Conifer Rob 1.3 User Manual
Contents
1. LFWRYPR3 Workpiece rotation in YPR angles degrees FEEDRATE Maximum feed rate given in robot velocity settings RAPIDSPEED Speed for rapid movement operations given in robot velocity settings TOLERANCE Tooling tolerance AXISVELOCITY Maximum allowed axis velocity for the robot OUTBASE File name of the generated robot program file with the running number ohmitted TOOLNAME Name of the currently selected tool SPINDLERPM Default spindle rotaton speed given in robot velocity settings FILEEXTENSION Filename postfix for the generated file Robot program template can modify this WORKPIECENAME Name of the workpiece ROTATIONVEL Obsolete included for backward compatibility ILINES Count of commands in paths JOINTS Count of joints in the robot TOOLNR Selected tool index in the tool library MODULENAME Suggested name for the program module This is generated from workpiece positioning name and the APT file name WORKPIECEPOSITIONNA Name of the workpiece positioning This is given in ME workpiece setup dialog TOOLWEIGHT Combined weight of the tool and tool contaienrs in kilograms given in the tool library Sub scopes for robot program modules Name Description JOINTS Contains the robot home position as joint angles PATH Paths in this robot program If the APT program is large the optimization may split the program into several paths depending on path size limits given in optimization2. FOREACH lt subscopename gt lt scopealias gt SENDFOREACH lt scopealias gt Foreach statement iterates over all found subscope instances of current scope having given scope name lt subscopename gt Within the FOREACH ENDFOREACH pair the variable values in the subscope can be referred with scope prefix lt scopealias gt The iteration count will be stored in scope variable INDEX as numeric value starting from 0 Example User Manual Conifer Rob 1 4 48 S FOREACH PATH P S FOREACH COMMAND C FOREACH MOVEL Mi Si BP INDEX S M LFP1 S ENDFOREACH Mi S ENDEORBACHA C S ENDFOREACH Di will iterate through all PATH subscopes at global scope and for each scope found there it will iterate over all contained COMMAND subscopes and for each such scope found it will iterate over all MOVEL subscopes found For all found MOVEL subscopes a running number of the containing PATH and the value LFP1 variable in the MOVEL scope will be expanded SET lt variablename gt lt expression Set statements stores the value of given expression lt expression gt in a global variable lt variable gt Example S SET lastSpindleValue 0 will set the variable lastSpindleValue in the global scope to numerical value zero The set value can then be expanded as S lastSpindleValue or referred in expression as S IF lastSpindleValue 0 NN IF IF lt variablename gt lt eqop gt lt expression gt ENDIF
3. IF ENDIF pair will expand the data between the IF and ENDIF if the expression lt expression gt expands to a value that matches with value of variablename as specified by comparison operation lt eqop gt lt eqop gt can either be meaning equal value or meaning non equal value User Manual Conifer Rob 1 4 49 Example S IF lastSpindleValue 0 StartSpindle S ENDIF S IF lastSpindleValue 0 StopSpindle S ENDIF will expand text StartSpindle to the robot program if global variable lastSpindleValue has zero value Otherwise text StopSpindle will be expanded sDUMP Will expand the contents of all variables to the robot program This is intended for debugging robot program templates Constant text as expression Textual constant data in expression is presented in quotes Example S IF questionanswer Yes Affirmative S ENDIF will expand Affirmative to the robot program 1f the variable questionanswer has textual value Yes Constant numeric value as expression Numeric constant values in expression are presented as they are Example S IF questionanswer 0 Zero was given S ENDIF will expand Zero was given to the robot program if the variable questionanswer has numeric value 0 Variable value as expression User Manual Conifer Rob 1 4 50 Textual word in expression that 1s not enclosed in quotes and does not match on any expression operations described b
4. Robot POS il On EE 21 Changing Robot POSITION iii Zi Detault erer EE 28 Sene Robot Home POSI 28 Manasino Re 28 Creatine New ODSLAGIES usas 28 Ie le tile Re Ce 29 M ving El E 29 Sete Default RE 29 A o shosseausondoaateteaddasmontadieee ae 30 Selecting Workpiece EEN 30 selcctino eelere 30 Attaching Tool Container ToRobot 31 Removing Tool Container From Robot 31 selecting Detault Tool Containers tegen ee 31 gt q AAA ne Re retain tenis The re ene E ae nea ree 31 AAC A a Semen eet 31 selecto Detatlt Oda 32 A E 32 Pati POSITIONNE o 33 Robot Amma aia 33 OPA e ben O AR As 34 Pati Optimization uno cada 34 Robot Velocity SUS dada 36 E AAA A A 36 Manual Pathi Manip lati Oies e 37 Viewing Pathi STAC CS iti ests ele a ontw een Eech 37 Create New E 37 User Manual Conifer Rob 1 4 3 Re EE 39 Modan PS Static 39 7 Collision Detection and Avoidance seicnsi non aa A EE 40 Colnsiom EE eege 40 Colisi n AVOIR iaa 40 SE ee TE E 4 EXPO EE 41 Generate RoDOL Prot ada 41 Uploading Robot Program to Robot 41 TACO RUINS O o 42 APPENDIX A Robot Program Template 43 How robot program generation works oooonnnncccccccccccnnnnnnononononononnnnnnnnnncnnnnnnanannnnnns 43 Kee EE 43 A A O OE 43 GEOBAL EE 44 MODULE SCOPE ee 45 JOINTS SCODE eann a E N E 46 PAL S COD EE 46 COMMAND RT EE 46 MOVE E COPE eater let te TOE NT lene cannes 47 Template Language Special Actas 48 User Manual Conifer Rob 1 4 4 1 INTRODUCTION
5. The exported file will contain the path and possible modifications made to it in the Conifer Rob The exported APT is presented in the workpiece coordinate system 1 e path position translation is applied to the path points before export Thus it is possible to import and APT path to Conifer Rob move and rotate it modify individual path points in it and then export the modified path back to APT file for further use However because APT format defines only 5 degrees of freedom the exported APT does not contain the tool rotation optimization created by Conifer Rob Generating Robot Program This option is available only after path optimization has been done To export the optimized path as a robot program select Write Control Files from the left hand toolbar A file dialog will appear asking for a file name for the robot program to be generaetd Give a file name for the robot program and click Ok Now the Conifer Rob will generate a robot program which can be loaded in to a real robot for running Uploading Robot Program to Robot If the workstation on which the Conifer Rob is running has a working TCP IP connection to the robot if FTP properties have been defined in Conifer Rob installation and if the robot supports FTP access you can after generating the robot program upload it automatically to the robot To do this select Upload program to robot from the File menu Conifer Rob will open an FTP connection to the robot and upload the l
6. coordinate of the point to which the contained tool or tool container will be attached to The coordinate is specified in the coordinate system of the geometry of this tool container Connection point Z to the contained tool container The Z coordinate of the point to which the contained tool or tool container will be attached to The coordinate is specified in the coordinate system of the geometry of this tool container Yaw rotation of the connection point to the contained tool container The YAW rotation of the contained items This setting rotates the contained items around the connection point to contained items Pitch rotation of the connection point to the contained tool container The PITCH rotation of the contained items This setting rotates the contained items around the connection point to contained items Roll rotation of the connection point to the contained tool container The ROLL rotation of the contained items This setting rotates the contained items around the connection point to contained items Geometry An STL geometry file defining the geometry for this coordinate system Pressing the LOAD button will open a file dialog from which the file to be used can be selected Tool container weight Weight of the tool container in kilograms Kg Deleting Tool Containers To delete a tool container from projects tool container library open Manage tool containers dialog by
7. de 16 299 101 0 180 0 180 default 0 Yes 17 299 6 102 0 180 D 180 default 0 Yes coordinate system ei an e o e 0 180 default 0 Yes R Path stage rotation ER Add Remove Edit Set Feedrate Set TooRPM The second mode Show Tool Position in Robot CS shows the tool location and orientation in the robot coordinate system The third mode Show Joint Angles Abb Style shows the location as robot joint angles in ABB style In this form the 3 joint angle is given relative to vertical plane instead of 2 joint The fouth mode Show Joint Angles deg shows the location as robot joint angles For each step the program feed rate Speed and Tool rotation speed RPM is shown Column APT tells wether the stage 1s part of the work path or a movement command added by the Conifer Rob path optimization process Creating New Path Stages User Manual Conifer Rob 1 4 37 In Robot path stages dialog it is possible to modify stages in the path To add a new point in path select the position to which you want to add the new stage in the path and click Add in the robot path stages dialog An Edit Path Stage dialog H will open with the fields pre filled with the values of the stage you selected This dialog allows modifying the tool position in either path coordinate system or robot coordinate system For tool orientation both YPR and quaternion system are supported Modify the values here
