Building a positioner example Building a positioner example

The following example shows the process required to build a positioner. Required to build the positioner is CAD information for the positioner joints. The example creates a new workcell, configures a virtual robot with multiple groups, and builds the positioner from CAD elements in the Roboguide interface. The positioner built is a 3 group Genesis Versa 3M3 which includes an axis (Group) to rotate a ferris wheel that has an axis on each side of an H with each arm of the H being a single axis group. (headstock/ tailstock)

The workcell can be found in <install drive> \Program

Files\FANUC\PRO\WeldPRO\Sample Workcells\ positioner example Step 1: Create a new workcell

Step 2: Build the positioner

Building a positioner example Step 1 Create a new workcell

A new workcell is created with the name Positioner_Example. Several steps are required and this step describes each procedurally.

Step 1: Create a new workcell

1. Start a new workcell by selecting File / New from the main menu The workcell creation wizard is opened.

2. Select which PRO plugin you desire and press Next. This example uses WeldPRO.

You should be able to use the same procedure in other PRO software.

3. Name the workcell and press Next. This example uses the workcell name Positioner_Example.

4. Select the desired robot from the list and press Next. This example uses the M-6iB/ARCMate100iB robot.

5. If a list of software versions is presented, select the highest support virtual robot version.

6. Select the positioner type for each group used by the positioner. This example places a Basic positioner with no definitions for each of 3 groups.

Select Basic Positioner and press the hand icon () next to group 2.

Select Basic Positioner and press the hand icon () next to group 3.

Select Basic Positioner and press the hand icon () next to group 4.

A 3 group positioner system is now configured for the virtual robot. When the virtual robot is started the 3 group systems is defined and motor definitions will have to be made. This is common with serializing an actual robot.

See Configuring a virtual robot for multigroup positioners for a more detailed description of this wizard step.

Press Next when complete.

7. Select options to be loaded on the robot. When selecting additional groups in the earlier step, Roboguide automatically enabled the multi group option. This example also enables the Coordinated Motion option.

Check the box next to the Coordinated Motion option in the list and press Next.

8. The final step of the wizard shows the configuration of the robot that will be serialized. Press Finish to start the creation of the virtual robot.

After pressing finish the virtual robot is serialized. The process can be seen on the virtual TP screen. Roboguide should initialize with a 3D CHUIWorld.

Defining the positioner axis hardware information. After serializing the virtual robot the configuration has 3 additional motion groups defined with each group having 0 axes. Axes must be added to these groups before the group can be used.

9. Start the virtual robot in controlled start mode by selecting Robot / Restart Controller / Controlled Start from the main menu.

The robot will restart in controlled start.

10. Press Menu button, and then select Maintenance 11. Down Arrow to the desired group

12. Press Manual

A menu is presented which allows you to work with the motion group.

If asked the hardware start axis, enter 7 for Axis 7.

13. If asked for the Kinematics Type Setting, select Unknown Kinematics.

14. A menu is then presented. Select the Add Positioner Axis item and press Enter 15. The Virtual TP screen shows question that must be answered to define the hardware selected. When the questions appear left click the mouse on the virtual TP window, and answer the questions as detailed below (the answers provided may not be correct for the hardware on an actual positioner. See the FANUC Robotics North

America manuals for more information).

16. Group 2 Positioner Initialization

o Enter hardware start axis (if not already answered): 7

o Kinematics Type Setting(if not already answered): Unknown Kinematics o Motor Size: Aca6

o Motor Type Setting: /2000

o Amplifier Current Limit Setting: 40A o Amplifier Number Setting: 2

o Amp type : Alpha o Axis Type: Rotary Axis o Direction Setting: +Y o Gear Ratio Setting: 161

o Maximum Speed Setting: No Change o Motion Sign Setting: True

o Upper Limit Setting: 450

o Lower Limit Setting: -450 (Press the – key on the numeric keypad)

