Mitsubishi Robots Sale

Mitsubishi Robots Sale
MITSUBISHI
Mitsubishi Industrial Robot
CRn-500 Series
MELFA-Works Instruction Manual
(3D-21C-WINE)
BFP-A8525-A
Revision History
Date of print
Specifications No.
2006-11-15
2007-02-08
BFP-A8525-*
BFP-A8525-A
Revision details
First release.
Add the following chapters.
17.3
Open MXT file
17.5
How to teach the positional calibration program
17.6
How to teach the distortion calibration program
17.9
Movement Setting Change
17.11 Change error tolerance when calibration
2
INTRODUCTION
Thank you for purchasing the MELFA-Works software package for Mitsubishi Electric industrial robots.
MELFA-Works is an add-in tool for SolidWorks that can be used to simulate Mitsubishi Electric industrial
robots. By using MELFA-Works, it becomes possible to verify robot program operations and create
processing path data. This manual describes how to perform these operations.
This product requires SolidWorks. Please note that SolidWorks needs to be provided by the customer. Refer
to “2.1 Operating Environment” for supported versions.
Symbols Used in This Manual
DANGER
Indicates that incorrect handling is most likely to cause hazardous
conditions, resulting in death or severe injury of the operator.
a possibility that incorrect handling may cause
WARNING Indicates
conditions, resulting in death or severe injury of the operator.
CAUTION
hazardous
Indicates that incorrect handling may cause hazardous conditions, resulting
in injury of the operator, or only physical damage.
z No part of this manual may be reproduced by any means or in any form, without prior
consent from Mitsubishi.
z The details of this manual are subject to change without notice.
z An effort has been made to make full descriptions in this manual. However, if any
discrepancies or unclear points are found, please contact Mitsubishi.
Microsoft, Windows are registered trademarks of Microsoft Corporation in the United States and other countries.
Adobe and Acrobat are registered trademarks of Adobe Systems Incorporated.
SolidWorks, PDMWorks and 3D PartStream.NET are registered trademarks of SolidWorks Corporation in the United
States.
Other company names and product names are trademarks or registered trademarks of the respective companies.
Copyright(C) 2006 MITSUBISHI ELECTRIC CORPORATION
3
Table of Contents
Overview.........................................................................................................................................................6
1.1. Basic Functions and Features.................................................................................................................7
1.2. Supported Models ...................................................................................................................................9
1.3. Version Differences ...............................................................................................................................10
1.3.1
Functional Differences ...................................................................................................................10
1.3.2
Other Differences...........................................................................................................................10
2. Preparation before Starting .......................................................................................................................... 11
2.1. Operating Environment ......................................................................................................................... 11
2.2. Confirmation of the Product ..................................................................................................................12
2.3. Installation (MELFA-Works) ..................................................................................................................12
2.4. Installation (Calibration Tool).................................................................................................................13
3. Flow of Operations .......................................................................................................................................14
3.1. Operation Steps ....................................................................................................................................14
3.2. Flow of Robot Program Development...................................................................................................15
3.3. Flow of CAD Link System Development ...............................................................................................16
4. Creation of Parts...........................................................................................................................................17
4.1. File Formats that can be Used ..............................................................................................................17
4.2. Part Names and Marking ......................................................................................................................17
4.3. Hand Design .........................................................................................................................................18
4.3.1
Example of Part Creation 1............................................................................................................19
4.3.2
Example of Part Creation 2............................................................................................................19
4.3.3
Example of Part Creation 3............................................................................................................19
4.4. Workpiece Design .................................................................................................................................20
4.5. Travel Base Design ...............................................................................................................................20
5. Starting and Closing .....................................................................................................................................21
5.1. Starting MELFA-Works..........................................................................................................................21
5.2. Main window .........................................................................................................................................21
5.3. Creating and Loading Projects..............................................................................................................22
5.4. Saving Projects .....................................................................................................................................24
6. Robot Setting................................................................................................................................................25
6.1. Selection the robot model .....................................................................................................................26
6.2. Attaching Hands ....................................................................................................................................27
6.3. Removing Hands...................................................................................................................................28
6.4. Setting Hand Input/Output Signals........................................................................................................28
6.5. Setting Travel Base ...............................................................................................................................29
7. Layout...........................................................................................................................................................31
7.1. Positioning Robots in Peripheral Device Coordinate Systems .............................................................32
8. Robot Operations .........................................................................................................................................33
8.1. Flag Setting Dialog Box.........................................................................................................................34
8.2. Movement to a Corner ..........................................................................................................................34
9. Calibration ....................................................................................................................................................35
9.1. Calibration Data Creation Procedure ....................................................................................................36
9.2. To Perform Highly Accurate Calibration ................................................................................................37
10. Creation of Work Flow..................................................................................................................................38
10.1. Creating Teaching Points ......................................................................................................................39
10.2. Path Creation ........................................................................................................................................40
10.3. Processing Setting Dialog Box..............................................................................................................41
10.4. Work Flow Creation...............................................................................................................................45
11. Virtual Controller...........................................................................................................................................47
11.1. How to Execute Programs ....................................................................................................................49
11.2. Checking Robot Interference ................................................................................................................49
11.3. Saving Simulation Moving Images........................................................................................................50
11.4. Cycle Time Measurement During Program Execution ..........................................................................51
11.5. B Mode Setting......................................................................................................................................51
12. Interference Check .......................................................................................................................................52
13. Task Slots .....................................................................................................................................................53
13.1. Individual Correction of Task Slots ........................................................................................................53
13.2. Batch Correction of Task Slots ..............................................................................................................54
14. Input/Output Signal Simulation.....................................................................................................................55
14.1. Signal Monitoring ..................................................................................................................................56
14.2. Manual Signal Inputs.............................................................................................................................57
14.3. Simulation Definition Settings ...............................................................................................................58
1.
4
14.4. Executing Signal Simulation..................................................................................................................60
14.5. Settings of Connection with GX Simulator ............................................................................................61
14.6. Connecting with GX Simulator ..............................................................................................................63
15. Step Execute/Direct Execute Dialog Box .....................................................................................................64
15.1. Step Execution ......................................................................................................................................64
15.2. Direct Execution ....................................................................................................................................65
15.3. Measurement of Cycle Time .................................................................................................................66
16. JOG Panel ....................................................................................................................................................67
17. How to Use the Calibration Tool ...................................................................................................................69
17.1. Starting ..................................................................................................................................................69
17.2. Explanation of the Calibration Tool Window..........................................................................................70
17.3. Open MXT file .......................................................................................................................................70
17.4. Executing Calibration ............................................................................................................................71
17.5. How to teach the positional calibration program (CLB.prg) ..................................................................72
17.6. How to teach the distortion calibration program(CL(dot sequence number).prg).................................72
17.7. Transferring Dot Sequence Data to Robot Controller ...........................................................................73
17.8. Managing Dot Sequence Data in Robot Controller...............................................................................74
17.9. Movement Setting Change....................................................................................................................75
17.10. Editing Output Signal Status .................................................................................................................76
17.11. Change error tolerance when calibration ..............................................................................................76
18. CAD Link Programming................................................................................................................................78
18.1. Verifying Movement Confirmation Program ..........................................................................................79
18.2. MXT Instruction (Move According to External Instruction) ....................................................................80
18.3. P_MXT Variable ....................................................................................................................................81
18.4. Precautions ...........................................................................................................................................82
5
1. Overview
MELFA-Works is an add-in tool that runs under SolidWorks, used for simulating production systems using
robots on personal computers, converting processing paths defined for workpieces to data and outputting
this data. MELFA-Works also contains a calibration tool for correcting previously created processing path
data and transferring such data to the controller, and RT ToolBox (mini) for creating programs and changing
parameters.
Since MELFA-Works is an add-in tool for SolidWorks, it is possible to make use of peripheral devices and
parts such as hands created using SolidWorks as is.
MELFA-Works
SolidWorks
Calibration tool
Processing path data
Calibration data
RT ToolBox(mini)
Virtual
controller
Actual robot
(memory expansion
recommended*)
Fig. 1-1 Product Configuration
* Robot controllers of system version K8 and later support the enhancing memory
The figure below illustrates a block diagram showing the components included in MELFA-Works and the
environment in which each of them operates.
MELFA-Works
RT ToolBox(mini)
Calibration tool
MELFA-Works
add-in tool
SolidWorks
Windows XP/2000
Fig. 1-2 Product Block Diagram
6
1.1.
Basic Functions and Features
The table below describes the basic functions and features of MELFA-Works.
Function
1
Robot model setting
Feature
This function allows selecting a model name from a displayed list
and setting the robot model.
A robot can be placed using positions relative to the CAD origin or
other parts. Layout setting via value entry is also possible.
* See “Table 1-1 Robots that can be Used” for robots supported by
this software.
2
Attaching hands
This function allows attaching hands designed and created using
SolidWorks to a robot. It is also possible to specify ATC (Auto Tool
Changer).
3
Travel axis
This function allows attaching a travel axis to a robot to verify system
operations with a travel axis.
4
Loading and changing
layout of peripheral devices
This function allows loading peripheral devices configured with
SolidWorks parts. Loaded parts can be placed using positions
relative to the CAD origin as well as other parts. Layout change via
value entry is also possible.
5
Workpiece handling
It is possible to handle workpieces by simulating hand signals with
robot programs. Note that it is necessary to set workpiece names
according to the naming convention in order to handle the signals.
6
CAD link
This function allows creating data necessary for operations that
would otherwise require large amounts of teaching, such as laser
welding, sealing and other operations involving tracing some parts
on a workpiece, simply by selecting processing parts from
3-dimensional CAD data.
Since data is created based on 3-dimensional CAD data, it is
possible to handle complicated, 3-dimensional curves and the
man-hours required for the teaching can also be reduced
significantly.
* Only 6-axis robots support this function. See “Table 1-1 Robots
that can be Used” for the details.
* This function supports the MELFA-BASIC language only.
7
Specification of robot
program
With this function, it is possible to use programs used with actual
robots as is. Also, in the same way as with an actual controller, it is
possible to specify a robot program for each task slot.
7
8
Function
Feature
Robot movement simulation
This function allows simulating a specified robot program. Since it
also simulates input/output signals of a robot controller, it is possible
to reproduce the same program movement as the actual system.
The following two types of simulation methods of robot controller
input/output signals are provided.
(1) Method for defining input/output signal operations in a simple
manner
(2) Method for linking with GX Simulator
* GX Simulator is support software for simulating Mitsubishi PLCs
on a personal computer. It is used to debug sequence programs
created by MELFA-Works.
9
Interference check
This function allows checking interference between a robot and
peripheral devices.
Targets of an interference check can be specified simply by clicking
on the display. Also, information acquired when interference
occurred (name of contacting part, program line being executed at
the occurrence of interference, robot position, etc.) can be saved in
log files.
10
Robot program debug
function
The following functions are provided to debug robot programs.
Step operation
Executes a specified program step by step.
Break point
Allows stopping program execution at any specified line in the
specified program.
Direct execution
Executes an arbitrary robot command.
11
Jog operation
12
Calibration
13
Cycle time measurement
This function allows measuring the cycle time of robot movement
from any point of time, just like using a stopwatch. It is also possible
to measure cycle time at a specified program location.
14
Display of robot movement
trajectory
Saving moving images
With this function, it is possible to display the movement trajectory of
a robot.
With this function, it is possible to save moving images of simulated
movement in a file (AVI format).
15
This function allows jog operation of a robot displayed in
SolidWorks, just like executing actual robot jog operations on a
teaching box.
This function calibrates dot sequence data in the CAD coordinates
created by the CAD link function so that they match data in robot
coordinates. It is also possible to transfer movement programs and
dot sequence data to a robot.
The calibration tool can also be used in laptop computers on which
SolidWorks is not installed.
8
1.2.
Supported Models
The table below lists models supported in MELFA-Works.
Table 1-1 Robots that can be Used
Robot
RV series
RH-SH series
RP series
Function
Simulation
CAD link
{
RV-6S
RV-6SL
RV-12S
RV-12SL
RH-6SH3520
{
{
{
{
{
{
{
RH-6SH4520
{
RH-6SH5520
{
RH-12SH5535
{
RH-12SH7035
{
RH-12SH8535
{
RH-18SH8535
{
RP-1AH
{
RV-3S
RV-3SJ
RP-3AH
{
RP-5AH
{
9
×
{
{
{
{
×
×
×
×
×
×
×
×
×
×
1.3.
Version Differences
This section explains differences between version 1 and version 2.
1.3.1 Functional Differences
Table 1-2 Functional Differences
No.