8. movement length Weight Optimization criteria tells how much the optimization emphasis the optimization gives for minimizing the robot joint angle changes and how much the optimization tries to keep the robot joint angles as close as possible to the home position Translation Resolution Translation resolution used in approximating joint movements as a sequence of linear movements Also used User Manual Conifer Rob 1 4 34 in linear motion check Smaller value gives better optimization results but takes longer to optimize Rotation Resolution Rotation resolution for linear motion check Smaller value gives better optimization results but takes longer to optimize Rotation Limit Min Max values for the tool rotation By default these are 180deg to 180deg meaning full circle 1s available for tool rotation By changing these values it 1s possible to deny certain tool rotation sectors to be used in path optimization Singularity Limit Limit angle in degrees Defines how close to a singularity point robot is allowed to move Joint Margin Safety limit for robot joint angle limits in degrees Any joint in robot is not allowed to get any closer to its angle limit than this value Joint 5 Safety Margin Safety limit for robot s 5 joint angle limit in degrees The 5 joint in the robot is not allowed to get any closer to its angle lit than this value Configuration By deselecting some con
9. on and unlike other coordinate system eg LE arrows they are not drawn in the coordinate system origo PRA CASO H PPG oo gas o HAG HA ASD Show Robot Coordinate System Arrows Robot Coordinate System Robot coordinate system arrows are er enabled from View gt Coordinate System Arrows gt Show Robot Coordinate System Arrows When enabled coordinate system arrows are drawn 1n the robot local coordinate system origo Workpiece Coordinate System Workpiece coordinate system arrows are enabled from View gt Coordinate System Arrows gt Show Workpiece Coordinate System Arrows When enabled coordinate system arrows are drawn in the workpiece local coordinate system origo This option is not available when workpiece has not been defined Path Coordinate System Path coordinate system arrows are enabled from View gt Coordinate System Arrows gt Show Path Coordinate System Arrows When enabled coordinate system arrows are drawn in the path local coordinate system origo This option is not available when APT source has not been loaded User Manual Conifer Rob 1 4 18 Tool Coordinate System Tool coordinate system arrows are enabled from View gt Coordinate System Arrows gt Show Tool Coordinate System Arrows When enabled coordinate system arrows are drawn in the tool local coordinate system origo This option is not available when tool has not been selected Path Normals Showing p
10. parameters MODULE scope User Manual Conifer Rob 1 4 45 Variables Name Description NAME Name of the program module HASTOOLNAME 0 tool name was not defined 1 module has tool name defined TOOLNAME Tool name to use in program module Sub scopes None JOINTS scope Variables Name Description LF_JOINTI Joint angle of the robot home position for the 1 joint LF_JOINT2 Joint angle of the robot home position for the 2 joint LF_JOINTS Joint angle of the robot home position for the 3 joint LF_JOINT4 Joint angle of the robot home position for the 4 joint LF_JOINTS Joint angle of the robot home position for the 5 joint LF_JOINT6 Joint angle of the robot home position for the 6 joint Sub scopes None PATH scope Variables None Sub scopes Name Description COMMAND Robot commands forming the containing path COMMAND scope Variables None User Manual Conifer Rob 1 4 46 Sub scopes Name Description MOVEL Linear movement command s MOVEL scope Variables Name Description LFP1 Tool target x coordinate in workpiece coordinate system LFP2 Tool target y coordinate in workpiece coordinate system LFP3 Tool target z coordinate in workpiece coordinate system LFQ1 Tool target orientation in quaternions LFQ2 Tool target orientation in quaternions LFQ3 Tool
11. the view in out Mouse moves viewport Left mouse button dragging moves the view Mouse rotation Left mouse button dragging rotates the view Left mouse button drag with CTRL key pressed down will move the viewport Mouse wheel button drag zooms the view in out User Manual Conifer Rob 1 4 11 Rotating path stage with mouse After APT source has been loaded in the system you can run the robot to a stage in a path select mouse rotation mode by pressing this button and then rotate the path stage with left mouse button on the screeen and while holding the button down dragging mouse from left horizontally Point selection measurement mode Clicking on geometry will tell the coordinate location of the point in which user clicked Mouse selection mode Replace selection In this mode the new selection replaces the old selection However if SHIFT key is pressed during selection the new selection is added to the current selection instead of replacing it Mouse selection mode Add to selection In this mode the new selection is added to the old selection Mouse selection mode Remove from selection In this mode the new selection is removed from the old selection However 1f SHIFT key is pressed during selection the new selection is added to the existing selection Stages Toolbar al Le Move robot to previous stage in current path Move robot to next stage in current path Stop animation Run path as an animation Visualization will
12. Export Original Exports the APT program as it was loaded into Conifer Rob APT with all the changes made in Conifer Rob reverted Supervisor Enter supervisor mode Mode View Toolbar Hide show top toolbar Selection Bar Hide show left side toolbar Status Bar Hide show status bar at the bottom of the screen Doublebuffering Enable disable doublebuffering in 3D visualization Zoom Zoom in out the view Move Pan the view Rotation Rotate the view Projection Select orthographic perspective projection for the view View Mode Select 3D rendering mode either wireframe hidden surface or User Manual Conifer Rob 1 4 13 polygon Clipping Setup clipping box for the view Using clipping allows looking inside geometries Hilight Sharp Enable disable edge hilight feature in 3D drawing Edge hilight Edges draws sharp edges in the geometry with hilighted color which makes it easier to quickly see the geometric features in drawing Sharp Edges Setting edge treshold for hilight sharp edges feature Treshold Hide all Show Toggles geometry visibility for all geometries in the view all Hide object s Toggles geometry visibility for the selected geometries Show object s Show floor Toggles floor visibility Coordinate Toggles coordinate system arrows visibility System Arrows Show Path Toggles path normal 1 e tool orientation visibility Normals Capture Picture Save the currently
13. HASP Device Drivers Installation ALADDIN KNOWLEDGE SYSTEMS LTD HASP Device Driver LICENSE AGREEMENT IMPORTANT INFORMATION PLEASE READ THIS AGREEMENT CAREFULLY BEFORE DOWNLOADING OR INSTALLING THE SOFTWARE PROGRAM ALL ORDERS FOR AND USE OF THE HASP Device Driver including any revisions corrections modifications enhancements updates and or upgrades do not accept the license agreement lt Back Conca a HASP Device Drivers H 2s Driver installed successfully Aladdin If the PC that is running Conifer Rob software has TCP IP network access directly to the robot that will be running the generated robot programs you can configure Ftp access properties to the Conifer Rob and thus allow the software to communicate directly with the robot via FTP The parameters reside in configuration file coniferrob ini which is located in the same directory where the Conifer Rob executable is by default this is C program files Conifer Rob or C program files x86 Conifer Rob The file has entries robotftphost robotftpusername robotftppassword robotftpposedirectory robottiteoprogramdirectory User Manual Conifer Rob 1 4 If you fill in to these the robot s host name or IP address and the username and password of the robot s ftp service the directory in the robot where the robot keeps position pos files and the program directory in the robot where robot programs are stor
14. New tool containers are added to the library by selecting from dropdown menu View gt Manage Tool Containers Manage tool containers dialog will appear listing current tool containers in the tool container library of the current project Le batchtest ConiferRob Model Help Oa File View tael SSlcz trleecoecOclgl bleoleee mR ai gt Select Workpiece Position Path Optimization Settings Robot Velocity Settings Write Control Files Dutt Show Path Stages E p n Animation Speed 100 QR O Px os Clicking New button will open dialog from which the properties of new tool container are specified Following properties must be given Name User given name for the tool container Connection point X to container The X coordinate of the point from which the container connects to the tool container that contains this tool container or robot if there 1s no containing tool container The coordinate 1s specified in the coordinate system of the geometry of this tool container Connection point Y to container The Y coordinate of the point from which the container connects to the tool container that contains this tool container or robot if there 1s no containing tool container The coordinate is specified in the coordinate system of the geometry of this tool container Connection point Z to container The Z coordinate of the point from which t
