This paper present the content graphical programming; creating curves; creating paths; adding approach and depart targets; collision detection; reachability... Please refer to the document to understand the content details.
RobotStudio™ 6.03 Graphical Programming 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 2016-06-02 ABB Table of Contents Graphical programming .4 1.1 Creating Curves 1.2 Creating Paths 1.3 Target Manipulation 12 1.4 Adding Approach and Depart targets 15 1.5 Simulating the robot program 18 1.6 Collision Detection 20 1.7 Reachability 24 Graphical Programming Graphical programming Overview In this module we will learn how to use geometries to automatically create robot paths In RobotStudio we can create paths from curves, or by selecting the edge of one or more surfaces on the geometry In the exercises in this module we will create glue paths on a door panel Unpack Use Unpack&Work to open the Pack&Go file GlueStation.rspag from the Courseware > Stations folder Unpack it to a new folder myGlueSolution in the Solution > Module_2 folder You will need to create a Module_2 folder as well Answer Yes on the Smart Component question (if it shows) Graphical Programming These message boxes appear because it includes Smart Components made with Code Behind in the station 1.1 Creating Curves Overview The two first paths we will create with help of curves Curves are geometrical objects in the CAD model, which RobotStudio uses to create paths with targets that follow along the geometry of an object If the curves for the process motions not exist in the geometry when you import it, you have several ways of creating curves using the RobotStudio modeling tools In this exercise we will use Border Around Surface and Border From Points, two of the three functions for geometrically creating curves Creating a border around a surface Border around Surface will create curves around all borders on the selected surface In the Graphics window select Surface Selection On the Modeling tab click the Border around Surface button On the door plate select the surface as in the picture below Graphical Programming Click Create in the Create Border around Surface window A new part is created with curves that go along all edges on the selected surface Creating a border from points Border from Points creates a curve that will start and end where you set the first and the last position, respectively The position in between is for determining along which edge between the start and end positions the curve will be created In this exercise we will create a curve along one of the arcs on the shape below Zoom in and set View Center to the shape as in the picture below On the Modeling tab click the Border from Points button In the Graphics window click on the body around the shape (see picture on first step) Click out three points as in the picture below The first point should be at the start of the arc (use Snap End) The second point should somewhere along the border of the arc (use Snap Edge) The third should be at the end of the arc (use Snap End) Graphical Programming In the Create Border From Points window click the Create button Save the station as \Courseware\Stations\Module_2\myGlueSolution\Stations\myGlueSolution_curves 1.2 Creating Paths Overview In this section we will generate paths using a function called AutoPath This feature can be used in a couple of different ways, both of which we will utilize In the first example we will use the curves created in the previous section as the basis for some paths We will also generate a path directly on the CAD model using this function Before creating the paths we will create a workbject Creating a workobject from three reference points On the Home tab click the Other button and then select Create Workobject Name the workobject to wobjFixture Graphical Programming Define the User Frame with the Three-point method Click on the top of the three cones marked in the picture below to define the three points (Snap Mode: End) Click Accept and then Create to create the workobject Note that due to the location of the pin the used to define the y axis, the workobject’s origin will float in “free space” and will not actually coincide with the position of the first pin wobjFixture Graphical Programming To create paths from curves In the Graphical window select Curve Selection Select the curve as in the picture below On the Home tab click on the lower part of the Path button and then select AutoPath A preview of the path should now be displayed in the Graphical window, and in the AutoPath window all surface edges around the path should be displayed Note that not all of the selected edges are referenced to the same plane and/or reference surface Before creating the path we will select a reference surface Put the cursor in the Reference Surface field, and then click on the same surface as the curve was created from (with Border Around Surface) Graphical Programming Change the Approximation Parameters to Circular and the Tolerance to 0,5 mm, then click Create In the Paths&Targets browser, rename the new path to GluePath1 Select the path in the Paths&Targets browser, then click on PathTools-Modify, and then click on Rename Targets Change Target Prefix to pGluePath1_ and click Apply Use AutoPath to create a path on the curve created with Border from Points Use the surface around the curve as Reference Surface and change the Approximation 10 Graphical Programming Rename the new target to pApproach_Path1 Use Offset Position to move the new target 100 mm in –Z direction in Reference Local Use Jump To Target to verify that the target is placed 100 mm above the path Copy and Paste the last target in GluePath1 and rename the new target to pDepart_Path1 Offset the target 100 mm in –Z direction Right click on pApproach_Path1and select Add to path > GluePath1 Do the same for pDepart_Path1 but put it last in the path Add approach and depart targets for the other glue paths with the same offsets Setting robot axis configurations In