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Training Manual
Roboguide V6.40 Rev.B
Name:
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Copyright
Do not copy this document or parts of this document and give it to a third party
without the express written permission of FANUC.
Other than the described functions may run on the controller. However, you do not
have any rights to claim these functions at delivery.
We have checked the contents of this document for correspondence with the
described hardware and software.
However, we do not ensure full correspondence. We do, however,
regularly check the contents of this document and make necessary corrections in the
succeeding editions.
Design and specifications that do not affect the functioning are subject to change
without notice.
Author: Werner Schollenberger
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Preface
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Contents
Contents ......................................................................................................... 4
System requirements..................................................................................... 8
Installation ...................................................................................................... 8
Registration .................................................................................................... 9
Registration Step 1 .....................................................................................................................9
Registration .................................................................................................. 10
Registration Step 2 ...................................................................................................................10
Directory structure....................................................................................... 12
Directory structure....................................................................................... 13
Generate a new cell...................................................................................... 14
Generate a new cell..................................................................................................................15
Generate a new cell..................................................................................................................16
Generate a new cell..................................................................................................................17
Generate a new cell..................................................................................................................18
Mouse commands........................................................................................ 19
Functions of the triad .................................................................................. 20
Add a tool...................................................................................................... 21
Add a tool (Option 1).................................................................................................................22
Add a tool (Option 1).................................................................................................................23
Add a tool (Option 1).................................................................................................................24
Add a tool (Option 1).................................................................................................................25
Add a tool (Option 2).................................................................................................................26
Add a tool (Option 2).................................................................................................................27
Create a tool.........................................................................................................................27
Add obstacles............................................................................................... 31
General ....................................................................................................................................31
Add obstacles............................................................................................... 32
Add a fence ..............................................................................................................................32
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Measuring tool.............................................................................................. 49
Measuring tool.............................................................................................. 50
Record dimensions ...................................................................................................................50
Specifiy measuring points .........................................................................................................50
Measuring tool.............................................................................................. 51
Define and change the distance between two components .......................................................51
Measuring tool.............................................................................................. 52
Define dimensioning lines .........................................................................................................52
Parts .............................................................................................................. 60
1. Prepare a program for a pick-and-place simulation................................................................60
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Parts .............................................................................................................. 61
2. Prepare a program for a pick-and-place simulation................................................................61
Parts .............................................................................................................. 62
3.
Parts .............................................................................................................. 63
4.
Parts .............................................................................................................. 64
5.
Parts .............................................................................................................. 65
6.
Parts .............................................................................................................. 66
7.
Parts .............................................................................................................. 67
8.
Parts .............................................................................................................. 68
9.
Machines....................................................................................................... 69
General ....................................................................................................................................69
Machines....................................................................................................... 70
1. Create a machine (actuated via DO) .....................................................................................70
Machines....................................................................................................... 71
2. Create a machine (actuated via DO) .....................................................................................71
Machines....................................................................................................... 72
3. Create a machine (actuated via DO) .....................................................................................72
Machines....................................................................................................... 73
1.
Machines....................................................................................................... 74
2.
Machines....................................................................................................... 75
3.
Machines....................................................................................................... 76
4.
Machines....................................................................................................... 77
5.
Machines....................................................................................................... 78
6.
Machines....................................................................................................... 79
7.
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System requirements
Windows XP
1024 MB RAM
Pentium 4 > 3.0 GHz
Nvidia Quadro 4 oder Nvidia Quadro FX
Installation
1. Start License Checker Setup.
2. Start SimPro Setup.
During the installation, you can select the language under Custom (1).
You can choose between German and Japanese (2). If you select Typical, the
software will be installed with German menus (please observe note). If you select
Typical, you have to select the virtual controller you want to use.
If you select German, the menus will be in German language.
If you select Japanese, the menus will be in English.
Note:
If you select German or Typical, nearly all (but not all) terms and menus are in
German.
This manual uses the German menus.
After the installation, you can use Roboguide for 30 days.
After 30 days, you have to register the software. (see registration)
Please note: You get the registration key after approx. 3 days.
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Registration
Registration Step 1
Open the License Manager.
