RW bending Product descrip. ENG
Contents
1. 4 gf Tapae calibration and verification of a complete B septi manufacturing cell The operator could access to cell elements libraries load models in the cell layout configure WorkingFrame d ev ces a n d V e ri fy n g t h e CO rre ct WorkingFfame WorkingFrame he equ red Con nfigu uration placement choosing the more adequate C n Actual Configuratio WorkingFrame Configuration EN Turns workingFrame solution s 8950 36 11049 64 2109 40 10000 0 10000 00 000 Moreover this Editor offers the possibility US gus nl 180 00 180 00 AA Working France to import calibration data as to adjust virtual with the real cell layout d 5 bending Multi Cell Editor The Programming Environment is able to operate on a predefined cell The MULTI CELL Editor allows to set the cell and all the data associated to be used in the Programming environment This Editor distributed as an option could be used in the case having different cells and one software to program them browsing the available cells set the cell to be used in programming load all the data associated to the cell allowing the right operations with Programming Environment elements pieces tools programs heuristcs 2D Piece Import amp Correction This Environment is dedicated to the piec2. Communication A Possible ambiguos linear A Possible ambiguos linear Properties aME 16 40 For each stage of the production process the software automatically generates the target and trajectory automatically check the accessibility of targets and the risk of possible collisions However the operator has access to simple and intuitive graphical interfaces making changes in a T bending safe and easy way 21 RwProgrammingBend C Programmi Era RoboWave Bending 1 0 RwHome Programming Bend File Views Simulation Environment Edit Target Debug Heuristic Windows Help Ds BDO LM Gal valeo BG aaia 11151 19 0 ie m ER Tree Panel o 9 3m a 5 ffi Cell f Loading Device directory Measuring Device directory Ef Centering Device directory 137001 80 Lokaliseringsbord L 1250 h ge Fixed Part f Reuripping Device directory Robotdirectory Press Brake directory Unloading Device directory Piece 64 Tooling and Setup Bending Sequence 8 Robot Program amp Fs RobotProgram Unloading B Robot Confiquration Robot Configuration 0 Seven th Axis Definition Final value of workin 142 Initial value of workir 142 Samples Count 100 th Axis Detec True Seven th Axis Manu False Axis Manu 0 Unloading Heuristic custom proper
3. layouts and execute feasibility study simulation and sales presentation 27 IV PRODUCT ARCHITECTURE AND OPENESS RoboWave bending is part of the software solutions offer developed on the powerful RoboWave platform RoboWave is a simulation tool standard open and customizable Suitable for System Integrators RoboWave bending Environments RoboWave ADD IN RoboWave RoboWave Framework Options RoboWave ADD IN RoboWave Base RohoWave Platform The RoboWave bending application is in fact a number of software environments mutually independent and each developed on the basis of RoboWave platform allowing the product to inherit the technology and the characteristics of openness and flexibility typical of the platform 1 The ADD INs In particular the product inherits the ADD IN mechanism with which you can customize the functions and behavior of software The internal product RoboWave Platform which is based RoboWave bending has several ADD INs with which you can customize the functions of import export of geometric patterns to develop the kinematics solutions of mechanisms and much more uc 28 bend An ADD IN is module independent software written in a language compatible with the NET technology that implements specific customizations A new module ADD IN can be registered at any time on the PC where you have installed RoboWave bending and it is automaticall
4. output channels managed during process phases The vacuum cups or the magnetic elements are statics and can be realized in different form according to the piece to be manipulated The mechanical gripper the clamper is a robot tool able to clamp the parts The Clamper could have one of the following structures Translational Movement Rotational Movement The movement direction could be one of the followings Mono Direction oymmetric Direction 10 bend 5 BACK GAUGES AXES CONFIGURATIONS The software is able to define the best position of back gauges for the most common axes configurations 6 common X and common R common X and common R with relative X common R free AUTOMATIC BENDING The automatic bending process RoboWave bending proposes an automatic solution for the bending process but any step could be changed manually by the operator In particular the software proposes taking into account the piece is manipulated by the robot the automatic solution for the following Bending sequence Bend tooling and their positioning Back Gauge positioning Gripping positioning The main functionality are AUTO SEQ amp AUTO TOOL Automatic Bending Sequence And Automatic Tool Set Up AUTO GAUGE Automatic Gauging Positioning AUTO GRIP Automatic Gripping Positioning 11 bend 4 wp A a AUTO GAUGE and AUTO GRIP are included in the basic product AUTO SEQ an
