This procedure demonstrates offline programming (OLP) options, including:
Uploading a real program from the shop floor to RobotExpert.
Editing and optimizing real programs with RobotExpert tools.
Downloading new programs from RobotExpert to the shop floor.
1. Open a robotic cell containing:
• The welded parts including the curve representing the welding seam
• Robot and welding torch
2. Upload the robotic program:
a. In the Object tree or in the Graphic Viewer, select the robot.
b. Click Robotics→Robot Program→Robotic Program Inventory. The Program Inventory dialog appears for the selected robot.
Off Line Programming OLP - Off Line Programming
c. Click the Upload Program button .
d. Open the program you wish to use. The newly uploaded program is displayed under the Program Inventory dialog.
Off Line Programming OLP - Off Line Programming The newly uploaded program is displayed under the Operation tree.
3. Initialize the robot (two options are described below for initializing and validating the robot controller):
Note: This section refers to the ABB controller. The process is identical for other controllers, except that each one has different parameters (and parameter names).
Option 1: Robot Properties - refers specifically to the selected robot:
a. Select the robot, either in the Object tree or the Graphic Viewer.
b. Click Robotics→Robot Properties. The Robot Properties dialog appears.
c. Select the Controller tab.
Off Line Programming OLP - Off Line Programming d. Fill all the necessary fields: Controller, RCS version, Manipulator type and Controller version.
e. For both RCS in Simulation and RCS in Non Simulation select the Connect option in order to connect the robot with its RCS module (for accurate simulation).
f. Click the Validate button to implement a validity check of the controller settings and to initialize the RCS. The Validate message appears.
Note: If one or more of the controller settings is incorrect or the RCS communication (client- server) failed, an error message is displayed.
g. Click OK.
h. Click the Robot Setup button to open the Robot Setup dialog.
Off Line Programming OLP - Off Line Programming
Load Machine Data files - RobotExpert loads machine data files containing the machine data that is used by the RCS module: Speed data, Tool data, Load data and more.
Define additional parameters, for example Speed data.
Click Base Data Definition and select the Speed Data option. The Speed Data dialog appears. Clicking the arrow button next to the Select data field displays all existing speed data (from the loaded machine data files).
Type a new Speed data name in the Select data field. Note: All other controls are enabled.
Define the new speed data parameters: Storage Type, Tcp Speed, Orientation, Linear External Axis, and Rotational External Axis.
Apply the changes and close the Speed Data dialog.
Close the Robot Setup dialog.
• Option 2: Controller Settings
a. Click Robotics→Controller Settings. The Controller Settings dialog appears, containing all robots in the cell and their controller’s data.
b. In the Robot Name column select one robot (row) and fill all the necessary fields: Controller, RCS version, Manipulator Type, and Controller Version.
c. For both RCS in Simulation and RCS in Non Simulation, select the Connect option to connect the robot with its RCS module (for accurate simulation).
d. Click the Validate button for a validity check of the controller settings and to initialize the RCS.
e. Click the Robot Setup button to open the Robot Setup dialog.
Off Line Programming OLP - Off Line Programming 4. Perform validation of the program and controller settings. In order to validate the uploaded
program and the controller settings, run the simulation:
a. Click the operation node in the Operation tree.
b. From the Path Editor select Add Operations to Editor.
c. From the Path Editor select Play Simulation Forward. The simulation should run with no errors.
5. Make changes – add the new Arc Welds Mfg to the operation:
a. Right-click the operation node and select Operation Properties from the menu. The Properties dialog appears.
b. From the Process tab, in the Continuous Mfgs table, select the new Arc Weld Mfg and click OK.
c. Project the new Arc Weld Mfg (see the “Create Arc Mfgs & Create a Continuous Operation with Project ARC Seam” document).
6. Assign new robotic parameters via Path Editor:
a. Select the new Seam operation in Operation tree.
b. In Path Editor click the Add Operation to Editor button.
c. Select Seam Location and select the desired cell to add or edit the attribute. The dropdown list opens containing all pre-defined options for the specific attribute.
Off Line Programming OLP - Off Line Programming 7. Assign new robotic parameters via Teach Pendant:
a. Select a seam location in the Operation tree or the Path Editor.
b. From the Robotics menu select Teach Pendant. The Teach Pendant dialog appears for the selected seam location.
Use the Teach Pendant dialog to define robotic location attributes. It applies the relevant parameters and commands with reference to location (seam location/via) and controller types.
The upper part of the dialog contains browsing buttons to move between locations and the Robot Setup button .
The dialog is divided into four sections: Motion Parameters, Process Parameters, Motion Properties, and OLP Commands.
To change Motion or Process parameters click the Value box next to the desired parameter and select a value from the list, for example, changing the zone data:
Off Line Programming OLP - Off Line Programming
In order to add or edit OLP Commands or Motion properties, click Add. From the menu that opens, select a command, for example, the Send Signal command:
Off Line Programming OLP - Off Line Programming In this example, the Send Signal dialog appears:
Set the Signal Name, Value, Destination and click OK. RobotExpert creates a new Send Signal command for the location.
You can apply several commands, reorder the OLP Commands list, edit, or delete commands.
8. Confirm the changes – run the simulation. In order to confirm the changes, run the simulation and search for are any errors or missing data during simulation.
a. Add the operation to the Path Editor.
b. Run the simulation. The following is an example of a Missing Data error:
The error window displays details of the error such as the exact location and cause of failure. Fix the errors in Path Editor or Teach Pendant.
Off Line Programming OLP - Off Line Programming 9. Configure value updates with Auto Teach:
After changing the program (operation), you should also update the configuration values of the robot for each location.
You can manually change the configuration value for each location in Path Editor or Teach Pendant (as explained above).
Additionally, there is the automatic Auto Teach option that updates the configuration values during the simulation run. This ensures a collision-free and error-free program.
a. Add the operation to the Path Editor.
b. Run the simulation. Make sure the operation is free of collisions and errors.
c. From Path Editor select Auto Teach.
d. Run the simulation.
10. Download the program.
a. Right-click the operation header in the Path Editor and from the right-click menu select Download to Robot. The Select File dialog appears.
b. Set the location, filename and file type for saving the new program. The new updated program is now ready to use.
References
For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual:
• Robotics Menu→Robotic Program Inventory
• Robotics Menu→Controller Settings
• Continuous Menu→Project Continuous Mfgs
• Robotics Menu→Robot Configuration