This paper present the content modeling, building the station, creating a mechanism, importing the fixture and working with part geometry, creating an alternate handed fixture and part, finish the cell layout, mirror path...
RobotStudio™ 6.03 Modeling 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 2016-06-17 ABB Table of Contents Modeling .4 1.1 Building the Station 1.2 Creating a Mechanism 10 1.3 Importing the Fixture and Working with Part Geometry 20 1.4 Creating an Alternate Handed fixture and Part 23 1.5 Finish the Cell Layout 25 1.6 Mirror Path 25 Modeling Modeling Overview In this module we will expand on working with geometry, and also create a mechanism We will create a robot cell for deburring a motor housing and then duplicate it in order to an opposite handed version of the same part Unpack Use Unpack&Work to open the Pack&Go file DeburrHousingStation.rspag from the Courseware > Stations folder Unpack it to a new folder \Courseware\Solutions\Module_4\myDeburrSolution 1.1 Building the Station Overview Here we will start by building a station and later import geometry and assemble them into a working mechanism This mechanism could later be used as the basis for a smart component Import the geometry file 140_ stand.sat from the Courseware \Geometry folder The next step is to put the robot on the stand To this in RobotStudio we will move the “Task Frame” This moves the robot system around within the RobotStudio environment without affecting the controller base frame values Tip! The snap mode and selection level tools can be extremely useful when working with geometry In this case we can set the selection level to surface and click on the top of the riser In the coordinates output (bottom right corner of the screen) we can see the height of the top of the riser is 530mm Modeling Moving the Task Frame Right click on the system in the Paths&Targets browser in order to bring up the Modify Task Frames dialog box Enter the value previously determined (Z=530mm) Click Apply As you not want to change the relationship between the controller and the base frame answer Yes to the question “Do you also want to move the Base Frames(s)”? Modeling Importing and Attaching a Tool Import the library SpindleTool.rslib from the Courseware\Library folder Attach the tool to the robot by drag and dropping it on the robot in the Layout Browser or right clicking on it and selecting Attach to Answer “YES” to update the position of the SpindleTool Modeling Import and Adjust the Fence Import the library SC_FenceCreatorYellow.rslib from the Courseware \Library folder This fence is a Smart Component with the ability to change the lengths of the walls dynamically to suit your station You will also need to select yes to trust this component when you get a pop up window asking you to verify the smart component Start by setting the position of the fence Right click on the fence in the Layout Browser and select Set Position In the dialog box enter X= -500, Y= -1000, Z=0 and leave zeros in the orientation fields Press apply Right click once again on the fence in the Layout Browser and select Properties This will bring up a dialog box where you can change the length of the various fence walls Modeling Enter the values as shown in the chart below Click Apply Import the IRC5 Single Cabinet controller from the ABB Equipment Library Set its position as follows In the Modeling Tab select solid box We will create a box to represent a concrete floor Modeling 10 For the size and position of the box enter data as follows and click : 11 Right click on the new part in the Layout Browser and rename it “floor” 12 Right click on the “floor” in Layout Browser and select Modify > Graphic Appearance 13 In the Base Texture drop down, select Import 14 Browse to the Courseware\Textures folder and open the file named concrete floor.png 15 Click on OK You will now see a concrete texture on the floor Modeling 16 Save the station as myDeburrStation_1 in \Courseware\Solutions\Module_4\myDeburrSolution\Stations 1.2 Creating a Mechanism Overview Here we will import geometry and assemble them into a working mechanism This mechanism could later be used as the basis for a smart component Preparations With MyDeburrStation_1 still open make things easier to see begin by hiding the objects in the robot cell This can be done by right clicking on the individual items in the Layout Browser and unchecking Visible for each component In this case we will take advantage of the “Tag” function Create a New Tag Right click on the IRB140T_6_81_C_03 and select Tags>New Tag 10 Modeling In the wizard name the mechanism “mySlide” and change the type to Device Notice how the different node requirements change below (in red and green) based upon the type of mechanism you are creating Anything in red needs to