Training syllabus Samuli Ahonen

Training content Overview on the user interface Working with ready made components Layout configuration Robot programming with RSL Component authoring Python OLP Q & A

Getting familiar with the user interface View Object File Simulation controls Main function tabs

Getting familiar with the user interface Tabs eCat: Source of the components and layouts Param: Configure component parameters like lengths, widths, height, capacities, speeds... Create: Create new- or modify existing components Teach: robot teaching (RSL ~ robot sequense language) Navigating 3dWorld Rotate: Ctrl + Drag with LeftMouseButton Pan: Alt + Drag with LeftMouseButton Zoom: Shift + Drag with LeftMouseButton Choose COI: Ctrl or Alt or Shifth + Click model with LeftMouseButton Multi select: Ctrl + Shift + LMB Set appearance Set floor and backround: View => settings Shadow: View => Shadow => Show/hide frames / robot tools / robot positions / robot bases View => Headlight

Working with ready made components

Conveyor - components Configure inline layouts with ready made components Drag components from eCat, connect with PnP and play with the parameters Conveyors Processes Routing Stacking

Conveyor – library Conveyors Processes Routing Stacking

Machine tending – library Configure machine cells Robotic Manual Process Machines Palletizing

Machine tending – library Configuring simple machine tending cell Add components to layout: robot manager, inlet, outlet, process machine, any robot, feeder and conveyors Connect process stages to the manager (see picture on previous slide)

Works – library Combine material flow, robotics, human resources, assembly...

ASRS – library Automated storage and retrieval system - library Configure ASRS-system from ready made components

ASRS – library Create layout Run simulation Add ASRS - components Controller, Crane, Regular Rack, Infeeder, Outfeeder Controller parameters: Connect Main Crane, Main Infeeders, Main Outfeeders, Main Racks Run simulation Play with parameters to change the functionality Change prioritizing, retrieve mode, add more racks, in- and outfeeders...

Pick’n’place -library Create pick’n’place layouts using ready made components Highly parametric automatic robot programs

Robot programming

Robot programming Robot components in Visual components Main structure Executor Executes RSL programs (Teach tab) Calls controller Robot Controller Controls robot movements by driving joints Calls kinematic solver (forward and backward) Kinematics Kinematic solver for calculating joint values Type: articulated, cartesian, scara... etc. ...and python Signal maps IO:s for RSL ActionScript Basic robot actions are implemented in this Grasp, release, mount, unmount, trace On, trace Off Interfaces In root node: RobotPositioner-, WorkPiecePositioner- and Accessories -iface In mount plate: Tool-iface for mounting end of arm tools (EOAT) Grasp container In mount plate for grasping parts and tools JogInfo Each link has one jog info enabling interactive jogging

Robot programming RSL ~ robot sequence language Robot teaching on teach tab Move robot to desired position Add movement-statement Add wait signal -, write signal -statement Grasp, release (signals 1...16) Movement trace (signals 17...32) Mount tool (signals 33...48)

Robot programming Teach tab statements Program Addons (sequences) Move robot joint by joints Translate robot tool Rotate robot tool Addons (plugins and extensions)

Component authoring

Component authoring Tutorial Conveyor parameters: Length, Width, Height, Type (Roll/Belt) Signals for robotics

CNC mill tutorial Working with imported cad Kinematic structure Programming RSL Python Communicating between components

Component authoring WorkPiecePositioners RobotPositioners EndOfArmTools

More python examples Signaling Functions Addons ...

Robot programming with python Robot programming in python Robot control logic and and signal handling in one place, robot pedestal Connections from pedestal to conveyors, etc. Easy to use vcHelpers.Robot – library robo = getRobot(”RobotInterface”) Highly flexible robot programs Easy to customize Easy to swap a new robot

OLP and Virtual Topology Generating robot paths on geometry features Standard sample olp-commands Visual Components Virtual Topology engine Post processing

Additional topics Python addons COM PLC Customer specific layouts (work shop)