Fanuc Robot roboguide21xSpec.docx
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FanucRobotroboguide21xSpec
FANUCROBOGUIDE
Specification
FirstVersion’00,01,31
SecondVersion’00,09,13
ThirdVersion’01,10,29
A-74338
Items
1.General------------------------------------------------------------3
2.Structure,Function,Detail---------------------------------------4
3.Limitation------------------------------------------------------------------42
ThisdescribesFANUCROBOGUIDEFunctions.
1.General
FANUCROBOGUIDEistheanimationtoolforrobotsystem.
-Thisofflinetoolisdevelopedforrobotsystembuildingormaintenance.
-Thisofflinetoolisusedinbothofficeandshopfloor.
Purpose
1）CreateRobotTPProgramsusingthePCconnectedwithRobotSimulator
TPprogramscanbecreatedusingTPEmulationonPersonalComputer.
2）CheckRobotmovementonthePCconnectedwithRobotSimulator
|CalculatethecycletimeofRobotwork.
Doanimationofrobot.
DisplaytrajectoryofRobotTCP.
Checktheinterferencebetweenrobotsandtheotherobjects.
3）CreateRobotTPProgramsusingthePCconnectedwithRobotController
TPprogramscanbecreatedusingTPEmulationonPersonalComputer.
4）CheckRobotmovementonthePCconnectedwithRobotController
|CalculatethecycletimeofRobotwork.
Doanimationofrobot.
DisplaytrajectoryofRobotTCP.
Checktheinterferencebetweenrobotsandtheotherobjects.
5）MonitorRobotbyanimationonPC
6）SimpleCADfunction
CreatethedevicemodelinrobotsystemonPCusingsimpleCADfunction.
7）ObjectLibrary
Wepreparemanyshapemodelsinobjectlibrary.
Itispossibletoreadtheobjectiveshapedatafromtheobjectlibrary.
8）CADdataimport/export
ImportshapedatafromCADtoFANUCROBOGUIDEviaIGESformat.
ExportshapedatatoCADtoFANUCROBOGUIDEviaIGESformat.
2.Structure,Function,Detail
ThefollowingshowstheStructure,FunctionandOperationforRobotSimulation/RobotControllerandPersonalComputer
2.1Structure
VirtualRobot
SimulationSoftware
PC
OnLine
OffLine
PC
Office
∙WorkCellLayout
∙Robotmotionsimulation
RobotSimulator
∙Programgenerationandsimulation
∙RobotPathsimulation
∙Cycletimesimulation
Ethernet
FactoryFloor
TeachPendant
PC
Actualrobot
∙Programtouchupcreatedatoff-line
∙Confirmrobotmotionby3Danimationbeforeactualrobotmoves
Ethernet
WecanuseFANUCROBOGUIDEononlyaPC.
WecanuseFANUCROBOGUIDEconnectedwithRobotSimulatorinoffice.TheyareconnectedviaEthernet.
WecanuseFANUCROBOGUDEconnectedwithRealRobotinshopfloor.TheyareconnectedviaEthernet.
2.1.1ManytoOneStructure
Onerobotsimulator/robotcontrollercanbe
accessedfromMultiplePC.
However,simultaneously,onerobotsimulator/
robotcontrollercanbeAccessedfromonlyonePC.
（necessarytoconnectwithOfflineProgramming）
WorkStation
Eg:
ROBCAD
2.1.2OnetoMany
Manyrobotsimulators/robotcontrollerscanbe
accessedfromonePC.
2.1.3StructureandFunctionofSoftwaremodule
RobotSimulator/RobotControllerSide
RobotSimulator/RobotController
R-J3BasicSoftware
RobotLibrary
S-430iF
ProgramCreation
エディタ
S-430iW
OptionCommands
Motion
ソフトウェア
SpotWelding
OptionFunctions
Application
オプション命令
IntelligentTP/PCInterface
RobotSimulatorOption
Communication
CommandInterpreter
ProgramExecution
DelayModel
SystemVariableModification
SimulationTimeControl
TheSoftwareArchitectureofRobotSimulatorissameasoneofFANUCRobotControllerR-J3.RobotSimulatorOptionandIntelligentTP/PCInterfacearenecessary.
