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Visual PathBuilder User Manual

1. 6 Press Ctrl C or use menu item Copy from menu Edit in Janome JR C Points software to copy the selected data line into the Windows clipboard 7 Switch back to Visual PathBuilder and call menu item JR C Points Exchange point data types from menu Toolpaths 8 Press the OK button of the Visual PathBuilder dialog now showing The clipboard data is processed now and the point types are exchanged 9 Switch to Janome JR C Points software and press Ctrl V or use Paste from menu Edit to insert the processed data line Make sure that the first table line is still selected in JR C Points before pressing Ctrl V AII PTP will now show as Point Dispense in the point table of JR C Points and you are ready to send the program to the robot Sending point data to the robot via RS 232 You can send the program instructions created by Visual PathBuilder directly to the robot va RS 232 connection For details how to connect the robot to your computer please refer to chapter Connecting the robot Make sure that the robot is in External Run Mode otherwise it will not accept commands from Visual a Visual PathBuilder User Manual PathBuilder To send the toolpath data of the current project please use the menu item Send to robot from menu Toolpaths Select the program number to which the data should be sent to The software will warn you if the program number already contains any program data Press the Send button to send Whe
2. You now can import DXF or DWG drawings or draw the toolpaths manually in Visual PathBuilder Selecting project and robot units Visual PathBuilder supports different measurement units for projects drawing and the robot hardware For instance you could create a project with toolpaths drawn in millimeters but create program instructions for a robot working with inches as measurement unit When creating a new project in Visual PathBuilder you will be asked about the projects measurement unit You can chose between millimeters and inches Please be aware that you are NOT able to change the projects measurement unit later The measurement unit of your robot can be changed with Visual PathBuilders settings dialog Please use the menu item Settings from the File menu to open the settings dialog Select the Robot tab page and change the unit either to mm or inch The software will now calculate all X Y Z point values in your selected measurement unit You can change the robots measurement unit at any time Selecting shapes In order to manipulate your CAD model you will have to select shapes in your drawing Shapes are selected by simply clicking with the mouse at their outline or within their inner area in the case that the shape has a solid or hatch fill A selected shape will show its grip points as blue rectangles An already selected shape stays selected so you can add shapes to your selection by clicking on any other shape Manip
3. rem X40 385 113 200 248 002 o Q re X 70 475 Y 125 370 Z 48 002 0 000 Changing toolpath order started Please select toolpaths according to your designated sequence use Shift key Visual PathBuilder will show a flashing Rec indicator to the upper right of the window showing that you are in the manual toolpath order setting mode Now select the toolpaths one after the other in the same order as the robot should process them After you have finished selecting the paths please press the Esc key The Toolpath Treeview will now show the toolpaths in your selected order To verify this you could click on a toolpath node in the Toolpath Treeview by using the right mouse button The corresponding toolpath is highlighted now in the drawing area You could also use the built in simulation feature to show the toolpath sequence and direction Select the menu item Simulation from menu Toolpaths to let Visual PathBuilder virtually process the toolpaths 46 Visual PathBuilder User Manual 4 11 4 12 4 13 4 14 Join paths You can join multiple polylines to one single polyline When creating toolpaths from your CAD model Visual PathBuilder will automatically join paths which are very close together But you can do joining polylines manually if necessary To join two polylines their start points must be close together distance lt 0 5 mm If the start points are not close
4. sssssssssrsssrsrrrrararsnrrr rn rann nn RAR ARKA RR RR RAR AR RR RR RR RAR RR nennen 72 Index 15 8 Visual PathBuilder User Manual 1 Introduction Visual PathBuilder is an easy to use CAD CAM editor for the Janome range of Industrial Desktop and SCARA robots Visual PathBuilder is simple to use and uses the common standards for graphical user interfaces of the Microsoft Windows operating system Its main purpose is to create fully functional robot program instructions by using CAD drawings containing toolpaths Visual PathBuilder supports 2D and 3D CAD models and is able to import the most common CAD data file formats DXF and DWG You could also create toolpaths from the scratch directly within Visual PathBuilder by using its drawing features Supported Janome robots Janome Universal Desktop Robots e JR2200 JR2203N JR2204N JR2300 JR2303N JR2304N JR2400 JR2403N JR2404N JR2500 JR2503N JR2504N JR2600 JR2603N JR2604N Janome Universal Scara Robots JS 250 JS 350 JS 450 JS 550 JS 650 JS 750 JS 880 JS 1000 JSR 4400 Janome Gantry Robots e JSG 4050 e JSG 6050 Since manual toolpath teaching can be very time consuming Visual PathBuilder will massively shorten the time for programming toolpaths for your robot Also a higher positioning accuracy is reached compared with conventional manual toolpath teaching e g by using the Teaching Panel of your Janome robot Visual PathBuilder provides a simple m
5. 7J amp V Q V I 4 X 85 669 Y 140 515 Z 0 000 RobotReferencePoint X 0 000 Y 0 000 Z 0 C RobotReferencePoint2 X 0 000 Y 0 000 Z 0 C 120 5133 59 2137 0 0000 3 RobotReferencePoi 123 9481 62 9164 0 0000 Name 118 4371 61 5826 0 0000 The name or description of the project CZ amp HH sm cof EI Finished The software has created the toolpaths shown in red color and with small arrows indicating the toolpath direction For better vewing the toolpaths and for easier editing of the toolpaths points it is recommended to hide the CAD model layer You can show and hide the robot workspace the CAD model and the toolpaths layers by using the buttons Layer buttons at the bottom of the Drawing Area To hide the robot workspace layer uncheck the first button To hide the CAD model uncheck the second button To hide the toolpaths layer uncheck the last button But the software has not only created toolpaths but it also filled the Toolpaths Treeview to the right of the Drawing Area with data Quick Start Tutorial Toolpaths 394 Points E E Toolpath 1 21 Points E Toolpath 2 10 Points E Toolpath 3 20 Points E Toolpath 4 18 Points El Toolpath 5 8 Points Poe ops X96 516 91 433 Z50 000 i cpp X95 898 Y91 487 250 000 i cpp X95 898 Y91 487 250 000 i cpp X94 723 Y91 818 Z50 000 i cpp X93 977 Y91 818 250 000 i cpp X92 689 Y91 818 250 000 i cpp X9
6. 293 SEHN TETErENGe PONS aroia PUR 57 6 Visual PathBuilder User Manual 24 25 26 27 28 29 30 31 32 33 34 35 36 Part V SPECITVING toolpathi SDeGd uci eoa tere ice ora cou etox intone aa 59 Specifying decimals ot X Y Z ValUCS sssssssssssssrsrsnrnrnrsnrsanrn rn rn nns rn input odes os AR a RR RAKA RAR R PER DIU 60 Specifying tool center point offsets 2 oce cL IE eeiee cepe ore O se eces ve neou ov RR RR RR RAKA RAR RR RR RR REAR 60 SPEGCITYING DOIN d ojor eeet tette re 61 Toolpaths as overlays to scanned bitmaps eeeeeeeeeeeeeeeee eene nennen 62 Extracting toolpaths from bitmaps eueeeeeeeeee esee rn RAR eene nnne nennen nen 62 Creating middle line toolpaths from text eeieeeeeeeeeeeeeeeee ARKA RR enne nennen 63 Simulaung robot DrOgEFallls cds asuissuicer ceo A uds U eau RN RUNN CN n PLUR LOU DO MD DUCI DIE 64 Creating JCS files for importing into JR CPoints Leeeeeesee rn rn eee eene 65 Automatic point type exchange with Janome JR C Points 66 Sending point data to the robot via RS 232 eeeeeeeeeeeeeeeeee nenne nenne nennen nnn 67 Sending point data to the robot via JR CPoints eeseeeeeeeeeeee eren eene 68 PANUNG DIOIC CUS mmc RR RUN 68 Appendix 72 CAD drawing modifying COMMANCS
7. CAD elements properties ib wd Document x Ja Actes eme tyle STANDARD ActwedatchPropertes VedFilllModelone ul Actress irr WPB MODEL 2 Bl ActeLsyCut Model Facti eT voa BYLATER C rtalet LW BYLAYER e E ActizeePenColor myLayes AclroPndtl OH e ActmeTexHsnriussfy VeTextHorLeft an Acti Text yl Arial AchweTextWerlustt WdTestVerfiaseLine Toclpath opp X12543 7037 21 25000 ope X127 22 7053 90 250 00 ee Y 31 730 3903 2800 LL Toolpaths properties Hi D 7 ga ww W ul 433398 70 199 908 Z 0 000 125 244 4 o Lefty False Span E Lancer Type Cancel 4 20 Replacing shapes by their center point In many cases the CAD drawing used for creating toolpaths needs to be adapted to meet the specific requirements for dispensing tightening or soldering with the robot For instance many CAD systems show points as very small circles Instead of circles you propably need the center point of each circle in 52 Visual PathBuilder User Manual 4 21 order to create a soldering point Visual PathBuilder is able to replace any selected shape by its center point automatically Select the shapes you want to replace and select menu item Replace selected figures by center point from menu Edit The original shapes will be removed and in their center point a CAD point for used as PTP in robot programs is created Dispensing areas Especially with dispensing applications you will often
8. The name or description of the project 000 Z 0000 R 0 000 gj IIO SIE so inv 4 30 Creating middle line toolpaths from text Finished Some applications require the usage of text as toolpaths Visual PathBuilder allows you to use the outline of the text or the middle line of the text The middle line often is used with dispensing applications Creating the middle line of a text Add a text object into your project by selecting the menu item Text from menu Drawing Specify the insertion point and rotation and type the text If necessary select the text and change text properties like size fontname etc by using the toolbar at the top To create the middle line please select the text and apply the menu command Trace middle line from menu Edit or press the Trace middle line button from the toolbar at the top The text will now be converted into its middle line This is the original text as drawn with Visual PathBuilder Testtext This is the resulting vector representation of the middle line after tracing 64 Visual PathBuilder User Manual lesttext 4 31 Please note that you are able to specify the tracing sensibility to get best results Change the sensibility with the slider provided in the Visual PathBuilder settings dialog at tab Parameter Move the slider to the left to get less detailed toolpaths and move the slider to the right to increase toolpath details You will have to te
9. 7 CAD model and toolpaths layer Visual PathBuilder strictly distinguish between the CAD model imported CAD drawing or drawn paths in Visual PathBuilder and the toolpaths layer The CAD model can be considered as a kind of template for toolpaths The CAD model can contain more graphical information than the actual toolpaths need to have For instance the CAD model could be a drawing of the complete workpiece to be machined But as toolpaths we just need the drill holes and not the outline of the workpiece or its surface Additionally to the CAD model and toolpaths layer there is the robot working area layer This shows the area covered by the robot arm of the selected robot model by green outlines You can show and hide each of the three layers individually Please use the menu items from the menu a Visual PathBuilder User Manual 4 8 4 9 Layers or use the checkboxes at the bottom of the Drawing Area lt gt Visual PathBuilder V 3 0 Unknown C Program Files Microsoft Visual Studio 8 Projects VC VisualPathBuilder graphics DXF person vpb Janome DESKTOP JR2200 Les 8 File Edit Views Drawing ayer Toolpaths eT AZAA Of ror Robot Working Area T A OC ZADA Distance 1 0 I K a HE 4l 5 125 135 145 155 165 175 CAD elements properties ActiveDimStyle ActiveHatchProperties ActiveLayer ActiveLayOut ActiveLineType Toolpaths 5 Unknown Toolpath 1 38 Punkte Toolpath 2 3 Punkte
10. Part Introduction 8 1 Welcome to Visual Path BUllaer niece o cerne ope epu ce ep eost e papa ce C ns Enn ere paces eoe EE aa RARE NR KR 9 2 System Requiremelils i u V se lesbian devenus oc Dieu r EIS bal Si Mr SEV E cV DLE M KRM ANAR 10 3 Software ACIVallOD x uccssu e ooa uE eR ExEE e ERISE SR En RRS RE ERE M NERA Ru REV NASA NN TEMPER 10 A COMMECHNG INE TODON ctt M 11 5 Supported file formats import EX POLIt sssssssssssssrsrssasrnrn rann nn n rn rn Rn RR RAA AR RR RR RA RAR RR RR RR RR REAR 13 Part II The User Interface 16 1 The Visual PathBuilder Workspace eese eeeeeeee rere RAR RAR RAR RAR RAR RR RAR nnn nnn 16 2 TING TOODA S eee 18 3 Application ufertfeec t 19 A IRODOt JOG GONO enari R a E ESE ARASA 22 Part Ill Quick Start Tutorial 26 1 Steps to create a robot program by using a CAD model essere 26 PartIV Basic Working Procedures 36 1 Creating and saving Projets srice aa aa aaas aaa Ea iri REON 36 2 Selecting project arid ropot UNS sene eo esu eeu nou aana aa raaa aaia 37 SNESIDCIMIRIESILCPIILIM eheecsiiiecetiSetndcnbeetieriswedsaentivencshiiedaeewhiwdieetesetivenbiosnces a 37 A EGHING Snape propertie S em mem IP 38 5 Importing CAD files DXF DWG IGES STL ssssss sssssassssass sann nnnn nnrn nn rn Ann ARA RR ARA RR ARR RAR ARR 40 6 Importing Gerber files RS274D RS274X s
11. Select the COM port to be used Make sure that the COM port is not used by any other running application because Windows is not able to share COM ports between concurrent applications e Baud Select the communication speed Always make sure that the same values are specified at the robot and Visual PathBuilder e Timeout sec Specify the number of seconds Visual PathBuilder should wait for a valid communication with the robot Import settings The User Interface 21 JR C Points Point Data Rotation IGES STL OBJ Rotation Axis x v E Degrees x Placement None Center Upper left Bottom left se Gerber RS274D RS274X Exchange circles and rectangles by points V Explode Rotation IGES STL OBJ You can make Visual PathBuilder rotating the shapes imported from IGES OBJ and STL files Select a rotation axis and the value to rotate in DEG Positive and negative rotation degree values are supported Select the value 0 if you do not want a rotation Rotation center point always is the origin 0 0 0 e Rotation Axis Select X Y or Z axis to rotate around e Degrees Enter the degrees to rotate around the selected axis Placement You can let the software automatically insert the imported drawing aligned to the center of the working area If your application requires you can also place the inserted drawing at the left upper or lower point of the working area e None No automatic placeme
