FANUC ROBOT- ROBOGUIDE

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Luka Selak, december 2017

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1. Start the Roboguide software environment

2. Create a new robotic cell and follow the wizard

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Select the appropriate robot LR Mate 200iD / 4S

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The position of the table relative to the robot

Y

X

Gripping/drop table

Robot

260

70

75

t=16 mm

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1. The simulation environment with the selected robot opens.2. Lock the robot position (properties tab).3. Import stl. file Prijemalna miza

Test the screen rotation, move the robot along the axis and rotate the robot

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We position the gripping table according to the workpiece.

Repeat the procedure for the drop table.

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Import the tool. Clicking on UT 1 (general tab) and then importing the CAD file (Schunk.stl).

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Position the gripper and at the end and lock its position.

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Move the tool coordinate system (TOOL FRAME) to the end of the tool. Settings can be found under the UTOOL tab.

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Create a product (Izdelek/Part), cylinder, size: diameter 25 mm, length 40 mm.

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Assign and position Izdelek to the drop table. Lock its position. Repeatthe procedure for release table.

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In the simulation tab, allow the Part to be picked. Repeat the procedure for the Drop table, but Allow part to be picked. The time until the new product shows up set to 3 s.

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Assign Izdelek to the gripper (UT1-> tab Parts).

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The coordinate system orientation of the product Izdelek in the gripper and Izdelek on the table are not the same, so we have to rotate the product in the gripper so that the Izdelek can be picked on the table.

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An appropriately rotated product in the gripper.

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Create new simulation program. Click Programs-> new Simulation.Store robot positions with the record key.

The robot is moved by dragging the tool frame c.s.

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Gripping. To grip the product, click on the product and then select the Pickup button. If we did not allow simulation, the Pickup function remains disabled.

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For grabbing and dropping, add two GRIPOP and GRIPCL functions (click add TP program). The functions are already stored in the robot.Use the functions with call command.

Za prijemanje dodamo še dve funkciji GRIPOP in GRIPCL (kliknemo ad TP program), ki jih kličemo z ukazom CALL. Funkciji sta v robotu že shranjeni.

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Simulate the robot program. You can test the duration of the program, optimize the paths and modes of movement. When satisfied with the program, store it to the robot controller.

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Transfer the robot program to the robot controller.

1. Insert USB key in the teach pendant (TP).

2. Set the read from TP: Menu-> File-> Util-> Set Device-> USB on TP

3. Copy the program to TP: Menu-> File-> 1 File-> Select files with the end of tp-> enter

4. Select the appropriate file. Click load. The program is overwritten over the default file. If we want to change the default file name, click NEXT -> COPY TO and change the default file name.

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Understand the robotic program!