Fanuc Roboguide_V6.Xx User Manual [en-JP]

1.Introduction 1.1

Introduction Roboguide simulation and its family of process plug-ins is targeted to provide an easy to use interface to create workcells and robot programs.

Roboguide simulation provides

offline process programming for FANUC Robots.

Roboguide

simulation is centered on an offline 3D-World, and includes robot

workcell

playback.

modeling,

TPP

Program

teaching,

and

path

Accurate cycle time and robot motion trajectory

data are outputs from the Roboguide simulation teaching system. Roboguide simulation is built upon the FANUC Robotics Virtual Robot Controller that enables accurate program teaching and cycle time information. Roboguide is the core application for other FANUC Robotics PROcess

software.

HandlingPRO

enables

the

building

of

material handling workcells with all the capability of an actual FANUC Robot controller. Other PROceses include: PalletPRO: for a more detailed list of PalletPRO features click here. WeldPRO PaintPRO

1-1

1.はじめに

目次 1 .INTRODUCTION......................................... 1-1 1.1 Introduction......................................................................... 1-1

2 SIMPLE WORKCELL CREATION .............................. 2-1 2.1 Simple Workcell Step 1: Creating a new workcell ...................................... 2-3 2.2 Simple Workcell Step 2: Editing the robot properties ................................. 2-7 2.3 Simple Workcell Step 3: Add a part to the workcell ................................... 2-8 2.4 Simple Workcell Step 4:

Adding End of Arm Tooling to the robot...................... 2-12

2.4.1 Defining the end of arm tooling and the mounting of the tooling of the robot. .... 2-12 2.4.2 Defining the Tooling UTOOL value of the robot ................................... 2-15 2.5 Simple Workcell Step 5: Add a pick fixture to the workcell .......................... 2-22 2.6 Simple Workcell Step 6: Add a place fixture to the workcell ......................... 2-29 2.7 Simple Workcell Step 7: Create a robot program ...................................... 2-34 2.8 Simple Workcell Step 8: Run the program ............................................. 2-44 2.9 Simple Workcell Step 9: Creating an AVI of your workcell ............................ 2-51

3 BASIC OPERATION....................................... 3-1 3.1 3D World............................................................................. 3-1 3.1.1 Using the Navigation Tips Screen in the 3D CHUIWorld.............................. 3-1 3.1.2 About collision detection in 3D CHUIWorld ........................................ 3-2 3.1.3 To zoom the 3D World: ............................................................ 3-3 3.1.4 Panning the view ................................................................. 3-5 3.1.5 Rotating the view ................................................................ 3-5 3.2 Jogging the robot.................................................................... 3-6 3.2.1 About the teach pendant jog panel ................................................ 3-7 3.2.2 Jogging using the teach tool ..................................................... 3-9

4 ROBOGUIDE WORKCELL .................................... 4-1 4.1 About the Cell Browser ............................................................... 4-1 4.2 ワークセルのプロパティページ ..................................... Error! Bookmark not defined. 4.3 Working with Fixtures ................................................................ 4-8 4.3.1 Working with the Fixture property page ........................................... 4-8 4.3.2 Using the Calibration Tab ....................................................... 4-17 4.4 Working with Obstacles .............................................................. 4-21

1-2

2.簡単なワークセルの作成

4.5 Working with Parts .................................................................. 4-21 4.6 Working with Robot Controllers ...................................................... 4-26 4.6.1 Restarting the Virtual Robot Controller ......................................... 4-26 4.6.2 Use the robot property page general tab ......................................... 4-27 4.6.3 Loading a TPP Program onto the robot ............................................ 4-28 4.6.4 About using end of arm tooling .................................................. 4-32 4.6.5 Working with machines ........................................................... 4-37 4.7 スポット溶接システムのワークセル作成について ........................................ 4-50 4.7.1 レイアウトの作成 ................................................................ 4-50 4.7.2 サーボガンの取り付け ............................................................ 4-53 4.7.3 . 制限事項 ...................................................................... 4-62

1-3

1.はじめに

1-4

2

Simple Workcell Creation The following procedures provide a procedure for creating a Roboguide workcell. Roboguide

and

that

The example assumes that you have started 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

Install

is

directory

c:\Program

built, used

and

for

is

available

install.

Filles\FANUC\PRO\SimPRO\Sample

in

Typically

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

2-1

this

is

Workcells\Workcell

Example

• •

Directory:

2.簡単なワークセルの作成

2-2

2.簡単なワークセルの作成

2.1

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

presented in a list.

workcells

that

can

be

created

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

2-3

are

2.簡単なワークセルの作成

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. version.

2-4

Select the latest

2.簡単なワークセルの作成

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. has a robot.

The workcell

The 3D CHUIWorld view can be viewed and modified.

2-5

2.簡単なワークセルの作成

2-6

2.簡単なワークセルの作成

2.2 Simple Workcell Step 2: Editing the robot properties Simple Workcell Step 2: Editing the robot properties The robot 痴 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

defaults.

this

example

you

will

use

the

HandlingPRO

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

2-7

2.簡単なワークセルの作成

2.3

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

2-8

2.簡単なワークセルの作成

2.

You will see a dialog with several options.

CAD Model ・Browse for will

appear

on

the

file and

press OK.

screen.

Browse

Select

A browse dialog to

C:\Program

File_Menus\FANUC\PRO\SimPRO\Robot Library and select the file lrmate200i-3d.csb.

2-9

Press the Open button on the browse dialog.

2.簡単なワークセルの作成

2-10

2.簡単なワークセルの作成

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. shown visible on the Part Fixture.

The part is

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

パーツがワークセル上に定義できました。 パーツはパーツジグ上に表示されていま す。パーツを使うためには、これをジグ に割り付ける必要があります。

2-11

2.簡単なワークセルの作成

2.4

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.

2.4.1

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: 36005f200.csb

2-12

2.簡単なワークセルの作成

2. ROBOGUIDE をインストールしたドライブの下記フォルダを選択し、 :\Program Files\FANUC\PRO\SimPRO\ Image Library \EOATs \grippers 」フォルダの中から下記ファイルを選択します。 36005f-200.IGS

2-13

2.簡単なワークセルの作成

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. should now be mounted correctly on the robot.

2-14

The tool

2.簡単なワークセルの作成

2.4.2

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 0,0,850,0,0,0 and press Apply

2-15

2.簡単なワークセルの作成

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

properties from the menu.

2-16

Tooling/UT:1

and

selecting

Eoat1

2.簡単なワークセルの作成

2-17

2.簡単なワークセルの作成

2. On the General Tab of Eoat1 痴 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

Library\EOATs\grippers

files\FANUC\PRO\SimPRO\Image

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. 2-18

2.簡単なワークセルの作成

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

2-19

2.簡単なワークセルの作成

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.

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 Eoat1 痴 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

2-20

2.簡単なワークセルの作成

robot arm. The TCP UTOOL value should be 0, 0, 850, 0, 0, 0.

2-21

2.簡単なワークセルの作成

2.5

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.

Box Primitive Model and press OK.

Select

A box will appear on the

screen and the Fixture Property Page dialog window will appear defaulted to the General Tab

2-22

2.簡単なワークセルの作成

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.

2-23

2.簡単なワークセルの作成

2-24

2.簡単なワークセルの作成

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.

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

2-25

2.簡単なワークセルの作成

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. 2-26

2.簡単なワークセルの作成

Method 2: Use the automatic calculate method.

For

this example the offset will be entered directlymethod 3. Method 3: You can directly enter the value. this example, direct enter the values 0 ,0 ,0 ,0 and press Apply.

2-27

For

0, 0,

2.簡単なワークセルの作成

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

seconds and press Apply.

to

2.00

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.

2-28

2.簡単なワークセルの作成

2.6

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. will

appear

Property

on

Page

the

screen

dialog

and

window

A box

the

Fixture

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

2-29

2.簡単なワークセルの作成

2-30

2.簡単なワークセルの作成

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 2-31

2.簡単なワークセルの作成

fixture location. Method 2: Use the automatic calculate method.

