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This paper present the content: setting up a simulation from a backup, create system from backup, working with smart components and rapid editor, setup a simulation without action instructions, using the rapid editor to edit the procedures, station logic setup, simulation setup...
RobotStudio™ 6.03 Programming and simulating I/Os The information in this manual is subject to change without notice and should not be construed as a commitment by ABB ABB assumes no responsibility for any errors that may appear in this manual Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose Contravention will be prosecuted Additional copies of this manual may be obtained from ABB at its then current charge © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden 2016-06-17 ABB Table of Contents Setting up a simulation from a backup 1.1 Create System from backup Working with Smart Components and RAPID Editor 11 2.1 2.2 2.3 2.4 Setup a simulation without action instructions 11 Using the RAPID editor to edit the procedures 12 Station Logic Setup 19 Simulation Setup 20 Programming and simulating I/O signals Setting up a simulation from a backup Overview In this exercise we will first learn how to create a system from a robot backup and then setup and run a simulation of a spot welding application To be able to synchronize the spot instructions to the RobotStudio station, we will also learn how to create a process template for instructions that are not automatically synchronized to station 1.1 Create System from backup Creating the system and Restoring the Backup We will start with creating a solution with Station and Robot Controller but instead of creating a new controller we will Create from backup After starting this system we will also restore the information from the backup In this step, all data from the backup such as RAPID programs and configuration files will be restored into the new system Go to File tab > New and choose Solution with Station and Robot Controller For Solution Name use mySpotSolution and for Location save it in a new file Module_5 in the location: \Courseware\Solutions\Module_5 Name the controller mySpotSystem then select Create from backup and browse to \Courseware\Systems\Spot_Backup Note! You need to browse to the folder containing the backup folders to select them In this case, you must select the Systems folder If there are more than one backup in the Systems folder, then they will be listed under Available backups Press Create Note! You can also create from backup by going to the controller tab (before creating a station) and click on Installation Manager If you are using RW 6.x you choose Installation Manager If you are using 5.x you choose System Builder Programming and simulating I/O signals As the backup includes a configuration file for a servo gun, you will be prompted to select a library file for this tool On the dialog, click Load from file… Browse to \Courseware\Libraries\ServoGun.rslib and click Open then Ok Note that the gun will now be imported but not attached to the robot There are also different library models available for the IRB6700 so we are also prompted to choose one In this case since we are working with a spot welding application we will choose the IRB6700_175_260_SW6_02 (The SW in the name refers to Spot Welding and includes the proper dress pack on the model for this application) Press OK Programming and simulating I/O signals Attach the gun by using drag&drop in the Layout browser Answer Yes on the Update Position question Synchronizing Spot procedure to station Now we will synchronize a procedure from the backup to station however we will notice that only the Move instructions will be synchronized To be able to synchronize Spot instructions we need to setup templates for the Spot instructions for them to be handled by RobotStudio We will start with importing a workpiece Import WeldObject.rslib from Courseware > Libraries In the Rapid tab, click Synchronize to station from the Synchronize drop-down menu Select mySpotSystem in order to synchronize everything to the station In this case we want to synchronize the ToolData and WorkObject In this case selecting just the Path_Process will also automatically synchronize to the station, even if they are not selected in the System tree, as shown in the below picture Click OK in the dialog We have now synchronized the path to station but if we compare the amount of instructions synchronized to station with the actual path in the RAPID editor, we will notice that the Spot instructions has not been synchronized Programming and simulating I/O signals In the image above you can only see six move instructions But when looking in the RAPID editor we can see some SpotL instructions as well Creating Instruction templates In this section we will add templates for the Spot instructions using the Instruction Template Manager We will create Instruction Descriptions and Process Definitions for SpotL and SpotJ From the Home tab Start Instruction template