1
Function
Robot model setting
Version 1
{
Version 2
{
2
Attaching hands
{
{
3
Travel axis
{
{
4
{
{
5
Loading and changing layout of
peripheral devices
Actual workpiece handling
{
{
6
7
Virtual workpiece handling
CAD link
{
{
{
8
Specification of robot program
{
{
9
10
11
12
13
Robot movement simulation
Interference check
Robot program debugging
Jog operation
Calibration
{
{
{
{
{
{
{
{
{
{
14
15
{
{
{
{
{
×
×
×
{
{
{
{
20
Cycle time measurement
Display of robot movement
trajectory
Saving moving images
Offline teaching
Work flow creation
Distortion calibration
(calibration tool)
Project management
{
{
21
Loading layout (assembly)
×
{
16
17
18
19
×
Remark
Improved operation
dialog box
Improved operation
dialog box
Improved operation
dialog box
Improved operation
dialog box
Improved operation
dialog box
Deleted
Improved operation
dialog box
Improved operation
dialog box
Improved
operability
Newly added
Newly added
Newly added
Improved
operability
Newly added
1.3.2 Other Differences
Table 1-3 Other Differences
No.
1
2
Item
Dialog boxes/windows
Path data carry-over
3
Performance improvement
4
Project management
Version 1 → 2
Changed/improved.
It is no longer necessary to register paths again
when changing hands.
The speed of checking path while moving has been
improved.
It is now possible to switch between projects without
closing the application.
10
2. Preparation before Starting
2.1.
Operating Environment
The table below shows the specifications of the operating environment of MELFA-Works and the personal
computer on which the calibration tool runs. The calibration tool is designed such that it runs comfortably on
a laptop computer.
Table 2-1 MELFA-Works Operating Environment
Item
CPU
Main memory
Graphic display
Hard disk
Disk device
Pointing device
Keyboard
OS
3D-CAD
External application
Minimum Requirement
Recommended
*1
Refer to the recommended SolidWorks environment.
*1
Refer to the recommended SolidWorks environment.
SXGA (1280x1024) or more
XGA (1024x768) or more
*1
Video card installed
1 GB or more free space
CD-ROM drive
Must operate in Microsoft Windows® environment
With wheel button
PC/AT compatible keyboard
Microsoft Windows® 2000 Professional SP4
Microsoft Windows® XP Professional (32-bit) SP2
SolidWorks® 2004 SP4.1 or later
SolidWorks® 2005 SP5.0
SolidWorks® 2006 SP4.1 or later
SolidWorks® 2007 SP0.0
* Due to the specifications of SolidWorks, it is not possible to migrate
data created by a later version to an earlier version.
GX Simulator Version 7
* Used to simulate input/output signals using ladder programs.
RT ToolBox (Standard version) must not be installed.
* When you install MELFA-Works, RT ToolBox mini is installed
automatically at the same time. MELFA-Works and RT ToolBox
(Standard version) cannot be installed on the same personal
computer.
Table 2-2 Calibration Tool Operating Environment
Item
Recommended
1.0 GHz or faster Intel Pentium4 or compatible processor
256 MB or more
XGA (1024x768) or more
100 MB or more free space
CD-ROM drive
Must operate in Microsoft Windows® environment
Pointing device
With wheel button
Keyboard
PC/AT compatible keyboard
Windows® 2000
OS
Windows® XP Professional
3D-CAD
Not required
Note: The calibration tool can be operated independently from MELFA-Works.
CPU
Main memory
Graphic display
Hard disk
Disk device
*1 For the recommended SolidWorks operating environment, please refer to
http://www.solidworks.com/pages/services/SystemRequirements.html
11
2.2.
Confirmation of the Product
(1) Confirmation of Package
Check that the following items are included in the package.
† CD-ROM “MELFA-Works”
† Setup Guide
† Software License Agreement
† License Certification (Please make sure that the product name and product ID are printed on it.)
* If any item is missing, please contact the branch office or distributor from which you purchased the
product.
(2) Confirmation of CD-ROM
The data on the CD-ROM has the following structure.
[Drive name]:\
AutoRun.inf
MELFA-Works (MELFA-Works installation file)
Setup.exe
Other setup files
Calibration (Calibration tool installation file)
Setup.exe
Other setup files
Doc (Instruction manual for this software)
BFP-A8090.PDF (RT ToolBox Instruction Manual)
BFP-A8525.PDF (This manual)
Misc (Other files)
Form (User Registration Application Form)
Address.pdf (MELSOFT User Registration Application Form, address stick-on form)
Fax.pdf (MELSOFT User Registration Application Form, Fax transmission form)
2.3.
Installation (MELFA-Works)
This section explains how to install the software.
(1) Insert the product in the personal computer’s CD-ROM drive; the setup dialog box automatically
appears.
(2) If the setup dialog box does not appear when you insert the product in the CD-ROM drive, display the
setup dialog box according to the following procedure.
c Click the [Start] button and then select [Run...].
d Check the CD-ROM drive name and enter "drive name":
\MELFA-Works\Setup.exe (e.g., if the CD-ROM drive is "D:," type “D:\MELFA-Works\
Setup.exe”).
Fig. 2-1 Run
12
(3) Installation Procedure
Start
h Enter the product ID of the purchased product.
c Insert the CD-ROM in the personal computer’s
CD-ROM drive.
d Run “Setup.exe” in the CD-ROM (perform this
step if the file is not executed automatically in
step c).
e Start installation.
f Check License Agreement.
g Enter user information (user name, company name).
i Select an installation destination.
j Finish installation.
k Start the product to check that it is properly
installed.
Finish
* The product ID is printed on the License Certification.
CAUTION
Uninstall RT ToolBox before installing MELFA-Works.
RT ToolBox mini is installed together with MELFA-Works. However, MELFA-Works and RT ToolBox
(Standard version) cannot be installed on the same personal computer.
Be sure to uninstall RT ToolBox before installing MELFA-Works.
Even if you install MELFA-Works without uninstalling RT ToolBox, the uninstaller starts up
automatically and the currently installed RT ToolBox will be uninstalled.
2.4.
Installation (Calibration Tool)
To install the calibration tool, start Setup.exe in the \Calibration folder of the CD-ROM directly and follow
the installer’s instructions to install the tool. By default, the tool is installed at
C: \Program Files\MELSOFT\RT ToolBox E\MELCalib;
change the location as necessary.
13
3. Flow of Operations
This chapter explains the flow of operations involved in starting up a system using MELFA-Works, up to
operating a robot in its actual environment. The specific operations that can be carried out in each dialog
box/window are explained in the subsequent chapters; refer to the corresponding chapter for further details.
3.1.
Operation Steps
Several operations are involved in constructing a system using MELFA-Works. They can largely be divided
into the following 4 steps.
Table 3-1 Operation Steps
c Using “SolidWorks”
Create workpieces, hands and other parts in SolidWorks
and convert other CAD data to mark for MELFA-Works.
d Using “MELFA-Works”
Use MELFA-Works to specify processing locations,
intermediate postures and various parameters to eventually
create template robot programs, dot sequence data and
calibration programs.
e Using “calibration tool”
Use the calibration tool to calibrate dot sequence data to
processing positions of workpieces in the actual space.
Download the calibrated dot sequence data to a robot
controller.
f Using “RT ToolBox”
Use RT ToolBox to create programs that are operable in
actual systems based on the template programs created in
step d. Debug the created operational programs.
14
3.2.
Flow of Robot Program Development
This section explains how to develop robot programs without using the CAD link function. Refer to the
corresponding chapter for further details. The numbers c to f to the left of each of the items indicate the
operation steps explained in “Chapter3.1 Operation Steps”.
Create parts required for
Create workpieces, hands and other parts in SolidWorks.
c
simulation
“Chapter4 Creation of Parts”
↓
Create a project
Create a new project or load an existing project. “Chapter5
Starting and Closing”
↓
Load a robot
Load a robot by selecting from a list. “Chapter6 Robot
d
Setting”
↓
Attach hands
Attach hands (fixed hands, ATC) to the robot. It is also
possible to make signal settings for simulation. ”Chapter6
Robot Setting”
↓
Mount on travel base
Mount the robot on a travel base. Moving direction and target
axes are set here as well. ”Chapter6 Robot Setting”
↓
Place peripheral devices
Place loaded peripheral devices in arbitrary
positions. ”Chapter 7 Layout”
↓
Place robot
Place the loaded robot to an arbitrary location. ”Chapter 7
Layout”
↓
Change posture
Change the robot posture. ”Chapter 8 Robot Operations”
↓
Teach posture
Teach the robot postures of operations. ”Chapter 10 Creation
of Work Flow”
↓
Create work flow
Specify the work flow by combining teaching points and
paths. “Chapter 10 Creation of Work Flow”
↓
Create a program
Create a robot movement program based on a work flow.
“Chapter 10 Creation of Work Flow”
↓
Check movement with a
Using a virtual controller allows checking the movement in
virtual controller
advance. ”Chapter 11 Virtual Controller”
↓
Modify an automatically created program according to your
Create an operational
specific system using RT ToolBox. ”Chapter 18 CAD Link
f
program
Programming”
15
3.3.
Flow of CAD Link System Development
This section explains the flow of development of robot programs using the CAD link function. The numbers
c to f to the left of each of the items indicate the operation steps explained in “3.1 Operation Steps”.
Create parts required for
Create workpieces, hands and other parts in SolidWorks.
c
simulation
“Chapter4 Creation of Parts”
↓
Create a project
Create a new project or load an existing project. “Chapter5
Starting and Closing”
↓
Load a robot
Load a robot by selecting from a list. “Chapter6 Robot Setting”
↓
Attach hands
Attach hands (fixed hands, ATC) to the robot. It is also possible
to make signal settings for simulation. ”Chapter6 Robot
Setting”
↓
Mount on travel base
Mount the robot on a travel base. Moving direction and target
d
axes are set here as well. ”Chapter6 Robot Setting”
↓
Place peripheral devices
Place
loaded
peripheral
devices
in
arbitrary
positions. ”Chapter 7 Layout”
↓
Place robot
Place the loaded robot to an arbitrary location. ”Chapter 7
Layout”
↓
Change posture
Change the robot posture. ” Chapter 8 Robot Operations”
↓
Create calibration data
Specify reference points used in the operation. “Chapter 9
Calibration”
↓
Teach posture
Teach the robot postures of operations. ”Chapter 10 Creation
of Work Flow”
↓
Create work flow
Specify the work flow by combining teaching points and
paths. ”Chapter 10 Creation of Work Flow”
↓
Create a program
Create a robot movement program based on a work
flow. ”Chapter 10 Creation of Work Flow”
↓
Check movement with a
Using a virtual controller allows checking the movement in
virtual controller
advance. ”Chapter 11 Virtual Controller”
↓
Teach calibration points
Transfer the calibration program to the controller in order to
teach the robot. “Chapter 17 How to Use the Calibration Tool”
e
↓
Perform calibration using the teaching result and transfer the
Calibrate dot sequence
calibrated dot sequence data to the controller. “Chapter 17
and transfer to controller
How to Use the Calibration Tool”
↓
Modify an automatically created program according to your
Create an operational
f
specific system using RT ToolBox. ”Chapter 18 CAD Link
program
Programming”
16
4. Creation of Parts
With MELFA-Works, parts created by customers can be used as hands or workpieces. When attaching
hands or similar on a robot and handling workpieces, such parts should be created in advance by following
the creation rules explained in this chapter.
The operations mentioned above are not required to simply operate a robot.
Sample data for hands, workpieces, travel bases and so forth can be found in the sample folder; please
make use of them as reference.
4.1.
File Formats that can be Used
MELFA-Works is able to use data created by other CAD software as far as the data is stored using file
formats that can be loaded by SolidWorks. In this case, the files should be converted into sldprt format
before loading the data. File formats that can be converted conform to SolidWorks. Currently, the following
file formats are supported.
Table 4-1 Supported File Formats
IGES
Unigraphics
STEP
PAR (Solid EdgeTM)
SAT (ACISR)
IPT (Autodesk Inventor)
ParasolidR
Mechanical Desktop
DWG
CADKEYR
DXFTM
Viewpoint
STL
RealityWave
VRML
HOOPS
VDA-FS
CGR (CATIARgraphics)
Pro/ENGINEERR
HCG (Highly compressed graphic)
* Please check the latest specifications at the Website of SolidWorks Corporation.
4.2.
Part Names and Marking
The main part types used in MELFA-Works include robot components, hands, travel bases, workpieces and
other peripheral devices. Among these, some parts are handled in a special manner by MELFA-Works, and
several rules thus apply.
The rules can mainly be categorized into the following two types.
c Part Names
Part names loaded in SolidWorks, which correspond to file names, are used to distinguish whether
the part is a hand, workpiece or something else. Insert “_identifier’’ before the file extension as a
character string that distinguishes among parts, as in the following example.
(Example) Sample_identifier.sldprt
d Marking
In order to have a reference frame for connecting parts, such as a robot and a hand or a hand and a
workpiece, a “coordinate system” with a specific name must be embedded in a part.
