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FANUC RoboGuide HELP.pdf

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FANUC Roboguide HELP
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FANUC Roboguide HELP

FEATURES

Animation tool easily enables a quick and low cost verification of robot application systems Easy to create the environment for devices and machines. Special skills are not required. Program creation using animation Extreme reduction of start-up time and maintenance time by offline check in a shop floor Standard Package which supports various robot application Robot application specific package with high operationability o Arc welding package o 2 coordinated robots arc welding package o Chamfering package

Easy and Highly Accurate design, teaching and confirmation of Robot System

Modeling Function

Reduces of device modeling time o Select from the library and modify using dimension settings o Import CAD data and create the parts o Create the parts by simple modeling function

Program Function

Same user interface as the actual Teach Pendant Simulates actual program o Execute actual program and confirm robot motion by animation o Confirmation of Interlock logic (using simulated I/O)

Layout Function

Place objects by mouse operation on graphic screen Place objects by numeral input

Simulation Function

Simple simulation by using virtual robots. Simulation not only of robot movement but also application commands Highly accurate simulation by using robot simulators.

Specifications Software Specifications Modeling Layout Programming Standard Package Simulation Remote Monitor Profiler Calculate robot placement position so as to minimize cycle time for robot movement. Robot tracking movement is realized. Robot movement duty is calculated. Monitor function for system trouble analysis Option software for Standard Package. The Standard Package is necessary in addition to this software. Standard functions Comments

Auto Place Option

Option

Line Tracking Option Duty Estimation Option System Monitoring Tool Option

iPendant I/F Option

ROBOGUIDE layout is displayed on iPendant screen. Specifications Navigation menu Comments

Software

Arc Welding Package

Program generation for arc welding Simulation for arc welding Option software for Standard Package. The Standard Package is necessary in addition to this software.

Option 2 coordinated robots Arc Welding Package Chamfering Package Hardware

Program generation for 2 robots arc welding

Navigation menu

Specifications

Comments Option software for Standard Package. The Standard Package is necessary in addition to this software.

Robot Simulator

Highly accurate simulation

Condition Item OS CPU Memory HDD Others Contents Windows 2000 or Windows XP, DirectX 8.0 or later Pentium III 500MHz or more than 500MHz More than 256MB Space more than 2GB is available It is possible to communicate with robot controller via Ethernet

It is possible to display more than 1024x768, 65000 colors Mouse available under Windows

Table of Contents1 ROBOGUIDE INTRODUCTION ......................................................................................................... 1 1.1 HANDLINGPRO INTRODUCTION ............................................................................................................ 1 1.1.1 New features in Roboguide 6.40.............................................................................................. 1 1.1.2 Getting started with Roboguide ................................................................................................ 6 1.1.3 Categorized Procedures for Roboguide PRO Software ....................................................... 6 2 ROBOGUIDE/PRO SOFTWARE WORKCELL EXAMPLES ........................................................... 8 2.1 2.2 2.3 2.4 3 SIMPRO: A SIMPLE PICK AND PLACE WITH ANIMATION PROGRAM ....................................................... 8 SIMPRO: A SIMPLE PICK AND PLACE WITH TP PROGRAM .................................................................. 21 PALLETPRO: A SIMPLE PALLET WORKCELL EXAMPLE ..................................................................... 37 BUID AN AUXILIARY AXIS EXAMPLE ...................................................................................................... 47

ROBOGUIDE MENUS ...................................................................................................................... 53 3.1 PALLETPRO MENUS ........................................................................................................................... 65

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USING THE 3D WORLD .................................................................................................................. 84 4.1 4.2 NAVIGATING THE 3D CHUIWORLD .................................................................................................... 84 VIEWING MODES .................................................................................................................................. 86

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JOGGING THE ROBOT ................................................................................................................... 88 CREATING, OPENING AND WORKING WITH WORKCELLS ..................................................... 99 6.1 6.2 6.3 6.4 6.5 6.6 ADDING AND MODIFYING CELL COMPONENTS ..................................................................................... 99 PLACING/MOVING OBJECTS IN THE 3D WORLD ................................................................................. 103 OPENING A WORKCELL ...................................................................................................................... 107 SAVING A WORKCELL ......................................................................................................................... 108 MANAGING ROBOGUIDE DATA ........................................................................................................... 109 MEASUREMENT AND DIMENSIONS .................................................................................................... 113

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WORKING WITH ROBOT CONTROLLERS ................................................................................. 124 7.1 WORKING WITH A ROBOT................................................................................................................... 124 7.1.1 Working with robot variable files .......................................................................................... 124 7.1.2 PalletPRO Configuration ....................................................................................................... 125 7.2 ROBOT ARM DRESSOUT ..................................................................................................................... 132 7.3 WORKING WITH MULTIPLE ROBOTS ................................................................................................... 133 7.4 WORKING WITH KAREL PROGRAMS ................................................................................................ 135 7.5 WORKING WITH ROBOT END OF ARM TOOLING.................................................................................. 136 7.5.1 Using End of Arm Tolling with PalletPRO ......................................................................... 136 7.6 WORKING WITH COORDINATE FRAMES (CD PAIRS) ........................................................................ 138 7.7 WORKING WITH ROBOT MACHINES - POSITIONERS, AUX AXES ........................................................ 140 7.7.1 Working with extended axes/integrated axes .................................................................... 140 7.7.2 Working with positioners ....................................................................................................... 160 7.7.3 Working with IO driven machines ........................................................................................ 180 7.8 WORKING WITH JOBS ........................................................................................................................ 181 7.8.1 Working with PaintPRO Jobs ............................................................................................... 184 7.9 WORKING WITH THE ROBOT VIRTUAL TEACH PENDANT (TP) ........................................................... 201 7.10 ESTIMATING ROBOT DUTY CYCLE .................................................................................................... 203

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ROBOGUIDE'S VIRTUAL ROBOT ............................................................................................... 207 8.1 USING THE IPENDANT ........................................................................................................................ 210

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USING UFRAMES .......................................................................................................................... 217 WORKING WITH FIXTURES ..................................................................................................... 225

10.1 WORKING WITH PALLETPRO FIXTURES ........................................................................................... 234 10.1.1 PalletPRO Infeed Fixture Property Tabs ............................................................................ 234 10.1.2 PalletPRO Pallet Fixture Property tabs ............................................................................... 241 10.1.3 PalletPRO Slip Sheet Dispenser Fixture Property Tabs .................................................. 247 10.1.4 PalletPRO Pallet Dispenser Fixture Property Tabs .......................................................... 249 11 12 13 WORKING WITH OBSTACLES ................................................................................................ 252 WORKING WITH PARTS ........................................................................................................... 257 TEACHING A PROGRAM .......................................................................................................... 266

13.1 ADDING AND DELETING A TP PROGRAM ........................................................................................... 270 13.2 USING THE TP PROGRAM PROPERTY PAGE ..................................................................................... 274 13.3 JOGGING THE ROBOT WHILE TEACHING ............................................................................................ 280 13.4 USING THE ROBOGUIDE SIMULATION EDITOR .................................................................................. 283 13.5 MULTIPLE NODE EDIT ....................................................................................................................... 291 13.6 VIEWING A TP PROGRAM .................................................................................................................. 292 13.7 VALIDATING A PROGRAM ................................................................................................................... 294 13.8 TEACHING USING UFRAMES ........................................................................................................... 296 13.9 USING UTOOL'S WITH ROBOGUIDE PROGRAMS .............................................................................. 299 13.10 COORDINATING MULTIPLE ROBOT WORKCELLS ............................................................................ 301 13.11 WORKCELL LEVEL POSITIONS - TARGETS .................................................................................... 307 13.12 AUTOMATIC PATH GENERATION ................................................................................................... 323 13.12.1 Creating robot paths from CAD Features....................................................................... 327 14 CONVEYOR TRACKING WITH ROBOGUIDE ......................................................................... 378