5. ES165N TSL114803 107 carriage aL E Cartesian View Joint View A Ref Frame TCP Type Transport World 1 Mi SubTyp FlwFreeTtapezoidT rantportHeuristicFT Required Configuration Actual Configuration Addin RwTranspor Pim isticLibFT 1 2 0 0 Name 1 des Fe le di contol nell The heuristics are actual engines of trajectory generation and allow you to specify and customize the generation of robot trajectories in each stage of the production process allowing optimization of cycles depending on the different types of working cells as well as the pieces to be produced These heuristics are clearly provided in the product but they can be configured modified and saved by the operator in order to increase the capability of the software solution integrating the skills and knowledge of the user At any time the trajectories of the robot can be modified by using simple and intuitive software tools The simulation process finally runs the entire production cycle allowing people to check for possible collisions or singularity and in this case to modify the process 14 bending II PRODUCT STRUCTURE AND SOFTWARE ENVIRONMENTS The strategic choice to build integrate but independent environments previewed in RoboWave bending development offers plain merits about flexibility and expandability of software solution RoboWave bending environments are structured
6. and die at the top allows in special cases to optimize the use of the robot increasing the working area and improving the ability of the robot to follow the metal sheet during bending This solution where it is applicable can improve the execution time and quality of the product Tool Browser Punch Hemming Die Die All Tool List Length 102 100 490 AMC INTERMEDIO 00001 00 100 AMC INTERMEDIO 00001 00 BIU 001 Offset 1676 SHEME General Tip ngle 28 Tip Radius 1 Height 135 Load 100 Name BIU 001 Taper Priority 0 L H1 H2 Shape SASH Left BIU 001_LeftT 25 12 25 Right BIU 001 25 12 25 9 bending 4 THE ROBOT TOOLS The product manages MULTI TCP and mixed tools equipped with Vacuum magnetic Gripper e Mechanical Gripper Clamper MULTI TCP grippers is one special tool having multiple TCPs each one devoted to a specific zone of the gripper equipped with vacuum cups or magnetic or with mechanical clampers Using the technique of MULTI_TCP it is possible to use a mixed tool during the production cycle according to the needs of piece manipulation The gripper is a robot tool composed by one or more guides where elements as vacuum cups or mechanical clampers are positioned The guides and the elements could be positioned and different TCPs the point used to grip the parts could be fixed The elements are associated to
7. on 3 main levels EDITING PROGRAMMING and SIMULATION POST PROCESSING Off line Programming Na bending 1 Independent environments that allow the modelization of cell elements robot press brake centring loading unloading stations ecc cell layout and pieces import modify create and store define parameters and specific characteristics of every element created Moreover it is possible once cell layout defined generate assembling and installation reports Cell elements Editors These Editors allow the creation of cell elements that once created are stored in useful libraries which the operator could update enrich and use in different situations 16 bending Tool List BIU 001 BIU 002 BIU 003 BIU 004 BIU 011 BIU 012 BIU 013 BIU 015 BIU 016 BIU 021 BIU 022 BIU 023 BIU 024 BIU 035 ip Angle ip F Ursviken 49256R1 H H1 H2 Main cell elements previewed are Robot and grippers Press brake press brake tools and back gauges Load unload systems overturning centring and measuring devices and fixed parts Mounting Frame Gauging Zone Cad Planet Cad Sold Cad Transform Cad Operator DISCIT PAQUETES A E EE E Support Areas Stop Areas Cell layout Editor This Editor allows the construction ee d uet D