17
Table 4-2 Rules in Parts Creation
Part name
Fixed hand
ATC tool
Format of part name
(= file name)
Arbitrary character string +
“_Hand.sldprt"
First origin
(for connecting robot)
Coordinate system:
Orig1
(Example) Sample_Hand.sldprt
Arbitrary character string +
“_ToolATC.sldprt"
(Example)
Sample_ToolATC.sldprt
ATC master
Workpiece
Coordinate system:
Orig1
Arbitrary character string +
“_MasterATC.sldprt"
Second origin
(for connecting workpieces)
In the case of gripping
hands
Coordinate system: Pick1
to 8
* Set to gripping area
In the case of processing
hands
Coordinate system: Orig2
* Set to processing point
Coordinate system: Orig2
(Example)
Sample_MasterATC.sldprt
Arbitrary character string +
“_Work.sldprt"
Coordinate system:
None
Orig1
* Set to gripping area
(Example) Sample_Work.sldprt (Can be omitted)
None
Coordinate system:
Travel base Arbitrary character string +
Arbitrary
“.sldprt"
(Multiple coordinate
systems can be
(Example) Sample.sldprt
used.)
Orig1 or 2: Used to connect of parts in front and back. The second origin of a part in front and the
first origin of a part in back match, for example Orig2 of J6 axis of a 6-axis robot and
Orig1 of a fixed hand, as well as Orig1 of the ATC master and Orig2 of the ATC tool.
Pick1 to 8: Used to determine the position of a gripped workpiece.
* You should save parts as a solid
4.3.
model if it targets it in the interference check.
Hand Design
MELFA-Works can handle the following hands.
Table 4-3 Hands that can be Used
Type
Explanation
Fixed hand
Fixed hands are directly attached to a flange.
ATC master
The master side of ATC (Auto Tool Changer).
The ATC master part is directly attached to a flange.
The ATC tool can be removed or attached according to commands issued via
robot input/output signals. In order to attach the tool via a signal, the ATC tool
must be in the vicinity of the robot (no more than 100 mm away).
The tool side of ATC.
The ATC tool side is fixed to the ATC master.
ATC tool
Two types of hand applications, gripping hands and processing hands, can also be handled by this software.
These types of hand applications are defined as follows.
Table 4-4 Hand Applications
Type
Gripping
hand
Processing
hand
Explanation
A gripping hand is used to handle workpieces. Up to 8 gripping areas can be set
for each hand and it is possible to grip up to 8 workpieces at the same time. A
marking (Pick 1 to 8) is required for each gripping area.
A processing hand is used in laser welding, sealing and other operations that
involve tracing of specific locations on a workpiece. A marking (Orig2) is required
for the hand processing point.
18
4.3.1 Example of Part Creation 1
In order to allow MELFA-Works to handle a part, the part name, first origin and second origin must be
specified according to the rules shown in “Table 4-2 Rules in Parts Creation”.
First origin: For connecting with a part closer to the robot origin (part in front)
Second origin: For connecting with a part farther from the robot origin (part in back)
X
First origin (robot side)
Orientation of the coordinate system
Y
Z
Second origin (tool side)
Fig. 4-1
Example of Part Creation 1 (In the Case of ATC Master)
4.3.2 Example of Part Creation 2
As a rule, the coordinate system (Orig*) is set such that the direction away from the robot origin is defined as
+Z. If the coordinate system is set in the opposite direction, the direction of connection is also reversed.
X
Orig1
Y
Z
ATC master
ATC tool
X
X
Orig2
Y
Pick1
Y
Z
Z
Joint area
Gripping area
Fig. 4-2
Example of Part Creation 2 (In the Case of ATC Tool)
4.3.3 Example of Part Creation 3
Fig. 4-3 Entire Hand
19
Fig. 4-4 Robot Joint Area
4.4.
Fig. 4-5 Hand Processing Area
Workpiece Design
* The “workpieces” explained here are items gripped by a hand. There is no need to identify parts that are
not gripped as “workpieces.”
In order for a part to be recognized as a workpiece, append the character string "_Work" to the part name
according to the parts creation rules. Also, place an "Orig1" marking if the gripping posture is determined.
Fig. 4-6 Example of Workpiece Creation
4.5.
Travel Base Design
In order for a part to be recognized as a travel base, place a marking (with an arbitrary name) indicating the
origin of the travel base. It is also possible to allocate several robots by placing multiple markings on one
travel base.
Fig. 4-7 Example of Travel Base Creation
20
5. Starting and Closing
5.1.
Starting MELFA-Works
Start SolidWorks from the [Start] menu of Windows.
After starting SolidWorks, select [Start] from the [MELFA-Works] menu to start MELFA-Works.
Fig. 5-1 Starting MELFA-Works
5.2.
Main window
The MELFA-Works Main window provides project operation functions as well as functions for starting
various function dialog boxes and switching path displays. By clicking the appropriate function button, the
corresponding dialog box for performing robot settings, layout changes, robot operations, calibration, work
flow creation, virtual controller control or interference check appears. By clicking the trajectory display
buttons, it is also possible to switch between trajectory display ON and OFF or to delete previously
displayed paths.
Various function buttons
Trajectory display buttons
Fig. 5-2 Main Window
Table 5-1 Operations Provided by the Main Window
Robot setting
Layout
Robot operation
Calibration
Work-flow
Virtual controller
Trajectory display
Check interference
Change settings of robot model, travel base, hand and so on.
Place the robot and peripheral devices.
Change robot postures.
Edit calibration data.
Edit robot movement points, path and flow.
Operate the virtual controller.
Switch between erace trajectories(left button) and showing/hiding
trajectories(right button).
Check whether or not a robot, hand, tool, workpiece, etc. are interfering.
21
5.3.
Creating and Loading Projects
MELFA-Works manages robot information, layout information, movement information, etc. collectively in
units called projects. Create or load a project from the [Project] menu of MELFA-Works.
(1) [New] menu
Create a new project.
Select [New] from the [Project] menu; the New project dialog box appears.
[Project name]:
Enter the name of the project.
[Current directory]: Enter the location where the project is to be created or select a location in which to
create the project in the Browse for Folder dialog box.
* The folder specified here is an area where the work result of MELFA-Works is preserved. Please do
not preserve other files.
Fig. 5-3 New
(2) [Load] menu
Load a previously created project.
Select [Load] from the [Project] menu; the Load project dialog box appears.
Input the location of project in the [Directory] text box. Input the location directly or select the location to
click the button displayed next to the text box.
Fig. 5-4 Opening an Existing Project
(3) Select a project from history
Select a project from the history of projects opened in the past.
22
If you select the [Project] menu, up to 10 projects that have been opened recently in MELFA-Works are
displayed at the bottom of the menu; select a project.
Up to 10 recently opened
projects are displayed.
Fig. 5-5 Selecting from History
23
5.4.
Saving Projects
To save a project, select [Save] from the [Project] menu. The project management message confirming
whether or not to save the project appears; click an appropriate button.
The project management message confirming whether or not to save the project appears when closing
MELFA-Works as well.
Fig. 5−6 Saving Projects
24
6. Robot Setting
In MELFA-Works, it is possible to set up to 2 robots of the types indicated in “Table 1-1 Robots that can be
Used”. In the Robot setting dialog box explained in this chapter, it is possible to load robots, attach and
remove hands and travel bases to/from each robot and make hand signal settings to be used in simulation.
In order to make robot settings, double-click a target robot from the list in the Robot setting dialog box, or
select a robot and then click the [Change] button, to display the Robot details setting dialog box.
Fig. 6-1 Robot Setting
Layout after selecting a robot model is performed in the Layout dialog box, which is explained in Chapter 7.
25
6.1.
Selection the robot model
Select the robot model in the following procedure.
c Click the [Robot setting] button from the Main window to display the Robot setting dialog box. Select a
robot for which model setting is to be made from the list and click the [Change] button.
d The Robot details setting dialog box appears; select a robot model from the pull down menu.
e A confirmation message is displayed. If the model is correct, click [Yes] to load the robot.
Fig. 6-2 Robot Model Setting
Tips
When using 2 robots, change the layout of one robot at a time.
If you are using 2 robots, make sure to load peripheral devices first and then position the robots
one at a time, as robots, both mechanisms 1 and 2, are positioned with respect to the CAD origins
when they are loaded. This way, the tasks can be carried out easily. See the next chapter for how
to change layouts.
26
6.2.
Attaching Hands
Attach hands to a robot. Note that parts must adhere to several rules in order for them to be used as hands.
See “Chapter 4 Creation of Parts" for the details.
Load hands to be attached in advance by dragging and dropping them onto SolidWorks window, or using
other method.
There are the following two ways to attach hands.
Method 1: Select a hand in SolidWorks and click the [Connect] button.
y Fixed hands and ATCs are automatically identified
and attached.
y If a hand has already been attached, it is removed.
cLoad a hand part.
dClick the hand.
eClick [Connect].
The hand moves, and it is
connected with the robot.
Fig. 6-3 Attaching Hand 1
Method 2: Select the [Hand] text box and click a hand part.
y Only the specified type of hand is attached.
y If a hand has already been attached, it is removed.
cClick the [Hand] text
box.
dClick the hand.
The hand moves, and it is
connected with the robot.
Fig. 6-4 Attaching Hand 2
27
6.3.
Removing Hands
The hand currently attached to robots is removed by clicking the [Disconnect] button.
y If an ATC master and ATC tool are mounted, they
are removed in the order of the ATC tool first and
then the ATC master with each click of the
[Disconnect] button.
cClick [Disconnect].
dThe ATC tool is removed.
eThe ATC master is
removed.
Fig. 6-5 Removing Hand
6.4.
Setting Hand Input/Output Signals
When simulating a robot program, MELFA-Works also allows simulating movement in the vicinity of the
hands, such as ATC attachment/removal and workpiece grip/release. These movements can be controlled
by input/output signals of the virtual controller and signals and movements around hands can be associated
in the Hand I/O dialog box.
Click the [Signal setting] button in the Robot details setting dialog box to display the Hand I/O dialog box.
Fig. 6-6 Hand I/O Dialog Box
Table 6-1 Details of Operation in the Dialog Box
No
Specify a signal number. Specification of -1 means not set.
[ATC]: Connected signal of the ATC master and ATC tool.
[Pick*]: Connected signal of a gripping hand and workpieces.
* Attaches/grips at a rising edge and removes/releases at a falling edge.
28
IN/OUT
Select either input signal or output signal for a robot.
IN:
Simulates changes of an input to a robot, i.e., M_IN(n). Corresponds to
cases where an external device (PLC, etc.) controls the robot hand.
OUT: Simulates changes of an output from a robot, i.e., M_OUT(n). Corresponds
to cases where the robot hand is controlled by a robot program.
Simulate turning a signal ON/OFF.
: Indicates that the hand is attached. Click the button in this display
status to simulate removal of the hand.
: Indicates that the hand is removed. Click the button in this display
status to simulate attachment of the hand.
In hand attachment operations, ATC tools in the vicinity of the ATC
master and workpieces in the vicinity of a gripping hand (within 100
mm) are attached/gripped. If the action succeeds, the status changes to
the
/
Posture
maintenance
6.5.
status.
* If a signal number has not been specified, neither attachment nor removal is
simulated.
Specify whether or not to maintain the posture at gripping.
Maintain
: Maintains the gripping posture and move.
Do not maintain : Grips such that the hand’s PickN and the Orig1 coordinate system
of a workpiece are matched at gripping. It is possible to take a
fixed gripping posture regardless of the gripping position.
Setting Travel Base
MELFA-Works allows placing a robot on a travel axis created in SolidWorks and moving it with a robot
program or robot operation. The travel location can be specified either by “relative position” with the
coordinate system on a part as the origin or “absolute position” with coordinates on the CAD coordinate
system as the origin.
Load a travel base part into an assembly and use the following dialog box to make travel base settings.
Travel axis origin position
Direction of movement
Direction of layout
Reference axis
Fig. 6-7 Travel Base Setting Section
29
Table 6-2 Details of Operation in the Dialog Box
Origin pos
Direction of movement
Direction of layout
Reference axis
Click and select the field and click the coordinate system specified
for the travel base. Enter coordinate values directly to set an
absolute coordinate system.
Specify in which direction of the coordinate system set for the
travel axis origin the axis moves if the reference axis moves in the
positive direction.
Make selection from +X, -X, +Y and -Y (default value: +Y).
Specify the orientation of the robot with respect to the coordinate
system set for the travel axis origin.
Make selection from 0, 90, 180 and -90 degrees (default value: 0
degrees).
Specify which axis of the robot is set as the travel axis.
Make selection from Nothing, J7 and J8 axes (default value:
Nothing).
30
7. Layout
With MELFA-Works, it is possible to use the Layout dialog box to specify positions of robots and peripheral
devices such as travel bases relative to the CAD software origin as well as robot origin, part origin and
arbitrary coordinate systems.
Specify layout by specifying positions relative to the base position.
The base position can be selected from the following 4 types.
y Origin
y Origin of other robots
y Origin of other parts
y Coordinate system
[Target] text box
Operation area
[Base Pos] text box
Fig. 7-1 Changing Robot Layout
Layout changes are achieved by the following procedure.
c Click the [Layout] button from the Main window to display the Layout dialog box.
d Select the [Target] text box and click a robot, peripheral device, etc. to display the name of the robot or
part you selected in the [Target] text box.
e Select the base position. If you select a position other than an origin, click the [Base Pos] text box and
f
click the robot, part or coordinate system. In the same way as for the [Target] text box, the selected
name is set in the [Base Pos] text box.
