roboguide seminar robotic software refrence.pdf

software

1. ROBOGUIDE Basic Tutorial
FANUC ONLINE SEMINAR

2. Thistutorialassumesthatyouunderstandanactualrobotoperation.
Youcanexperienceandlearnbasicoperations(robot,workcell,etc.)
using"ROBOGUIDEuserinterface.”
ROBOGUIDE Basic Tutorial

3. Structure of This Tutorial
Tutorial To Learns
WorkcellLayout Tutorial 1.Create a New Workcell
2.Add Robot Tools
3.Add Fixtureto Workcell
4.Add a Target
Jogging Tutorial 5.Jog the robot
Simulation program creation and
execution tutorial
6.Create and execute the program
7.Record the program motion into a movie file

4. 1.Create a New Workcell

5. 1.OpenRoboguidesoftware,andthefollowingscreen
willappears.Press[NewCell]buttonforcreatea
newworkcell.

6. 2.Select[HandlingPRO]fortheProcessSelection,and
press[Next]button

7. 3.Putthenameforthisworkcell,andpress[Next]
button

8. 4.Select[Createanewrobotwiththedefault
HandlingPROconfig],andpress[Next]button

9. 5.Inthisstep,youwillchoosetherobotsotware
version,pleaseselectthenewone,andpress[Next]
button

10. 6.SettherobotToolswithDefaultTools,andpress
[Next]button

11. 7.Selecttherobotmodelthatyouwanttouseonthis
simulation,andpress[Next]button

12. 8.ThisistheadditionalRobotandPositionersgroup,
skipthisstepbypress[Next]button

13. 9.thisisthecontrolleroptionsthatcanbeloaded.No
additionaloptionsarerequired.Press[Next]button

14. 10.Asummarypageispresentedthatdescribesyour
workcelltype,robot,andcontrolleroptions.Press
Finishtobuildtherobot

15. RoboguidewillstartaVirtualRobotandthencreatea3D
virtualworldwitharobot.Atthispoint,therobotcanbe
joggedonthescreen

16. ROBOGUIDE User Interface
ROBOGUIDE provides several User Interfaces so that you can use them
according to the purpose.

17. •Menu
Shows ROBOGUIDE operation menus.
•Toolbar
Shows the shortcut icons for the basic menus. The toolbar lets you
easily access the menu.
•Cell Browser
Shows all elements constituting a workcellin the tree structure.
The Cell browser lets you quickly find out the elements on workcell.
•Status bar
Shows a current position of the robot and operation icons when clicking
a tool of a robot. The status bar lets you easily perform operations (such
as modifying a robot position, undoing the jogging of a robot).
ROBOGUIDE User Interface

18. 2.Add Fixture to Workcell

19. Theobjectusedforplacingorfixingthepartiscalled
"Fixture"inROBOGUIDE.
Creatinganassociationbetweenthepartandthefixture
willallowtherobottopickordropthepart.
Inthisstep,youwilladdafixturetowheretherobotwill
pickthepart.
Thefixtureaddedtowheretherobotpicksthepartis
called"PickFixture",andthefixtureaddedtowherethe
robotplacesthepartiscalled"PlaceFixture“.

20. 1.From the Cell Browser, right click on the Fixture, and
select the Add Fixture Cad Library, and the
following screen will appears.
2.Select Wooden Pallet, and press [OK] button. And the
screen on the next page will appears

21. 3.Double Click on the Object (Pallet), and the Object
Propertieswill appears

22. DoubleClickontheObject(Pallet),andtheObject
Propertieswillappears.
ChangetheLocationValue,and
press[OK]button
X=2000
Y=0
Z=150
W=0
P=0
R=0
Modify Object Position by Object Properties

23. Modify Object Position by Drag the Object Triad
TriadisthecoordinateaxisconsistedofXYZaxes,andit
willappearwhenclickingaobject.
1.Clickthepickfixtureshownonthegraphicscreento
displayatriad.
2.Dragthetriadtomovethepickfixture.
3.Makesurethatthecoordinatevalues“X,Y,Z,W,P,
R”inLocationhasupdated.

24. 3.Add Parts to Workcell

25. Theobjectthatarobotpicksandmovesiscalled"Part"
inROBOGUIDE.
Inthisstep,youwillperformthefollowingoperations.
•Placethepartonthepickfixture.
•Copythepickfixtureandplaceitasaplacefixtureon
theworkcell.
•Associatethetoolwiththepart.