12. Set robot to External Run Mode In order to make the robot receive commands from Visual PathBuilder va RS 232 connection you must set the robot to External Mode To do this press the Mode button on the Teaching Panel and select External Run Mode Now the robots tool arm can be controlled via Visual PathBuilder and receiving program data from Visual PathBuilder is enabled Supported file formats import export Visual PathBuilder is able to read the following file formats DXF AutoCAD V10 AutoCAD 2004 DWG AutoCAD V10 AutoCAD 2004 IGES Solidworks Pro E Autodesk Inventor etc STL OBJ LWO Lightwave 3D VDF VDI VDP DGN Gerber RS274D Gerber RS274X BMP GIF JPG WMF Visual PathBuilder is able to write the following file formats VPB Visual PathBuilder project file DXF 12 2000 2004 DWG AutoCAD 2000 2004 2007 DGN 8 HPGL ow Visual PathBuilder User Manual SVG WMF EMF VDCL VDF VDI VDML GIF JPG BMP TIF PNG PDF 16 Visual PathBuilder User Manual 2 2 1 The User Interface Visual PathBuilder provides a state of the art user interface designed according to the Microsoft User Interface standards Most of the software features are accessible via menus and toolbars The buttons in the toolbars all have text descriptions appearing when the mouse remains above them All user interface text is stored in separate language files to support different languages The applic
13. Then make sure that the robot is switched to External Run Mode Finally make sure that the Robot Control Panel of Visual PathBilder is enabled Move robot arm To move the robots different axis press the yellow Jog buttons or use the arrow keys of your computer keyboard Prnt Pause Sem Sul Sys LUCR Braak Lock Lock Lock reat Home i Del Page Des End Down X Axis Arrow Up Down Y Axis Arrow Left Right Z Axis Shift Arrow Up Down R Axis Shift Arrow Left Right Please note It is not possible to move more than one axis concurrently Change Jog speed You can change the Jog speed by using the buttons shown below Rit a slow normal fast Change Lefty Righty position mode SCARA only Use the Lefty and Righty button to change between these two positioning modes Copy the current robot position into Visual PathBuilder Press the pink POS button to copy the current X Y Z R position of the robot arm into the X Y Z R textfields of Visual PathBuilder Enter a robot position manually You can enter any position to the X Y Z R textfields of the Robot Control Area Pressing the GO button Basic Working Procedures 57 will move the robot to this position Press the Reset button I to set all values to 0 MRi Esc Nemec or woo 5 IAE B El E Q Q ED Gmn X70475Y3125370248002 gj Warning Always verify the X Y Z values before sending a GO command to the robo
14. are positioned diagonally to the workpiece This means that you should place the first reference point in the upper left area and the second reference point in the lower right area The following picture illustrates the optimal placement of reference points assuming that the workpart is a ZIP disk E din i Ref 2 Always try to find a prominent part of the workpiece to use as reference point if a reference point is not originally already existing For example you could use the corner of the disk as reference point Following this advice makes the navigation to the reference points on the robot much more easier Insert reference points into the CAD model You should insert reference points into the CAD model when all toolpaths are correctly specified Specifying reference points without having any toolpaths created is not recommended and will lead to incorrect program instructions output The drawing tools of Visual PathBuilder provide a Reference Point 1 and a Reference Point 2 You can insert reference points as you would insert any other graphical element like a point polyline circle or text Please press the button from the left toolbar and place the mouse pointer at the desired reference point location Then press the left mouse button Visual PathBuilder will now show the reference point as orange cross with a circle around Press the button to insert the second reference point Navigate the robot to the reference points at
15. face the problem to fill areas with dispensing fluid In order to fill an area with fluid you will have to create a more or less complex toolpath depending on the application If the area to fill has a complex outline creating filling toolpaths can be very time consuming Visual PathBuilder is able to create filling toolpaths automatically As area to fill you need a polyline object with closed outline Other shapes are not supported for creating dispensing area toolpaths You can create a polyline from nearly all other shape objects by simply using the convert to polyline function When indicated you will also need the Explode function before to split combined objects To create filling toolpaths please select the closed polyline shape in your drawing and open menu Drawing Select menu item Dispensing Area to open the following dialog window Dispensing Path Horizontal Line I Vertical Line 3 Horizontal Serpentine gt Vertical Serpentine O ZigZag Custom Pattem Custom Line Definition Predefined filling patterns The software supports the following 6 predefined filling patterns e Dots The area is filled with dots in user specified distances Enter the distance of the dots into the textfield with label Offset and select the radio button Dots Then press the OK button for creating the fill pattern Basic Working Procedures e Horizontal Line The area is filled with horizontal lines in user specified distanc
16. from the toolbar at the top of the Visual PathBuilder application window Visual PathBuilder will then show the project properties dialog Project properties My dispensing project Janome SCARA J5650 6 00 mm sec Please provide a project name which should describe your application You can change the project name any time later Select the Janome robot model you use You can change the robot model any time later Enter the default toolpath speed This speed is used for all toolpaths except you specify any other speed value at toolpath or point level You can change the default speed any time later Select the project measurement unit You can chose between millimeters mm and inches inch Please note You cannot change the projects unit later Select the default toolpath order This setting allows Visual PathBuilder to sort the toolpaths automatically The software refers to the start points of the toolpaths and sorts them according to your setting Select none if you do not want any sorting The toolpaths will processed by the robot in the orders as they have been drawn originally with the CAD software Select left right up down or optimized for sorting The optimized sorting mode will reorder the toolpaths according their distance which should help optimizing robot cycle time Press the OK button for creating the project The software will show the robot workspace area 4 2 4 3 Basic Working Procedures 37
17. or JR CPoints you have to save your project into a jcs file A jcs file contains X Y Z values and point type information only The additional point properties like speed point job numbers or pallet routines are ignored when creating a jcs file To create a jcs file from your toolpaths of the current project please use the Save as jcs file menu item from menu Toolpaths Specify a filename and press the OK button Use the menu item Import of menu File in JR Points or JR CPoints software to read the jcs file created by Visual PathBuilder You can now edit the points and send them to the robot via JR Points or JR CPoints 66 Visual PathBuilder User Manual 4 33 ig Untitled JR C Points Standard Edit View Program Data Robot Set T M C Customize Account Help New Ctrl N I amp llr fF P ans S r bk ef Open Ctrl O 1 i 2 3 Save Ctri 5 Btart Point CP Passing Point _CP Passing Point Save As Open Piece Data Save Piece Data Import Compile Decompile Print Ctrl P Print Preview Print Setup Recent File Exit Work Adjustment No Execute Condition No Tag Code a Fm IPC loads the point data set in CAD format JR2200M Z R IO A Automatic point type exchange with Janome JR C Points Janome Desktop and SCARA robots support special applications like dispensing soldering screwing etc by updating the robots controller memory with application specific firm
18. or tool is used for specifying the reference point position only The offset is automatically used when calculating point positions with reference point alignment Vectorization Sensibility You can change the sensibility of tracing middle lines or whole drawings in order to improve tracing results If the slider is moved left the sensibility gets less and the result will be less detailed If the slider is moved right the sensibility increases Sometimes you will have to try different sensibility settings to get the best tracing results Vectorization Mode Select one of the following vectorization modes e Centerline e Doubleline Centerline Doubleline JR C Points Point Data Original Point Type New Point Type CP Start Point Dispending Start Point CP Passing Point Dispensing Passing Point For special applications dispensing soldering screwing it could be necessary to exchange the general point types with specific point types This can be automatically done by Visual PathBuilder by specifying the original point type caption and the new point type caption Please make sure that you exactly enter the captions as they are used in JR C Points Pressing the OK button will save your changes Robot Jog Control If you have a robot connected to your computer running Visual PathBuilder you are able to directly control the robots tool arm and send program data created by the software to the robot For details The User
19. the mounted workpiece After having specified the reference point in the CAD model we need the actual robot coordinates of these points So move the robots arm with the tool mounted to the corresponding location of the first reference point on the workpiece If you are sure that the tool is correctly placed at the reference point press the Refi button at the Robot Control Area or enter the X Y Z values shown on the Teaching Panel of your robot into the Toolpath properties table with the project node selected Navgate the robot to the second reference point and press the Ref2 button at the Robot Control Area of Visual PathBuilder or enter the X Y Z values shown in the Teraching Panel Basic Working Procedures 59 Toolpaths 5 Points E Toolpath 1 5 Points 3 cob ops X119 312 Y63 674 Z41859 F c arc X150 576 Y84 436 241 859 p cpp X129 814 Y115 701 Z41 859 aL oan WOO ERR Sas G90 7 741 ORO Toolpaths properties Name Unknown Speed 10 Direction none Unit EH Robot Reference Poi Robot Reference Potty Name The name or description of the project X3151 914 Y 103 000 2 X 0 000 Y 0 000 Z 0 07 REFi i nt REFA 151 974 Y 103 000 Z 41 855 fa Visual PathBuilder automatically calculates offset values and devation angles according to your reference points Please note It is absolutely important that you have specified the referenc
20. the program data via Visual PathBuilder to the robot This means you need a working RS 232 connection between your computer and the robot Toolpaths as overlays to scanned bitmaps If you do not have a CAD model of your workpiece it is possible to take a photography or scan of the workpiece as template for your toolpaths Of course it is necessary that the scan or photo has the correct scale and is not stretched or distorted in any way Visual PathBuilder allows to import bitmap file formats like Windows Bitmap BMP GIF or JPG To import a bitmap file create a new project and select the menu item Import from the menu File Select the file and press the OK button Make sure that the CAD model layer is enabled before importing Place the bitmap within the robot working area Select the imported bitmap and press the Explode button from the top toolbar The bitmap will now become a vdlmage object which can be scaled Make sure that the ruler is enabled Visual PathBuilder settings tab page General because it can help to find the correct scale in the case that the bitmap is too small or large Scaling the bitmap is done by clicking on the upper right blue rectangle and moving the mouse Pressing the left mouse button will finish scaling After you have correctly scaled the bitmap you are able to draw paths and shapes onto the bitmap which can be later converted into robot toolpaths Extracting toolpaths from bitmaps Visual PathBuil
21. top Move the mouse pointer to the blue rectangle representing the way point to delete and press the left mouse button twice 48 Visual PathBuilder User Manual 4 17 _ Visual PathBuilder V 3 0 Unknown C Program Files Microsoft Visual Studio 8 Projects VC VisualPathBuilder graphics DX rson vp b Janome DESKTOP JR2200 EJ RS es File Edit Views Drawing Layer Toolpaths Help DES Font Arial 120 AOC CMDS distance i10 X IL HES HE ts n Toolpaths 398 Points HK Unknown Toolpath 1 38 Points Toolpath 2 3 Points Toolpath 3 106 Points Toolpath 4 22 Points Toolpath 5 72 Points Toolpath 6 15 Points Toolpath 7 20 Points Toolpath 8 8 Points Toolpath 9 18 Points Toolpath 10 19 Points Toolpath 11 8 Points Toolpath 12 5 Points Toolpath 13 10 Points Toolpath 14 20 Points Toolpath 15 21 Points Toolpath 16 10 Points Toolpath 17 3 Points L Press left mouse button twice at point to remove Toolpaths properties Name Author Speed 10 Direction none J lt A X 79 561 Y 110 312 Z 0 000 RobotReferencePoint X 40 385 Y 113 200 Z RobotReferencePoint2 X 70 475 Y 125 370 Z Name Select grip 79 4741 110 2544 0 0000 The name or description of the project Add points with specific distance to toolpath For creating toolpaths having points in a specific distance you can s
22. using the buttons a DR E If the robot arm is correctly positioned above the first reference point please press the Refi button at the right side of the Robot Control Area The X Y Z values of the current robot position is now shown in the textfield right to the Ref1 button 40 385 Y 113200 Z X40385 Y113200 248002 GD ig X 0 000 Y 0 000 Z 0 000 Please do the same procedure with the second reference button Use button Ref2 instead of Ref1 If the robot is not connected In this case you have to navigate the robots arm to the reference point locations by using the Teaching Panel of your robot If the robot arm is correctly placed at the reference point 1 please enter the X Y Z values shown at the Teaching Panel display into the toolpaths properties list You find the toolpaths properties list in the Data Table Area at the right side of the Visual PathBuilder application window Make sure that the project node is selected to show the reference point values as shown below Do the same procedure with the second reference point Tool 94 Points i Program 1 E ath 1 38 Points C Y H Toolpath 2 3 Points E Toolpath 3 106 Points H Toolpath 4 22 Points H Toolpath 5 72 Points E Toolpath 6 15 Points B Toolpath 7 18 Points cps X72 732 Y109 246 248 002 cpp X72 291 Y109 100 248 002 cpp X71 423 Y109 159 248 002 cpp X70 518 Y109 182 248 002 cpp X69 923 Y109
23. valves for dispensing different fluids or you don t use the tool for reference point definition but some other reference pointer mounted on the robot arm you can easily apply the X Y Z offset of the tool center point compared to the reference pointer Basic Working Procedures 61 tool used to define reference points The following example shows two valves The second valve is used to set the reference points To get correct waypoint coordinates for valve 1 you must specify a toolpath offset In this example for each toolpath being processed with valve 1 the Tool Center Point Offset Y 50 5 must be entered Toolpaths 10 Points 5 Toolpath 2 5 Points eps X79 83 Y171 55 219 66 arc X65 93 Y 157 93 219 66 epp X79 55 Y 144 03 219 66 i arc X93 45 Y157 65 219 66 m wakwe 1 Vale 7 Po d eec WIO 09 VI EE I IR BR Toolpaths properties E Name Toolpath 2 S2 Speed 0 T El ToolCenterPointOffset 000 Y 50 500 Z 0 _ a i F pea Customdata If the first valve would be used as reference point tool you must specify a negative Y offset value for valve 2 4 27 Specifying point jobs Visual PathBuilder allows to specify R axis angles point job numbers condition numbers pallet routine numbers etc for each toolpath point separately For detailed information about the meaning and function of these additional reference numbers please refer to the Janome technical manu
