USER'S MANUAL MOTOCALV32
Contents
1. 60 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP100 series 6 2 For SP100 series lt First Posture gt Positioning jig lt Second Posture gt MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 61 For SP100 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Third Posture gt lt Fourth Posture gt MOTOMAN ROBOTICS EUROPE Page 62 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP100 series lt Fifth Posture gt lt Sixth Posture gt Wer RRE A MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 63 For SP100 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Seventh Posture gt TE E i paal Fore ME othe Set MOTOMAN ROBOTICS EUROPE Page 64 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP70 series 6 3 For SP70 series lt First Posture gt E sin Gp Ohm ges An oi Ooo ATH Positioning jig lt Second Posture gt Foor ME WA Wee An MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 65 For SP70 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 a2. 7 th posture 4 th posture Positioning jig Fig 4 Teaching the same point with 7 postures E Example of tool calibration job NOP MOVJ C000 VJ 0 78 PL 0 MOVJ C001 VJ 0 78 PL 0 MOVJ C002 VJ 0 78 PL 0 MOVJ C003 VJ 0 78 PL 0 MOVJ C004 VJ 0 78 PL 0 MOVJ C005 VJ 0 78 PL 0 MOVJ C006 VJ 0 78 PL 0 END Save the following robot data from the robot controller to the floppy disk using a device such as YASNAC FC2 etc ALL PRM Robot parameter data For ERC PARAM DAT TOOL CND Tool data For ERC TOOL DAT TOOL JBI Job for tool calibration 7 postures or more at 1 point E Operation from personal computer a Insert the above floppy disk b Double click the MOTOCALV32 icon in the Start Program Motoman MOTOCALV32 to start the program c Click the F2 TOOL button to display the Tool Calibration screen MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 23 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Tool calibration E Tool Calibration File E Tool data E Check file Average error Theoretical Result by Calibration Execute calibration DS __ BE after TI Jmm L Frint report Directory nate Calibration job name OoOo Tool Noj si Exit Select a Toolcalibration job d Click the Select job button to display the Select job dialog box To select the tool calibration job file TOOL JBI click the Open button or double click the file When the cal
3. I Operation from personal computer 26 Workpiece calibration 28 I Virtual job non existing system 28 _I Example of personal computer reference point job 28 _I Actual job existing system 28 LI Example of robot controller reference point job 29 _ Calibration operation 29 L Example of personal computer reference point job after calibration 32 LI Job conversion 32 Layout correction 35 _I Virtual correction non existing system 35 LI Robot layout correction Example of personal computer reference point job 35 _ Actual correction existing system 35 L Robot layout correction Example of robot controller reference point job 36 _I Calibration operation 36 Travel axis correction 40 L Operation with actual robot 40 L lt Example of travel axis tilt correction job 41 LI Calibration operation 42 5 Appendix 1 Examples of robot calibration 47 For SK and SV series 47 For SP100 series 50 For SP70 series 53 MOTOMAN ROBOTICS EUROPE Page 4 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040TOC fm 6 Appendix 2 Examples of tool calibration 56 For SK and SV series 56 For SP100 series 60 For SP70 series 64 MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 5 Outline of MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch1 fm MOTOCALV32 Motoman part number 441104 80 English version only This manual is valid for version 4 52 and u
4. Layout Correction screen Select Cell Look m CH Rots _ Models File name Fotsy cel Files of type Cel File CEL Cancel g Click the Execute Calibration button to execute the robot layout correction When calibration is completed the layout correction amounts are displayed in Layout Correction screen E Layout Correction Filet Robot Layout Correction Travel Axis Correction PG job f Controller job l x Select P job Directory Mame Directory Mame MotoCalyS2us Rotey45K16 MotoCalyS2us Ctr lF SE16 IN Select a controller job x Select Cell ROTSY cell information Correction Option Execute Calibration K NN d Directory Mame IT Qutput Gell Name hlotoCalyd2us Rotsy CO tlotoCalys2us Rotsy m Result Correct Robot Layout Layout Correction Amount Correct Robot Layout MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 39 Layout correction Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm h Click the Correct Robot Layout button to correct the robot layout on the cell To create a new cell after correction without overwriting on the cell before check the mark in the check box Output Cell Name of Correction Option and input a new cell name to be created E Layout Correction File CF Robot Layout Correction Trawel Axis Correction PCjob Controller job i Select PC job Director
5. Travel axis Positioning jig Fig 6 Teaching the same point with 3 postures by moving travel axis 2 Teach the job at step 1 at different 3 points each point should be separated 100 mm or more Robot Travel axis Positioning Jigs P1 Fig 7 Teaching 3 points with 3 postures by moving travel axis MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 41 Travel axis correction Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm E lt Example of travel axis tilt correction job NOP MOVJ C0000 VJ 0 78 PL 0 MOVJ C0001 VJ 0 78 PL 0 MOVJ C0002 VJ 0 78 PL 0 2 MOVJ C0003 VJ 0 78 PL 0 MOVJ C0004 VJ 0 78 PL 0 MOVJ C0005 VJ 0 78 PL 0 3 MOVJ C0006 VJ 0 78 PL 0 MOVJ C0007 VJ 0 78 PL 0 MOVJ C0008 VJ 0 78 PL 0 END c Save the following robot data from the robot controller to the floppy disk using a device such as YASNAC FC2 etc File Name Contents Remarks ALL PRM Robot parameter data For ERC PARAM DAT TOOL CND Tool data For ERC TOOL DAT CTRLJOB JBI Travel axis tilt correction job MOTOMAN ROBOTICS EUROPE Page 42 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Travel axis correction E Calibration operation a Insert the above floppy disk to the personal computer drive b Double click the MOTOCALV32 icon in the Start Program Motoman MOTOCALV32 to start the program c Click the F5 LAYOUT button to display the Lay
6. 0 000 160 000 0 000 r Clicking the CLOSE button starts checking the maximum values of distance from the average coordinate to each point and performs calibration judgement of control point constant operation after the adjustment of ABSO Data and TOOL Data At completion of calibration process the calibration will be judged as successful or failed Then 2 types of Message of Calibration Judge ment are displayed Click the OK button to return to the Robot Calibration screen Message of Calibration Judgement oO Max error in judgementjob was under standard Failed judgement Message of Calibration Judgement Max error in judgementjob wasn t under standard Make new data and make calibration again Successful judgement MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 21 Tool calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Note When a failed judgement result message is displayed perform re teaching of cali bration from step m s Click the OK button to return to the Robot Calibration screen When a suc cessful judgement message Is displayed click the Print a Report button to print out the report The robot calibration operation is completed 4 2 Tool calibration E Operation with actual robot 1 To perform tool calibration prepare the data of tool to be mounted in advance Mount the tool on the robot flange The following tw
