Professional Documents
Culture Documents
OVRS-3
Global Robot Integration Specification
Version 1.0
February 2018
Opel Automobile GmbH
OV ME Strategy
Author(s):
Andreas Gilles — Opel Automobile GmbH / ME PPA Automation
Fernando de Pablo — Opel Automobile GmbH / ME PPA Automation
Document revisions:
Date Revision By Revision history
2018-02 1.0 AG
Table of Contents
1 GENERAL .................................................................................................................................................. 8
1.1 Scope ........................................................................................................................................................................................... 8
1.2 Purpose ........................................................................................................................................................................................ 8
1.3 Audience ..................................................................................................................................................................................... 9
1.4 Deviations ................................................................................................................................................................................... 9
1.5 Normative References .............................................................................................................................................................. 9
1.6 Definitions ................................................................................................................................................................................... 9
1.7 Resources .................................................................................................................................................................................. 10
11 HARDWARE HOUSEKEEPING...........................................................................................................35
11.1 Verify Robot Dress ................................................................................................................................................................... 35
11.1.1 Robot Dress Requirements .......................................................................................................................................35
11.1.2 Robot Dress Rules ......................................................................................................................................................35
11.2 Stencil Robot Arm and Controller .......................................................................................................................................... 35
11.2.1 Robot ID .....................................................................................................................................................................36
11.2.2 Stencil ID Placement – Robot Arm ............................................................................................................................36
11.2.3 Stencil ID Placement - Robot Controller ...................................................................................................................36
11.3 Install Dust Covers ....................................................................................................................................................................38
1 General
Scope
The provisions of this document apply to the integration of robots for Opel Automobile GmbH. Robotic integration require-
ments in this specification supersede any requirements in the Global Common Controls Build specification (OVCB-1).
Robot programming standards established in this specification are applicable only to robots that meet minimum require-
ments listed in the 2014 version of the following specifications (Global 3): OVRS-4A, OVRS4-B1, OVRS4-B2, OVRS4B3, OVRS4-
C, OVRS4-D, OVRS4-E, DS-1, OVRS-1, and OVRS-FP
Robot programs, developed off-line with simulation software, shall conform to the programming standards defined in this
specification.
1.1 Purpose
The purpose of this specification is to provide common robot programming and integration requirements to the integrator
of Opel Automobile GmbH Body Shop or Metal Forming systems. This specification defines common requirements and
guidelines that encompass the construction and integration phases of a OV vehicle program; the period of time from when
robots arrive at the integrator to the time when the completed system is shipped from the integrator to the OV facility.
This document was created to define:
Acceptable use and handling of OV robotic assets throughout the integration process.
Roles and Responsibilities of OV engineering contacts and integrator personnel as they relate to robot integra-
tion.
Requirements and acceptable practices for primary robot dress.
Requirements and acceptable practices for secondary robot dress.
Proper implementation and documentation of the software for robots.
Common procedure for documenting and reporting progress on robotic integration milestones.
Common form and procedure for Vehicle Systems robotic buyoff.
This specification is coordinated with the Robot Integration Buyoff Checklist, which is also available on DocInfo. Every num-
bered item in the checklist matches a section in this document. It is intended that these sections explain the details for
each checklist item.
1.2 Audience
This standard is primarily for use by robot engineers, skilled trades and other personnel involved with the integration of ro-
bots at an integration facility or a OV plant.
1.3 Deviations
Any deviations from this specification require the approval of the Vehicle Systems Lead Robot Engineer or the Vehicle Sys-
tems Robot Commodity Engineer. Any approved deviation shall not be considered a change to the standard.
1.5 Definitions
The following terms, or corresponding acronyms, are used throughout this document:
Bill of materials: BOM; a system parts list that generally accompanies the wiring diagrams
DCS: Dual Check Safety – Robot safety software option. Two components of DCS are used. Safe IO Connect, otherwise
known simply as “DCS” is used on every robot for safety signals and Speed and Position Check, otherwise known as “Ad-
vanced DCS” is used to replace robot light screens in certain stations.
End-of-arm tooling: EOAT; any process related or material-handling device attached to the robot faceplate
Bypass Process path: After running the Wizard on a new robot configuration, pedestal applications will have template pro-
grams for Bypass Process, which can be used to create paths that skip the pedestal process but continue to perform mate-
rial handling. Bypass Process paths are typically not programmed by the integrator. They are reserved for use by the final
manufacturing facility in conjunction with their plan to back up the missing process.