24. 0 Dashes 0 5 1 Line 2 0 0 2 0 90 Basic Working Procedures Wu Parkera 55 LUnkmcem CA Tent fiera argu 2arpis 2b He Egi Vist Duaig Leu Tahiti Hep nai a uw d Fus Anu r id s B e A Di G g i n i perrug a Dinperaang Fut iria IE E d TTE 1D Ls EE ul 2 OMT Y1ER 2 ares ek TTA ac H FebxfaeecePont X UE E LOOD TI GROTH 152 2270 0 EE Mame Cassel Der Haee odes dee Beachweburng des Ppa Fiere 4 22 Controlling the robot If you have a robot connected to your computer running Visual PathBuilder you are able to directly control the robots tool arm and send program data created by the software to the robot For details about connecting the robot to your computer please refer to chapter Connecting the robot EN Visual PathBuilder User Manual Reset Reference Points Reset position values to 0 0 0 0 values to 0 0 0 Enable disable Jog normal speed robot control Jog low speed Jog high speed Robot position Mechanical initialization REF po REF2 X 0 000 Y 0 000 Z 0 000 X 0 000 0 Woo Z 0000 X axis Jog Z axis Jog Y axis Jog R axis Jog Enable disable Reference Points 1 amp 2 Display current Arm positioning Move to displayed position robot position mode SCARA Reference Point X Y Z values Enable the robot to receive commands from Visual PathBuilder First make sure that the RS 232 connection properties are correctly set
25. 00 F opp X127 72 131 11 25000 op X122 03 TEE 78 25000 eani X178 74 PRET PS Taclpaths properties Hace Verfahrweg 2 Speed Customdsls To check which toolpath grip belongs to which waypoint node in the treeview Place the mouse cursor upon the blue grip rectangle you want to query Then press the shortcut Ctrl I to let the software select and show the corresponding waypoint node in the toolpath treeview ee a Visual PathBuilder V 3 6 Unbekannt C cae F0 75 Er Fe X A C UT d mm A A Detance 5 100 105 110 115 120 k A il File Edit Veess Dramo Layer Toalpaths Help oF RQ Font Arial 120 sf 25 30 35 40 45 50 55 60 55 M pe m AD x mh Jd XZEREIS YaE 28 2D WI A J e J t Tid ao 65 h vd Poker Wr ps the D Theres Ei Geometry Endl agent Eutr reni ez Do Doig n t 3 DO Flag Pi legiPin Erots D Then TineFiaj SFlsy STANDARD Star tT angent Tricka Ran Te Ver text 64 Items Tactoath epa X111 55 73 57 25000 F opp X111 5D F BO 30 2500 con X111 68 Bri 50 250 00 F ce E111 77 RS 25000 Ea Toolpaths propertees R Lefty False Span 2 Tyne To check which toolpath node belongs to which graphical element Select the toolpath node in the treeview and press the right mouse button The corresponding toolpath is flashing in the drawing Basic Working Procedures er EESK ESSER SARI Visual Path
26. 1 661 Y91 818 250 000 je ope X90 803 Y91 818 Z50 000 E Toolpath amp 106 Points E Toolpath 7 72 Points E Toolpath 8 8 Points E Toolpath 9 22 Points E Toolpath 10 3 Points E Toolpath 11 18 Points E Toolpath 12 38 Points E Toolpath 13 15 Points E Toolpath 14 5 Points E Toolpath 15 19 Points E Toolpath 16 8 Points E Toolpath 17 3 Points Each node in the Toolpaths Treeview represents a specific toolpath in the drawing Simply press the right mouse button above a toolpath node in the Toolpaths Treeview and the software will highlight the corresponding toolpath in the drawing Select Reference Points at drawing To align the drawing with the actual position of the workpiece to be machined with the robot Visual PathBuilder uses one or two reference points A reference point always has a pair of X Y Z values The X Y Z position of the reference point at the drawing and the position of this point at the robot Using just one reference point will allow Visual PathBuilder to calculate X Y Z offsets only By specifying a second reference point Visual PathBuilder is able to calculate offset and devation angle You should place the first reference point at some prominent place in the left upper area of the workpiece The second reference point should be placed in the right lower area This way Visual PathBuilder is able to calculate the most accurate X Y Z offset values and dewation angles For
27. 141 025 Z 0 000 RobotReferencePoint X 0 000 Y 0 000 Z 0 C RobotReferencePoint2 X 0 000 Y 0 000 Z 0 C Regen 120 5133 59 2137 0 0000 Name 123 9481 62 5164 0 0000 The name or description of the project Delete point Delete reference points gt A X x 0000 Y 000 Z 0000 R 0 000 Qf E x CZ VR SRS SA a il Now the drawing consists of vdPolyline objects only and is ready for creating the toolpaths Finished Create toolpaths Select the whole drawing and apply the Create toolpaths function from menu Toolpaths You could also use the Create toolpaths button from the toolbar If you do not need the whole drawing to be converted into toolpaths it is better to delete all unnecessary drawing parts from the CAD model To do this just select the item to delete and select Erase from menu Edit 0 3 Visual PathBuilder User Manual lt gt Visual PathBuilder V 3 0 Unknown Unknown vpb Janome DESKTOP JR2200 File Edit Views Drawing Toolpaths Help OSHA AA o reir Generis m AOC CRP ence 101i Recalculate CAD elements properties Inverse direction vdDocument Set toolpaths order ATE az 91 Simulation E ActiveProperties ActiveDimStyle Save as jcs file vig 3 ActiveHatchProperties Send to robot d i ActiveLayer i ActiveLayOut ActuslinsgTuna Toolpaths 5 Unknown Toolpaths properties Name Unknown Author Speed 10 Direction down
28. 178 248 002 cnn X89 528 Y1N9 016 748 002 Toolpath rti oolpaths properties MDI INIT The first reference point used for drawing robot xyz values alignment This point specifies the xy displacement and is Quick Start Tutorial Visual PathBuilder has calculated the offset values and deviation angle in the background The Toolpaths Treeview will now show the X Y Z values of the toolpaths in actual robot coordinates Save project If not already done before you should now save your project Select the menu item Save from the menu File and provide some useful filename for easier reference later Press the OK button to save Project files automatically get the filename extension vpb The project file will contain the complete drawaings CAD model and toolpaths the reference point locations robot and drawing and the toolpath data as shown in the Toolpaths Treeview Testing the program After providing reference points with drawing and robot coordinates you are now ready to do some tests before sending the final program to the robot For testing you could let your robot go to some of the toolpath points calculated by the software Please note that testing as described here is possible when you have a robot connected to your computer only Warning Always verify the X Y Z values shown in the Toolpaths Treeview before sending a GO command to the robot to avoid any damage to the robot tool or workpiece To mo
29. 4 Lefty 55 license 10 Margins 68 measurement 36 37 Mechanical Initialization 16 55 middle line 63 millimeters 36 37 mm 36 Move 55 movement 22 N name 36 New 290 36 new project 18 26 36 O OBJ 19 Object Snap 38 offset 19 26 52 57 offsets 8 26 Open 18 order 18 36 Orientation 68 outline 63 overlay 62 sp pallet routine 61 Parity 11 paths 42 pattern 52 patterns 38 52 pen color 38 pen width 38 photography 62 Placement 19 Point 18 59 RS 232 8 11 16 55 67 68 Point Data 19 ruler 19 Point Dispense 66 point job 61 S point properties 61 point snap mode 18 Save 18 26 spei A Scale 26 38 62 68 polyline 18 38 52 SSN j 55 9 16 26 Scara Robots 8 position 55 m i Fant 726 08 Send 26 67 68 n 68 serial number 10 Serpentine 52 processing 64 Settings 19 37 program instructions 9 shapes 42 program number 26 67 Gud 48 programming instructions 9 Simulation Gd project 9 26 36 size 68 project properties 26 36 snapping 38 PTP 16 18 42 6 mH J J J sort 36 44 speed 26 36 55 59 R Spline 18 splines 16 R axis 22 61 STL 19 Rectangle 18 Stop Bit 11 rectangles 16 Sub D connector 11 Refi 26 57 subtract 46 Ref2 57 Reference Point 18 19 T Reference Point 1 57 Reference Point2 5 7 Teaching Panel 11 reference points 26 57 Testing 26 remove 18 42 text 16 18 63 render 38 text font 38 rendering 38 Timeout 19
30. Builder V 36 Linbekannt SE ED ocr achony m File Edit Vinee Drain Lager Tool paths Help Le a o D Font Anal ui B T X AO C UT QE a A eh Deance 10 7 MEL md mf 25 30 35 40 45 50 55 5 80 85 90 95 100 105 110 115 120 CAD elements properties n vd Docume M e Em ActreeCemEtyie STANDARD d ActweHatchPropertes V dFllModekone ul ete ayer WPB MODEL 3 ActweLsyGut Modal Aur the bw T vp EYLAWYER c ActweLinevvesght LW BYLAYER rs E E ActizePenCok myLayes ig Aue tree Pree iik ie a ActmeTextinrlussfy VeTexthorLeft a Acte Text y Arial icteelextverlusty VWdTextVerfeseLline EJ Teclpaths I 9 E w 100 8 H opp X12643 87 21 250 00 cp X127 22 y r983 90 250 00 ce 177 73 7709 010 2 28000 Toolpaths properties hare Werlahrweg 2 Saeed Customdais zm uw uu nd d 2 Ya104435 720 000 125244 Lancer Cancel To check which waypoint node belongs to which toolpath grip in the drawing Select the waypoint node in the treeview and press the right mouse button The toolpath and its corresponding grip is flashing in the drawing m Misual Pathiuilder V 3 6 Unbekannt CATemplyboolpath idertsacionvpb EE X File Edit Mies Dressing Lager Toelpatha Help y By i hb amp aA D Font Arial 120 B amp RK AOL 4 XD 10 z WHE Los I 25 20 35 40 45 50 55 60 65 70 75 80 85 90 95 100 105 110 115 120 y P Zl As P i i i i Lal
31. Explode command until you do not notice and changes anymore Then you are sure that only basic elements exist You now can convert the selected basic elements into polylines by applying the command Convert to polyline from menu Edit or use the identical labeled button from the upper toolbar Drawing and editing toolpaths If you want to create toolpaths from scratch Visual PathBuilder proudes a number of drawing tools Drawing takes place in the CAD model layer so be sure that the CAD model layer is not hidden Please note that you do not directly draw toolpaths Toolpaths are always created from any selected entities drawn in the CAD model layer Basic Working Procedures 43 For using the drawing tools provided by Visual PathBuilder you first have to create a new project or open an existing project Then select one of the drawing tools provided by the toolbar to the left of the Drawing Area Drawing Janome waypoints You could draw one of the 5 main Janome specific waypoint types directly To draw a waypoint press one of the left toolbar buttons shown below and place the mouse pointer above the destination point on the drawing area For placing the point press the left mouse button TPS CPE CPF ARC PIP The 5 waypoint types are as follows e CPS Continuous Path Start e CPE Continuous Path End e CPP e PTP e ARC CPP CPE PTP CPP T ARG Please refer to the Janome technical documentation for more inform
32. If necessary you can add further point types to be exchanged Please make sure that you enter the point data captions exactly as they are shown in Janome JR C Points data table After specifying all point type captions press the OK button to save the table content 4 34 Basic Working Procedures 67 Settings General Robot Import Parameter JR C Points Point Data Original Point Type New Point Type gt PTP Point Point Dispense 2 Create and correctly align your program with one or two reference points in Visual PathBuilder 3 Save the program instructions into a JCS file by using menu item Save as JCS file of menu Toolpaths 4 Open Janome JR C Points software and import the JCS file created by Visual PathBuilder into any empty program number 5 Select the first line of the point table in JR C Points This line shows the point data types Selecting the whole line is done by simply clicking on the gray row caption Type e Untitled JR C Points Dispensing 2d File Edit View Program Data Robot Set T M C Customize Account Help Dee tae AS Se Ait di F SAN X ty OB E EX 1 Test 1 2 3 PTP Point CP Start Point CP Passing Point Aci atr a men po v qr Coordinates Y mm 0 000 0 000 0 000 Coordinates Zimm 0 000 0 000 0 000 Coordinates R deg 0 00 0 00 0 00 100 100 I Condition No Job while Moving Ink whl OM RA ann 4 n
33. Interface 23 about connecting the robot to your computer please refer to chapter Connecting the robot Reset Reference Points values to 0 0 0 Reset position values to 0 0 0 0 Enable disable Jog normal speed robot control Jog low speed Jog high speed Robot position Mechanical initialization X 0 000 Y 0 000 Z 0 000 X 0 000 Y 0 o0 Z 0 000 Enable disable Reference Points 1 amp 2 X axis Jog Z axis Jog Y axis Jog R axis Jog Display current Arm positioning Move to displayed position robot position mode SCARA Reference Point X Y Z values Additionally to the user interface buttons above you could control the Jog movement with your computers keyboard The following keys are used to control Jog movement Serl 2 Lok Num Loch Sane Donna Enler X Axis Arrow Up Down Y Axis Arrow Left Right Z Axis Shift Arrow Up Down R Axis Shift Arrow Left Right This page is intentionally left blank FEN Visual PathBuilder User Manual 3 3 1 Quick Start Tutorial The following chapter should help to discover the basic procedure to create toolpaths and a robot program by any existing CAD model imported into Visual PathBuilder This tutorial is created with a Janome JR2200N mini robot but the process itself can be applied to any robot type The Visual PathBuilder installer creates a directory with some sample DXF files which can be used to follow the tu
34. Res et 55 Toolbar 18 right 44 toolpath 26 44 49 59 61 63 Righty 55 toolpath direction 26 49 toolpath order 44 Toolpath Properties table 16 59 toolpath sort 44 toolpath speed 59 Toolpath Treevew 16 59 Robot settings 19 Toolpaths 8 9 16 26 36 52 62 66 67 robot working area 41 toolpaths layer 41 robot workspace 16 26 Toolpaths Treeview 26 MES Trace 18 62 rotation 38 Tecan 26 robot 9 11 26 36 37 55 67 Robot Control Area 16 19 Robot Control Panel 55 robot coordinates 26 robot model 19 Visual PathBuilder User Manual Tutorial 26 U unit 19 36 Units 37 38 up 44 User Interface 16 V vdArc 40 vdDocument 38 VDF 40 vdLine 40 vdPolyhatch 63 vdPolyline 26 40 63 vector 40 vector graphics 62 Vertex List 42 Vertical Line 52 Vertical Serpentine 52 View 38 vob 26 36 vpb3 license 10 W waypoint 4 7 wiring 11 working area 19 workpiece 26 62 workspace 16 X Axis 22 Y Axis 22 Z Axis 22 ZigZag 52 Zoom 18
35. Toolpath 1 5 Points 4 im eer 63 674 741 859 i arc X150 576 Y84 436 741 859 vin cpp 129 814 115 701 741 659 L n WOO ERA 7 WOA 00 7 7481 ORG m Toolpaths properties DD path 1 CETT La Speed Point speed Normally the points of a toolpath get the same speed value as their toolpath has If necessary you can specify a different speed for a specific point To do this please select a point from the Toolpath Treeview The Toolpath properties table will now show the point properties Set the speed value to the appropriate speed Set the speed value to 0 is you want to use the toolpaths default speed Toolpaths 5 Points Unknown a El Toolpath 1 5 Points 00 JobBeforeMovingNumbe 0 JobWhileMovingNumber 0 JobWhileCPMovingNuml 0 PointJob Number oO Speed Specifying decimals of X Y Z values By default all WY Z and R values are calculated with 2 decimal digits However you can change the number of decimals to be used in your project by selecting the project node in the Toolpath Treeview The Toolpath Properties table will then show the project properties Locate the property Decimals and change the value You can use values between 0 and 10 Negative values are not allowed The coordinates in th Toolpath Treevew are immediately updated after you changed the decimals value Specifying tool center point offsets In the case that you use more than one tool e g two dispensing