For

this example the offset will be entered directlymethod 3. Method 3: You can directly enter the value. this example, direct enter the values

For

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

seconds and press Apply.

to

2.00

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: You should now have a fully defined workcell with Fixtures and Parts. Parts are associated with fixtures and are visible in each fixture. 2-32

2.簡単なワークセルの作成

End of arm tooling is defined for open and closed with the closed state displaying a part in the tooling.

2-33

2.簡単なワークセルの作成

2.7

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. page should close.

2-34

The

2.簡単なワークセルの作成

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

window with no TP Lines created.

2-35

Program

Teach

2.簡単なワークセルの作成

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.

2-36

2.簡単なワークセルの作成

4. Jog the robot to create a position near the pick up point 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 dropdown.

select Pickup from the Inst

A Pickup instruction should be entered into your

program.

2-37

2.簡単なワークセルの作成

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

HandlingPRO

the

Touchup

automatically

instruction records

optimizes the robot pickup point.

the

item.

position

which

This is determined by

how you oriented the part in the fixture.

2-38

toolbar

2.簡単なワークセルの作成

12. Press MoveTo from the toolbar.

The robot moves to the

pickup point that was automatically calculated.

13． ツールジョグでロボットをＺ方向（ピックアップ点の真上）に 動かします。

2-39

2.簡単なワークセルの作成

14. ピックアップ点の直前のプログラム命令を選択します。（この例 では、２行目です。）

15. シミュレーションプログラムの編集ウィンドウでメニュから タッチアップを押します。位置修正されます。 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.

2-40

2.簡単なワークセルの作成

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 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. 2-41

2.簡単なワークセルの作成

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

instruction You have now created your TP Program for this example.

2-42

Hand

2.簡単なワークセルの作成

2-43

2.簡単なワークセルの作成

2.8 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.

2-44

2.簡単なワークセルの作成

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.

2-45

2.簡単なワークセルの作成

2-46

2.簡単なワークセルの作成

2-47

2.簡単なワークセルの作成

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 TestRun / 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.

2-48

2.簡単なワークセルの作成

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. 2-49

For example, if you change motion

2.簡単なワークセルの作成

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. each

Profile

Display

The Keep Visible check box on

Options

determine differences in runs.

2-50

tab

can

be

checked

to

2.簡単なワークセルの作成

2.9 Simple Workcell Step 9: Creating an AVI of your workcell It is easy to create an AVI file of your running workcell. 2. Press Record on the toolbar.of the UOP window The program should run, and you should see the part get picked and placed. your run.

Roboguide is creating an AVI file of

When the run is complete, Roboguide will popup a

window that describes where the AVI file was placed on your computer.

ここでは、ディフォルトワークセルのファイルパスを指定できます。 各ワークセルのフォルダは、ここで指定されたフォルダの下に作られ ますが、AVI ファイルは、更にそれぞれのワークセルのフォルダの下 に作成されます。

2-51

3

Basic Operation

3.1

3D World Roboguide

simulation

software

痴

working

centered around a 3D virtual robot world.

environment

is

CHUI designates the

new developing Robot CH User Interface standard for 3D world environments.

It is a highly optimized graphics environment

developed by industry experts targeted for use in Robotic simulation systems. The world view can be manipulated with mouse and keyboard commands.

3.1.1

Using the Navigation Tips Screen in the 3D CHUIWorld

Navigation of the 3D CHUIWorld is done through mouse commands and combinations of keyboard and mouse commands.

Roboguide

provides a tips window to help you learn and remember CHUIWorld navigation methods. To turn on/off the navigation tips on the 3D CHUIWorld using the toolbar 1. Press the Navigation Tips Toolbar icon () to show / hide the navigation tips window.

To turn on/off the navigation tips on the 3D CHUIWorld using the menus 1.

Select Mouse Commands from the View menu.

3-1

3.基本操作

3.1.2

About collision detection in 3D CHUIWorld Collision detection is enabled by default whenever you operate in 3D CHUIWorld.

Collision detection can be disabled on the

Run Panel while running a simulation. As the robot moves while jogging or

through a simulation, the

robot, its end of arm tooling, and, if present, parts in the end of arm tooling are checked for collisions with objects in the workcell.

When a collision occurs the robot and the

object it collides with change color.

3-2

3.基本操作

3.1.3

To zoom the 3D World: Using the mouse

Using the mouse

To zoom in: 1. Press and hold the left and right mouse buttons 2. Move the mouse up To zoom out: 1. Press and hold the left and right mouse buttons 2. Move the mouse down

Using the toolbar

There are 2 zoom features on the toolbar. 矩形で囲んだ部分を画面一杯に拡大するためには To fill the view with a boxed selection: 1.

Select the Zoom Window Icon on the toolbar ().

The

cursor changes to select a zoom window () 2.

Press the left mouse button and drag the mouse to

make a window that you want to fill the screen. 3.

Release the left mouse button,

The screen is filled with your selection To zoom in from the current viewpoint: 1. Click the + zoom button () on the toolbar with the left mouse button To zoom out from the current viewpoint:

3-3

3.基本操作

1. Click the - zoom button () on the toolbar with the left mouse button

3-4

3.基本操作

Using the menus

To zoom in: 1.

Select from the menu system ・View , 3D World, Zoom-

In To zoom out: 1.

Select from the menu system ・View , 3D World, Zoom-

Out

3.1.4

Panning the view To pan the 3D World You use the mouse to pan the 3D world.

3.1.5

1.

Press and hold the CTRL keyboard key

2.

Press and hold the left mouse button

3.

Drag the mouse to pan the field of view

4.

Release the left mouse button to stop panning mode

Rotating the view To rotate the view The field of view will rotate about the currently selected objects frame of reference.

1. Select the object with which you want to rotate the view about. 2. Press and hold the right mouse button 3. Drag the mouse. You will see the world rotate. 4. Release the right mouse button to stop rotation mode.

3-5

3.基本操作

3.2

Jogging the robot In PRO Software, the robot acts like a real robot.

If you try

to jog to an unreachable position it gives the same errors as a real robot.

You can jog the robot with traditional Teach

Pendant buttons using the Virtual Teach Pendant.

PRO Software

also provides a teach/ jog tool which allows you to "drag" the robot around the work envelope There are multiple ways to jog the robot.

•

Jogging using the teach tool

•

Jog using the virtual teach pendant

About the CHUIWorld View Plane The 3D CHUIWorld view plane is what your eye currently sees in the 3D World locked at the objects reference frame for depth. For example, assume you have chosen the robot as the desired object, and its located at the 0 point of the world. If you view from directly in front of the robot, the view plane is the robot worlds Y ・Z Plane locked at the World X for depth. The best way to understand the View plane is to jog the robot using View plane jogging.

3-6

3.基本操作

3.2.1

About the teach pendant jog panel The teach pendant jog panel provides a toolbar to quickly modify the jogging frame of the robot.

If options are loaded

on the controller (RTCP, WristJoint) additional buttons are added. Changing the jog frame using this toolbar effects the Virtual teach pendant robot jog and how the teach tool operates.

•

Virtual Robot Jogging: changes the jog coordinate frame

•

Teach tool operation: changes the view of the teach ball triad.

The teach ball triad is displayed in the selected

jogging coordinate frame There are two frames on the jog panel toolbar:

•

Coord type: lists available coordinate jog types.

This

sets the Coord on the virtual robot.

•

Teach tool motion: you can select either Joint or Linear motion.

The selected motion is they type of motion that

is executed when the teach tool ball is used to move the robot. Enabling and disabling the teach pendant jog panel To view/ hide the jog panel From the toolbar 1.

