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RobotStudio™ 6.03 Zone Visualization The information in this manual is subject to change without notice and should not be construed as a commitment by ABB ABB assumes no responsibility for any errors that may appear in this manual Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose Contravention will be prosecuted Additional copies of this manual may be obtained from ABB at its then current charge © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden 2016-07-07 ABB Table of Contents Zone Visualization .4 1.1 Prepare the station 1.2 Zone Visualization Zone Visualization Zone Visualization Overview In this module we will learn how to visualize zone data and automatically reduce them to optimized values Unpack Unpack the file RobotStudio\Courseware\Stations\Spot Welding station.rspag to a new folder… \Courseware\Solutions\Module_13\myZoneDataVisualization_Solution 1.1 Prepare the station Overview Before we look at zones we will finalize the robot program in the station Set Simulation Entry Point In the Path&Targets browser right click on the main path and select Set as simulation entry point This means that the program will start from this procedure when Simulation Play is pressed This entry point is not the same as the Main entry defined in the SYS.cfg, which is used when the program is started from the RAPID Editor or the FlexPendant Zone Visualization Add Procedure Calls In the Path&Targets browser right click on the main path and select Insert Procedure Call > WeldPath_1 This will add a procedure call from the main procedure to the procedure WeldPath_1 in the RAPID code after synchronzation Continue and add procedure calls to WeldPath_2, WeldPath_3 and TipDress Synchronize all paths to RAPID Run the simulation and verify that the robot moves through the three welding paths and the tip dresser path Zone Visualization 1.2 Zone Visualization Overview In this section we will learn how to visualize zone data, and how to automatically recalculate zone data in a path to its optimized values View Zone data Zoom in to WeldPath_1 so you can see all the targets in the path Right click on WeldPath_1 and select View>Show Programmed Zones Now a sphere will be visible at each target that displays the programmed zone Zone Visualization Right click on WeldPath_1 again and select View>Show Actual Zones Now the zones that the controller will actually go to during program execution will be displayed If two zones intersect each other, the robot controller will automatically reduce the zones during execution Do the same for the rest of the paths in the station Recalculate Zone data Zoom in to WeldPath_1 so you can see all targets in the path Right click on WeldPath_1 and select Path>Reduce zones Zone Visualization Now the zone data for each target in the path will be reduced, so intersections between zones will be avoided Only default zone data in the controller will be used In the Output window information will be displayed about how many zones have been reduced Reduce the zone data for the rest of the paths in the station Synchronize all paths in the station and run the simulation Zone Visualization © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden ... 2016-07-07 ABB Table of Contents Zone Visualization .4 1.1 Prepare the station 1.2 Zone Visualization Zone Visualization Zone Visualization Overview In this module... and the tip dresser path Zone Visualization 1.2 Zone Visualization Overview In this section we will learn how to visualize zone data, and how to automatically recalculate zone data in a path to... and select Path>Reduce zones Zone Visualization Now the zone data for each target in the path will be reduced, so intersections between zones will be avoided Only default zone data in the controller