Beispiel Darstellung
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Registration
Registration Step 2
After receiving registration key 1 and 2, follow this procedure:
Open the License Manager and mark the check box (1).
Enter the two keys in the appropriate columns (2).
Click on Register (3).
Beispiel Darstellung
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License transfer
General
Roboguide has been successfully installed on computer 1.
You want to transfer the license to another computer (computer 2).
Procedure
Install Roboguide on computer 2.
Connect the storage medium (e.g. USB stick) to computer 2.
Open the License Manager on computer 2 and choose the Transfer Licenses
tab.
Select the USB stick using the Browse button.
Click on the Prepare button.
The USB stick is ready for a license transfer.
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License transfer
Procedure
Open the License Manager on computer 1 and choose the Transfer Licenses
tab.
Connect the storage medium (e.g. USB stick) to computer 1.
Click on the button (1) and follow the instructions (2).
Open the License Manager on computer 2 and choose the Transfer Licenses
tab.
Connect the storage medium (e.g. USB stick) to computer 2.
Click on the button (3) and follow the instructions (4).
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Directory structure
Roboguide may be installed under Programme > Fanuc > Pro > SimPro.
All data generated in one cell are recorded under
C:\Dokumente und Einstellungen\ IHR Profil \ My Workcells.
You can open the folder directly under Tools .
Imported IGES data are converted by Roboguide and then get the extension .CSB
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8. Select the robot software (deviations from the display may occur), and then
click on the Next button.
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10. Here, you can select software options. Click on the Next button to open the
Summary, an overview of your selection. To complete your selection, click on
the Finish button.
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Mouse commands
To display the mouse commands, click on this icon.
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You can shift (x, y, z) and rotate (w, p, r) objects via the triad.
1. Shifting
Select the desired coordinate axis with the mouse and drag.
Z
2. Rotating
Hold down the shift key and select the desired coordinate axis and rotate.
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Add a tool
1. Click on this icon to open the cell browser.
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1
2
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Desired condition
+Z
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+Z
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Add obstacles
General
An obstacle recorded in the data base may be
a controller
a fence
Furthermore, an obstacle may be imported as IGES or may be created from scratch.
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Add obstacles
Add a fence
Click with the right mouse button
on Hindernis and select Zufgen
Hindernis and then CAD Bibliothek .
Open the FENCE path and select
Sreen-Course-Wire.igs .
Click on the OK button.
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Positioner
Conveyor belt
Obstacle
Fence
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Explanation of icons
New cell
Help
Open a cell
*Process Navigator
Save a cell
Undo
Open the cell browser
Use the process navigator for a step-by-step work cell creation.
Select to directly
approach a
- Face
- Edge
- Vertex
Move to retry
To reach positions
that are out of reach
by using another axis
configuration.
Display motion
coordinates
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Explanation of icons
Call alarm screen
Graphics mode
(may be applied
only in connection
with parts)
Open/close tool
(may be applied only in
simulator programs or
with dynamic tools)
Display robot
work cell
Cycle start
*Open
Run Panel
See next
page
Error Reset
Pause
Cancel
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Explanation of icons
The Run Panel
In the Run Panel, you can select settings for the AVI recording as well as for the
automatic mode.
*Open
Run Panel
1
Kollisionserkennung: Enables the collision detection
Sammle TCP: TCP motion path is displayed (1)
Geteachte Bahn sichtbar: The taught path is displayed (2)
Fenster ausblenden: You can display or hide the Run Panel window
Anzeige erneuern: Must be enabled
Komprimiere AVI: Must be enabled
Simulationszeit auf AVI: The AVI time may be displayed in the AVI
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Explanation of icons
Zoom
Center selected
object
Measuring tool
Mouse commands
Change view
Orthogonal
views
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Grid representation
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Face
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Edge
Vertex
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Use
teach pendant
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(Known procedure)
Select Simulationsprogramm
zufgen .
Give a name to your program (1).
Select the Simulation subtype (2).
Click on the Aktiviere button and then on OK .
The window (3) is still visible.
3
In the Record menu, you can
teach positions.
In the Inst menu, you can insert Wait/Call
and Remark
(Pickup and Drop will be explained later.)
Use FWD and BWD to start
the programs.