Fast fault recovery: FFR; a method of dealing with robot process faults which removes the need to enable the teach pen-
dant and manually jog the robot
Home Line Integration: Any line integration that is performed in the permanent production location of the system. When
shipping after on-line integration is not required, integration is considered Home Line
Maximum Space: Space which can be swept by the moving parts of the robot, end-effector and part MFD: Metal Forming
Division
Positive Part Transfer: Positive part transfer allows fixed station tooling to clamp, pin or apply vacuum to a part while an
MH robot has the part clamped, pinned or held with vacuum in its end-effector. Positive part transfer also allows an MH
robot end-effector to clamp, pin or apply vacuum to a part while fixed station tooling has the part clamped, pinned or held
with vacuum. Positive part transfer requires an additional handshake (an additional path segment) with the PLC.
Restricted Space: Portion of maximum space restricted by limiting devices that establishes the limits that cannot be ex-
ceeded
Robot data sheet: RDS; a specific deliverable from simulation that contains data helpful for initial robot setup
Robot Transfer Unit (RTU): Rail and carriage assembly that gives the robot an extended range (sometimes called 7th axis
rail). These rails can be floor or overhead mounted.
Tool center point: TCP; a point defined on the end-of-arm-tooling to facilitate path programming and touch-up. Also known
a user tool or UTOOL.
User Frame (UFrame): A user definable frame that can be setup in any location in any orientation. User frames are used so
that positions in a program can be recorded relative to the origin of the frame. User frames are most often used as remote
tool center point frames for things like pedestal welders or sealers. The origin of the frame is defined as the tool center
point.
Weld process data sheets: WPDS; refers to the OV weld process data sheets that define welding requirements for a robot
application
1.6 Resources
The following links are provided for resources that are referenced throughout this document:
DocInfo
Fanuc FTP Site
2 Order Robots
2.1 Robots
To order robots, the supplier shall submit robot order forms to the Vehicle Systems lead robot engineer using the Robot Or-
der Form located on DocInfo. Once ordered, any changes to the robots shall be communicated to the Vehicle Systems lead
robot engineer by updating the robot order form and clearly identifying the changes.
2.2 Cables
The supplier shall accurately estimate the required robot cable lengths at the time the robots are ordered. The supplier is
responsible to perform any cable exchanges if needed.
On the Advanced DCS picture(s) provided by simulation (see Figure 3.1), verify that the:
1. DCS User Model envelope(s) around the end effector appears to encompass the entire end effector and part in-
cluding J6 bracket
2. End effector is mounted in the proper orientation
3. Weld gun and clamps are shown open, cylinders are shown in most extreme state 4. Cell is laid out properly
5. DCS zones are positioned properly with respect to the operator station and other obstacles
Record the DCS signature and date on the DCS picture(s) and place the copy of the picture(s) into the plastic sleeve on the
robot controller. The DCS current signature can be viewed on the robot [MENU], [UTILITIES] [DCS] [Safety Signature] (hex
value).
Figure 3.1: Advanced DCS picture from Simulation
4 Configuration of Robot
4.1 Verify/Load Latest Software
Verify, with the OV Vehicle Systems Lead Robot Engineer, that the proper release of robot software, running fixes, and sys-
tem updates are loaded on the robot. Load the correct software version if required.
Some applications such as Flow Drill Screw, Arplas, and Self Piercing Rivet cannot be fully setup in the Wizard and may re-
quire additional steps to configure. Contact the OV Vehicle Systems Lead Robot Engineer for further instructions.
1. Grip Part: Shifts valves to “A” position and checks associated cylinder position feedback.
2. Release Part: Shifts valves to “B” position and checks associated cylinder position feedback.
3. Part Present: Verifies part presence at selected switches. The ability for continuous checking is configurable by the
user, which is described in the Global 2 (or 3) Wizard Execution & Robot Setup Manual.
4. Check No Part Present: Verifies no part presence at selected switches.
5. Prepare to Pickup: Makes sure that specified valves are ready to pick-up a part. This instruction shall be placed at
the beginning of the pickup routine. Additional calls of this routine may be made in the pickup routine as required.
6. Turn ON Vacuum: Shifts vacuum valves to the vacuum state and checks for associated vacuum made feedback.
The ability for continuous checking is configurable by the user.
