Tài liệu hướng dẫn sử dụng hrspace3. Bao gồm các hướng dẫn chi tiết cách sử dụng phần mềm hrspace3. Bạn cần ghé trang chủ hyundai để tải phần mềm mô phỏng hrspace3. Tài liệu hướng dẫn sử dụng hrspace3. Bao gồm các hướng dẫn chi tiết cách sử dụng phần mềm hrspace3. Bạn cần ghé trang chủ hyundai để tải phần mềm mô phỏng hrspace3. Tài liệu hướng dẫn sử dụng hrspace3. Bao gồm các hướng dẫn chi tiết cách sử dụng phần mềm hrspace3. Bạn cần ghé trang chủ hyundai để tải phần mềm mô phỏng hrspace3.
WARNING INSTALLATION SHOULD ONLY BE PERFORMED BY QUALIFIED INSTALLATION PERSONNEL AND MUST CONFORM TO ALL NATIONAL AND LOCAL CODES Hyundai Robot Hi5HS171120FMEN20 Hi5/Hi5a Controller Function Manual HRSpace3 The information included in this manual is the property of HRC This manual may not be copied, in part or in full, without prior written authorization from HRC It may not be provided to any third party, nor used for any other purposes HRC reserves the right to modify the content of this manual without prior notification Printed in Korea – May 2020.21th Edition Copyright ⓒ 2011 by Hyundai Robotics Co., Ltd Contents Introduction 1-1 1.1 About HRSpace3 1-2 1.2 System Requirement 1-4 1.3 Software Installation 1-5 1.4 Software Execution 1-7 License 2-1 2.1 License 2-2 Basic Function 3-1 3.1 Screen Configuration 3-2 3.2 Show/Hide 3-5 3.3 Workspace Coordinate system and Grid 3-6 3.4 Camera Operation 3-8 3.5 New, Save and Open Document 3-10 3.6 Result window 3-14 Model 4-1 4.1 Concept of Model Hierarchy Structure 4-2 4.2 Hierarchical structure of model 4-4 4.3 Configure and Edit Model 4-7 4.4 Configure and Edit Model 4-13 4.5 Style 4-22 4.6 Undo/Redo 4-24 4.7 Save and Open Model 4-25 4.8 T Path 4-27 4.9 Shift dialog box 4-29 4.10 Measure dialog box 4-34 4.11 Snap dialog box 4-36 CAD File 5-1 5.1 Supporting CAD formats and HRGeom Converter 5-2 5.2 Open CAD File 5-4 5.3 Save STL File 5-8 5.4 STL Simplification 5-10 VRML File 6-1 6.1 Supporting VRML formats and HRVRML Converter 6-2 6.2 Open CAD File 6-3 i Contents Load Robot and Tool 7-1 7.1 Load Robot 7-2 7.2 Robot properties 7-4 7.3 Virtual controller and controller files 7-6 7.4 Load Tool and Mount on Robot 7-9 7.5 TCP and tool number 7-11 Jog and Teach Pendant 8-1 8.1 Robot jog 8-2 8.2 mini TeachPendant 8-5 8.3 VTP (Virtual Teach Pendant) 8-9 8.4 RTP; Real Teach Pendant 8-12 8.4.1 Hardware connection between PC and Teach Pendant 8-13 8.4.2 Setting of HRSpace3 8-13 8.4.3 Setting of real teach pendant 8-15 Create Job 9-1 9.1 Step creation / modification dialog box 9-2 9.1.1 The basic way to create steps 9-2 9.1.2 Average function 9-7 9.1.3 How to Insert another Step in Between Steps 9-9 9.1.4 Add triggers in the ‘WorkSpace’ 9-11 9.2 Import teach point and location group 9-12 9.3 Import onsite robot process 9-22 9.4 Connect HRView and HRLadder 9-23 10 Simulation 10-1 10.1 Simulation 10-2 10.2 I/O signal 10-4 10.3 Collision Detection 10-8 11 Teach Method and Coord.Sys Properties 11-1 11.1 Traverse axis 11-2 11.2 User coordinate system 11-8 11.3 Stationary tool 11-13 12 Application Function 12-1 12.1 SPOT welding application function 12-2 12.1.1 Enter SPOT commands 12-2 12.1.2 Perform welding – Air gun 12-3 12.1.3 Perform welding – Servo Gun 12-4 12.1.4 Large stroke/Small stroke and manual pressing – Air gun 12-5 12.1.5 large stroke/small stroke and manual pressing -Servo gun 12-6 12.2 Painting application function 12-7 12.2.1 Enter SELBRUSH commands 12-7 ii 12.2.2 Brush Property 12-8 12.2.3 Job Tabel Editor 12-10 12.2.4 Turn ON/OFF the connection line 12-13 13 Misc Function 13-1 13.1 Light/Shadow/Material Function 13-2 13.1.1 Light 13-2 13.1.2 Material 13-6 13.1.3 Shadow 13-9 13.2 Preference dialog box 13-10 13.2.1 General tab 13-10 13.2.2 Display tab 13-12 13.3 Recording Trajectory 13-15 13.4 Axes’ monitoring of real robot controller 13-20 iii Introduction Introduction Introduction 1-1 HRSpace3 1.1 About HRSpace3 HRSpace3 is a PC based OLP (Off-Line Programming) software for Hyundai Robot and Hyundai Hi5 Controller After installing the robot process, teaching the robot and test running the robot, problems unexpected during planning are identified If these problems