be validated before a mechanism can be successfully created Even though it is not required we will create a frame so there is an attachment point for any fixture or part we may want to add later Adding Links To make our device we need two links A base link and a moving link Right click on Links and click on Add Link to open up the window below Select the SlideFrame and click on the right arrow to add it to the Added Parts column 16 Modeling Check the box Set as BaseLink Click Apply but not close the dialog box Next select the Slide and click on the right arrow to add it to the Added Parts column Click OK The result should be that the links node has turned green and the two links are shown below Adding a Joint To make our device work we need to define the joint between the two links 17 Modeling As we did to add the links right click on the joint node and select Add Joint… Populate the fields as shown below Tip! Note that Prismatic refers to linear motion The travel axis for the joint is defined by placing a positive integer in the desired field In this case a in the X place holder makes the slide move along the X axis This is represented by the green indicator bar that appears on the floor Test this by jogging the slider to verify the direction Before pressing apply try adding values in the other fields and note the behavior and orientation of the green indicator For joint limits these values determine the amount and direction of travel along the axis defined above A negative value will change the direction of travel Once the fields are correct click Ok Adding a Frame A frame will create an attachment point for any fixture, part, etc that we may wish to attach to the slide in the future Right click on the Frames node and bring up the dialog box as shown below Use selection level Surface and snap mode Center to select the center of the top of the slide as the frame reference point Click on OK 18 Modeling Compiling the Mechanism You will notice from the previous step that the Mechanism Modeler is still open We will now compile the mechanism Click on the button Compile Mechanism to build the mechanism Close the Mechanism Modeler Test your mechanism by right clicking on it in the Layout Browser and opening up the Mechanism Joint Jog Move the slider back and forth to test it Save your mechanism as a library item by right clicking on it in the Layout Browser and then selecting Save As Library 19 Modeling 10 Save the station as myDeburrStation_3 1.3 Importing the Fixture and Working with Part Geometry Overview In the next steps we will import a fixture, attach it to our mechanism and then place a part in the fixture Open MyDeburrStation_3 (if not already open) Set the position of the mechanism mySlide to X= 475, Y= -180, Z=0 (no rotation) Import the geometry fixture.sat from the Courseware \Geometry folder Attach the fixture to the slide by right clicking on it in the Layout Browser and selecting Attach to and select the mySlide mechanism Answer Yes to the question “Do you want to update the position of fixture” Notice how the fixture snaps to the frame we created on the mechanism in the last exercise Next import the geometry gasket.sat from the Courseware \Geometry folder Save the station as myDeburrStation_4 20 Modeling Place the Part in the Fixture In this section we will place the part into the fixture We will use the point placement method to put the part in the fixture This is a powerful tool that can assist in the assembly of CAD data that comes from different sources in different orientations The reason for the three point placement is that the first point gives us the displacement while the second and third points align the part in the X and Y axis respectively Freehand Move the part so that is above and near the middle of the fixture Next we want to open up the Place dialog box By Three Points and use selection level Surface and snap mode End to assist in the placement Tip! Refer to the two position placement that was done in chapter 1.2 Also ensure that the bottom surface of the gasket sits on the top surface of the fixture plate The result after placement should look like the following 21 Modeling Save the station as myDeburrStation_5 Create the Casting Since all we have now is a gasket for the casting we will use some modeling functions to not only create a part from the gasket but to also create an alternate handed part Switch over to the Modeling Tab and click on Extrude Surface Select the face of the gasket and type in 150mm as height (Z-axis) for the part in the To Point Also ensure the Make Solid box is checked Click Create 22 Modeling Notice that a new part is created in the Layout Browser Rename it to “motor_housing” Attach the part to the fixture by right clicking in the browser and selecting Attach to > fixture Keep the