26. Place part on pick fixture

27. 1.RightclickthePartsintheCellBrowser,andselect
AddPart>CADLibrary.
2.SelecttheWorkpiece,andpress[OK]button

28. 3.FortheWorkpieceImageQuality,choosetheNormal
Quality,andpress[OK]button

29. 4.OntheCellBrowser,clicktheParts,DragandDropto
thePallet

30. Copy the pick fixture and place it as a place fixture on
the workcell

31. Copy the pick fixture from the Cell Browser and place it
to the workcellas a place fixture.

32. DoubleClickontheObject(Pallet),andtheObject
Propertieswillappears.
ChangetheLocationValue,and
press[OK]button
X=2000
Y=0
Z=150
W=0
P=0
R=0
Modify Object Position by Object Properties

33. Modify Object Position by Drag the Object Triad
TriadisthecoordinateaxisconsistedofXYZaxes,andit
willappearwhen clickinga object.
1.Clickthepickfixtureshownonthegraphicscreento
displayatriad.
2.Dragthetriadtomovethepickfixture.
3.Makesurethatthecoordinatevalues“X,Y,Z,W,P,
R”inLocationhasupdated.

34. Associate the tool with the part.

35. 1.OntheCellBrowser,rightclickontheUT:1,and
selectProperties,

36. 2.Click[Parts],checkedthe
Parts,andpress[Apply]
button

37. 4.Add a Target

38. 1.Clicktheteachtool(greensphere)onthetoolcenter
point(TCP).Thecurrentpositionoftherobotwill
appearonthestatusbar.

39. 2.Setthefollowingvaluesinthecurrentpositionfields
onthestatusbar,andthenpresstheEnterkey.
Thetooloftherobotturnsdownward.
Select"JOINT"
J1:0.0J2:0.0 J3:0.0
J4:0.0J5:-90.0J6:0.0

40. 3.ClicktheTargeticon()onthestatusbar.
NewTargetissetonthepositionofthetoolcenter
point(TCP).Target"T1"isaddedundertheTargetsin
theCellBrowser.

41. 5.Jog The Robot

42. Thistutorialguidesyoutoexperienceandlearnhowto
jogarobotusingtheROBOGUIDEuserinterface.
•Joggingusingtriadontoolcenterpoint(TCP)
•Joggingtopart
•JoggingtoTarget
•Positionsettingbynumericalinput
•Undo/RedoJogging

43. Jogging using triad on tool center point (TCP)

44. Youcanmovetherobottoanarbitrarypositionbydrag
anddropusingatriadontoolcenterpoint(TCP).
Thefollowinganimationshowsthemotionwhenyoujog
therobotusingatriadontoolcenterpoint(TCP).

45. 1.Clickthetooloftherobotonthegraphicscreen.
Theteachtoolonthetoolcenterpoint(TCP)is
selectedandiconsforjogoperationwillappearon
thestatusbar.

46. 2.Movethemousecursorclosetothetriadoftool
centerpoint(TCP).Thecursorwillchangetoahand
cursor().

47. 3.DragtheY-axisofthetriadwiththecursorbeing
handshape(),andthendroptoanarbitrary
position.Therobotmovestothedroppedposition.

48. 4.Whenyoumovethetriadonthetoolcenterpoint
(TCP)towheretherobotcannotreach,thecolorof
theteachtoolchangesto"Red.“
5.IfyouclicktheRefresh()icononthestatusbar,
theteachtoolwillreturntothepositionofthetool
centerpoint(TCP).

49. Jogging to Part

50. Movetherobottothepartontheplacefixturebydrag
anddropoftheteachtool.
Thefollowinganimationshowsthemotionwhenyoujog
therobottothepart.

51. 1.Clickthetooloftherobotonthegraphicscreen.The
teachtoolonthetoolcenterpoint(TCP)isselected
andiconsforjogoperationwillappearonthestatus
bar.

52. 2.Movethemousecursorclosetothetriad.
Thecursorwillchangetoahandcursor().

53. 3.Dragthecenterofthetriadwiththehandcursor(),
andthendroponthepartontheplacefixture.
Therobotmovestowheretherobotpicksthepart
ontheplacefixture.

54. 4.Whenyoumovethetriadtowheretherobotcannot
reach,thecoloroftheteachtoolchangesto"Red.“
5.IfyouclicktheRefresh()icononthestatusbar,
theteachtoolwillreturntothepositionofthetool
centerpoint(TCP).