o Master Position Setting: 0

o Accel Time 1 Setting: No Change o Accel Time 2 Setting: No Change o Exponential Filter Setting: False

o Minimum Accel Time Setting: No Change o Load Ratio Setting: 2

o Brake Number Setting: 0’

o Servo Off Setting: False

o Group 2 Total Positioner Axes = 1: Exit 17. Cursor down to Group 3 and press Manual 18. Group 3 Positioner Initialization

o Enter hardware start axis: 8

o Kinematics Type Setting: Unknown Kinematics

o Group 3 Total Positioner Axes = 0: Add Positioner Axis o Motor Size: ACa6

o Motor Type Setting: /2000

o Amplifier Current Limit Setting: 40A o Amplifier Number Setting: 3

o

o Amp type : Alpha o Axis Type: Rotary Axis

o Direction Setting: +Y o Gear Ratio Setting: 161

o Maximum Speed Setting: No Change o Motion Sign Setting: True

o Upper Limit Setting: 450

o Lower Limit Setting: -450 (Press the – key on the numeric keypad) o Master Position Setting: 0

o Accel Time 1 Setting: No Change o Accel Time 2 Setting: No Change o Exponential Filter Setting: False

o Minimum Accel Time Setting: No Change o Load Ration Setting: 2

o Brake Number Setting: 0’

o Servo Off Setting: False

o Group 3 Total Positioner Axes = 1: Exit 19. Cursor down to Group 4 and press Manual 20. Group 4 Positioner Initialization

o Enter hardware start axis: 9

o Kinematics Type Setting: Unknown Kinematics

o Group 4 Total Positioner Axes = 0: Add Positioner Axis o Motor Size: Aca6

o Motor Type Setting: /2000

o Amplifier Current Limit Setting: 40A o Amplifier Number Setting: 4

o Amp type : Alpha o Axis Type: Rotary Axis o Direction Setting: +X o Gear Ratio Setting: 161

o Maximum Speed Setting: No Change o Motion Sign Setting: True

o Upper Limit Setting: 450

o Lower Limit Setting: -450 (Press the – key on the numeric keypad) o Master Position Setting: 0

o Accel Time 1 Setting: No Change o Accel Time 2 Setting: No Change o Exponential Filter Setting: False

o Minimum Accel Time Setting: No Change o Load Ratio Setting: 2

o Brake Number Setting: 0’

o Servo Off Setting: False

o Group 4 Total Positioner Axes = 1: Exit 21. Press Fctn / Start (Cold)

The PRO package opens with a robot in a workcell with no other devices. Expand the Robot Controllers / Robot 1 tree in the cell browser. Under the Robot 1 tree are GP:1 through GP:4. Each group has a single joint axis. The axes exist, but a positioner needs to be defined that use the groups.

Next Step

Building a positioner example Step 2 Build the positioner

Step 1 created a new workcell, and configured a virtual robot with 4 groups with groups 2-4 having a single joint axis. Step 2 uses these groups to build a PRO machine / positioner.

A machine is defined that has a base that holds the positioner axes. Group 4 is defined as the center axis of the two arms of H/ ferris wheel positioner. Each arm of the positioner is defined as group 2 and 3 respectively. Since each arm of the H/ ferris wheel positioner moves when group 4 (center) moves the machine must have this relationship defined in the Roboguide. The following procedure defines this relationship within the workcell.

Build the base of the positioner

1. Open the cell browser if it is not open

2. Expand the Robot Controllers/ Robot1 Category where GP:1 through GP:4 are shown. Each group has a single joint axis. The axes exist but a positioner needs to be defined that use the groups.

3. Right Click on the Machines Element and select Add Machine / CAD File menu selection. A dialog appears to select a CAD file. Browse <install drive> \Program Files\FANUC\PRO\WeldPRO\SampleWorkcells\ positioner example and select SimPro_V3M3_Base.csb, and press Open.