15. Overview Conifer Rob is a precision tool that fills the process gap between machining path generation system such as a CAD system and the industrial robot running the machining program With the help of Conifer Rob one can quickly and safely convert and move the machining program in P apt format into the robot for execution With the help of Conifer Rob the positioning of the workpiece can be easily designed Reachability analysis allows identifying problems in the positioning and ensuring that selected positioning a functioning one Conifer Rob converts the imported machining path into a robot program and optimizes the program for optimum accuracy and reachability Conifer Rob also supports doing manual corrections to the machining path Finally the animation and collision detection features in Conifer Rob support checking the robot program for safety before pushing the robot program into execution Conifer Rob can help you in Converting machining path into a robot program Optimizing robot robot program Designing the positioning of the workpiece in the robot cell Ensuring safety of the generated robot program Correcting problems in generated robot program User Manual Conifer Rob 1 4 5 Installation and Licensing New Installation Prerequisites To successfully install Conifer Rob you need 1 PC with at least 512MB of RAM and 10GB of free disk space 1GB of RAM and 30GB of free disk space is recommended 2 Wi
16. PT Path positioning O oo file has been read in ere You can move the path positionining in the x 50 y 50 z 0 workpiece geometry by selecting Model gt Path Positioning A Path positioning dialog will open from which the path Cancel position and Z rotation in the workpiece j coordinate system can be changed Give new path location and orientation and click OK Conifer Rob will not recalculate the reacability for the path according to new path position Rotation Around the Z Axis 0 z Robot Animation Once the APT file has been read the Conifer Rob can animate the robot running the given path Use Stages Toolbar in the top of the screen to run the animation You can also use the Show Path Stages function found in the left hand toolbar to navigate the path in detail User Manual Conifer Rob 1 4 33 6 Path Optimization In path optimization Conifer Rob will determine the approach and exit from the robot home position Most importantly the optimization process will look for the best possible robot configuration for running the path in current robot cell setup and optimize the tool rotation around the tool symmetry axis The loaded APT source defines only 5 degrees of freedom leaving the rotation around the tool axis open The optimization will bind this extra degree of freedom and selects a rotation for each step so that robot joint movements are minimized and robot singularity points are avoided Also when collisi
17. Position To modify the default robot location used for new robot simulation projects you have to create modify a file named robot pos in the Conifer Rob installation directory This file as the following syntax AY A DOLLZ where the X Y and Z define the default robot location in the robot cell and the rotZ defines the robot rotation around the Z axis in degrees Example 100 0 0 0 43 Setting Robot Home Position The robot home position for current simulation project is set in Optimization Settings See chaper Optimization Settings for details on this The default position for robot home position is defined in file home jnt which locates in the installation directory of the Conifer Rob The format of the file is following lt jount1 gt lt joint2 gt lt joint3 gt lt joint4 gt lt joint5 gt lt joint6 gt where jointN gives the joint N rotation value for home position in degrees Example 0 000 el KEIER O 000 OU 000000 Die ODO JU UDI Managing Obstacles Creating New Obstacles STL file This operation is available only after 4 tuomas Desktop Acute RobotStulftwik box st Browse supervisor login Object name d box Y ou can import STL geometries as i obstacles to your robot simulation q ok Caca project These obstacles are visualized on the screen and used in the collision detection to determine wether the robot program is safe to run User Manual Conifer Rob 1 4 28 To import a
18. User Manual Conifer Rob Simtech Systems Inc Industrial Robot Simulation Software Version 1 4 0 for Windows XP and Windows Vista Simtech Systems Inc Version 2008 07 23 CONTENTS INTRODUCTION ito nada 5 DA o PP wa dak O O AS 5 EE ere RE Ee deta 6 NEW TS lao 6 rte o E tF LP ICES Sarsi a edo 8 GA ene ida 9 DISET MEA SS E E EN 10 A Reman es eae eee ene Petree SENET Benen ee etme ee ae nae A 10 fo cite Boy c by EE 10 erageet 11 SIS CNR E 12 Animation Speed Toolbar can 12 Eeer Eeer 13 A In 13 VIV odo 13 A A oe eee 14 A A stds tcc ene ee cece ages 15 O E a o EE UU nn E 15 EA A A N 17 Moving Zooming and Rotating The View 17 SEIS 019810221 OD EE 17 Ai A O Io o A A E 17 HEEN 18 DSCNS e 01918 BEE 18 AAN A A 18 eege E EE 18 Global Coordinate Syste EE 18 RO ee 18 Workpiece Coordinate Syste Miaa a A E 18 Pati Coordinate Syste eaa ee 18 Tool ee te et D 19 PRENON S tute tcc A sabes taae eee neal sue 19 Hiding ang Sho wine OD EE EE 19 PWS AIO COOLS EEN 19 Wireframe Flat Shaded Visualzaton 19 Capturing Pictures and E Ae 20 4 Manasimo Robot Cel ay EE 21 User Manual Conifer Rob 1 4 2 SEENE ee ee EE 21 Managing Tool Containers LL lrarw 21 Creatine New Tool COM dereen a ended 21 Deleting LOOM C Ona EE 23 Modifying Tool e 23 Setting Default Tool Contamerg nana 24 Manasins Lo0ls Lita ans 24 Creatine New TOONS EE 24 PSIG Uri KEE 26 INE GIT VITO LoS 26 Sene Delano EE 26 Workpiece POSTOR i n 26
19. and click OK to add a new stage before the stage you selected To test the location first click Apply This will store the new path stage to the path and move the robot to this new location so that you can preview on the screen the change was correct and keep the dialog open for the new stage so that you can make corrections The properties for new stage are Name Description Position X Tool location for the stage in selected coordinate system Position Y Tool location for the stage in selected coordinate system Position Z Tool location for the stage in selected coordinate system Orientation Yaw Tool orientation for the stage deg Orientation Pitch Tool orientation for the stage deg Orientation Roll Tool orientation for the stage deg Orientation Q1 Tool orientation for the stage quaternions Orientation Q2 Tool orientation for the stage quaternions Orientation Q3 Tool orientation for the stage quaternions Orientation Q4 Tool orientation for the stage quaternions Movement Speed Rapid Movement to the stage location is to be done as rapid movement Movement Speed Normal Movement to the stage location is to be done with given speed Movement Type Linear movement means tool will move to the new stage location along straight linear path from the previous stage Joint movement will rotate all joints at nearly linear rotation speed to reach the new location In the join
20. ast generated robot programs to robot in directory specified by robotftpprogramdirectory entry in coniferrob ini see Installation chapter for details User Manual Conifer Rob 1 4 41 9 Batch Runs Using batch files allows optimizing and generating robot programs from several APT paths in one run The task is defined in a batch file that should have a postfix crbbat in its file name The crbbat file consists of lines each defining one apt file to process The line structure of the crbbat file 1s handleapt lt mname gt lt aptfilename gt lt wpfilename gt lt pposfilename gt where lt mname gt is the module name lt aptfilename gt is the file name of the apt file defining the path to be processed lt wpfilename gt is the file name of the pos file defining workpiece position and lt pposfilename gt is the file name of the pos file defining the path positioning of the path wihin workpiece The batch function is started from selecting Run batch from File menu A file dialog will open asking for you to provide the crfbbat file that defines the batch to run When you do this you should have a simulation document open that defines the Robot cell and optimization parameters for the batch Once batch file 1s selected the current document is saved automatically and for each handleapt command the system will create a new simulation document crb load the apt file given in the crbbat file line to the simulation document s
21. ate Some of the operations require supervisor authentication before they become available User can enter supervisor state by selecting Supervisor Mode from the File menu A supervisor login dialog will appear asking for the current supervisor password The same dialog can also be used for changing the supervisor password The default supervisor password 1s silirimpsis Supervisor Mode User Manual Conifer Rob 1 4 15 Should you ever loose the supervisor password contact the Conifer Rob support for instructions on how to reset the password User Manual Conifer Rob 1 4 16 3 Visualization Moving Zooming and Rotating The View The view to the robot cell can be panned zoomed and rotated by several means The dropdown menu View contains Zoom Move and Rotate submenus for this purpse Also the toolbar at the top of the main screen contains buttons for navigating the view Sele A amp es mm Finally selecting move or rotate modes from the toolbar on the right side of the screen allows navigating the view with mouse R Gl Selecting Objects Geometric objects can be selected by clicking them with mouse The selected geometries are drawn with white color There object selection works differently depending on which selection mode 1s selected There are three different selection modes can be selected from the left side toolbar EN The default mode replace the current selection with the new one Howev
