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Introduction To Robotstudio An Offline Robot Programming Tool
Introduction To Robotstudio An Offline Robot Programming Tool
Introduction To Robotstudio An Offline Robot Programming Tool
Outline of Activities
Sequence of activities required to create an offline program Designing robot worlds in RobotStudio Defining robot motions RobotStudio features Advantages of offline robot programming
References
RobotStudio tutorial >> http://130.203.243.91/Lab%20Manuals%20Test%20Site/ Frameset.htm www.robotstudio.com > Product > Downloads > Movies > - Station layout demo - Path definition demo - Program Generation demo
Objectives
Become familiar with RobotStudio Learn the sequence of Operations in the use of RobotStudio Understand the design methodology used in designing robot worlds in RobotStudio Understand how robot actions are described in RobotStudio Appreciate advantages of offline robot programming
RobotStudio
What is RobotStudio ? An offline robot programming software package by ABB for programming all robots that run on S4 and S4C controllers. Where is it loaded at? Computer Integrated Manufacturing and Robotic Lab Room 244 Leonhard Building
RobotStudio
Write lengthy robot programs without using the teach pendant In robot studio we define a Robot World and the paths the robot takes in these worlds to complete its tasks. This is done though a graphical interface. The software then generate the RAPID code in a file
Generate Program
Simulate Graphically & Verify Optimize
What do we Design?
The model may have any or all of the following entities:
Robot Robot Workspace Envelope & Table Fixtures Robot Tools Parts Other Interacting Entities
No, Fortunately we dont have to design all of those. There are libraries of each of these objects and most times we just go to the appropriate library and select the robot, workspace, tools etc that we might need.
Design Libraries
Some of the objects that are available are complete assemblies of smaller links, joints and end effectors An obvious example is the robot For the program to be practical a robot has be modeled as an assembly and not as a rigid body .illustration>>
All 3 pictures are the same robot in different stages of a pick operation
Design Libraries
Similarly we have to assemble the tool onto the robot during the design phase
Tool
Robot
Design (contd..)
For the objects that are not in the library we have the following options: Design them using a standard CAD application and import the drawing in RobotStudio. RobotStudio has a built in CAD utility which can be used to design different things.
Tip: Before going in to design standard parts check with www.robotstudio.com & goto 3D-models link
Menus
Toolbars
Browser
Property Browser
Status bar
Output window
Graphics window
What Next?
Make sure you have all the designs of all the items needed to describe the robot world that you want to program. Assemble all components together exactly the way they are in the real world (to exact dimensions and orientation).
RobotStudio lets you translate and rotate objects easily using a mouse as well as by specifying the absolute or the incremental coordinates of the new position or orientation.
Path Definition
Ok, so weve designed and assembled everything, now what?
We define the actions of the robot. The movements that are required of it along with all the spatial constraints This is called Path Definition
How?
To define paths we specify the points in the robot world and define them as targets The flexibility of the program will depend on its modularity. E.g., - Pick action can be broken down into move-to, grab and an other move-to actions Verify that the targets are defined in the correct sequence (check in Object Browser)
Hold it!
Switch on the power? Werent we in the programming phase.
Yes we still are, but RobotStudio is an offline programming tool and it is designed to look and feel as similar to online robot programming
So what?
So, we need to switch on the robot controller before we can proceed. This is the VIRTUAL Robot Controller One of the things that this affords is that it allows the user to Verify the robot program quite a lot like MasterCam displays an animation of the NC program that it generates
Voila!
We are now ready to go. The program is saved onto a floppy and is transferred from the PC to the physical robot controller, ready to run!
Note: Keep saving your work, along the way, as you create or make changes to the program
Still More
RobotStudio has a host of features which can be applied to program special situations and also to enhance the existing program.
RobotStudio
Do collision detection by checking spatial interference Add conditional checks and other code to expand RobotStudio functionality using Visual Basic Scripting Use a virtual teach pendant to add to the program Optimize locations of various objects and thus reduce cycle times .more >>
RobotStudio
Visualize and Simulate movements and actions of objects other than the robot itself Collect simulation data in an Excel Spreadsheet