Click the show jog panel toolbar icon () with the

left mouse button The toolbar icon acts as a toggle to show and hide the jog panel

3-7

3.基本操作

3-8

3.基本操作

3.2.2

Jogging using the teach tool

教示操作盤ジョグパネルの有効／無効 ジョグパネルを表示／非表示するためにはツールバーからマウスの左 ボタンでジョグパネルツールバーアイコン

をクリックします。

教示操作盤ジョグパネルについて 教示操作盤ジョグパネルはロボットのジョグ座標系を変 更するためのツールバーを提供します。（リモート TCP、 リストジョイント）などのオプションがコントローラに 設定されるとボタンが増えます。 ジョグ座標系について ROBOGUIDE のバーチャル教示操作盤はつぎのジョグ座標系 に対応しています。 各軸：

ジョグボタンが押されると、指定されたロボ ットの軸が動きます。

ユーザ：

ユーザ座標系に関するロボットジョグです。

ワールド： ジョグボタンが押されるとロボットはワール ド座標系に対して選択された軸に沿って動き ます。 ツール：

ジョグボタンが押されるとロボットはツール 座標系に対して選択された軸に沿って動きま す。

リストジョイント： ジョグモードは座標系ジョグモード（ユーザ、 ワールド、あるいは、ツール）で有効になり ます。ロボットが動くと、４，５，６軸は直 線補間でありません。４，５，６軸で各軸補 間が使われます。

3-9

3.基本操作

ロボットの速度オーバライドの変更 速度オーバライドツールバーからロボット速度オーバライドを変更す るためには 1.

速度オーバライドツールバーボタン

を押します。

2.

目的とする速度オーバライドまで速度オーバライドス ライドバーを操作します。

教示ツールの選択

ツールバー、あるいは、3 次元空間を使って教示ツールを選択するた めには、アームの先端をクリックするか、あるいは、ツールバーのロ ック／アンロック教示ツールの領域アイコン

をクリックする

かして、教示ツールを選択します。 メニュを使って教示ツールを選択するためには、メニュから教示／教 示ツールを選択します。ジョグ座標系がツール先端点に表示されます。 教示ツールを使ってジョグをすることができます。 教示ツールを使ったジョグ（移動について） 教示ツール座標系の軸に沿っての移動 1. 教示ツールを選択します。 2. マウスカーソルをロボットを動かしたい教示ツールの座標形状に 持っていきます。カーソルが手の形

に変わります。

3. マウスの左ボタンを押し、座標系をドラックします。 4. ロボットを移動したい位置まで到達したらマウスをはなします。 5. ロボットは指定した位置に動作可能ならその位置に動きます。

3-10

3.基本操作

3 次元空間のビュー平面に沿って 1. 教示ツールを選択します。 2. マウスカーソルを教示ツールの座標系の上に持っていきます。カ ーソルはハンドの形

に変わります。

3. CTRL キーを押して、押したままにします。 4. マウスの左ボタンをクリックし、座標系をドラックします。 5. ロボットを移動したい位置まで到達したらマウスをはなします。 6. ロボットは指定した位置に動作可能ならその位置に動きます。 回転について 1. 教示ツールを選択します。 2. マウスカーソルを教示ツールの座標系の上に持っていきます。カ ーソルはハンドの形

に変わります。

3. シフトキーを押して、押したままの状態にします。 4. マウスの左ボタンを押し、ドラックします。ツールは指定された 軸の周りに回転します。 5. ロボットを移動したい位置まで到達したらマウスをはなします。 6. ロボットは指定した位置に動作可能ならその位置に動きます。 注）ロボットが到達できない位置なら移動できません。座標系の原 点位置の球が赤になります。

3-11

3.基本操作

教示ツールサイズの変更 教示ツール（ロボット TCP 位置にある緑色の球）のサイズを変更する ことが可能です。 1. バーチャル教示操作盤を開きます。

2. バーチャル教示操作盤の下の現在値タブを選択します。

3. スライダバー上の値を変更することによって教示ツールサイズを 3-12

3.基本操作

変更できます。 ワークセルのズームを変えることによって、教示ツールのサイズ は自動的に変わります。

3-13

3.基本操作

ジョグ操作中の干渉チェック ジョグ操作中にロボットが物体に干渉すると、物体とロボットの色が 変わります。物体のプロパティページによって、干渉チェックを有効 ／無効にすることができます。 面上の点への移動 アームツールの先を面上の点に移動するのは非常に簡単に行えます。 面直の姿勢の位置に移動するためには 1. ロボットを動かしたい物体上の位置にマウスカーソルを持ってい きます。 2. キーボード上の Shift ボタンと Ctrl ボタンを押したままの状態に します。物体上の面直を示す矢印が表示されます。 3. Shift ボタンと Ctrl ボタンを押しながら、マウスの左ボタンを押 します。ロボットは指定された位置に動きます。 稜線に対して面直の位置に移動するには 1. ロボットを動かしたい物体上の位置にマウスカーソルを持ってい きます。 2. キーボード上の Shift ボタンと Ctrl ボタンを押したままの状態に します。マウスカーソルが現在ある物体上の稜線に沿って面直を 示す矢印が表示されます。 3. Shift ボタンと Ctrl ボタンを押しながら、マウスの左ボタンを押 します。ロボットは指定された位置に動きます。 頂点に対して面直の位置に移動するには 1. ロボットを動かしたい物体上の位置にマウスカーソルを持ってい きます。 2. キーボード上の Shift ボタンと Ctrl ボタンを押したままの状態に します。マウスカーソルが現在ある物体上の頂点に近い場所の面 直を示す矢印が表示されます。 3. Shift ボタンと Ctrl ボタンを押しながら、マウスの左ボタンを押 します。ロボットは指定された位置に動きます。 指定された位置に行けそうでも、姿勢の違いによりその位置に動作で きる保証はありません。もし動作できない場合、教示ツール球が赤に なります。アームツールの先の姿勢を変更して、再度動作させてくだ さい。

3-14

4

ROBOGUIDE WorkCell Workcells consist of different objects that have properties that are unique to their activity in the workcell.

Roboguide

software has the following different workcell objects: z

Robot

z

End of arm tooling

z

Fixtures which hold parts

z

Parts which are held by fixtures and that have actions taken with them

z

Obstacles which are simple objects and are placed in the workcell to model fixed objects in a workcell

z

Part fixture: which is a special type of fixture that is used to hold parts.

z

Machines: are generally machines that are driven by additional axes added to the robot.

The additional axes

may be auxiliary axes or additional motion groups.

For

additional information see working with machines. z

Profiles:

are

captured

information

of

robot

simulation runs. z

Dimensions: are measurements between two points in a workcell.

As you add objects to your workcell you see them within the 3D world and you see the cell browser tree grow to show where the objects fit in the Roboguide cell hierarchy.

4.1

About the Cell Browser The cell browser provides a hierarchical view of the workcell being created in all .PRO products. 4-1

Elements of the view may

４.ワークセル

be different based upon the type of .PRO plug-in you are currently working with. Core .PRO elements include:

•

Robot Controllers

o

End of Arm tooling

o

Machines

o

Frames

o

Programs

o

Etc.

• • •

Obstacles and Fixtures Profiles Other items specific to your PRO plugin.

Application plug-in elements might include parts for Roboguide, unit loads for PalletPRO, and Booths for PaintPRO. With the cell browser, you can quickly navigate all of the elements of the workcell environment. You can add objects, open object property pages, and cut or copy objects. In general, you can select any element in the cell browser, right click on the element, and select from a popup menu actions that you can take on that particular type of element.

セルブラウザの表示／非表示

ツールバーからセルブラウザを表示／非表示するためには 1. ツ ー ル バ ー の 表 示 ／ 非 表 示 セ ル ブ ラ ウ ザ ボ タ ン を左ボタンでクリックします。 セルブラウザの表示状態はボタンを選択するたびに 切り替わります。 メインメニュからセルブラウザを表示／非表示するためには 1. メインメニュの表示カテゴリからセルブラウザを選 択します。 セルブラウザの表示状態はボタンを選択するたびに 切り替わります。表示されていると、項目セルブラ ウザの隣にチェックがつきます。

4-2

４.ワークセル

4.2

WorkCell Propaty Page

Use the Workcell Property Page

The workcell property page provides global settings for the workcell. Fields include:

•

General:

o

Name: workcell name ・this can not be modified.

o

Description: descriptive text for the workcell.

o

Lock all Object Locations ・when enabled all workcell

objects are locked in place o

Collision

Detect

All

objects:

when

enabled

objects are included in collision detection.

all

When disabled

all collision detects on all objects are cleared. o

Synchronize

Time

during

teach:

when

running

production Roboguide synchronizes all virtual robots in the workcell. virtual

During robots

in

teach, the

Roboguide

workcell.

does

not

synchronize

This

is

to

enhance

performance during teach.