7. 7 points with robot This calibration calculates the exact tool data robot control point E Jool posture calibration Adjusts tool data by teaching 1 posture at 1 point total 1 point with robot This calibration calculates the exact tool positions Rx Ry and Rz E Workpiece calibration Recognizes the positional difference between each robot and workpiece by com paring the job created by offline system and the job created with the actual robot Then converts the position data by offline system into the data for the actual robot using the difference above E Layout correction The layout correction is composed of Robot Layout Correction and Travel Axis Tilt Correction Robot Layout Correction corrects the robot layout in the cell constructed by ROTSY for actual robot layout by comparing the job created by offline system and the job created with the actual robot Travel Axis Tilt Correc tion corrects the robot layout in the cell constructed by ROTSY for the actual robot layout by calculating the positional difference between the travel axis and the robot positioned on the travel axis 4 Operation This chapter explains the operation method of each calibration by MOTOCALV32 4 1 Robot calibration E Operation with actual robot 1 To perform robot calibration prepare the data of tool to be mounted in advance The following three methods are available for tool data Performs the tool calibration with the actual rob
8. lt Fourth Posture gt E edu Op Vire SE AH em Dok ee jajj p MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 55 For SP70 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Fifth Posture gt TEI pd ca E sp Op Dh my oe 9 ooh ow Aa MOTOMAN ROBOTICS EUROPE Page 56 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SK and SV series 6 Appendix 2 Examples of tool calibration 6 1 For SK and SV series lt First Posture gt T LEE r E AAP Op IHE Wee eD ATE oti AAT Positioning jig lt Second Posture gt T LEE z T HAE Gib OF ge tad Ac Oot ow Am MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 57 For SK and SV series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Third Posture gt lt Fourth Posture gt MOTOMAN ROBOTICS EUROPE Page 58 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SK and SV series lt Fifth Posture gt MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 59 For SK and SV series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Seventh Posture gt MOTOMAN ROBOTICS EUROPE Page
9. name Mrs55040 ch3 fm d Click the Select PC job button to display the Select PC job dialog box To select the file of personal computer reference point job for calibration RTS JOB JBI click the Open button or double click the file When the reference point job has been taught under a different job name select the corresponding file Then the screen returns to the Layout Correction screen Select PC job Look ir CH SKE e ES File name Irak bi Files of type Job File JBI Cancel e Click the Select a robot controller job button to display the Select a robot controller job dialog box To select the file of robot controller reference point job for calibration CTRLJOB JBI click the Open button or double click the file When the reference point job has been taught under a different job name select the corresponding file Then the screen returns to the Layout Correc tion screen Select a controller job Look ir EJ 5k16 e ES Fal Ctliob ib File name Jiek bh Files of type Job File JBI Cancel MOTOMAN ROBOTICS EUROPE Page 38 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Layout correction f Click the Select Cell button to display the Select Cell dialog box To select the corresponding cell file click the Open button or double click the cor responding file Then the screen returns to the
10. s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Workpiece calibration E Example of personal computer reference point job after calibration NOP WKCOM COMMENT WKCAL 0 029 21 053 27 353 37 566 1 999 1 999 2 002 MOVL C0000 V 46 0 PL 0 MOVL C0001 V 46 0 PL 0 MOVL C0002 V 46 0 PL 0 MOVL C0003 V 46 0 PL 0 MOVL C0004 V 46 0 PL 0 END Note The unit system for X Y and Z is distance mm The unit system for Rx Ry and Rz is angle degree k Click the Print a report button to print out the report E Job conversion a Click the job conversion button to display the Workpiece Calibration screen for job conversion V Workpiece Calibration Biel EM File F Option O Refference job Directory CAM calsznewiwrork Job name Conversion job Directory Directory Directory CAhcals2newhork CAhcals2newhwork Convert gt Close Convert job Reference job is a job where the positional differences between personal compu ter and actual robot are written And the personal computer reference point job WORK JBI selected in the Workpiece Calibration screen is taken over to this screen and displayed MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 33 Created 99 11 23 Revised 99 11 23 Workpiece calibration Doc name Mrs55040 ch3 fm b Select the job to convert from the list box on the left More than one job can be sel
11. 0 series lt First Posture gt TEE p E PAAP Op OF Wee ep AE Ooty AAT Positioning jig The distance between each jig should be kept to a minimum of 100 mm horizontally and vertically lt Second Posture gt bri ROT CC LS bre MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 51 For SP100 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Third Posture gt Forth lt Fourth Posture gt TEE poni Fora Bhp Dtp meo ep A0 Gobin AAT MOTOMAN ROBOTICS EUROPE Page 52 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP100 series lt Fifth Posture gt FE Se T Op Akp oR Sek sep nai oobi Am MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 53 For SP70 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm 5 3 For SP70 series lt First Posture gt Positioning jig The distance between each jig should be kept to a minimum of 100 mm horizontally and vertically lt Second Posture gt Foren ap WA See AT em es 079 Sor MOTOMAN ROBOTICS EUROPE Page 54 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP70 series lt Third Posture gt
12. 6 Kronberg Taunus Germany Tel 49 6173 60 77 30 Fax 49 6173 60 77 39 MOTOMAN Robotics UK Ltd 1 Swan Industrial Estate Banbury OXON OX16 8DJ England Tel 44 1295 272755 Fax 44 1295 267127 MOTOMAN Robotics Italia SRL Via Emilia 1420 16 IT 41100 Modena Italy Tel 39 059 280496 Fax 39 059 280602 MOTOMAN benelux B V Zinkstraat 70 NL 4823 AC Breda Netherlands Tel 31 76 5424278 Fax 3 1 76 5429246 RISTRO d o o Lepovce 23 SI 1310 Ribnica Slovenia Tel 386 61 861113 Fax 386 61 861227 MOTOMAN Robotics Espana S A Avenida Marina 56 Parcela 90 ES 08830 St Boi de Llobregat Barcelona Spain Tel 34 93 6303478 Fax 34 93 6543459 MOTOMAN Mecatron Robotic Systems AB Box 4004 SE 390 04 Kalmar Sweden Tel 46 480 444600 Fax 46 444699 MGM Spol s r o Trebizsk ho 1870 CZ 39002 Tabor Czech Republic Tel 420 361 254571 Fax 420 361 256038 Robia A S Hjulmagervej 4 DK 7100 Vejle Denmark Tel 45 79428000 Fax 45 79428001 Robia Suomi OY Messinkikatu 2 FI 20380 Turku Finland Tel 358 22145600 Fax 358 22145660 Kouvalias Industrial Robots 25 El Venizelou Ave GR 17671 Kallithea Greece Tel 30 1 9589243 6 Fax 30 1 9567289 REHM Hegeszt stechnika Kft T pi szele J szber nyi t 4 H 2766 Hungary Tel 36 30 9510065 Fax 36 1 2562012 KNT Engineering Ltd 9 Hapalmach Street IL Kfar Azar 55905 Israel Tel 972 35351945 Fax 972 03535943 ROBIA ASA Industrive