Operate in the Operation area to determine the position.
It is also possible to load layout data by clicking the [Load Layout] button.
CAUTION
A robot placed on a travel base must move the travel base.
A robot placed on a travel base cannot be moved because its position relationship with the travel
base is fixed. In this case, specify the travel base as the target of movement to move the robot
along with the base.
Tips
After loading peripheral devices, let’s place a robot.
It is possible to work efficiently by create the coordinate system on the peripheral devices
beforehand, and place the robot in the coordinate system.
31
7.1.
Positioning Robots in Peripheral Device Coordinate Systems
Follow the procedure below to position a robot in a coordinate system of a peripheral device.
c Display the appropriate coordinate system via the menus of SolidWorks.
Fig. 7-2 Coordinate System Display
d Click the [Target] text box, and click a robot in SolidWorks.
e Select [Coordinate System] and click and select the input
area. In this status, click the coordinate system in
SolidWorks to place the robot in the specified coordinate
system.
f If it is desired to fine-tune the robot position, select the
pitch for each axis and click the [-]/[+] keys of the
coordinate input areas or enter the values directly.
Fig. 7-3 Layout on Peripheral Device Coordinate System
g Lastly, hide the coordinate system again via the menus of SolidWorks.
Tips
To place a robot on a peripheral device, create a coordinate system for the
peripheral device in advance.
To place a robot on a peripheral device,
create a coordinate system at the layout
position.
32
8. Robot Operations
Use the Robot operation dialog box to operate the posture of the currently loaded robot. The robot posture
can be specified by XYZ coordinates or joint coordinates.
Some aspects such as the movement range and speed are not restricted; thus, it is possible to specify a
posture that is impossible to achieve for an actual robot.
(Unlike in the JOG Panel, which controls the virtual robot controller (refer to “Chapter 16 JOG Panel”).)
The set conditions can be checked on the window.
Fig. 8-1 Robot Operation
c Click the [Robot operation] button from the Main window to display the Robot operation dialog box.
d Use the [Switch P/J] button to switch operation methods between Position (XYZ) and Joint.
e Change the robot posture using one of the following methods.
(1) Move in increments of one pitch by clicking the [-]/[+] buttons. The unit of movement is selected
from the [Pitch] box.
(2) Use the sliders to change the posture.
* the XYZ/joint movement range is set for each robot mode.
(3) Enter coordinate values directly to move the robot. If the values result in an impossible posture,
they are ignored.
In the case of Position (XYZ) coordinates, specify FL1/FL2 as necessary. The details are
(4)(4)
explained in “8.1 Flag Setting Dialog Box”.
Table 8-1 Details of Operations in the Dialog Box
[X] ~ [C], [L1] ~ [L2]
[J1] ~[J8]
Sliders
[+] · [-]
Change (FL1)
Change (FL2)
Switch P/J
Pitch
Close
Display the current values of the XYZ coordinates.
It is also possible to enter coordinate values directly.
Display the current values of the joint coordinates.
It is also possible to enter coordinate values directly.
Increase/decrease each coordinate value rapidly.
Increase/decrease each coordinate value in the unit selected by [Pitch].
Click the [Change] button to display the structure flag 1 (F1) dialog box,
in which the value of the structure flag can be entered directly as a
numerical value.
Click the [Change] button to display the structure flag 2 (F2) dialog box,
in which the value of the multi-rotation flag can be entered directly as a
numerical value.
Switches the coordinate systems (XYZ/joint).
Select the unit of values increased/decreased by the [+] and [-] buttons.
Closes the Robot operation dialog box.
33
8.1.
Flag Setting Dialog Box
In case of the Position (XYZ) coordinate, it is possible to specify the structure flag (FL1) and multi-rotation
flag (FL2).
In the structure flag 1 dialog box, specify Right/Left, Above/Below and Non Flip/Flip.
In the structure flag 2 (multi-rotation flag) dialog box, specify the multi-rotation information of each axis.
Structure Flag 1 Dialog Box
Structure Flag 2 (Multi-rotation
Flag) Dialog Box
Fig. 8-2 Flag Setting Dialog Box
8.2.
Movement to a Corner
If a processing hand (for which the coordinate system "Orig2" is set) is attached to a robot, it can be moved
to a corner of a part. When the Robot operation dialog box is displayed, simply click a corner of a part to
move the robot to the position that indicates the corner.
This function is convenient to use during calibration and similar.
Fig. 8-3 Moving to a Corner
34
9. Calibration
Calibration is the task of matching the ideal coordinates in the CAD space with the corresponding
coordinates in the actual space. Specifically, the robot position is calibrated by using the difference between
a point specified in the CAD space and a point obtained by teaching in the actual space. For this reason, the
tasks involved in calibration must be performed on both the personal computer side and the robot side.
The tasks involved in calibration on the personal computer side are categorized into tasks related to
MELFA-Works main body and tasks related to the calibration tool as follows.
MELFA-Works main body → Data creation for calibration
Calibration tool
→ Calibration using the data
This chapter explains how to create data for calibration to be used by the calibration tool. The calibration tool
is explained in “Chapter 17 How to Use the Calibration Tool”.
Fig. 9-1 Calibration Dialog Box
Table 9-1 Details of Operations in the Dialog Box
Item
Calibration name
Up/Down
Add
Del
Get Pos
Move to
Close
Point list (PO, PX, PY)
Explanation
Displays a list of calibrations that have been created.
The items displayed are calibration No. and calibration name.
Double-click an item in the list to display the Calibration name input dialog
box, and change the corresponding calibration name.
Click these buttons to change the position of the calibration data selected
in the Calibration name list up/down.
Adds new calibration data.
Deletes calibration data selected in the Calibration name list.
Acquires the coordinates of the point indicated by the robot hand and
stores them as the specified point (PO/PX/PY) of the selected calibration
data.
Moves the robot to the posture where the robot hand indicates the
specified point (PO/PX/PY) of the selected calibration data.
Closes the Calibration dialog box.
Displays a list of calibration data points selected in the Calibration name
list.
The [Get Pos] and [Move to] buttons operate on the points selected in this
list. It stores coordinate values of 3 points used in calibration. Note that the
positions of the 3 points “must not be on a straight line.” Also, as these
points are taught to a robot, they must be set within the robot movement
range.
35
9.1.
Calibration Data Creation Procedure
Calibration data refers to a data set consisting of 3 points that satisfy the following conditions.
y
They have clear position relationships with workpieces.
y
They are not on a straight line.
y
They can be taught.
MELFA-Works allows specifying multiple calibration data sets. For example, if several workpieces exist in
the vicinity of a robot, calibration can be performed for each workpiece to achieve highly accurate operation.
c
d
e
f
g
Click the [Calibration] button in the Main window and open the Calibration dialog box.
Click the [Add] button to add calibration data.
Click the calibration from the Calibration name list.
Move the robot to the calibration point (refer to “8.2 Movement to a Corner”).
Select the coordinate data (PO, PX, PY) and click the [Get Pos] button to acquire the position.
Prepare 3 points used for calibration data creation in advance to improve the positioning accuracy by the
robot. During the calibration, these 3 points are taught; be aware that characteristic points such as corners
can be taught at higher accuracy.
If 3 points cannot be prepared on a workpiece model, 3 points on a peripheral device such as a workpiece
fixing base can also be used, as far as the position relations are clear.
Fig. 9-2 Specifying 3 Points on Workpiece
Fig. 9-3 Specifying 3 Points on Workpiece Fixing Base
CAUTION
About calibration
In order to move the actual robot with high accuracy, the accuracy of calibration is important. “3 points
that are not on a straight line” are required for teaching during calibration. These 3 points should
preferably be located at some distance from each other, rather than very densely together, in order to
improve the accuracy.
36
9.2.
To Perform Highly Accurate Calibration
In order to perform highly accurate calibration, specify the layout of the robot and workpiece position
relationship as accurately as possible. It is possible to correct deviance through calibration, but the smaller
the difference between the status before and after calibration, the higher the accuracy. It is essential to
create conditions that match the actual environment as closely as possible in the CAD software.
To specify the layout of the robot and workpiece position relationship, it is convenient to use the layout
function of MELFA-Works (refer to “Chapter 7 Layout”).
Use the layout function of
MELFA-Works to create conditions that
match the actual environment as
closely as possible.
Fig. 9-4 Example of CAD Link Execution
37
10. Creation of Work Flow
A work flow refers to a series of operations such as moving to point A, carrying out processing along path B
and finally moving to point C. In MELFA-Works, such work flows are created and eventually converted to
robot programs. Such robot programs contain position data as well as information for tracing along a path;
they can be used as templates for programs used in actual systems.
It is possible to add teaching data and path data to a work flow. This chapter explains how to create teaching
data, path data and work flows.
The different terms have the following meaning.
Teaching data
Teaching data is loaded robot posture information. The posture information includes the
position/direction at the robot’s mechanical interface section and structure flags, and is the
same as the teaching data for the actual robot. The posture/path registration area is used
(see “10.1 Creating Teaching Points”).
Path data
Path data is a general term for edges on workpieces and other areas processed by a robot
and various conditions such as speed and acceleration/deceleration required for
processing. Processed areas are extracted from path data and converted to collective dot
sequence data with direction.
The posture/path registration area is used (see “10.2 Path Creation”).
Work flow
A work flow is a sequence of work tasks created by combining teaching data and path
data. A work flow can be converted to a robot program or into dot sequence data. In doing
so, the work and work flow registration areas are used (see “10.4 Work Flow Creation”).
Posture/path registration area
Work registration area
Work flow registration area
Fig. 10-1 Work-flow Dialog Box
38
10.1. Creating Teaching Points
Through the use of teaching points, it is possible to store robot postures and subsequently reproduce the
postures. Postures stored here can be reflected in the final robot program output by specifying MOV or MVS
as the movement method and registering them in work flows.
Teaching point list
Work list
Work flow
Fig. 10-2 Work-flow Dialog Box (Teaching Point Creation)
Operation procedure
c Change the robot posture in the Robot operation dialog box.
d Click the [Get location] button in the Teaching tab to add the current posture to the list.
e Select unnecessary postures from the list and click the [Delete location] button.
f To check a posture, select it from the list and click the [Move to] button.
g Select a method of movement (MOV/MVS) and click the [Add to Flow] button to add the posture to the
work flow. The work flow must be created in advance (see “10.4 Work Flow Creation”).
Table 10-1 Details of Operations in the Dialog Box
Item
Teaching point list
UP/DOWN
Get location
Delete location
Move to
MOV/MVS
Add to Flow
Explanation
Names and coordinates of created teaching points are displayed in a list.
Double-click an item in the list to display the position data edit dialog box, in
which it is possible to edit coordinate values.
Move the position of the teaching point selected in the teaching point list
up/down.
Acquires the robot posture that is the target of operation.
Deletes the teaching point selected in the teaching point list.
Moves the robot to the teaching point selected in the teaching point list.
Select MOV or MVS as the method to move to the teaching point selected in
the teaching point list.
It is possible to add the teaching point selected in the teaching point list to the
flow.
39
10.2. Path Creation
A path refers to a series of movements of a robot, for instance to trace a specific area on a workpiece (edge
area) with a processing hand. Paths created here can be reflected in the final robot program output by
registering them in work flows.
Path list
Work list
Fig. 10-3 Work-flow Dialog Box (Path Creation)
Operation procedure
c Click the [Add] button in the Path tab to add a path to the list.
d Double-click the created path or select it and then click the [Edit] button to open the Processing setting
dialog box and edit the information in detail. This is explained in more detail in the next chapter.
e Select unnecessary paths from the list and click the [Del] button.
f Select a path and click the [Trial] button to check the robot movement.
g Select a path and calibration and then click the [Add to Flow] button to add them to the work flow. The
work flow must be created in advance (see “10.4 Work Flow Creation”).
Table 10-2 Details of Operations in the Dialog Box
Item
Path list
UP/DOWN
Add
Del
Edit
Unite
Explanation
Displays a list of created paths.
Double-click an item in the list to display the Processing setting dialog box, in
which it is possible to make detailed settings for the path.
Changes the order of the path list.
Click these buttons to move the position of the path selected in the path list
up/down.
Adds a new path to the path list.
Click this button to add a new path to the path list for which no settings have
been made.
Click the [Edit] button or double-click the item in the path list to make detailed
settings for the path.
Deletes a path.
Click this button to delete the path selected in the path list.
Edits detailed settings of a path.
Click this button to edit detailed settings of the path selected in the path list.
Unites multiple paths into a single path.
Click this button to combine multiple paths selected in the path list to create a
new path. Only information of edges and faces is combined for the created
path; the path information of the top path in the list is used for other
information.
40
Item
Copy
Trial
Calibration selection
Add to Flow
Explanation
Copies a path.
Click this button to copy the path selected in the path list.
Tries out a created path.
Click this button to check whether or not there are any impossible postures
along each of the created paths. At this point, the Robot operation dialog box
should be displayed, so that you may observe the angle of each axis and
other information during movement.