14.1 LINE TRACKING WITH ROBOGUIDE .................................................................................................... 389 14.1.1 Line Tracking with PaintPRO and PaintTool ...................................................................... 395 14.2 RAIL TRACKING WITH ROBOGUIDE .................................................................................................... 397 14.2.1 Rail Tracking with PaintPRO and PaintTool....................................................................... 402 15 16 16.1 16.2 16.3 17 17.1 18 CALIBRATING YOUR WORKCELL ......................................................................................... 404 PALLETPRO-WORKING WITH UNIT LOADS ......................................................................... 410 UNIT LOAD BACKGROUND INFORMATION .......................................................................................... 410 PALLETPRO UNIT LOAD PROPERTY PAGES .................................................................................... 413 COMMON PROCEDURES WITH UNIT LOADS ....................................................................................... 430 RUNNING A PROGRAM ............................................................................................................ 435 ABOUT PALLETPRO SIMULATION ..................................................................................................... 440 EXAMPLE ................................................................................................................................... 443

Roboguide Introduction

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1 Roboguide Introduction1.1 HandlingPRO Introduction1.1.1 New features in Roboguide 6.40Features included in Roboguide PRO software V6.40 versions are described below. Note: key functions are listed by Revision. V6.40 Rev E. Object Transparency: property page for objects in the workcell have a transparency slider bar. View individual objects in wireframe: property page for objects in the workcell have a checkbox to enable/ disable wireframe view for the object. Copy/ paste location data: support to copy/ paste location data for all 6 items on property pages. For more information see topic Copy and Paste of Location data for objects Coordinated Pair property pages: for systems that use coordinated motion, cell browser entries are now available to edit CD pair information. Support is provided for multi arm coordinated pairs, but not for robot to positioner type systems. For more information see topic Using the Coordinate Frames (CD_Pair) Property Page Support handling coordinated motion program generation: CAD to Path supports the generation of programs between multiple group robots. Specifically, the case where there is a combination of robots coordinating holding a part using handling coordinated motion and robots processing features on the part that the handling robots are processing. Support coordinated motion program generation for linear positioners: when a system includes a robot and a positioner that is a linear device, you can use CAD to path to coordinate the motion between the two devices. Previous to the Rev E. release, you could only do CAD to Path on rotary type positioner axes. Coord motion jogtype in jog panel: when coordinate motion is present, a button and dropdown box is available for selecting the coord motion jog frame. For information see About the teach pendant jog panel. EOAT and Part in EOAT calibration: you can now calibrate the location of the EOAT cad on the End of the robot arm. Parts in the EOAT can also be calibrated. For more information on this topic see Using the Calibration Tab

Roboguide Introduction

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V6.40 Rev D. Support for R-J3iC robots Multiple node position edit: you can now select multiple TP nodes and shift them in. For more information see topic Using the Node Editing dialog. New serialize wizard structure: the serialize wizard has been modified to support the R-J3iC robot controller. The wizard process flow is changed. You must first select robot controller version. For more information see Configure your robot controller TCP trace now supports viewing trace results in the a tracking frame of reference for line tracking programs. CAD to Path Enhancements: o Spin control on raw normals tab: for more information see Using the feature Raw Normals Property page tab o Extended axis smoothing: when a robot has an extended axis defined new edit boxes are shown on the CAD to Path Pos offsets tab. You can define start and end rail values. Generated auxiliary axis positions are smoothed between the start and end values defined. PaintPRO Enhancements: o New position distance generation o TP Process and Job validation: quickly analyze Paint processes for process issues. See Validating a Paint Job or Process program for more information. o Preset and Estat automatic generation: the Paint Zone generation property pages have been modified to support additional flexibility in the placement of Elecrostat and Preset instructions. o TCP Trace capability: Paint simulations now support viewing the robot trajectory as a trace. Robot tracjectory can be viewed in robot frame of reference or if your system uses line tracking, the trace can be viewed in the tracking frame of reference. V6.40 Rev. C Resolves issues found in earlier releases PaintPRO additions: o Allows more flexibility on the Paint Zone Painting tab of the Paint Zone property page when defining where to place Estat commands when generating programs. o Support for different line tracking detect distances when generating process programs.

Roboguide Introduction

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V6.40 Rev. A Ability to add objects to links of the robot. For more information see About adding objects to links of the robot Main Menu o New Projects Main Menu item o Reorganized window menu Machines: new capabilities have been added to Roboguide machines: o Workcell Level: Non end of arm machines are defined at the workcell level. In previous versions, machines were under each robot controller. Moving machines to the workcell level provides additional flexibility. Any robot controller in the workcell can control a link of the machine. Multiple robot controllers can be attached to a rail. For more information regarding machines see Working with machines o IO Driven links: This allows IO programming to control clamps and other IO driven devices in the workcell. See Use the machine axis Motion tab for more information o X-Type Gun: X-Type EOATs are generally used for clamping or welding applications. A machine can be built that defines a mathematical relationship when calculating its motion. CAD to Path Enhancements o Additional information on how to use CAD to Path. General use with examples Use with Remote TCP Use with multi group coordinated motion o Blend segment normals: before V6.40, rotational offsets could be applied to features by rotating about one of the tool vectors that are defined for CAD to Path generation. The rotations would take effect on the generated TP program, and not on the feature that generates the program. V6.40 provides a feature to blend CAD to Path segment normal from start of segment to end of segment. The blending is applied to the segment normals before program generation. See Using the Raw Normals tab for more information. o Coordinated motion generation o Reverse generation: the order of generation can be reversed from that defined by the generated CAD to Path feature. See Using the feature general property page for more information. o Supports entering speed data in in/min Teach Pendant current position tab: the move functions have been enhanced. o Group select: the desired group can be selected on the Teach Pendant current position tab.

Roboguide Introduction

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o Relative move: moves relative to the current position can be executed in different frames of the selected robot. For more information see Using the Current Position Tab of the Virtual TP Move Re-Try / Align Robot configuration enhancement: you can now define the memory configuration of the virtual robot when generating a virtual robot. See Configure your robot controller for more information. Simulation editor enhancements o Extended axis support and Multiple group support: new capability to create simulation programs for robots with auxiliary axes and for multiple group configured robots. Extended axes will be recorded automatically with simulation programs. Multiple groups are recorded like the actual robot controller. The groups recorded are dependent on the programs group mask found on the TP program property page. Targets Workcell level positions o For more information see About Target Positions New Engineering features: capabilities that assist in managing information that is shared with the physical robot that the workcell is simulating. o Automatically create a virtual robot from a file backup. Accessed through the serialization wizard. o Create Loadsets: A loadset is a user definable collection of files used to transfer information between Roboguide and a real robot. Loadsets allow you to more easily manage information that will be transferred to a real robot. You mark what files should be included in a loadset, and then export to the loadset. The loadset directory can then be loaded onto a real controller. Loadset definition lists are managed using different Roboguide interface elements: Loadset list: accessed through Project Main Menu / Import / Edit List and Project Main Menu/ Export / Edit List. Items can be added for inclusion in a loadset list on different property pages. System files, Robot programs, variables are examples of information that can be added to a loadset list. o Import/Export a loadset, programs, or variables to enable transfer of work between the workcell and real robot. Files in a loadset definition can be exported to a PC loadset directory or directly to a robot controller.