7. Turn OFF Vacuum: Shifts vacuum valves to the blowoff state. Parameters allow for time based blowoff.
8. Turn OFF Blow-off: Shifts vacuum valves to the neutral state and checks for loss of associated vacuum feedback.
Parameters allow for time based blowoff.
A separate payload shall be defined and utilized in the robot program each time the payload changes. Examples include
the payload with and without a part in the end effector, the payload of one style versus another style, and the payload with
and without a carried tool as in the case of a tool changer.
Subsequent payloads are named in sequential order as they are encountered in the robot’s process sequence, beginning
with Style 1, until all unique loading scenarios are defined. For tool changing, the robot-without-tool shall be defined as the
last defined payload.
1. A safe path that avoids any dress problems or tooling collisions from the home position to the mastering position for all
6 axes if possible, or for the 3 major axes if not possible.
2. An instruction to PAUSE program execution.
3. A safe path that avoids any dress problems or tooling collisions from the major axes mastering position to the mastering
position for the 3 minor axes (if required).
4. An instruction to PAUSE program execution.
5. A safe path back to home.
6. Set Robotic Quick Master Reference. Refer to the Robotics Manufacture Operations Manual.
3. Verify that the tip dress blade holder is on the same side as the movable shank as shown in the left picture in Figure
6.1.
4. Verify that tip dress direction is in the same orientation as the springs (red arrows) in the right picture of Figure 6.1.
If the head is rotated 90° from the direction shown in the picture then the springs cannot equalize properly when
the gun is closing on the cutters and could impact dress quality.
7 Programmed Paths
This section describes the requirements for teaching/verifying required program paths.
TCPs included in an OLP shall maintain the TCP names established by the robot download translator. TCPs not originating
from an OLP shall follow the following standard for TCP naming:
1. Robots with a single carried TCP shall be programmed using TCP 1. Robots with more than one carried TCP shall
be programmed with TCP’s numbered in ascending order based on the process sequence for each robot. Ro-
bots that are processed to use different TCP’s (or in a different sequence) based on Style program shall be pro-
grammed using TCP’s in ascending order starting with Style 1 and continuing until all TCP’s are named.
2. Robots with pedestal applications shall use the standard above for naming of carried TCP’s. Stationary TCP’s
shall be numbered in ascending order beginning with the process sequence of Style 1 and continuing until all
stationary TCP’s are named.
The TCP shall be oriented such that a move in the positive Z direction moves the work piece closer to the tip of the tool.
For tools with a throat such as spot weld guns, the TCP shall additionally be oriented such that a move in the positive X
direction moves the work piece into the throat of the tool, and the positive Y direction comes from the right hand rule.
For tools without a throat the positive X should be aligned with the major axis of the tool and the positive Y axis follows
from the right hand rule.
For carried applications, verify the location of each TCP by setting the robot jog mode to tool coordinates and jogging the
robot so that it rotates around the tool X, Y, and Z axes. The TCP shall not move more than 2mm in any direction throughout
a 45-degree rotation about any axis. Verify the orientation of each TCP by jogging the robot in the positive directions of
the X, Y, and Z axes. The tool center point shall move linearly in the positive direction of each axis as defined in following
sections.
For pedestal applications, verify the location of each remote TCP by picking a stationary point on the EOAT and jog the ro-
bot so that the point lines up with the pedestal TCP. Then place the robot in remote tool coordinates and rotate the EOAT
around the X, Y, and Z axes. The EOAT shall not move more than 2mm in any direction relative to the pedestal TCP during a
45-degree rotation about any axis. Verify the orientation of each remote TCP (RTCP or UFRAME) by jogging the EOAT in the
X, Y, and Z directions. The EOAT shall move linearly in the positive direction of each axis such that the relative motion of the
part to the pedestal TCP is the same as for the carried application.
Gripper
Pin UTOOL
2
Part
UTOOL
Fixture
1 Angled
Pin UTOOL
1
Pins with different orientation: Parts with same orientation:
Number of utools = 2 Number of utools = 1
Gripper
Pin
UTOOL
Part 2
Fixture
UTOOL Pin
1
UTOOL
Pins with same orientation:
Number of utools = 1 Parts with different orientation:
Number of utools = 2
Notes:
1. For Dispense applications, segments 64-71 are allocated as follows:
64-65 Bypass Path for Process 1/Process 2
66-67 Move to/from Visual Check 1
68-69 Move to/from Visual Check 2
70-71 Move to/from Visual Check 3
1. Path segment instructions shall be preceded by a comment line in the program indicating which area of the path the
robot is entering such as part check, weld path, no part check, repo tool, etc…..