Click this button to select the calibration data to be used when correcting the
path selected in the path list.
Adds a path to a flow.
Click this button to add the path selected in the path list to the flow.
10.3. Processing Setting Dialog Box
Information required for processing is set using this dialog box. The table below explains the information
required for processing in details.
Work flow list
Fig. 10-4 Processing Setting Dialog Box
Operation procedure
c Double-click the created path or select it and then click the [Edit] button in the Path tab to open the
Processing setting dialog box and edit the detailed information. The details are explained in the next
chapter.
d Select unnecessary paths from the list and click the [Del] button.
e Select a path and click the [Trial] button to check robot movement.
f Select a path and calibration and then click the [Add to Flow] button to add them to the work flow.
41
Table 10-3 Details of Operations in the Dialog Box
Item
Processing name
Explanation
Displays the name of the path selected in the Work-flow dialog box.
When adding a new processing, the default name is set; the path name can
be modified by changing the information in this text box.
Edge list
Displays segments constituting the path selected in the Path creation dialog
box as a list.
When the registered edge is double-clicked, it reverses.
Change the order of the segment list.
Click these buttons to move the position of the segment selected in the
segment list up/down.
UP
DOWN
Add
Adds a new segment to the segment list.
Select a face on the window and click the [Add] button to add a new path.
When a path is correctly added, a dot sequence is drawn as shown in the
figure below. Since edges (segments) and faces (surfaces) of the workpiece
clicked last are selected, click a face once and then click an edge related to
the face and the [Add] button repeatedly, to add the edges quickly and
efficiently.
* The object of the processing is only workpiece(”***_Work.sldprt”).
→
Click a face
→
Click an edge
Click [Add]
Z
X
Y
Repeat until done
Coordinate system
Del
Deletes a segment.
Click this button to delete the segment selected in the segment list.
Maximum speed(mm/s)
Specify the maximum speed of the robot when it processes a segment.
Specify the speed at which to trace an edge (mm/s).
Acceleration/deceleration time
Specify the acceleration/deceleration time of the robot when it processes a
segment.
42
Item
Approach/Overrun distance
Explanation
Specify the approach and overrun distances of the robot when it processes a
segment.
At the start and end of robot movement, the speed fluctuates due to
acceleration/deceleration. In order to be able to process the specified edge at a
constant speed, specify approach and overrun distances.
Approach: It is possible to set an approach position at a point along an
extension of the specified edge, extending from the start position of
the edge in the opposite direction of the traveling direction. Specify
the distance of the approach section (mm).
Overrun: It is possible to set an overrun position at a point along an extension
of the specified edge, extending from the end position of the edge in
the traveling direction. Specify the distance of the overrun section
(mm).
Start position
Overrun distance
Overrun position
Approach position
Approach distance
Fix posture
Reverse course
Reverse Z
Specify whether or not the posture should be fixed when the robot processes
a segment.
If the check box is enabled, the posture is fixed. If it is disabled, the posture is
not fixed.
Specify whether or not to reverse segment processing direction.
If the check box is enabled, the course is reversed. If it is disabled, the course
is not reversed.
Specify whether or not to reverse in the Z-axis direction of a dot sequence
when the robot processes a segment. If the check box is enabled, the
coordinate system is reversed in the Z-axis direction. If it is disabled, the
coordinate system is not reversed.
When a hand processing area traces an edge, it moves by matching the Z
direction of Orig2 to the normal line direction and the X direction of Orig2 to
the traveling direction. Thus, it is possible to determine absolutely whether or
not to reverse in the Z-axis direction by the processing point ("Orig2") and the
normal line direction on the face when creating a hand.
→
(Example 1)
Tool Offset
End position
→
(Example 2)
Offsets a line in the tool coordinate system.
Enter a value directly into the text box or enter the amount of offset in the
offset input dialog box displayed by clicking the button next to the text box.
Tool Offset specifies the amount of deviation when the actual hand processing
point deviates from the processing point (coordinate system ”Orig2”) on the
hand model.
The figure below shows an example where the Y component is corrected. It is
possible to use Course Offset at the same time.
CAD output result
Processing path
offset calculation
X
Y
43
after
Item
Course Offset
Explanation
Offsets the course of a line.
Enter a value directly into the text box or enter the amount of offset in the
offset input dialog box displayed by clicking the button next to the text box.
Specify the amount of offset in the coordinate system where the forward
direction of the segment course is set as the +X-axis direction and the
direction away from a face as the +Z-axis direction.
For example, when tracing a curve, the Y component indicates the
inward/outward rotation, the Z component indicates the amount of approach
and the A component indicates the bank angle. The figure below shows an
example where the Y component is corrected.
X
X
CAD output result
Y
Y
Processing path
offset calculation
after
X
Y
The examples in the figures below show the standard conditions, conditions
where the Z component is corrected, and conditions where the A component
are corrected, respectively.
X
Y
Z
Output signal
Head bit
Mask bit
Output value
Beginning delay
End delay
Standard condition
Z component correction A component correction
Sets the signal condition.
If the check box is disabled:
The signal status before processing is maintained as is.
If the check box is enabled:
Turns the signal on according to the set conditions and off at completion.
When outputting signals while the robot is processing a segment, it is possible
to specify the head bit of the output signal (decimal expression).
Specify the bits to be controlled for 16 bits from the head bit (hexadecimal
expression).
Specify a value to be output (decimal expression). The actual output consists
of the bits, starting from the head bit, for which the corresponding mask bits
are turned on.
Allows specifying to turn a signal on after the specified time (in seconds) has
elapsed since the beginning of movement. A negative value can be set here
as well. In this case, the robot starts moving after the specified number of
seconds has elapsed after the signal is output.
Allows specifying to turn a signal on after the specified time (seconds) has
elapsed since the end of movement. A negative value can be set here as well.
In this case, the signal is turned off the specified number of seconds before
the robot reaches the end point.
Each item set in this dialog box becomes valid for all edges displayed in the segment list.
44
10.4. Work Flow Creation
In the Work-flow creation dialog box, it is possible to create a work flow by combining already created
teaching points and paths. A created work flow can be converted into a robot program used as a template
for actual operational programs.
Work list
Work flow list
Use
this area
Fig. 10-5 Work-flow Dialog Box (Work Flow Creation)
Operation procedure
c Click the [Add] button to create a new work flow.
d Select the Teaching or Path tab to register teaching points and paths registered in each tab to the work
flow.
e Click the [Conv] button to create the following files from the work flow.
Table 10-4 List of Output Files
MXT***.mxt
MXT***.cal
CLB.prg
CLB.cal
FLOW.prg
Path data. A robot program loads this file to trace the specified processing
area. The file name is automatically generated based on the number of dot
sequences output and similar.
A copy of MXT***.mxt (original).
A calibration program.
This program is transferred to a controller by the calibration tool. By
performing teaching with the transferred program, correction values are
calculated based on the teaching results.
A copy of CLB.prg (original).
A work flow converted into a robot program. A movement program is
automatically generated from the relevant path data.
This program can be used as is, but the final program is typically created by
adding instructions and similar to this program according to the
environment employed by the customer.
Table 10-5 Details of Operations in the Dialog Box
Item
Work flow list
Explanation
Displays a list of created work flows.
The items displayed are work flow No. and work flow name.
Double-click an item in the list to display the name change dialog box, in
which you can change work flow names.
45
Item
UP/DOWN
Add
Del
Conv
Teaching point/path list
UP/DOWN
Del
Close
Explanation
Change the order of the work flow list.
Click these buttons to move the position of the work flow selected in the work
flow list up/down.
Adds a work flow.
Click this button to create a new work flow.
Deletes a work flow.
Click this button to delete the work flow selected in the work flow list.
Converts a work flow into a robot program.
Click this button to convert the work flow selected in the work flow list and
create a robot program and/or a dot sequence data set (information based
on which an actual robot can move).
Displays teaching points and paths constituting a work flow as a list.
The items displayed are item number, instruction name of item, teaching
point/path name and calibration name of teaching point/path.
Change the order of the teaching point/path list.
Click these buttons to move the position of the teaching point/path selected in
the teaching point/path list up/down.
Deletes a teaching point/path.
Click this button to delete the teaching point/path selected in the teaching
point/path list.
Closes the Work-flow dialog box.
Click this button to finish creating work flows and close the Work-flow dialog
box.
Tips
What is dot sequence data?
Dot sequence data refers to a collection of points constituting an edge to be traced with the
CAD software in the CAD link function. It is also called MXT-data, because the file extension is
MXT.
46
11. Virtual Controller
MELFA-Works allows starting a virtual robot controller supporting a positioned robot. Since this virtual
controller simulates the actual robot controller almost exactly, it can be used just like an actual controller in
almost all operations, such as program creation, parameter setting and monitoring, using RT ToolBox.
Also, by connecting a virtual controller with the currently displayed robot, the movement of a robot program
can be reproduced as is.
General-purpose functions
Advanced functions
Fig. 11-1 Simulator Dialog Box
Click the [Virtual controller] button from the Main window to display the Simulator dialog box. In this dialog
box, buttons and other controls that are not used frequently are hidden as advanced functions. Click the
button to expand the dialog box and display them as necessary.
Table 11-1 Function Classification of the Simulator Dialog Box
Item
General-purpose
functions
Advanced
functions
Explanation
Functions corresponding to those performed on the operating panel of a robot
controller, such as program selection, start and end, are arranged in this section.
The following functions, which are not part of the general-purpose functions, are
arranged here.
y Control of virtual controller time axis
y Stopwatch that measures cycle times
y Recording function
y I/O ignore mode toggle switch (B Mode)
47
Table 11-2 General-purpose Functions
Item
Program
Line No.
Ovrd
START
RESET
CONNECT
STOP
END
Error Num
Description
Displays the currently selected robot program name. After selecting
[Program] with the option radio button, it is possible to select other programs
using the [Up] and [Down] buttons.
Displays the line being executed in the currently executed robot program.
Displays the current OVRD value. After selecting [Ovrd] with the option radio
button, the value can be changed in increments of 10% using the [Up] and
[Down] buttons.
Executes the currently selected robot program.
Resets an error or program.
y When an error has occurred: The error is reset.
y When a robot program is paused: The execution is returned to the first line
of the program.
Connects/disconnects the communication between the virtual controller and
virtual robot.
y When connected: The posture information is acquired from the virtual
controller and the robot posture display is updated.
y When disconnected: Updating of the robot posture is stopped to allow
offline operation.
Pauses the currently executed program.
Press the [START] button to resume the program from the paused line.
Ends the currently executed program in 1 cycle (the next time the END
instruction is met).
Press the [START] button to resume the program from the first line of the
program.
Displays an error number.
If an error occurs, the error number is displayed.
Table 11-3 Advanced Functions
Item
Time Stop
Step
Repeat
StopWatch(sec)
Start/Stop
Description
Stops using the virtual controller.
Unlike normal stopping, the controller is stopped at the current position as if
the time is frozen, even if the robot is operating at a high speed. Click the
button again to cancel the time stop and return to the normal operation.
If the robot controller is stopped by clicking the [Time Stop] button, clicking
this button allows the time to pass for a single time step (minimum
controllable time unit). Also, an interference check is executed automatically
after one step.
Executes [Step] repeatedly.
Measures the time within the virtual controller as well as the actual time. It is
possible to estimate an approximate cycle time.
This function measures the time from clicking the [Start] button until it is
clicked again. The measurement result is displayed in the [R/C] and [Real]
boxes.
Movie
Start/Stop
B Mode
* The time within the virtual robot controller can be measured only during
executing a robot program.
Saves robot movement and similar as moving images.
Select whether or not to operate a robot program in B mode.
If the check box is enabled, a robot program is operated in B mode.
B mode is a function that runs a robot program while ignoring signal inputs
from external devices.
Table 11-4 Functions Assigned to Tool Tips
Item
Cycle time measurement
JOG panel
Description
Displays the cycle time measurement section.
The cycle time measurement section is displayed at the bottom of the
Simulator dialog box.
Displays the JOG Panel window.
The JOG Panel window for operating a robot is displayed.
48
Item
Step Execute/Direct Execute
Task Slot
I/O Simulator
Description
Displays the Step Execute/Direct Execute dialog box, in which it is possible to
perform step execution/direction execution of a robot program.
Displays the Task Slot dialog box, in which it is possible to check/correct task
slots.
Displays the I/O Simulator dialog box, in which it is possible to perform I/O
simulation.
11.1. How to Execute Programs
Execute a program using the following procedure.
c Click the [Virtual controller] button in the Main window to display the Simulation dialog box.
d Click the [POWER] button to launch the virtual controller.
e Use RT ToolBox as necessary to change parameters of the virtual controller. If any parameters are
changed, click the [POWER] button again to restart the virtual controller.
f Use RT ToolBox to transfer the robot program to the virtual controller.
g Click the [CONNECT] button to connect the virtual controller and the robot.
h Click the [START] button to execute the program.
