‘Avatm welcome Welcome to the course "Introduction to ciRos®" ‘The flowing cous is intended to provide you wth an oveniow of * Te options ROS provides or 30 factory modeling, sible use of ROS sch. * asics of modeling and programming wth CROS® Learning time 90.min, FesTo050 Fists ‘Work orders © orders, ‘You mil process te following ose: * ead through the section “invoducton to CROS@" andar how to se CROSG in teaching. * Become familar withthe ser inetae of CROS®. * Find out more about ne programming projects n CROs. * necome falar withthe CROS® ibrar MPS (modular production system)2050 Fists Application of C(ROS® Using CIROS® in teaching © order ‘ead through the section inoducton to CIROSG" and learn how to use CROSE® in teaching. ‘Rose (Computer inteprated Robot Simulation) isa stare application ‘esigned under didactic aspects fr 3D factory modeting The tool enables teacher teach he following skls na practceorented * planning and controling factory systems + Robot and contol programming P cH0s@ mace Paetwaon” Gontguation ramp) * vial simulation ofl products, processes ana sytoms in production (digital twin nthe context of nutry 40) + cesystomsROS® Fst steps FesTa ‘Application options ‘he pplication options of CROSG in teaching ae manifle Forexample: ae) * Lessons can take place ona "actor simulator™ * Project-orentedselt-studles can supplement lessons, + kn ust rapraons can be mae for eet ops pen en PT dat P Aralation pons of ROS in tscingLessons on a Tactory simulator + c1R0S@ can be used to put together incvidual factory systems aways suitable tothe ‘aston teaching topic and to the pir knowedye ofthe students Dilerent system statuses can be modeled, e. 2 production plant wth or without sensors for process ‘monitoring, 2 separate workstation wih or itnout connection toa central anspor system. * Robot and PLC programs can be developed ested and putinto operation naval ‘environment. The graphical terface of CROSE enables inlvidual program steps to be Folowedin a simulation, * Real production plants can be conhigure vitualy ina number of way. nti way, 2 virtual workstation is available to each student. Production processes canbe aught without real machines. Lessons can take place independenty of space ana tin. + caR0S@ data canbe exchanged with othe tol. Fr example external (AD model canFesTo050 -Feettpe FesTo Test preparations * me sofware supports the Interaction between students and teachers Inthe test For example, he teacher can prepare test exercises by inserting various malfunctions in the vital system in orerorthem tb found and ecified by the students, The software log al actos ofthe student uring the tua maintenance and nis way, enables automated conral ofthe student performance, The test preparations ofthe students fora eal =yster are made easierby using the050 Fists User interface © order Become familar it the userinterace of ROSE. Hint ‘The model is the main elementin CROSO. To create a new model in CiROS®, create a now Mle (2 modsunder Fle» New ogo, ‘The CROSC® use interface used to model production pants consis ofthe CROSD uernatae or moding rodction plats following windows + Mode explore * Properties window“CROS® Fst steps FesTa Model itraries Conpreensve model irate ae avaiable in COS for modeling components ofa system, suchasassembytaies, <> Example Conveyor els bts, woplees, agains et ‘assy tablecan be modeled 5 2 cube. Youcan ade objeto your Imods unde Mode irares» Geometries © ood to know oe ‘ou can in them inthe context menu Moeing> > oh sar nee * Model iarien on deices (contr fa retre rots PLE EDT VIEW PROGRAMMING (a Fenonse qa] ca a (a Fenomse soos teraoncene cue 1 Genarcpiet eshte ‘tonne AlteEnter a Pry i if a me s enignee Enda cron tc fice etitonaoemact ak PUCSwitch. ace ne (0 coniguaton . Somer F vOPanet 2 cosine nse 20rmnter , © Geometyeptmiaton Pat genaion ' Rendercone . Pecos tome rates inthe contest men of ROSEROS® Fst steps FesTa Model explorer and view ‘The mode explorercan be accessed inthe context menu under Modeling. ll_The View category shows the current