•

ChuiWorld: settings for the 3D world.

o

Floor Size and height: defines the visible floor

o

Visible checkbox: when enable the floor is visible

o

Color: floor color

o

Floor Transparency: transparent to opaque ・ how well

you can see through the floor. o

Grid spacing: dimensions for the grid that is shown

on the floor. o

Show location lines: allows you to enable and disable

the showing of the grid on the workcell floor.

• o

AVI Logos: Logos that are shown when capturing an AVI

•

IO Interconnect: provides an interface to

setup IO interconnections between robots.

For more information

see Using the IO interconnections setup property page Open the Workcell property page To Open the workcell property page 1. The root of the cell browser represents the property page 4-3

４.ワークセル

for the workcell.

Double click on the node, or right click

and select open property page from the menu to open the workcell property page.

4-4

４.ワークセル

Use the Workcell Property Page

The workcell property page provides global settings for the workcell. Fields include:

•

General:

o

Name: workcell name ・this can not be modified.

o

Description: descriptive text for the workcell.

o

Lock all Object Locations ・when enabled all workcell

objects are locked in place o

Collision

Detect

All

objects:

when

enabled

objects are included in collision detection.

all

When disabled

all collision detects on all objects are cleared. o

Synchronize

Time

during

teach:

when

running

production Roboguide synchronizes all virtual robots in the workcell. virtual

During robots

in

teach, the

Roboguide

workcell.

does

not

synchronize

This

is

to

enhance

performance during teach.

•

ChuiWorld: settings for the 3D world.

o

Floor Size and height: defines the visible floor

o

Visible checkbox: when enable the floor is visible 4-5

４.ワークセル

o

Color: floor color

o

Floor Transparency: transparent to opaque ・ how well

you can see through the floor. o

Grid spacing: dimensions for the grid that is shown

on the floor. o

Show location lines: allows you to enable and disable

the showing of the grid on the workcell floor.

• o IO

AVI Logos: Logos that are shown when capturing an AVI Interconnect:

provides

an

interconnections between robots.

interface

to

IO

For more information see

Using the IO interconnections setup property page

4-6

setup

４.ワークセル

4-7

４.ワークセル

4.3

Working with Fixtures Roboguide uses fixtures as workcell objects that can be used for the following:

z

Used to hold parts.

Before a part can be

used it must be assigned to a fixture.

You can think of a

fixture as workcell tooling that holds parts.

It is this

association of part to fixture that allows Roboguide to animate the part process in the workcell. You can move a fixture in your workcell and the part moves with the fixture.

This allows you to easily locate workcell

fixtures and parts associated with them. z

Define an entity in the workcell to teach

positions.

You may want to teach points on a part assigned to

a fixture so that you can then move the fixture to ensure that the points taught are reachable by the robot. support UFRAMEs.

Fixtures

If you teach relative to a UFRAME then you

can move the fixture and its associated points to determine optimum robot and object locations. z

Define a conveyor: this is a smart fixture

that supports line tracking operations in Roboguide.ROBOGUIDE

4.3.1

Working with the Fixture property page The fixture property page is used to define properties of fixtures in the workcell. z

Fixture General Tab: is used to define basic

fixtures properties such as name, location, color z

Fixture Calibration Tab: is used to calibrate the

virtual Roboguide environment with an actual robot workcell.

4-8

４.ワークセル

z

Fixture Parts Tab: is used to define parts

used in the fixture and the parts location relative to the fixture frame. z

Fixture Simulation Tab: is used to define

simulation parameters such as creation and destruction times for simulations.

4-9

４.ワークセル

Using the Fixture General tab The General Tab of the Fixture Properties page provides fields to edit general obstacle properties. These fields include:

z

Name: enter the name you want for the fixture.

z

CAD File: defines the CAD file used for this

fixture. z

Visible: if checked you can see the fixture.

When you change the state of the field, you must press Apply for the action to take place. z

Type:

set by Roboguide.

This is a primitive

entity of Box, Cylinder, Sphere, or CAD image. z

Color:

allows you to change the color of

primitive objects. z

Location: defines the location of the fixture

relative to the 3D ChuiWORLD zero reference position. 4-10

４.ワークセル

z

Size:

defines

the

parametric

values

for

primitive objects. z

Scale: defines the scale parameters for CAD

type objects. z

Show

robot

collisions:

when

checked

this

fixture is checked for collisions with robots in the workcell. z

Lock All Location Values: when checked, locks

all of the location values for the fixture.

Working with Parts Parts are objects that the robot can take actions with.

There

is a direct relationship between fixtures and parts in the workcell.

Parts are used in fixtures.

Parts must be

associated with a fixture and/ or with end of arm tooling before they can be used. When using Roboguide you will see a part fixture in your workcell.

When a part is created it is added to the part

fixture.

The part fixture is only for visual confirmation.

The part can not be used until it is assigned to a fixture. The general sequence for using parts is as follows: z

Add a part to the workcell.

After adding a

part you see it on the part rack. z

Associate the part with a fixture.

This is done on the Parts tab for a fixture. z

Define the location of the part in a

fixture. This is done on the Parts tab for a fixture. z Arm Tool.

Associate the part with an End of This is done on the Parts tab for an End of Arm

Tool. z

Define the location of the part in 4-11

４.ワークセル

the End of Arm Tool.

This is done on the Parts tab for an End

of Arm Tool. Using the Part property page The part property page is used to define part properties. Fields include: z

Name: enter the name you want for the part

z

CAD File: defines the CAD file used for this

part. z

Type: set by Roboguide.

This is a primitive

entity of Box, Cylinder, Sphere, or CAD image. z

Color: allows you to change the color of

primitive objects. z

Mass: defines the mass of the part object.

This mass value is used for motion during simulation. z

Size:

defines

the

parametric

values

for

primitive objects. z

Scale:

type objects. Using the Parts Property Page Tab

4-12

defines the scale parameters for CAD

４.ワークセル

The Parts Property Page Tab provides the interface to assign parts to the selected object.

Parts can be added to different

types of objects in Roboguide including fixtures, machines, end of arm tooling, etc.

The property page effectively works

the same way when assigning parts to an object. A very useful feature of the Parts property page is the ability to move the robot to the part.

Roboguide understands

what parts are assigned where and uses the UTOOL values and the Part location values to automatically move the robot to the desired part location.

This can be done and the part

offset can be "recorded" directly into the values. Fields on this tab include: Parts list:

shows the parts available in the workcell.

The checkbox next

to each box can be selected to assign the part to the current object. Part Offset:

is used to define the part offset in the current object.

Use

of the MoveTo and Record buttons can ease the accurate teaching of the part offset values. o

X, Y, Z, W, P, R: defines the offset relative to the

object 痴 origing that holds the part.

4-13

４.ワークセル

o

Object

selection

combo

box:this

box

is

conjunction with the MoveTo and Record buttons.

used

in

With these

buttons Roboguide provides efficient capability to move the robot to a part position on fixtures, and to record part offsets in EOAT and fixtures. The combo box contains all objects that have reference to the part selected in the Parts list.

If the EOAT property pages

are active, the list is populated with fixtures that reference the selected part.

If a fixture property page is active, the

list is populated with EOAT 痴 that reference the selected part. The detail is defined on how the information is used in the MoveTo and Record field descriptions. o

MoveTo:

Works

selection combo box.

in

conjunction

with

the

Object

When pressed the robot is moved to a

position that matches the part offset coordinate value for the selected property page object with the part offset coordinate value for the object selected in the Object selection combo box.