Roboguide Introduction

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Files in a loadset definition can be imported from a PC loadset directory or directly from a robot controller. Individual programs or variable files can be exported directly to a PC loadset directory or directly to a robot controller Individual programs or variable files can be imported directly from a PC loadset directory or directly from a robot controller The above items are exported or imported by using the Project Main menu or by using right mouse click popup menus in the cell browser Project main menu selection: selections for import and export are present on the Project main menu item. Right mouse click in the cell browser: select the variable file or program to import or export and press right mouse button. Import and export are available from popup menu. o Variables category in the Cell Browser for each robot to view and edit variable information. Before V6.40, the information could only be edited from the virtual teach pendant. Roboguide V6.40 has graphical user interface dialogs to edit the following robot information: . System Variables Numeric Registers Position Registers Program Variables For more information see Using the robot variable file property page o File category in the Cell Browser for access to files stored on your PC for: Viewing and editing program source using the supplied full-featured editor. Translating KAREL and TPP source into loadable binary programs Compressing KAREL dictionaries into their loadable versions. Workcell backup and sharing Methods have been added to better organize workcell backups. Workcells can be shared more efficiently without having to copy an entire workcell and complete virtual robot directories. o Save creates a SavePoint from which a virtual controller can be fully recovered o Recover from SavePoint fully recovers the entire workcell o Share a Workcell or SavePoint outputs the most compact file set required to send a workcell to another person. See Workcell backups and restores - Savepoints for more information. OLPCPRO o KAREL development support - translator

Roboguide Introduction

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o New Project menu Nodemap support o Coordinated motion programs: Program instructions that use the coordinated motion option are drawn in the coordinated frame. o Remote TCP programs: Program instructions that use the Remote TCP motion option are drawn in the RTCP frame TCP Trace enhancements: When teaching in a coordinated frame you can view TCP trace data in the coordinated frame (Part Relative). See Using the TCP trace display property page for more information.

1.1.2 Getting started with RoboguideRoboguide simulation products are targeted to provide an easy to use interface to create workcells and robot programs. Roboguide simulation products help has many examples to help you get started. It is strongly encouraged that you work through the simple workcell creation example provided in the help file. After implementing the workcell, you should have the basic and advanced familiarity with Roboguide simulation products to create your own workcells. Also included with Roboguide simulation products are example workcells. Simple Workcell Creation Example 1 Simple Workcell Creation Example 2 Create a positioner Create an aux axis system

1.1.3 Categorized Procedures for Roboguide PRO Software3D CHUIWorld Navigation Using the Navigation Tips Screen Zooming the view Panning the view Rotating the view

Jogging the robot Jogging using the teach tool Showing and hiding the teach pendant jog panel Changing speed override on the robot Jogging using frames Jogging using Utool Detecting collisions while jogging

Roboguide Introduction

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Moving to a surface point

Workcell_Procedures Creating a workcell! Determining robot reach capability Adding a workcell object Selecting objects in the workcell Opening an objects property page Deleting a workcell object Move objects in the workcell Opening a workcell Saving a workcell Locating where workcells are saved

Robot_Controllers and End of arm tooling Show the robot work envelope Changing the robot model in a workcell Set the pallet switch Control how pallets are processed Set the pallet system options Teach the perch position Teach the maintenance position Change the end of arm tooling used Change the utool offset for pallet system Change the UTOOL Offset in SimPRO

Teaching_a program Creating a TP program Automatic_path generation

Running_a program Program run Opening the run panel window Controlling a program from the toolbar Controlling a program from the run panel Detecting collisions Setting the refresh rate of the screen Selecting run panel options Running a program in a loop Creating an AVI movie Improving performance in PRO Software

Roboguide/PRO Software Workcell Examples

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2 Roboguide/PRO Software Workcell Examples2.1 SimPRO: A simple pick and place with animation programA simple simulation workcell creation example The following procedures provide a procedure for creating a Roboguide workcell. The example assumes that you have started Roboguide and that you have no active workcell in the workspace of Roboguide. When complete your workcell should contain the following entities: An R-2000iA/165F robot with end of arm tooling 2 rectangular fixtures for holding a part A Roboguide Simulation TPP Program which moves the part from one fixture to the other. This workcell is built, and is available in Directory: Install directory used for install. Typically this is c:\Program Filles\FANUC\PRO\SimPRO\Sample Workcells\Workcell Example Initial state of Roboguide: Roboguide is running with no workcell defined The Process Navigator window is open

Simple Workcell Step 1: Creating a new workcell Simple Workcell Step 1: Creating a new workcell 1. Select Start New Cell from the Process Navigator. Or select File / New from the Menu Or, Press the New Workcell Icon () on the toolbar A Workcell Creation Wizard is presented which guides you through the steps to build a workcell definition. 2. The type of workcells that can be created are presented in a list. The types listed are based upon the plugins available in Roboguide on the PC being used. Select HandlingPRO Basic Material Handling Cell and press Next

Roboguide/PRO Software Workcell Examples

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3. Enter the name: simprog example, and press Next 4. If prompted with a list of Application/Tool packages to be loaded select HandlingTool (N.A.), and press Next. 5. The next step is where you define the type of robot. Select R-2000iA/165F from the list of robot models presented, and press Next. 6. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version. 7. The next step shows robots and positioners for additional motion groups. Select nothing and press next. 8. The next step shows controller options that can be loaded. No additional options are required. Press Next. 9. .A summary page is presented that describes your workcell type, robot, and controller options. Press Finish to build the robot. Roboguide will start a Virtual Robot and then create a 3D virtual world with a robot. At this point the robot can be jogged on the screen Resulting Roboguide state: You should now have a new workcell with a robot. The workcell has a robot. The 3D CHUIWorld view can be viewed and modified. Next step

Simple Workcell Step 2: Editing the robot properties Simple Workcell Step 2: Editing the robot properties The robots properties can be modified. You can move the robot around the workcell and set other properties for the robot. 1. Select Edit Robot Properties on the Process Navigator 2. For this example you will use the HandlingPRO defaults. Set the Lock All Location Values checkbox on the property page to ensure that the robot base can not be moved in the workcell

Roboguide/PRO Software Workcell Examples

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Previous Step Next Step Resulting HandlingPRO state: A robot should be in your workcell The Lock All Location Values option box should be checked on the Robot Property Page

Simple Workcell Step 3: Add a part to the workcell Simple Workcell Step 3: Add a part to the workcell In this step you will add a part to the workcell to be picked and placed. There are a few basic steps to create a simulation of the robot picking and placing parts. Add a part to the workcell This step Define the part orientation in the End of Arm Tool Step 4 Define the part orientation in the pick fixture Step 5 Define the part orientation in the place fixture Step 5 Add a part to the workcell 1. Select Add a Part to the cell from the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select CAD Model Browse for file and press OK. A browse dialog will appear on the screen. Browse to C:\Program File_Menus\FANUC\PRO\SimPRO\Robot Library and select the file lrmate200i-3d.csb. Press the Open button on the browse dialog. 3. The Part property page for the new part will now appear on the screen. In the Name field enter Little Robot Part and press Apply. 4. On the property page change the scale parameters to Scale X = 0.5, Scale Y = 0.5, Scale Z = 0.5 and press Apply. You have now defined a part for the workcell. The part is shown visible on the Part Fixture. In

Roboguide/PRO Software Workcell Examples

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order to use the part you will have to assign it to a fixture. For a description of the part / fixture relationship see Working with Parts and Working with Fixtures Previous Step Next Step