Convert your simulator program into
a TP program.
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Start programs
You can start programs from the teach pendant
or the Run Panel.
(Known procedure)
In the Ansicht menu, you can select the following
items (2).
Figure 3
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Start programs
Start programs from the Run Panel
Select the program in the
cell browser (no double-click).
Open the Run Panel (1) and enable
the desired settings.
Start the program (2).
Record AVI
Use the record button to create
an AVI file.
After the AVI file has been created, the storage path
is displayed.
In case of not registered versions (30-day demo)
a message appears to report that this version has not been
registered.
Note: If you have enabled the Starte Programm
in Schleife function,
you have to end the AVI recording
with the Cancel button.
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Measuring tool
This example explains how to measure the width
of the conveyor belt.
Open the measuring tool (1).
Click on the Von button (2).
1
2
or
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Measuring tool
Record dimensions
Use the button (1) to record dimensions
in the cell browser.
Thus, you can display these dimensions
at any time.
1
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Figure 3
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Measuring tool
Define and change the distance between two components
Generate a layout with two boxes.
Measure from origin to origin.
Record the dimensions in the cell browser.
Open the recorded dimensions in the cell
browser.
Enter a number in the X/Y/Z or D box
to position the objects.
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Measuring tool
Define dimensioning lines
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Add parts
The following simulations are possible with a part:
1. You can move parts.
2. You can draw on parts (path generation, see Path generation ).
Add a part
Open the cell browser.
Click on Teile with the right mouse button.
Add a part (BOX).
The part properties will be displayed (1).
The part has been placed (2).
1
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Add parts
Shift parts
Click on the base plate of the part (1).
Shift the part by means of the triad
to a position in the layout, so that it
2
will not be visible in an AVI recording or
a screen shot.
Regard this position as a pseudo-storage location.
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Add parts
Link a part with a positioner
Double-click on the conveyor belt to open
the Properties window.
Select the Teile tab.
Check the check box of the desired
part (1).
Click on the Aktiviere button.
5
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Add parts
1. Prepare a part for a pick-and-place simulation
By means of a simulator program, you can pick
and place parts.
The description below explains the necessary
settings step-by-step.
Create a work cell as displayed in the figure below.
Tool mit TCP
Positioner 1
Conveyor belt
Link part with conveyor
belt and position
Positioner 2
Table
In this simulation, the robot is to pick the part (1) from the conveyor belt and
place it on the table.
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Add parts
2. Prepare a part for a pick-and-place simulation
Link the part with the table.
Position the part at the target position.
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Add parts
3. Prepare a part for a pick-and-place simulation
Link the part with the tool.
Position the part at the target position (where is the part to be positioned at the tool).
Be sure to use the correct link.
In case the tool was created by yourself, use the same LINK as shown in Figure 1.
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Add parts
4. Prepare a part for a pick-and-place simulation
This is how your work cell should look like.
When you click on the icon (1), the part at the tool should be removed
or inserted.
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Parts
1. Prepare a program for a pick-and-place simulation
Create a teach pendant program using the positions necessary for such a sequence.
The pick-and-place operations will be included later.
Ahead
Table
Start
Ahead
Belt
Pick Belt
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Place
Table
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Parts
2. Prepare a program for a pick-and-place simulation
Insert blank lines (see figure).
These lines will be needed for the
pick-and-place operations.
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Parts
3. Prepare a program for a pick-and-drop simulation
Before you can complete the programs, you have to make some adjustments to the
properties (tool, conveyor, and table).
Make the following adjustments:
Tool adjustments
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Table adjustments
Conveyor adjustments
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Parts
4. Create a pick program (simulator program)
Open the Programme path.
Click on the item
Simulationsprogramm zufgen
with the right mouse button.
You will see Figure 3.
Name your program (1)
Pick and click on the Aktiviere
button and then on OK .
Figure 3
Figure 4
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Parts
5. Create a pick program (simulator program)
Select Inst > Pickup.
You will see Figure 2.
Figure 2
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Parts
6. Create a drop program (simulator program)
Figure 3
Figure 4
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Parts
7. Create a drop program (simulator program)
Figure 2
Close the window and store the program with the following procedure.