36. Toolpath 3 106 Punkte Toolpath 4 22 Punkte Toolpaths properties Name Author Speed 10 Direction none RobotReferencePoint 1 X 40 385 Y 113 200 Z RobotReferencePoint2 X 70 475 Y 125 370 Z Name Der Name oder die Beschreibung des Projekts ren 40385 Y113200 248002 j rere x70475Y125370 248002 Z When importing CAD drawings they are automatically placed onto the CAD model layer If you manually draw toolpaths and shapes with Visual PathBuilder all graphical elements are assigned to the CAD model layer To create toolpaths you select the entities to be used as toolpaths from the CAD model layer and press the Create toolpaths button or use the menu item Create toolpaths from the menu Toolpaths The software will join paths automatically colors them red and adds them to the toolpaths layer Convert shapes into polylines Visual PathBuilder is able to create toolpaths from polylines and point only All other graphical elements must be converted into polylines to be used as toolpaths If the element to be used as toolpath is a compound object and consists of various different single element types lines arcs polylines etc you have to apply the Explode command from menu Edit The Explode command splits the compound object into its basic components For some objects it is necessary to apply the Explode command multiple times e g for text or meshes Always apply the
37. Visual Pathebullder CAD CAM Editor for Janome Industrial Robots Visual PathBuilder USER MANUAL Version 3 9 5 Date 12 07 2013 This page is intentionally left blank Visual PathBuilder CAD CAM Editor for Janome Desktop SCARA Industrial Robots Ratioserv Software Engineering amp Consulting GmbH amp Co KG Grub 22 A 4702 Wallern Austria Tel 43 7249 42019 E Mail office ratioserv com Visual PathBuilder User Manual All rights reserved No parts of this work may be reproduced in any form or by any means graphic electronic or mechanical including photocopying recording taping or information storage and retrieval systems without the written permission of the publisher Products that are referred to in this document may be either trademarks and or registered trademarks of the respective owners The publisher and the author make no claim to these trademarks While every precaution has been taken in the preparation of this document the publisher and the author assume no responsibility for errors or omissions or for damages resulting from the use of information contained in this document or from the use of programs and source code that may accompany it In no event shall the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to have been caused directly or indirectly by this document Printed Dezember 2013 Contents 5 Table of Contents 0
38. ading Trailing iQ mm Point Data Format X int 3 X dec 5 Yit 3 Yidec Absolute Apertures Filename e Unit Select the measurement unit of the Gerber file to be imported e Zero Suppression Select None if zeros should bot be suppressed Select Leading if the leading zeros should be suppressed Select Trailing if the trailing zeros should be suppressed e Point Data Format Specify the number of digits before int and after dec the decimal point Specify the data format for X and Y values independently Also specify if the X Y points are written as Absolute or Incremental values Incremental values are always relative to the previous value e Apertures If applicable you can specify a separate file containing aperture definitions After pressing the OK button the Gerber file is converted into polylines and inserted into the active project If you have selected Gerber RS274X as file format the file is immediately imported without specifying further parameters The resulting polylines can now be converted into toolpaths Replace circles and rectangle by points In most cases the soldering holes in PCB layouts are specified as circles or rectangles If you need the center of these soldering holes as toolpaths e g for drilling with the robot you can enable the option Replace circles and rectangles by point in the Visual PathBuilder settings tabpage Import before you import the Gerber file 4
39. al of your robot For instance you can use this feature in order to call a job program stored in your robots memory A job program consists of one or more robot instructions like waiting for a I O trigger delaying program execution with dispensing applications etc Such programs are called point jobs and are created by the robots Teaching Panel or va Janome JR Points or JR CPoints software Each point job has a specific job number Visual PathBuilder allows to enter the job number at any toolpath point for calling the job when the program is executed To enter the point job number you have to select the point in the Toolpath Treeview The Toolpath properties table now shows all point properties One of these properties is the Point job number Enter the number of the job to call when the robot processes this point EN Visual PathBuilder User Manual 4 28 4 29 Tootpaths 5 Points B B Unknown a E d Sin 1 a KSR n Hr ETT 5 ibis oin WOA D I 741 ORG Toolpaths properties JobBeforeMovingNumbe 0 ee ee m t eim ToolNumber o m The additional point properties are lost when you delete the toolpath from the CAD model or when the point is removed from the toolpath Please note These additional point properties will not be exported to jcs files because the jcs file format allows X Y Z values and point types only But these point properties are transfered to the robot when you directly send
40. ape Print area Extends O Selected area Scale Printer 1 0000 Scale to fit Drawing 0 4136 Seale 1 1 Margins Top 65 0880 Bottom 0 0000 Let 0 0000 Right 0 0000 The print preview dialog provides a number of printing options The left area shows the graphics as it would be printed on paper Printer Select the printer driver to use Black amp White Check this option if you want to ignore colors and printing everything in black amp white Size Select the paper size Custom size Enable the checkbox for specifying custom printing size in millimeters Orientation Chose Portrait or Landscape Print area Chose Extends or Selected area To select the printing area you have to press the button EL With the rubber band select the printing area Scale Enables you to enter any scale factor Press the button Scale to fit for ensuring that all parts of the drawing are printed Press the button Scale 1 1 to have a 1 1 printing of the CAD model Margins Enter the top bottom left and right margins Press the Center button for centering the image This page is intentionally left blank Visual PathBuilder User Manual D 5 1 Appendix CAD drawing modifying commands Here is a list of the CAD drawing and modifying commands accepted by the CAD command line interface CAD file commands Open Opens any CAD file for displaying and editing This command is recommended for editing or drawin
41. ate 11 bitmap 40 62 Dispensing areas 52 distance 18 46 48 52 Blocks 38 v BMP 40 62 Divde 18 48 document properties 38 Dots 52 G down 44 drawing 9 cable 11 Drawing Area 16 CAD 8 9 26 62 drawing tools 42 CAD elements properties 38 DWG 8 9 26 36 40 CADengine 16 DXF 8 9 26 36 40 CAD model 26 38 41 CAD models 16 E E CAD properties table 16 19 38 UN Edit 42 Character Length 11 Circle 18 editor 38 Element properties 38 circles 16 Ellipse 18 Collections 38 lllpses 46 oo We Erase 26 COM 11 Execute 26 explode 18 19 26 40 42 52 62 63 External Run Mode 11 55 67 command line interface 16 communication 19 condition numbers 61 Continuous Path 42 Convert 18 26 42 m F on Convert to polyline 26 coordinate 42 File 26 coordinates 26 firmware 66 CP 66 Font 18 Visual PathBuilder User Manual fontname 63 fontsize 63 ds Gantry Robots 8 General settings 19 GIF 40 62 Globals 38 GO 26 55 graphics 40 Grid 18 38 H hatch pattern 38 holes 46 Horizontal Line 52 Horizontal Serpentine 52 IGES 19 Images 38 Import 26 40 62 inch 36 inches 36 37 INI 55 Insert 18 insertion point 38 P Janome 8 jos 26 65 66 68 Jog 11 16 22 26 55 Jog speed 55 Join 18 46 JPG 40 62 JR C Points 19 66 JR CPoints 8 9 26 61 65 68 JR Points 8 9 26 61 65 68 K keyboard 16 22 55 L Language 19 layer 26 38 Layers 41 let 4
42. ation about the different waypoint types Drawing custom shapes and paths Visual PathBuilder provides a number of standard tools like lines arc polylines circles ellipses points rectangles splines and text To draw one of the elements select one of the left toolbar and place the mouse pointer above the destination point on the drawing area For inserting the element press the left mouse button 44 Visual PathBuilder User Manual 4 10 Selecting elements To select elements simply press the left mouse button when the mouse pointer is located above the element The element now will show all its points as blue rectangles The selection remains if you select another element Pressing the Esc button unselects all elements Removing graphical elements To remove elements please select the element s and call the Erase menu item from menu Edit Editing points of elements Each graphical element consists of at least one point If you select an element its points are shown as blue rectangle To move points please press the left mouse button when the mouse pointer is above the blue rectangle You now can move the point to any other location The shape will be adapted automatically You could also change the points X Y Z values by entering the values into the CAD properties table The CAD properties table is visible if enabled in Visual PathBuilder settings only For changing the points of a polyline select the polyline and locate the Ve
43. ation window is splitted into three main parts e The Drawing Area displaying CAD models and toolpaths e The Data Table Area providing access to project toolpaths and CAD element properties e The Robot Control Area providing buttons for controlling the robot and showing current robot positions and reference point X Y Z values The Visual PathBuilder Workspace Visual PathBuilder V 3 0 Test Unknown Janome DESKTOP JR2300 File Edit Views Drawing Toolpaths Help Fa AAA SD Font Arial 25 VE RA OMM gt pd Distance 10 L HED BR G4 CAD elements properties DimStyles 2 Items ExternaReferences 0 Items Groups Hatc Patterns Drawing Area Layouts m Data Table Area Drawing tools GOP 3 FB 9 Toolpaths list m al I Project Toolpaths Point TES d m ei n RobotReferencePort2 x 0 000 0 000 2 0 properties CAD command 250 1227 89 7911 0 0000 ncm wsertion Point 856 7793 19 1268 0 0000 The direction which specifies the automatic toolpath line interface processing sequence Select left f you want the toolpat Jog control Reference points io robot X Y Z values Drawing Area Visual PathBuilder includes a fully featured CAD engine for displaying and editing CAD models The Drawing Area shows the robot workspace area the CAD model used to create toolpaths and the toolpaths itself The robot workspace the CAD model and the toolpaths are implemented as layers an
44. d can be switched on off separately There is a separate menu called Layers and there are three buttons at the bottom of the Drawing Area allowing you to enable disable these layers v amp v e 7 d Activate the first checkbox to show the robot workspace Activate the middle checkbox to show the CAD model acting as template for the toolpaths Activate the third checkbox to show the toolpaths itself Imported DXF or DWG files are added to the CAD model layer automatically All graphical elements drawn with the built in drawing features of Visual PathBuilder are automatically added to the CAD model layer For creating toolpaths the user selects the drawing elements to be converted from the CAD model layer and selects the menu item Create toolpaths from menu Toolpaths The software then automatically joins the selected elements to toolpaths and adds them to the toolpaths layer You are able to edit the toolpaths e g move points or change movement directions and Visual PathBuilder automatically creates the corresponding robot instructions The User Interface Visual PathBuilder is able to create toolpaths from the following two graphical elements only e Points e Polylines The software provides the Explode function to split complex elements into its basic elements like lines arcs or points These basic elements can be easily converted into polylines by applying the Convert to polyline feature from the menu Edit The Drawin
45. d in the following sections e Active Properties Used to specify properties to be applied to any active drawing action e g selecting the current pen color pen width text font or drawing layer e Collections Provide access to various collection objects of the drawing like Blocks Hatch Patterns Images Layers or Line Types Most table entries of the Collections section prowde a collection editor to view or edit the collections Selecting a table entry will show a button which opens a collection specific editor dialog e g layer dialog or image dialog Layers 4 Items PA e Globals Provides some global settings parameters for the active document like Mouse Wheel Zooming Factor rendering quality or support path e Grid Provides settings for showing grids upon your CAD model You can show or hide grids and change the grid width snapping mode or grid limits e Misc You can select the Object Snap modes or set a flag for mirroring text objects e Units Provides properties to select value precision or default base angles e View Select the base point perspective mode or render mode Especially in the case of 3D models you will propably want to render your model without showing the wireframe Element properties Depending on the selected graphical element type the table shows specific properties In the case of a polyline you will have access to its vertex list pen color and width geometry values extrusion vector insertion poin
46. der is able to extract vector graphics from black amp white bitmap files The bitmap file palette must not contain more than 2 colors black and white It is recommended to create a Windows Bitmap file BMP with a two color palette with any of the various picture processing applications available Visual PathBuilder itself is not able to edit bitmap files To convert a bitmap file into vector graphics use the menu item Trace from menu File Visual Basic Working Procedures 63 PathBuilder will try to trace the bitmap and imports the resulting vector graphics as polylines into your project Then you can easily convert these polylines into toolpaths for your robot The example below shows the resulting vector graphics when applying the tracing mechanism to a bitmap file Visual PathBuilder V 3 0 Unknown Unknown vpb Janome DESKTOP JR2200 c File Edit Views Drawing Layer Toolpaths Help 9 Sead ARA d Font Arial 120 H E HU 31 rite Ts 0 s properties cp ARC is gt I oF 5 0 Items F i y i it Ector 0 0000 0 0000 1 0000 rd PlFlagOPEN Vs 0 Items SFlagSTANDARD int D 0 0000 seen s 40 Items D E S A amp Toolpaths properties Unknown 10 Direction none J g 7 J sad X 9 973 Y 0 150 Z 0 000 20 746 m RobotReferencePoint X 0 000 Y 0 000 Z 0 C RobotReferencePoint2 X 0 000 Y 0 000 Z 0 C 7 Regen Insertion Point 98 3025 82 8019 0 0000 Name Regen
