

• Create a "path” (1).

• Open Cad To Path (2)
Choose ”Edit” (3).
• Choose “segment 1” in “ cell browser”.
This menu, (4) you can add
segments, feature and splitting segments 1
.

The pictures show splitting segments

(Figure 4 and 5).
For segment 1 and 2, you can now specify different
settings.
Additional segments are possible. 2

After the split you can move positions with

3
Using the mouse and in this way adjust them .

Figure 4 Figure 5

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Target points
1
Use target Menu (1) to create positions.

• Define position in the air (2).

• Defined position on a surface (surface) (3).
• Define the position where TCP is (4). 2
When you choose ex (2) together with (5);
Save items together in the group.
You can also specify it later.

Define the point in the air

Select "Air" and specify the point in the air

Using the mouse.
The points show that a coordinate system.
They also appear in the cell browser
To create an application from
These "targets", you need to create a so-called
"Target group".
Explanation on the next page.

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Target points

1. Defining a "target group"

• Select the "Target Groups" right click select
"Add Target Group
• Click on “Apply” (1).

“Target group “has been created (2).

• Open “Edit properties (3).

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Target points

2. Define target group

• specify a name for the group (1).

• Choose menu “Members” button (2).
• Choose “targets” (3) add “group” (4).
• Click on “Apply” (5) and “OK” (6).

2
4

1
6 5

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Target points

3. Define Target Group

• Choose a Motion (1).

• Choose “Target Edit” menu (2). Figur 2.
• You can now adjust the sequence by selecting how the "tool will move
between points (3)
• Under menu “Motion Line Data” you can modify position and also
Activate Approach and Retreat positions. Figure 2
• Under menu General you can create program with pressing
“Generate Feature TP Program (4)

Figur 3

.
• Click on the “Create path 3

4
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Target points

Define target (target) on a surface and add a positioner

Common

This method is to add a position

on a positioner (eg a box).
When you move the "box" also moves the point.
You can of course also define "Surface" positions
on non-moving objects.

1. Procedure

• use “Surface” menu to generate 3D point on the surface of a box

Open "properties" to each "target"

and select the box "Attached" (1) .Select to attach it to
the device you want to use as Link1

• The target" becomes visible in the cell browser under part (2).
• From here on, the procedure is Identical with the Procedure for Defining
points in space.

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Create a moveable tool 1

Common

To create a moveable tool you need

2 CAD drawings on the tool.
Ex Cad 1 (1) open Cad 2 (2) closed

Process

Creating a new cell.

The Tool (known procedure).

• Import a 3d drawing to atool (eoat)

(known procedur). Use drawing 36005f-200-3
• Under Menu “Simulation“ (3) you can add drawings for Open and Closed
gripper
• Mark close and click on (4) and choose 36005f-200-4
• Click on “Apply” (5)
• Test function with (6) and (7)

• in the tools menu also works to open close

Opening and closing will be simulated

When using drop pick function
in their simulation programs.

note
Object (PART) to be moved
must be defined in submenus
"Parts" and "Simulation" (3). 3

4
7

5
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Connection to robot directly ( RobotNeighborhood)

Common

With Robot Neighborhood function, you can create connections to a robot

both virtual (4) and connecting to a real robot (3)

• You can create a Group to collect a number of robots (1)

• It is also possible to just create a connection to the single robo (2)
• Name the group or robot (5).
• When creating the connection, enter the IP address in the fields (Host Name)
(6)

5
1

3
2

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Connection to robot directly (RobotNeighborhood)

Application

• Create an exact copy of a real robot in RG (Fig 1)

• Import data between the virtual robot and the real. (Fig2)

Data that you can import / export

• Program
• Variabler

Note
You have to keep track of when exporting / importing application so you know that
you do not overwrite anything that has been done on one device but not done on the
other.
Fig 2

Fig 1

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Cables

Common

Cables that are mobile and follow the movement of the robot as an example can be
added to all robot axes (Fig 1).
It is also possible to add cables for other equipment (Fig2)

Figur1

Fig 2

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Cables

1. Add a cable to the robot.

Right-click the robot you want to add a cable.

Select "Add dressout" and then choose which axis you want to add it to
example joint 3
The following menu appears on the screen.(Fig1)

• Choose the location to connect the cable to (1)

• This location can be modified by entering values (2) or use the
• "Edit a location on Screen" (3)
• Then select the end position of the cable (4)
• This location can be modified by entering values (5) or use the
• "Edit a location on Screen" (6)
• Be sure to press “Apply” (7)

Fig1

5
1

2
6

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(Cables

2. Change the settings on the cable.

• Lengths and diameter can be adjusted (1)

• You can add items such as simulating a spring loaded connector. (2).
• If you add such a point which can be change as previously described (3)
• The length of the spring can be changed (4) as well as the connection of the
cable (5)
• Under “Physical parameters” (6) k you can change settings on the physical
characteristics of the cable.
• “Spring constant” suspension properties (7)
• “Damping constant” = Damping effect (8)
• “Gravity effect” (9)
• “Suspender Spring constant” = Optional spring suspension characteristics.(10)
• You can also set the sensitivity of cable failure.(11)

5 2
4

6 3
7
8
9
10

11

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FANUC MAN (WORKERS)

Common.

In cell-browser (1) is able to add a person in the cell.

This "Worker”(2) can move around in the cell.

• You can add different positions (Postures) (3)

• You can add movement started by a DO (Motions) (4)

3
1

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FANUC MAN (WORKERS)

Settings on body positions.

Pressing the Menu (1) In the toolbar, open the menu according to Fig1
Each green "ball" can be moved, drag it to the position you want (2)
1

Fig1

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