The base CAD for the positioner should be loaded into the workcell.

4. Change the Name Property to Versa 3M3 and press apply.

5. Locate the Base CAD. Enter -300,0,0, 90, 0, 180 for the CAD Location, and press Apply. The Base should move to where the robot is located.

6. Select Lock All Location Values and press Apply to lock the base in the workcell.

Locate the robot on the base of the positioner 7. Open the property page for the robot

8. Set the location value to 0, 0, 170, 0, 0, 0 and press Apply 9. Set the check box for Lock all Location Values and press Apply Build the center of rotation axis – Group 4, Joint 1.

10. Right Click on the Versa3M3 Machine root node under Machines and select Add Link -> CAD File. A dialog appears to select a CAD file. Browse to <install drive>

\Program Files\FANUC\PRO\WeldPRO\SampleWorkcells\ positioner example and select SimPro_V3M3_major.csb, and press Open.

The CAD for the major axis of the positioner should be loaded into the workcell. The origin of the Major axis CAD loaded is placed relative to the origin of the base (Versa3M3 node).

11. Change the Name Property to Versa3M3_Major and press apply.

12. The axis of rotation must now be defined. PRO defines the axis of rotation to be the +Z axis of the Axis origin for the Joint being defined. See Positioner definitions and layout within FANUC Roboguide for more description.

Press Select 3D Axis. The 3D joint axis is highlighted. The +Z axis must now be aligned along the axis of rotation and placed at the correct location where the motor will rotate.

Change the Axis Origin Values to –1763.598, 354.787, 0, -90, 0, 0 and press Apply.

The center rotation of axis should now be located correctly (in front of the robot).

The positioner axis origin of rotation information is now correct in the workcell. The CAD may be incorrect in the workcell, but this is adjusted in a later step. The key is that the Z axis of the 3D axis is aligned and located where the motor will rotate.

13. The CAD location must now be adjusted relative to the axis origin.

Select the Link CAD tab for Versa3M3_Major. Change the CAD Location values to 0,0,0,90,0,0 and press Apply. The CAD should now be properly located. When jogged the CAD rotates about the axis defined in a previous step.

A virtual robot group must now be assigned to the CAD.

14. In the group dropdown on the Motion Tab for the Versa3M3_Major node select GP:4 – Basic Positioner. In the Joint dropdown select Joint 1 (should already be selected by default). Press Apply

The major axis should now move if Group 4 is jogged from the virtual TP.

15. Save the workcell.

Build Group 2 side of the positioner axis – Group 2, Joint 1.

16. Since each side of the positioner moves when the center axis (Group 4) is jogged,

this dependency must be defined when building the positioner. This is done by adding a link relative to the G:4, J:1 – Versa3M3_Major node in the cell browser.

Right Click on the G:4, J:1 – Versa3M3_Major node under Machines / Versa3M3 and select Add Link -> CAD File. A dialog appears to select a CAD file. Browse to <install drive> \Program Files\FANUC\PRO\WeldPRO\SampleWorkcells\ positioner example and select SimPro_V3M3_minor.IGS, and press Open.

The CAD for the minor axis of the positioner should be loaded into the workcell. The origin of the minor axis CAD loaded is placed relative to the link CAD of the

Versa3M3_Major axis link (G:4, J:1 - Versa3M3_Major node).

17. Change the Name Property to Versa3M3_Minor_Side_A and press Apply.

18. The axis of rotation must now be defined. PRO defines the axis of rotation to be the +Z axis of the Axis origin for the Joint being defined. See Positioner definitions and layout within FANUC Roboguide for more description.

Press Select 3D Axis. The 3D joint axis is highlighted. The +Z axis must now be aligned along the axis of rotation and placed at the correct location where the motor will rotate.

Change the Axis Origin Values to 512.775, 445.211, 718.033, 0, 180, 0 and press Apply. The center rotation of axis should now be located correctly (at the correct arm of the center major axis). . The CAD is correct in this example so it does not have to be adjusted. A virtual robot group must now be assigned to the CAD.