8. the robot for the right execution of the manufacturing process Programming and simulation of the whole process can be accessed by operators without deep experience in bending and robotics In programming you have a realistic 3D model of the cell with all the equipment and devices in their exact location each equipped as described in previous quarters d bending File Views Simulation Environment EditTarget Debug Heuristic Windows Help Piece Transparency 0 2 O 39 ka 7 y v m e 2 E Simulation Speed E bg 7 au i aj d Gal er g d di g g w Cell 3 and Setup 5 04 Bending Sequence B Robot Program 52 5 RobotProgram md Stat ah StartToCenter 9 ah CenteringPhaseProgram a CenterT oBendT ransport X TransportFromCenteringPhaseProgram dh BendingPhaseProgram 3h Bend Bend8 i B B Bendl 4 m D Jog Panel Cartesian View Joint View Required Configuration Actual Configuration 10000 10000 1 9 D 1964 00 Arana Lock Position The software genera double thickn ES165N TSL114803 107 cariage tes operations according to the following phases pick up of the metal sheet from loading system ess check centering and possible overturning bending operation with possible overturning unloading and stacking
9. 56 AE ka i4 at Piece Transparency L x mf Cell Piece amp 4 amp Tooling and Setup BG Tooling m Robot Tooling and Setup 9 9 Regripping Device Setup ii Loading Device Setup Centering Device Setup B A Unloading Device Setup EuroPalletl 200x800 Ell Piece Group Bending Sequence Robot Program amp Eg RobotProgram Start t SterfToCenter amp Es StartToCenter_O Fs StartToLoadTransport_0 FR Load 0 Kuke_KR60_Linear SetUserFi 6 Linear CurrentFre ff 6 Linear MoveLine Linear MoveLine ff BendingLibrary Load Kuka LoadToCenterTransport 0 CenteringPhaseProgram Centerinc Kuke_KR60_LinearSetUserFrar Kuks_KR60_Linear CurrentFrame Linear MoveLinear l BendingLibrary Center Kuka_KRI CenterToBendTransport lendingPhaseProgram jendToUnload itertProgramFromUnload E E 8 8 Tree Perd 2 1 88 783 07 2 933 11 Kuka_KR60_Linear X CartesianView Jointview Required Configuration Configuration 0_UUU Actual Configuration Configuration UUU Turns z 7104309 8762 06 Roll 180 00 180 00 Pitch 180 00 R 180 00 Yaw 18000 18000 0 00 3500 00 Properties 292 43 180 00 20 56 180 00 385 00 Communication Select a mechanism to m
10. TORY GENERATION AND SIMULATION 11 13 14 PRODUCT STRUCTURE AND SOFTWARE ENVIRONMENTS 15 EDITING 16 2 PROGRAMMING AND SIMULATION 3 POST PROCESSING 4 INTEGRATION WITH EXTERNAL SOFTWARE PRODUCT ACCESS LEVELS IV PRODUCT ARCHITECTURE AND OPENESS 1 THE ADD INS 2 THE KIT ADD INS V PRODUCT DISTRIBUTION N P C zc ending 19 23 26 27 28 28 29 31 RoboWave bending RoboWave bending is the complete solution dedicated to robotized bending process that allows to program robot and press brake from picking to stacking management at the office without stopping the production plant automatic bending sequence definition tools set up and gauges positioning robot trajectories generation are performed in rapid and reliable way RoboWave bending is part of the software solutions offer developed on the powerful RoboWave platform RoboWave is a simulation tool standard open and customizable suitable for System Integrators RoboWave bending incorporates the 20 years loger experience and know how in robotics and bending application The software may be installed on a workstation in the plant or in the office decreasing dramatically robot set up and programming time RoboWave bending is easy to use also for not experts in robotics applications Off line Programming RoboWave bending is perfectly customizable and allows to define all paramete
11. Version 1 2 Last Update July 2014 Wave Product Description RwProgrammingBend Calo File Views Simulation Environment EditTarget Debug Heuristic Windows Help tka 4 w e E Simulation Speed z Piece Transparency A Ale 4 KER A gt 89 mo Em Tree Panel oF x g m 3 i a jy 2 d g g g Brake Visibility communication ox doces 3 Cell a Piece 4 z 4 4 Tooling and Setup A Possible ambiguos linear 9 04 Bending Sequence A Possible ambiguos linear Robot Program RobotProgram H Stat StartToCenter 3h CenteringPhaseProgram CenterToBendTransport E TransportFromCenteringPhaseProgram 3h BendingPhaseProgram Properties a Bend o _ Bend8 E 224 3h Bendl m Jog Panel ES165N TSL114803 107 cariage _ Cartesian View Joint View Ref Frame TCP World 1 Required Configuration Actual Configuration uuu 10000 g 10000 1964 00 83 Lock Position BENEFITS 1 BENEFITS AND ADVANTAGES FOR SYSTEM INTEGRATORS i IN 9 gt Ion I gt N 9 TECHNICAL FUNCTIONALITY PIECE IMPORT AND CORRECTION BEND TYPES THE PRESS BRAKE TOOLS THE ROBOT TOOLS BACK GAUGES AXES CONFIGURATIONS 10 11 AUTOMATIC BENDING THE AUTOMATIC BENDING PROCESS THE CELL LAYOUT ROBOT TRAJEC