47. e points very carefully because imprecise reference point definition results in wrong toolpath calculation 4 24 Specifying toolpath speed Project default speed You can enter a default toolpath speed when creating a new project The default speed can be changed any time later To do this please select the project node in the Toolpath Treevew The Toolpath Properties table below the Treeview will then show the project properties Apemath 1 5 Points L i ops X119 312 Y63 674 241 859 ir ve arc X150 5 6 Y84 436 741 859 pe mn cpp X129 814 Y115 701 741 859 i a an WOO RED 7 WOA O90 7 741 ORO Toolpaths properties Name Unknown n M IE RobotReferencePoint D X 151 914 Y 103 000 H RobotReferencePoint2 220 000 Y D 000 40 0 7 Speed The default speed which is valid far arry waypoint having no other speed assigned But you cannot only specify the default toolpath speed but you could also specify different speeds for each toolpath separately Actually it is possible to assign a different speed value to each point 60 Visual PathBuilder User Manual 4 25 4 26 separately if necessary Toolpath default speed To set the speed of a specific toolpath please select the toolpath in the Toolpath Treeview and the Toolpath Properties table will allow to enter a speed value Specifying a speed value of 0 will make Visual PathBuilder to use the default project speed Toolpaths 5 Points
48. ecific Continous Path End point CPP Janome specific Continous Path Passing point ARC Janome specific ARC point PTP Janome specific PTP point Point Polyline Arc Circle Ellipse Rectangle Spline Dimension Text Reference Point 1 e Reference Point 2 2 3 Application settings To change application settings please select the menu item Settings from menu File The settings dialog provides two tab pages General settings o3 Visual PathBuilder User Manual Language English V Show CAD properties table Show ruler 7 Show robot control panel e L anguage Select the user interface language e Show CAD properties table Enable this option if you want to have detailled access to the CAD engine and want to change properties of graphical elements For simply creating toolpaths you do not need the CAD properties table e Show ruler Shows or hides a ruler around the Drawing Area making it easier to manually draw toolpaths e Show robot control panel If you do not have a robot connected you could hide the Robot Control Area and get more free space for the Drawing Area Robot settings Janome DESKTOP JR2200 mm M N COM settings Port com v Timeout sec 3 e Default Select your robot model This is used as default robot model when creating new projects e Unit Select mm millimeters or inch as robot X Y Z unit Default value is mm COM settings e Port
49. enough please move them together by clicking on the start point of the first polyline and move it closer to the start point of the second polyline With the two polylines selected apply the Join polyline command from menu Edit or press the Join polyline button from the toolbar to the top The two polylines are now melted together and build one single polyline now Split paths You can split toolpaths at a specific selectable point Splitting is allowed with polylines only To split a toolpath select the path and then select the menu item Split polyline from menu Edit Move the mouse cursor to the point on the path to split Press the left mouse button twice to finally split the single polyline into two polylines Subtracting shapes This function is used to subtract areas from a shape This way you are able to create holes in objects which can be useful when applying dispensing areas To subtract an inner shape from its bounding shape you have to select the bounding shape first and afterwards select all the shapes you want to have excluded Once the selection has been made please select the menu item Subtract from menu Edit The software will now combine the selected shapes to a new shape type called polyhatch You can now select this polyhatch and apply dispensing area paths by using the Dispensing Area dialog from menu Drawing Please note that you cannot apply serpentine and zigzag dispensing areas to polyhatc
50. ently If you have purchased a license of Visual PathBuilder you should have got a unique serial number If no serial number is provied the software works in evaluation mode for a maximum of 30 days and must be activated via internet or phone call Please note that if the software works In evaluation mode you cannot save project files The license of Visual PathBuilder is locked to a specific installation ID generated for the computer where Visual PathBuilder is installed and running This does not mean that you are not allowed to install the software on some other computer later but this requires a unregistration and a new software activation which can be done online via Software Activation function of Visual PathBuilder To activate and permanently unlock Visual PathBuilder you need a valid serial number The Visual PathBuilder setup application asked about the serial number during installation If you already have a serial number please enter the serial during installation If you don t have a serial number yet because you want to evaluate the software before you decide to purchase the default trial serial VPBOS EVALOO 000000 000000 000000 000000 is used instead With this serial number you are allowed to run the software in evaluation mode for 30 days However each time you run Visual PathBuilder you will be asked to activate the software with a valid serial number After purchasing the software please enter the serial number you have got into t
51. es Enter the distance of the lines into the textfield with label Offset and select the radio button Horizontal Line Then press the OK button for creating the fill pattern HTL HUI e Vertical Line The area is filled with vertical lines in user specified distances Enter the distance of the lines into the textfield with label Offset and select the radio button Vertical Line Then press the OK button for creating the fill pattern e Horizontal Serpentine The area is filled with horizontal serpentine like paths in user specified distances Enter the distance of the lines into the textfield with label Offset and select the radio button Horizontal Serpentine Then press the OK button for creating the fill pattern E E fem e Vertical Serpentine The area is filled with vertical serpentine like paths in user specified distances Enter the distance of the lines into the textfield with label Offset and select the radio button Vertical Serpentine Then press the OK button for creating the fill pattern FEN Visual PathBuilder User Manual acne ZigZag The area is filled with Zigzag pattern in user specified distances Enter the distance of the lines into the textfield with label Offset and select the radio button Zigzag Then press the OK button for creating the fill pattern Custom filling pattern You can even create your own fill pattern for dispensing areas Select the optio
52. f the application window and prowdes access to project file functions like creating new projects opening and saving projects You can also specify font settings size fontname alignment etc and modify your CAD model entities and toolpaths The second toolbar is located to the left and provides drawing elements to be inserted into the CAD model or toolpaths layer reference points Toolbar TOP buttons H E HA dA A MD Font Arial 120 E mB X ACC A Qc CB Distance 10 2 10 37 E l Create new project Open project Save current project Zoom to extends Zoom in Zoom out Pan move complete drawing Font name Font size Text alignment Text bold italic underline Trace middle line mostly used with text Explode split selected element into its basic entities Join to polyline join selected elements to a single polyline Split polyline split polyline into two parts Convert to polyline convert selected elements into polylines Insert point Remove point Divide polyline create points at the selected polyline with specific distance Distance to create divided polylines Axis to move toolpaths along Offset to move along selected axis Move selected shapes according axis and offset values Create toolpaths from selected entities in CAD model Reverse toolpath direction Set toolpaths order Toolbar LEFT buttons The User Interface 19 CPS CPS Janome specific Continous Path Start point CPE Janome sp
53. g Area provides a toolbar at the top and to the left The toolbar at the top provides access to project file relevant features like creating new projects saving and opening projects text properties font names font sizes text alignment etc modifying commands exploding conversion into polylines deleting and inserting points etc and toolpath creation The toolbar to the left provides drawing features like inserting robot specific waypoints CP Start CP End CP Passing ARC and PTP generic graphical elements points polylines arcs circles ellipses rectangles splines text and dimension and reference points The Drawing Area also provides a CAD command line interface as provided by many other CAD software applications e g AutoCAD Instead of using the mouse for drawing toolpaths you could enter commands and X Y Z coordinates va computer keyboard A list of all CAD commands is provided in chapter Appendix of this documentation Data Table Area The Data Table Area shows three different tables The first table shows CAD element properties of the current selected element e g polyline or circle You are able to change colors edit X Y Z values and angles or change line types Additionally you can change global properties of the drawing like rendering mode or grid properties Please note that this table is visible when the option Show CAD properties table is enabled in Visual PathBuilder settings dialog The second table is im
54. g CAD models Using this command will not allow you to create valid robo program data from drawings oaveAs Saves any CAD model into a file This command is recommended if command Open has been used before This command will not create a Visual PathBuilder project file but a DXF DWG or VDF file containing graphics only Save Saves any CAD model into a file This command is recommended if command Open has been used before This command will not create a Visual PathBuilder project file but a DXF DWG or VDF file containing graphics only New Creates an empty CAD model This command is not recommended for creating robot toolpath projects CAD drawing commands Line A simple line object To be valid as toolpath it must be converted into a polyline object XLine Infinite line Cannot be used as toolpath RayLine Infinite line Cannot be used as toolpath Arc An arc object Must be converted to polyline for using as toolpath Circle Circle object Must be converted to polyline for using as toolpath Text Text object Must be converted to polyline for using as toolpath Point Point object Must be converted to polyline for using as toolpath Box Rectangle object Must be converted to polyline for using as toolpath Mesh 3D mesh object Must be converted to polyline for using as toolpath Face 3D surface object Must be converted to polyline for using as toolpath Ellipse Ellipse object Must be converted to polyline for using as to
55. he textfield Serial in Software Activation dialog shown below You can open this dialog with menu Help and menu item Software Activation E Software Activation installation IT halla hal Fm Ef Pl Pm ix Serial Please enter sanal and press Regster button for unlocking the software via intemet Press Phone activation F Phone activation inbemet is unavailable UNREGISTERED 0 DAYS LEFT If your computer is connected to the internet then you can immediately unlock your software by pressing Introduction n the Register button If the registration is successfully finished the message REGISTERED will show up in the dialog window and the software is permanently unlocked If you do not have internet connection you can activate your software via phone or E Mail Please enter the serial number you have got after purchasing the software into textfield Serial of Software Activation dialog and press Phone activation Now forward the installation ID and serial number shown in first textfield of Phone activation dialog window to your software sales representative He will return an authorization code to you which has to be entered into the second textfield Now press the OK button and press Register button of Software Activation window The software is registered and unlocked 1234567890 If you have to change the computer and want to transfer the license you should unregister the act
56. hes The polyhatch can be exploded later in order to create robot toolpaths Move paths along X Y or Z axis Visual PathBuilder provides a simple movement command va its toolbar on the top You can find a combobox showing the X Y and Z axis Right to this combobox there is a textbox to enter the movement offset in projects measurement unit You can enter positive or negative offset values Finally there is a button to apply the movement according to your axis and offset settings KO LIE For moving elements along the X axis with an offset of 10 mm assuming that our project measurement unit is millimeter please chose X from the combobox Then enter the value 10 into the textbox Select the graphical elements to move and press the Move button The shapes will be now moved 10 mm right when shown in top Mew 4 15 4 16 Basic Working Procedures 47 Add new waypoints to toolpaths Each toolpath consists of a number of waypoints If you need to add a waypoint to an existing toolpath please select the toolpath and then go to menu Edit and select Insert point You could also use the Insert point button from the toolbar to the top Move the mouse pointer to the location on the toolpath where a new point should be inserted Press the left mouse button to allow Visual PathBuilder recognize the toolpath and then press the left mouse button a second time to finally insert the point i lt gt Visual PathBuilder V 3 0 Unkno
57. ic entities like arcs lines etc Rotate3D Rotate objects in 3D space Mirror Mirror object Array Rectangular Create arrays of objects ArrayPolar Create polar arrays of objects Scale Scale objects Offset Create object offsets Extend Extend command lets you lengthen a line to another or any boundary object Break Break objects Trim Trim objects Fillet Stretch Stretch objects bHatch Inserts hatches Zooming ZoomE Zoom to the drawing extends ZoomA Zoom that all objects are visible ZoomS Specify zoom scale ZoomW Specify zoom window Zoomin ZoomOut 3D views View3DRender View3DShade View3DShadeOn View3DHide View3DWire View3DWire2d View3DVrot View3DVWorld View3DV Back View3DV Top View3DV Bottom View3DVFront View3DVLeft View3DV Right View3DVINE View3DV INW View3DVISE View3DVISW Miscelaneous e Undo e Hedo Visual PathBuilder User Manual e Redraw e Regen e Dist Measure distances CP End 16 66 n dex CP Passing 16 66 CP Start 16 CPE 18 42 A a CPP 18 42 CPS 18 42 Ipath 2 Active Properties 38 Create toolpaths 26 alignment 8 angle 52 57 D angles 26 application 9 36 Dashes 52 application settings 19 Data Table Area 16 ARC 16 18 42 66 Delete 47 arcs 16 Desktop Robots 8 area 52 deviation 8 26 57 AutoCAD 16 deviation angle 5 7 Axis 22 55 deviation angles 26 Dimension 16 18 a B direction 18 26 49 Dispense 66 Wa dM 3 Baud R
58. iles RatiosenAVisualPathBuilden Tutorial and select the file person dxf Then press the OK button If the CAD file can be read successfully your mouse pointer will now show the outline of the CAD drawing to be imported Press the left mouse button to finally place the drawing It is not important where you place the imported drawing as long as it fits into the robots working area green rectangle Visual PathBuilder will automatically take care about coordinate alignment between drawing and robot when the reference points are specified FEN Visual PathBuilder User Manual e Visual PathBuilder V 3 0 Unknown Unknown vpb Janome DESKTOP JR2200 File Edit Views Drawing Toolpaths Help HAHUA A I Font Arial 120 Er Hr A OC amp gt gt 4 Distance 10 E zx ES HEE YI CAD elements properties Layers 4 Items LayOuts 0 Items Lights 0 Items LineTypes 33 Items Palette 255 Items a i Tioma Toolpaths Toolpaths properties Unknown 10 down J S J J ail X 98 103 Y 99 487 Z 0 000 4 RobotReferencePoint X 0 000 Y 0 000 Z 0 C Cancel RobotReferencePoint2 X 0 000 Y 0 000 Z 0 C nc Insertion Point 101 7949 87 6923 0 0000 Name Cancel The name or description of the project Insertion Point 2 0 000 Y 0 000 Z 0 000 R 0 000 r a De m em n ET INT You could now print the drawing for having a virtual workpiece for your robot Please select the menu item Print fro