Simple Workcell Step 4: Adding End of Arm Tooling to the robot In this step, you will add End of Arm Tooling to the robot. This includes defining the CAD model to be used, how the tool is mounted on the robot, and the Tools UTOOL definition. Defining the end of arm tooling and the mounting of the tooling of the robot. 1. Select Edit End of Arm Tooling in the Define the Cell category of the Process Navigator 2. In the Primary CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200.csb 3. Press the Apply button. A tool should appear on the end of the robot. The tool does not appear mounted correctly on the robot. You modify how the tool is connected to the robot by modifying the Location value on the Tool Properties / General Tab. You can think of this like physically mounting a tool to a robot. 4. In the W value of Location on the Tool Properties / General Tab enter the value 270 and press apply. The tool should now be mounted correctly on the robot. Defining the Tooling UTOOL value of the robot 1. Select the Tool Properties / UTOOL tab 2. There are 2 methods to define the tooling offset: Method 1: Select the Edit UTOOL option box. The tooling mounted on the end of the robot in CHUIWorld now has a triad coordinate system. You can adjust the Tool Center Point by dragging or rotating the triad to the desired location. Press the Use Current Triad Location and press Apply to set the TCP UTOOL value for the robot tooling. Method 2: You can directly enter the value. For this example, direct enter the values

Roboguide/PRO Software Workcell Examples

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0,0,850,0,0,0 and press Apply 3. Select the Tool Properties / General Tab. 4. Enable the Lock All Location Values property by checking the box on the tab and press Apply. The end of arm tooling is now defined for jogging the robot. You can jog the robot by using teach tool jogging or by using the virtual TP. Define the part orientation in the end of arm tooling 1. Click on the end of arm tool and open its property page. You can open the property page from the Cell browser by right clicking on the Tooling/UT:1 and selecting Eoat1 properties from the menu. 2. On the General Tab of Eoat1s property page uncheck the option box for Lock All Location Values and press Apply. 3. Select the Simulation tab. 4. In the Function field select Material Handling- Clamp. 5. In the Actuated CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200-4.csb. 6. Press Apply. The CAD for a closed gripper is loaded. You can toggle between the two CAD images by selecting Open or Closed and pressing Apply. 7. Select the Parts Tab 8. In the Parts field select Little Robot Part. Press Apply. You should see the part attached to the tooling 9. Select the Edit Part Offset field by checking the box. You can now edit the part offset in the EOAT. 10. There are multiple methods to define the Part Offset in the tooling: Method 1: Select the Drag-Teach Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part offset in the tooling by dragging or rotating the triad to the desired location When finished moving the part press Apply to set the Part Offset value for the part in fixture location.

Roboguide/PRO Software Workcell Examples

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Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values (0, 1170, -45, 225, -85, 45) and press Apply. 11. On the General Tab of Eoat1s property page check the option box for Lock All Location Values and press Apply. You should now have the robot with end of arm tool holding the Little Robot Part. You can view the open and close states for the robot and end of arm tool by toggling between the Open and Closed buttons on the Material Handling Tab, or by pressing the open/closed icon button () on the toolbar. Resulting HandlingPRO state: The workcell should now have a robot with an end of arm tool, and a part defined for the end of arm tooling. The Tool Center Point should be defined for the robot with the Z axis of the TCP pointing out from the tooling in line with the robot arm. The TCP UTOOL value should be 0, 0, 850, 0, 0, 0.

Previous Step Next Step

Simple Workcell Step 5: Add a pick fixture to the workcell In this step, you add a fixture to the workcell where the robot will pick your defined part. The Fixture, called Pick Fixture, will be a blue box which a part can be picked from. You then associate the part created earlier, Little Robot Part, with this fixture. Create Fixture 1 1. Select Add a fixture to the Cell in the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Pick Fixture" and press Apply 4. In the Size in Z field of the property page enter 500 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of blue and press OK. When the color palette dialog closes

Roboguide/PRO Software Workcell Examples

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select Apply. The box color should change to Blue. You can now move the box around the workcell to place it where you want to pick parts from. 6. Move the box in front of the robot. For this example, move the box to location 1500, 0, 500, 315, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page Associate Part with Fixture You need to define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts. 1. Select the Simulation Tab 2. Select Allow Part to be picked are Picked here and press Apply. This tells Roboguide that this fixture will be used for picking parts. 3. Change the Part Create to 2.00 seconds and press Apply. This tells PRO software

Roboguide/PRO Software Workcell Examples

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to wait 2 seconds after the part is picked before creating a new part in the fixture. 4. Select the Fixture Properties / General Tab. 5. Enable the Lock All Location Values property by checking the box on the tab and press Apply.

Resulting HandlingPRO state: You should now have a pick fixture in your work cell. The pick fixture should be blue and directly in front of the robot, tilted on an angle.

Previous Step Next Step

Simple Workcell Step 6: Add a place fixture to the workcell Fixture two, called Place Fixture, will be a red box which a part can be placed on. In this step you create fixture 2 and define how the part is placed on the fixture. Create Fixture 2: 1. Select Add a Fixture to the Cell in the Define the Cell category of the Process Navigator. 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Place Fixture" and press Apply 4. In the Size in Z field of the property page enter 750 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of red and press OK. When the color palette dialog closes select Apply. The box color should change to red. You can now move the box around the workcell to place it where you want to place parts. 6. Move the box in front of the robot to the robots left. For this example, move the box to location 850, 1500, 750, 0, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page

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Associate Part with Fixture You need to define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts. 1. Select the Simulation Tab 2. Select Allow Part to be placed and press Apply. This tells HandlingPRO that this fixture will be used for placing parts. 3. Change the Part Destroy to 2.00 seconds and press Apply. This tells PRO software to wait 2 seconds after the part is placed before destroying the part in the fixture. 4. Select the Fixture Properties / General Tab. 5. Enable the Lock All Location Values property by checking the box on the tab and press Apply. Resulting HandlingPRO state:

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You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling. Previous Step Next Step

Simple Workcell Step 7: Create a robot program Create a robot program In this step you will create a new robot animation program that can be run in the simulation environment. You will learn how to add a program, and record and touchup points. Create a Robot TPP Program The first step is to create a new TPP Animation Program. 1. Select Add a TP Program from the Teach TP Programs category of the Process Navigator. A new TP Program is created. The Program Teach Edit Window and the Program Properties Page are displayed. 2. In the Name field of the Program Properties page enter exmpl_wc and press Apply. 3. In the Program Properties page select OK. The page should close. You now have a TP Program called exmpl_wc which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. Exmpl_wc is loaded into the Program Teach window with no TP Lines created. Creating and editing TP Program lines You will now create an animation TP program that performs a pick and place function. Pick Sequence teach: 1. Jog the robot to a position that will serve as a home position. 2. In the Program Teach Window press Record from the menu. A position should be created. 3. Set the motion type to Joint by selecting the combo box that specifies motion type. 4. Jog the robot to create a position near the pick up point

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5. In the Program Teach Window press Record from the menu. A second position should be created. 6. In the Program Teach Window press Record from the menu. A third position should be created. This position will be used for the pickup of the part. 7. Press the close hand icon ()to close the gripper and see the part on the EOAT. 8. In the Program Teach Window select Pickup from the Inst dropdown. A Pickup instruction should be entered into your program. 9. Select Little Robot Part from the Pickup field, Pick Fixture from the drop down list in the From field, and select UT:1 from the With field. 10. Select the program statement immediately before the Pickukp instruction. (in this example line 3) 11. Select Touchup to Pick/Place Point in the dropdown list included in the Touchup instruction toolbar item. HandlingPRO automatically records the position which optimizes the robot pickup point. This is determined by how you oriented the part in the fixture. 12. Press MoveTo from the toolbar. The robot moves to the pickup point that was automatically calculated. Place Sequence Teach: 1. Select the last line of the TP Program in the Program Teach Window. 2. Jog the robot away from the pick position and press record.. A new TP Program line is created. 3. Press the close hand icon ()to close the gripper and see the part on the EOAT. 4. Jog the robot near the place fixture 5. Press record to create a via position. 6. PRO Software V6.22 adds new features to quickly teach fixture positions. Open the place fixture property pages. 7. Select the parts tab

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8. Select Little Robot part 9. In the dropdown box in the part offset frame select UT:1 (EOAT1). 10. Press the MoveTo button. The robot should move to the place position. 11. Press Record from the menu to create a new TP line. This line will be used for the place of the part. 12. In the Program Teach Window select Drop from the Inst menu dropdown. Drop instruction should be entered in your program. 13. Select Little Robot part from the Drop field, UT:1 from the From field, and Place Fixture from the On field. 14. Jog the robot away from the place point and press record. A move away position is created after the Open Hand instruction You have now created your TP Program for this example. Previous Step Next Step Resulting HandlingPRO state: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling. A TP Program is created to run a pick and place process.

