RobotStudio 6.06 News. Henrik Berlin, Program Manager

Transcription

1 RobotStudio 6.06 News Henrik Berlin, Program Manager

2 Content Simulation Material transport based on physics simulation Spray paint visualization Offline programming Geometric modeling Integrated vision Commissioning General Slide 2 Content

3 Simulation Slide 3

4 Material transport Enabled by the physics simulation Surface velocity In RobotStudio 6.05 we introduced physics simulation and gravity In RobotStudio 6.06 we introduce Surface Velocity This makes it possible to build conveyor belt and feeders Integrated with the physics simulation Slide 4 Simulation

5 Material transport How to create a working conveyor belt Create surface Include in physics simulation Set Surface Velocity Import CAD model of conveyor belt Create 2D surface on conveyor belt Include surface in physics simulation Set as Fixed Set velocity and direction Done! Slide 7 Simulation

6 Material transport How to control the surface velocity during simulation Example: Graphic switch in 3D for conveyor direction Use Physics control to set surface velocity This example illustrates that the conveyor can be controlled by an external actor through the PhysicsControl Smart Component. Slide 8 Simulation

7 Spray Paint Visualization Basics Overview Applies virtual paint to the work piece Based on projection Indicates if a robot program has the potential to cover a workpiece with paint Spray pattern approximated by elliptic cone Enabled by new Smart Component PaintApplicator Limitations Single part only Surface normals must be correct (point outwards) Require CAD geometry, i.e. BReps NOTE: No relation to reality! Paint is a complex process that involves air flow, paint particle flow, and high voltage. Complete multi-physics simulation is a research problem! Slide 9 Simulation

8 Spray Paint Visualization How to set it up 1. Add the Smart Component 2. Define the virtual applicator 3. Attach it to the robot First Level Second Level Third Level Fourth Level Fifth Level Slide 11 Simulation

9 Spray Paint Visualization Connecting to SetBrush (example) Connecting Smart Components Trig visualization by brush numbers Paint visualization ON Paint visualization OFF The SetBrush instructions can turn on the paint Compare the value of A1Brush Enable the paint for the right brush numbers Example of how brush number 1 can turn paint on, and brush number 2 can turn paint off using Smart Components More complex setups are of course possible where different brush numbers are used for different spray patterns. Slide 12 Simulation

10 SmartComponent for reading and writing RAPID variables SC: RapidVariable Reads and/or writes RAPID variables so that items in the RobotStudio simulation can retrieve and send information to and from RAPID. Virtual controller communication in a RobotStudio station is no longer restricted to signals. Slide 13 Simulation

11 Offline programming Slide 14

12 Arm configuration and reachability Discontinued functionality Defined/undefined configurations discontinued Reachability window discontinued In RobotStudio 6.05.xx and earlier versions, there was a concept of Defined and Undefined configurations. If an arm configuration (confdata) was not verified in RobotStudio it was set to Undefined, even though the robtarget was taken from a perfectly working production program. This has been discontinued. The reachability window has been discontinued. The reachability check has been integrated in the Paths&Targets browser. Slide 15 Offline programming

13 Reachability check Integrated in path tree view Reachability Thanks to performance improvements we have been able to integrated the reachability check in the Paths&Targets browser. A move instruction can have three states Reachable (no indication) Warning (yellow triangle) Reachable with other arm configuration (confdata) Error (stop sign) Not reachable. Note that a move instruction may fail even though the target point itself is reachable (e.g. if there is a singularity on its way there). Warning= Reachable with other configuration Error = Unreachable regardless of configuration Slide 16 Offline programming

14 Task frame settings removed from Edit system Simplification Edit system Paths&Targets browser In RS 6.06, the task frame can only be set through the Controller node of the Paths&Targets browser. The Task frame (aka controller world) could be defined in two places: Edit system and Path&Targets browser Slide 17

15 Geometric modeling Slide 18

16 Changes related to geometric modeling Minor improvements Capsule Closed curves for Spline and Polyline Connectors added to positioner models The Capsule geometric primitive is used in SafeMove for tools and the upper arm Can be created through an option in Create cylinder Slide 19

17 CAD converters removed from 32-bit Push users to 64-bit version Less memory problems 32-bit version will be discontinued in 2018 Slide 20 Geometric modeling

18 Commissioning Slide 21

19 Collecting System Diagnostics files Jobs Service and Maintenance Collecting SystemDiagnostics files for a large population of robots can now be done with Jobs. Slide 22 Commissioning

20 Create backup to archive / restore backup from archive (.tar file) Create backup to archive file Restore backup from archive file Zip vs tar From RobotWare 6.06 onwards Backup can be saved to.tar file Backup can be restored from.tar and.zip file Backup created to.tar on FlexPendant can be restored using RobotStudio and vice versa For earlier RobotWare versions, backups can be stored to and restored from.zip using RobotStudio Zip files cannot be created or restored from FlexPendant..tar = all files merged into one big file.zip = files merged and compressed Slide 23 Commissioning

21 Scaling of FlexPendant Viewer Small Large First Level Second Level Third Level Fourth Level Fifth Level Image can be enlarged Suitable when projecting FlexPendant image e.g. for classroom training Slide 24 Commissioning

22 Integrated vision Slide 25

23 Output to RAPID Integrated vision New table layout Two window panels have been merged More space for value data Easier to use Slide 26 Integrated Vision

24 Simplified setup of Integrated Vision for virtual controller Integrated vision No vc_network_definition.xml New method for VC setup Service port IP of VC Previously, an xml file had to be handcrafted This way of configuration a VC for Integrated Vision has been discontinued. No need to define XML files anymore Slide 27 Integrated Vision

25 Options for Camera Emulator Integrated Vision Setting up a camera emulator New option for disabling emulator New option for showing ABB supported cameras only Easier to select correct firmware version Slide 28 Integrated Vision

26 Other improvements Integrated Vision Restart pop-ups Camera properties dialog box Zoom reset Restart pop-ups Added for several operations Simplifies setup of new camera Remade Shows actual data instead of buffered data Refresh button added Slide 29 Integrated Vision

27 General Slide 30

28 Support for Oculus Touch Hand controls for Oculus Rift works with RobotStudio 6.06 Slide 31 General

29 General user interface changes Minor improvements Modeling browser discontinued New option for improved view rotation Functionality of modeling browser integrated into Layout browser Sets the view center to a point on the closest surface in the center of the window. Applies to keyboard/mouse, i.e. not space mouse More intuitive rotation of graphics view Applies to large objects Slide 32 General

30 Dispensing PowerPac Tailored functionality for programming of dispensing applications Highlights Builds on the RobotWare Add-in Integrated Dispensing Function Package (IDFP). Comes with a 3D component library of dispensing equipment Slide 33

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