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Parts
8. Complete a simulator program
To edit your sequence program, use the following procedure.
Start your sequence program in the Run Panel (program must be stored in cell
browser).
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Parts
9. Other options to create a simulator program
You can insert and remove parts by means of the pick-and-drop programs at any
time.
In order to do so, you have to create the following simulator programs.
If you create and call this program, the part on the conveyor belt will be positioned.
If you create and call this program, the part on the table will be removed from the
layout.
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Machines
General
If you create a machine, you can make components
movable.
Examples:
The door of a machine is to be opened and
closed.
A conveyor belt is to move.
A press is to be opened and closed.
Etc.
There are two methods to open and close a door:
Using a digital output (DO)
Using a servo motor
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Machines
1. Create a machine (actuated via DO)
In this example, you have to create a machine
in the form of a simplified conveyor belt.
The movement is to be actuated via a digital
output.
Remove the existing conveyor belt from your
simulator work cell (properties).
Add a box with the following
dimensions (1) and place the box
in front of the robot.
Rename the box. The new name should be
Grundelement (2).
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Machines
2. Create a machine (actuated via DO)
Click with the right mouse button
on Grundelement and select Link
zufgen and then Box .
The box has been placed (1).
Rename the box. New name: Schlitten (2).
Click on the button (3) (the motor orientation
will be displayed as a triad).
2
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Machines
3. Create a machine (actuated via DO)
Position the slide (Schlitten) by
means of the triad or direct entry (2).
Change the color of the slide.
Select the Motion tab.
2
1
Fig. 3
3
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Machines
1. Create a machine (actuated via servo)
The layout is identical with the layout for
the machine actuated via DO.
Except for the type of actuation
and the configuration of the additional axis.
Create a new robot work cell and make the following
selections:
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Machines
2. Create a machine (actuated via servo)
Configure the additional axes as shown below:
1
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Machines
3. Create a machine (actuated via servo)
7
10
11
12
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Machines
4. Create a machine (actuated via servo)
13
14
15
16
17
18
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Machines
5. Create a machine (actuated via servo)
19
20
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Machines
6. Create a machine (actuated via servo)
Create the basic element (Grundelement) of the machine
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Machines
7. Create a machine (actuated via servo)
Select (1) and position the slide by means of the triad or by direct entry
as shown below.
1
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General
Use the graphics function (1) to generate a path (program)
automatically.
You can use the graphics function only in connection
with parts.
You can choose between the following options:
Edge line (2)
Freehand line (3)
Surface fit line (projection on surface) (4)
Curve (5)
3
2
3
4
5
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5
4
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TCP
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3
2
4
2
5
2
6
2
4. Offset in Z
5. Offset in X
6. Offset in Y
7.
8.
7
9.
10. Rotation around Z
11. Rotation around X
12. Rotation around Y
8
9
10
12
13.
14.
11
13
14
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Figure 4
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Figure 5
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Target points
1
3
4
5
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Target points
1. Define a target group
Select Target Groups and then Add Target
Group .
Click on Abbruch (1).
The target group has been established (2).
Open the target group properties (3).
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Target points
2. Define a target group
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Target points
3. Define a target group
Figure 2
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Target points
Define target points on a surface and assign a positioner
General
This method is used to assign target points to
a positioner (e.g. a box).
When shifting the box, the
target points are also shifted.
Of course, you can define targets on surfaces
without defining interactions.
1. Procedure
Use the Surface button to generate 3 points on the surface of a box.
Open the properties of each target
point and select the box under Attached (1).
The target points are displayed in the cell browser
under the box (2).
From here on, the procedure is identical with the procedure for defining points
in space.
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General
To create and simulate a dynamic tool,
you need two different models.
Procedure
Create a new work cell.
Import the 36005f-200.CSB model
as the tool (known procedure).
Select the Simulation tab
and add the 36005f-200-4.CSB model
using the icon (1).
Use the ffnen/Schlieen buttons (2) to
check whether the gripper opens and/or
closes.
You can also use the symbol
for this check.
The opening and closing is
realized in a program sequence by means of the
Pick or Drop simulator programs (see Parts).
Note
The parts that are to be moved have to be
defined on the Teile and Simulation
tabs (3).
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