2. The “Request Continue” instruction shall be used at the end of each path segment (immediately before calling the next
path segment) in which the robot requires permission from the PLC to continue. The “Request Continue” instruction
shall be called from a motion statement whenever possible.
3. Global 3 robots have enhanced functionality where the robot will not wait if the next segment is already clear. In order
for this functionality to work properly for pedestal applications, the programmer must call the next process segment
when the application is finished. For a welder the next segment would be called after the last weld is completed. For a
dispenser, the next segment would be called after the dispense path is complete and before the call to “Dispense Com-
plete”. This lets the PLC know that the application has finished successfully and can allow the robot to move into the
next segment without stopping.
4. When more than four path segments are required for a given pickup or dropoff, the next available pickup or dropoff
segment numbers shall be utilized in ascending order until all of the pickup or dropoffs are complete.
5. The use of additional segments with “Wait For Continue” after the Pounce position requires approval by the Vehicle
Systems Lead Robotic Engineer.
6. Any non-standard usage of a segment(s) requires approval by the Vehicle Systems Lead Robotic Engineer and cap-
tured as a deviation for the specific program being impacted.
Request Continue Pounce - Wait for PLC to allow proceed from Pounce
Set Segment 10 Pick - Notify PLC that robot is in segment 10
Move to pick position Pick Fine Move to pick position
Close gripper Pick - Close grippers/clamps, turn on vacuum
Move to PP check Pick Fine Move to PP check location, clear of tool PP switches
Pick Wait PLC to verify that the part present switches are
Request Continue -
clear
Set Segment 11 Pick - Notify PLC that robot is in segment 11
Move clear of pick up tool Pick Fine/CNT* Move to clear of the pick up tool
Set Segment 12 Pick - Notify PLC that robot is in segment 12
Move clear of pedestal Pick Fine/CNT* Move to clear of pedestal
Set Segment 50 Proc - Notify PLC that robot is in segment 50
Process path Proc - Perform process
Move to End Of Process Proc Fine Move to End Of Process
Proc Set next segment to notify PLC that the process is com-
Set Segment 51 (Global 3
- plete. **New for Global 3 to facilitate “no wait” at
Only)
next Request Continue.
Request Continue Proc - Wait until the drop off tool is ready to accept the part
Set Segment 30 Drop - Notify PLC that robot is in segment 30
Move to drop off Drop Fine Move to the drop off position
Program Sequence Placement Termination Robot Action
Drop Open EOAT grippers/clamps, turn off vacuum/activate
Open gripper -
blow off
Request Early Drop - Set Request Early to advance PLC Handshake
Move to PP check Drop Fine Move to part present check location, tool reads PP
Request Continue Drop - Wait for tooling to verify that the PP switches are made
All Robot welding or joining instructions shall include the proper weld or fastener number and annotation from the process
data sheet. Robotic programs that do not have a specific joining instruction shall have the process joining annotation as a
comment before the joining instruction. Dispense paths shall have each bead commented to define which area of the part
is being sealed; for example, “door header bead” or “hem flange bead”. Typically the joining or fastener name is provided
in the simulation download program.
A style specific drop off is used for dropping of a style specific part from a common drop off fixture that can hold different
styles of parts. The XX is the style number placeholder. The Y is the drop sequence number; for example, if style 1 has two
drop-offs there would be an S01Drop1 and S01Drop2 program.
The integrator shall utilize standard option codes as defined by OV Vehicle Systems on a per program basis. The available
Option codes for Global 1 & 2 are A-C. Available Option codes for global 3 are A-E. See OVRS-4A on DocInfo for more infor-
mation.
7.11.3 Style Specific Paths
When paths that are only performed in one style are required, use the following naming convention to distinguish
between style specific programs where XX is style number 1-24 or 50-255 (see style usage table above) and Y is the
sequence number (1, 2, 3, etc):
SXX PICKY Style XX, pick partY – start pick numbering at 1 for 1st pick
SXX DROPY Style XX, drop partY – start drop numbering at 1 for 1st drop
SXX PROCY Style XX, processY – start process numbering at 1 for 1st process
SXX POUNC Style XX, pounce
**FFRPROCY FFR programs are process based. Multiple FFR programs can be declared and used.
A process program is defined as the portion of the robot’s style program that is applying content to the product. Examples
of these paths are spot welding, stud welding and dispensing programs called from the main style program.
