CMA ROBOTICS ROBOT PROGRAMMING SYSTEMS COMPARISON

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1 CMA ROBOTICS ROBOT PROGRAMMING SYSTEMS COMPARISON CMA Robotics use different methods to program his robot depending model and process, this document will explain all this system advantage connected with robot model.

2 REAL TIME SELF LEARNING (TEACHING): This system allow to perform programming cycle direct on the piece, the operator by mean of a Joystick attached on the robot arm/wrist and connected with the control panel, execute a real painting over the pieces The big advantage is that during programming he can see the final result on the piece and he s able to modify or adjust the painting cycle in real time. On the Joystick take place all the controls as: start/stop program, saving program, gun open/close, turning device control, and more depending model, in this way one person will be enough to program the robot Programming time will be the same of the painting cycle, normally no more than few minutes or less depending the pieces size. Since that programming it s performed at low speed, when we go in automatic the speed are increased and cycle time reduced. Programming with still or in movement pieces and automatic spray in continuous are allowed ADVANTAGES: Very fast programming Not need to have a skill operator, same painter could do it Quick-to-learn system, one day it s enough On line programming DISADVANTAGES: Programs modify only with Off Line Software (not so easy) Limit of pieces size, programmer must to reach all the point moving the robot arm Not the best for big flat surfaces When SELF LEARNING is better: Many different pieces shape Difficult shape Small pieces No skill person for programming

3 POINT to POINT: Programming the robot BY PTP method makes it necessary to teach the robot by jogging it manually from point to point and recording these point-to-point moves as the robot s motion commands. During the process, the robot must be taken out of production. Since this system utilize a computer to create the program we have a lot of different parameter to use depending shape of pieces and painting process at example: Speed of single or whole path Gun distance at single or whole path Spray parameters by analogic values Programming with PTP use a teach pendant where all the function and set-up are present, movement are possible through a 3 axis Joystick 3+3 y Z+ Pn(X,Y,Z,A,B,C) The Robot has a system of main coordinates X,Y,Z and a secondary system of coordinates x,y,z referred to the gun (tool). X+ x z Y+ The X,Y,Z coordinates of a Pn point in space refer to the main system of coordinates. In addition to the X,Y,Z coordinates, a point also has an orientation as defined by the angles A,B,C. Angle A is the rotation with respect to the X-axis, angle B is the rotation with respect to the Y-axis and angle C is the rotation with respect to the Z-axis. The secondary or Tool system of coordinates is used to make it easier to create the PTP program, allowing you to move, for example, in the direction the paint leaves the gun regardless of which way the gun is facing with respect to the main system of coordinates. The following modes can be selected by selecting the buttons M, J, C and T respectively: J C T Joint, the Robot axes' joints Cartesian, you can move the Robot along the main reference system's Cartesian axes X, Y, Z Tool, you can move the Robot's gun along the secondary reference system's Cartesian axes x, y, z

4 CMA PTP programming it s one of the best on the market because it was developed only for painting applications, it have many automatics function to help the programming process, moreover there is a help on line for those. Teaching a robot this way can be cumbersome and time-consuming but as we saw above it s have many advantages in parameters control below an example of both methods: PTP Programming and painting test > 3 hours 1,5 mt wide furniture Self Learning Programming 0,5 mt wide furniture < 3 minutes

5 ADVANTAGES: Cycle process more precise Control of all parameters Programming of big pieces Better quality of the final painting DISADVANTAGES: Programming time Programming without paint Many phases: program, test, adjust Painting line must be stopped, otherwise it s possible to program out of line over other robot and load the program on the on line robot Skill programmer need Time to learn, depending of the person 3-4 days Note: In some cases where the piece are a mix of big and difficult shape it s possible to use both the method in the same program, by mean of the teach pendant for PTP and the Joystick for Self Learning, the software will attach it in a single program. SELF LEARNING POINT TO POINT In the example above they used different system according with the different surface of the pieces, in this way they could save a lot of time for programming because for difficult parts they use self-learning system while all the flat surfaces are programmed by Point to Point

6 Off-Line Painting Program The paint program create by mean of a personal computer The off-line system is a program that allows to develop and verify the painting program made by the robot. The system starts with a 3d model of the piece, on which are put the painting points; later, they will fix the paths carried out by the robot. Moreover, the program manages all the gun painting parameters with the aim to obtain the desired color; a rendering system with different colors will show the varnish quantity in each point of the piece to be paint. The software uses the same interface located on the robot controller and it includes a manual instructions on line with suggestions about its abilities. Once it is saved, the program is sent to the robot, to be processed as a real painting program; at the same time, the programs performed on the robot can be visualized by the software for any further changed and thus reloaded over the robot. Advantages: programming without stopping the production real process simulation time savings for programming and set-up easy training to the robots programming use same robot interface and functions production increase

7 Auto generation of the painting cycles Auto recognize of the pieces to be painted By mean of artificial vision devices Self-generating program software, equipped with all control movement parameters and application mode, that can be set up by the user according the type of piece or the required quality. A scanning system placed before the panting zone takes a 2D or 3D picture of the object to be varnished, the reading data are sent to a personal computer to be handled by means of a software, in order to create a working program for the robot. The program is transferred to the robot who, depending on the user pre-established tables will paint with a very high quality The software is supplied with a online help to use all the features of the programs. It doesn t exist any stored program, the system makes a new operating one time by time. Advantages: Automatic generation of the painting cycles Display simulation of the work cycle to optimize the program It s not necessary a technician to manage the robot Very careful process optimization Great varnish saving Outstanding and homogeneus finishing quality increase productivity This solution also permit to recognize a pieces shape and position before entering in the painting booth to join with a program on the robot PC, robot will be able to adjust the programmed cycle to the pieces position CMA Robotics it s strong involved to develop this technology in order to reduce or eliminate completely all the programming process, both for 2D and 3D parts.