59. ion Visual PathBuilder provides a simple simulation feature which traces the toolpaths as they would be processed by the robot Basic Working Procedures 65 Visual PathBuilder V 3 0 Unknown Unknown vpb Janome DESKTOP JR2200 aa x File Edit Views Drawing Layer Toolpaths Help ihe ES db UA wA 3 od Font GungsuhChe 120 F AQ C amp gt gt Distance 10 I z amp HE HH al CPE s 0 Items v Fed F CPP wa PIP Oo o e e D Toolpaths 2344 Points S 5 Unknown I Toolpath 1 346 Points z A Toolpath 2 215 Points S Toolpath 3 41 Points Toolpath 4 357 Points D gt Tanin E ATTO D ted amp Toolpaths properties Name Unknown Author lo Speed 10 1 Direction none 1 J S J ij X 94 533 Y 88 638 Z 0 000 43 243 4 r RobotReferencePoint X 0 000 Y 0 000 Z 0 C RobotRef Point2 X 0 000 Y 0 000 Z 0 C 118 1010 70 1366 0 0000 4 Serene 9t View3DVINE Name View3DVrot The name or description of the project le X 0000 Y 0 000 Z 0000 R 0 000 gj v POS Ed ge Lefty Righty GO m Rd REF i a Finished 59 Select the menu item Simulation from the menu Toolpaths to start simulating the toolpath processing To stop the simulation press the Esc key 4 32 Creating JCS files for importing into JR CPoints If you want to import the point data generated by Visual PathBuilder into Janome JR Points
60. ive license first To do so please open Software Activation window and press the Unregister button If the computer is connected to the internet the license will be deactivated and you can install Visual PathBuilder at some other computer and activate the license again as shown above 1 4 Connecting the robot We recommend to connect your robot va RS 232 interface to your computer running Visual PathBuilder But it is not necessary to connect the robot All features of the software can be also used when the robot is offline The advantage of having the robot connected is that you can control the Jog movement by the computer keyboard arrow keys and you can immediately transfer program data to the robot for instantly verify program execution Please note Before running any robot programs always be sure to use the testing features of your robot and first move to certain points to check correctness before starting the program execution Omitting this advice can result in destroying the workpiece crashing the mounted tool or damage the robot Use the Testing and Go function of your robot to ensure correct point movements We can not be made responsible for any damage resulting of inappropriate use of your robot In any case you have to test the correct movement of the robot before mounting any tools upon it Ratioserv GmbH amp Co KG can not be made responsible for any damage caused by using this software or the robot RS 232 cable wiring F
61. m the menu File Make sure that you print with scale 1 1 For more information about printing please refere to chapter Printing projects Mount the printed drawing onto your robot Make sure that the drawing has Polylines and Points only Visual PathBuilder is restricted to the following graphical elements in creating toolpaths e Polylines 3D path containing straight lines and arcs e Points Most of the DXF files you will need to import and create toolpaths will contain some more graphical element types like circles lines splines text etc Fortunately it is possible to reduce any graphical element to one or more polylines This is done automatically by the software All drawings which have been imported into Visual PathBuilder are treated as so called Insert object You can verify this by selecting the person drawing with the mouse The CAD properties table if enabled in the Visual PathBuilder settings will show vdlnsert person and some properties like Insertion point or scale factors Since Visual PathBuilder cannot directly use a vdlnsert object we have to split it into its basic graphical elements and convert them into polylines To split the vdlnsert object into basic graphical objects we select the person and then apply the Explode feature from the menu Edit You could also press the Explode button from the toolbar It E ud AL A d Font Arial 120 B Fr ACC Q e ee Uk Distance 10 EL Ee Sl ER ad The d
62. n Custom Pattern to show a table for specifying pattern lines and dashes The way patterns are defined is similar to well known pattern creation mechanism of CAD software like AutoCAD Patterns are specified by a number of pattern lines and optional dashes The table allows you to enter the following values for creating patterns Origin X Specifies the X coordinate of the base point of the hatch pattern Your hatch probably won t go through 0 0 However this point lines up sets of lines in hatch patterns as well as aligning hatch patterns in different areas Because all hatch patterns are calculated from the base point they re always aligned no matter where they actually appear in the drawing Origin Y Specifies the Y coordinate of the base point of the hatch pattern Offset X Specifies the offset of successive lines This applies only to dashed lines and is measured along the direction of the lines Specifying a offset X staggers each successive line by the amount that you specify so that the dashes don line up Offset Y Specifies the distance between lines measured perpendicular to the direction of the lines This applies to both continuous and dashed lines Angle Defines the angle of the lines in the hatch pattern Dashes Defines a noncontinuous line positive for a dash negative for a space and O for a dot The following screenshot shows a pattern definition with two lines and the first line having dashes Line 1 0 0 0 2
63. n transfering data has finished press the Close button 4 35 Sending point data to the robot via JR CPoints Create a jcs file and import the file into JR Points or JR CPoints Make sure that the robot is correctly connected to your computer via RS 232 and select the menu item Send C amp T Data from menu Robot p Untitled JR C Points Standard File Edit View Program Data D me EI X e a Coordinates R 1 Line Speedimm s Circle Angle Condition No Job Before Moing Job while Moving Point Job Number Job while CP Moving PIP Condition No CP Condition No Toot Number Pallet Routine No Work Adjustment io Execute Condition No tag Code 4 36 Printing projects COM Status Set T M C Customize Account Help Recerne C amp T Data Send C amp T Data Send Robot System Software Changing Mode External Start Motor Power On Meca Initialize JOG Go Move Go Plus Move Point Playback Test Running External VO Systeminfo System Error Information Run Error Information CP Passing Point SC eed ca mm UR2200N Z R IO A Visual PathBuilder allows to print the CAD model and toolpaths to any Windows compatible printer To print the project graphics use the menu item Print from menu File Basic Working Procedures 69 Lexmark Optra C710 PS E Black amp Whit Size 7 Custom size 210 06 296 93 Orientation Portrait Landsc
64. nt of the inserted drawing The drawing is inserted at the point where the mouse is clicked e Center Inserted drawing is centered after clicking the mouse e Upper left Inserted drawing is placed to the upper left point of the working area after clicking the mouse e Bottom left Inserted drawing is placed to the lower left point of the working area Gerber RS274D RS274X e Exchange circles and rectangles by points All circles and rectangles will replaced by single points at their center This option can be useful when importing PCB layouts with soldering holes to be drilled by the robot Option Explode is used if you want your inserted drawings automatically to be exploded Option OpenGL normally should be disabled If you face troubles with importing external artwork DXF IGES STL it can help to enable OpenGL support If you enable this option you must be sure to have installed the Visual PathBuilder OpenGL support Please download and install the OpenGL support from our website http www ratioserv com Parameters r Settings Robot Reference Point Offset X 0 Y Vectorization Sensibility 2 4 Visual PathBuilder User Manual Robot Reference Point Offset If necessary you can specify X Y Z offset values for the robot reference points Use this option when you have mounted a needle or similar tool outside the actual tool to be used for dispensing soldering or screwing This additional needle
65. odel robot coordinate system alignment mechanism by using one or two reference points Since Visual PathBuilder also allows controlling the robots arm movements instantly va RS 232 connection specifying reference points was never easier before Visual PathBuilder will automatically calculate offsets and devation angles in the background without any user intervention When all toolpaths are created Visual PathBuilder will send the fully functional robot program directly to your robot va RS 232 connection You could also create an export file for importing the toolpath instructions into the Janome JR Points or JR CPoints software for manual editing You could then send the program to the robot va JR Points or JR CPoints software Please note JR Points and JR CPoints software is not part of the Visual PathBuilder package and can be purchased separately at your local Janome Industrial Equipment partner Introduction 9 1 1 Welcome to Visual PathBuilder Visual PathBuilder helps to reduce toolpath programming efforts by using already existing CAD Computer Aided Design models of the workpieces to be machined Especially if the toolpaths have complicated contours or if there is a huge amount of different toolpaths required by your application this software will be very valuable Even if you don t have any existing CAD models you are able to create your toolpaths visually by using the 2D 3D drawing features of Visual PathBuilder Visual PathBuilder e
66. olpath Rect Rectangle object Must be converted to polyline for using as toolpath Polyline Polyline object Can contain lines and arcs Cone 3D cone object Must be converted to polyline for using as toolpath Sphere 3D sphere object Must be converted to polyline for using as toolpath Torus 3D torus object Must be converted to polyline for using as toolpath Image Inserts a Bitmap Black amp White bitmaps can be converted to toolpaths by using the built in tracing algorithm DimRotatedVer Dimension Cannot be used as toolpath DimRotatedHor Dimension Cannot be used as toolpath DimAligned Dimension Cannot be used as toolpath DimAngula Dimension Cannot be used as toolpath DimDiameter Dimension Cannot be used as toolpath DimRadial Dimension Cannot be used as toolpath Leader Arrow object Must be converted to polyline for using as toolpath CAD modifying commands Rotate Rotate object in 2D space Copy Copy graphical entity Erase Delete graphical object Move Move object WriteBlock Write a CAD block object MakeBlock Create CAD block object Insert Insert a CAD block object to the drawing ClipCopy Copy graphical elements to Windows clipboard ClipCut Cut graphical elements to Windows clipboard ClipPaste Paste graphical elements from Windows clipboard into drawing Explode Explode compound graphical objects into their basic elements Sometimes must be applied multiple times to split into bas
67. or connecting the robot please use an appropriate RS 232 compatible cable Make sure that your computer running Visual PathBuilder has at least one free serial connector The serial connector on your computer normally is a 9 pin Sub D connector The type of connector you find on your robot depends on 12 Visual PathBuilder User Manual the robot model DB 25S DB 9S FEMALE MALE FEMALE o e t s e e 2 B 2 o B e a o M amp M o a T M M z o e 2 E e o M o ROBOT 9 PIN D SUB PC 9 PIN D SUB Pin Terminal Function Pin Terminal Function S SRAD E Receive Data oe Boc d eec Send Data r CERES Send Dara pex Sono Be E ee Receive Data HO CUBES E Request to send Crs SS an Clear to send poc IN Ese Clear to send pc poc HEIN negrer Request to send B Cap e Ground 0 pore D e DNI cce Ground ROBOT 25 PIN D SUB PC 9 PIN D SUB Pin Terminal Function Pin Terminal Function HORIS Request to send Pr B Cg ii AE Send Data p mo ccc RID s Receive Data 3 RXD Receive Data 3 TXD Send Data BUM cc Clear to send free amp DIN Data Terminal ready L DSR Dataset ready 7 GND Ground 5 GND Ground ZU c ADIR Data Terminal read
68. or editing the various shape and document properties you will use the CAD elements properties table located right to the drawing area In the case that the table is not visible you will have to enable the table in the Visual PathBuilder settings dialog Open the settings dialog by selecting menuitem Settings of menu File Open the General tab page and check the option Show CAD properties table After confirming the settings dialog with the OK button the software will show the CAD properties table Basic Working Procedures 39 Vow Puthukier Y 3E fan Unkncasz ph lanam DESETOP RI cuir ae OU LLLA we Liu E Fie Edk Vim Grewing oo Lager T p Heip Hee Aug Font ow r ilb E Th wR AD LOC p a Dia i F 5 T too 125 156 um 200 4 n jl I gy B os l 1 i ir ag STARDART rH iis WkiliFlodefione AJ Facil Pdl avi se vER LM HYLAYER aviser 0 ea F wdTewtiorelt ste arial Taris hei i arse Her sa Gree mem FE rg F Penh CERE hEr X te zb 1 it 11 P AE tr t HH Ted paths przpartias Hans Tea Riy 5pesi 10 Deane 7 Em r mimi J BM PY W SI ET teii 52 Pel 500 E Ai XL DOD We a ERE Hoan Tha rara or chacicipticn of Ha project General document properties vdDocument The CAD properties table shows general properties of the active document by clicking at an empty drawing area or when unselecting shapes with Esc key The general properties are divide
69. ox Order and press the OK button The software will immediately change the toolpaths order in the Toolpath Treeview if any toolpaths already specified You can select one of the following automatic toolpath order modes e none No sorting Toolpaths are created in the same order as they have in the drawing e g the first toolpath drawn is also the first toolpath created in the Toolpaths Treeview e left Toolpaths are sorted from left to right Visual PathBuilder compares the X values of the toolpath start points for sorting e right Toolpaths are sorted from right to left Visual PathBuilder compares the X values of the toolpath start points for sorting e up Toolpaths are sorted from up to down Visual PathBuilder compares the Y values of the toolpath start points for sorting e down Toolpaths are sorted from down to up Visual PathBuilder compares the Y values of the toolpath Basic Working Procedures 45 start points for sorting e Optimized Toolpaths are sorted according their distance starting from left lower corner This sorting mode works like a tracing algorithm searching for the next nearest toolpath This mode is very useful if you have to deal with applications with a lot of single points and the original CAD drawing does not provide the correct order This sorting mode helps to reduce total cycle time Setting toolpath order manually To set the toolpath order manually please select the menu item Set toolpaths orde