12. ally through the use of simple graphical interfaces by the operator 19 bend EE RwPressBrakeProgrammingEditor 19492 2 File Views Tooling Operation Automatic Windows Help d 2 A eati J Simulation Speed d Piece Transparency 0 a gt gt Automatic Bending Sequence Generation Message 4 Ordering V Gauging Evaluation is successfully completed On Same Edge Piece Panel 4 Far from Bend M Tooling Near to Bend D Use Existing Tooling 4 x Tree Panel 19492 2 coy PHSY T100 3050 9 Press Brake Tooling Operation Sequence Log Evaluation of Candidate Gauging Points is succeeded Start Evaluation for Bend2 Gauging solution is set for operation Bend2 Start Evaluation for Bend4 Gauging solution is set for operation Bend4 Start Evaluation for Bendl Gauging solution is set for operation Bendl Start Evaluation for Bend3 Gauging solution is set for operation Bend3 4 m x 282 21 y 143 54 z 0 00 At any time the operator thanks to intuitive 3D graphic environments can monitor the entire process including the movements of the press brake and the deformation of the workpiece Programming and Simulation once defined the bending process the software allows the automatic generation of all the trajectories of
13. d AUTO TOOL are included in an option of the product AUTO SEQ and AUTO TOOL cooperating together supplies the solution optimization of bending sequence and press brake tool set up tools type station lengths and positioning PressBrake 4Mt TestFrame 3 AUTO SEQ evaluates a preliminary bending sequence on configurable parameters and bending rules AUTO TOOL chooses the most appropriate tool profiles sets the tool stations considering collisions and available tool libraries If necessary AUTO SEQ rearranges the bending sequence according to move optimization and on the AUTO TOOL results Each operation performed by the software could be modified or customized in manual way For example you can manually define the bending sequence and to calculate the tooling automatically or you may require a fixed tooling and then assess the appropriate bending sequence bending AUTO GAUGE performs the automatic solution for back gauges position Starting from AUTO SEQ amp AUTO TOOL results AUTO GAUGE identifies the best back gauge position considering 3D piece geometry and available fingers which could be positioned in front of or on the corner The software is able to define the best position of back gauges for the most common axes configurations Anyway the operator could move manually a back gauge finger next to the piece and requires the position evaluation AUTO GRIP performs the automatic solution for gripp
14. e definition In fact the operator could acquire or 2D geometry in DXF format modify characteristics parameters of bending process as K value metal sheet elongation internal radius The Software offers the realistic with facets and fillets 3D visualization of the bending piece a 1 8 bending 2 PROGRAMMING AND SIMULATION In programming once loaded the piece you want to produce there are three different stages Set up Tooling Regripping Robot Tooling Device Setup set up Backgauge Loading unload Tooling ing device set up Centering device Programming amp Simulation set up Loading Measuring Bending Process Part Program Definition Bending Press brake Centering Bending Sequence tooling definition Overturning Unloading amp Palletizing Gripping Definition of the set up of the cell this phase includes the configuration of the Back Gauges fingers of the gripper of the robot of the overturning device of the centering and loading and unloading systems Definition of bending operations in this phase the bending process is defined in detail In particular you can choose the bending tools punches and dies and their mounting on the press brake place the back gauge for each bend and define the gripping positions of the robot during the bending All these operations can be performed completely automatically with just one mouse click or manu
15. e than a robotic cell Modelling This option allows to modeling the basic elements of a working cell press brake robot centering device overturning devices load unload devices to model a complete working cell starting from the basic elements to set up and configure the complete solution Robot Post Processor An ADD IN Robot Post Processor executable software module for a specific Robot Control Press brake Post processor An ADD IN Press Brake Post Processor executable software module for a specific Press Brake Control Import Calibration Data An ADD IN Calibration Data importer executable software module for a specific Robot Control Import VBEND Data ADD IN Data importer executable software module The ADD IN is devoted to import data from the software VBEND the CAD CAM software from DELEM The option is mainly addressed to the user of VBend 33 bend Import TRU TOPS Data ADD IN Data importer executable software module The ADD IN is devoted to import data from the software TruTops BEND the CAD CAM software from TRUMPF The option is mainly addressed to the user of TruTops BEND Import ByBend Data ADD IN Data importer executable software module The ADD IN is devoted to import data from the software BYBEND the CAD CAM software from BYSTRONIC The option is mainly addressed to the user of BYBEND SPECIAL Packages KUKA BEND TECH Package The option is especially dedicated to the
