OFFLINE PROGRAMMING TOOL FOR MOTOMAN ROBOTS MotoSim EG

Transcription

1 YASKAWA OFFLINE PROGRAMMING TOOL FOR MOTOMAN ROBOTS MotoSim EG FOR Windows 2000 / Windows XP Certified for ISO9001 and ISO14001 C E R T I F M A N A GE ME N T I E D SYSTE M C E R T I F M A N A GE ME N T I E D SYSTE M QMS Accreditation R009 QUALITY SYSTEM JQA-0813 ENVIRONMENTAL SYSTEM JQA-EM0924

2 Motoman Simulator E nhanced G raphics MotoSim EG High-precision offline programming and testing now easier with the new robot simulator! MotoSim EG, a high-performance software program, saves you time and simplifies common engineering tasks such as interference checks and programming. MotoSim EG enables you to construct a virtual production facility on a PC with 3D CAD data. With the latest robot models and functions, faster startup for new lines and shorter teaching times can be now realized. Features High-speed, realistic 3D graphics. High-precision robot simulation. Variety of utility functions for robotic engineering. Outstanding cost effectiveness and operability on a PC. Selection of latest robot models and controls that only a robot manufacturer can provide. 2

3 Modeling Layout Programming Simulation Monitoring Main Functions Simplified CAD CAD Data Import Display of Robot s Range of Motion Optimal Layout Search Output of Layout Information Programming Pendant Teaching in Offline Programming (OLP) Job Editor Parallel Shift Playback Report Trace Pulse Record Calculation of Cycle Time Automatic Interference Check Selection of Applications (Conveyor Synchronization or Station Coordination) Easily create 3D models by using the mouse to make selections and by entering numerical values. Easily create 3D models of robots such as painting spray guns by entering the numerical values. Use CAD data in HSF, HMF, 3DS, RWX, or DXF* 1 formatted files exported from CATIA V5* 2 or SolidWorks* 3. * 1 Simplified CAD Modeling Inserting Parts for Shapes CAD Data Import 1: DXF data needs to be converted with the tool provided. 2: CATIA is a registered trademark of Dassault Systemes. 3: SolidWorks is a registered trademark of the SolidWorks Corporation. User's CAD System Intermediate Files of CAD Data Simplified CAD Cone Cylinder Pipe Cube Floor Face MotoSim EG Simultaneous Display of Currently Executing Step 6 Monitoring of I/O Signals and Variables Others CATIA V5 SolidWorks HSF Format Calibration Job Transfer (TransJob)

4 Motoman Simulator Enhanced Graphics 2 Layout Display of Robot s Range of Motion Shows robot s range of motion in three dimensions. With the robot s range of motion on the screen, you can position a workpiece by simply using the mouse to make selections and entering numerical values. Optimal Layout Search With information on the points of the workpieces and the robot's installation space, the best layout for the robot is determined. The teaching program can be used to also determine the layout that can result in the shortest cycle time. Output of Layout Information Information on the layout of the simulated cell can be export in HTML or HSF formatted files. Display of Robot s Range of Motion 3 Programming Programming Pendant An operation panel with the same functions as the actual programming pendant is available. ž You can use MotoSim EG with this operation panel in the same way as you would operate the actual robot with the programming pendant. ž This operation panel can be used for training before introducing operators to the actual robot system. Teaching in Offline Programming (OLP) Use the mouse to pick points of the robot on the screen for smooth, trouble-free teaching. ž Perpendicular positioning ž Movement to a target position and movement to a target position with a specified posture ž Pick modes: Free, Vertex, and Center Job Editor (Optional) With Yaskawa s Job Editor* 4, you can edit auxiliary commands with MotoSim EG in the same way as you can for the actual robot. 4: Job editors for XRC and for NX100 are available. * Parallel Shift The Parallel Shift function is used to shift several teaching positions in a job all at one time. The positions before and after shifting can be visually compared. Programming Pendant Job Editor Parallel Shift 4

5 Motoman Simulator Enhanced Graphics 4 Simulation Playback Simulate teaching programs, including I/O data and variables. Report View I/O status, variable values, and user-defined messages during playback to easily debug robot programs. Trace View a graph of the trajectory for the control points of the robot during playback. Pulse Record Records a robot path as position information. Replay the robot motion frame by frame in forward or reverse. Interference Check Calculation of Cycle Time Automatically view the cycle time after running a simulation. Automatic Interference Check Possible interference between the robot and the workpiece or tool can be checked. Selection of Applications Conveyor synchronization: Provided for painting applications. Station coordination: Provided for arc-welding 5 Monitoring Conveyor Synchronization Simultaneous Display of Currently Executing Step View the step that is currently being executed and the robot motion at the same time. Monitoring of I/O Signals and Variables I/O signals and variables can be manually entered, and the values of the variables as well as the status of the I/O signals can be monitored during playback. Monitoring of I/O Signals 6 Others Calibration Includes the programs necessary for calibrations, such as the layout calibrations required for offline programming, used for an actual robot. Job Transfer (TransJob) Transfers jobs between different controllers and robots, facilitating the replacement of MOTOMAN robots. Calibration Job Transfer 5

6 MotoSim EG System Requirements OS Memory Capacity CPU Free Hard Disk Space Monitor Hardware Lock Microsoft Windows 2000 and Windows XP 128 MB or more Pentium or faster 200 MB Microsoft Windows-supported monitor (256 colors) Single user Note: Windows 2000 and Windows XP are trademarks or registered trademarks of the Microsoft Corporation. Pentium is a registered trademark of the Intel Corporation. Applicable Robot Models and Controllers Contact your Yaskawa representative for more information on applicable robot models and controllers. Sales Department HEAD OFFICE 2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi , Japan Phone: Fax: MOTOMAN INC. HEADQUARTERS 805 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone: Fax: MOTOMAN ROBOTICS EUROPE AB Franska Vagen 10, Box 4004, SE Kalmar, Sweden Phone: Fax: MOTOMAN ROBOTEC GmbH Kammerfeldstrasse 1, Allershausen, Germany Phone: Fax: YASKAWA ELECTRIC KOREA CORPORATION 1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-ku, Daegu, Korea Phone: Fax: YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore Phone: Fax: YASKAWA ELECTRIC (MALAYSIA) SDN, BHD. Unit 47-1&2, Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petaling Jaya Selangor, Malaysia Phone: Fax: YASKAWA ELECTRIC (THAILAND) CO., LTD. 252/246, 4th Floor. Muang Thai-Phatra office Tower ll Rachadapisek Road, Huaykwang Bangkok, 10320, Thailand Phone: Fax: SHOUGANG MOTOMAN ROBOT CO., LTD. No.7 Yongchang-North Road, Beijing Economic and Technological Development Area, Beijing , China Phone: Fax: MOTOMAN MOTHERSON ROBOTICS LTD. 910, DLF Galleria, DLF City Phase IV, Gurgaon Haryana, India Phone: Fax: YASKAWA YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply. Specifications are subject to change without notice for ongoing product modifications and improvements YASKAWA ELECTRIC CORPORATION. All rights reserved. LITERATURE NO. KAEP C B Printed in Japan December Printed on 100% recycled paper with soybean oil ink.