11.2. Checking Robot Interference
Carry out an interference check using the following procedure.
c Display the Check interference dialog box and set the targets of the interference check (see “Chapter
d
e
f
g
h
12 Interference Check).
Execute a robot program and monitor the movement.
Click the [TimeStop] button before a critical operation to perform the interference check.
Click either the [Step] or [Repeat] button to start analysis (interference check).
When [Stop at interference] is enabled in the Check interference dialog box, the continuous analysis
is stopped immediately if an interference is detected during continuous analysis.
To end the analysis, click the [TimeStart] button.
[TimeStop] button : Shift to analysis mode
[Step] button
: Single step analysis
[Repeat] button
: Executes continuous analysis.
[TimeStart] button : Cancels analysis mode.
[Step] button
: Cancels continuous analysis.
[TimeStart] button : Cancels analysis mode.
Fig. 11-2 Switching among Analysis Modes
Tips
How to check efficiently
Since the calculation burden involved in an interference check is very heavy, the robot operation
slows down. Checking only operations that are suspected of interference improves efficiency.
49
11.3. Saving Simulation Moving Images
It is possible to save the SolidWorks display area shown in the figure below as a moving image file.
* If another window is displayed on top of this area, the window is also saved as a part of the moving
image.
* The processing may slow down depending on the window size. In such cases, you can scale down the
window before using the function.
c When the operation you want to save starts, click the Movie [Start] button.
At this point, the button display changes to [Stop].
d When the operation you want to save is completed, click the Movie [Stop] button.
e A dialog box for specifying the file to be saved appears; select a file name and save the file.
Area saved in a
moving image file
Fig. 11-3 Saved Area
* The processing may slow down depending on the window size. In such cases, you can scale down the
window before using the function.
Fig. 11-4 Saving in Moving Image Files
50
11.4. Cycle Time Measurement During Program Execution
It is possible to measure cycle time just like using a stopwatch during execution of a program.
Fig. 11-5 Cycle Time Measurement
Start/Stop:
R/C:
Real:
: Start or end cycle time measurement of a specified robot.
Click the [Start] button to start cycle time measurement.
Click the [Stop] button to finish measurement and display the measurement result.
: Displays the robot operation time.
: Displays the processing time on the personal computer.
11.5. B Mode Setting
A robot program can be operated by ignoring signal inputs from external devices (it is assumed that all
signals are turned on).
Tips
What is B Mode?
B Mode is a function that runs a robot program while ignoring signal inputs from external
devices (it is assumed that all devices are turned on).
51
12. Interference Check
MELFA-Works is able to check for interference among parts that are registered into 2 groups in a
round-robin system. In addition to simply checking the current interference status, it is also able to link with
the continuous analysis mode of the virtual controller, such that a program can be stopped if interference is
detected (refer to ”11.2 Checking Robot Interference” for details).
Although the level varies depending on how powerful the personal computer executing the simulation is, the
larger the number of registered parts, the longer the check time. Register the minimum required parts to use
this function.
Fig. 12-1 Interference Check Dialog Box
Table 12-1 Details of Operations in the Dialog Box
Item
Target parts list
Check Now
History
Stop at interference
Clear
Save
Explanation
While one of these lists is selected, click a part in SolidWorks to add the part
name to the list. If the part has already been added to a list, it is deleted from
the list. In a round-robin system, interference is only checked between parts
included in the upper and lower lists; interference is not checked within the
same list.
If interference is detected, the lists flash in red.
Checks the current interference status.
It is possible to check the interference status at the time of clicking the [Check
Now] button.
Displays the Interference history dialog box.
The Interference history dialog box shows a history of which part interfered
with which part, along with the times when the interference occurred.
If interference is detected, it is possible to stop the program immediately so
that the user may check the interference status of the simulation.
If this check box is enabled, the program is stopped when interference is
detected. If the box is disabled, the program is not stopped.
Clears the interference history.
Saves the interference history in a file.
52
13. Task Slots
Use the Task Slot dialog box to set multiple programs at the same time, for instance when using
multitasking.
Fig. 13-1 Task Slots
There are the following 2 correction buttons.
[Individual correction]: : Make correction for the selected task slot.
[Batch correction]:
: Make correction for task slots 1 to 8 and user base program settings at the
same time.
13.1. Individual Correction of Task Slots
Make correction for the selected task slot.
Select a task slot for which you want to make correction from the list of task slots and click the [Individual
correction] button (refer to Fig. 13-1 Task Slots).
Information of the selected slot is displayed.
Specify the [Program file], [Mode], [Conditions]
and [Priority], and then click the [Write] button.
Fig. 13-2 Individual Correction
53
13.2. Batch Correction of Task Slots
Make correction of task slots 1 to 8 and user base program settings at the same time.
Select the connected robot in the combo box in the upper part of the dialog box and click the [Batch
correction] button.
Only information of
the task slots for
which the check box
is enabled is set in
the controller.
Specify a robot
program file on the
personal computer.
Enter the program
name directly or click
the button to open
the Open dialog box.
Fig. 13-3 Batch Correction
c
d
e
f
Enable the check boxes of task slots to be corrected.
Specify a program to be set to each task slot.
Modify the [Mode], [Condition] and [Priority] as required.
Click the [OK] button. When setting is completed, the corresponding virtual robot controller is
restarted.
54
14. Input/Output Signal Simulation
The I/O simulator allows monitoring a robot’s input/output signals and simulating these signals.
Monitoring list
Fig. 14-1 I/O Simulator
55
14.1. Signal Monitoring
Monitoring list
Select a robot controller to be monitored in [Robot] of the I/O Simulator window to display the current signal
status in the monitoring list. Signals to be monitored are changed and added with the following procedure.
c Select a robot controller whose signals are to be monitored in [Robot].
d Double-click the monitoring list to display the Add/Change of the signal No. dialog box.
Fig. 14-2 Add/Change of the signal No.
e Set the [Start No.] and [Bit size] to be displayed (the first row of the list (900 to 915) is fixed for hand
signals; settings can be changed from the second row).
Click the [Change] button to change the information of the row currently selected in the monitoring list. If you
set the bit size to 32 or more, bits in excess of 16 are inserted below the selected row.
Click the [Add] button to add the signals at the bottom of the monitoring list.
To delete signals from the monitoring list, select a target row from the monitoring list and click the [Delete]
key.
It is also possible to select multiple rows and delete them at once.
56
14.2. Manual Signal Inputs
Input signals to a robot controller can be turned on/off.
Input signals are specified manually according to the following procedure.
Inputting 1 bit at a time
c Click a row in the controller’s input signal list (the signal numbers of the selected row and the next row
are displayed in the pseudo-input area).
d Enable/disable a check box to turn the corresponding controller input signal on/off (the status is
updated immediately after the click).
Inputting 16 bits at once
e Enter the hexadecimal value corresponding to the desired signal status in the input column and click
the
button.
Pseudo-input area
e Specify on/off status by entering
a hexadecimal value in the signal
status input column and click the
button.
cDisplay signal numbers
of the clicked row
Fig. 14-3 Pseudo-input of Input Signals
57
14.3. Simulation Definition Settings
It is possible to simulate input/output signals. Define signals according to the following procedure in order to
perform simulation.
c Click the [Edit] button in the [Simple Simulation] area of the I/O Simulator window to set the definition.
The definition of I/O simulation window appears.
Fig. 14-4 Definition of I/O Simulation
d Add a signal operation definition.
Click the [Add] button at the bottom of the window to display the Setting of the behavior of the signal
dialog box. Set the simulation conditions and signals output when the conditions are met in this dialog
box.
If you enable this box, the signal output conditions can
be set only once after simple simulation is started.
If you enable this box, a second
set of conditions can be set.
Specify a controller number in the
[Robot] input field.
Click the […] button to display the
Select the Robot. dialog box and
select the appropriate controller
number from the dialog box.
Fig. 14-5 Setting of the Behavior of the Signal
To change an already set definition, select it in the list and click the [Edit] button.
Alternatively, double-click it in the list to achieve the same effect.
58
e The signal definition is added to the list.
“(bin)” in the [Status] column indicates that the
signal status is expressed as a binary number.
Disable a check box to invalidate the
corresponding definition during I/O simulation.
Fig. 14-6 Defined Simulation Conditions
It is judged whether the set definitions are met or not in order from the top of the list.
However, the initial execution definition is only output once when simple simulation is started (before
normal simulation).
Button operations
Add
: Adds a simulation definition.
Select a row and click the [Add] button to use the setting values of the selected row as
the default values for the new definition.
Edit
: Changes a simulation definition.
Select a row and click the [Edit] button.
Delete
: Deletes the definition of the selected row.
It is also allowed to select multiple rows to delete them at once.
: Move the definition of the selected row up or down.
It is also allowed to select multiple rows to move them at once.
Load
: Loads simulation definitions from MELFA-Works project files.
Please be careful when performing this operation; current definitions displayed in the list
will be cleared.
Save
: Saves the current simulation definitions in project files of MELFA-Works.
CAUTION
Be sure to stop the simulation before changing definitions.
During simulation, it is possible to check definitions, but it is not possible to add, change, delete or
load definitions. Stop the simulation before performing these operations.
59
14.4. Executing Signal Simulation
To perform signal simulation, select the [Simple Simulation] radio button and click the [Start] button.
Simulation is executed using the set definitions.
Fig. 14-7 Buttons Related to I/O Simulation
Simulation status is displayed.
Display while simulation execution:
Display when simulation is stopped:
If the [Start] button is clicked when no definition is set, a dialog box for selecting a definition setting method
appears. Select a setting method and click [OK]. Definitions are loaded using the selected method and
simulation is started.
Fig. 14-8 New Definition Dialog Box
Tips
Starting simple simulation
Simple simulation is started when monitoring with MELFA-Works is started while I/O simulator
is displayed as well.
60
14.5. Settings of Connection with GX Simulator
It is possible to connect with GX Simulator to simulate signal exchanges between the virtual controller in
MELFA-Works and a PLC (represented by GX Simulator).
CAUTION
GX Simulator versions
Currently, only GX Simulator Version 7 is supported.
To connect with GX Simulator, define GX Simulator devices and assign the signal numbers of the robot
controller according to the following procedure.
c Click the [Edit] button after enabling the [Connect GX Simulator] radio button to set definitions. The
Communication Setting with GX Simulator window appears.
Fig. 14-9 Communication Setting with GX Simulator Window
d Select the [Series] and [Type] of a device set in GX Simulator.
e Add an I/O wiring definition with GX Simulator.
Click the [Edit] button at the bottom of the definition list on the side to be defined to display the setting
dialog box.
To change an already set definition, select it in either of the lists and click the [Edit] button.
Alternatively, double-click it in the list to achieve the same effect.
61
f Set the signal numbers of the robot controller and the PLC device.
Select the signal types and the PLC device as well.
Specify a controller number in the
[Robot] input field.
Click the […] button to display the
Select the Robot. dialog box and
select the appropriate controller
number from the dialog box.
Fig. 14-10 Signal Connection Settings
Defined signals are added to the list as shown in the figure below.
Fig. 14-11 Connection of Defined Signals
Button operations
Edit
Delete
Load
Save
: Edits a definition of connection with GX Simulator.
: Deletes the definition in the selected row.
It is also allowed to select multiple rows to delete them at once.
: Move the definition of the selected row up or down.
It is also allowed to select multiple rows to move them at once.
: Loads definitions of connection with GX Simulator from MELFA-Works project files.
Please be careful when performing this operation; current definitions displayed in the list
will be cleared.
: Save the current definitions of connection with GX Simulator in project files of
MELFA-Works.
62
14.6. Connecting with GX Simulator
To connect with GX Simulator, select the [Connect GX Simulator] radio button and click the [Connect] button.
Connection is established with the set definitions.
Fig. 14-12 Connect GX Simulator
Simulation status is displayed.
Display while connected with GX Simulator:
Display when simulation is stopped:
If the [Connect] button is clicked when no definition is set, a dialog box for selecting a definition setting
method appears. Select a setting method and click [OK]. Definitions are loaded using the selected method
and connection is established.
Fig. 14-13 New definition Dialog Box
CAUTION
Precautions when connecting to GX Simulator
When receiving GX Simulator pulse outputs with a robot controller or receiving pulse outputs from
the robot controller with GX Simulator, be sure to have a pulse output time of 300 ms or more as a
guideline.
This guideline varies depending on the performance and usage conditions of your personal
computer as well.
63
15. Step Execute/Direct Execute Dialog Box
15.1. Step Execution
It is possible to perform step execution of a specified program. Select the program to be started in the
Simulator dialog box and open the Step Execute/Direct Execute dialog box from the toolbar. Next, click the
[Reference (B)] button and select the program currently being executed from the robot program files on the
personal computer; the preparation is now completed.
Line cursor
Fig. 15-1 Step Execution
Click the [Reference (B)] button to select a program on the personal computer.
The contents of the program are displayed in the Step execution tab.
(1) Line cursor color
Green
: Indicates the currently executed line.