7.12.1 S01PROC1
SO1PROC1 is a common process program that can be called from multiple styles. All parts must be of the same style and
receive the same type of processing, as they will utilize the exact same path.
7.12.2 SXXPROCX
A style specific process is used when the robot deals with multiple styles of parts that use a common piece of process equip-
ment.
A decision code is a group input signal to the robot from the PLC that gives the robot a direction at any request to continue
when a decision needs to be made.
The integrator shall be responsible to use the standard decision codes in the manner described in Table 7.6. Any deviations
from this shall be reviewed with Vehicle Systems Lead Robotics Engineer prior to making changes.
Table 7.6: Decision Code Template [Global 3]
Value Usage Value Usage
0 No Decision 9 Pick/Drop9
1 Pick/Drop1 10 Pick/Drop10
2 Pick/Drop2 11 Pick/Drop11
3 Pick/Drop3 12 Wake up Dispenser
4 Pick/Drop4 13 Pre Cap Change Dress
5 Pick/Drop5 14 Cap Change
6 Pick/Drop6 15 Return Home From Pounce
7 Pick/Drop7 16 Advanced MH Return Home From Pick
8 Pick/Drop8 17-31 User Defined
If OLP is provided for rack pickup/dropoff, it will contain only the first position of the “search routine”, a linear move to the
most extreme pickup/dropoff location, and the path from/to the most extreme pickup/dropoff routine.
The integrator shall be responsible for installing the latest available Vehicle Systems Robotics standard robot logic for rack
pickup/dropoff and modifying the logic, as required and with Vehicle Systems approval, to meet process requirements of
the system.
The integrator shall be responsible for verifying the paths at every pickup/dropoff location.
Reference the Global Dispense Setup User’s Manual, located in the Global Robotics Standards section of OV Vehicle Systems
Supply Power, for instructions on properly setting up the robot for the dispense application.
The integrator shall adhere to the following robotic programming best practices when programming or touching up dis-
pense paths:
11. Use seal schedules per the Global Dispense Setup User’s Manual.
Some pedestal dispense applications require bead verification with a vision camera. In the event that the camera is by-
passed or faulted, the robot must be able to show the part to an operator at the fence. The integrator shall program a dis-
pense verification “show me” path to move the robot from the end of process to a manual inspection point visible from out-
side fence and back to the end of process if required. The template programs are loaded by the system when the robot is
configured as a pedestal dispense application.
The integrator shall program any required repair/service paths without robot, tooling or transfer interferences wherever
possible. Examples of these paths include: Pounce, Repair, Tip Dress, FFR, Calibration/Mastering, Purge, Cap Change, Auto-
matic Cap Changer, nozzle change, dispense tip change, any ZDT paths, etc…..
Where interferences between service paths and production paths of other robots cannot be avoided, interference zones
shall be used. These zones may be programmed to include the entire service path(s) and production path(s) that interfere
between the two robots.
Automatic cap changers are sometimes used to remove and reinstall weld gun caps in areas where frequent cap changes
are necessary. The removal of the cap is achieved by using robot motion to strip the cap off the shank. To protect for the
robot motion needed to remove the cap, a minimum clearance of 60 degrees is required.
Carried Servo gun Repair position requires water intrusion considerations during Cap Change. The orientation of the servo
gun in the repair position should attempt to minimize water collection on the rod end of the servo motor. Refer to Figure 7.8
below.
Figure 7.8: Servo gun Repair position examples.
8 Interference Zones
An interference zone must be used between two robots if any portion of the path of one robot interferes with any portion of
the path of another robot. Timing is not an acceptable alternative for collision prevention. Collisions are prevented
through PLC control via specified inputs, outputs and routines. For thru-put enhancements multiple interference zones can
be present between robot(s).
The standard PLC logic assumes that the Pounce, Repair, Tip Dress, FFR, Purge, and Cap Change paths are free of inter-
ferences. If any of these paths can’t be programmed to avoid interferences, they must be reviewed with the responsi-
ble Vehicle Systems Lead Robotics Engineer and Controls Engineer. The following recommendations should be follo-
wed whenever possible:
1. Teach robot paths and modify robot secondary dress as required to eliminate the need for interference zones.
2. Multiple interference zones between two robots should be avoided.
3. Setup the interference zones such that the robot with the longest cycle time has minimal pauses during normal
operation.