22. ate of the point to which the contained tool or tool container is attached to The coordinate is specified in the coordinate system to the geometry of this tool container User Manual Conifer Rob 1 4 25 Se A W batchtest ConiferRob o amp File View Model Help Deh tee UK eC L tPA OO HPP ole ojs al i gt kel Animation Speed HOM zo DA Add to Defaults Load Defaults Replace Defaults Deleting Tools To delete a tool container from projects tool library open Manage tools dialog by selecting from dropdown menu View gt Manage Tools Select a tool you wish to delete from the list and click Delete button Modifying Tools To modify a tool in projects tool library open Manage tools dialog by selecting from dropdown menu View gt Manage Tools Select a tool you wish to delete from the list and click Edit button A dialog similar to used when creating new tools will open from which the tool properties can be modified Setting Default Tools System maintains a set of default tools which are initialized to the tools library for new simulation projects You can revert the simulation project to this default library by clicking Load defaults button in the Manage tools dialog Also you can replace the default tool library with the current one by clicking the Save defaults button The default tool library is stored in the Tools directory in the Conifer Rob install
23. ated by either space or tab character s If the file contains 6 numbers the position is assumed to be in YPR format x y z yaw pitch row and if the file contains 7 numbers the format is assumed to be in quaternion format x y z q1 q2 q3 q4 The position export function always export the position in quaternion format Finally the workpiece position can be uploaded to a robot with Export to robot and loaded from robot with Import from robot In exporting the name of the pos file is asked and the position 1s then uploaded via FTP to the robot In importing the Conifer Cast lists all the pos files in the position file directory in the robot and lists them To download the position select the position file and click Ok The FTP properties need to be configured for this see Installation chapter for details Select position file to load from robot Query mytest pos Name for the new pos file in robot mytest Ok Cancel co Robot Position Changing Robot Position EE e ee This operation is available only after supervisor login Postition Offset vin ein TS To change the robot location and orientation the robot cell for this robot simulation project select from dropdown menu Model gt Robot Positioning Rotation Around the Z Axis 0 E OK Cancel User Manual Conifer Rob 1 4 27 A Robot positioning dialog will open from which you can change the robot location and orientation in the robot cell Default Robot
24. ath normals is enabled from View gt Show Path Normals menu When enabled the path visualization will draw a path normal for each path stage point indicating the tool orientation at that location This option is not available when APT source has not been loaded Hiding and Showing Objects With this option it is possible to hide STL geometries and thus see other geometries that may be hidden within them First select the option by clicking on the STL geometry with mouse and then use this function to hide the geometry Selection mode buttons at the right side of the window can be used for selecting multiple STL geometries when necessary When some STLs are hidden this menu entry is renamed as Show object s Show All and selecting this will render the selected objects visible again Tweaking Colors Surface colors for geometries in the robot cell the robot parts workpiece tool containers tool and obstacles can be modified by selecting the geometry with mouse 1t will be drawn white to show that 1t 1s selected and then selecting dropdown menu View gt Surface Color A color picking dialog will appear from which new color can be selected for the geometry Background color for the screen can be modified from dropdown menu View gt Background Color Wireframe Flat Shaded Visualization Geometry visualization mode can be changed by selecting the geometry and then clicking the appropriate visualization mode icon in
25. ation directory typically c program files conifer rob If you want to take a backup of the tool library just backup this directory To revert back to the backup replace the contents of the Tools directory from your backup Workpiece Positioning This operation is available only after supervisor login Also before you can position the workpiece you have to define the workpiece geometry To move the workpiece in the system select from dropdown menu Model gt Workpiece Positioning or alternatively from the left toolbar Select Workpiece Position User Manual Conifer Rob 1 4 26 An Edit Workpiece Position dialog will open From this dialog you can set the workpiece location in the robot cell for this simulation Edit Workpiece Position workpiece Position name Location ES OK Cancel project document Location is given in global za A oad defaul coordinate system By clicking Load Default Y 600 mn you can load the system default location for the i ES E workpiece position and by clicking Save E Default you can store the workpiece location in SE Quaternions the current simulation document as the system default The system default is used for all new pithy fo simulation project documents as default Rol G Ta workpiece location Workpiece location can also be imported from a file The supported file format is a simple text file consisting of 6 or 7 decimal numbers separ
26. ault This will save the current tool selection as default which will be used for all new simulation projects To revert back to default tool selection click Load Default button in the Select Tool dialog Reading APT File This operation requires that the workpiece geometry has been defined first In order to load an APT path to Conifer Rob select dropdown menu Model gt Load APT File or alternatively click Read APT file button from the left hand toolbar A file dialog will open for selecting the APT file to be loaded Select the APT file and click Ok The APT file will not be loaded to the simulation project Conifer Rob will perform initial reachability analysis for the path defined in the APT file and renders the path to the screen so that reacable fragments of the path are rendered with white color while non reacable framgments are rendered with red color If some or all parts of the path are unreacable you can try to fix this by moving the path within workpiece using Path Positioning function in the Model menu If you have supervisor access you can also try to move the workpiece or the robot in the robot cell to make the path reachable User Manual Conifer Rob 1 4 32 Now that the path has been loaded it 1s possible to animate the robot running the path Also it is possible to do modifications to the path via Show Path Stages operation found in the left hand toolbar Path Positioning This operation is available only after A
27. default installation directory is Select Langua LS cAprogram files conifer rob ic Please select the language that you would like to use during the installation Installing Dongle Driver If you have been provided with hardware key dongle based license you will have to install the dongle Ge drivers You do this by running the hardware dongle driver installer from Alladin The installer executable in named hdd32 exe 1 The driver installer will as your for the installation language Select language and click OK User Manual Conifer Rob 1 4 7 2 From the Wellcome dialog click Next 3 From the End User License Agreement dialog you have to select I agree and click Install 4 Driver will not install This may take few minutes 5 Finally you are greeted with dialog stating that driver has been successfully installed Click Finnish here to end the installation Configuring FTP access HASP Device Drivers Installation 2s J Welcome This program will install the HASP device drivers for Windows 95 98 ME Windows NT 2000 4P 2003 Vista x86 64 HASP HL is also supported by these drivers HASP Device Driver version 5 22 In order to update the device drivers all open processes accessing the driver have to be closed If you have any running applications please close them now otherwise the installation program tries to terminate the processes by itself Aladdin
28. e after APT file has been read in To do collision detection for the current path select from dropdown menu Model gt Check for Collisions The Conifer Rob will now simulate running the robot program in memory and checks each path step for collision If collisions are found the colliding parts in the part are rendered with red color and the robot is driven to the location where the first collision occurred The collisions are checked between all the robot and tool container parts and the work piece and obstacles The collisions of the tool geometry are checked against the obstacles but not the workpiece IMPORTANT Currently the collision detection does NOT check the approach from the home position and the exit to the home position Collision Avoidance During path optimization if the Collision Detection while Optimizing option is selected from the Path Optimization Settings the system will do collision avoidance during path optimization The optimizatio process checks each path step for collision and accepts only the configurations and tool rotations in which it does not find collisions User Manual Conifer Rob 1 4 40 8 Exporting Results Exporting APT This function requires that an APT file has been loaded to the simulation project To export the path as APT file select from dropdown menu File gt Export APT A file dialog will open asking the file name for the new APT file to be exported