13. ASNAC FC2 etc After loading confirm that the new tool data has been over written in the robot controller TOOL CND For ERC TOOL DAT j The tool calibration operation is completed MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 25 Tool posture calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm 4 3 Tool posture calibration E Operation with actual robot 1 To perform tool posture calibration prepare the data of tool to be mounted in advance The following three methods are available for tool data Performs the tool calibration with the actual robot Performs the tool calibration by MOTOCALV32 Uses the values of mechanical dimensions if specified in the drawing etc 2 Mount a tool on the robot flange and using this tool perform teaching of the job job name TOOLPS for 1 posture at 1 point This calibration job TOOLPS is used for actual calculation by the calibration software The teaching method is explained below Use a level or other instruments to set the desired posture by moving the robot along the coordinate axis then teach the point Use MOVJ or MOVL for interpolation type On base of the taught positions X Y and Z will be calculated internally Note For example of arc weld torch when the direction of welding wire is to be the same direction of Z axis on the tool coordinate place the tool in such a posture that the weld torch is positioned horiz
14. MOTOMAN XRC USER S MANUAL MOTOCALV32 Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN ROBOTICS EUROPE A subsidiary of YASKAWA Electric Corporation Y MANUAL NO MRS55040 MOTOMAN ROBOTICS EUROPE A n Reference list Operator s Manual User Functions Operator s Manual Basic Programming Instruction Manual for robot r Revision 991124 First release of this manual MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 3 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040TOC fm 1 General Information 20 0 ccccecceeceecceeeeeeeeeeeeeeeees 5 Outline of MOTOCALV32 5 LI Requirements for MOTOCALV32 execution 5 2 Software installation ceececeseeeeeeeeeeeeeeeeeeeees 7 Installation H After installation 10 Uninstall 11 3 Types of calibration ccccceccceccseceeeeeeeeeeeeeeees 13 I Robot calibration 13 LI Tool calibration 13 LI Tool posture calibration 13 J Workpiece calibration 13 L Layout correction 13 A OPECIN E 13 Robot calibration 13 L Operation with actual robot 13 L Example of robot calibration job 15 L Operation from personal computer 16 Tool calibration 21 L Operation with actual robot 21 LI Example of tool calibration job 22 I Operation from personal computer 22 Tool posture calibration 25 L Operation with actual robot 25 L Example of tool posture calibration job 25
15. ROPE User s manual MOTOCALV32 Page 29 Workpiece calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm E Example of robot controller reference point job NOP MOVL C0000 V 46 0 PL 0 MOVL C0001 V 46 0 PL 0 MOVL C0002 V 46 0 PL 0 MOVL C0003 V 46 0 PL 0 MOVL C0004 V 46 0 PL 0 END Save the following robot data from the robot controller to the floppy disk using a device such as YASNAC FC2 etc ALL PRM Robot parameter data For ERC PARAM DAT TOOL CND Tool data For ERC TOOL DAT WORKREEJBI Job for workpiece calibration E Calibration operation a Insert the above floppy disk to the personal computer drive b Double click the MOTOCALV32 icon in the Start Program Motoman MOTOCALV32 to start the program c Click the F4 WORKPIECE button to display the Workpiece Calibration screen E Workpiece Calibration Oe x File F Option O PC job Inge y y Tool Mo Comment Controller job 8 Select PC job Pp O Select a controller job Job name i y Tool Mo IT Check file Execute calibration E Frint a report Calibration result Job conversion 8 Exit D rrange Select PC job MOTOMAN ROBOTICS EUROPE Page 30 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Workpiece calibration d Click the Select PC job button to display the Select PC job dialog box To se
16. al MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Layout correction should be the same as for the personal computer reference point teaching job explained in A Teaching of personal computer reference point teaching job above Any type of interpolation can be used E Robot layout correction Example of robot controller reference point job NOP MOVL C0000 V 46 0 PL 0 MOVL C0001 V 46 0 PL 0 MOVL C0002 V 46 0 PL 0 END Save the following robot data from the robot controller to the floppy disk using a device such as YASNAC FC2 etc ALL PRM Robot parameter data For ERC PARAM DAT TOOL CND Tool data For ERC TOOL DAT CTRLJOB JBI Job for robot layout correction 3 points E Calibration operation a Insert the above floppy disk to the drive of personal computer b Double click the MOTOCALV32 icon in the Start Program Motoman MOTOCALV32 to start the program c Click the F5 LAYOUT button to display the Layout Correction screen Trival Asir CGaergctkon Gonbroller peb Deeg bors Mama Dress Hang a es o ROTTS Y cell information Conmaction Doten 8 Select P job i Ealecl Gel Dirashery Hurma C D tput Call Harma Execute Calibration a EE Hoas Fuepgcipe Result Lemut Correction Drord E Print Aspari Select Se DC job MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 37 Layout correction Created 99 11 23 Revised 99 11 23 Doc
17. all the software in the direc tory which is set as default by the installation guide MOTOMAN ROBOTICS EUROPE Software installation Page 9 Installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm n Accept by clicking Next button FDDWIN32 Installation Fig 6 Choose directory Fig 7 Start installation Fig 8 Installation progress counter q After some time you are told to enter disk 2 2 r Insert disk and click on OK button Insert New Disk Fig 9 Insert disk 2 s The installation is finished and the last screen appears MOTOMAN ROBOTICS EUROPE Page 10 Software installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm After installation t Accept installation by clicking the Finish button FDODWIN32 Installation x Installation Completed The FODWIN32 has been successfully installed Press the Finish button to exit this installation Fig 10 Installation complete u Before it is possible to run the software the hardware key must be installed on the parallel port 2 2 After installation d After installation fill in and return the registration card to Motoman Robotics AB During installation the main directory is automatically created and all necessary files are installed in the specified drive In the end of the setup a program group MOTOMAN and a icon is created To start FDD for Window
