CIROS®

CIROS®
Virtual Training Environment

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 CIROS® – Virtual Training Environment

Motivation: Reasons why to use simulation for training & qualification

Arrange your training diversified, experimental, differentiated, and

Flexibility
project-orientated.

Safety Your virtual equipment is safe.

Try different configurations and situations in your simulation without

Adaptability
complex or expensive changes in real hardware.
The qualification achieved by training with your virtual equipment fits
Portability
for setting-up in reality.

Availability Use your simulation whenever, wherever, and as often as you like.

Simulation technology is widely used for professional product & production development.

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 CIROS® – Virtual Training Environment

CIROS®: 3D-Simulation of factory and process automation environments

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 CIROS®

3D-Simulation
close to reality

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 CIROS® – Virtual Training Environment
New
Highlight: High-End 3D Visualization
CIROS ® Automation Suite 1.1 CIROS ® 6.0

Dynamic shadowing

Screen-Space-Ambient-Occlusion

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 CIROS® – Virtual Training Environment

Highlight: Robot Offline-Programming

Robot Simulation

Kinematics simulation with high accuracy

Manual and graphic-based teach-in

Virtual connection between robot controller, sensors and actuators

Powerful collision detection

Wide range of kinematic models for industrial robots provided

ABB Kuka Fanuc Mitsubishi

Comau Denso Epson Staeubli

Adept Kawasaki Motoman Reis

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 CIROS® – Virtual Training Environment

Highlight: Robot Offline-Programming

Native Language Programming for Industrial Robots

Supported programming languages New

Mitsubishi – MELFA BASIC III, IV & V Mitsubishi – MRL

Kuka – Kuka Robot Language (KRL) ABB – Rapid

Adept, Staeubli – V+ Industrial Robot Language (IRL)

Context sensitive help system

Powerful editor with syntax highlighting

Debugging and tracing capabilities

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 CIROS® – Virtual Training Environment

Highlight: Robot Offline-Programming

Online-Connection to Mitsubishi Electric Robot Controllers

Connection via TCP/IP, USB or RS-232

Online-debugging of programs

Online-TeachIn

Comprehensive monitor functions with logging

Servo speed & droop Encoder values

Servo load Servo voltage & current

Position I/Os & Variables

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 CIROS® – Virtual Training Environment

Highlight: Robot Offline-Programming for Training & Qualification

Student Workplaces Robot Workplace MPS® Robot Station

Program &
CIROS® Studio
Position List

Program &
Position List
CIROS® Education

Program &
Position List

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 CIROS® – Virtual Training Environment

Highlight: Use in Robotics

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 CIROS® – Virtual Training Environment

Highlight: Sensor Simulation

Comprehensive Simulation of Sensors

Wide range of sensor types supported

Configure sensor settings instead of coding

Evaluation depending on material properties

High-speed and real-time based calculation

Virtual connection between sensors & controllers

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 CIROS® – Virtual Training Environment

Highlight: Sensor Simulation

Example: inductive sensor detects objects

with: Electric Conductivity > 0,01 m / (Ω mm²)

or: Relative Permeability μr > 500

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 CIROS® – Virtual Training Environment

Highlight: PLC Simulation & Coupling

STEP 7
Program

STEP 7 Professional CIROS®

• develop programs
• simulate model
• emulate SIMATIC S7
• run programs
• debug programs via process
states
• simulate faults

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 CIROS® – Virtual Training Environment

Highlight: PLC Simulation & Coupling

STEP 7
Program

STEP 7 Professional SIMATIC S7-PLCSIM CIROS®

• develop programs • run programs • simulate model
• debug programs • transfer output states to CIROS • start/stop actuators
• retrieve input states from CIROS • determine sensor states
• simulate faults

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 CIROS® – Virtual Training Environment

Highlight: PLC Simulation & Coupling

STEP 7
Program

STEP 7 Professional SIMATIC S7 EasyPort CIROS®

• develop programs • run programs • transfer output • simulate model
• debug programs states to CIROS • start/stop actuators
• retrieve input • determine sensor states
states from CIROS • simulate faults

DC-ER / Dirk Pensky

 CIROS® – Virtual Training Environment

Highlight: PLC Simulation & Coupling

PLC
Tool Program PLC

Programming tool PLC EasyPort CIROS®

• develop programs • run programs • transfer output • simulate model
• debug programs states to CIROS • start/stop actuators
• retrieve input • determine sensor states
states from CIROS • simulate faults

DC-ER / Dirk Pensky

 CIROS® – Virtual Training Environment

Highlight: PLC Simulation & Coupling

PLC
Tool OPC
Program PLC
Server

Programming tool PLC OPC Server CIROS®

• develop programs • run programs • transfer output • simulate model
• debug programs states to CIROS • start/stop actuators
• retrieve input • determine sensor states
states from CIROS • simulate faults

for PLCs providing an OPC server to read/write IOs

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 CIROS® – Virtual Training Environment

Highlight: PLC Simulation & Coupling

Programming tool EzOPC CIROS®

• develop programs • transfer output • simulate model
• execute programs states to CIROS • start/stop actuators
• debug programs • retrieve input • determine sensor states
states from CIROS • simulate faults

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 CIROS® – Virtual Training Environment

Highlight: Use in Factory and Process Automation

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 CIROS® – Virtual Training Environment

Highlight: Transport Simulation

Reproduction of Complex Transportation Systems

High-performance based on pre-processing

Easy-to-use modeler based on library elements

Realistic calculation of buffers

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 CIROS® – Virtual Training Environment
New
Highlight: Physics Simulation