29. ed the Conifer Rob can access amp update these directly in the robot via FTP 64 bit installations Conifer Rob is a 32bit Windows application but it runs on 64 bit windows systems aswell User Manual Conifer Rob 1 4 9 2 User interface Toolbars Top Toolbar a Li Ka Za wk AF gt TT mi 4 ME ae New simulation project Same as New from the File menu Open simulation project document Same as Open from the File menu Save simulation project document Same as Save from the File menu Print Same as Print from the File menu Prints the current window About Same as About in the Help menu Displays About dialog that contains copyright information and the Conifer Rob executable version Zoom In Zoom Out Move view to left Move view to right Move view to downwards Move view to upwards Rotate view Rotate view Rotate view Rotate view User Manual Conifer Rob 1 4 10 e CR Rotate view Rotate view Reset view to default location View along Y axis View along X axis View along Z axis Orthographic perspective Use realistic perspective Show gemetries in wireframe mode Show geometries in filled polygon mode Show geometries in shaded polygon mode Show hide selected geometries Toggle transparency on selected geometries Righthand Toolbar n E m c Default mouse selection mode Mouse zoom mode Left mouse button dragging zooms
30. elow 1s considered as a variable value expansion and the value of the variable will be used then Example S IF questionanswer correctanswer Correct ENDIF Will expand Correct if the variables questionanswer and correctanswer have the same value DIV Expression operation DIV calculates the numeric value of the first operand divided with the numeric value of second operand Operands are given in s and separated with comma Example S SET myvariable 10 S SET divisor 2 S SET myvariable DIV inputvalue divisor S myvariable will calculate the 10 2 and store the value to variable myvariable and then finally expand that value to the robot program MUL Expression operation MUL calculates the product of the first and second operand Operands are given in s and separated with comma Example SUCH yarll 3 4 S SET var2 4 S SET myvariable MUL varl var2 S myvariable will calculate the 3 4 1 e 12 and store the value to variable myvariable and then finally expand that value to the robot program SUM User Manual Conifer Rob 1 4 51 Expression operation SUM calculates the sum of the first and second operand Operands are given in s and separated with comma Example SY Chr varl 3 3 Ee varo e Ue 3 S SET myvariable SUM varl var2 S myvariable will calculate the 3 4 i e 7 and store the value to variable myvariable and then finally expand that
31. er 1f SHIF key 1s pressed down during mouse click the object 1s added to the selection instead EN Mouse selection mode Add to selection In this mode the new selection 1s added to the old selection E Mouse selection mode Remove from selection In this mode the new selection is removed from the old selection However if SHIFT key is pressed during selection the new selection 1s added to the existing selection Clippin Clipping Planes Mins In Clipping planes can be set dropdown menu Max View gt Clipping Mny Mas cl Minz kon A dialog will open from which clipping planes a2 along main axis can be defined Setting clipping geet x User Manual Conter Rob 1 4 17 planes allows looking inside geometric objects as the surfaces that lie outside the clipping box are not drawn Floor Setting Floor Level This option allows changing the floor level Z coordinate By default the floor Floor level 0 mm level is at Z 0 This operation requires supervisor login Hiding Floor Hiding floor in visualization can be helpful if the floor level is blocking the view to objects that are positioned below the floor level Floor visibility can be toggled from dropdown menu View gt Show Foor Coordinate Systems Global Coordinate System da en oe Global coordinate system arrows er He ep are shown on the left side of the main screen The global coordinate system arrows are always
32. et workpiece position and path position as defined in the crfbbat line run optimization with the current optimization settings and generates robot program to the directory where crfbbat file resides If main program template is defined as Templates mainprogram template in the directory where Conifer Rob executable resides typically this is c program files conifer rob or c program files x86 conifer rob the batch operation will also generate a main file according to the definitions in the template file If the batch operation runs successfully the File gt Upload program to robot operation can be used to upload the generated modules and main program directly to the robot via FTP User Manual Conifer Rob 1 4 42 APPENDIX A Robot Program Templates How robot program generation works Conifer Rob uses templates for generating robot program from the optimized work path in the memory The data in the template file is copied to the robot program as is However specially formated items in the template file so called tags are given special treatment The tags are used for iterating data in optimized path and expanding data from the path to the robot program The data in the oprimized path can be accessed via variables The template expansion procedure can also modify the values of variables and thus maintain an internal state during the template expansion Templates The used templates are defined in the coniferrob ini config
33. figurations here it 1s possible to constraints force the optimization not to use certain robot configurations Collision When enabled the optimization process will do collision detectionwhile check for each path stage and selects only configurations optimizing path and tool rotations in which collisions do not occur Robot home position This entry defines the robot home position to be used Home position is defined as joint angles in degrees Also robot joint angle limits can be configured here Reduce speed at corners If selected the optimization will monitor for robot tool acceleration speed at corners and if 1t exceeds the given trenshold acceleration it will run change the robot program so that the corner is run slowly enough so that the acceleration treshold is not exceeded Visit home between segments If selected the animation will add visit to the robot home position between every robot program segment Load default home This button will replace the currently set robot home position with the default Save default home This button will store the currently set robot home position as the default User Manual Conifer Rob 1 4 35 obot Veloci ttings LS Robot Velocity Settings ren Seira MOS Maximum Feed Rate 50 mm s To set the robot velocity settings click Robot OA k el a Joint Movement Ratio 20 mm s Velocity Settings button
34. file geometry An STL geometry file defining the geometry for this coordinate system Pressing the LOAD button will open a file dialog from which the file to be used can be selected Connection point X to container For complex tools The X coordinate of the point from which the complex tool geometry connects to the tool container The coordinate is specified in the coordinate system of the given geometry file Connection point Y to container For complex tools The Y coordinate of the point from which the complex tool geometry connects to the tool container The coordinate is specified in the coordinate system of the given geometry file Connection point Z to container For complex tools The Z coordinate of the point from which the complex tool geometry connects to the tool container The coordinate is specified in the coordinate system of the given geometry file Yaw rotation of the conneciton point to container The X coordinate of the point to which the contained tool or tool container is attached to The coordinate is specified in the coordinate system to the geometry of this tool container Pitch rotation of the conneciton point to container The X coordinate of the point to which the contained tool or tool container is attached to The coordinate is specified in the coordinate system to the geometry of this tool container Roll rotation of the conneciton point to container The X coordin
35. he container connects to the tool container that contains this tool container or robot if there 1s no containing tool container The coordinate 1s specified in the coordinate system of the geometry of this tool container Yaw rotation of the connection point to container The YAW rotation in the connection point to the containing tool container or robot if there is no containing tool container This effectively rotates the geometry of this tool container AND the contained tool containers and the tool Pitch rotation of the connection point to container The PITCH rotation in the connection point to the containing tool container or robot if there is no containing tool container This effectively rotates the geometry of this tool container AND User Manual Conifer Rob 1 4 22 the contained tool containers and the tool Roll rotation of the connection point to container The ROLL rotation in the connection point to the containing tool container or robot if there is no containing tool container This effectively rotates the geometry of this tool container AND the contained tool containers and the tool Connection point X contained tool container The X coordinate of the point to which the contained tool or tool container will be attached to The coordinate is specified in the coordinate system of the geometry of this tool container Connection point Y to the contained tool container The Y