After moving, the robot should have the part offsets for

the two objects aligned exactly. This could be very useful when creating programs.

If part

offsets are all taught accurately, the robot can be moved very quickly and accurately to desired part positions.

For more

detail see Automatic MoveTo of robot to part in a fixture. o

Record: is active when the Edit Part Offset item is

selected.

The record button is used to define the part offset

for the selected part in the Parts field. The part offset position can be automatically generated if the robot tooling is located at the desired pick / place point in a fixture.

For more detail see Automatically generate part

offsets in tooling and fixtures. o

Edit Part Offset: when checked you can move the part

to define the part location relative to the selected object. o

Visible Teach: if enabled the part is visible when

not running a program. o

Visible Run: defines the initial state of the part 4-14

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when a program is run. the program starts. the start of a run.

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If enabled the part is visible when

If disabled, the part does not show at

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Using the fixture Simulation Tab The

fixture

simulation

tab

has

settings

to

simulation parameters for parts in fixtures.

control

the

When doing

simulations it is desirable to be able control when parts reappear / disappear in fixtures after picking and placing.

For

example, if you are placing a part into a fixture and then the process takes the robot to pick another part, you may want the part to remain in the place fixture for some period of time before disappearing.

The setting on this tab and fixture

Parts tab allow you to control how parts are managed during simulation run.

The fixture Parts tab has settings for the

initial states of parts on fixtures when a simulation is run. A key setting for parts is dependant on how a part will be processed:

•

Part

is

placed

and

then

picked

from

a

fixture: when the place destroy delay is set to 0, the part is not automatically removed from the fixture.

The part remains

so that it can by picked using a Pickup simulation instruction.

•

Part is placed and then destroyed: if a part

will not be acted upon after it is placed, a delay time that is non zero will force the part to be destroyed from the fixture at the delay time entered.

Parts frame:

shows

the

parts 4-16

available

in

the

workcell.

Simulation

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settings can be defined for each part in the list. Part Simulation frame: with the fixture.

Defines how the part may be used

When a part is selected in the Parts Frame

these selections become active. o

Allow part to be picked: when enabled the part is

available for picking.

When using the Pick instruction in the

simple editor, the fixture and part will show up in the list of possible fixtures/parts. o

Create delay: the time before a new instance of the

part will be created after the pick instruction. o

Allow part to be placed: when enabled the part is

available for placing.

When using the Place instruction in

the simple editor, the fixture and part will show up in the list of possible fixtures/parts. o

Destroy delay: the time before the part will be

destroyed after it is placed. the part is not destroyed.

NOTE: if the value is set to 0

This is useful for operations that

require a part to be placed and then picked back out of the fixture.

4.3.2

Using the Calibration Tab You can calibrate fixture, obstacle, and machine objects in your workcell.

Since parts are associated with fixtures you

calibrate the part within the fixture on the fixture property page calibration tab.

The calibration process matches the

location of the 3D object to its real world counterpart by calculating the difference between points taught in the 3D world and the same points touched-up in the real world. Calibration of a workcell object moves the Roboguide workcell object to match the real world object.

When doing a workcell

calibration you teach a program touching 3 points in the Roboguide workcell and then touch the same 3 points in your real workcell.

Roboguide objects are then moved based upon

the least squares difference between these points

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Fields included on the Calibration Tab include:

•

Object to be calibrated: this selection appears for fixtures and machines.

Since fixtures can hold parts, you

can calibrate the fixture and any parts that the fixture can hold.

Select the object to be calibrated from the

drop down list box.

•

Step 1: Teach in 3D World:

when pressed you see the

message: Calibration program xxx has been created for object. Please teach at least 3 points in the 3D World at unique locations on the object.

Whey you have finished, return

to the Calibration tab and press the 全 tore Points button. NOTE: if you are calibrating a part that is on a line tracking link, Roboguide creates a TPP tracking program to do the calibration.

This provides the ability to use the

same tracking program on the actual workcell that is line tracking.

Since with conveyor tracking systems it is

difficult to duplicate the location of the part carrier on a conveyor the tracking system, the line tracking system is used to compensate for variability in the location of the conveyor on the moving line.

The key is to ensure

that the part is synchronized with the conveyor before doing any teaching. It is important to choose features that can be taught in both Roboguide and the real world.

•

Step 2: Copy & Touch-Up in Real World:

when pressed

you get the message: Calibration positions stored in memory ・ now would be a good time to save the workcell. The calibration program CAL00049 was copied to: < directory >. You must now load it onto the real controller and touch up each point at the corresponding location in the real world. When this is done, save the touched up TPP and copy it back to the same directory, overwriting the original.

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•

Step 3: Calibrate from Touch-Up. Roboguide

loads

compares

the

the

new

original

calibration Roboguide

When pressed, information

taught

and

calibration

positions with the points taught in the physical real workcell.

A least squares fit algorithm is applied.

You

see the following message describing the differences. The calibration process has compared the TP positions and determined that the object needs to be shifted in the following ways (relative to the robot):

X, Y, Z, W, P, R

offsets, Least squares fit = xxx Would you like to accept these results and shift the 3D object? If you press OK the object is adjusted to reflect these changes. Check the preview box to see the shift and OK to accept the shift. Check the adjust TPP programs selection if you want to select TPP programs for which to have positions shifted.

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4.4

Working with Obstacles Roboguide uses obstacles as basic workcell objects that can be used for the following:

•

Used as basic workcell building blocks to get a more realistic visualization of the components of the workcell (fences,

"things"

that

are

just

present

in

the

environment).

•

Define an entity in the workcell that the robot should not enter (fences, poles, walls, etc.)

In the

event that you jog into an obstacle a collision is signaled .

•

Define an entity in the workcell to teach positions. You may want to teach points on an obstacle so that you can then move the obstacle to ensure that the points taught are reachable by the robot. UFRAMEs.

Obstacles support

If you teach relative to a UFRAME then you can

move the obstacle and its associated points to determine optimum robot and object locations.

4.5

Working with Parts Parts are objects that the robot can take actions with.

There

is a direct relationship between fixtures and parts in the workcell.

Parts are used in fixtures.

Parts must be

associated with a fixture and/ or with end of arm tooling before they can be used. When using Roboguide you will see a part fixture in your workcell.

When a part is created it is added to the part

fixture.

The part fixture is only for visual confirmation.

The part can not be used until it is assigned to a fixture. The general sequence for using parts is as follows:

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•

Add a part to the workcell.

After adding a part you

see it on the part rack.

•

Associate the part with a fixture.

This is done on

the Parts tab for a fixture.

•

Define the location of the part in a fixture.

This

is done on the Parts tab for a fixture.

•

Associate the part with an End of Arm Tool.

This is

done on the Parts tab for an End of Arm Tool.

•

Define the location of the part in the End of Arm Tool.

This is done on the Parts tab for an End of Arm

Tool.

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Using the Parts Property Page Tab The Parts Property Page Tab provides the interface to assign parts to the selected object.

Parts can be added to different

types of objects in Roboguide including fixtures, machines, end of arm tooling, etc.

The property page effectively works

the same way when assigning parts to an object. A very useful feature of the Parts property page is the ability to move the robot to the part.

Roboguide understands

what parts are assigned where and uses the UTOOL values and the Part location values to automatically move the robot to the desired part location.

This can be done and the part

offset can be "recorded" directly into the values.

Parts list:

shows the parts available in the workcell.

The checkbox next

to each box can be selected to assign the part to the current object. Part Offset: is used to define the part offset in the current object.

Use of the MoveTo and

Record buttons can ease the accurate teaching of the part offset values.

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o

X, Y, Z, W, P, R: defines the offset relative to the

object 痴 origing that holds the part. o

Object

selection

combo

box:this

box

is

conjunction with the MoveTo and Record buttons.

used

in

With these

buttons Roboguide provides efficient capability to move the robot to a part position on fixtures, and to record part offsets in EOAT and fixtures. The combo box contains all objects that have reference to the part selected in the Parts list.

If the EOAT property pages

are active, the list is populated with fixtures that reference the selected part.