Integration of physical interactions

NVIDIA PhysX based simulation

Smooth integration into kinematics-based calculations

Supports selection of relevant objects

Runs on PC/notebooks without NVIDIA hardware, too

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 CIROS® – Virtual Training Environment

Highlight: Fault Simulation

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 CIROS® – Virtual Training Environment

Highlight: Fault Simulation

Simulated Fault Effect Components

Compressed air supply defect compressed air not available pneumatic components
Power supply defect power supply not available electrical components
Breakdown 0-signal, no movement all components
Cable break 0-signal electrical connectors
Short-circuit against voltage 1-signal electrical connectors
Tube defect compressed air not available pneumatic tubes
Valve permanently opened permanent compressed air pneumatic valves
Valve permanently closed compressed air not available pneumatic valves
Permanent detection 1-signal sensors
Displacement failing signal sensors

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 CIROS® – Virtual Training Environment

Highlight: Fault Simulation

Sequence of fault simulation in training & qualification

In teacher mode (default password: didactic) configure the faults settings
Setup for the simulated workcell.

Close the simulation model and distribute the configured fault setting to the
Distribute student workplaces.

Your students open the simulation model and activate the defined fault
Activate simulation.

Motivate your students to identify the configured faults systematically and

Detect to document the faults using the fault localization.

In teacher mode analyze the strategy of your students to identify the faults.
Evaluate Use the fault log which records all steps performed by your students.

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 CIROS® – Virtual Training Environment

Highlight: Fault Simulation

Distribute Faults Students‘ workplaces

Teacher‘s workplace Model

Export Fault Automated

Setting Import
Model

Model

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 CIROS® – Virtual Training Environment
New
Highlight: Robotino® Simulation

Offline-Programming of Robotino®

Simulate several Robotinos® at one time

Calculation of drivability and odometry

Simulation of all integrated sensors and actuators

Control via Robotino® View or via OpenRobotino API

Interaction with all other virtual objects

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 CIROS® – Virtual Training Environment
New
Highlight: Virtual Worker

Simulation of Workers

Human model with 30 degrees of freedom

Head: 2 Arms: 2x6 Hands: 2 x 1

Hip: 3 Legs: 2x4 Body: 3

Manipulation of objects

Use of position lists for different postures

Control via IRL program (Industrial Robot Language)

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 CIROS® – Virtual Training Environment

Highlight: Modeling

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 CIROS® – Virtual Training Environment
New
Highlight: Modeling

Import filter Export filter

STEP DXF
IGES STEP
STL IGES
VRML STL
VRML

Plug-In for Autodesk Inventor

Plug-In for Autodesk 3DS MAX

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 CIROS® – Virtual Training Environment

CIROS® for Training and Qualification

Festo Training Scenarios

> 150 ready-to-use models

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 CIROS® – Virtual Training Environment

Festo Didactic Robot Stations

MPS® Robot Station

Versions with Mitsubishi RV-2AJ and RV-2SDB

Different configuration for different levels

MPS® robot station – stand-alone

MPS® robot station with assembly station

MPS® robot station with assembly and punching station

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 CIROS® – Virtual Training Environment
New
Festo Didactic Robot Stations

Robot Vision Cell

Including vision, palletizing, assembly, welding

Equipped with different robots

Mitsubishi RV-2SDB

Mitsubishi RV-3SDB

Mitsubishi RV-4FL

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 CIROS® – Virtual Training Environment

Festo Didactic MPS® Stations

MPS® Stations

Full-featured models including configuration for fault simulation

Modeler for creating MPS® plants

MPS® distribution station MPS® testing station

MPS® processing station MPS® handling (P, E) station

MPS® buffer station MPS® pick & place station

MPS® fluidic muscle station MPS® separating station

MPS® storing station MPS® sorting station

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 CIROS® – Virtual Training Environment
New
Festo Didactic MPS® PA Stations

MPS® PA Standardized Stations

First versions of process automation models

MPS® PA filtration station

MPS® PA mixing station

MPS® PA reactor station

MPS® PA bottling station

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 CIROS® – Virtual Training Environment
New
Festo Didactic MPS® Transfer Factory

MPS® Transfer Factory

First versions of Transfer Factory models

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 CIROS® – Virtual Training Environment
New
What else is new?

New Functionality
• Advanced user interface • Process simulation
• Oscilloscope for IO and axis values (e.g. lacquering, grinding)

• Animation Controller • Robot path generation

(quickly create animations) • 64-bit version
• Connection to Mitsubishi robots via • Compatible with Windows® 8
USB interface

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 CIROS® – Virtual Training Environment

System requirements

Recommended hardware features

• Intel Dual-Core processor
with 1.8 GHz or higher
• 2 GB RAM
• 20 GB available hard disk space
• Windows® 7 or Windows® 8 (32- or 64-bit)
• Graphics card with 3D acceleration
and OpenGL support, e.g. by NVIDIA
• USB port for dongle or Ethernet interface
for PC network to license server

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 CIROS® – Virtual Training Environment
New
Licensing: Made Easy

CIROS®

The program version for instructors to create new simulation models, to

CIROS® Studio test virtual training environments and to transfer robot programs to
controllers of real robots.

Students use this program version with the complete functionality of

CIROS® Education CIROS® Studio, but without the possibility to create new models and to
connect robot controllers. All simulation models are compatible.

Software protection with

Outlook Wibu Codemeter Dongle
 license borrowing for students possible

DC-ER / Dirk Pensky