18. ark the language you want to use during installation Note This will not influ ence the language you use in FODDWIN32 later MOTOMAN ROBOTICS EUROPE Page 8 Software installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm Installation j Click on the OK button Select Language Fig 3 Language selection during installation Fig 4 Information screen I Read through the license agreement and accept by clicking on the Next but ton FDODWIN32 Installation Motoman Robotics AB End User License Agreement PLEASE RETURN ACCOMPANYING REGISTRATION CARD TO RECEIVE REGISTRATION BENEFITS NOTICE TO USER THIS IS A CONTRACT BETWEEN YOU AND MOTOMAN ROBOTICS AB TORSAS SWEDEN BY INDICATING YOUR ACCEPTANCE BELOW YOU ACCEPT ALL THE TERMS AND CONDITIONS OF THIS AGREEMENT This End User License Agreement accompanies an MOTOMAN ROBOTICS AB software product Software and related explanatory written materials Documentation The term Software shall also include any upgrades modified versions updates additions and copies of the Fig J License Software licensed to you by Motoman Robotics AB This agreement Accept by copy of the Software is licensed to you as the end user orto your employer or another third party authorized to permit your use ofthe Software You as used in the remainder of this clicking Next m Set directory for FDDWIN32 It s advisable to inst
19. bot below For interpolation type use MOVJ or MOVL On base of the taught positions X Y and Z will be calculated internally It is recommended that reference point teaching be performed without changing the robot posture to maintain accuracy of tool data robot control point E Example of personal computer reference point job NOP MOVL C0000 V 46 0 PL 0 MOVL C0001 V 46 0 PL 0 MOVL C0002 V 46 0 PL 0 MOVL C0003 V 46 0 PL 0 MOVL C0004 V 46 0 PL 0 END E Actual job existing system Teaching of robot controller reference point teaching job Operation with actual robot Perform teaching of robot controller reference point teaching job with actual robot Job name WORKREF Teaching method Using the same tool teach the workpiece reference points Decide 3 or more reference points 5 points are recommended When higher accuracy is required teach more points Teach the first 3 points to form a triangle largely covering the robot working envelope for the workpiece The order of teaching and number of teaching points should be the same as for the personal computer reference point teaching job explained in Teaching of personal computer reference point teaching job in the previous page Any interpolation type can be used For teaching refe rence points it is recommended that reference point teaching be performed wit hout changing the robot posture to maintain accuracy of tool data robot control point MOTOMAN ROBOTICS EU
20. d SV series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm 5 Appendix 1 Examples of robot calibration 5 posture examples at one point are shown below Perform teaching of these 5 postures each at 5 points total 25 points 5 1 For SK and SV series lt First Posture gt FE d Ce E mit EEE Di RK AH ro WEI aoi al x TE i hasl T PE ERE Disk ENK eD da Oblique view Front view A es mal Positioning jig The distance between each jig should be kept to a minimum of 100 mm horizontally and vertically lt Second Posture gt MUM oe MOTOMAN ROBOTICS EUROPE Page 48 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SK and SV series lt Third Posture gt E hei ERE Ip SS KD Sg WOU Em et ip faut e lt Fourth Posture gt Fania bea KL E WEI Sekt mee AT i Oca 20 MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 49 For SK and SV series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Fifth Posture gt ER i zE ZS II Bap MOHD Bi CAD Zo ET 30 alg Sp TH RS MOTOMAN ROBOTICS EUROPE Page 50 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP100 series 5 2 For SP10
21. e Mouse supported by Windows MS Windows95 MS Windows98 MS Windows NT4 0 are trade marks of Micro soft Corporation U S A MOTOMAN ROBOTICS EUROPE Page 6 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch1 fm Outline of MOTOCALV32 MOTOMAN ROBOTICS EUROPE Software installation Page 7 Installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm 2 Software installation d Note This chapter shows a general installation phase of any software In this example the software FDDWIN is installed Select the right software by choosing the appropriate software name 2 1 Installation There are three ways to start installation of this software all will give the same result The most common way is described below a Put the first diskette named 1 in the disk drive b Click on the Start button on the menu bar c Choose Run from the menu d Browse to drive A e Choose the file named SETUP EXE f Click OK Run Fx Type the name of a program folder or document and Windows wll open it for you A Setup exe S Fig l Choose installation file Cancel Browse g Choose OK and the installation guide will start h You can quit the installation att any time by clicking the Cancel button and then confirm by Yes button eh Do you want fo abort bus installation S g Fig 2 You can cancel installation at any time i M
22. ected Note The directory should be the same as for the personal computer job WORK JBI The directory will be fixed and cannot be changed c Click the Directory button to specify the conversion destination directory Note For the conversion destination directory the conversion destination directory of the previous conversion Is displayed as default d Click the Convert gt gt button to execute the job conversion Ea Workpiece Calibration Oe x Edel Option Q Refference job Directory 9 C Mcal32nevAwork Job name Comment Po Conversion job Directory Directory Directory CAMcal32new work CMcal32newitest Convert gt gt Close overt MOTOMAN ROBOTICS EUROPE Page 34 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Workpiece calibration e If there are jobs to be deleted from conversion source and destination select the jobs from each list box then select Delete Job D from the File F menu to delete the jobs E Workpiece Calibration ls Seige Option O Print a reno Pinta calibration bot Job name Delete a calibration log file D Exit Conversion job Directory Directory Directory CciMcals2newhwork CMcals2newitest Detault bn test Dt Workret bt Close Convert job f When conversion is completed click the Close button to return
23. elect Job dialog box To select the robot calibration job file Robot JBI click the Open button or double click the file When the calibration job has been taught under a different job name select the corresponding file Then the screen returns to the Robot Calibra tion screen Select Job Look in E robodata kd ES al Robot b Files of type Le File JBI sl Cancel MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 17 Robot calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm e Click the Select Robot button to display the Select Robot dialog box To select the robot type for robot calibration click the OK button or double click the corresponding type If the corresponding type of robot is not on the list select the other robot type Then the screen returns to the Robot Calibra tion screen Select Hobot SK6 CON SE6 SK6 CO20 SE6 SK6R CO11 SE6R SE6R CO20 SE6R SK 16 COOUSE 16 SE 16 C010 SK 16 6 SE 16M COO0 SE 16M SK45 CO00 K45 gt f Click the Check File button to check the files necessary for calibration Verify that the corresponding files for parameter data absolute data and tool data exist When the corresponding files exist the following message is displayed Check File Ea G Parameters 4650 data and Tool data of MAC exist g Click the OK button to return to the Robot Calibration screen C