4. Interference zones shall only be used between robots in the same station. If this is unavoidable, they must be
reviewed with the responsible Vehicle Systems Lead Robotics Engineer and Controls Engineer.
1. Use the interfering robot number as the interference zone number whenever possible.
2. If a robot interferes with two robots of with the same robot number, use the next available interference zone num-
ber for the interference with the robot that is downstream based on part flow.
3. If a station has more than 12 robots/zones, the zone numbers should be agreed upon between the robot program-
mer and the PLC programmer.
4. If a robot has multiple interferences with the same robot, use the next available number(s) for the additional inter-
ference zones.
5. Where interference zones between service paths and production paths of other robots are required, interference
zones 11 and 12 between multiple robots may be used. Use zone 11 for the production path(s) of interfering robots.
Use zone 12 for the service path(s) of interfering robots. In all cases ensure that interference zone numbers are
agreed upon between the robot programmer and the PLC programmer.
6. Exiting an interference zone shall use FINE termination on the motion instruction. Consult the lead Vehicle Systems
Robotics Engineer for deviations.
To test robot 1:
1. Jog robot 1 to the first position after the “Enter Interference Zone (2)” instruction.
2. Run robot 2 and verify that it stops at the line of code that says “Enter Interference Zone 1”.
3. Continue jogging robot 1 until it executes the “Leave Interference Zone (2)” instruction. At this point, robot 2
should continue its path.
Continue in this manner to test all interference zones for each robot.
All robots shall run at or below designed cycle time. The robot programmer is responsible to validate that the robot meets
the required cycle time.
10 Software Housekeeping
Delete Temporary Programs
All temporary programs used in the integration phase must be deleted, so as not to fill the teach pendant with useless and
confusing data.
Configure the robot to interface with the plant Upload, Download & Compare (UD&C) system once the robot installed and
powered on at the production facility. Follow the instructions in the UD&C Configuration document posted on DocInfo. Nav-
igate to Global Robot Specifications and then under Quick Links.
11 Hardware Housekeeping
1. Welding applications shall be electrically isolated from the robot – including faceplate, transformers and junction
boxes
a. For combination carried weld guns with material handling (regardless of insulated face plate), verify electri-
cal isolation is correctly installed between weld gun and end effector.
2. The integrator is responsible to paint-mark all adjustable dress components once tuned in so the dress can be
quickly readjusted in the case of a crash.
3. EOAT 4-pin micro connection cords shall have a service loop next to termination on the proximity switch end
4. Hoses and cords shall be neatly secured to EOAT. Hoses and cords shall follow the EOAT frame wherever possible
and there shall not be any loose sections that could be snagged and damaged.
5. The integrator is responsible to supply any required bulkheads for air or water for the EOAT
6. Robot welding transformers shall be hardwired and shall have a strain relief connector provided at the transformer.
Conductors (including the equipment ground conductor) shall be terminated inside of the primary junction box of
the weld transformer.
11.2 Stencil Robot Arm and Controller
All robots shall have stenciling data placed on the robot arm, and controller, and end of arm tooling using the conventions
listed below.
11.2.1 Robot ID
The robot stencil ID shall comply with GEP-1 Section 5.2.5 Robot Numbering. If space for the stenciling is a concern, the un-
derscores may be removed from the robot name.
All robots shall have the robot ID stenciled on the arm in at least three places and shall be visible when looking at the robot
from any side (see Figure 11.1). Note that this requires stenciling on the robot arm and/or counterweight in addition to the
counterbalance cylinders. Letter height for the robot arm shall be as large as possible, but not smaller than 75mm.
Figure 11.1: Stencils on the Robot Arm
All robot controllers shall have the ID placed on the front of the cabinet door and in a location where robotic peripheral de-
vices attached to robot controller (i.e. teach pendant) will not obstruct the view of the ID. Letter height is 2 inch max and
1.5 inch minimum. See Figure 11.2 for a stencil example of the longest possible robot name on a Global 3 Fanuc Asize cabi-
net. See Figure 11.3 for a stencil example for the larger Fanuc B-Size cabinet.
Follow the steps below to validate that the operator light screen is placed correctly:
2. While running at 100% speed with carried parts, increase the global sensitivity from the default value of 100% by
increments of 10% until collision guard faults occur.
4. If there are specific moves which cause collision alarms, while the rest of the path runs without a problem, the user
shall attempt to reprogram the move(s) to smooth the path and eliminate the alarms.