many cases the robot may be able to reach a given target in several different ways In the pictures below the robot can reach the same target using three completely different axis configurations When a target is taught by jogging the robot to a given position, the axis configuration is 16 Graphical Programming stored in the target When targets are created in RobotStudio by one of the geometric tools a default configuration, which may not be accurate, is used When using targets created this way in a program we either have to assign valid robot axis configurations to each target or add a configuration off instruction to make the robot ignore the missing configuration In this exercise we will use the recommended way, which is to set the robot axis configurations for all targets In the Path&Targets browser select GluePath1 and then click on Auto Configuration in the Path Tools – Modify tab The Select Robot Configuration window is now displayed in which you set the configuration for the first target manually The configuration you select for the first target might affect the configurations for the following ones After viewing the configurations, select the configuration with values (-1, -1, -1, 0) and click the Apply button The robot now steps through the path and sets the configuration for each target in the path Which configuration to use for each target depends on the previous one, so if the AutoConfiguration fails, you might get better results with another initial configuration Note: If the first target in a given path already has a configuration assigned then Auto Configuration will use that as a starting point and will not be asked to make a selection If you want to change the starting configuration then you must use the Reset Configurations tool first Use Auto Configuration to set configurations for the other glue paths The start configuration in the paths should be as close as possible to the one selected for GluePath1 Modifying Instructions AutoPath uses the active template to decide what type of move instructions should be created, and with what speed and zone data When we created the glue paths, the default MoveL template was active, which means that the speed data was set to v1000 and the zone to 17 Graphical Programming z100 These parameters are not likely optimal for a gluing application, so we will change this data to something more appropriate In the Path&Targets browser expand GluePath1and select all targets in the path except for the approach and depart targets In the Instruction Tools – Modify tab click on Edit Instruction Change the Speed to v300 and the Zone to z1, and then press Apply Do the same for the other glue paths 10 Save the station as \Courseware\Solutions\Module_2\myGlueSolution\Stations\myGlueSolution_FinalizedPaths 1.5 Simulating the robot program Overview Now we will create a program from the paths by synchronizing the station to Rapid (the virtual controller) NOTE! Before synchronizing always remember where you are in your synchronization process Did you synchronize the changes made in the station to Rapid? Did you make changes in Rapid that are not in the station? The simulation will run the program as it exists in the virtual controller so it is important to make sure you are using the correct program information In this example you will find that there are already modules existing in the virtual controller which we will synchronize to 18 Graphical Programming Synchronizing the program to the virtual controller On the Rapid tab click the Synchronize to RAPID button In the Synchronize to Virtual Controller dialog verify that the Modules in the picture below are selected as target modules These modules have earlier been used in the station from the Pack and Go, and are therefore the default selections Note: Even if you change the module that the paths sync to the targets for each path will still sync (according to the default settings) into Module1 This can be changed under Options>Synchronization Setting up and running the simulation A robot program always has a procedure named main, which is used to arrange and start the other procedures When simulating programs in RobotStudio, you create or edit the main procedure by creating a path named main or doing a procedure manually in the RAPID code Let’s the path one In Paths&Targets, create an empty path and name it Main Drag the paths that you want to simulate into Main 19 Graphical Programming Drag them to modify the order to make sure it’s correct In the Home tab right click on the system and select Synchronize to RAPID and select the module in which you would like to create the main procedure in In the Graphics window click the Play button and verify that the robot moves along all paths correctly Save the station as \Courseware\Solutions\Module_2\myGlueSolution\Stations\ myGlueStation_SimulatedPaths 1.6 Collision Detection Overview When watching a simulation in RobotStudio, a collision between two objects is easily overlooked if the robot moves fast or if the view is not optimal RobotStudio has the ability to detect collisions through the use of Collision Sets Collision Sets give us the ability to define which objects RobotStudio should watch for collisions between A Collision Set can be configured to display a color flash in the graphics window, output a text indication in the output window and it can even be set to stop the simulation upon collision In the next exercise we will create a Collision Set so that we can determine what collisions we have and then take actions to prevent these collisions 20 Graphical Programming To detect collisions We will now create a collision set with two sets of objects, which RobotStudio will watch for collisions Collisions can be both highlighted in the graphics and/or be reported in the output window On the Simulation tab click the Create Collision Set button Expand the node of CollisionSet_1 In the Layout browser drag SingleDoser and drop it on ObjectsA Drag the Component Group fixture and workpiece and drop it on