16. elements and new cell layout To execute feasibility study with the end user pieces To make a safe cost evaluation of the complete solution Adapt the software to the specific cell in terms of equipments and I O management Integrate new operation or working in the bending cell Integrate the solution with external software or with external equipments transport systems storages Increase flexibility of the work cell allowing a wider variety of jobs and equipments integration Optimize the Cycle Time according to the cell and the customer parts 1 TECHNICAL FUNCTIONALITY 1 PIECE import and correction Import from colored DXF GEO or other format Visualization Modification of bending data Bending parameters management K value metal sheet elongation internal radius Realistic 3D representation of facets and fillets J Gs 2 BEND TYPES Air bend Coining V bend Hemming Step bend Single bends and multi bends Different bending phases 3 THE PRESS BRAKE TOOLS RoboWave C 8 bending The product provides for use of tools of different manufacturers Through special environments you can import the tool data base or build profiles using the 2D CAD functionalities The tools can be mounted in the following configurations e front rear or e UP DOWN Especially mounting tool up down punch down
17. er position Starting from AUTO SEQ amp AUTO TOOL results AUTO GRIP identifies the best robot gripper position considering 3D piece geometry available gripper and optimizing the repositioning and the robot movements 7 THE CELL LAYOUT The layout of the cell could be designed and optimized to meet specific production and Space needs The work cell can be defined with the following elements arobot mounted o onthe floor or raised or under floor o onthe ceiling on the top of a gantry o Onan auxiliary axes rotational or linear e apress brake on the floor or raised e multiple loading station pallet conveyor automatic systems e multiple unloading and stacking station pallet conveyor automatic systems e centering systems gravity motorized automatic with vision system e overturning devices re gripping devices with fixed or motorized arms horizontal or vertical e double thickness measure systems 13 bend 8 ROBOT TRAJECTORY GENERATION AND SIMULATION Robot trajectories including 7 axis are evaluated automatically using special bending process heuristics that could be modified manually changing parameters or using the virtual assisted teaching r File Wiews Simulation Environment EditTarget Debug Heuristic Windows Help OS ALR EROA Dm Ri emm am j Jog Panel X Properties
18. he automatic programming of press bake Machines tools and programs carried out with RoboWave bending may be used without modification in other software using the same procedures and the same way of operation 6 BENEFITS ROBOWAVE BENDING removes the traditional requirement of on line programming of robot and press brake machines which dramatically reduces time available for production work Coupled with automatic bend sequence programming automatic tool selection automatic finger stop placement and automatic gripping position evaluation the potential efficiency gains can make a real difference to your businesses profitability Programming at the same time robot and press brake without having to learn or manage multiple Numerical Control Reduced time and no production stops during programming and cell configuration Increase and maintaining quality and performance standard Increase dramatically the profitability of the cell thanks to the time cycle evaluation and movement optimizations Make profitable production of small batches Optimal Bending Sequence bend order and press brake tooling more suitable for robot minimizing movement and the number of re grip 1 Benefits and Advantages for System Integrators But RoboWave bending is a solution also addressed the System Integrator providing data and software tools to respond quickly and safely to its main requirements Create and store new cell