5. If the moves cannot be smoothed by reprogramming, global sensitivity can be decreased in certain areas of the
path by using a COL GUARD ADJUST command as shown in Figure 12.1.
6. Increase collision guard sensitivity prior to any pick or drop location. Decrease collision guard sensitivity back to
the prior value immediately after the drop.
7. If needed, reduce collision guard sensitivity as described above immediately before and after welding to avoid any
nuisance tripping that occurs during the welding operation.
13 Robot Documentation
The integrator shall provide electronic and hardcopy documentation, described in the following sections, to the VS Robotics
Engineer upon request.
The EOAT shall remain attached to the robot during shipment. The EOAT may be detached, however, if doing so decreases
taxes, tariffs or duties. When shipped attached, the EOAT shall be positioned such that it hangs down from the wrist of the
robot during transportation.
Robots shall be removed from risers or base plates and secured to the original shipping pallet on which they were received.
The robots shall NOT be lifted with the risers attached.
When the robot is placed in shipping position, the center of gravity shall be over the base of the robot, and all lift points and
fork pockets shall be accessible.
All attached cables, hoses, and wires shall be wrapped to the robot arm in a manner that will prevent loosening and wear
during shipment.
The plastic document sleeve shall be removed and placed inside each robot controller for shipment.
Figure 14.1: Robot Blocking Between the Lower and Upper Arm of the Robot
Figure 14.2: Robot Blocking Between the EOAT and the Robot
1. Photograph the robot and EOAT prior to detaching the EOAT so as to simplify the re-attachment of the EOAT.
2. If possible, remove the EOAT without disconnecting the robot dress and ship the EOAT strapped to the robot pallet
and wrapped in plastic. Include all mounting hardware in boxes and strap these boxes to each pallet containing
the equipment that hardware belongs to.
3. Label each EOAT with the corresponding robot ID. All connections disassembled are labeled and protected from
shipping damage.
4. Before removing an EOAT, use a paint pen or other marking methods to indicate a reference point where the tool
was mounted.
14.3.2 Controller
The controller may be palletized together with the arm on the OEM pallet. OEM pallets support the weight of the controller
without using their wheels. If this method is used, the controller is banded to the pallet.
Controllers are usually palletized separately on wood pallets. Controllers must be palletized such that the wheels are not
loaded during transportation. This can be done by adding wood blocks to the pallet to support the weight of the controller.
The controller shall be banded to the pallet to prevent it from tipping or opening.
OVRS-3 Appendix A
DCS Validation Procedures
January 2018
Opel Automobile GmbH
OV ME Strategy
Appendix A: 1. General
Appendix A: 1.1 Purpose
This document contains detailed procedures to validate DCS in an automation cell. These procedures will verify
the following:
1) Verify the DCS end effector model is properly sized to cover the end effector and part
2) DCS SafeIO Connect is setup and functioning properly
3) An operator is properly protected by DCS while working in the robot/operator shared workspace
4) Location of the DCS zone preventing the robot from moving beyond the operator light screen
5) Location of the DCS zone protecting the cell perimeter
6) Location of the DCS zone protecting a person performing tasks in an adjacent cell
7) Location of a joint position check
8) Speed limit zone location and function
DLD Zone: The DCS zone created to prevent the robot hitting the operator while he or she is working in the ro-
bot/operator shared workspace. This PLC-controlled zone replaces the robot light screen or base limit switch
that were previously used as the Dynamic Limiting Device (DLD).
End Effector: Any tooling attached to the robot faceplate (Gripper, Weld Gun, etc…). End of arm tooling (EOAT)
Operator Guarded Space: The area in which the operator stands and is detected by presence sensing devices
(see Figure 1.1).
Operator Station Restricted Zone: The DCS zone created to prevent the robot from moving beyond the opera-
tor guarded space. This robot-controlled zone (Power-off stop) replaces the old 10” light screens that were just
inside the operator light screen.
Operator Workspace: The area comprising the Operator Guarded Space and the Tool Floor Space.
PLC-controlled Zone – A type of DCS zone that is set up as a “Not-Stop” type. A status bit is sent to the PLC to
indicate whether the robot is in or out of the zone. The PLC will then issue a General Stop to the robot if re-
quired.
Robot-controlled Zone – A type of DCS zone that is set up as “Power-off Stop” type. The robot will E-stop itself
anytime it moves into the zone. These zone types are only used for areas the robot is never supposed to go.