RobotSimulatorOptioncontains
SocketCommunicationwithPCviaEtherNet
TPProgramexecution,SystemvariablemodificationusingcommunicationcommandsfromPC
ServeDelayProcessandSimulationTimeControl
（Note:
RobotSimulatorOption（A05B-2400-J775））
（Note:
IntelligentTP/PCInterfaceOption（A05B-2400-J770））
PersonalComputer
PathCreation
CoordinateCreation
InterferenceCheck
ProgramFunction
LayoutFunction
TPEmulation
エディタ
RobotPlacement
エディタ
NormalTPconnection
ObjectPlacement
TeachingFunction
NetworkDefinition
DownLoad
ShapeShShaDefinition
DisplaySwitchShShaDefinition
GraphicalPositionTeachingFunctionofTPPrograms
RangeShShaDefinition
JogOperation
UndoShShaDefinition
NodeMap
SimulationFunction
IconGraphic
SingleSimulation
エディタ
ViewPoint
MultipleSimulation
ExtendedAxesSimulation
3DCursor
ImageOutput
Animation
CycletimeCalculation
Communication
Graph/Trajectory
CoordinateSystem
I/O&animationeffect
3DModeling
SimpleCADFunction
LibraryFunction
VirtualRobot
CADInterface（IGES）
WinTPE
CompressBody
2D3DConvert
JointDefinition
Calibration
Undo
FromV2.1
FromV2.0
LayoutFunction
Itispossibletoplacerobotandtheotherobjects.Therobotmustbeassignedtooneonrobotsimulatorinnetwork.
Itispossibletodefineshapesinlayoutmode.
Itispossibletospecifyvisible/invisible.
Itispossibletodefinerange.
ItispossibletodoUndo.
ProgrammingFunction
TPEmulation
TherobotsimulatorcanbeoperatedusingNormalTP.
TheteachingpointswhichwecanuseinTPprogramcanbedefined.
Itispossibletodown-loadTPprogramtoRobotSimulator/RobotController.
ThepositiondataofaTPprograminaRobotSimulator/RobotControllercanbedisplayedandmodifiedonthelayoutscreenofaPC.
EachjointofanobjectcanbechangedonthelayoutscreenifPCdoesnotalwaysneedtocommunicatewithaRobotSimulator/RobotController.
Itispossibletorecordrobotsimulationasicons.
SimulationFunction
Itispossibletosimulatemorethanonerobot.Animation,cycletimecalculation,Angle-TimeGraphoutputandVelocityGraphoutputcanbedone.
Atsametime,thetrajectoryofTCP（ToolCenterPoint）ofrobotcanbedisplayed.
I/Ostatuscanbesimulatedwithoutaspecifictool.
Itispossibletodoextendedaxessimulationforactualrobotorrobotsimulator.
Animationeffect（catch/release,layoutreset）issupported.
ModelingFunction
ItispossibletocreateshapedatausingsimpleCADfunctions.
Theshapedatacanbereadfromobjectlibrary.
TheIGESformatfilecanbereadfromCADsystem.
Linesfordimentioncanbedefinedonexistingobjects.
Shapedatacanbecompressedtodecreasetheirsize.
Joint,whichmeansaxiswithdegreesoffreedom,canbedefinedbetweenparts
ViewPoint
Viewpoint,GazingpointandViewdirectioncanbemodified.
3DCursorFunction
3Dimensionalpositionandrotationcanbemodified.
ImageOutput
Itispossibletooutputgraphicscreenasbitmapfile.