are corrected after the installation and teaching process is completed, the timing of mass production will be delayed By using HRSpace3, you can configure the robot work in 3-D virtual space and review the problems while simulating the configured work to make any corrections Because the work prepared in HRSpace3 is saved as work file for Hi5 Controller, this file can be copied to the controller to execute the actual robot work HRSpace3 is equipped with a virtual controller that is the same one in actual Hi5 Thus it estimates the trace and cycle time as precisely as actual Hi5 controller does Any Hi5 controller users can easily learn how to use this because it supports all HR-BASIC commands and the operation method and functions of Hi5 controller except some functions such as cooperation control or online tracking It can also be used in user training, how to use Hyundai Robot HRSpace3 is the optimal choice for OLP work of Hyundai Robot Warning: To HRSpace2 users - HRSpace3 doesn’t support Hi4a and older controller It also doesn’t support the body of old type robots that are not registered in Hi5 - HRSpace3 and HRSpace2 use the same extension (.hrs) for documents but documents from HRSpace3 and HRSpace2 are not perfectly compatible Please use HRSpace2 to open documents that contain old type robots and controllers - There’re lots of differences in the operation of HRSpace3 and HRSpace2 Please use HRSpace3 after reviewing manuals or Help fully 1-2 13.Misc Function Each element’s meaning is as below table: (Refer to section 13.1.1’s ambient, diffuse, specular light, together.) Ambient It determines how much ambient light’s respective RGB element is reflected among the light the object receives Diffuse It determines how much diffuse light’s respective RGB element is reflected among the light the object receives The shading according to the position of light and the direction of surface is generated by this element Specular It determines how much specular light’s respective RGB element is reflected among the light the object receives If the specular material is black, all specular light is absorbed, so it would look like rough surface If the specular material is white, all specular light is reflected, and a strong highlight appears on the specific position, so it would look like sleek metal or plastic’s feel Emission It is not feature reflecting external light, but feature emit light by itself Shininess It determines the applied area of highlight by specular light Lowest value makes spread-wide highlight, and highest value 128 makes small obvious highlight Stock material drop-down list box contains various materials If one of them is selected, it’s values are automatically inputted 13-7 HRSpace3 Supposing a light as left figure is installed, some examples of effect according to various material setting are shown in below table Material setting Result Ambient = (0, 128, 192) Diffuse = (0, 128, 192) Emission = (0, 0, 0) Specular = (0, 0, 0) Shininess = don’t care Blue material reflecting both of ambient and diffuse light well Ambient = (0, 0, 0) Diffuse = (0, 128, 192) Emission = (0, 0, 0) Specular = (0, 0, 0) Shininess = don’t care Blue material reflecting only diffuse light Ambient = (0, 128, 192) Diffuse = (0, 0, 0) Emission = (0, 0, 0) Specular = (0, 0, 0) Shininess = don’t care Blue material reflecting only ambient light There is no shading at all Ambient = (0, 128, 192) Diffuse = (0, 128, 192) Emission = (0, 0, 0) Specular = (255, 255, 255) Shininess = 128 (max) Blue material with small and obvious specular highlight Ambient = (0, 128, 192) Diffuse = (0, 128, 192) Emission = (0, 0, 0) Specular = (255, 255, 255) Shininess = Blue material with wide spread specular highlight Ambient = (0, 128, 192) Diffuse = (0, 128, 192) Emission = (128, 255, 255) Specular = (80, 80, 80) Shininess = Blue material emitting by itself 13-8 13.Misc Function 13.1.3 Shadow If you check the ‘Display shadow’ option, the objects cast shadows However, this function has some limitation like belows: - The shadows are not projected on other objects’ surfaces, but only on the Z=0 surface If light or objects are entered into the Z