Robot/Operator Shared Workspace: The overlapping area in which the operator perform work. The robot shall
be disabled when it is in the shared workspace at the same time as an operator.
Total Floor Space: The area established by the outer perimeter of the station tooling. This will typically be
within the robot/operator shared workspace.
SSO [ 1] = CSI [ 1]
SSO [ 2] = ! SSI [ 11]
SSO [ 3] = CSI [ 2]
SSO [ 4] = CSI [ 8]
CCR [ 1] = CSI [ 9]
CCR [ 2] = CSI [ 10]
CCR [ 3] = CSI [ 11]
CCR [ 4] = CSI [ 12]
CSO [ 1] = SSI [ 6]
CSO [ 2] = ! CSI [ 10]
CSO [ 3] = SSI [ 7]
CSO [ 4] = SSI [ 8]
CSO [ 5] = SSI [ 9]
CSO [ 6] = SSI [ 5]
CSO [ 7] = ! SSI [ 11]
CSO [ 8] = SSI [ 1]
CSO [ 9] = CCL [ 1]
CSO [ 10] = CCL [ 2]
CSO [ 11] = CCL [ 3]
CSO [ 12] = CCL [ 4]
CSO [ 17] = CPC [ 1]
…… … ……
CSO [ 48] = CPC [ 32]
CSO [ 49] = JPC [ 1]
CSO [ 50] = JPC [ 2]
CSO [ 51] = JPC [ 3]
CSO [ 52] = JPC [ 4]
CSO [ 57] = CSC [ 1]
CSO [ 58] = CSC [ 2]
CSO [ 59] = JSC [ 1]
The validation procedure makes sure that the DLD circuit is working correctly, the robot will stop before reach-
ing the robot/operator shared workspace, the operator light screen is placed properly, and the DCS zone that
protects the operator light screen is in the correct location.
The DLD zone is placed the minimum required distance from the Operator Guarded Space to prevent an injury
from an operator reaching out towards a hazard.
1) Select the DCS_Test program and skip to the moves to test the desired zone. The DCS_Test program
is a deliverable from simulation that approaches each DCS zone with a perpendicular move. The
DCS_Test program is intended to aid the programmer/validator in moving the robot to the various
DCS zones. It is the responsibility of the validator to test enough points to adequately verify the lo-
cation of the DLD.
2) If there is no DCS_Test program provided from simulation, jog the robot or create a short program
into the zone. 3) Jog the robot into the zone with the operator light screen broken and the operator
guard bypass box switch in Auto.
4) The robot will stop with an Estop from the PLC.
5) Measure the distance from the closest point of the EOAT to the operator guarded space. Measure hori-
zontally from the top of the physical barrier (low fence, belly bar, etc.) that restricts the operator from
entering the cell.
6) Verify that the distance meets the minimum requirement in the Perimeter and Operator Guard Guide-
lines document. This is normally 1500mm for 1m barrier.
7) If the distance is too small then increase the size of the zone or modify operator guarded space.
8) Redo steps 1-5 until the test passes.
9) A minimum of two test points should be used to verify the location of each plane of the DLD that the
robot can reach. Repeat steps 1-8 for each plane of the DCS zone that the robot can reach.
6) If the robot penetrated into the robot/operator shared workspace, move the DLD farther away and re-
peat this test until the robot stops before entering the robot/operator shared workspace.
7) Repeat steps 1-6 for:
a. Each robot style path that moves into DLD.
b. Each additional robot that enters the tool. (Each robot would have its own DCS Zone for
the DLD). c. Each DLD in the station.
1) Select the DCS_Test program and skip to the moves to test the desired zone.
2) If there is no DCS_Test program provided from simulation, create a short program into the speed zone
or jog the robot into the zone.
3) The robot will stop with a DCS fault.
4) Measure the distance from the closest point of the EOAT to the fence.
5) Verify that the distance to the fence meets the minimum requirement in the Perimeter and Operator
Guard Guidelines document (Table 2). This distance is typically 300/600/900mm depending on robot
model. 6) If the distance is too small then increase the size of the zone.
7) Redo steps 1-5 until the test passes.
8) A minimum of two test points should be used to verify the location of each plane of the perimeter zone
that the robot can reach. Repeat steps 1-7 for each additional test point.
9) Verify all restricted zones are configured as type “Power-off Stop” in DCS.
9) A minimum of two test points should be used to verify the location of each plane of the zone that the
robot can reach. Repeat steps 1-7 for each additional test point.