current position of the motor_housing Delete the part “gasket” Save the station as myDeburrStation_6 1.4 Creating an Alternate Handed fixture and Part Overview In the next steps we will use more modeling tools to make an alternate handed part and fixture Import a second “mySlide” from the Courseware \Library folder Import a second “fixture” from the Courseware \Geometry folder We will now mirror the fixture_2 Right click on fixture_2 in the Layout Browser and select Mirror Select the YZ plane 23 Modeling A new part will be created Rename it to m_fixture and delete fixture_2 Attach the new mirrored fixture to the second slide mechanism (mySlide_2) Save the station as myDeburrStation_7 Creating a Mirrored Part Right click on the motor_housing in the Layout Browser and select Mirror Select the YZ plane This will create a new part Rename it to m_motor_housing Free Hand move the part to the vicinity of the newly mirrored fixture Use Place to place the part correctly on the mirrored fixture Attach the mirrored part and mirrored fixture to the second slide mechanism ensuring that they can be moved/placed in the station all as one unit Save the station as myDeburrStation_8 24 Modeling 1.5 Finish the Cell Layout Overview In the next steps we will finish the cell layout by repositioning the second slide and then adding a second robot, tool, fence and cabinet Set the position of mySlide_2 to the following coordinates: X=1800, Y=1500, Z=0 RX=0, RY=0, RZ= -90 Import a second 140_ stand.sat and set its position to the following coordinates: X=2000, Y=2000, Z=0 RX=0, RY=0, RZ= -90 Change the Deburr_Cell1 Tag to visible Copy FenceCreatorYellow in the Layout Browser and set its position to the following coordinates: X=1000, Y=2500, Z=0 RX=0, RY=0, RZ= -90 From the ABB Library import a second IRB140_5_81_01 robot and set its positon to the following coordinates: X=2000, Y=2000, Z=530 RX=0, RY=0, RZ= -90 Create a new robot system with System From Layout for the second robot Hint: Search “system from layout” in the RobotStudio help file for instructions on different ways to bring systems into a station Note that you will need to deselect the two slides in the Mechanisms dialog when creating the system Import a second SpindleTool and attach it to the second robot Save the station as myDeburrStation_9 1.6 Mirror Path Overview In the next steps we will mirror a path made from the geometry motor_housing, so it fits the part m_motor_housing Then we will transfer the mirrored path to the second robot Creating a Mirror Plane Frame When we mirror the path we need to define a “mirror plane” This plane must be placed in the center of the part motor_housing Therefore we will create a Frame in this position Select selection level Surface and snap mode Mid In the Home Tab click on Create Frame Create a frame at the mid of the left side edge on the part motor_housing, as on the picture below: 25 Modeling Mirroring the Path Synchronize the procedure DeburrPath from the system IRB140_deburr to the station (or create your own path with help of AutoPath) Right click on the path in the Paths&Targets browser and select Path>Mirror Path Select Mirror Plane Y-Z and Reference Selected Frame , select the frame made in the previous step and click on Show (now should the mirror plane be displayed at the center of the part) Check Keep Orientation and click Apply 26 Modeling Moving the Mirrored Path to the Second System Select the path mDeburrPath in the first system and click on Move to Task – your second system in the Path Tools-Modify menu Answer Yes at the question about reposition the targets, and Yes to All at the question about use existing workobject The resulting path in the new system should look like this 27 Modeling Modify the work object and set its position on the corner of the fixture so that the path lines up with the part 28 Delete all targets with the prefix m_ in the first system Use Auto Configuration to define new configurations in the mirrored path Synchronize the path to the Virtual Controller Set up a simulation in Simulation Setup so that both robots run Save the station as myDeburrStation_10 Save the station as a Pack and Go file Modeling © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden 29 ... and Part 23 1.5 Finish the Cell Layout 25 1.6 Mirror Path 25 Modeling Modeling Overview In this module we will expand on working with geometry, and also create a... fence walls Modeling Enter the values as shown in the chart below Click Apply Import the IRC5 Single Cabinet controller from the ABB Equipment Library Set its position as follows In the Modeling. .. from the Couseware folder Mount the Slide on the Slide Frame Switch to the Modeling Tab If you expand the SlideFrame in the Modeling Browser you will notice the part is made up of a series of bodies