view of virtual system. The view an modeled components objects) ofa system can be dsplayea inthe made! be changed as required, or example ata a ont ar sie vie, explore You can righttickto open a dlalog bx in which the properties ofthe object an be defined ate obec rename. a FILE EDIT VIEW ‘Mode! libraries CtrleShifteM Properties AltsEnter Transport element snapping off Object functions off VO configuration , VO Panel sara | 3D marker a eae = = i” 7 ¢ % ha> rp Decne mode ope ental in th OS® conten ment peeP ne modet eer yucan deo the objet popes sucha the postion,2050 Fists Model hierarchy The model hleachy contain he ollowng types of elements: ‘objets ae the tp uti the element sour objets Example 20015 a0 oj. Z The slevesate sized groups rd determine the wap epresertatlon. o— ramplee2surace,acabe Fer» RV4AL therobt RF om he company MISH * Insallagtopet 4 parategipe.on he bot 2m under Modeing od brare > poe Peso * Armand estblen hele coonction betwee the boa ‘oper bee scanaton.FesTo 2050 Fists Moving and rotating elements Moving! rotating the elements using the model explorer Moving! rotating the elements without using the model explorer * selecte element you wish 0 move * steno eat mage. * open ts properties and switch tothe Pose properties page. * selec te element you wish 0 move * Setthe desies poston parameters. * Click onthe seected element inthe view window and hold down the * Move the element tothe dsied target position inthe view window. * Release height mouse button, Te objets dropped inthis postion © Good to know “omovethe obectmoe precisely by hand, use an orthogonal vie eg. the tp view2050 Fist steps Scaling elements Scaling ls usedto change the size and proportions of elements + selectie element you wish 0 sal. * Right ikon te element * Select Propenies fom the menu and then Size, * Te changes immeately take effect onthe selected element. Hint The sizes, proportions and positions of suborcnate elements ae also adjusted during the scaling process.2050 Fists Renaming elements ‘You can change the name of an element as follows: * Selece desired element in Made! Explore. *highecckon the element * select ropatostom the menu and then Genera * Give the objectanew name. *+ me change immestately tae effect onthe setete elon.2050 Fists Renaming inputs and outputs * Select the input/output Mode Explorer. * righ on the desked input/output and select the Renameitem fom the context mens * tor the now name forthe input or output2050 Fists Connecting inputs and outputs * open Model Explorer * Unfold he /0sof heist lament inthe navigation ee * men sletthe /os ofthe second elementto be connected. _Aer cliekingon the Inputs or outputs, they are dsplayed on the ight sie of Model Expire. * Now click on the deste /0.0n the right side and drag it wih he mouse button pressed tothe cresponding//20n the et sce he input and output ate now connected, j ri i THT E tne Ee P Conmecingnpts and outs eaplesegese F Tn fit THATcS Fists Deleting inputs and outputs To delete inputs ana outputs: * selec te desired inputs o outputs in Mode! Exton. * Ten execute the command Deletetrom the context menu orpressthe Det pushbutton, uring the deletion process any exiting inputs or outputs witha higher Index re moved up ane ther index educed accoinly.4050 Fists Saving an object ‘You can store static objects you have set up yourself or hanged obects from rales ina Fle. The advantage ofthis sthat you can define and save prototypes for objects frequently sed. They ae then avaiabeor ure modeling processes and donot hae tobe defined again everytime. You can then import such obecsato any model * selec ie objet you wish to save in Mode Explore. *highclickon the objet * select Saveastrom the menu displayed. The Save selected obects as clalogboxls displayed. * ter the name of the he under which you wish to save the selected object inthe Fle ramet, * selec Saveto save te selects olect.ROS® Fst steps FesTa Vo panel * Use the /0panettor the convenient conguation of 0 ‘connections. Te inputs are specined onthe tan the outputs of