Manager from the active taskbar next to the controller status icon Programming and simulating I/O signals Create Move instruction descriptions for SpotL and SpotJ (right click on “Move Instruction Description”) Select SpotL in the browser and ensure that PointType is set to ToPoint Click Apply Then repeat for SpotJ Right click on in the Process Definition context menu to open the Create Process Definition dialog box Programming and simulating I/O signals Once the Create Process Definition dialog is opened, type Spot as the Process Definition name and select both SpotL and SpotJ from the list Then click Create Now go to the Rapid tab and Synchronize to Station again Ensure that Path_process is checked Go back to the Home tab and make sure that the path now is complete Click the Play button to run the simulation Save the station as \Courseware\Solutions\Module_5\mySpotSolution\Stations\mySpotStation Programming and simulating I/O signals Learn more Click the F1 or Help button 10 in the top right corner of RobotStudio See the help section For information about The Home Tab >Instruction Template Manager On how to use the Instruction template manager Programming and simulating I/O signals Working with Smart Components and RAPID Editor Overview In this exercise we will learn how to use Smart Components in a simulation After this is done we will use the RAPID Editor to edit the procedures to complete our program We will learn to use functions such as IntelliSense, Pick Lists and Complete Word 2.1 Setup a simulation without action instructions Unpack the Station We will start with running a simulation without any action instructions in our procedures So far, the paths consist of only Move -instructions Use Unpack&Work to open the Pack&Go file StartLathe.rspag from the Courseware > Stations folder Unpack it to a new folder myLatheSolution in \Courseware\Solutions\Module_5 In order to run the simulation we need to create an empty path named Main that will call for the other procedures Right click the path and set as entry point From the Rapid tab, run Synchronize to RAPID Make sure all paths are selected and then click the OK button Go to the Simulation tab and click the Play button to start the simulation Save the station as \Courseware\Solutions\Module_5\myLatheSolution\Stations\StartLathe 11 Programming and simulating I/O signals 2.2 Using the RAPID editor to edit the procedures RAPID Editor We will now finalize the RAPID program by adding action instructions This can be done either from the Home tab or manually writing the instructions in the Rapid editor In this example, we will focus on the editor Go to the Rapid tab and open the RAPID Editor for Module1 Use the functions IntelliSense, Pick Lists and Complete Word to complete the procedures as shown below Notice as you type various lists and prompts will come up to ensure correct syntax TIP! Depending upon whether you selected from the Pick Lists or simply typed the instructions as shown above you may result with various capital and/or lower case letters as well as different indentations We have ways to standardize on the indentations and formatting of the text in the Rapid program as it is viewed in the editor Once your main procedure is done click on the lower half of the Format button and select format document 12 Programming and simulating I/O signals The result will be as shown below In addition we can also change all Keywords to uppercase letters Next we will add some instructions to the procedure “GetPiece” Start by placing your cursor where you want the next instruction to be Next click on the Instruction button and move down to Common Select WaitDI 13 Programming and simulating I/O signals If you add the first WaitDI from here you will notice that you are prompted to add the argument By holding Ctrl and hitting the space bar while on the you will get a dropdown menu of all configured signals and procedures present in the controller (Notice you can also select the tab to open up all commands.) Add the various I/O instructions to “GetPiece” as shown below 14 Programming and simulating I/O signals TIP! Note that as you type instructions you will see a red underscore This indicates that the program is constantly being checked for syntax In the case below the semicolon is not yet present so this indicator will remain until the code is correctly entered Continue to add the instructions to the remaining procedures Use a combination of Pick Lists, IntelliSense and Snippets as shown in the TIP on the next page 15 Programming and simulating I/O signals Tip! As you add instructions to the procedures you will notice that two instructions come up repeatedly to control the tool In cases like these you could create a Snippet that can be reused over and over In this case you could save these two instructions as ToolActivate They can then be called up when you want to add them in a future procedure (Note that you will have to change 1s to 0s or vice versa depending on which tool status you used Alternatively you can make one Snippet for “Grip” and one Snippet for “Ungrip” 16 Programming and simulating I/O signals 10 Next we want to test run our program while watching the Graphics, Editor and I/O signals 11 Go to the Simulation tab and open up the I/O Simulator 12 Under Filter select User List then Edit List 13 Select new list and name it LatheSignals 14 Select the signals you wish to view and then populate the list by clicking on the add button When finished click OK 17 Programming and simulating I/O signals 15.Switch back to the Rapid tab and right click on the module tab you would like to view Select New Vertical Tab Group This way you can see the simulation, the RAPID execution and handle IOs 16 Set the Program Pointer to main by right clicking on the routine over on the controller tab 17 Test run the program by clicking Start from the ribbon in the RAPID tab Respond with the proper IO signals when necessary Stop the program when you are satisfied that the logic is running correctly Reset all I/O signals to 18 Programming and simulating I/O signals 2.3 Station Logic Setup The next step is to setup I/O connections between the Smart Components and the Virtual Controller to get a complete simulation This can be thought of as “virtual wiring” between the various components in the simulation environment whereas in the real application there would be physical wiring in place between the actual components In the ribbon of the Simulation tab, click Station Logic On the Signals and Connections tab, click Add I/O Connection Set Source Object to SC_InFeeder, Source Signal to doPartInPos, Target Object to IRB4600_IOTraining_system (the Virtual Controller) and Target Signal to diPartInPickPos Click OK We have now created our first I/O Connection Now create the rest of the I/O connections with the details from the picture below 19 Programming and simulating I/O signals Note that you can also view the I/O Connections in the Design View 2.4 Simulation Setup Each SC that consumes time (e.g moving an object) needs to have a simulation running But if the RAPID Editor should be used for debugging and editing, the Virtual Controller has to be excluded from that simulation The next step is to save the state for the simulation start, and to define what components should be part of the simulation On the Compose tab, click Save Current State 20 Programming and simulating I/O signals Name the Current State SimulationStart Check all values for Object states and I/O Signal values for Virtual Controller states and Smart Components as shown below and press OK When Simulation Play is pressed, all checked objects will go back to the state it had when the Current State was saved, so it is important that joint values, I/O signals etc has the correct state before the state is saved In the ribbon of the Simulation tab, click Simulation Setup Verify that Saved State Simulation Start is selected at Initial state Uncheck the controller in the Simulated objects view Press Close Start the simulation by pressing Play 21 Programming and simulating I/O signals Go back to the Rapid tab, click the Controller Status bar ( ) and check if the controller is in Auto mode If not, open the Control Panel from the Controller tab and then switch the controller status to Auto mode Set the Program Pointer to main and step through the program one cycle with Step In (F11) from the RAPID tab If the program works correct, click Start (F8) to run the program continuously Stop the program Now use the functions Step Out (Shift+F11) and Step Over (F12) to run through the program Stop the program Set a Breakpoint (F9) at the instruction SetDO doCloseGripper_1,1; in the procedure GetPiece() Start (F8) the program from main and verify that the program stops before SetDO doCloseGripper_1,1 is executed Save the station \Courseware\Solutions\Module_5\myLatheSolution\Stations\myStationSimSetup Learn more Click the Help button in the top right corner of RobotStudio See the Help section For information about The Simulation Tab >Station Logic On how to use Station Logics How to program robots > RAPID Editor On how to use the RAPID Editor Challenge You have learned to use the RAPID Editor and work with Smart Components Now try to change the rapid program and add I/O connections, so that the robot feeds the machine with a new part within the same routine as it picks a ready part from the machine 22 Programming and simulating I/O signals © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden 23 ... 20 Programming and simulating I/O signals Setting up a simulation from a backup Overview In this exercise we will first learn how to create a system from a robot backup and then setup and run... Descriptions and Process Definitions for SpotL and SpotJ From the Home tab Start Instruction template Manager from the active taskbar next to the controller status icon Programming and simulating. .. Definition dialog box Programming and simulating I/O signals Once the Create Process Definition dialog is opened, type Spot as the Process Definition name and select both SpotL and SpotJ from the