70. pecify the distance in millimeter or inches according to the project setting in the toolbar to the top Enter the distance value in the textfield right to the label Distance Then select the toolpath or shape in the CAD model and press the Divide polyline button or use the menu item Divide polyline from menu Edit This works with polylines only The following example inserts a number of points with a distance of 8 0 mm to the selected circle Basic Working Procedures 49 bekannt vpb Janome DESKTOP JR2200 LE File Edit Views Drawing Layer Toolpaths Help t amp db oA wo d Font Arial 120 TPJ AOE 22 PL Distance 809X X E E ER l i Toolpaths cre E Unbekannt SPP ARC PIP e D D N l S I Toolpaths properties Name Unbekannt Author Speed 10 Direction none J amp V amp Q V a X 156 600 Y 102 292 Z 0 000 139 403 4 HI H RobotReferencePoint 1 X 0 000 Y 0 000 Z 0 RobotReferencePoint2 X 0 000 Y 0 000 Z 0 C l CenterPoint or 2p 3p 72 0872 117 1420 0 0000 F 9notneterence ot Radius 22 1867 Name Regen The name or description of the project 4 18 Changing toolpath direction The direction of the toolpath is shown by small arrows near the toolpath line The toolpath above has left to right direction You can simply change the direction by selecting the toolpath and calling the menu item Inverse direction The arrows now will show
71. placing the reference points you find two buttons in the toolbar left to the CAD drawing area Press the button and place the first reference point at the persons ear Press the button and place the second point at the persons sleeve as shown in the picture above 32 Visual PathBuilder User Manual Please note Reference points must be placed at the toolpaths layer and not at the CAD model layer So make sure that the CAD model layer is hidden and the toolpaths layer is active Select Reference Points at robot We now need to the Visual PathBuilder the actual position of the reference points at the robot To do this we have to enter the WY Z values of the reference points in robot coordinates If the robot is connected to Visual PathBuilder In this case it is very easy to get the X Y Z values of the reference points because you can directly control the robots arm Make sure that the robot is in External Run Mode otherwise the robot is not able to receive commands from Visual PathBuilder Also make sure that the Robot Control Area is visible If not please check the option Show robot control panel in Visual PathBuilder settings Enable the robot control by pressing the Connect button at the left side of the Robot Control Area in the case that the control buttons do not respond to mouse clicks With the control buttons or the keyboard arrow keys navigate the robot arm to the first reference point You can change the jog speed by
72. plemented as Treeview and shows the project as head node with all toolpaths as child nodes Each toolpath has a number of waypoint nodes assigned This Toolpath Treeview is not editable and is automatically updated by the software The third table shows the properties of the current selected node in the Toolpaths Treeview Toolpath properties table If the project node is selected the table will show properties like project name default execution speed and reference point values If a toolpath node is selected the Treeview will show properties like Toolpath name and toolpath speed After expanding a toolpath node the software provides access to each individual waypoint of the toolpath Selecting a waypoint will make the third table show the waypoint type coordinates and additional job numbers Robot Control Area If there is a robot connected to the computer Visual PathBuilder is able to directly control Jog movement and sending program data via RS 232 connection Visual PathBuilder provides large Jog control buttons and allows selecting the Jog speed Doing a mechanical initialization or drive the robot arm to a specific X Y Z point entered via keyboard can be done The user interface items of the Robot Control Area are locked if there is no robot online 1 Visual PathBuilder User Manual 2 2 The Toolbars Visual PathBuilder provides two toolbars for quick access to the mostly used software features The first toolbar is located at the top o
73. r from menu Toolpaths or use the corresponding button from the top toolbar The software now will switch into a special mode where you can select the toolpaths in the same sequence as the robot should process them later I mme Visual PathBuilder V 3 0 Unknown C Program Files Microsoft Visual Studio 8 Projects VC VisualPathBuilder graphics rson vpb Janome DESKTOP JR2200 J g File Edit Views Drawing Toolpaths Help HASHA A G Font Arial 120 By Fh A O C amp gt uA Distance CPS R 25 35 45 55 65 75 85 95 105 415 125 1S 145 CPP XProperties El Geometry A EndTangent i ExtrusionVector 0 0000 0 0000 1 0000 Ses Flag PlFlagOPEN SPlineFlag SFlagSTANDARD 3 StartTangent amp 3 Thickness 0 0000 xU F VertexList m TI Toolpaths 394 Points S 5 Unknown I Toolpath 1 38 Points A Toolpath 2 3 Points au Toolpath 3 106 Points E Toolpath 4 22 Points c Trnln th R 071 Dainai w Toolpaths properties Name Unknown Author 5 Speed 10 E none 7 J B J I X 134 860 Y 130 201 Z 0 000 16214 4 gt Bl RobotReferencePoint 1 X 40 385 Y 113 200 Z E RobotRef Point2 370 475 Y 125 370 7 Specify Next Point or Arc Close Undo 296 9970 311 9950 0 0000 7 ET Specify Next Point or Arc Close Undo Cancel Name Cancel The name or description of the project 0 000 Z 0000 R 0 000 ui d Ies ee ner ZI Tow
74. rawing of the person will now turn into white color and the drawing is splitted into many individual graphical elements You can verify this by simply click on some part of the drawing The CAD property table will show many vdLine objects With some CAD drawings it could be necessary to apply the Explode function several times Quick Start Tutorial 99 Since Visual PathBuilder needs polylines as toolpaths we have to convert these lines into polylines Converting basic graphical objects into lines is done by selecting the elements to convert and applying the Convert to polyline menu item from menu Edit c Visual PathBuilder V 3 0 Unknown Unknown vpb Janome DESKTOP JR2200 File Edit Views Drawing Toolpaths Help 3 HJ Undo Strg Z 120 E T AO amp SS 4 Distance 10 L HE al ER Redo Strg CAD elements properties Move Strg M vdDocument Rotate Strg R HERE SE Scale Strg G EE El ActiveProperties Copy Strg C 2 a ActiveDimStyle STANDARD ves Pe ActiveHatchProperties VdFillModeNone l EE ActiveLayer VPB MODEL Erase i i ActiveLayOut Model j MT ArkuslinaTuna ov aven Trace middle line Explode Join to polyline Q gt X 9 Po 85 Toolpaths Unknown fs I Divide polyline Convert to polyline Insert point Toolpaths properties Name Unknown bd Author Snap to grid t de 3 Speed 10 d DE Direction down Object Snap i J e V V ad X 62 739 Y
75. rtex List entry of the CAD properties table Visual PathBuilder provides a special dialog window for entering point coordinate values You could also add or remove points to figures Please use the menu items Add point or Remove point from menu Edit Changing element properties There are various properties for each CAD element like pen color line thickness line type etc For simply creating toolpaths you do not need these properties but if you would like to use Visual PathBuilder as CAD editor feel free to edit the properties of the CAD graphical elements To change the properties make sure that the CAD properties table is visible Then select the element to change The CAD properties table will show a list of properties to change Editing toolpaths Editing toolpaths works in the same way as editing the CAD model Just enable the toolpaths layer and edit the toolpath points The data in the Toolpath Treeview is automatically refreshed Selecting toolpath order You can change the order of the toolpaths at any time Visual PathBuilder provides an automatic toolpath sorting mechanism but you could also manually specify the toolpath order Automatic toolpath sort Visual PathBuilder is able to sort the toolpaths according to their start point You can change the toolpath order by opening the project properties To open the project properties please use the menu item Properties from menu File Select the toolpath order from the combob
76. s Point Data Then select the first line of the point data table of JR C Points showing the point data types e g PTP Point CP Passing Point etc and copy this line into the Windows clipboard Go to menu Toolpaths and select menu item JR C Points Exchange point data types Press the OK button and the point types are exchanged within the Windows clipboard Now paste the exchanged point type data from clipboard into the first line of the table in JR C Points and the point types have been automatically replaced Execute the program After sending the program instructions to the robot you are ready to execute the program Switch the robot to Run Mode and start the program at the robot 36 Visual PathBuilder User Manual 4 4 1 Basic Working Procedures The following chapter describes the basic working procedures like creating projects controlling the robot or setting reference points It will also describe some more specific procedures like selecting toolpaths order and direction or creating toolpaths from bitmap files Creating and saving projects Visual PathBuilder writes all its information about toolpaths graphics program data and reference points into project files A project file always has the file extension vpb Before you can specify toolpaths you have to create a new project in Visual PathBuilder To create a new project you can use the menu item New from menu File or press the Create new project button
77. s into the drawing e With the robot connected jog to these reference points on the workpiece to be machined You could also read the X Y Z values from the robots Teaching Panel and enter the reference points X Y Z values manually The software automatically calculates offsets and deviation according to the reference points e With the robot connected select a program number and send the instructions to the robot Optionally you could export the program instructions into a JCS file and import it into Janome JR Points or JR CPoints software e Run the program on the robot e Save the Visual PathBuilder project file for later reference 10 Visual PathBuilder User Manual 1 2 1 3 System Requirements Visual PathBuilder needs AEt Microsoft NET Framework 2 0 installed The Visual PathBuilder installer will automatically download the NET Framework if it is not installed Operating Systems e Microsoft Windows 2000 Professional Service Pack 4 e Microsoft Windows XP Home Professional Service Pack 2 e Microsoft Windows Vista Hardware requirements e CPU Intel Pentium IV class or compatible e 512 MB RAM e 100 MB free HD capacity e RS 232 Serial connector optional used for controlling the robot and sending programs e Janome JR Points 4 6E or higher JR CPoints 5 3E or higher optional used for manual point data editing Software Activation Visual PathBuilder requires a valid serial number to be unlocked perman
78. send dialog If the robot is not connected You could export the point data into a jcs file readable by Janome JR Points or JR CPoints software You can later import and send the jcs file va JR Points or JR CPoints To create a jcs file from the current project please select the menu item Save as jcs file from menu Toolpaths Use the menu item Import from menu File at JR Points or JR CPoints to import the jcs file created by Visual PathBuilder ig Untitled JR C Points Standard File Edit View Program Data Robot Set T M C Customize Account Help O OCN alle S LAAN lle 3 CrO i 2 ni Ctrl S Start Poi CP Passing Point CP Passing Point Save As Open Piece Data Save Piece Data Import Compile Decompile Print Ctrl P Print Preview Print Setup Recent File a Work Adjustment No Execute Condition Mao Tag Code 4 mm PC loads the point data set in CAD format Please refer to the Janome User Manual for JR Points or JR CPoints for further information about sending program data to the robot In the case that you have to replace the general point data types with application specific point data types you can use the JR C Points Exchange point type data feature of Visual PathBuilder First you have to specify the original and new names of the point data types you want to replace menu File submenu item Settings tabpage JR C Point
79. sssssssssssssrsssnransnnnnnnnnanrn rn narr AR AR enne nenne nnn 40 CADmodel and toolpalns AVG Iisstesssdssmspusi dstenoasynsnsssrbss a aa 41 8 Convert shapes into POLyliNeGS cccccceeceeeeeeeeeeeeceeeeeeeeeeeeneeeenseeeneesonsesoesaeeseneesnsesoeseeeesaees 42 9 Drawing ana editing TOOIDAINS wei d erue cen ten is cue adive e Dus oue cuis oues eco deu re cies eo ev a ANS SNR 42 10 SElECUNG 1OOl DAT OFC TP MEL I Tm 44 DNE Oecum 46 DEB Mm 46 13 S btractng Shapes ud bct a aov etai e pe aia esti ett en a ce Ud su acti an um du ee caus pl C EUN NE 46 14 Move paths along X Y Or Z AXIS itis tice esd ee da RAR ET ear vs E RUE 46 15 Add new waypoints to toolpaths eeeeeieeeeeeeeee eere enne nennen nnn nnn 47 16 Remove waypoints from toolpaths e eseeeeeeeeeeeeeeee eere nnn 47 17 Add points with specific distance to toolpath susuesesss 48 18 Changing TOOIDATN CITE CHIOT uoo out acean Ene det oba o eredi nee anc fese sense v eec a seden 49 19 Identifying toolpaths and waypoints eseeeeeeeee ee eeeee eee eee 49 20 Replacing shapes by their center point e eeeeeeeeeee rn n RAR RAR RR RAR AR RR RAR nnne 51 21 DISPENSINO areas isaisa RE E a AE S EEE R R E 52 22 CONUOIING Nerobte a E a E AE EEES RNA 55
80. st tracing with different sensibility settings in order to get optimium results Creating the middle line of any shape You can create a middle line of any shape but the shape needs to be filled with white color Also the outline has to be colored in white Otherwise the tracing algorithm will not be able to find out the correct middle line To change the color and add solid fill to shapes please use the CAD elements properties table The CAD elements properties table has to be enabled in Visual PathBuilder settings first to be visible Creating the outline of a text The outline of a text is created by exploding the text Insert a new text object into your project by selecting the menu item Text from menu Drawing Specify the insertion point and rotation and type the text If necessary select the text and change text properties like fontsize fontname etc by using the toolbar at the top To create the outline of the text please select the text and apply the Explode command two times After the first explode the text has become a vdPolyhatch and after the second explode it is a vdPolyline usable as toolpath This is the original text as drawn with Visual PathBuilder Testtext This is the resulting vector representation of the outline of the text after exploding two times J en ea Simulating robot programs Before sending the program to the robot it could be useful to check if the toolpaths are processed in the correct order and direct
81. t rotation scale hatch pattern or layer If a group of elements is selected the properties table is restricted to properties which are common to all selected elements Changing a property will 0v Visual PathBuilder User Manual 4 5 4 6 apply to the whole group of elements selected Importing CAD files DXF DWG IGES STL The main task of Visual PathBuilder is to create program instructions for your robot by using drawn toolpaths coming from existing CAD files Visual PathBuilder is able to import the following file types Vector graphics 2D 3D DWG DXF 12 DXF 2000 DXF 2004 VDF IGES SIL OBJ LWO Lightwave 3D Bitmap graphics e BMP e GIF e JPG Before you can import external graphics there must be an open project in Visual PathBuilder To import a vector or bitmap drawing please select the menu item Import from menu File Select the file to import and press the OK button If this is a supported file format Visual PathBuilder will show the outline of the drawing to import next to the mouse pointer Press the left mouse button to insert the drawing into the project After inserting an external vector drawing it has to be exploded by using the Explode command from menu Edit You need to explode the graphical elements as long as they have been converted into the most basic elements like vdLine vdArc vdPolyline etc Visual PathBuilder cannot create toolpaths from complex graphical entities like vdlnser