Simple Workcell Step 8: Run the program You will now run a simulation of your workcell. Running the program 1. Select Run TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel window will appear on your screen. 2. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed.

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Profiling your program for cycle time 1. Select Profile TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel and Profiler windows will appear on your screen. Enable the Collect TCP Trace option on the Run Panel. The Profiler window is shown that displays information for each run of the program. There are 2 tabs on the windows. Display options are set to define how you want to see the robot data as the cycle runs. The Profile tab shows the cycle time and alarms for the running TP Program. 2. Select the Profile Tab. 3. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line. Note: the profiler can also be opened from the main menu Test-Run / Profiler menu selection. Profiling your program with TP Trace 1. Select Run TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel window will appear on your screen. 2. Select Test-Run / Profiler from the main menu 3. Select the following options (make sure a check mark appears), Collect TP Trace, Refresh Display, and Compress AVI on the Display Options tab. 4. Select the Profile tab in the Profiler window. 5. Press Run on the toolbar.of the Run Panel window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line. You will see a trace line that runs with the robot as the robot moves. This is the actual robot motion. The profiler provides several features. If you run the program multiple times, a separate profile set is created for each run. You can experiment with different settings to view results. For example, if you change motion parameters in your TP Program, you can run the Profiler TP Trace and view the results to determine how the change effects your robot motion. The Keep Visible check box on each Profile Display Options tab can be checked to determine

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differences in runs. Previous Step Next Step

Simple Workcell Step 9: Creating an AVI of your workcell It is easy to create an AVI file of your running workcell. 1. Select Run TP Program from the Run Production category of the Process Navigator. The Roboguide Run panel window will appear on your screen. 2. Press Record on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. Roboguide is creating an AVI file of your run. When the run is complete, Roboguide will popup a window that describes where the AVI file was placed on your computer.

2.2 SimPRO: A simple pick and place with TP programA simple pick and place workcell creation using TP Program The following procedures provide a procedure for creating a HandlingPRO workcell. The example assumes that you have started Roboguide and that you have no active workcell in the workspace of SimPRO. The difference between this workcell and the Simple Workcell Example is that this example creates a Robot TPP program and not a simulation program. The same workcell is built as the first example except you now create a program using the Virtual TP. If you have already built this workcell you can open the example workcell and skip to Step 7: Create a robot program. When complete your workcell should contain the following entities: An R-2000 robot with end of arm tooling 2 rectangular fixtures for holding a part A robot TPP Program which moves the part from one fixture to the other. This workcell is built for you and is available in Directory: Install directory used for install. Typically this is c:\Program Filles\FANUC\PRO\SimPRO\Samples Workcells\Workcell Example

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Initial state of SimPRO: HandlingPRO is running with no workcell defined The Process Navigator window is open

Simple Workcell 2 Step 1: Creating a new workcell Simple Workcell 2 Step 1: Creating a new workcell 1. Select Start New Cell from the Process Navigator. A Workcell Creation Wizard is presented which guides you through the steps to build a workcell definition. 2. The type of workcells that can be created are presented in a list. The types listed are based upon the plugins available in Roboguide on the PC being used. Select HandlingPRO Basic Material Handling Cell and press Next 3. Enter the name: simprog example2, and press Next 4. If prompted with a list of Application/Tool packages to be loaded select HandlingTool (N.A.), and press Next. 5. The next step is where you define the type of robot. Select R-2000iA/165F from the list of robot models presented, and press Next. 6. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version. 7. The next step shows robots and positioners for additional motion groups. Select nothing and press next 8. The next step shows controller options that can be loaded. No additional options are required. Press Next. 9. .A summary page is presented that describes your workcell type, robot, and controller options. Press Finish to build the robot. HandlingPRO will start a Virtual Robot and then create a 3D virtual world with a robot. At this point the robot can be jogged on the screen Resulting HandlingPRO state: You should now have a new workcell with a robot. The

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workcell has a robot. The 3D CHUIWorld view can be viewed and modified.

Simple Workcell 2 Step 2: Editing the robot properties Simple Workcell 2 Step 2: Editing the robot properties The robots properties can be modified. You can move the robot around the workcell and set other properties for the robot. 1. Select Edit Robot Properties on the Process Navigator 2. For this example you will use the HandlingPRO defaults. Set the Lock All Location Values checkbox on the property page to ensure that the robot base can not be moved in the workcell Resulting HandlingPRO state: A robot should be in your workcell The Lock All Location Values option box should be checked on the Robot Property Page

Simple Workcell 2 Step 3: Add a part to the workcell In this step you will add a part to the workcell to be picked and placed. There are a few basic steps to create a simulation of the robot picking and placing parts. Add a part to the workcell This step Define the part orientation in the End of Arm Tool Step 4 Define the part orientation in the pick fixture Step 5 Define the part orientation in the place fixture Step 5 Add a part to the workcell 1. Select Add a Part to the cell from the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select CAD Model Browse for file and

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press OK. A browse dialog will appear on the screen. Browse to C:\Program File_Menus\FANUC\PRO\SimPRO\Robot Library and select the file lrmate200i-3d.csb. Press the Open button on the browse dialog. 3. The Part property page for the new part will now appear on the screen. In the Name field enter Little Robot Part and press Apply. 4. On the property page change the scale parameters to Scale X = 0.5, Scale Y = 0.5, Scale Z = 0.5 and press Apply. You have now defined a part for the workcell. The part is shown visible on the Part Fixture. In order to use the part you will have to assign it to a fixture. For a description of the part / fixture relationship see Working with Parts and Working with Fixtures

Simple Workcell 2 Step 4: Adding End of Arm Tooling to the robot Simple Workcell Step 4: Adding End of Arm Tooling to the robot In this step, you will add End of Arm Tooling to the robot. This includes defining the CAD model to be used, how the tool is mounted on the robot, and the Tools UTOOL definition. Defining the end of arm tooling and the mounting of the tooling of the robot. 1. Select Edit End of Arm Tooling in the Define the Cell category of the Process Navigator 2. In the Primary CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200.csb 3. Press the Apply button. A tool should appear on the end of the robot. The tool does not appear mounted correctly on the robot. You modify how the tool is connected to the robot by modifying the Location value on the Tool Properties / General Tab. You can think of this like physically mounting a tool to a robot. 4. In the W value of Location on the Tool Properties / General Tab enter the value 270 and press apply. The tool should now be mounted correctly on the robot. Defining the Tooling UTOOL value of the robot 1. Select the Tool Properties / UTOOL Tab

