Transcript Slide set #9
Introduction to RobotStudio An Offline Robot Programming Tool Dr. Richard A. Wysk [email protected]
http://www.engr.psu.edu/cim < >, 2002
Outline of Activities
• Sequence of activities required to create an offline program • Designing robot worlds in RobotStudio • Defining robot motions • RobotStudio features • Advantages of offline robot programming
• RobotStudio tutorial >> http://184.108.40.206/Lab%20Manuals%20Test%20Site/ Frameset.htm
> Product > Downloads > Movies > - Station layout demo - Path definition demo - Program Generation demo • RobotStudio documentation files
• Become familiar with RobotStudio • Learn the sequence of Operations in the use of RobotStudio • Understand the design methodology used in designing robot worlds in RobotStudio • Understand how robot actions are described in RobotStudio • Appreciate advantages of offline robot programming
Exercise Readiness Assessment Test A.K.A. RAT AS A TEAM , take 5 minutes to discuss the system below.
For the system given below write a program in RAPID. Use Partial pseudo code – this means you may use pseudo parameters but you will have to use real RAPID functions and commands Pick part from M/C 1 Part Ok Inspect Part Ok/Not?
User input …Ok/Not This pseudo code should be: >> Syntactically correct in that it should use the functions and the keywords in the proper syntax AND >> Logically correct in that it should represent the system given alongside Put @ Machine 2 Part Not Ok Put @ Scrap Bin
What is RobotStudio ?
An offline robot programming software package by ABB for programming all robots that run on S4 and S4C controllers. Where is it loaded at?
Computer Integrated Manufacturing and Robotic Lab Room 244 Leonhard Building
Write lengthy robot programs without using the teach pendant In robot studio we define a “Robot World” and the paths the robot takes in these worlds to complete its tasks. This is done though a graphical interface. The software then generate the RAPID code in a file
Steps in using Robot Studio
Design Define Path Generate Program Simulate Graphically & Verify Optimize
What do we Design?
The model may have any or all of the following entities:
Robot Robot Workspace – Envelope & Table Fixtures Robot Tools Parts Other Interacting Entities
Design all of those?
No, Fortunately we don’t have to design all of those. There are libraries of each of these objects and most times we just go to the appropriate library and select the robot, workspace, tools etc that we might need.
Some of the objects that are available are complete assemblies of smaller links, joints and end effectors An obvious example is the robot For the program to be practical a robot has be modeled as an assembly and not as a rigid body ….illustration>>
All 3 pictures are the same robot in different stages of a pick operation
Similarly we have to assemble the tool onto the robot during the design phase
Tool Robot Robot with Tool + =
For the objects that are not in the library we have the following options: • Design them using a standard CAD application and import the drawing in RobotStudio.
• RobotStudio has a built in CAD utility which can be used to design different things.
Tip: Before going in to design standard parts check with www.robotstudio.com
& goto 3D-models link
Menus Toolbars Browser Property Browser Status bar Output window Graphics window
How do I create designs in RobotStudio?
Designs in RobotStudio are created by: 1. Drawing simple shapes (select from toolbar) 2. Possibly applying simple edit operations like rotate, translate etc.
3. Assembling together these simple shapes.
• Make sure you have all the designs of all the items needed to describe the robot world that you want to program.
• Assemble all components together exactly the way they are in the real world (to exact dimensions and orientation).
– RobotStudio lets you translate and rotate objects easily using a mouse as well as by specifying the absolute or the incremental coordinates of the new position or orientation.
Gosh that might be a lot of Work!
Yes it might be, but once it is ready then you can use and reuse it again and again with or without minor changes.
Eventually it save a lot of work and increases productivity!
Ok, so we’ve designed and assembled everything, now what?
We define the actions of the robot. The movements that are required of it along with all the spatial constraints This is called Path Definition
To define paths we specify the points in the robot world and define them as targets The flexibility of the program will depend on its modularity. E.g., ‘Pick’ action can be broken down into ‘move-to’, ‘grab’ and an other ‘move-to’ actions Verify that the targets are defined in the correct sequence (check in Object Browser)
So our program is ready!
Not just yet, we need generate the program based on our robot world definition and path definitions We need to switch the power on!
Switch on the power? Weren’t we in the programming phase.
Yes we still are, but RobotStudio is an offline programming tool and it is designed to look and feel as similar to ‘online’ robot programming
So, we need to switch on the robot controller before we can proceed. This is the ‘VIRTUAL Robot Controller’ One of the things that this affords is that it allows the user to ‘Verify’ the robot program quite a lot like MasterCam displays an animation of the NC program that it generates
We are now ready to go. The program is saved onto a floppy and is transferred from the PC to the ‘physical’ robot controller, ready to run!
Note: Keep saving your work, along the way, as you create or make changes to the program
RobotStudio has a host of features which can be applied to program special situations and also to enhance the existing program.
• Do collision detection by checking spatial interference • Add conditional checks and other code to expand RobotStudio functionality using Visual Basic Scripting • Use a ‘virtual’ teach pendant to add to the program • Optimize locations of various objects and thus reduce cycle times …….more >>
• Visualize and Simulate movements and actions of objects other than the robot itself • Collect simulation data in an Excel Spreadsheet
Advantages of Offline Programming • • Reduces risk by visualization and confirming solutions
Introduce new parts and methods without interrupting production
• Optimize robot programs to increase productivity • Generate higher part quality through creation of more accurate paths • Check for and avoid singularities