55. Jogging to Target

56. MovetherobottotheTargetbydraganddropofthe
teachtool.
Thefollowinganimationshowsthemotionwhenyoujog
therobottotheTarget.

57. 1.Clickthetooloftherobotonthegraphicscreen.
Theteachtoolonthetoolcenterpoint(TCP)is
selectedandiconsforjogoperationwillappearon
thestatusbar.

58. 2.Movethemousecursorclosetothetriad.
Thecursorwillchangetoahandcursor().

59. 3.Dragthecenterofthetriadwiththehandcursor(),
andthendropontheTarget.Therobotmovestothe
Target.

60. Position Setting by Numerical Input

61. You can move the robot to an arbitrary position by
inputting numeric values in the current position fields on
the status bar.

62. 1.Clickthetooloftherobotonthegraphicscreen.
Theteachtoolonthetoolcenterpoint(TCP)is
selected,andthecurrentpositionwillappearonthe
statusbar.

63. 2.Select"Cartesian(WORLD)"fortheCoordinate
systeminthecurrentpositiononthestatusbar.
3.Entertheformula"<Currentvalue>+50"inZforthe
Coordinatevalue,andthenpresstheEnterkey.
TheresultoftheformulawillbereflectedinZ,and
therobotwillmovetothepositionyouhaveset.

64. 4.Setthefollowingvaluesinthecurrentpositionon
thestatusbar,andthenpresstheEnterkey.
Select"JOINT"
•J1:0.0
•J2:0.0
•J3:0.0
•J4:0.0
•J5:-90.0
•J6:0.0

65. Undo / Redo Jogging

66. Whenyouclickthetoolontherobot,thecurrent
positionoftherobotandoperationiconswillappearon
thestatusbar.
Youcanundoandredojoggingifyouclicktheoperation
iconsonthestatusbar.

67. 6.Create and Execute the Program

68. This tutorial consists of the following steps.

69. Create a Simulation Program

70. Inthisstep,youwillcreatethesimulationprogramthat
therobotpicksthepartonthepickfixtureandthen
placesitontheplacefixture.
Thisstepincludesthefollowingoperations:
•Addasimulationprogram
•Createandedittheprogramlines.
oTeachtherobotahomeposition
oCreateamotionpathtopickupapart
oTeachtherobotarelaypoint(homeposition)
oCreateamotionpathtoplaceapart

71. Addthesimulationprogramtotheworkcell.
1.OntheCellBrowser,RightClickonthe[Program],
andinputtheprogramname

72. 2.Jogtherobottothehomeposition.ClicktheRecord
buttononthetoolbarontheSimulationProgram
Editorscreen.TheprogramlineP[1]forhome
positionisadded.

73. 3.Click[MoveTo]button,andselectthePalletthat
RobotwillPickuptheworkpiece.ThenPress[Record]
button

74. 4.Click[Inst]button,andselect[Pickup]andthe
followinginstructionwillappears

75. 5.SelectWork05forthe[Pickup]item,whereisthe
LocationofpartswillPickup,andwhatisthetools
thatwilluseforPickuptheWorkpiece

76. 6.Click[MoveTo]button,andselectthePalletthat
RobotwillPickuptheworkpiece.ThenPress[Record]
button

77. 7.Click[Inst]button,andselect[Drop]andthe
followinginstructionwillappears

78. 8.SelectWork05forthe[Drop]item,whatisthetools
thatwilluseforPickuptheWorkpiece,andwhereis
theLocationofpartswillDrop

79. 9.Jogtherobottothehomeposition.ClicktheRecord
buttononthetoolbarontheSimulationProgram
Editorscreen.TheprogramlineP[4]forreturn
positionisadded.

80. Run a Simulation Program

81. 1.On the Menu, select Press [Test-Run] and select [Run
Configuration]. And Run Configuration Menu will
appears. Setting the program selection with
ROBOGUIDE: User Defined, and select the
EXMPL_WPas the program

82. 2.OntheMenu,selectPress[Test-Run]andselect[Run
Panel].RunPaneldisplaywillappears.Press[Run]
button,andthesimulationwillstart.

83. 7.Record a Program into a Movie

84. Inthisstep,youwillrecordthesimulationresultsintoa
moviefile.
1.OntheTest-Runmenu,selectRunPanel.
TheRunPanelwillappear.
2.Click the Record button.
Youcancheckthemotionpathoftherobottopick
upanddropthepartonthefixtureswhilerunning
thesimulationprogram.