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2. There are 2 methods to define the tooling offset: Method 1: Select the Edit UTOOL option box. The tooling mounted on the end of the robot in CHUIWorld now has a triad coordinate system. You can adjust the Tool Center Point by dragging or rotating the triad to the desired location. Press the Use Current Triad Location and press Apply to set the TCP UTOOL value for the robot tooling. Method 2: You can directly enter the value. For this example, direct enter the values 0,0,850,0,0,0 and press Apply 3. Select the Tool Properties / General Tab. 4. Enable the Lock All Location Values property by checking the box on the tab and press Apply. The end of arm tooling is now defined for jogging the robot. You can jog the robot by using teach tool jogging or by using the virtual TP. Define the part orientation in the end of arm tooling 1. Click on the end of arm tool and open its property page. You can open the property page from the Cell browser by right clicking on the Tooling/UT:1 and selecting Eoat1 properties from the menu. 2. On the General Tab of Eoat1s property page uncheck the option box for Lock All Location Values and press Apply. 3. Select the Simulation tab. 4. In the Function field select Material Handling- Clamp. 5. In the Actuated CAD field select Browse to file icon (). Browse to the C:\Program files\FANUC\PRO\SimPRO\Image Library\EOATs\grippers directory and select the file: 36005f-200-4.csb. 6. Press Apply. The CAD for a closed gripper is loaded. You can toggle between the two CAD images by selecting Open or Closed and pressing Apply. 7. Select the Parts Tab 8. In the Parts field select Little Robot Part. Press Apply. You should see the part attached to the tooling 9. Select the Edit Part Offset field by checking the box. You can now edit the part offset

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in the EOAT. 10. There are multiple methods to define the Part Offset in the tooling: Method 1: Select the Drag-Teach Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part offset in the tooling by dragging or rotating the triad to the desired location When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values (0, -1170, -45, 225, -85, 45) and press Apply. 11. On the General Tab of Eoat1s property page check the option box for Lock All Location Values and press Apply. You should now have the robot with end of arm tool holding the Little Robot Part. You can view the open and close states for the robot and end of arm tool by toggling between the Show Open and Show Closed option buttons on the Material Handling Tab. You must press Apply each time you change your selection. Resulting HandlingPRO state: The workcell should now have a robot with an end of arm tool, and a part defined for the end of arm tooling. The Tool Center Point should be defined for the robot with the Z axis of the TCP pointing out from the tooling in line with the robot arm. The TCP UTOOL value should be 0, 0, 850, 0, 0, 0.

Simple Workcell 2 Step 5: Add a pick fixture to the workcell In this step, you add a fixture to the workcell where the robot will pick your defined part. The Fixture, called Pick Fixture, will be a blue box which a part can be picked from. You then associate the part created earlier, Little Robot Part, with this fixture. Create Fixture 1 1. Select Add a Fixture to the Cell in the Define the Cell category of the Process Navigator 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Pick Fixture" and press Apply

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4. In the Size in Z field of the property page enter 500 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of blue and press OK. When the color palette dialog closes select Apply. The box color should change to Blue. You can now move the box around the workcell to place it where you want to pick parts from. 15. Move the box in front of the robot. For this example, move the box to location 1500, 0, 500, 315, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page Associate Part with Fixture You need to define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab!JumpID(`SimPRO_Parts.hlp',`Using_the_Parts_Property_Page_Tab') on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts.

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1. Select the Simulation Tab 2. Select Allow Part to be picked are Picked here and press Apply. This tells HandlingPRO that this fixture will be used for picking parts. 3. Change the Part Create to 2.00 seconds and press Apply. This tells PRO software to wait 2 seconds after the part is picked before creating a new part in the fixture. 4. Select the Fixture Properties / General Tab. 5. Enable the Lock All Location Values property by checking the box on the tab and press Apply. Resulting HandlingPRO state: You should now have a pick fixture in your work cell. The pick fixture should be blue and directly in front of the robot, tilted on an angle.

Simple Workcell 2 Step 6: Add a place fixture to the workcell Fixture two, called Place Fixture, will be a red box which a part can be placed on. In this step you create fixture 2 and define how the part is placed on the fixture. Create Fixture 2: 1. Select Add a Fixture to the Cell in the Define the Cell category of the Process Navigator. 2. You will see a dialog with several options. Select Box Primitive Model and press OK. A box will appear on the screen and the Fixture Property Page dialog window will appear defaulted to the General Tab 3. In the Name field of the property page enter the text "Place Fixture" and press Apply 4. In the Size in Z field of the property page enter 750 and press Apply. 5. In the Color field of the property page select the color wheel. When the color palette appears select a nice shade of red and press OK. When the color palette dialog closes select Apply. The box color should change to red. You can now move the box around the workcell to place it where you want to place parts.

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6. Move the box in front of the robot to the robots left. For this example, move the box to location 850, 1500, 750, 0, 0, 0. These values should be in the Location properties on the Pick Fixture Property Page Associate Part with Fixture You need to define what part will work with the fixture. Once you have defined what part goes with this fixture you can define its placement in the fixture. 1. Select the Parts Tab on the Fixture property page 2. Select Little Robot Part from the Parts list and press Apply. You will see Little Robot Part appear relative to the fixture. Note: if you do not see the part, make sure the Part Visible at Teach Time box is checked. 3. Enable the Edit Part Offset button. 4. There are Multiple methods to define the Part Offset in the fixture: Method 1: Select the Edit Part Offset option box. The Little Robot Part now has a triad coordinate system. You can adjust the part location by dragging or rotating the triad to the desired location. When finished moving the part press Apply to set the Part Offset value for the part in fixture location. Method 2: Use the automatic calculate method. For this example the offset will be entered directly- method 3. Method 3: You can directly enter the value. For this example, direct enter the values 0, 0, 0 ,0 ,0 ,0 and press Apply. Define Simulation parameters You now must assign properties to the fixture so that it can accept parts. 1. Select the Simulation Tab 2. Select Allow Part to be placed and press Apply. This tells HandlingPRO that this fixture will be used for placing parts. 3. Change the Part Destroy to 2.00 seconds and press Apply. This tells PRO software to wait 2 seconds after the part is placed before destroying the part in the fixture. 4. Select the Fixture Properties / General Tab.

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5. Enable the Lock All Location Values property by checking the box on the tab and press Apply. Resulting HandlingPRO state: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling.

Simple Workcell 2 Step 7: Create a robot program Create a robot program In this step you will create a new robot TPP program that can be run in the simulation environment. You will learn how to add a program, and record and touchup points. Additionally, you learn how to animate picks and places using the virtual TP. Create a Robot TPP Program 1. The first step is to create a new TPP on the virtual robot Program. 2. Open the cell browser 3. Right click on the Programs category under Robot Controllers / Robot1. A popup menu should display. Select Add TPP Program. A new TPP Program is created on the virtual robot, and the property page should show for this program. The virtual TP window opens with the edit page showing. 4. In the Name field of the Program Properties page enter exmpl2wc and press Apply. 5. In the Program Properties page select OK. The page should close. 16. You now have a TP Program called exmpl2wc which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. Exmpl2wc is loaded into the Virtual TP Editor with no TP Lines created. Creating and editing TP Program lines You will now create a TPP program that performs a pick and place function. Pick Sequence teach: 1. Jog the robot to a position that will serve as a home position.