82. t vdMesh vdPolyface etc Importing Gerber files RS274D RS274X Gerber files are used mainly in the field of PCB manufacturing and describe the layout of printed boards conductors soldering connectors board holes etc Visual PathBuilder supports the following Gerber file versions e Gerber RS274D e Gerber RS274X Importing Gerber RS274D files requires some knowledge about the data format of X Y values listed in the file For instance you have to specify the length of the decimal part the treatment of leading trailing zeros or if the values are listed absolute or incremental Visual PathBuilder provides a special import dialog for entering these parameters Gerber RS274X files already specify all of the prevous mentioned parameters within the file So there is no need for specifying parameters like data format or zero treatment manually Before you are able to import Gerber files you have to create an empty project Then select the menu item Import from the menu File Please select the appropriate Gerber format RS274D or RS274X Basic Working Procedures 41 from the filter combobox of the Open File dialog if you do not select a special Gerber format Visual PathBuilder assumes that you want to import a RS274D file Then select the file to import and press the OK button If you have selected Gerber RS274D as file format the following dialog appears Uf Gerber RS274D Parameters Unit Zero Suppression amp None gt Le
83. t to avoid any damage to the robot tool or workpiece Mechanical Initialization To initiate a mechanical initialization please press the red INI button 4 23 Setting reference points Visual PathBuilder needs reference points for aligning the CAD model with the actual position of the machined workpiece Machined workpiece Reference Point C lt Deviation angle CAD model You specify any location at your CAD drawing as reference point Visual PathBuilder then needs the exact location of this point in robot coordinates with the workpiece mounted on the robot By comparing the location of the reference point in the drawing with the same point at the robot Visual PathBuilder is able to calculate offset and deviation angles in the case that the workpiece is not 10096 justified to the XY axis when mounted on the robot When to use one or two reference points Visual PathBuilder allows to specify one or two reference points Use one reference point when you are sure that the workpiece is correctly justified to the XY axis when mounted on the robot With one reference point the software is able to calculate X Y Z offset values but no devation angle If you want to achieve highest accuracy you will have to specify a second reference point to enable Visual PathBuilder calculating a devation angle Chose the best location for reference points FEN Visual PathBuilder User Manual The best location for reference points is if they
84. to the opposite direction 4 19 Identifying toolpaths and waypoints Visual PathBuilder shows toolpaths as graphical representation and within the project treeview in the Data Table Area right to the drawing area To verify which graphical element belongs to which node in the treeview and which toolpath or point in the treevew belongs to which graphical element you use the Identify features To check which graphical element belongs to which toolpaths node in the treeview Select the graphical element in the drawing and apply the menu item Identify of menu Toolpaths or use shortcut Ctrl l If there is an entry in the treeview for the selected element it is selected and shown FEN Visual PathBuilder User Manual gt Visual PathBuilder V 3 5 Unbekannt CATempl pitocipath jdentifacbopupt File Edit Veeves Drawing Layer Tealpaths Help T1310 BEES KAO AS Qo IA Distance OZ or 10 Le EE TEHAS A Font Arial cps PS 23 20 35 40 45 50 55 60 6 a 75 D Bo 90 95 1 M 105 110 115 120 CAD Manele properties 7 ar an d ma n me El Collections XPr perties D Ibers EndTangent Ew truant Ver ter D 0000 0 08000 1 0000 c Flag PiflsgGPEN x Erots D Itere SPinePag SFlagSTAHDARD StertTangent a Tricks D oman 2 Vertexlist 69 Items Taclpalisr z D 57 LR 750 00 cepa Te r 104 00 Z50 00 cp X25 MY r100 83 250 00 coa X 125 43 197 21 250 00 Toce Ale 22 eS 2504
85. torial These sample files can be found in C Program files RatioserAVisualPathBuilder Tutorial Steps to create a robot program by using a CAD model In this Quick Start Tutorial we want to create a simple project containing some toolpaths imported from an existing DXF file We will add two reference points and then send the resulting program instructions to the robot for testing and execution The basic steps are as follows e Create a new project and set project defaults units robot type etc e Import the DXF file into the new project e Make sure that the CAD model has polylines and points only Visual PathBuilder cannot create toolpaths from any other graphical objects e Convert the CAD model into toolpaths e Specify reference points at the CAD model Locate these reference points at the workpiece to be machined in order to allow Visual PathBuilder to calculate offsets and deviation angles Save the project Test some of the resulting toolpath points with the robot connected Send program instructions to the robot Execute the program We recommend to follow this tutorial step by step and try this with your own equipment You can use one of the sample DXF files provided in C Program files RatioserAVisualPathBuilder Tutorial and print the drawing to a sheet of paper Then mount the paper on your robot Create a new project To create a new project you have to select the menu item New from menu File or you use the New b
86. ulation commands like deleting or scaling always applies to the whole selected group of objects To quickly select multiple shapes you can use the Rubber Band feature known from nearly all other CAD or graphics software Press the left mouse button on any empty area of the drawing and drag the mouse to create a selection rectangle Pressing the left mouse button again will select all objects which are inside the selection rectangle FEN Visual PathBuilder User Manual Vul Pathiuider V 35 Unknown Unesownapb Janome DESKTOP ASMO a EEES E I Fin Edk Vima Grewing lyer Tpecipaitu Heip pu 15 a r ao X an o A ad mi F ee amp he dB Fer ns rill E th wR AOC CL wee Bee tre HE LSE or EBD eres properties dura ETa Blocks 33 Tiene Dancis ilie ExkemsRefennoss Dlie Coupes b Tienes c Renan Ez ere Ll i i arae id F st rd Li cm pes L5 Tiere I E i E e Linux b ene Hom Lights iv Tenes Line Types 3 Tienes zi E Tecd pathe a a gt Lire I Fi i Ter pathe pre partis Hyas Undo en za dw Sead 10 Decir ge z Din ree 7 oi 4xe4lcun Ped oe 2500 H ence E FbhotRistrencePant XO YO 20 0 7 ae sane 3 zh e ST tL Tha rere ar dopin of Han project i You can unselect all selected shapes by pressing the right mouse key within drawing area Pressing the Esc key will cancel any active drawing or manipulation command 4 4 Editing shape properties F
87. utton from the toolbar at the top of the Visual PathBuilder application window Quick Start Tutorial Visual PathBuilder V 3 0 File Edit Views Drawing Toolpaths Help 1 I5 Font Arial Project properties Tutorial Janome DESKTOP JR2200 10 00 mm sec 0 000 0 000 0 000 0 000 amp ad ge Lefty Righty The Project properties dialog will show up Please enter some useful name select the robot type and the default program execution speed Also select the project unit mm or inches and the default toolpath order direction For our tutorial you should select mm as project unit since the DXF sample files have millimeter scale Select down as toolpath order After setting the project properties press the OK button Visual PathBuilder will now show a black drawing area with the green robot workspace area By default the CAD model and robot workspace is shown from top view as you would see it in real if looking at the robots workpiece tray from above Ift enabled in Visual PathBuilder settings and the robot is connected and communication with the robot is OK the Robot Control Area is activated Import DXF file We now need some template for the toolpaths to be created Toolpaths can be created from any CAD file in DXF or DWG format To import the CAD file use the menu item Import from menu File and select the DXF file For this tutorial please go to folder C Program f
88. ve the robots arm to a toolpath point please follow the following procedure e Make sure that the robot is in External Run Mode e Make sure that the Robot Control Area is visible Check Enable Robot Control Panel in Visual PathBuilder settings Expand a toolpath at the Toolpaths Treeview Select a point and check the X Y Z values for plausibility Double click the point node to copy the X Y Z values into the X Y Z display of the Robot Control Area Press the blue GO button in the Robot Control Area The robots arm now should move to the coordinates of the point selected Sending the program to the robot If the robot is connected to Visual PathBuilder Select the menu item Send to robot from menu Toolpaths Send to robot Program number Successtully sent 394 waypoints Select the program number to which the program instructions should be sent to Warning Make sure that you do not overwrite any important existing program before sending the data Press the Send button If the program number already exists at your robot Visual PathBuilder will warn you about overwriting the existing data If you are sure that your want to overwrite the existing program data please press the Yes button The software will now transfer the program instructions to the robot FEN Visual PathBuilder User Manual You are informed about the progress of sending and how many points have been sent finally Press the Close button to hide the
89. ven allows to create toolpaths by using back and white bitmap files e g GIF BMP or JPG You could also automatically create middle lines or the outline of any Windows Truetype font which is very helpful when dispensing text Basic Application Scenario The following illustration describes the basic procedure to automatically create robot program instructions from your CAD files Create instructions Send E I rT Run program Import DXF DWG file Visual PathBuilder Movement control and X Y Z adjustment Auto generated robot programming FK XL instructions eu A e First you need a CAD file containing the toolpaths and supported by Visual PathBuilder import DXF DWG IGES STL OBJ etc Optinally you can draw the toolpaths in Visual PathBuilder manually e Create a new project in Visual PathBuilder select robot type units etc e Import the DXF or DWG file into the project e Explode the imported drawing coming from the DXF or DWG file into its basic graphical entities lines points arcs etc e Let Visual PathBuilder automatically create Polylines from all basic graphical entities only Polylines and points can be used for toolpaths e Let Visual PathBuilder automatically create Toolpaths from the selected polylines The software will then create the programming instructions in the background and keeps track of any changes of the toolpaths drawing e Insert one or two reference point
90. ware software If you have such application specific firmware installed at your robot you might want to use the application specific point data types provided by this specific firmware e g Start of Line Dispense instead of generic CP otart Point Visual PathBuilder is able to create the following generic point types only e PTP Point to Point CP Start Continuous Path Start CP Passing Continuous Path Passing CP End Continuous Path End ARC Middle point on arc path You can exchange all of these points with application specific point types For instance if you use the dispensing robot firmware you might want to use Point Dispense and not PTP because there are dispensing specific parameters provided with Point Dispense which you are not able to use with a PTP e g dispense time length up amount up speed etc So it would be necessary to exchange all of the PTP entries by Point Dispense entries To avoid manual changes you can use Visual PathBuilder for exchanging point types automatically To exchange all PTP with Point Dispense please follow these instructions 1 Open Visual PathBuilders settings dialog menu item Settings of menu File and select tabpage JR C Points Point Data Then enter the original point data type caption into the first column and the resulting point data type into the second column of the table Enter PTP Point into the first column and Point Dispense into the second column
91. wn C Program Files Microsoft Visual Studio 8 Projects VC VisualPathBuilder graphics DXF person vpb Janome DESKTOP JR2200 L File Edit Views Drawing Layer Toolpaths Help 3 Ge ARN I Font Arial 120 FPT AOC ra eg wt Distance 10 X EL HE d Toolpaths ts Unknown Toolpath 1 38 Points Toolpath 2 3 Points Toolpath 3 106 Points Toolpath 4 22 Points Toolpath 5 72 Points Toolpath 6 15 Points Toolpath 7 21 Points Toolpath 8 8 Points Toolpath 9 18 Points Toolpath 10 19 Points Toolpath 11 8 Points Toolpath 12 5 Points Toolpath 13 10 Points Toolpath 14 20 Points Toolpath 15 21 Points Toolpath 16 10 Points Toolpath 17 3 Points d Press left mouse button A twice to insert new point IE EH E E R0 R8 R8 R8 RR R8 R8 RT ER ER ER Toolpaths properties Name Unknown Author Speed 10 Direction none J S V I X 79 602 Y 110 763 Z 0 000 12 100 4 I RobotReferencePoint X 40 385 Y 113 200 Z Cancel RobotReferencePoint2 X 70 475 Y 125 370 2 anc Cancel Name Cancel The name or description of the project Remove waypoints from toolpaths Each toolpath consists of a specific number of waypoints To remove a point select the toolpath and apply the Delete point command from the menu Edit or use the button Delete point from the toolbar to the
92. y 5 DSR Dataset ready B IB ee Data Carrier Detect yp e RIS Request to sena Ho DI Clear to send NA COE Ring Ind unused Bo e Ring Indicator Enable the robot to receive commands via RS 232 Depending on your robot model you have to make sure that the robot is able to receive commands va RS 232 Please check the following settings at your robot this description refers to the Janome JR2200N robot The basic procedure is nearly the same on other robot types For detailed information about your specific robot model please take a look into the technical manual provided by Janome 1 5 Introduction Make sure that the Teaching Panel is connected to your robot f Switch on the robot and initiate the automatic mechanical initialization Press the Mode button on the Teaching Panel and select the Administration mode Select Administration Settings Mode Set the Start Channel to COM1 or whatever COM port you want to use on your robot Select COM Setting Select COM1 Communication Setting or whatever COM port you want to use Set Baud Rate 115200 Character Length 8 bit Stop Bit 1 bit and Parity None Start Visual PathBuilder and open the settings dialog Select the Robot tab page select a free COM Port and set the Baud Rate 115200

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