19. ic plant s needs The System Integrator should develop it according to customer s needs and to requirements of other plant s processes factory integration Piece Production Library PPL generated by RoboWave bending via the Post Processor Each type of piece has its own PPL It doesn t care about physical realization of cell elements or connection among them It is obtained by post processing of XML document generated automatically by RoboWave bending The post processor translates phases and movements of the robot in robot language These procedures are called from the Main according to production needs of the specific piece Bend Library BL written once It includes a set of standard procedures that virtualizes the physics structure of the working cell and its cell elements The BL implements and hides the I O synchronization between robot and cell elements virtualizing the I O management and allowing to the PPL to interact with cell elements without knowing physical interface characteristics The library allows the uc 24 bend creation of a cycle independently from the physical realization of working cell including functions as load measure bend and it is realized in robot language The part program structure allows to Adapt part program to specific factory carrying out more adequate strategies for the manufacturing management Integrate device manufacturing and management strategies not previewed in RoboWave bendi
20. ng Realize management and errors recovery strategies more fitted to customer needs Adapt quickly part programs to different devices interface without intervention on RoboWave bending Avoid wiring changes or I O management logics due to breakdown or unavailability of devices Reuse part program in cell with the same layout but with different interface uc 25 bend 4 INTEGRATION WITH EXTERNAL SOFTWARE The high level of interoperability of RoboWave bending allows data exchange not only with the controls of the robot and press brake but also with the most popular CAD CAM for metal sheet working in the market In fact the software can import the part the tool data base the bending sequence the press tooling directly from CAD CAM of third parties This makes possible the easy integration of RoboWave bending in the customer s production process and avoiding to duplicate data or operational procedures 26 bend Ill PRODUCT ACCESS LEVELS Two access levels are previewed in RoboWave bending e Basic level mainly addressed to the End User for access to o Piece importer o Press brake tools editor o Gripper editor vacuum or clamper o Programming amp Simulation e Modeling level mainly addressed to the System Integrator for access to o All cell elements editors o Cell layout editor o Set up and Configuration In the Modeling Level the user could create modify cell elements create modify cell
21. ocessor to his specific needs adding his innovative contents and know how distribute it to his end customer without any further royalty can distribute the RoboWave bending END USER without acquiring the license of the post processor because he can distribute his own post processor 30 bend V PRODUCT DISTRIBUTION The product is supplied in 2 configurations RoboWave bending End User e Addressed to the End User using the integrated robotized solution Generally the End user has access to the Basic Level of RoboWave bending functionalities RoboWave bending Professional e Addressed to the System Integrator using the complete software product he has access to the Basic and Modeling Level of RoboWave bending functionalities The System Integrator needs a flexible and customizable software solution The System Integrator buys usually a license package develops the customization needed by its customer and distributes the final solution to the customer The PROFESSIONAL package addressed to the System Integrator includes software and documentation necessary to adapt the software to the specific working cell including new cell elements creation post processing calibration and software customization 31 bend RoboWave bending END USER The license gives the user the non exclusive and non transferable right to use a copy of the Software exclusively for the purposes of internal use f