If a fixture property page is active, the

list is populated with EOAT 痴 that reference the selected part. The detail is defined on how the information is used in the MoveTo and Record field descriptions. o

MoveTo:

Works

selection combo box.

in

conjunction

with

the

Object

When pressed the robot is moved to a

position that matches the part offset coordinate value for the selected property page object with the part offset coordinate value for the object selected in the Object selection combo box.

After moving, the robot should have the part offsets for

the two objects aligned exactly. This could be very useful when creating programs.

If part

offsets are all taught accurately, the robot can be moved very quickly and accurately to desired part positions.

For more

detail see Automatic MoveTo of robot to part in a fixture. o

Record: is active when the Edit Part Offset item is

selected.

The record button is used to define the part offset

for the selected part in the Parts field. The part offset position can be automatically generated if the robot tooling is located at the desired pick / place point in a fixture.

For more detail see Automatically generate part

offsets in tooling and fixtures. o

Edit Part Offset: when checked you can move the part

to define the part location relative to the selected object. o

Visible Teach: if enabled the part is visible when 4-24

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not running a program. o

Visible Run: defines the initial state of the part

when a program is run. the program starts. the start of a run.

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If enabled the part is visible when

If disabled, the part does not show at

４.ワークセル

4.6

Working with Robot Controllers FANUC PRO products support an offline virtual robot controller. The robot you have defined is shown in the Cell Browser under the Robot Controllers category. There are many objects that make up a robot.

This includes

robot location, tool center point information, and other information that is required for the application plug-in that is loaded.

4.6.1

Restarting the Virtual Robot Controller

The Virtual Robot controller can be restarted from within PRO software. Select from the main menu Robot \ Restart Controller \ Cold start or controlled start.

Restarting the Virtual Robot controller into Controlled Start Mode The Virtual Robot controller can be restarted from within PRO software. Select

from

the

\ controlled start.

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main

menu

Robot

\

Restart

Controller

４.ワークセル

4.6.2

Use the robot property page general tab The Robot General Property Page Tab defines the following properties of the robot in the workcell:: Controller information: Controller information:

•

robot

name:

the

name

given

to

your

robot

when

defining a robot.

•

Model: the robot model

•

Visible On/Off property: controls whether the robot is visible in the workcell.

•

Teach Ball Visible: controls whether the teach ball is shown.

•

Serialize Robot: when pressed the create a robot wizard is opened.

Location: robot location in the workcell relative to the 3D World zero position

•

robot location in the workcell.

This location is

referenced from the zero position of the 3D CHUIWorld.

•

Show Work Envelope On/Off: controls whether the robot work envelope is shown.

•

Show robot collisions: if enabled the robot will be included in collision detection.

•

Lock All Location Values On / Off: controls whether the robot can be manipulated on the screen.

When making changes to any of the properties on this property page, you must press Apply to activate the changes entered.

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4.6.3

Loading a TPP Program onto the robot

Typically, you load a file from the default device when

•

You want to modify a program (teach pendant program file, .TP) that is not currently in controller memory

Loading programs using the cell browser 1. Open the cell browser 2. Right mouse click on the Programs element under the desired robot controller

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3. Select Load TP program A dialog box is presented.

Browse to the desired directory.

Select what programs you want to load.

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4. Press Open

Loading Files using the File Menu 1. Set the default device to the device you want: o o

Press MENUS. Select FILE.

o

Press F1, [TYPE].

o

Select File.

o

Press F5, [UTIL].

o

Select Set Device.

o

Move the cursor to the device you want and press ENTER.

5. Press MENUS.

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6. Select FILE. 7. Press F1, [TYPE]. 8. Select File. o

To load a single file:

o

Generate a directory of the default device that contains the file you want to load.

o

Move the cursor to the name of the file you want to load and press F3, LOAD.

9. Load the file(s): o

To load the file(s) you selected, press F4, YES.

o

If you do not want to load the file(s) you selected, press F5, NO.

10. If the program already exists: o

To overwrite, press F3, OVERWRITE.

o

To skip the file, press F4, SKIP.

o

To cancel , press F5, CANCEL.

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4.6.4

About using end of arm tooling End of arm tooling serves multiple purposes in Roboguide. is used for teaching as well as for simulation.

It

Roboguide

supports the ability to use multiple images for your end of arm tooling so that animations can be accomplished.

Through

the setup of these images and special programming instructions you can create animations of your robot process. Like an actual robot, you have multiple end of arm tooling selections, and you can follow a general process for defining end of arm tooling in Roboguide. Roboguide supports definition of multiple Tooling.

In the

cell browser you can see that a robot has multiple UT elements under the Tooling category for a robot.

Each of these

elements can have associated tooling properties.

To change

the end of arm tooling on the robot, left click on the desired tooling from the EOAT elements in the cell browser.

Roboguide

automatically changes the end of arm tool on the robot. By default, Roboguide uses UT:1 when creating a new program. On the property page for a created program you can define what UTOOL the program should use.

By defining multiple tooling,

you can change UTool definitions for your program to quickly check reachability of different end of arm tooling. To use UTOOL 痴 with your TP Program you first define Tool properties for each UTool and assign a UTool used value in the Program property page. The simulation manager that runs when you execute programs automatically changes the EOAT cad displayed based upon the UTOOL number assigned to the executing position.

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Checking reach with multiple tooling It is very easy to change the end of arm tooling on the robot. There are multiple situations where you would want to check reach.

•

Check general reach within the workcell: by selecting multiple tool definitions and jogging the robot in the workcell, you can quickly determine the robots reach for different tooling.

When left click on an EOAT in the

Tooling category for a robot in the cell browser the tooling definition is automatically loaded.

•

Check

different

tooling

settings

for

a

program.

Different tools can be checked for a program cycle by first defining the tool configurations for each EOAT on the robot.

On the desired programs property page you

define what Tool the program should use.

Change the

tooling used on the program property page, and then move to program lines or run the program. Use the End of Arm Tooling General Tab The General Tab of the End of Arm Tooling Properties page provides fields to edit general EOAT variables

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These fields include:

•

Tool Name: enter the name you want for the

end of arm tool

•

Primary CAD: defines the CAD image that is

used for the normal tooling state. the

tooling

applications.

as

Open

state

for

Normal references material

handling

The closed state image of tooling is

defined on the simulation tab of the EOAT property page.

•

Visibility:

if

checked

you

can

see

the

gripper, as defined in the Primary CAD field, on the robot.

If unchecked you cannot see the end of arm

tool.

•

Location: defines the location of the tool

relative to the end of the robot arm.

This includes a

translation and a rotation.

•

Physical Characteristics:

of the EOAT.

defines the mass

This value is used by the robot to

optimize robot motion planning.

•

Scale Values: defines the scaling on the

Primary CAD and the Actuated / Closed CAD image file.

•

Lock All Location Values:

when checked locks

all of the location values for the EOAT.

This

includes location of the tool, the Tool Center-Point, and the Part offset.

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例：図はツールの＋Z ベクトルと CTRL-SHIFT のノーマルベクトルを 示しています。CTRL-SHIFT のノーマルベクトルは面上で CTRL-SHIFT キーを押していると表示されます。フィールドには＋Z が設定されて います。これは CTRL-SHIFT のノーマルベクトルがツールの Z 軸方法 であることを示します。

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4.6.5

Working with machines Machines are motion devices that are controlled by the robot controller.

Devices have motors that are driven by servo

amplifiers within the robot controller. Machines include:

•

Positioners:

external

multiple group. positioner

act

robot

axes

configured

as

Robot is group 1, and axes of the as

additional

separate

motion

groups.

Coordinated motion between the robot and the positioner is possible. o

Positioner machines can be external to the robot or

mounted on the end of the robot arm.

•

Robots

on

aux

axes:

these

have

different

configurations: o

Integrated axis: the robot world coordinate system is

on the aux axis.

The position on the rail (linear) or on the

arm (rotary) is added to the robot position. o

Extended axis: the robot world coordinate system is

at the robot base.