allobjects onthe right nthe /0 Panel window. The /0 connections in which the connections between the inputs and outputs can be cepayed and changed sin the mide * Use the /0 connection field to connect Inputs nd ouput. Aline Between an 0 pairingieates hat they are connected ‘Tne color ofthe ie indetes whether vale is unequal © (green) or equalo (ed). Te connections of the curently slected 0 ae aisplayedi blue * Te flowing sybos ae used te indicate whether and in wien way an 05 conn Ta P WoPmet conquation example050 Fist steps Vo panel Ine flioning you will become familar wth commands an properties ofthe 0 panel, such as: + Creating and deleting 0 connections 2. Setting and resting 0 values 2. Commands use to show and hide elementsc050 Fists Vo panel Creating /0 connections *Inthetj0 comectons an output can be connected any numberof inputs. However, ean input may be connected only oe ouput *Toconnect an /0 par lckon heaton next tothe name ofthe fst /0 Inthe 1/0 coneetons Rea and then draw a connection tthe aon of| the secona i/o. Deleting 1/0 connections + Forreasons of clarity, 0 connections are avays deleted onthe side of the inputs *Todo'so, select the respective input and then select the command Delete ‘yo connection tom te context men ight ek) * nernatvly, you can also liek onthe arrow on the Input side wth the 0 annections dspiayed and palit nay om the ouput into the ae Ho050 Fist steps Vo panel ‘Setting and resetting 1/0 values, * me /0 panel atlows inputs and outputs to be set and reset manually without changing the siulaion model. Ary esting connection oan ‘outputs aisconnected ony temporary. + Tosetan inputftom oto1,open the context menu ight clk) of the Input Then select Seror Resort set ho value 0 oF ‘+ Te green (inputs and red (outputs) LEDs inceatewhetheran 0 is se * me cron value of he respective 0 is spay nthe Value column + Tojnvertan input signal open the context menu ight clic) above the ‘ny. Ten select vet np signaROS® Fst steps FesTa Commands used to show and hide elements You often do not wish ose al inputs and outputs ofa objects in the model. Elements canbe shown and hen to make the lew clear. Showat ‘Aint and ouous om the simulation model arsed. deseecton ‘The pus ancopts select n manil mote reise, tite openings Alinpts nether comets noe foed ren, Show alae changes ss menu em sets te ngs andthe oubus whose ve mas change sare ighpedn gen and ed especie, aa ‘Shows rhides the respecte columns in manual moe2050 Fists Programming © order Find out mor abou the programming projets in CiROS®. © Good to know ‘ncROSe you can crate and test robot programs. The programming languages {or obo programming vary, depending onthe robot manufacture. You program subi ots, for example in elf Basie. odio so, create anew programming project under Programming Project management ana select Projects. Mark the programming language Maa Basic Vin he dlalog box and ‘ve our pojecta name, eg. Examples ia Project management Programming assistant... Mitsubishi renumber.. Carte, Sort P creating new royaning pojein CHOSEP slectng ne pogamming agua forvtal tot prereMmng inckose.2050 Fists Programming The follwing topics for programing in CIROS@ ar Introduces: 4. Teachin window 2. Poston ist2050 Fists Teach-In window * Usethe command Programming» Teachinorpressthe function key FB ‘open he Tetchin window, * The Teach window can be used to manualy traverse the curently selected contol abject (eg, rbed. * Furthermore the Teac-n window can be used to contol an actual Iitsubish robot connected to CIROS® in connection wth he Mitsubishi nin tink, * Te Teach n window has the olioning pages: 1. Joint coornates 2. Cartesian coorinates 2 Tesenin incon contigeaton exam)2050 Fists Teach-In window Joint coordinates ‘onthe Teac-n page you can averse the incvidual aes ofa selected “contol in avis coordinates or ete aus coordinates direct. “he folowing parameters canbe edited on this page: + Move 2 Jolntvalues| 3. Speed vertide 4, Move incrementally 5. Grpperoutput Tesehin pope ent coonnates2050 Fists Teach-In window + Te arow key can be used toraverse the individual axes within thei ais limits the speed set under “Speed ove” ar atthe ncroments set lundar'ove ineemental * As soon as you nove the cursor on one af the aw hays, a preview athe resulting movement path visualize in the view window Joint values * Te invidual elds show he current joint values ofthe adacent axes rilimetersorderees and canbe edited manvaly * Values changed manually are saves by pressing the Apply buton or ‘otherwise discarded as soon as Teach ns closed othe arrow hays are used again ‘Speed override + Te fll speed i usually not suitable to move oa desied postion more fos prcisoy- You can use the stde contol to eauce the vavesing speed forte teachin process toa percentage of it Move incrementally * Forsome exercises its helpfultotavesean als at xed inten. * check the aoveineomentatvoption inorder to traverse ncementally| wih he arrow keys and configure he increments for wansatory and rotational movements nthe wo eds below. Gripper output * select here a sigtal output of the contol objet as desired, which can be setby pressing the Close button and rest by subsequenty pressing the Open button, ei oderto open or lose a connected riper during the teachin process.1ROS® Fst steps FesTa Teach-In window ‘Cartesian coordinates: ‘You cantraverse the rbotin selected coordinate system inthe Teach In wedow Cartesian coordinates. This Teaco wiedowis available ony fot robots rom the ROS made! lorates. “The foioing parameters canbe ete on this ase + Move |) 2 TeP ose =e 3. Speed verde 4. Move incrementally eater) ‘5. Gipper output Hint Parameters 3t0 5 have already been dscussed forthe aus coordinates.2050 Fists Teach-In window * You can use the arom keys to traverse the TCP ofthe abot by or along the 10s ofthe reference systam seectoa below them atthe speed Set under "Speed avenge” or at the increments et under Move incrementally + me wold coorainate system, the tobot basis, the TEP andthe 30 marker are avalable as reference system. The selection made here does nat automaticaly apply tthe "TCP pose fl. * Selec he desited TCP rom he TCPscongured forthe robot under TCP The TCP offset stored fr this purposes taken nto account when teasing in Cartesian corainats. * As soon as you nove the cursor on one othe arrow keys, a preview of the resulting movement paths isualized inthe view window TeP pose ‘+ Te current poston ofthe TEP inthe selected reference system cn be ‘isplayd and entered manually inthe Reds yz 8 Pand + To save manual ents, the entry must be confirmed wth Apply ‘tmerwise te ents wie rejected by he nex taversing procedure ot by closing Tear. ‘+ Te wold coorsinate syste, the obo basis and the 30 marker are salable as reference systems. The selection made nere does not automaticaly appt the Move Rl2050 Fists Pasion lst ach ent ofa postion list comprises the following pan: * number ofthe postion o be moved bya robot * position in robot oorsnats (x, coordinates an the rertation ofthe poston) * Comment onthe postion ‘The new positions canbe automatically added tothe position ist under Progamming» Postion lst» nsor poston. ofa raot progam andthe coesponcing poston tw hee postions Pana4050 Fist steps Summary Programming ‘You can ind the Teachn window under Programming Teac. You can traverse the robot manually and move itt the desire positions by pressing ‘the aw keys. The new pestions canbe automaticaly added tothe poston st under Programming » Poston list» inser positon Inthe next step a rbot program Is witten, based onthe position Ist. The program can access the position cordnates stored inthe poston lis P “exnn ndonia CHOSE. Te wba moved |. lng Ne a,b essng the arom ies | in Be at roan ny E P tzanplect obo pean an the coresponcn poston is wh hee postions Ps Pana?2050 Fist steps Simulation ‘8CIROS@ model anda cortespanding robot program can be validated ina simulation. Use the commands in the Simviationmens for this purpose 4. Stan/stop 2 Reset 23. Next/Prevous step 4 Simulation conto (bieed) 5 Delete generated objects2050 Fist steps