22. or single computers The User shall not use the Software to supply services to third parties including consultancy software development and training activities The software in its basic version allows the manual definition of the bending sequence as well as of the press brake tooling Moreover it is basically released in single cell version which allows you to manage a single layout cell The license of the product is non transferable RoboWave bending END USER includes e One license of the software RoboWave bending single cell version including o Press brake tools editor o Robot Tools editor o Piece Import amp Corrector o Programming And Simulation e Standard cell elements libraries one standard cell layout pre loaded e User Manual The License includes a three months phone or email Support and software updates to the latest release 1 X of the product MAINTENANCE AND UPDATES Maintenance The Maintenance includes phone or email support and software updates to the latest release 1 X of the product The maintenance service starts 3 months after software purchase mos J 32 OPTIONS Automatic Bending This option allows to supply the automatic solution relevant to bending sequence and press brake tools set up Multi Cell This option allows the user to work with many models of robotic cells with the same software license The option is particularly useful for System Integrators or for users with mor
23. ove TCP bending 22 3 POST PROCESSING RoboWave bending thanks to the programming capability generates all the data necessary to program robot and press brake The data are expressed in neutral format and then translated into specific robot and press brake language using specific post processor A post processor is provided for every type of robot or press brake controller Post processing is totally customizable allowing the realization of production management solutions with the largest flexibility Progr OUT PRESS BRAKE post processor Add In Press Brake PROGRAM The realization of post processor for press brake and robot allows extension of types of press brake and robot units control supported by the application aw YO 23 bend Because robot is physically connected to press brake and to working cell equipments it represents the heart of the System and special attention was given to the structure and to the generation of the robot part program ay OUT Robot post processor Add In MAIN PROGRAM PIECE PRODUCTION LIBRARY PPL SubProgram SubProgram BENDING LIBRARY BL Instructions The Robot Part Program is structured as in the following MAIN Program written once manages production factory integration pieces count batches production monitoring and error management in a very flexible way adapting the part program to specif
24. rs of the bending process as the bending sequence the press brake tools the back gauge position etc to generate the robot movements RoboWave C 5 bending The complete bending process is defined through the simulation of the robot and press brake cycle verifying step by step the correctness of the part program in terms of robot working area collisions and reachability RoboWave bending allows to build very easily every cell elements and to define cell layout through innovative and independent 3D environments verifying the correct position of elements and optimizing it in function of production requirements and space limitations Bending sequence and robot movements are automatically generated considering robot encumbrance and verifying working area reachability or collision risk and optimizing its movements and reducing cycle time The final result is the robot and press brake part program generation that translated by post processors integrated but application independent could be transmitted to control units RoboWave bending moreover is particularly addressed to the System Integrator Its openness and flexibility allow the Integrator to adapt the solution to the production and to specific needs of the Customer easily integrating its know how and differentiating expertise RoboWave bending product is part of the family RoboWave and therefore is fully compatible with RoboWave pressbrake the product dedicated to t
25. ser Documentation necessary to the software maintenance development of the Robot Post Processor Kit Bend Library To be used only in conjunction with KIT ADD IN Robot Post Processor The Bend Library Template compliant with the chosen Post Processor The Main template compliant with the chosen Post Processor User Documentation necessary to the software development of the Bend Library and Main Kit ADD IN Import Calibration Data User License of the software modules in source code relevant to one Calibration Data Importer User Documentation necessary to the software maintenance development of the Calibration Data Importer 36 TRAINING AND CONSULTING Professional Training The course is available for a maximum of 3 participants and lasts 5 days The course will be held at Turin premises Main topics dealed Product overview Kinematics chains definition robot geometry import editing Press brake import editing modification Cell elements import editing modification Cell layout definition Bending library Main part program Kit ADD IN Training The course is dedicated to one of the available ADD IN The course is available for a maximum of 2 participants and lasts 1 day and it is held at Turin premises Technical Support and Consultancy As cell elements and cell layout modelling software customization installing and software configuration uc 3 bend