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2. In the Virtual TP, enable the TP, then press the shift key and then press F1 . A TPP Line should be created. 3. Jog the robot to create a position near the pick up point 4. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item 4: L P[] 100mm/sec CNT100. A TPP Line should be created. 5. Using the arrow keys on the Virtual TP, move the cursor over the 100 mm/sec. Enter 1000 using the Virtual TP keypad and Press the Enter key on the Virtual TP. The speed for the line changes to 1000 mm/sec. 6. Press the down arrow key on the Virtual TP. The cursor should be on the [End] statement of the TP Program. 7. Press the close hand icon on the toolbar (). The EOAT should now show the gripper holding the part. 8. PRO Software has features to quickly teach fixture positions. Open the pick fixture property pages. 9. Select the parts tab. 10. Select Little Robot part 11. In the dropdown box in the part offset frame select UT:1 (EOAT1). 12. Press the MoveTo button. The robot should move to the pick position. 13. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item : L P[] 100mm/sec FINE. A TPP Line should be created. Place Sequence Teach: 1. With the Virtual TP arrow keys move the cursor to the [End] statement of the program. 2. Jog the robot away from the pick position. 3. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: L P[] 100mm/sec CNT100. A TPP Line should be

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created. 4. Jog the robot near the Place position. 5. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: J P[] 100% CNT100. A TPP Line should be created 6. PRO Software has features to quickly teach fixture positions. Open the place fixture property pages. 7. Select the parts tab. 8. Select Little Robot part 9. In the dropdown box in the part offset frame select UT:1 (EOAT1). 10. Press the MoveTo button. The robot should move to the place position. 11. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: L P[] 100mm/sec FINE. A TPP Line should be created. 12. Press the close hand icon on the toolbar. The EOAT should now show the gripper open. 13. Jog the robot away from the place point. 14. In the Virtual TP, enable the TP, and then press F1 . A menu is displayed on the virtual TP display. Select item: J P[] 100% CNT100. A TPP Line should be created. Resulting HandlingPRO state: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling. A TP Program is created to run a pick and place process. The TP Program that runs has no animation.

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Simple Workcell 2 Step 8: Animating a Virtual TP Program Virtual TP programs have no direct support to animate the attachment of parts to the end of arm tooling. To animate, you use a mixture of animation programs and TP Programs. In this step you create a animation TP program that closes the gripper and a program that opens the gripper. These programs are then inserted into the Virtual TP program with Calls to pickup and drop respectively. Create a Close Gripper Animation Program The first step is to create a new animation TPP program that only closes the gripper. 1. Open the cell browser 2. Right click on the Programs category under Robot Controllers / Robot1. A popup menu should display. Select Add Simulation Program. A new simulation program is created, and the Simulation Program Editor is opened. 3. In the Name field of the Program Properties page enter closeg and press Apply. 4. In the Program Properties page select OK. The page should close. You now have a TP Program called closeg which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. closeg is loaded into the Simulation Program Editor with no TP Lines created. 5. In the Simulation Program Editor, select the dropdown for Inst menu item, and select Pickup. A Pickup instruction is inserted into the program. 6. Select Little Robot Part from the Pickup field, Pick Fixture from the drop down list in the From field, and select UT:1 from the With field. Pick Fixture should now show in the Pickup instruction. 7. In the Simulation Program Editor, select the dropdown for Inst menu item, and select WAIT 0.5(sec) A Wait instruction is inserted into the program. The pickup (closeg) program is now created and will be inserted into the Virtual TP program in a later step. Create a Open Gripper Animation Program The next step is to create a new animation TPP program that only opens the gripper. 1. Open the cell browser

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2. Right click on the Programs category under Robot Controllers / Robot1. A popup menu should display. Select Add Simulation Program. A new simulation program is created, and the Simulation Program Editor is opened. 3. In the Name field of the Program Properties page enter openg and press Apply. 4. In the Program Properties page select OK. The page should close. You now have a TP Program called openg which shows in the Cell Browser window under the Robot Controllers / Robot1 /Programs category. openg is loaded into the Simulation Program Editor with no TP Lines created. 5. In the Simulation Program Editor, select the dropdown for Inst menu item, and select Drop. A drop instruction is inserted into the program. 6. Select Little Robot part from the Drop field, UT:1 from the From field, and Place Fixture from the On field Place Fixture should now show in the Drop instruction. 7. In the Simulation Program Editor, select the dropdown for Inst menu item, and select WAIT 0.5(sec) A Wait instruction is inserted into the program. The Drop program is now created and will be inserted into the Virtual TP program in a later step. Inserting Call statements into the TP program The next step is to insert Call statements into your virtual TP program which call the above created programs. 1. Select exmpl2wc from the cell browser. 2. Open the virtual TP Editor 3. Use the Virtual TP arrow keys to move the TP editor cursor to the line after the position where you want to close the gripper. 4. Insert a blank line. Enable the Virtual TP, and press the Next button. Press F5 [EDCMD] and select Insert (1). Press the Enter button on the keypad. A blank line is inserted. 5. Insert a Call Instruction to closeg. Press F1 [INST]. A window shows on the display.

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Select CALL. A new window shows. Select CALL program. A CALL instruction is put into the program. Select closeg from the list. 6. Use the Virtual TP arrow keys to move the TP editor cursor to the line after the position where you want to open the gripper. 7. Insert a blank line. Enable the Virtual TP, and press the Next button. Press F5 [EDCMD] and select Insert (1). Press the Enter button on the keypad. A blank line is inserted. 8. Insert a Call Instruction to openg. Press F1 [INST]. A window shows on the display. Select CALL. A new window shows. Select CALL program. A CALL instruction is put into the program. Select openg from the list. The program is now setup to run animation. When the program is run the gripper will pick and place the part. NOTE: when using Shift FWD on the TP animation does not appear because HandlingPRO only puts animation programs on the virtual robot when it is running a program.

Simple Workcell 2 Step 9: Run the program You will now run a simulation of your workcell. Running the program 1. Select Run TP Program from the Run Production category of the Process Navigator. The Run panel window will appear on your screen. 2. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. Profiling your program for cycle time 1. Select Profile TP Program from the Run Production category of the Process Navigator. The Run panel and Profiler windows will appear on your screen. The Profiler window is shown that displays information for each run of the program. There are 2 tabs on the windows. Display options are set to define how you want to see the robot data as the cycle runs. The Profile tab shows the cycle time and alarms for the running TP Program.

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2. Select the Profile Tab. 3. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line.

Profiling your program with TP Trace 1. Select Run TP Program from the Run Production category of the Process Navigator. The Run panel window will appear on your screen. 2. Select Test-Run / Profiler from the main menu 3. Select the following options (make sure a check mark appears), Collect TP Trace, Refresh Display, and Compress AVI on the Display Options tab. 4. Select the Profile tab in the Profiler window. 5. Press Run on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. The profiler window shows times for the program and each TP program line. You will see a trace line that runs with the robot as the robot moves. This is the actual robot motion. 6. The profiler provides several features. If you run the program multiple times, a separate profile set is created for each run. You can experiment with different settings to view results. For example, if you change motion parameters in your TP Program, you can run the Profiler TP Trace and view the results to determine how the change effects your robot motion. The Keep Visible check box on each Profile Display Options tab can be checked to determine differences in runs.

Simple Workcell 2 Step 10: Creating an AVI of your workcell It is easy to create an AVI file of your running workcell. 1. Select Run TP Program from the Run Production category of the Process Navigator. The Run Panel window will appear on your screen. 2. Press Record on the toolbar.of the run panel The program should run, and you should see the part get picked and placed. Roboguide is creating an AVI file of your run. When the run is complete, Roboguide will popup a window that describes where the AVI file was placed on your computer.

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2.3 PalletPRO: A Simple Pallet Workcell ExampleSimple Pallet Workcell Example Overview The following procedures provide a procedure for creating a PalletPRO workcell. The example assumes that you have started PalletPRO and that you have no active workcell in the workspace of PalletPRO. When complete your workcell should contain the following entities: An M-410iB/160 robot with end of arm tooling vacuum double case. 2 infeeds for conveying boxes 2 pallets for stacking boxes

This workcell is built for you and is available in Directory: \PRO\PalletPRO\Example Workcells\Workcell Example\ Workcell Example. Install directory is typically C:\Program Files\FANUC Initial state of PalletPRO: PalletPRO is running with no workcell defined The Process Navigator window is open

Simple Pallet Workcell Step 1: Creating a new workcell Simple Pallet Workcell Step 1: Creating a new workcell 1. Select Start New Cell from the Process Navigator . The workcell wizard is opened 2. A step is shown that allows selection of the process to perform Select PalletPRO and press Next 3. A dialog is shown that presents current existing workcells, and a field to enter a new workcell name. Enter a name for your new cell, and press Next. (for this example use the workcell name "PalletPRO Example Workcell". 4. The next step shows a list of supported robots. For this example, select M-

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410iB/160, and press Next. 5. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version. 6. The next step shows robots and positioners for additional motion groups. Select nothing and press next. 7. The next step shows controller options that can be loaded. Ensure that PalletTool Turbo is selected and press next 8. A summary page is shown that displays how the virtual robot will be loaded 9. Press Finish PalletPRO will start a Virtual Robot and then create a 3D virtual world with a robot. At this point the robot can be jogged on the screen Resulting state: You should now have a new workcell with a robot. The workcell has a robot, a single pallet, and an infeed. The 3D CHUIWorld view can be viewed and modified.