24. file Then the screen returns to the Tool Posture Calibration screen Select job EN Look in Sy robodata ES d be Ze File name toolps bi Files of type Job File JBI sl Cancel MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 27 Tool posture calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm e Click the Check File button to check the files necessary for tool posture cali bration Verify that the corresponding files for parameter data and tool data exist When the corresponding files exist the following message is displayed Check File 8 Checked MAC s parameter data and Tool data f Click the OK button to return to the Tool Posture Calibration screen Click the Define tool posture button to display the Tool Posture Settings screen Then click the Rx Rx Ry Ry Rz and Rz buttons as many times as needed to set the taught posture with actual robot Then click the OK button to return to the Tool Posture Calibration screen Tool Posture Settings Rx Axe Ry Hit Hz Hzt Default RBCoordinates Revolution apgleldeg Rm EE bi 90 P mm mi a g Click the Execute Calibration button to execute the calibration h Click the Print a Report button to print out the report i Load the changed tool data to the actual robot by using a device such as YASNAC FC2 etc After loading conf
25. ibration job has been taught under a different name select the corresponding file Then the screen returns to the Robot Calibration screen Select job Look in l CH tool ES TOOL bi Filename TOOL p Files of type Uc File JBI sl Cancel e Click the Check File button to check the files necessary for tool calibration Verify that the corresponding files for parameter data and tool data exist When the corresponding files exist the following message is displayed Check File 8 Checked MAC s parameter data and Tool data MOTOMAN ROBOTICS EUROPE Page 24 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Tool calibration f Clicking the OK button returns to the Tool Calibration screen Click the Execute Calibration button to display the Calculating screen Then calibration starts and the calculation process is displayed g Clicking the STOP button stops the calculation to return to the Tool Calibra tion screen and the calculation result will not be written in the file Tool Data When calculation is completed the Calculation finish screen is displayed Calculation finish average aximm aYimm azimm_ DE 000 0 000 h Clicking the EXIT button returns to the Tool Calibration screen Click the Print a Report button to print out the report i Load the changed tool data to the actual robot by using a device such as Y
26. ien 1 NO 3300 Hokksund Norway Tel 47 32252820 Fax 47 32252840 Electro Arco S A Rua Vice Almirante Azevedo Coutinho 4 Venda Nova PT 2700 Amadora Portugal Tel 351 21 4968160 Fax 351 21 4990319 Robotic Systems S A PTY Ltd P O Box 90741 ZA Bertsham 2013 South Africa Tel 27 11 4943604 Fax 27 11 4942320 Messer SAG Langweisenstrasse 12 CH 8108 D llikon Switzerland Tel 41 18471717 Fax 41 18442432 MOTOMAN ROBOTICS EUROPE AB a subsidiary of YASKAWA Electric Corporation
27. int from the robot con troller to the floppy disk o Insert the above floppy disk from the robot controller to the personal computer drive and execute the continued operation for robot calibration p Click the Select Judgement Job button to display the Select Judgement Job dialog box To select the created judgement job file P7 NEW JBI click the Open button or double click the file Then the screen returns to the Robot Calibration screen Select Judgement Job Ei Look in Ej robodata e ES File name P new ibi Files of type lob File JBI sl Cancel Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm MOTOMAN ROBOTICS EUROPE Page 20 User s manual MOTOCALV32 Robot calibration q Click the Execute Judgement button to display the Calculating screen The accuracy after calibration of the control point constant operation The screen shows the X Y and Z coordinates and their average coordinates at each point of the judgement job When calculation is completed the Calculation finish screen is displayed sr L ns ey ee e Is 2172 320 HERE HERR elfz4lo 2171 776 2171 763 172 029 elfibd CLOSE 105 992 105 958 105 773 105 464 106 044 106 094 106 349 106 20 1304 326 1304 250 1304 212 1304 284 1304 539 1304 569 1304 267 1304 176 25 714 0 000 180 000 0 000 160 000 0 000 160 000 0 000 160 000 0 000 160 000 0 000 160 000
28. irm that the new tool data has been overwritten in the robot controller TOOL CND For ERC TOOL DAT j The tool posture calibration operation is completed MOTOMAN ROBOTICS EUROPE Page 28 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Workpiece calibration 4 4 Workpiece calibration The workpiece calibration is composed of Workpiece calibration and Job con version Workpiece calibration calculates the positional difference between each robot and workpiece by comparing the job created by offline system and the job created with the actual robot Then Job conversion converts the position data by offline system into the data for the actual robot using the difference above E Virtual job non existing system Teaching of personal computer reference point teaching job Perform teaching of personal computer reference point teaching job by ROTSY Job name WORK Teaching method Using the same tool teach the workpiece reference points Decide 3 or more refe rence points 5 points are recommended When higher accuracy is required teach more points Teach the first 3 points to form a triangle largely covering the robot working envelope for the workpiece The order of teaching and number of teaching points should be the same as for the robot controller reference point teaching job explained in E Teaching of robot controller reference point teaching job Operation with actual ro
29. lect the file of personal computer reference point job for calibration WORK JB I click the Open button or double click the file When the refe rence point job has been taught under a different name select the correspon ding file Then the screen returns to the Workpiece Calibration screen Select PC job Ei Ei Look ir CH work ES Default du Work Vu Workret BI File name Lok bi Files of type Uc File JBI sl Cancel e Click the Select a robot controller job button to display the Select a robot controller job dialog box To select the file of robot controller reference point job saved in the floppy disk for calibration WORKREF JBI click the Open button or double click the file When the reference point job has been taught under a different name select the corresponding file Then the screen returns to the Workpiece Calibration screen Select a controller job EE Lookin E 3 Floppy A cl E el ecb IS Workref bh File name Wotkrel di Files of type Uc File JB1 Cancel f Click the Check File button to check the files necessary for workpiece calibra tion Verify that the corresponding files for parameter data and tool data exist g When the corresponding files exist the following message is displayed Check File KEN A Checked MAC s parameter data and Tool data MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 31 Workpiece calibra