26. ties enteringPheseProgrem erteni aan ienterToBendTransport VieHeight 20 TransportFromCenteringPhasePrograr HP20 VST 600SN CurrentFrame HP20 VST 600SN MoveJointCarte 20 VST 600SN MoveJointCarte doaa lendingPhaseProgram NET The of the instance of heuristic Jog Panel mmunication HP20 VST 6005 z ianVie Select the BG Frame to attach the Finger CertesienView JointView Selectthe BG Frame to attach the Finger Required Configuration Hiding labels of Working Frames Click agai Configuration 0 Actual Configuration Configuration 1 UUD Turns he x 1138128 1208833 2 1249 50 0 Y 886346 758834 3 493 65 2 z 6890 04 920735 278 54 Roll 180 00 180 00 90 00 Pitch 18000 18000 30 00 Yaw 180 00 18000 0 00 2 Aux 142 00 E 39 76 x 2093 68 y 229 24 z 1142 81 Regarding the stacking process RoboWave bending manages multiple unloading station For each station a specific palletizing strategy could be set including groups creation The strategies could be customized to satisfy specific user needs Wi RwProgrammingBend C Programmi Erxa RoboWave Bending 1 0 RwHome Programming SMEGO1 Xml File Views Simulation Environment Device Windows Help AT aa I BJ simusion pan 2 1 LS IR 2528
27. user who uses the BendTech 3 0 product of KUKA The option includes a special ADD IN Robot Post Processor executable software module for KUKA robot using the BendTech 3 0 The BendTech 3 0 is a library supplied by KUKA and it is used by the special post processor instead of the Bend Library This option could be acquired only if the user has a license of the BendTech3 0 uc 34 bend TRAINING AND CONSULTING User Training The course is available for a maximum of 5 participants and lasts 3 days It is held at Turin premises Main topics dealed Product overview installation and configuration architecture and product environments Gripper import editing modification Piece import editing modification Press brake tools library import editing modification Programming and simulation of a robotized bending cell 35 RoboWave bending PROFESSIONAL The PROFESSIONAL configuration includes besides the RoboWave bending product including all its options the following Professional Products ADD IN Documentation Documentation necessary to the software development of the ADD INs Robot Post Processor including Bend Library and Main specification Press Brake Post Processor Import CALIB Data Import external CAM data Heuristics Kit ADD IN Robot Post Processor User License of the software modules in source code relevant to one Robot Post Processor ADD IN to be chosen from those available U
28. y recognized by it RoboWave bending includes some ADD IN particularly important for the bending process These ADD IN are e Robot post processor Press brake post processor e Robot calibration data import e Heuristics e External CAM data import Import 2D piece format Import Bend Sequence RoboWave bending Import Calibration Data Heuristics trajectory generation 2 The KIT ADD INs For every ADD IN type of the RoboWave bending product an appropriate KIT ADD IN is included The Kit ADD IN is a product dedicated to the System Integrator and can be purchased only in the Professional package The purpose of KIT is to develop adapt a software ADD IN module of the product RoboWave bending The KIT includes the supply of e User License of the software modules in source code relevant to one ADD IN e User Documentation necessary to the software development of the ADD IN zc x 2 9 bending Through the sources the system integrator also thanks to support of the documentation delivered with the ADD IN KIT is able to adapt modify the ADD IN in order to satisfy its need for optimization and integration In the event that a license for a module ADD IN source was purchased it is no longer need to purchase the corresponding option in executable code As example acquiring a KIT ADD IN ROBOT POST PROCESSOR the System Integrator will have the following advantages can develop adapt the post pr
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