Yellow : Indicates lines set as break points
(2) Button operations
Step feed
Execution
Stop
Set Breakpoint
Release Breakpoint
: Executes a specified program step by step.
: Runs a robot program from the current line continuously until it
encounters a break point.
If no break point is set, the program is run until END.
: Stops the program being executed.
The program is stopped immediately, even during the execution of a
moving command.
: Sets points where a program is stopped.
When the [Execution] button is clicked, the robot program stops at a
line where a break point is set.
Up to 8 break points can be set at the same time.
: Cancels break points already set.
64
15.2. Direct Execution
It is possible to execute MELFA-BASIC commands directly using instructions and position data specified for
the program in question. Select a program to be started in the Simulator dialog box and open the Step
Execute/Direct Execute dialog box from the toolbar. Next, click the Direct execution tab.
Fig. 15-2 Direct Execution
(1) Operations in the dialog box
[Reference (B)] button : Select a program on the personal computer.
[Reload] button
: Click this button after editing a program file to reload the program with
the same file name as the currently loaded program.
[Command] field
: Enter instructions to be executed directly.
[Execute] button
: Execute an instruction entered in the [Command] input field.
Executed instructions are added to the history list.
[History] list
: Displays the history of directly executed instructions. Select an
instruction from the [History] list and click the [Execute] button to
execute the instruction.
[Clear] button
: Clears the history of directly executed instructions.
[Move To] button
: Executes robot move instructions using position data in the specified
program.
When you click the [Move To] button, the Moving command dialog box
appears.
65
[Target Pos.] list
: Double-click a position variable name among the program position data
displayed in the list or select it and click the [Select] button to display the
current value in the [Position] section. Click it to move the robot with the
specified movement.
[Joint (J)] interpolation : Click these buttons to move the robot to the posture displayed in the
button
[Position] section using the specified movement. It is also possible to
[Cartesian (L)]
change the value of each element in the [Position] section to move the
interpolation button
robot.
CAUTION
Be sure to specify a program when performing direct execution.
A robot program must be specified when performing direct execution.
15.3. Measurement of Cycle Time
It is possible to measure the cycle time of a particular line of a specified program. After selecting a program
to be started in the Simulator dialog box, open the Step Execute/Direct Execute dialog box from the toolbar.
Then click the Measurement of cycle time tab.
Line cursor
(line being executed)
Line cursor
(target line of measurement)
Fig. 15-3 Measurement of Cycle Time
Click the [Reference (B)] button and select a program on the personal computer.
The contents of the program are displayed in the Measurement of cycle time tab.
(1) Line cursor color
Green
: Indicates the line being executed
Yellow
: Indicates a point in the program where cycle time is measured (Mark ON).
(2) Button operations
Select all
: Specify all lines of a program to be measured (all lines are displayed in yellow).
66
Mark ON
: Specify that the cycle time of the currently selected instruction lines should be
measured.
Select the start and end positions of measurement and click the [Mark ON]
button; the lines in between are set as lines to be measured (displayed in
yellow).
Alternatively, click the start and end positions with the mouse while keeping the
[Shift] key on the keyboard pressed to select the lines and then click the [Mark
ON] button; the selected lines are marked.
Mark OFF
: Cancel measurement line settings. Specified marks (yellow) are turned off.
Measurement : Execute instructions with Mark ON and measure their cycle time. The
measurement results are displayed in the [Result] field.
16. JOG Panel
When a robot displayed in SolidWorks is connected to a virtual controller, it is possible to perform jog
operation using the JOG Panel window. Open the JOG Panel window from the toolbar of the Simulator
dialog box.
Operation setting
Mechanism
Override
JOG button
Fig. 16-1 JOG Panel
CAUTION
JOG operation cannot be performed during program execution.
In the same way as for actual robots, JOG operation cannot be performed during program
execution.
However, the servo can be turned off.
Operations in the window
[Robot] field
Override area
Operation setting field
Mechanism field
JOG buttons
[SVO ON] button
: Select the target robot controller.
: Change the speed override setting to the specified value.
button.
Specify the value using the
: Select JOG operation.
: Select the target mechanism from mechanisms connected to the
controller.
: Click the button to start JOG operation.
The display (XYZ/joint) changes depending on the operation
setting.
: Turns the servo on.
This button corresponds to the [SVO ON] button of the controller’s
operating panel.
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[SVO OFF] button
[RESET] button
[Hand alignment] button
: Turns the servo off.
This button corresponds to the [SVO OFF] button of the controller’s
operating panel.
: Reset errors and programs.
This button corresponds to the [RESET] button of the controller’s
operating panel.
: Aligns hands.
* The hand alignment function moves the A, B and C components
of the current position to the closest values in 90-degree unit.
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17. How to Use the Calibration Tool
Calibration refers to correcting deviation between the system configured in the CAD software and the actual
system. These tasks are performed using the calibration tool, which is not included in MELFA-Works. The
flow of tasks involved in calibration is as follows.
Specify an MXT file (*.MXT) output from MELFA-Works and load the corresponding dot sequence data.
↓
Transfer a calibration program for positional calibration to the robot controller.
↓
Teach the position variables of the calibration program to the robot.
Positional
↓
calibration
Load the calibration program into the tool.
↓
Correct the positions of the dot sequence data based on the loaded calibration program.
↓
Transfer a program for distortion calibration to the robot controller.
↓
Teach the robot such that it is moved to the correct position in
accordance with the dot sequence.
Distortion
↓
calibration
Load the program for distortion calibration to the tool.
↓
Calibrate the distortion of the dot sequence data based on the loaded
program for distortion calibration.
↓
Transfer the calibrated dot sequence data to the robot controller.
↓
Create a program that uses the dot sequence data on the robot.
The calibration methods can largely be divided into “positional calibration” and “distortion calibration,” and
they have the following features.
Item
Explanation
Positional
calibration
Distortion
calibration
Calibrate the layout of the entire dot sequence data set.
With this method, it is possible to correct deviations due to system assembly errors
such as deviations between specified and actual robot and work station positions.
Based on position deviations between 3 points specified in the CAD software and
the corresponding actual points, the parallel and rotational component deviation in
each coordinate system is calculated, and the entire dot sequence is calibrated
accordingly.
Calibrate the specified part of the dot sequence data set.
With this method, it is possible to correct deviations due to distortion of the
workpiece itself and hand mounting errors.
Specify the start and end of a part of the dot sequence data set for which position
deviations should be calculated. Then teach several deviating points to the robot in
order to correct the points in the specified sequence.
17.1. Starting
When the calibration tool is installed correctly, it can be started from the [Start] menu.
Fig. 17-1 Starting the Calibration Tool
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17.2. Explanation of the Calibration Tool Window
The screenshot below shows the main window of calibration tool. This window is mainly used to check dot
sequence data.
Combo box for
selecting the target
controller
Dot sequence data
display area
Table 17-1 Operations in the Calibration Tool Window
Item
Controller
Rotation of Axis
Movement of
Viewpoint
Zoom
Point Location
Display
Dot sequence data
display area
Explanation
Select the target robot controller to be used for operation. The combo box lists
controllers that are registered by the communication server and currently
communicating.
Change the rotation angles of the coordinate axes in the dot sequence data display
area by entering values directly or clicking the up/down button for each axis.
It is also possible to change the angle by operating the mouse while clicking the
Wheel button.
Change the amount of parallel movement of the viewpoint in the dot sequence data
display area by entering values directly or clicking the up/down buttons for each
axis.
It is also possible to change the amount by keeping the [Ctrl] key pressed and
clicking the Wheel button of the mouse.
Set the zoom scale of the dot sequence data display area by entering a value
directly or clicking the scale up/down button.
It is also possible to change the zoom scale by clicking the Wheel button, or keeping
the [Shift] key pressed and then clicking the Wheel button.
Displays the specified sequence of points in red.
Displays the loaded dot sequence data.
17.3. Open MXT file
Select [Open MXT File] in the [File] menu or click the [Open File] button in the upper part of the window to
specify an MXT file (*.mxt) output from MELFA-Works and load the dot sequence data.
MXT files contain data generated when creating work flows (refer to “10.4 Work Flow Creation).
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17.4. Executing Calibration
After opening MXT file is completed, select [Position and Distortion Calibration] from the [Calibration] menu
to display the Position and Distortion Calibration dialog box.
Calibration can be carried out by performing operations in the order displayed in the dialog box.
Fig. 17-2 Position and Distortion Calibration Dialog Box
Table 17-2 Operations in the Position and Distortion Calibration Dialog Box
No.
Calibration
method
Item
1
[Transfer Calibration
Program] button
2
[Teaching] (display only)
3
Positional
calibration
4
[Read Calibration
Program] button
[Calibrate MXT Data]
button
5
[Write Calibration
Program to RC] button
6
[Teaching] (display only)
7
8
Distortion
calibration
[Read Calibration
Program from RC] button
[Execute Calibration]
button
9
[Undo Calibration] button
10
[Only Remake] button
Explanation
Transfers the calibration program to the selected robot
controller.
The program transferred here is the calibration program
(CLB.prg), which is stored in the same folder as the loaded dot
sequence data set.
After transferring the calibration program, use a teaching box
or similar to perform teaching.
See the detailed instruction procedure in Chapter 17.5.
Reads the calibration program (CLB.prg) from the robot
controller after teaching.
Calibrates positions of dot sequence data.
Use a calibration program (CLB.prg) uploaded from the robot
controller to calibrate a dot sequence data set. When the
positional calibration is finished, the MXT file is overwritten as
well.
Generates a distortion calibration program (with the name CL
(dot sequence number).prg) and transfers it to the robot
controller.
After transferring the distortion calibration program, use a
teaching box and similar to perform teaching.
See the detailed instruction procedure in Chapter 17.6.
Reads the distortion calibration program (CL (dot sequence
number).prg) from the robot controller after teaching.
Calibrates distortion of dot sequence data.
Use a distortion calibration program (CL (dot sequence
number).prg) uploaded from the robot controller to calibrate
positions of the dot sequence data set. When the positional
calibration is finished, the MXT file is overwritten as well.
Click the button to return the dot sequence data set to the
initial status before calibration.
Reconfigures a dot sequence data set with the current settings
without performing positional or distortion calibration.
Use this function to test a dot sequence data before calibration
to the robot or MELFA-Works.
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17.5. How to teach the positional calibration program (CLB.prg)
Select [Transfer Calibration Program] button on “Position and Distortion Calibration” window, the program
named “CLB.prg” is transfered to the controller. This program is contained the positions for positional
calibration which is set “Calibration” window of MELFA-Works.
Register the correction position in the program for positional calibration as the following procedures.
1. Using the teaching box (T/B) which is connected to the controller, set “CLB.prg” program to edit mode.
2. Move the robot to each positions in this program (P**_O, P**_X, P**_Y(Each [**]is calibration data
number in MELFA-Works)). At this time, be carefull to avoid collision to peripherals.
3. If the positions which is moved and which is set on MELFA-Works are shifted, move the robot to the
position which is correspons on an actual system and teach again.
4. Please operate the above-mentioned by all the registered position data.
P01_Y
before calibration
P01_Y
after calibration
P01_O
before calibration
P01_X
before calibration
P01_X
after calibration
P01_O
after calibration
17.6. How to teach the distortion calibration program(CL(dot sequence number).prg)
Select [Write Calibration Program to RC] button on “Position and Distortion Calibration” window, the
program named “CL(dot sequence number)” is registered in the controller. This program is contained all dot
sequence positions.
Register the correction position in the program for distortion calibration as the following procedures.
1. Using the teaching box (T/B) which is connected to the controller, set “CL(dot sequence number)”
program to edit mode.
2. Move the robot to each positions in this program, check the position set on MELFA-Works whether shift.
At this time, move the robot noting no collision to peripherals.
3. If there is shift between moved position and a position set on MELFA-Works, “ ’0 “ is added to move
operation of beginning the gap and gap end position, and the position which shifts most is taught as
shown in the figure below.
Reteached dot sequence
Dot sequence output
by MELFA-Works
125
126
127
128
129
130
131
MOV
MOV
MOV
MOV
MOV
MOV
MOV
72
P122 ’0
P123
P124
P125
P126
P127
P128 ’0
“ ’0 “ is added
to beginning the gap
the position which
shifts most is taught
“ ’0 “ is added
to the gap end
17.7. Transferring Dot Sequence Data to Robot Controller
When all calibration is finished, transfer the dot sequence data to the controller.
Select [MXT Transfer PC − RC] from the [MXT File Management] menu to display the Transfer Confirmation
of MXT File dialog box.
Fig. 17-3 Transfer Confirmation of MXT File Dialog Box
Click the [OK] button in this dialog box to transfer a dot sequence data set for which calibration has been
completed to a robot controller. Also, by enabling the [The MXT confirmation program is transmitted] check
box, it is possible to create a program (with the name 0101.prg) for confirming the robot movement and
transfer it as well.
Using a program for movement confirmation will make the subsequent creation of robot programs easier.
CAUTION
Check movement carefully.
MXT instructions are used in movement confirmation programs (refer to Chapter 18 for the details).