30. lick the Execute Calibration button to display the Calculation screen Then calibra tion starts and the calculation process is displayed h Clicking the STOP button stops the calculation to return to the Robot Cali bration screen and the calculation result will not be written in the file ABSO Data TOOL Data WEI 100 omo dam 100 owe ouw uow fon um MOTOMAN ROBOTICS EUROPE Page 18 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Robot calibration i When calculation is completed the Calculation finish screen is displayed j Click the EXIT button and the calibration will be judged as successful or fai led based on the average error theoretical value by calibration calculation Then 2 types of Message of Calibration Judgement are displayed k Click the OK button to return to the Robot Calibration screen Calibration finished with success Change ABSO data and Tool data m controller and make judgement job Successfull calibration Message of Calibration Judgement Calibration result average error is out of range T Re teach calibraton job and make calibration again Failed calibration Note When a message for failed calibration is displayed perform re teaching of robot calibration from the step 3 and re execute the process For some failed calibration jobs or robot types after re teaching and re executi
31. ng the process extend the calculation range for calibration job For calculation range setting contact your YASKAWA representative or YASKAWA Robot Service I Click the OK button to return to the Robot Calibration screen When a suc cessful calibration result is obtained stop the operation on personal computer once and load the changed ABSO Data and TOOL Data to the actual robot by using a device such as YASNAC FC2 etc ABSO DAT TOOL CND For ERC ABSO DAT TOOL DAT After verifying that new ABSO Data and TOOL Data have been overwritten in the robot controller turn OFF power to the robot controller and re start MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 19 Robot calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm m Using the same tool as used for the calibration job 5 postures each at 5 points perform teaching of the control point constant operation job job name P 7 NEW 7 postures at 1 point This is called a judgement job For robot postures at job teaching refer to Appendix 2 Example of Tool Cali bration d Note This operation checks how much robot accuracy is improved by changing the ABSO Data and TOOL Data by calibration job 1 st posture SE Qa ZZ 2 nd posture 6 th posture BS ee 3 rd posture 7 th posture 4 th posture Positioning jig Fig 3 Teaching the same point with 7 postures n Save the job P7 NEW JBI of 7 taught postures at 1 po
32. o methods are available for tool data in addition to tool calibration method explained in this section Performs the tool calibration with the actual robot Uses the values of mechanical dimensions of the tool if specified in the dra wing etc 2 Using this tool perform teaching of the job job name TOOL of 7 postures and more at 1 point The calibration job TOOL is used for actual calculation by the calibration software The teaching method is explained below a Using the same tool perform teaching of 7 postures at one point Use MOVJ or MOVL for interpolation type On base of the taught positions X Y and Z will be calculated internally Note For teaching of large size robots of K60 and more perform teaching with the wrist angle 45 or less since the flexure by the robot arm weight may affect calibration with the wrist posture largely inclined For robot sizes below K60 incline the wrist 45 or more When the actual playback operation requires movement as changing robot form for example the robot wrist axis rotating in reverse perform teaching with the posture of that movement For robot postures at job teaching refer to Appendix 2 Examples of Tool Calibration MOTOMAN ROBOTICS EUROPE Page 22 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Tool calibration 1 st posture 5 th posture Z ef 2 nd posture 6 th posture p E Kl 3 rd posture
33. ontally and teach this position ae weld torch is positioned hori zontally Set the posture so that the Fig 5 One point teaching E Example of tool posture calibration job NOP MOVJ C000 VJ 0 78 PL 0 END 3 Save the following robot data from the robot controller to the floppy disk using a device such as YASNAC FC2 etc MOTOMAN ROBOTICS EUROPE Page 26 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Tool posture calibration ALL PRM Robot parameter data For ERC PARAM DAT TOOL CND Tool data For ERC TOOL DAT TOOLPS JBI Job for tool posture calibration 1 posture at 1 point E Operation from personal computer a Insert the above floppy disk b Double click the MOTOCALV32 icon in the Start Program Motoman MOTOCALV32 to start the program c Click the F3 POSTURE button to display the Tool Posture Calibration screen Sa Tool Posture Calibration OR ES File E Tool data Ge E Old New Mew T Defimd tool posture Calibration Joh Name Tool No Execute calibration E Frint report EXIT Select a tool posture calibration job d Click the Select job button to display the Select job dialog box To select the tool posture calibration job file TOOLPS JBI click the Open button or dou ble click the file When the calibration job has been taught under a different job name select the corresponding
34. ot controller Performs the tool calibration by MOTOCALV32 Refer to Section 2 2 Tool Calibration Uses the values of mechanical dimensions if specified in the drawing etc 2 Mount an end pointed tool on the robot flange Use a tool with pointed end part offset to the direction of X or Y axis on the tool coordinate Offset amount of approx 200 mm is recommended 3 Using this tool perform teaching of the job job name ROBOT for 5 postures each of 5 points total 25 points The calibration job ROBOT is used for actual calculation by the calibration software The teaching method is explained below MOTOMAN ROBOTICS EUROPE Page 14 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Robot calibration a Using the same tool perform teaching of 5 postures at each 5 point Use MOVJ or MOVL for interpolation type On base of the taught positions X Y and Z will be calculated internally Note For teaching of large size robots of K60 and more perform teaching with the wrist angle 45 or less since the flexure by the robot arm weight may affect cali bration with the wrist posture largely inclined For robot sizes below K60O incline the wrist 45 or more When the actual playback operation requires movement changing robot form for example the robot wrist axis rotating in reverse perform teaching with the posture of that movement 1 st posture 5 th post
35. out Correction screen then click the Travel Axis Correction tab to display the screen for travel axis tilt cor rection Es Layout Correction FiletF Robot Layout Correction Controller job Select a controller job Directory Mame ROTSY cell information Correction Option Directory Mame Output Cell Name Travel Axis Correction Cell File Mame Rotsy Inspection ONSE Print a Report Execute Calibration Result Layout Correction Amount Please inspect ROTSY or print a report d Click the Select a robot controller job button to display the Select a robot controller job dialog box To select the file of robot controller reference point job for calibration CTRLJOB JBI click the Open button or double click the file When the reference point job has been taught under a different job name select the corresponding file Then the screen returns to the Layout Correc tion Screen Select a controller job ol ere SE Look in E Ske CS File name Ctlob bi Files of type Lob File JBI sl Cancel MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 43 Travel axis correction Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm e Click the Select Cell button to display the Select Cell dialog box To select the corresponding cell file click the Open button or double click the cor responding file Then the screen returns to the Layou