36. in the left hand side Ean EN toolb ar Movement Precision 2 mm OK Cancel Following velocity settings can be set Name Description Maximum Feed Rate Maximum feed rate This is used as default if feed rate is not given in APT file Rapid Movement Speed Movement speed for rapid movement commands Joint Movement Ratio Relative joint velocity factor for joint movements Default Tool RPM Default tool rotation speed This is used if rotation speed is not specified in APT file Movement Precision Tooling tolerance Path Optimization This function requries that the APT file has been loaded in Path optimization is started from the left hand side toolbar button Optimize Path A Progess Ouput dialog will open to which the optimization process will write it s progress information The path optimization will try out the loaded path in all possible 8 robot configurations and tries determine the optimal tool rotation so that all stages are reacheable and robot joint rotation velocities are minimized and robot operates as close as possible to the home Process Output e E S een P e LS position joint angles Screw resolution is 0 17453 rad 10 00000 deg S 8 Nor path segment leng ji Optimization process inserts the EE Checki ey absolute reachabili Percen done 0 5 10 18 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 path an approach segment from the EE a 3 All tags are reachable with configurations 2 6 robot home position and exit Perce
37. ndows XP 32bit or Windows Vista 32bit or 64bit 3 Display driver with some hardware 3D acceleration most display adapters these days have 4 Conifer Rob Installer executable 5 Valid ethernet address MAC bound license file for Conifer Rob or alternatively a USB hardware dongle for Conifer Rob With dongle based licenses you need to have the USB hardware dongle driver installer aswell Running Installer Run the Conifer Rob installer executable 1 On Windows Vista you will be Kal Conifer Rob 1 3 0 beta Setup License Agreement Eja 1 Please review the li a t before installing Conifer Rob 1 3 0 prompted to wether you will allow el ree rya acetal tere of he agement GT Agen the unidentified software to modify your system To proceed you must Copyright Simtech Systems Inc Oy click Allow H lsov gen 2 01150 S derkulla FINLAND Conifer Rob 1 3 0 beta for Windows XP and Vista All rights reserved The Copyrights for this Software are owned by Simtech Systems Inc Oy Unauthorized use of the software are 2 License Agreement view will open Eeer een You have to select I Agree to go forward with the installation 3 You will then have the option of d 5 Conifer Rob 1 3 0 beta2 Setup Installation Options selecting the default robot model and language for the Conifer Rob Select the type of install ABB IRB 4400 60 1 96 Engish sl installation Select robot model and ABB IRB 4400 60 1 96 Engish language fr
38. new obstacle to the system select from dropdown menu Model Add STL and an Add new geometry to model dialog will open Clicking Browse will open a file dialog from which you can select an STL file defining the obstacle geometry to be imported in the simulation project To Object name edit line give a human readable name for the obstacle This name will be used for referring to the obstacle in the user interface After clicking OK from the Add new a 2 geometry to model dialog an Object 0 Wee S positioning dialog will open On the left Y noma side you see a list of obstacle geometries in BA the simulation project The newly imported Rotation x oon obstacle is automatically selected as ven default On the right side there are entries z oo for positioning and rotating the geometry in the robot cell Making changes to these entries becomes visible on the screen immediately After the obstacle geometry has been positioned to it s correct location in the robot cell click OK OK Cancel Deleting Obstacles This operation is available only after supervisor login To remove an obstacle from the robot model select from dropdown menu Model gt Remove STL A Remove object dialog will open The dialog shows the list of obstacles in the current simulation project Select the obstacle you wish to remove and click Remove to remove the obstacle Remove Cancel Moving Obstacles This operation is a
39. nt dono 0 10 10 15 20 25 30 425 40 45 80 55 60 65 70 75 80 85 90 95 100 pare as Geh GE atasLocal Temp joints_ou segment from the path end point Approach file approach dat back to the robot home position If Creating post processon input filas path is very long the optimization process will split the path into several segments so that each segment can be loaded separately to the robots limited memory so that larger paths can be run in separate fragments with robots having limited controller memory User Manual Conifer Rob 1 4 36 Manual Path Manipulation Viewing Path Stages This function requires that APT has been loaded to the project Selecting View Path Stages from the left hand side toolbar will open stages dialog which shows the currently active path as a list of command steps The currently active step is shown in the dialog as selected and during animation this selection will move forward as the program is run forward Also clicking a stage in the stages list will bring the robot to that location icssissce Eq Show Tool Position in Workpiece CS_ Show Tool Position in RobotCS Show Joint Angles ABB style C Show Joint Angles deg in the program ae ee a et The list can shows the path A see 7 stages in two modes First mode Za mm 8 2 SE gt t es Show Tool Position in sm E 9 me m deo S Workpiece CS shows the tool ei mo ar no ye location and orientation in path 3 m4 o 30 0 E
40. nt point offsets can be given to move the workpiece coordinate system away from the workpiece box corner to a location where measurement is more practical Selecting Tool Containers Tool containers are objects that are attached to the robot and to which the tool then be attached Tool containers are managed in tool container library To select the tool containers to be used in simulation select from dropdown menu Model gt Select Tool Containers A Tool Containers dialog will open up This dialog shows the list of the tool containers currently attached to the robot User Manual Conifer Rob 1 4 30 Attaching Tool Container To Robot ii e gs 4 Se o ASPs gag Select Tool Read APT file Path Optimization Settings Optimize Path I o o o To attach a tool container to robot open Tool Containers dialog by selecting dropdown menu Model gt Select Tool Containers In this dialog click Add button A Select Tool Container dialog will appear Select the tool container to add and click Select Confirm the change by clicking OK in the Tool Containers dialog Removing Tool Container From Robot To remove a tool container from robot open Tool Containers dialog by selecting dropdown menu Model gt Select Tool Containers Select the tool container to remove from the robot and click Remove Confirm the change by clicking OK in the Tool Containers dialog Selecting Default T
41. ntry named configuration for example configuration ROBOT IRB4400 The supported values for the configuration entry are Value Robot Model ROBOT IRB2400 15 20 ABB IRB 2400 20 1 5 Experimental ROBOT _IRB4400 ABB IRB 4400 60 1 96 ROBOT IRB6400 24 120 ABB IRB 6400 120 2 4 ROBOT IRB6400 25 150 ABB IRB 6400R 150 2 5 ROBOT IRB6400 28 150 ABB IRB 6400R 150 2 8 ROBOT IRB6400 30_100 ABB IRB 6400R 100 3 0 ROBOT IRB6600 175 255 ABB IRB 6600 175 2 55 ROBOT KR125 PARAT KUKA 125 PARAT ROBOT KR150L110 2 KUKA KR150L110 ROBOT KR150L110 2 VK KUKA KR150L110 customized ROBOT KR150 3 KUKA KR150 3 ROBOT MOTOMAN YR NP50 M A00 Motoman YR NP50 M A00 Experimental Changing selected robot for an existing robot simulation project is not supported Managing Tool Containers Library Conifer Rob maintains a library of Tool Containers in each simulation project separately Tool containers are geometric objects that are attached between the robot and the cutting tool For example an electric engine that rotates the cutting tool is a tool container Tooling containers can be nested 1 e electric engine can be attached to the robot via connector arm or an adapter The chain of tool containers move the cutting tool in relation to the robot arm and thus must be taken into account when calculating the kinematic tool correction for the robot Creating New Tool Containers User Manual Conifer Rob 1 4 21
42. om the list and click Next ABB IRB 6400R 100 3 0 English ABB IRB 6400R 100 3 0 German ABB IRB 6600 175 2 55 English Space required 28 9MB User Manual Conifer Rob 1 4 6 Ke Conifer Rob 1 3 0 beta Setup License Agreement Lei 28 4 Next you are prompted for the 7 i 1 Setup will install Conifer Rob 1 3 0 beta in the following folder To install i installation directory for Conifer n Rob It 1S recommended to keep the start the installation default C Program Files Conifer Destination Folder Rob Click Install C Program Files Conifer Rob Browse Space required 28 9MB Space available 40 56B files and this takes some time ES lt Back E 5 Installer will now install some more 6 Finally the installation will complete kel Conifer Rob 1 3 0 beta2 Setup License Agreement Ba zs and rie pin SEH to close the A installer Clic ose SE Now a shortcut to Conifer Rob has appeared on your desktop and also in Start menu IL os Evaluation Period If a license file or dongle 1s not installed the Conifer Rob will run in evaluation version mode for the period of one week after installation After the evaluation period the Conifer Rob will require either a license file or dongle to be installed Installing License File If you have an ethernet address MAC bound license file coniferlic txt you should copy it in the directory where you installed the Conifer Rob The