CommunicationFunction
CommunicationcanbedoneconnectingwithRobotSimulatorviaEtherNet.
InterferenceCheck
Theinterferencecanbecheckedamongrobotandtheotherobjects.
CoordinateSystem
BaseCoordinateSystem,TeachingPointsandPathcanbedefinedanddeleted.
VitualRobot
Softwarerobotemulationissupported.
WinTPE
TPprogrameditorissupported.
2D3Dconvert
Itispossibletomake3Dmodelfrom2DCADdata.
Calibration
Calibrationissupported.
（*）WinTPENodeMapoptionisnotprovided.
2.1.4PackageLevelFunctionList
Function
Level1
Level2
Level3
Layout
O
O
O
Programming（exceptIconGraphic）
X
O
O
Programming-IconGraphic
X
X
O
Simulation
X
O
O
Modeling
X
X
O
View
O
O
O
3DCursor
O
O
O
Communication-Actualrobotandrobotsimulator
X
O
O
Communication-virtualrobot
O
O
O
InterferenceCheck
O
O
O
CoordinateSystemDefinition
O
O
O
WinTPE
Option
O
O
IGESConverter
Option
Option
Option
DXFConverter
Option
Option
Option
2.1.5VirtualRobotList
RobotModel
VirtualRobotSupport
A-520i
O
ARCMate100iB
X
F-200i
O
LRMate100iB
X
LRMate200i
O
LRMate200iB
X
LRMate200iL
O
M-16i
O
M-16iL
O
M-16iT
X
M-410iHS
O
M-410iHW
O
M-410iWW
O
M-6i
O
M-710i/inlinewrist
O
M-710i/offsetwrist
O
M-710iT
X
M-710iW
O
P-120lL
O
P-120lR
O
P-120rL
O
P-120rR
O
P-145eL
O
P-145eR
O
P-145L
O
P-145R
O
R-2000iA/165CF
O
R-2000iA/165F
O
R-2000iA/200F
X
S-430iCF
O
S-430iCI
O
S-430iF
O
S-430iL
O
S-430iR
O
S-430iR/PressHighTorque
O
S-430iR/PressHighSpeed
O
S-430iW
O
S-430iW/200
O
S-500i
O
2.2Detail
Communication
2.2.1InitialScreen
DisplayModeMenu
MainMenu
SubMenu
View&3D
GraphicScreen
Message
ThisistheinitialscreenofRobotsimulator.
Thisiscomposedofthefollowing5areas.
-MainMenuWindow
-DisplayModeMenu
-CommunicationButton
-SubMenu
-ViewControl&3Dcursor
-GraphicScreen
-MessageScreen
2.2.2CommunicationButton
Thecommunicationbuttonisdisplayedontherightsideofscreen.
Thecommunicationisstartedclicking“ComStart”button.
2.2.3ViewControl&3DCursor
TheViewControland3DCursorwindowisstartedonstartingrobotsimulator.
ThiswindowcontainsViewcontrolpartand3Dcursoroperationpart.
2.2.3.1ViewControl
Theviewcontrolpartisusedtochangegazingpoint,viewpoint,rotation,thedistanceandscale.
Gazingpoint（X,Y,Z）
Rotation（RX,RY,RZ）
DistancebetweenGazingpointandscreen（VG）
Scale（S）
Movegazingpointtothecenterofgraphics（Org）
2.2.3.23DCursor
Thisisusedtopointout3dimensionalpositionandrotationin3dimensionalarea.
Position（X,Y,Z）
Rotation（Rx,Ry,Rz）
ClickEXbuttonandthefollowingmenuisdisplayed.
Thecurrentvaluesfor3DcursoraredisplayedinXYZWPRtextboxes.
ThevalueisbasedontheobjectinBasetextbox.
2.2.4Layout
TheobjectsinworkcellcanbeplacedanddeletedusingLayoutFunction.TherobotinPCcanbeassignedtorobotsimulatorin
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