Simulation Stat/top command + usetiscommandta start or stop the smulaton * Men: SimunionSt/Sop + Repo cusses” Bence P neces othe Simulation menu and Simulate toa Rese Sat/Stp, Nex ste ommands Wome a. eh ot Reset command * Use this command ifthe position of objects hasbeen changed bythe robot simulation ana you wish restore the ina contion atthe rmogel + me model resets sna condition Al outputs are reset inthe process. * Furthermore the step indicator tor loadea programs reset the st program step and he simulation time Is set toc. * Menu Simulation» Reset * Keyboards Cu «fs2050 Fist steps Simulation Next step command * Tis command is avaiable the ative window is a postion ist robot program. * ire active window isa poston list, the postion flowing the curently lected postion in the postion lists selected and moved by Ns. command *irmeactie window isa obot program, his command is used to execute the nex program sep. he program sequence s aborted wien the nest line ofthe program iseaches * Menu: Simulation Next step * Keyboards 10 Previous step command * Tis command is available only the active window sa position ist. * use this command to select nd move othe postion before te pation cuanty selected nthe pasion Ist * Menu: Simulation Previous step * Keyboards Shitefia2050 Fist steps Simulation ‘Simulation control command (objet) * atleast one contol object (ea robots required startthe simulation. *Tostarthe simulation wihout specific convo, eg In tst eases athe simulation conte obec to the model * You can nd the simulation convolerbjectin the Controllers ar Modeling aids model ares. Hint Please observe the following when using the simulation controller object: + This convoir canna be programmed. * Tne inputs and outputs of tis contoir cannot be connected. + The contol uns "enessy, Le. the simulation runs ended only when you stop the simulation manually "+ The simulation controlerobject must be removed fom the model before using 2 diferent contol, 00.cn050- Fist steos Simulation Delete generated objects command * Use this command ta remove objets created dynamically during the Simuaton (2. by ject sources} fom the mae * Menu: Simulation Delete generated obects1ROS® Fst steps FesTa C1ROS library MPS © order Become falar ith the CIROS® itary MPS (modular production systems) “The CROSG library MPS 500 is cig simulation of areal waning factory itn citernt work areas, he indiual workstations can be congured Aesby in CIROSE a5 modules. The electrical, mechanical and physical behavior fhe atl model ithe same a that of actual stations and is programmed withthe same programming anguages. This allows the Students to work safely onvirual ystems before the testea programs are tied outon the actual system. P Confation nampa tual stom tet wth he ROS iar MPS4050 Fists summary inthis teaming unityou have become fair wth CIROS® -the software for 3D factory simulation, You rad about te options fr using this software in| "ining. Furthermore, you became familar wit the CIROS user interace and the basi commands an functions, You aleo became falar ih the bases oF madetng automated work cls. You then obtained an overview of ‘the bases of robot programming with ROS.2050 Fists Comprehension question (> now an yousse cos fo stistuey? Spanish your own words! complex topics am the feld of mechatoncs, robotics ang basics of production) «an be repeated/practced vitualy at one's own speed and without any isk of making ‘Complex technical contents and components ae easlerto understand thanks tothe IROSE Fink ih VR (va realty Leaning with CIROSW Is possibie at any ime and any plac. Ahardware connection is not ncessay2050 Fists Comprehension question 5 wien tunction a ROSS i fll bythe /0 panel? CCheckthe erect answers 1D metropntansine ssp nd spa obo ect nod ‘ne (analog ype ane value or ach inp and ouput canbe ayes on the/0 ‘The YO paleo sof a CROSS component fan automated wore onthe logan.2050 Fists Comprehension question which CROS ile can you nda model ofan automated workcell? Mark the cect answer. © sess nods nan mete Festa