43. on avoidance feature is enabled the optimization process will do collision analysis for the robot running the path and selects the tool axis rotation so that collision is avoided Path Optimization Settings The set properties for optimization process select Path Optimization Settings from the left hand toolbar Path Optimization Settings aba Path Generation Parameters Configuration constraints OK Path Z Offset 0 mm M Configuration 1 M Configuration 5 Cancel Maximum Path Length 2000 M Configuration 2 M Configuration 6 M Configuration 3 M Configuration 7 aa ee Max Approach Length 400 mm M Configuration 4 H Configuration 8 a V Collision detection while optimizing path _ Save default home Optimization Parameters Weight 9 Rat joints Translation Resolution ES mm Min angle Max angle Home position Rotation Resoluton 5 Joint 1 180 180 o Rotation Min Limit 180 o Joint 2 160 5 35 Joint 3 8 e lis Rotation Max Limit 180 o Joint 4 300 300 0 wie E ierg omg Joint 5 120 Im a Joint Margin 1 o ont 300 be gt Joint 5 Safety Margin 10 o Reduce speed at corners 10 m s2 Visit home between segments The values you can set here are Name Description Path Z offset Moves the path in Z direction Maximum Path Length Maximum path length in steps Paths longer than this will be split in several path segments Max Approach Length Maximum allowed apprach
44. ool Containers When new simulation project is created the default tool containers will be attached to the robot To modify this default tool container selection modify the tool container selection in the current simulation project and then from the Tool Containers dialog click Save Default This will save the current tool container selection as default which will be used for all new simulation projects To revert back to default tool container selection click Load Default button in the Tool Containers dialog Selecting Tool Attaching Tool User Manual Conifer Rob 1 4 31 File Edit View Model Help CEERI TE Select Workpiece STL Select Workpiece Position 5 Select Tool Read APT file a Settings Optimize Path E Robot Velocity Settings Write Control Files UE Show Path Stages For Help press Fl To select the current tool attached to the tool container or in the absense of tool container the robot itself select dropdown menu Model gt Select Tool A Select Tool dialog will open This dialog lists all the tools in the simulation projects tool library Select the new tool to be used from the list and click Select Selecting Default Tool When new simulation project is created the default tool will be attached to the tool container To modify this default tool selection modify the tool selection in the current simulation project and then from the Select Tool dialog click Save Def
45. selecting from dropdown menu View gt Manage Tool Containers Select a tool container you wish to delete from the list and click Delete button Modifying Tool Containers To modify a tool container in projects tool container library open Manage tool containers dialog by selecting from dropdown menu View gt Manage Tool User Manual Conifer Rob 1 4 23 Containers Select a tool container you wish to delete from the list and click Edit button A dialog similar to used when creating new tool containers will open from which the tool container properties can be modified Setting Default Tool Containers System maintains a set of default tool containers which are initialized to the tool container library for new simulation projects You can revert the simulation project to this default library by clicking Load defaults button in the Manage tool containers dialog Also you can replace the default tool container library with the current one by clicking the Save defaults button The default tool container library is stored in the ToolContainers directory in the Conifer Rob installation directory typically c program files conifer rob If you want to take a backup of the tool container library just backup this directory To revert back to the backup replace the contents of the ToolContaimmers directory from your backup Managing Tools Library Creating New Tools Conifer Rob maintains a library of tools separa
46. show robot performing the path stages Open stages dialog The stage dialog shows the current path as a list of stages and allows detailed observation and manual manipulation of the path stages Animation Speed Toolbar Animation Speed lio While running robot program as animation the animation speed can be changed from this toolbar by either dragging the slider or entering speed 100 real time manually in the text box User Manual Conifer Rob 1 4 12 Menus File New Create new simulation project The simulation project will be initialized using default settings for robot selection robot home position tool container and tool selection Open Open an existing simulation project Save Save currently open simulation project Save As Save currently open simulation project with different name Print Prints the current window Print Preview Print preview Print Setup Setup printer and print settings for Print operation Export STLs Export currently selected geomeries as STL files Export APT Export currently loaded path as APT source Run Batch Run a batch job described in a separate text file This operation allows you to create batch sets that optimize several apt files and generate robot programs and the main program in a single run Upload Program Uploads recently generated robot programs to the robot via FTP to Robot
47. t movement type the path of the tool can become User Manual Conifer Rob 1 4 38 quite complex and this mode is usually used only in approaching the work path from the robot home position and in the exit stage from the path to the home position Tool RPM Tool rotation speed for the stage Deleting Path Stages To remove a path stage select the stage or several stages this can be done either by dragging the mouse on the list or keepign the SHIFT key down while clicking on the list from the list and click Remove button Modifying Path Stages Moving Stage To move a stage location click the stage you want to modify on the list and then click Edit Edit Path Stage dialog will open Change the path location from the dialog and click OK Rotating Stage To manually change the tool rotation for a path stage select the path stage or several stages from the stages list and click the plus minus buttons on the dialog The path stages YAW rotation rotation around the tool axis will change and the robot on the screen will be adjusted to the new rotation Note that Changing Stage Properties As when creating a new path stage to the path the Edit Path Stage can also be used for modifying other path stage properties such as the movement speed movement type and tool rotation RPM User Manual Conifer Rob 1 4 39 7 Collision Detection and Avoidance Collision Detection This option is only availabl
48. t sd 9 2000 mm x 1600 mm Outer edge jo mm Inner edge fo mm 2000mm or 2000mm x P 1400 mm x 1200 mm een am Cu 1400 y 1600mm 1400mm x Se i ld Height em Measurement point 1200mm or select the E cf ar ech e Custom choice and give the dimensions manually Also give the workpiece geometry thickness in the Mold Height entry For complex workpiece geometry clicking Other button will open a file dialog by which you can select an STL geometry file to be used as a workpiece geometry Frame is a solid geometry around the work piece that holds the workpiece together in correct place Conifer Rob can generate a frame object around the work piece automatically using offsets The offsets define the thickness of the frame in x and y directions around the frame x amp y axis in workpiece coordinate system The min and max z edges of the frame are open 1 e There is no frame wall in those directions as the work on the workpiece is done from the max z direction when frames are used again workpiece coordinate system In addition to automatically generated frames the fram e can also be modeled in CAD system and imported in Conifer Rob in STL format using Select button Often especially when frames are used it 1s not feasible to measure workpiece position from the workpiece coordinate system origo which resides in the corner of the workpiece box In such case if realistic positioning of the workpiece and frame geometry are desired a measureme
49. target orientation in quaternions LFQ4 Tool target orientation in quaternions LFR1 Tool target orientation in YPR angles deg LFR2 Tool target orientation in YPR angles deg LFR3 Tool target orientation in YPR angles deg IC1 Angle sector flag 1 IC2 Angle sector flag 2 IC Angle sector flag 3 ISRAPID l is command is rapid movement otherwise 0 FEEDRATE Feed rate for movement SPINDLERPMCHANGED 1 if spinlde RPM has changed since last movement command SPINDLERPM Spindle RPM for this movement Sub scopes None User Manual Conifer Rob 1 4 47 Template Language Specification Static text All text not enclosed in is considered as static text and will be expanded to the robot program as 1t 1s However if the static text to be expanded contains it must be presented as 1 Example Oli hyva marjavuosi ja siksi saatiiin paljon mustikoita 7 OO SS S55 testidataksi Will expand to Oli hyva marjavuosi ja siksi saatiiin paljon mustikoita foo testidataksi Variable expansion Variables in global scope are expanded with following syntax variablename where the variablename is the variable name Variables in an iterated subscope see FOREACH statement are expanded with following syntax scopealias variablename where the scopealias is the scopealias given in containing FOREACH statement and the variablename is the name of the variable in the interated scope instance