When using MXT instructions, the normal robot movement instructions are not used. Instead, the
robot moves via commands from external sources (files or communication); it is thus not possible to
control the speed by the override specification from a robot controller.
In order to avoid dangerous situations, pay attention to the following points and check the robot
movement carefully.
y Be prepared to stop the robot anytime.
y Create dot sequence data with lower speed.
y Start from a status without any workpiece.
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17.8. Managing Dot Sequence Data in Robot Controller
The amount of dot sequence data that can be transferred to a robot controller is limited; use the MXT File
Control in Robot Controller dialog box to delete unnecessary dot sequence data within a controller.
Select [MXT file Management in RC] from the [MXT File Management] menu to display the MXT File Control
in Robot Controller dialog box.
Dot sequence data list
Fig. 17-4 MXT File Control in Robot Controller Dialog Box
Table 17-3 Operations in the MXT File Control in Robot Controller Dialog Box
No.
1
2
Item
Dot sequence data list
3
[RC → PC Reading]
button
[List Renew] button
4
[Delete] button
5
[Close] button
Explanation
Displays a list of dot sequence data existing in a robot controller.
Click this button to upload the dot sequence data set in a robot controller
and save it in a specified folder on the personal computer.
Click this button to browse through the dot sequence data set in a robot
controller and refresh the contents of the dot sequence data list.
Click this button to delete dot sequence data selected from the dot
sequence data list from the robot controller.
Click this button to finish MXT file management and close the dialog box.
74
17.9. Movement Setting Change
If the operation property is changed from initial state, this screen is used.
Select [MXT Parameter Setting] from the [Calibration] menu to display Movement Setting Change screen.
When this screen is shown, it displays the current state. Set only the changed item, and click the [OK]
button. The state of the output signal changed on the screen in Chapter 17.10 is overwritten.
75
17.10. Editing Output Signal Status
Select [I/O Setting] from the [Calibration] menu to display the I/O Output Setting dialog box.
When outputting dot sequence data with MELFA-Works, the output signal settings are typically made for
entire data sets at a time. This dialog box allows editing the status of individual output signals for each point;
i.e., it allows the user to control I/O outputs in a detailed manner.
Signal output status list
[Head Signal Setting Value] field
[Mask Setting Value] field
[Value Setting Value] field
Fig. 17-5 I/O Output Setting Dialog Box
Table 17-4 Operations in the I/O Output Setting Dialog Box
No.
Item
1
Signal output status list
2
3
[Head Signal Setting Value]
field
[Mask Setting Value] field
4
[Value Setting Value] field
5
6
7
8
[Setting] button
[Delete] button
[Cancel] button
[OK] button
Explanation
The output signal status list displays the states of the output signals of all
points.
Select a point you want to modify from this list and set the output value in the
corresponding text box.
Specify the head bit to be output (decimal expression).
Specify up to 16 bits that are permitted to be output, starting from the head
bit (hexadecimal expression).
Specify the value to be output, starting from the head bit (decimal
expression). Only bits for which the corresponding mask bits are turned on
are actually output.
Sets the I/O output settings that have been made in this dialog box.
Deletes I/O output settings that have been made.
Does not set any I/O outputs; instead, closes the dialog box.
Sets I/O outputs and closes the dialog box.
17.11. Change error tolerance when calibration
When dot sequence is reconstructed with the distortion correction etc., the error margin is caused in the
process of the calculation. This screen is used to change the value (default value is 0.01mm).
Select [Various Setting] from the [Setting] menu to display Various Settings screen.
76
If the value is reduced, the accuracy at the distortion calibration etc. goes up. But the distance of dot
sequence which can be corrected shortens.
Use default vaule if there is no probrem for accuracy or the distance of dot sequence.
77
18. CAD Link Programming
So far it has been finished to create dot sequence data, perform calibration and transfer programs for test
operations. This chapter explains how to construct an actual system using created data.
The CAD link function supports only the MELFA-BASIC language.
The following files are generated in the process of using the CAD link function.
Table 18-1 Files Output by the CAD Link Function
No
1
File name
FLOW.prg
Purpose/generation method
“Work program”
This file contains a program converted from a work flow. Copy and
use it as a template for your own programs.
2
O1O1.prg
“Movement confirmation program”
This file contains sample programs for actually moving a robot
using dot sequence data.
* The file name is generated automatically according to the naming
rule.
3
MXT**_**.MXT
“Dot sequence data (MXT data)” set
This file contains dot sequence data describing robot movement
along a workpiece. Downloading this file to a robot controller allows
a robot to smoothly trace along the edge of a workpiece.
This file is created by MELFA-Works and calibrated by the
calibration tool.
* The file name is generated automatically. After calibration is
completed, change the name as necessary and use the file.
4
CLB.prg
”Calibration program”
This file contains a robot program used in calibration. Executing this
program allows teaching calibration points and calculating
calibration values based on the results of teaching.
This program is created by MELFA-Works and
downloaded/uploaded by the calibration tool to/from a robot. The
calibration tool uses the calibration program in the current folder as
the source of dot sequence data.
* The file name is fixed.
5
MXT**_**.cal
“Dot sequence data before calibration”
This file contains dot sequence data before calibration.
* The file name is the same as for the dot sequence data set above,
but the extension is "*.cal."
6
CLB. cal
“Calibration program before teaching”
This file contains a calibration program before teaching.
* The file name is fixed.
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18.1. Verifying Movement Confirmation Program
The movement confirmation program is structured as follows.
10 'MXT Sample Program (MXT01_01.MXT)
Comment line
20 TOOL (+0.00,+0.00,+231.00,+0.00,+0.00,+0.00)
Set installed tool data.
The tool data is calculated from the hand used when dot sequence data is output from
MELFA-Works and set as the default value. This is required when creating an operational
program as well.
30 CLOSE #1
Close file #1 before loading a dot sequence data set.
If the file is left open after the previous processing, an error occurs in the OPEN instruction in
line 40. For this reason, it is typical practice to include a CLOSE instruction before the OPEN
instruction in order to prevent unnecessary errors.
40 OPEN "MXT:MXT01_01.MXT" AS #1
Open the dot sequence file as file #1.
50 MOV P_MXT
Move to the beginning of the currently opened dot sequence data set.
At the MXT instruction on line 60, the robot moves according to the dot sequence data set; an
error may occur if the current position and the head position are different. For this reason, the
robot is moved to the position indicated by the first element in the dot sequence data set in
advance.
60 MXT 1,0
Move the robot according to dot sequence data of file #1.
A detailed explanation of using the MXT instruction is found in “18.2 MXT Instruction (Move
According to External Instruction).”
70 CLOSE #1
Close file #1.
80 HLT
Stop the program.
90 END
End of the program.
* The speed with which the MXT instruction is executed cannot be controlled by the override
specification of a controller; exercise caution when checking movement.
As can be seen with the example program for movement confirmation, a program is created in the
following sequence to move a robot on dot sequence.
(1) Set a tool.
(2) Open dot sequence data.
(3) Move to the beginning of the dot sequence data set.
(4) Move through the dot sequence data set using the MXT instruction.
This sequence is the same even when there are multiple dot sequence data sets to be traced.
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18.2. MXT Instruction (Move According to External Instruction)
With the MXT instruction, data can be acquired not only from a file but also via Ethernet communication.
In this section, it is explained how to acquire data from a file.
[Function]
Move a robot directly by acquiring absolute position data from a file in each control sample interval. The
file is specified by the OPEN instruction.
[Format]
MXT <file number>, <instructed position data type>[, <filter time constant>]
[Terminology]
<File number>
Specify a number in the range from 1 to 8; this value must match a file
number assigned with the OPEN command.
If the file specified to be loaded has not been opened with the OPEN
command, an error occurs and a robot does not move.
<Instructed position data type> Specify the type of position data commanded from the personal
computer.
Either XYZ or joint coordinate position data can be specified.
0: XYZ coordinate data
1: Joint coordinate data
<Filter time constant>
Specify a filter time constant (msec). If 0 is specified, no filtering is
applied (0 is set by default if the specification is omitted). Apply filtering
to position data to create dampened instruction values and output to
the servo.
<File name>
Specify the name of the position data file loaded with the MXT
instruction.
[Example]
10 OPEN "MXT:SAMPLE.MXT" AS #1
20 MOV P1
30 MXT 1,0
40 CLOSE #1
50 HLT
' Open the SAMPLE.MXT file.
' Move to P1.
' Move according to the real-time external control.
' Close the file.
[Explanation]
y By executing the MXT instruction, it is possible to acquire position commands for movement
control from the MXT file (format is explained later) specified by an OPEN instruction.
y In each movement control sample interval (currently, approximately 7.1 msec), one position
command is acquired and the robot is moved accordingly.
y Operation of the MXT instruction
(1) When this instruction is executed with the controller, data is loaded sequentially from the
MXT file and the robot moves to the specified position.
(2) When all data in the MXT file is loaded, the MXT instruction is completed.
(3) If the movement is stopped via the operating panel or external input, the MXT instruction is
paused and remains in the paused status until it is resumed.
[Format of dot sequence data (reference)]
y The file specified as the source of position data must be a comma-separated text format file.
y If an apostrophe (‘) is placed at the beginning of a line, the line is regarded as a comment line.
y The format is as shown below ([1] or [2]).
[1] XYZ data format
: 1,<X>,<Y>,<Z>,<A>,<B>,<C>,<L1>,<L2>,<FL1>,<FL2>,
<Presence of output 1/0>,<head bit number>,
<Hexadecimal mask pattern 0000 to ffff>,<output data>
[2] Joint data format
: 2,<J1>,<J2>,<J3>,<J4>,<J5>,<J6>,<J7>,<J8>,
<Presence of output 1/0>,<head bit number>,
<Hexadecimal mask pattern 0000 to ffff>,<output data>
y The units are; XYZ component = mm, angle data = radian.
y Specify either XYZ or joint data format (cannot be changed in the middle).
80
18.3. P_MXT Variable
[Function]
Load the position data of the starting point from the currently opened file. Note that this file must be a
position data file that meets the requirements for being used by the real-time external control function (MXT
instruction). If a file has not been opened, all position data points are automatically assumed to be equal to
the P_ZERO variable (all axes at positioned at 0).
[Format]
<Position variable>=P_MXT
[Terminology]
<Position variable>
Specify a position variable that assigns loaded position data.
[Example]
10 OPEN "MXT:SAMPLE.MXT" AS #1
20 MOV P_MXT
30 MXT 1,0
40 CLOSE #1
' Open the position data file.
' Move to the starting point of the file.
' Move according to the real-time external control.
[Explanation]
(1) Load the position variable for the starting point from the position data file of the real-time external control
function (MXT instruction).
(2) If the position data file of the real-time external control function (MXT instruction) has not been opened,
all position data points are automatically assumed to be equal to the P_ZERO variable (all axes at
positioned at 0).
(3) If a position data file meeting the requirements for being used by the real-time external control function
is not used or there is no dot sequence data, the following error occurs when executing the OPEN
instruction. The P_MXT variable assumes that all position data points are equal to the P_ZERO variable
(all axes at positioned at 0).
Error number
Cause of error occurrence and countermeasure
Error message
L7850
Cannot read MXT position file
(Cannot load MXT position file that can be used by the MXT
instruction.)
Cause
Illegal MXT position file
(Not a position data file that can be used by the MXT
instruction.)
Countermeasure Correct MXT position file
(Specify a position data file that can be used by the MXT
instruction.)
If the argument is set wrongly such as P_MXT(1), an abnormal argument error occurs.
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18.4. Precautions
(1) If the MXT instruction is stopped in the middle, the robot maintains the position it had when the
instruction is stopped. Due to this, the on status of the output signal is also maintained; the robot
continues processing although it is stopped. In this case, turn the output signal off using the following
method.
y Write a signal initialization routine at the beginning of the robot program to reset the program.
y Create a program running always to reset the output signal when the instruction is stopped
unexpectedly.
y Turn the signal off manually from the teaching box.
(2) The MXT instruction moves the robot by loading dot sequence data. Since dot sequence data contains
acceleration/deceleration information as well, if the robot is moving at high speed via the MXT
instruction, an error occurs and the robot may not be able to continue movement. For this reason, if the
instruction is stopped in the middle, the safest way to continue is to evacuate the robot manually and
operate it from the start.
(3) The MXT instruction does not use interpolation by a robot controller but operates purely based on the
information in dot sequence data. For this reason, the speed cannot be controlled by override via the
operating panel; if the robot moves in an unexpected manner, stop it immediately or take precautions in
movement confirmation.
(4) The MXT instruction operates by acquiring posture data sequentially, but it may not be able to follow the
robot movement perfectly; it may turn slightly inward depending on the robot speed and the curvature of
a curve. Generally, this error tends to occur at higher speed or higher curvature.
(5) Robot controllers of system version K7 and later support the CAD link functions.
(6) Robot controllers of system version K8 and later support the enhancing memory.
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HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN
FEB.2007 MSW-BFP-A8525 Printed in Japan on recycled paper.
Specifications are subject to change without notice.
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