36. p Valid for ERC MRC and XRC MOTOCALV32 does not include file transfer function 1 General information Diagrams and photos in this manual are used as examples only and may differ from the actual delivered product This manual may be modified when necessary because of improvement of the product modification or changes in specifications Such modification is made as a revision by renewing the manual No To order a copy of this manual if your copy has been damaged or lost contact your YASKAWA representative listed on the last page stating the manual No on the front page YASKAWA is not responsible for any modification of the product made by the user since that will void our guarantee software supplied with this manuals intended for use by licensed operators only and may only be used or copied according to the provisions of the license Reproduction of any part of this manual without the consent of YASKAWA is for bidden 1 1 Outline of MOTOCALV32 The MOTOCALV32 has been developed to improve positioning accuracy of YAS KAWA s industrial robot MOTOMAN The MOTOCALV32 is an application soft ware for MS Windows which offers excellent operability on various types of personal computers E Requirements for MOTOCALV32 execution MS Windows 95 98 NT4 0 Required Memory 16 Mbytes or more CPU Pentium 90 MHz or more Hardware disk 15 Mbytes or more Capacity Screen Screen supported by Windows 256 colors or more Mous
37. points with 5 postures MOVJ C0023 VJ 0 78 PL 0 MOVJ C0024 VJ 0 78 PL 0 END d Save the following robot data from the robot controller to the floppy disk using a device such as YASNAC FC2 etc ALL PRM Robot parameter data For ERC PARAM DAT rom DAT Robot absolute data e E JBI Job of 5 postures each at 5 points for calibration MOTOMAN ROBOTICS EUROPE Page 16 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Robot calibration E Operation from personal computer a Insert the above floppy disk b Double click the MOTOCALV3z2 icon in the Start Program Motoman MOTOCALV32 to start the program The main screen MOTOCALYV for Windows95 is displayed for calibration programs Ja B R I LE ROBOT TOOL POSTURE LAYOUT F1 F3 F3 F4 F5 F10 Copyright c 1996 1997 YASKAWA Electric Co Ltd Ver 4 03 c Click the F1 ROBOT button to display the Robot Calibration screen F Robot Calibration ME FilelE Option ABS0 Data TOOL Daa C Check File o xmm vmm zimm Rideo Ryeo Rzdeo Old Execute Calibration select JudgementJob en Tri a gt an Li _ExoonteJugoment Era Error Theoretical Result by Calibration Directory Name Prt err Judgement Job Name rr Robot Type Ed EXIT Select a calibration job Keser Eed CE Berg a ae SS d Click the Select Job button to display the S
38. ppendix fm lt Third Posture gt lt Fourth Posture gt E ein Map ORE Wee AT MOTOMAN ROBOTICS EUROPE Page 66 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP70 series lt Fifth Posture gt lt Sixth Posture gt MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 67 For SP70 series Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm lt Seventh Posture gt K TAME DHE gek a Ai oot Am MOTOMAN ROBOTICS EUROPE Page 68 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 appendix fm For SP70 series Notes Headquarters Sweden Group companies France Germany Germany Great Britain Italy Netherlands Slovenia Spain Sweden Distributors Czech Republic Denmark Finland Greece Hungary Israel Norway Portugal South Africa Switzerland MOTOMAN Robotics Europe AB Box 504 SE 385 25 Tors s Sweden Tel 46 486 48800 46 486 41410 MOTOMAN Robotics SARL Rue Nungesser et Coli D2A Nantes Atlantique F 44860 Saint Aignan de Grand Lieu France Tel 33 2 40131919 Fax 33 40754147 MOTOMAN Robotec GmbH Kammerfeldstra e 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8 166 90 103 MOTOMAN Robotec GmbH Im Katzenforst 2 DE 6147
39. reference point teaching job Perform teaching of the personal computer reference point teaching job by using ROTSY Job name RTSJOB Teaching method Using the same tool teach the workpiece reference points Decide 3 points to form a triangle largely covering the robot working envelope for the workpiece When the robot is on the travel axis move the travel axis and teach 3 points to form a triangle as above The order of teaching and number of teaching points should be the same as for the robot controller reference point teaching job explai ned in A Teaching of robot controller reference point teaching job Operation with actual robot below Any type of interpolation can be used E Robot layout correction Example of personal computer reference point job NOP MOVL C0000 V 46 0 PL 0 MOVL C0001 V 46 0 PL 0 MOVL C0002 V 46 0 PL 0 END E Actual correction existing system Teaching of robot controller reference point teaching job Operation with actual robot Perform teaching of robot controller reference point teaching job with actual robot Job name CTRLJOB Teaching method Using the same tool teach the workpiece reference points Decide 3 points to form a triangle largely covering the robot working envelope for the workpiece When the robot is on the travel axis move the travel axis and teach 3 points to form a triangle as above The order of teaching and number of teaching points MOTOMAN ROBOTICS EUROPE User s manu
40. s just double click on the Start Menu If you want to create a shortcut to FDDWIN32 see Windows manual for further information MOTOMAN ROBOTICS EUROPE software installation Page 11 Uninstall Created 96 01 31 Revised 99 11 23 Doc name Software installation fm 2 3 Uninstall As in all WIN95 NT softwares there are an uninstall facility if you want to remove the software from the hard disk a Start the Control panel from the start menu Select Add Remove button from the menu b Mark the line FDDWIN32 from the menu c Click Add Remove button Fig 11 Mark the FDDWIN32 software News 1 0 95 Version 2 01 Microsoft ActiveMovie Microsoft Visual C Microsoft Plus for Windows 95 Fig 12 Automatic uninstall Fig 13 Uninstall MOTOMAN ROBOTICS EUROPE Page 12 Software installation Created 96 01 31 Revised 99 11 23 Doc name Software installation fm Uninstall MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 13 Robot calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm 3 Types of calibration The following types of calibrations are available for MOTOCALV32 E Robot calibration Adjusts the absolute data and tool data by teaching 5 postures each of 5 points total 25 points with robot This calibration improves the absolute value accuracy of robot E Tool calibration Adjusts tool data by teaching 7 postures at 1 point total
41. t Correction screen Select Cell El Ei Look ir E Rots el ES File name Boa cel Files of type Cell File CEL sl Cancel f Click the Execute Calibration button to execute the travel axis tilt correction When calibration starts the Calculating screen is displayed to show the cal culation process Calculating Average dximm d imm dimm dRxideg dRyideg dRzideg 0 000 0 000 0 000 0 000 0 000 0 000 g Clicking the STOP button stops the calculation to return to the screen for tra vel axis tilt correction MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Travel axis correction h When calibration is completed the layout correction amounts are displayed in Layout Correction screen E Layout Correction File Ej Robot Layout Correction Travel Axis Correction Controller job IN Select a controller job Directory Mame ROTS Yoe Ce SF EM SSK 16 x Select Call Job Mame Ex JBI x Execute Calibration ROTSY cell information Correction Option Directory Mame Travel Axis Correction HROTS Yo2 Cells Ex HROTS Yo2 Cells Ex callFilgNams Excel HESS evan Rotsy Inspection IT Print a Report Result Layout Correction Amount E AE wee 000 000 000 000 000 2 O00 Execute calibration 1 Click the Travel Axis Correction button to reflec