50. tely in each simulation project New tools are added to the library by selecting from dropdown menu View gt Manage Tools Manage tools dialog will appear listing current tools in the tool library of the current project Clicking New button will open dialog from which the properties of the new tool are specified A tool can either be a simple one or a complex one Simple tools are circle profiled tubes with optional rounding 1n the tool tip Conifer Rob generates the geometry for simple tools automatically from the given parameters For complex tools the tool geometry must be given as an STL file Following properties must be given to all tools Name User given name for the tool Hotspot offset Hotspot offset from the tip of the tool geometry in the direction of the tool axis Positive value moves the hotspot away from the tool Negative value moves the hotspot inside the tool Hotspot is the point which the robot considers as the tool location when running the robot program 1 e the hotspot is the point that will follow the defined path Weight Tool weight in kilograms Kg Following information must be given for simple tools Length Tool length in millimeters mm Corner radius Tool tip rouding corner radius in millimeters mm User Manual Conifer Rob 1 4 24 Diameter Tool profile diameter in millimeters mm Following information must be given to complex tools Pro
51. template can also define an manipulate variables of its own GLOBAL scope Variables for main program Name Description NAME Main program filename base generated from the simulation project file crb name Sub scopesfor main program Name Description MODULE Modules generated in this run Variables for robot program modules Name Description LFTOOLX Tool correction in X LFTOOLY Tool correction in Y LFTOOLZ Tool correction in Z LFTOOLQ1 Tool correction rotation in quaternions LFTOOLQ2 Tool correction rotation in quaternions LFTOOLQ3 Tool correction rotation in quaternions LFTOOLQ4 Tool correction rotation in quaternions LFTOOLR1 Tool correction rotation in YPR angles degrees LFTOOLR2 Tool correction rotation in YPR angles degrees LFTOOLR3 Tool correction rotation in YPR angles degrees LFW1 Workpiece location X relative to robot coordinate system LFW2 Workpiece location Y relative to robot coordinate system LFW3 Workpiece location Z relative to robot coordinate system LFWRI1 Workpiece rotation in quaternions LFWR2 Workpiece rotation in quaternions LFWR3 Workpiece rotation in quaternions LFWR4 Workpiece rotation in quaternions LFWRYPRI Workpiece rotation in YPR angles degrees User Manual Conifer Rob 1 4 44 LFWRYPR2 Workpiece rotation in YPR angles degrees
52. top toolbar E Wireframe mode shows the geometry triangulation with no filling color User Manual Conifer Rob 1 4 Hidden surface mode shows the geometry triangulation with filling color included La Polygon shows the geometies in shaded pologon mode Toggles the geometry visibility M Toggles the geometry transparency If no geometries are selected clicking visualization mode icons will change visualization mode for all geometries in the simulation project Capturing Pictures and Animations Menu operation View gt Capture Picture will save the current view as a picture file JPG and PNG file formats are supported Video Compression Menu operatoin View gt Save AVI File will save an animation about the robot running the currently loaded path Current screen size and view angle is een ously 7 used for the video al Compressor Microsoft Video 1 First you will be prompted with file dialog for the name and location of the AVI file to be created Then before the video is generated a video codec to be used is prompted After video codec is selected the system will take some time in generating the video Eventually the video User Manual Conifer Rob 1 4 20 4 Managing Robot Cell Layout Selecting Robot Model The robot model to be used for new simulation projecs 1s selected in a configuration file named coniferrob int that resides in the directory where Conifer Rob was installed The file contains e
53. uration file that resides in the Conifer Rob installation directory which is typically the c program files conifer rob The template information is stored in the configuration file entry template The value of the entry has a following structure template lt postfix 1 gt lt templatefile 1 gt lt postfix2 gt lt templatefile2 gt where the lt postfixN gt is the default file name postfix for the file generated with template and the lt templatefileN gt 1s the template file used for generating the file If several template files are given the they are each run separately with the same path data and will generate a separate result file This can be used to generate robot program that consist of several files such as the KUKA robot programs with the program consisting of both dat and src files Example template dat Templates template kuka vkrc 2 dat txt Templates template kuka vkrc 2 src txt will configure the system to run two template files first generating a dat file and the second generating an src file The template files are stored in the Conifer Rob installation directory subdirectory Templates Variables Variables are organized in scopes which can contain other scopes The main level scope 1s called GLOBAL scope The variables provide access to data that 1s expanded User Manual Conifer Rob 1 4 43 to robot program as specified by robot program template In addition to predefined variables a
54. vailable only after supervisor login To move obstacles in the robot cell select from dropdown menu Model gt Position STL An Object positioning dialog will open from which the obstacles can be moved and rotated within the robot cell Setting Default Obstacles The Conifer Rob will load all the STL files in the subdirectory named Obstacles under installation directory as initial default obstacles for any new robot simulation document You can modify the default obstacles by creating deleting STL files from to this directory Obstacles from current robot simulation project can be exported to be used as default by selecting the obstacle geometry with mouse and using the Export STLs function found in the File menu The exported STL file should then be copied under the Obstacles subdirectory under Conifer Rob installation directory User Manual Conifer Rob 1 4 29 5 Path Setup Selecting Workpiece Geometry To set up the workpiece geometry for the simulation project either select Select Workpiece STL from the left hand toolbar A Select Workpiece Model dialog will open From this dialog you can define box shaped standard workpiece geometry or load a complex workpiece geometry as an STL file Complex workpiece can be of arbitary shape For standard workpiece geometries select either one Select Workpiece Model eS Sand Mold Frame OK of the given sizes 3000mm 3000 mm x 2200 mm C No frame ae x 2200mm 2500mm x SC of
55. value to the robot program SUB Expression operation SUB calculates subtracts the value of the second operand from the first operand Operands are given in O s and separated with comma Example SISET varl s 3 J S SET var2 4 3 S SET myvariable SUB varl var2 S myvariable will calculate the 3 4 1 e 1 and store the value to variable myvariable and then finally expand that value to the robot program ASK lt variablename gt Free question text here ASK statement prompts the end user with a question dialog and stores the answer the user gives to the variable lt variablename gt Example ASK query What is the default tool RPM to be used gt query will prompt the user with question What is the default tool RPM to be used and then expands the value user gives to the robot program User Manual Conifer Rob 1 4 52
56. viewed screen as either a JPG or PNG picture file Save as AVI Visualize the robot running the current path in an AVI video file File Surface Color Change surface color of currently selected geometries Background Change background color for the view Color Model Information Generic information about current simulation project Load APT File Load APT path in the current simulation project Set Robot Set robot velocity settings Velocity Path Position path in workpiece coordinate system Positioning Robot Positions robot in the robot cell Positioning Workpiece Positions the workpiece in the robot cell Positioning User Manual Conifer Rob 1 4 14 Check for Checks the currently loaded path for collisions Collisions Add STL Add an obstacle geometry to the robot cell Remove STL Remove an obstacle geometry from the robot cell Position STL Position an obstacle geometry within the robot cell Position Floor Change floor level in Z direction Manage Tool Manage tool container library Containers Manage Tools Manage tool library Select Tool Select current tool containers for the robot Containers Select Tool Select current work tool for the robot Help Help Topics Browse help file About Conifer Version and licensing information about Conifer Rob Rob Supervisor St
Download Pdf Manuals
Related Search