Simple Pallet Workcell Step 2: Editing the robot and pallet system properties

Editing the robot and pallet system properties The robots properties can be modified. You can move the robot around the workcell and set other properties for the robot and pallet system. 1. Select Setup Pallet System on the Process Navigator . From this page you can define how the pallet system should operate. For this example you will use the PalletPRO defaults. 2. Select the General Tab. 3. Set the Lock all location values checkbox on the property page to ensure that the robot base can not be moved in the workcell. Press Apply. Resulting state: A robot should be in your workcell

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The Lock all location values option box should be checked on the Robot / General Property Page

Note: The pallet system tab provides many options to change the operation of the pallet workcell. The ability to change how the workcell and robot process pallets and multiple infeed systems is provided. For this example, the defaults are used.

Simple Pallet Workcell Step 3: Setup Palletizing Gripper / EOAT

In this step you will setup the palletizing gripper on the robot. PalletPRO starts your workcell with a default vacuum gripper. You may change the gripper CAD on the end of arm. For this example we use the default gripper. 1. Select Setup Gripper from the Process Navigator The End of arm tooling property page should open. There are two tabs on the EOAT property page. The General tab and the Palletizing tab. 2. Select the Palletizing tab 3. Change the Gripper Type to be edited to Vacuum Double for this example. 4. Select the General Tab 5. Set the Lock all location values checkbox on the property page to ensure that the tooling can not be moved from the robot. 6. Press Apply or OK to make the changes take effect

Resulting state: The robot defined with a double vacuum gripper and has been locked to the end of arm. The default Pallet Station and Infeed are also present.

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Simple Pallet Workcell Step 4: Adding and working with pallet stations PalletPRO includes a default pallet station when it creates a workcell. This example workcell has 2 infeeds and 2 pallets. In order to balance the workcell, we will place the objects symmetrically in front of the robot. In this step you will modify the location of the default pallet station, and add and locate a new pallet station. Modify the default location of the pallet station 1. Select PalletStation1 in the workcell, and open its property page When you select a pallet station, you see a black arrow on a red box on the pallet. This is the origin teach plate that PalletTool / PalletPRO use. This will be discussed later. We will re-locate pallet station 1. Objects can be moved in the workcell. 2. Direct enter the new location for the pallet station. Enter the values 440, -2100, 24, 0, 0, 0 into the location field on the Pallet Stations General Property tab, and press Apply to make the change take effect. The pallet should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the pallet station can not be moved in the workcell 4. Press OK or Apply to make the changes take effect.

Add a pallet station 1. From the process navigator select "Add a Pallet Station". NOTE: you can also add a new pallet station using the Cell Browser A new pallet station is entered in the workcell and needs to be located correctly. 2. Direct enter the new location for the pallet station. Enter the values 440, 1300, 24, 0, 0, 0 into the location field on the Pallet Stations General Property tab, and press Apply to make the change take effect. The pallet should now be in a new location.

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3. Set the Lock all location values checkbox on the property page to ensure that the pallet station can not be moved in the workcell 4. Press OK or Apply to make the changes take effect.

Resulting State: You should now have 2 pallet stations and a single infeed in your workcell.

Simple Pallet Workcell Step 5: Adding and working with infeed stations In this step you work with the properties for the default infeed station and add a second infeed station. You need to define infeed properties that define how units are delivered on the infeed, and transit delay times. PalletPRO attempts to properly configure IO for the infeed. Modify the location of the default infeed station 1. Select Infeed 1 in the workcell and open its property page. When you select an infeed station, you see a black arrow on a red box on the infeed station. This is the origin teach plate that PalletTool / PalletPRO use. This will be discussed later. We will re-locate pallet station 1. Objects can be moved in the workcell. 2. Direct enter the new location for the infeed station. Enter the values 1100, -700, 750, 0, 0, 0 into the location field on the Infeed Stations General Property tab, and press Apply to make the change take effect. The infeed station should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the infeed can not be moved in the workcell 4. Press OK or Apply to make the changes take effect.

Add an infeed station 1. Select Add an Infeed Station from the Process Navigator.

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NOTE: you can also add a new infeed station from the Cell Browser. A second infeed is added to the cell. 2. Direct enter the new location for the infeed station. Enter the values 1100, 100, 750, 0, 0, 0 into the location field on the Infeed Stations General Property tab, and press Apply to make the change take effect. The infeed station should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the infeed can not be moved in the workcell 4. Press OK or Apply to make the changes take effect. Resulting State You should now have 2 pallets and 2 infeeds in your workcell.

Simple Pallet Workcell Step 6: Adding and working with slip sheet dispensers In this step, you add a slip sheet dispenser to your workcell. Add a slip sheet dispenser 1. Select Add a Slip Sheet Dispenser from the Process Navigator. NOTE: you can also add a new slip sheet dispenser from the Cell Browser. A slip sheet dispenser is added to the cell. 2. Direct enter the new location for the slip sheet dispenser. Enter the values -675, 1300, 0, 0, 0, 0 into the location field on the Slip Sheet Dispenser's General Property tab, and press Apply to make the change take effect. The slip sheet dispenser should now be in a new location. 3. Set the Lock all location values checkbox on the property page to ensure that the slip sheet dispenser can not be moved in the workcell 4. Press OK or Apply to make the changes take effect.

Resulting State:

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You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The slip sheet pick up positions are automatically set by PalletPRO.

Simple Pallet Workcell Step 7: Modifying a pallet stations process properties In this step, you change the pallet orientation / origin position for pallet station 2. Modifying a pallets orientation / origin for the palletizing process. 1. Select PalletStation2 in the workcell, and open its property page 2. Select the Pallet Tab. 3. Select the length on width picture () in the Teach Aid Frame and press Apply. This moves the origin for the palletizing process to a different corner of the station. Unit Loads are process on a pallet as defined by this origin. The build will start from this origin. 4. Select OK or Apply to accept the changes.

Resulting State: You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The origin of pallet 2 has been switched to the outside corner which means the unit loads will build from this corner.

Simple Pallet Workcell Step 8: Modifying an infeed stations process properties In this step, you change the Infeed orientation / origin position for infeed station 2. Modifying a infeeds orientation / origin for the palletizing process. 1. Select Infeed 2 in the workcell, and open its property page 2. Select the Infeed Tab. 3. Select the length on width picture () in the Teach Aid Frame and press Apply. This moves the origin for the palletizing process to a different corner of the station. Unit Loads are process on a infeed as defined by this origin. 4. Select OK or Apply to accept the changes.

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Resulting State: You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The origin of infeed 2 has been switched to the opposite corner which means the units will feed on this side of the infeed.

Simple Pallet Workcell Step 9: Editing a unit load and adding a new unit load PalletPRO initializes with a unit load already existing in your workcell. In this example, you will modify the default unit load and add a new unit load. Parameters will be changed on both unit loads so that you can become more familiar with the editing of a unit load. Edit an existing unit load 1. Select unit load UL001-Sample Product from the cell browser The unit load's property page will open. Note:


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