Ralph Bauknecht Siemens Industry Sector Siemens Industry Software GmbH Weissacher Straße 11 D Stuttgart siemens.

Transcription

1 The new 3D Pick and Place Robot: Graphics, use cases, via points, predefined transfer methods Ralph Bauknecht Siemens Industry Software GmbH Contact Ralph Bauknecht Siemens Industry Sector Siemens Industry Software GmbH Weissacher Straße 11 D Stuttgart siemens.com Page 2

2 The new 3D Pick and Place Robot_V14.2_RBA.spp Usecases Usecases Pick&Place operations: Material handling Loading / unloading Stacking Packaging Commissioning Page 4

3 Graphics Graphics The 4-axes Pick&Place robot has a defined graphics structure, build of a fixed basis incl. the barred area graphic 4 nested Animatable Objects Each has its internal graphics structure, a default graphics group containing the JT graphics. To build an user defined robot, it is necessary to have a graphics structure that matches this template. Page 6

4 Each Animatable Object has its graphic placed internally so that the desired axes for its movement is in zero. Page 7 Y Z Then the Animatable Object itself is positioned to match the joint of the object above in the hierarchy. Page 8

5 Predefined transfer methods Predefined transfer methods - Conveyors - The Pick&Place robot comes with some important functions for pick&place operations from and to conveyors. They are easily applicable through drag&drop. After inserting a P&P object, drag&drop it onto a conveyor object. This generates a new sensor on the position you dropped the P&P. Page 10

6 Predefined transfer methods - Conveyors - After dropping the P&P on the line, a selection for the pick / place operation opens. For the feeding line, choose Pick part or Unload part. For the target line, choose Place part or Load part. As a result new sensors are generated on the lines. You can move a sensor by selecting it and then use the left and right arrows on the keyboard. Page 11 Predefined transfer methods - Conveyors - For the feeding line, a method is generated at the sensor. You can edit it to add additional logic. For the target line, the settings in the P&P object are adjusted. You can e.g. change the mode from loading to placing the part in the dialog. Page 12

7 Predefined transfer methods - Stations - Stations and Pick&Place robots are connected through material flow connectors. The P&P robot moves to the part position if it is reachable. Pick and place positions should be inside the red circle to achieve a natural looking movement of the robot. Page 13 Predefined transfer methods - Store - Stores and Pick&Place robots are connected through material flow connectors. The P&P robot moves automatically to the position of the part to pick or to the placing position. Since the store does not push the MUs out by itself, a method is required to move a MU to the P&P robot. Page 14

8 Via points Via points To generate a more realistic movement of the P&P robot, Via Points allow to set via-locations that the robot addresses while moving between the start and target positions. It is possible to set multiple Via Points for each path. Page 16

9 Poses Joints and Poses A new and easy way to define kinematics. Page 18