ObjectsB We have now defined that RobotStudio will detect collisions between A and B On the Simulation menu, click Play We can now see the collisions in both the graphics and in the Output window Configuring the collision set We will now modify the collision set parameters In the Layout browser right click CollisionSet_1 and select Modify Collision set In the Near Miss (mm) field enter In the Near Miss Color change to green color Click Apply Now if we are near a collision the objects will flash green and when a collision occurs the objects will flash red On the Simulation menu, click Play Avoiding collisions For the next step we will make some adjustments in order to avoid colliding with the part however we still want to maintain a set distance (fall within the near miss value) for the gluing operation The tooldata named tNozzle was created on the surface of the dispensing nozzle The 21 Graphical Programming targets were created on the top surface of the door panel This is the reason we have a series of collisions as the robot follows the paths on the door To avoid these collisions (and to perhaps better reflect the actual process with some space for a glue bead) we will modify the tool data so we have an offset between the tooldata frame and the nozzle tip In the Path&Targets browser right click on tNozzle and select Set Position in the Context menu Move the tooldata mm in +Z direction with Reference set to Local, and press Apply In the Path&Targets browser we now see that the target configurations no longer are verified (the yellow triangles) This is because we have moved the tool data used in the move instructions The configurations are probably still valid, but to be sure we will verify this 22 Graphical Programming Right Click on GluePath1 and select Configurtions > VerifyConfigurations Do the same for all other paths in the station Right click on T_ROB1 and select Synchronize to RAPID in the Context menu Uncheck the check box for IRB4600_GlueSystem to deselect everything in the Synchronize to RAPID window Check the check box for tNozzle and press OK Now will only the tooldata tNozzle be synchronized to the RAPID Run the simulation again to verify that there are no collisions Save the station as \Courseware\Solutions\Module_2\myGlueSolution\Stations\myGlueSolution_Collision 23 Graphical Programming 1.7 Reachability Overview In this exercise we will learn how to use the Reachability function The Reachability function tests if selected targets are reachable by the robot with the given target orientation Prepare Start the Unpack and Work wizard and unpack the station \Courseware\Stations\Reachability_start.rspag Testing Reachability On the Home tab in the Paths&Targets browser right click on Path_processes and then select Reachability This will bring up the Reachability dialog, where you can see by the red icons that the majority of the targets in the path not are reachable Change the Selection Level to Part Freehand move the part by clicking on the Move button and then in Graphics windows drag the red, green, blue arrows Notice how the part moves, but the path remains 24 Graphical Programming On the Quick Access toolbar click the Undo button so that the path & part match again In the Paths&Targets browser right click on the obWorkpiece workobject then point to Attach to and select the carfront part RobotStudio will now make the workobject dependent on the part, so by moving the part we move the workobject as well In the Update position window click the No button Freehand move the part again Notice how the targets follow, and how the reachability will change when the part is within reach Stop when the path is reachable Using Auto Configuration and simulate In the Paths&Targets browser, right click on the Path_processes path and then select Auto Configuration Select the first configuration in the Robot Configurations dialog and click the Apply button 25 Graphical Programming After selecting apply RobotStudio tries to move the robot through the path based up this initial selection, and if successful, sets the configuration in all the targets When working directly in front of the robot for the smoothest robot motion you should try to keep the configuration as close to zero whenever possible For more information see the Robot and RobotStudio manual On the Rapid tab, click on the Synchronize to RAPID button In the synchronize dialog click the OK button Set Path_process as entry point On the Simulation tab, click the Play button Monitor Make the workobject and path invisible by right clicking on obWorkpiece and Path_processes and under View, selecting Visible In the Layout browser, the same for the part carfront Now you will only see the robot in the graphic view On the Simulation tab, click on the Monitor button Check the Enable TCP trace checkbox Set the Trace length to 2000 mm Click the OK button 26 Graphical Programming Click the Play button to run the simulation again This will leave a white monitor trace after the robot’s TCP Click on the Monitor button again Click on the Clear trace button 10.Select the Alerts tab, and check Enable Simulation Alerts 11.Set TCP Speed to 350 mm 12.Click the OK button 27 Graphical Programming 13.Run the simulation again by clicking the Play button This time RobotStudio will give a warning when the speed is above 350 mm/s by turning the trace red 14.Save the station 28 Graphical Programming © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden 29 ... 18 1.6 Collision Detection 20 1.7 Reachability 24 Graphical Programming Graphical programming Overview In this module we will learn how to use geometries to automatically... not actually coincide with the position of the first pin wobjFixture Graphical Programming To create paths from curves In the Graphical window select Curve Selection Select the curve as in the... create a Module_2 folder as well Answer Yes on the Smart Component question (if it shows) Graphical Programming These message boxes appear because it includes Smart Components made with Code