42. t the positional difference bet ween the robot and travel axis with actual robot to the robot and travel axis in the cell To create a new cell after correction without overwriting on the cell before check the mark in the check box Output Cell Name of Correction Option and input a new cell name to be created E Layout Correction Eet Robot Layout Correction Travel Axis Correction Controller job IN Select a controller job Directory Mame DOT elle Y SK16 x Select Call x Execute Calibration ROTSY cell information Correction Option Directory Mame X Travel Axis Correction FROTS Yo2 ells EK FROTS Yo2 Cells Ex_ v cellFileNamepoxce HESS aaa Dor inspection IT Print a Report Result Layout Correction Amount Raa E AE aE 000 000 D 000 000 0 000 2 000 Execute calibration MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 45 Travel axis correction Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm j Click the Rotsy Inspection button to inspect the travel axis tilt correction in the cell of ROTSY k Click the Print a Report button to print out the report I The travel axis tilt correction operation is completed MOTOMAN ROBOTICS EUROPE Page 46 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Travel axis correction MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 47 For SK an
43. tion Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm h Click the OK button to return to the Workpiece Calibration screen d Note lf no comment is required it is not necessary to write in i Click the Execute Calibration button to display the Calculating screen Input a comment to be written in the personal computer job WORK JB Then calibration starts and the calculation process is displayed Note As calculation result the conversion constant are written in personal computer reference point job WORK JBI and robot controller reference point job WORKREF JBI as a comment statement The matrix to convert the personal computer job to the robot controller job is written in WORK JBI and the matrix to convert the robot controller job to the personal computer job in WORKREF JBI respectively They are written in form of a comment statement with X Y Z Rx Ry Rz values based on the robot wrist motion j Clicking the STOP button stops the calculation to return to the Workpiece Calibration screen and the calculation result will not be written in the file per sonal computer reference point job robot controller reference point job When calculation is completed the Calculation finish screen is displayed Calculation finish Average dx mm d mmj dzmm dRx deg dRy deg dRz deg Eat 001 10 000 0 014 0 010 0 000 MOTOMAN ROBOTICS EUROPE Page 32 User
44. to the Work piece Calibration screen g Load the converted job to the actual robot using a device such as YASNAC FC2 etc Note For the converted job the converted amount is written as default in comment If this comment exceeds 32 characters the job cannot be loaded to the robot con troller In this case remove the check mark on Output of conversion job comment disabled of the option menu to set the mode not to write comment in the job h The workpiece calibration operation is completed MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 35 Layout correction Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm 4 5 Layout correction The layout correction is composed of Robot Layout Correction and Travel Axis Correction Robot Layout Correction corrects the robot layout in the cell cons tructed by ROSTY for actual robot layout by comparing the job created by offline system and the job created with the actual robot Travel Axis Tilt Correction cor rects the robot layout in the cell constructed by ROSTY for the actual robot layout by calculating the positional difference between the travel axis and the robot posi tioned on the travel axis Note The above layout correction should be performed after having executed the robot calibration and tool calibration Otherwise proper operation cannot be per formed E Virtual correction non existing system Teaching of personal computer
45. ure Z Le 2 nd posture 3 rd Wd NY posture Positioning jig Fig l Teaching the same point with 5 postures b With operation a perform teaching of 1 point at 5 different points The dis tance between each point should be kept to a minimum of 100 mm horizontally and vertically Perform teaching at five points from left upper side to right lower side with 5 postures each so that the values of X Y and Z vary equally in a wide area of the robot front face for teaching of correct calibration job For robot postures at job teaching refer to Appendix 1 Examples of Robot Calibration MOTOMAN ROBOTICS EUROPE User s manual MOTOCALV32 Page 15 Robot calibration Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm E Example of robot calibration job 1 MOVJ C0000 VJ 0 78 PL 0 o MOVJ C0001 VJ 0 78 BL Positioning jigs S MOVJ C0002 VJ 0 78 PL 0 D MOVJ C0003 VJ 0 78 PL 0 e mobot MOVJ C0004 VJ 0 78 PL 0 KO 2 P3 MOVJ C0005 VJ 0 78 PL 0 e MOVJ C0006 VJ 0 78 PL 0 P2 MOVJ C0007 VJ 0 78 PL 0 e MOVJ C0008 VJ 0 78 PL 0 P1 MOVJ C0009 VJ 0 78 PL 0 e 3 MOVJ C0010 VJ 0 78 PL 0 MOVJ C0011 VJ 0 78 PL 0 MOVJ C0012 VJ 0 78 PL 0 MOVJ C0013 VJ 0 78 PL 0 MOVJ C0014 VJ 0 78 PL 0 4 MOVJ C0015 VJ 0 78 PL 0 MOVJ C0016 VJ 0 78 PL 0 MOVJ C0017 VJ 0 78 PL 0 MOVJ C0018 VJ 0 78 PL 0 MOVJ C0019 VJ 0 78 PL 0 5 MOVJ C0020 VJ 0 78 PL 0 MOVJ C0021 VJ 0 78 PL 0 l SO MOVJ C0022 VJ 0 78 PL 0 Fig 2 Teaching 5
46. y Name Directory Mame Selects controller job hMotoCalyo2us Rotsy45h 16 boto al s2uskl te SEG Select a controller job ie ie x Select Cell x Execute Calibration ROTSY cell information Correction Option Directory Name M Output Cell Mame MotoCalYs2us4 Rotsy MototalYs2us Rotsy Sn ell File Name Retsynencel Se x Correct Robot Layout Rotsy Inspection Pee Layout Correction Amount E Print a Report ey ee oe ee RRE DREES en Please inspect ROTSY or print a report i Click the Rotsy Inspection button to inspect the robot layout correction in the cell of ROTSY j Click the Print a Report button to print out the report k The robot layout correction is completed MOTOMAN ROBOTICS EUROPE Page 40 User s manual MOTOCALV32 Created 99 11 23 Revised 99 11 23 Doc name Mrs55040 ch3 fm Travel axis correction 4 6 Travel axis correction E Operation with actual robot a Prior to calibration mount a end pointed tool on the robot flange and perform tool calibration to obtain tool data b Using this tool perform teaching of the job for 3 travel axis movements at 3 points total 9 points d Note Where the positional angle difference between the robot and the travel axis is con siderably large calibration is not possible 1 Teach the same point with 3 postures using the same tool moving along the travel axis Any type of interpolation can be used
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