The aux axis device is a joint value and

does not participate in defining the robot tool center point location.

The position on the rail (linear) or on the arm

(rotary) is not added to the robot position.

•

Extended axes can be external to the robot or mounted on the end of the robot arm.

PRO software uses the machines category under the robot controller to define external devices that are controlled by the robot servo system.

Defining an external system to the

virtual robot is different for the different types of devices, but building and defining the device in PRO software is similar.

The following figure shows the tree for a robot

controller configured with an integrated rail and integrated rotary axis.

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Extended auxiliary axes can be added to the end of the robot arm. of arm tooling on the robot.

The axes are added to the end

The following figure shows the cell browser tree for a robot

controller configured with and external axis on the end of the arm.

Regardless of whether a positioner, extended, or integrated axis system is being defined the relationship between the pieces that define the machine are shown in a tree format. Axes that are dependent upon another axis are shown under the axis it is dependent upon (G:1, J:8) is dependent upon G:1, J:7).

Therefore, if G1J7 is moved G1:J8 (robot is connected

to J8) moves with it For further detail on building and using robot positioners see Working with Positioner help topic. For further detail on building and working with extended and integrated axes see Working with integrated axes and extended axes.

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マシーンの追加 マシーンの追加は、セルブラウザで行います。 セルブラウザの Machine を右クリックします。

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Use the machine General Tab The machine general tab defines the properties for the Base of the machine.

Generally, the base is a structure that holds

moving joints. The Link CAD tab on the machine links also have these fields.

• • • •

Name: The name of the machine. CAD File: The CAD file used for the base. Visible: when checked the object is shown. Type: defines the type of object that can be used for the object.

• •

Color: sets the color of the object. CAD Location: the location of the object in the workcell relative to workcell 0 position.

The CAD origin

position is what is used for referencing the object.

•

Scale: the scale factor applied to CAD objects.

If a

primitive object is used, dimensions for the object can be set.

•

Show Robot Collisions: enables collision detection for this object.

When the robot collides with the object

the object will change color.

•

Lock All Location Values:

when checked locks all of

the location values for the machine.

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Use the machine axis General Tab The positioner general Tab shows the properties for a joint on a group.

A joint on a group has locations for 2 key

coordinate systems. The axis origin defines the motion of the joint, the axis link CAD defines the object that moves when the axis origin is jogged / moved.

•

Name: The name of the axis.

•

Group: The robot motion group that drives the joint axis.

•

Joint: The group joint that that drives the axis

•

Axis origin: the origin of the coordinate system that will move when the axis is moved. When defining the axis link origin Roboguide requires that the +Z axis be along the axis of rotation (rotary) or translation (linear).

It is located relative to the previous links CAD

location (base or another axis joint).

•

Motor direction: defines the direction of motion for the axis.

If selected + motion of

the joint results in a positive rotation/ translation around/ along the Z Axis. the Z axis to be the axis of rotation/ translation.

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PRO forces

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•

Select 3D Axis: when pressed the Axis origin is selected.

The axis origin is the

coordinate system that defines the motor travel.

•

Motor Visible: when checked the motor is shown as part of the axis.

•

Lock Axis Location: when checked locks all of the location values for the Axis Origin.

マシーンのリンクの動作原点変更 リンクの動作原点はジョイント動作原点で表現します。一つ前のリン ク形状に対するジョイントリンクの位置関係になります。リンクとは ジョグで動くものです。リンクを定義すると、ROBOGUIDE では＋Z 軸 方向に並進させるか、＋Z 軸回りに回転させることができます。 リンクの動作原点位置の変更手続き 1. 対象ジョイントのためのプロパティページを表示します。 2. リンクのトライアドをアクティブにするために 3D 軸を選択ボタン を押します。 3. トライアドを依存するリンクに対して正しい位置に移動します。 リンクの原点がバーチャルモータの原点になるようにします。リ ンクがトライアドの＋Z 軸方向の並進軸、あるいは、＋Z 軸周りの 回転軸をもたなければなりません。リンクは一つ前の形状データ の原点に依存することになります。

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Use the machine axis link CAD tab The machine axis link CAD is the CAD that is shown for the axis.

It is located relative to the axis origin.

The axis

origin defines the motion of the joint, the axis link CAD defines the object that moves when the axis origin is jogged / moved.

The CAD Location is relative to the axis link CAD

defined on the machine axis general tab.：

•

CAD File: The CAD file used for the link.

•

Visible: when checked the object is shown.

•

Type: defines the type of object that can be used for the object.

•

Color: sets the color of the object.

•

CAD Location: the location of the joint CAD relative to the joint axis origin.

•

Scale: the scale factor applied to CAD objects.

If a primitive object is used,

dimensions for the object can be set.

•

Lock All Location Values: when checked locks all of the location values for the joint.

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Saving a machines information for future use A machine information can be saved for later re-use in workcells.

All the required information for the machine is

defined in the .def file that defines the machine.

The .DEF

file created and all associated CAD for the positioner should be in the same directory. For auxiliary axis systems: the auxiliary axis definition file can be loaded in one of two ways:

•

after

configuring

the

virtual

robot

for

auxiliary axes

•

from

selection list.

A saved .DEF file will show in the list for

the

workcell

creation

wizard

robot

robot selection. For positioners: The positioner def file will show in the Add additional groups wizard page.

To have the positioner .DEF

information show up in the Create Workcell Wizard the .DEF file and positioner CAD must be under the Roboguide Image Library Positioner directories.

Program

Files\FANUC\PRO\SimPRO\Image

Library\Positioners Saving a machine information for future use 1.

Right click on the machine / positioner in the cell

browser. Select the Save menu item.

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2.

A save dialog box is shown.

Select the desired

directory, give the definition file a name and press save. To have the.DEF information show up in the Create Workcell Wizard the .DEF file and CAD must be under the Roboguide Image Library Positioner directories.

The definition file and CAD

files for the positioner can be put into their own sub directory

under

the

Roboguide

Image

Library

Positioners

directory.

Program

Files\FANUC\PRO\SimPRO\Image

Library\Positioners For positioners: the def file information will show on the Add Groups wizard page. For extended axis machines: the def file information will show on the robot selection page. list.

The .DEF file should show in the

When selected the workcell should initialize with the

machine built and configured.

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Saving an end of arm machine 痴 information for future use 1. Right click on the robot / tooling / UTOOL that has the machine built in the cell browser.

Select the Save

menu item. 2. A save dialog box is shown.

Select the desired directory,

give the definition file a name and press save. 3. The machine file is now available for future use, and can be loaded by right clicking on the UTOOL to which it should be added. Loading a previously defined machine A previously defined machine can be loaded into a workcell. There are multiple ways a .DEF file can be loaded:

•

After

the

workcell

has

been

generated,

and

the

virtual robot has been configured for additional groups and/or axes, a machine definition file can be loaded from the cell browser.

•

During workcell generation:

o

Auxiliary axis DEF files are seen in the robot list,

and can be selected. o

Positioner DEF files (multiple groups) are shown on

the Add groups workcell wizard page.

Loading a previously defined machine after a workcell has been created If the workcell has been defined, and the virtual robot has been

configured

for

the

machine

axes,

a

saved

machine

definition can be loaded. 1.

From the cell browser, right click on the Robot /

Machines Category and select Add Machine / Positioner Library. Select the .DEF file you desire, and press Open. The selected machine will be loaded into the workcell. Loading a previously defined auxiliary axis machine from the workcell wizard The .DEF file must be saved in the image library directory structure of Roboguide in order for the DEF file to appear in the robot list. 4-48

Program

Files\FANUC\PRO\SimPRO\Image

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Library\Positioners 1.

Create a new workcell

2.

Select the saved DEF file from the Select Robot list

3.

Step to the end of the wizard and select Finish

Loading a previously defined positioner (multi group) machine from the workcell wizard The .DEF file must be saved in the image library directory structure of Roboguide in order for the DEF file to appear in the robot list.

Program

Files\FANUC\PRO\SimPRO\Image

Library\Positioners 1.