19. Select the Motion Tab.

20. Select the Servo Radio button (set by default).

21. In the group dropdown on the Motion Tab for the Versa3M3_Minor_Side_A node select GP:2 – Basic Positioner. In the Joint dropdown select Joint 1. Press Apply The minor axis should now move if Group 2 is jogged from the virtual TP.

Build Group 3 side of the positioner axis – Group 3, Joint 1.

22. Since each side of the positioner moves when the center axis (Group 4) is jogged, this dependency must be defined when building the positioner. This is done by adding a link relative to the G:4, J:1 – Versa3M3_Major node in the cell browser.

Like the previous steps, right Click on the G:4, J:1 – Versa3M3_Major node under Machines / Versa3M3 and select Add Link -> CAD File. A dialog appears to select a CAD file. Browse to <install drive> \Program Files\FANUC\PRO\WeldPRO\Sample Workcells\ positioner example and select SimPro_V3M3_minor.csb, and press Open.

The CAD for the minor axis of the positioner should be loaded into the workcell. The origin of the minor axis CAD loaded is placed relative to the link CAD of the

Versa3M3_Major axis link (G:4, J:1 - Versa3M3_Major node).

23. Change the Name Property to Versa3M3_Minor_Side_B and press Apply.

24. The axis of rotation must now be defined. PRO defines the axis of rotation to be the +Z axis of the Axis origin for the Joint being defined. See Positioner definitions and layout within FANUC Roboguide for more description.

On the General tab Press Select 3D Axis. The 3D joint axis is highlighted. The +Z axis must now be aligned along the axis of rotation.

Change the Axis Origin Values to -512.775, 445.211, 718.033, 0, 180, 0 and press Apply. The center rotation of axis should now be located correctly (at the correct arm of the center major axis). . The CAD is correct in this example so it does not have to be adjusted. A virtual robot group must now be assigned to the CAD.

25. Select the Motion Tab.

26. Select the Servo Radio button (set by default).

27. In the group dropdown on the Motion Tab for the Versa3M3_Minor_Side_B node select GP:3 – Basic Positioner. In the Joint dropdown select Joint 1. Press Apply The minor axis should now move if Group 3 is jogged from the virtual TP.

Add group 2 fixture to hold parts: a static box will be added to group 2 to fixture parts 28. Right mouse click on the G:2,J:1 – Versa3M3_Minor_Side_A node of the machine and select Add Link. Select Box.

A box is attached to the G:2 Link and the property page for the new link should be open.

29. Name the link. On the General tab, rename the link to Side_A fixture and press Apply.

30. Disable any motion axes for the link. On the Motion property page for the new link select "none" in the Group dropdown list box. Click Apply.

31. Select the Link Cad Tab

32. Change the scale / size values to 300, 50, 1500 and press Apply.

The box size should change.

33. Change the CAD Location values to 0,0, 1500, 0, 0, 0.

The box should be centered in the positioner.

Now when group 2 is jogged the box / fixture should move with the group.

Add group 3 fixture to hold parts: a static box will be added to group 2 to fixture parts 34. Right mouse click on the Side_A fixture you just created and select Copy Side_A fixture

The link is copied into the clipboard.

35. Right mouse click on the G:3, J:1 – Versa3M3_Minor_Side_B ode of the machine and select Paste Side_A fixture.

A new Side_A fixture1 should be created

36. Rename the Side_A fixture 1 to Side_B fixture and press apply

Now when group 3 is jogged the box / fixture should move with the group.

After building a positioner, the positioner information may be saved for future use. When saved for future use, the positioner can be loaded during the Workcell Creation Wizard process..

Parts can be attached to any of the positioner fixture links using the Parts tab on each respective link.

7.7.3 Working with IO driven machines

In document FANUC RoboGuide HELP.pdf (Page 178-188)