Create a new workcell

2.

Select the saved DEF file from the group list on the

Add Group wizard step 3.

Add the def file to the robot by pressing the Hand

icon in the list 4.

Step to the end of the wizard and select Finish

Loading a previously defined end of arm machine after a workcell has been created If the workcell has been defined, and the virtual robot has been

configured

for

the

machine

axes,

a

saved

machine

definition can be loaded. 1.

From the cell browser, right click on the Robot /

Tooling / Desired UTOOL and select Load Tooling.

Select

the .DEF file you desire, and press Open. The selected machine will be loaded into the workcell onto the end of arm.

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4.7

スポット溶接システムのワークセル作成について この章では、ROBOGUIDE V6 において、スポット溶接のシステムのワ ークセルを作成する方法について記述します。ここでは、例として 1 軸のサーボガン(C-Gun)を備えた R-2000iA/165F を配置したワークセ ルを作成するものとします。 併せて、「オンラインヘルプのサンプルワークセルの作成」の項をご 覧下さい。

4.7.1 レイアウトの作成 スタートメニューから、FANUC Robotics – ROBOGUIDE を選択して、 ROBOGUIDE V6 を起動します。 プロセスナビゲータから、”1. 新規セルの開始、または” をクリック します。プロセスナビゲータが表示されていない場合は、メニューの 表示－ナビゲータ をチェックして、プロセスナビゲータを表示して ください。

ワークセル作成ウィザードが表示されます。 ワークセル名を指定して、”次へ” をクリックします。（標準のワー クセル名のままで問題なければ、ワークセル名を指定する必要はあり ません）

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ロボットのアプリケーションツールを指定して、”次へ” をクリック します、 ここでは、FANUC Spot Tool (H540) を指定します。

ロボットの機種を指定して、”次へ” をクリックします。 ここでは、R-2000iA/165F (H740) を指定します。

グループ 2 以降のロボットを指定して、”次へ” をクリックします。 ここでは、Basic Nobot (H895) を指定して、グループ 2 の追加ボタ ン (指で右を指しているボタン) をクリックします。

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必要なオプションを指定して、”次へ” をクリックします。 必要に応じて、サーボガン関係で必要なオプションを指定してください。 Servo

Gun

Package（J685）は必ず指定して下さい。

これから作成するロボットの設定内容が表示されます。 内容を確認して、問題なければ “終了” をクリックしてください。

バーチャルロボットの生成が始まります。 この作業には 1～2 分ほど掛かりますので、暫くお待ちください。

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R-2000iA/165F が 1 台配置されたワークセルが生成されます。

4.7.2

サーボガンの取り付け 事前に、サーボガンの CAD データを IGES 形式で用意します。このと き、サーボガンの本体と可動部のチップは別のデータとしてください。 また、ロボットへの取り付け位置が原点に来るように、またチップが Z 軸方向に移動するような向きにしておくと、この後の作業が楽にな ります。

バーチャルロボットのグループ 2（NoBot）に、サーボガンの軸を追 加します。 メニューの、ロボット － コントローラの再起動 － コントロールス タートを選択して、バーチャルロボットをコントロールスタートして ください。

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コントロールスタートすると、ティーチペンダント が起動します。 実際のロボットと同じ要領で、NoBot にサーボガン の軸を追加してください。

以下、軸を追加する作業の手順例です。パラメータ等はサーボガンの 設定に応じて適宜値を読み替えてご指定ください。 “画面選択” – “9 ﾛﾎﾞｯﾄ ｾｯﾃｲ” を選択します。

”2. Basic Nobot” を選択して、“F4 MANUAL” をクリックします。

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“2. Add Nobot Axis” を選択します。

モータの種類を指定します。ここでは、 MOTOR SIZE=50, MOTOR TYPE=2, CURRENT LIMITI FOR AMPLIFIER=7 （80 Ａ） とします。

軸の種類（直動軸／回転軸）を指定します。ここでは “1. Linear Axis” を選択します。

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サーボガン軸のギア比を指定します。 ここでは、２０ｍｍ と入力します。

軸の駆動速度を指定します。ギア比に応じた値が初期値として指定さ れていますので、特に問題が無ければ “2. No Change” を選択してく ださい。

軸の駆動方向を指定します。 ここでは、２：ＦＡＬＳＥ を選択します。

軸の駆動範囲（上限／下限）を指定します。ここでは、 Upper Limit ２００、Lower Limit －２０と入力します。

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軸のマスタ位置を指定します。 ０ を入力します。

加速に関するパラメータの指定を行います。初期値で問題がなけれ ば、”2. No Change” を選択してください。

LOAD RATIO の指定を行います。 ここでは、１．５ を入力します。

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アンプ番号 （ここでは２） ブレーキ番号（ここでは２）を指定します。

SERVO TIMEOUT（ブレーキ制御の有効・無効）を指定します。無効の 場合は、”2. Disable” を指定します。

以上で軸の追加は終わりです。”4. Exit” を選択します。

続けて、溶接装置のタイプを設定します。 「画面選択」キーを押し、画面メニューから→０：ツギページ →４：サーボガンショキセッテイ を選択します。 Ｆ４「センタクシ」を押し、ソウチタイプをサーボガンに変更します。 “補助” – “1. ｺｰﾙﾄﾞ ｽﾀｰﾄ” を選択して、コールドスタートします。

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プロセスナビゲータの “4. ツールの設定” をクリックします。 ツールのプロパティが開かれます。

CAD ファイルに、サーボガン本体の IGES ファイルを指定します。 （ファイルの指定には参照ボタンをご使用ください） 適用ボタンをクリックすると、ロボットのフェースプレートの位置に サーボガン本体が取り付けられます。 CAD データ上で取り付け位置が原点にない場合、適切な位置にガンが 取り付けられません。この場合は、位置テキストボックスに適切な座 標を指定して、正しい位置に取り付けられるようにしてください。

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TCP の指定を行います。 ツール座標タブに切り替えて、ツール座標系の編集チェックボックス をチェックします。 ツール座標テキストボックスに座標系の位置を x, y, z, w, p, r で 指定して、適用ボタンをクリックします。

サーボガン本体に、可動部のチップを取り付けます。 セルブラウザ上で、”UT: 1 (Eoat1)” を右クリックします。ポップア ップメニューが表示されますので、”リンクの追加” – “CAD ファイル” を選択します。 ファイルを選択するコモンダイアログが表示されますので、チップの IGES ファイルを指定します。

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リンクのプロパティが表示されます。 グループコンボボックスに、”GP:2 – Basic NoBot” を指定します。 各軸コンボボックスに、”各軸１” を指定します。 CAD データ上でチップが Z 軸方向に駆動しない場合、またサーボガン 本体との相対位置が正しくない場合は、軸の原点テキストボックスに 適切な座標を指定します。 モータの表示チェックを外します。（チェックが入っていると、モー タの形状データがサーボガンに追加されます） 全て指定が終わったら、適用ボタンをクリックします。

以上で作業完了です。 バーチャル TP で実際にグループ 2 の軸を動かしてみて、サーボガン 軸が正しく定義できているかをご確認ください。

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軸を定義したサーボガンを、ツールとしてファイルに保存します。フ ァイルに保存しておくと、同じサーボガンを使用する場合に、軸の定 義を行う必要がなくなります。 セルブラウザ上で、”UT: 1 (Eoat1)” を右クリックします。ポップア ップメニューが表示されますので、”保存ツール “Eoat1”” を選択しま す。

※ レイアウトの定義、ロボットへのハンドの取り付け、TCP の座標 の指定の方法の詳細については、オンラインヘルプの「オンラインヘ ルプのサンプルワークセルの作成」の項や、各機能のヘルプをご参照 ください。

4.7.3. 制限事項 「シミュレーションプログラムの編集」ウィンドウで教示位置を記録 した場合、グループ 2 の位置は記録されません。サーボガン付きロボ ットのようにマルチグループのシステムの教示を行う場合は、バーチ ャル TP 上で教示を行ってください。

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