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1. For further details on configuring the robot controller please refer to 1ts Setting Guide e No PAC programs are running e All motors are OFF 111 Chapter 7 Online Functions NCaution e The WINCAPS IIl debugging functions are for running robot programs and controlling operation from the computer To ensure safety always stay within reach of an Emergency stop button on the teach pendant the mini pendant or the equipment e Never debug over a link that puts the equipment out of sight of the operator at the computer Operating procedure 1 Choose Tool Option and select the Enable online debug mode check box on the General tab Option setting Project 3 Save Folder C Documents and Settings iara My Documents When loading ik the last window arrangement is restored 4 Trace Log display PAC Commands Debug Function aj JEnable online debug mode OK Cancel e Leaving Enable online debug mode deselected disables all debugging functions so selecting one during online operation triggers an error message e WINCAPS lll always starts with debugging disabled 2 Choose Connect Debugging online to initiate debugging A status bar appears to display the current debugging status A Stop button also appears independent of WINCAPS III Status bar B V56577G A WINCAPS III EDUWE w E EE Monto Carrain a Crn aai Sop Bull on ma Wakin Tog 0 Pa E
2. Prosa Alternatively tiled and other layouts display multiple files for direct selection WINCAPS III provides the following program editing functions Configurable Program edit windows The Program edit window text editor gives the user control over the font size and colors for displaying text Syntax highlighting assigns different colors to distinguish between for example operators and comments For further details on Program edit window display options refer to 3 1 1 WINCAPS III basic settings P 14 Finding and replacing strings Find and replace strings in headers and programs Search ranges and regular expressions can be used Other functions e Jump to This is for moving the cursor to a line specified by number in the Program edit window e Comment out This submenu command changes the lines selected in the Program edit window into comments e Indent This submenu command indents the lines selected in the Program edit window e Bookmark This submenu is for working with bookmarks markers on lines in Program edit windows These markers make it easier to return to that position e Helper functions These are to help command input by listing candidates and showing command syntax 73 Chapter 5 Writing Programs 5 4 1 Finding and replacing strings You can specify the range and method to search and replace the character string B Find and Replace iS LJ Replace with j Find All Options
3. m Halt 9 Step stop 20 SPEED 5PDO1 Gin Excle stop 21 move P DPO1 32 A Program reset i le 33 Clearlog Reset all tasks 34 startlog 35 move 1 DPO2 Show quick watch gel eg eee Register to watch 37 move P DPOS 35 SET 1024 39 move 1 DP04 allt Set Reset a break point 40 LETA DPOL posx DPOl 2 ix02 AA 41 LETX DPOZ posxiDP02 2 iX02 oe 42 LETY DEOS posx DPO3 2 ix02 Break point stop setting ELET DPO4 posx DP04 2 i1X02 Set line to start stop log pi Set Reset control log start line Get Single Trace Log RI Set Reset control log end line Controller settings t P Set Reset trace log start line El SPU Set Reset trace log end line et Reset variable and 1 0 log start line BM Set iPecet wariahle and TIM lad end line e Command statements The following three commands are used for trace logging For further details on commands please refer to the Programming Manual STARTTRACELOG Declares the start of trace log recording STOPTRACELOG Logs the currently recorded log data CLEARTRACELOG Clears the trace log data 132 Chapter 8 Logging 8 3 4 2 Single trace Log This records the command flow for a single program The time required to execute each command 1s recorded giving useful data for shortening cycle time and optimiz ing operations Receive log data by specifying a program Single trace log FOLDERO1 PRO101 Mo Line Mum Code Execution time until starting Time
4. pro33 pac pro34 pac pro35 pac pro36 pac setmonitorcond pac startsrymonitor pac stopsrymonitor pac vibration pac aspacld pac genten pac hani pac jitest pac A Create Programs This button is for creating program header and teach pendant TP panel files in the project B Import This button is for adding existing programs to the project 32 Chapter 3 Starting Up Shutting Down 3 2 4 2 C button These buttons are for moving files and folders up and down the file hierarchy amp Move the selected item up one position A Move the selected item down one position D Display files This button opens a folder displaying the files inside E List hierarchy This button lists all files and folders in the project hierarchy Double clicking a program header or teach pendant TP panel file opens it Program list This window lists the programs in the project Prov arn leet Program name Fie name Title asp Ac road pac ASPACLO GENTEN genten pac GENTEN HANI hard pac HANI JITEST bot pac JITEST EERI iseki oat KISEKI KOMPOU konpou pac KOMP RURIKAES kurkasi pac KURDOAES BA ArI ra DENIA 5 1 2 3 5 6 Fi z pream Icon A key icon is shown for locked files Program name This displays the program name declared in PROGRAM File name This displays the name of files with programs stored Title This displays the program name dec
5. 112 Chapter 7 Online Functions Stop button Stop Button ceo The teach pendant or mini pendant also display a Debugging status screen S o 3 mess AA Automatic aborting of debugging WINCAPS III and the robot controller automatically switch to offline operation if any of the following situations arises e Someone switches the pendant s mode selector switch away from its AUTO position e They detect severance of the link between them e They detect severance of the robot controller s link with the teach pendant or mini pendant e The robot controller loses power e A password protected screen saver kicks in Side effects Switching to offline operation triggers the following cleanup operations e Stopping PAC programs e Turning off motors e Stopping supervisory tasks e Closing teach pendant TP panels e Clearing all breakpoints e Clearing all dummy I O settings When connection for online operation is complete WINCAPS III windows automatically display robot controller internal data Z Caution Debugging imposes the following restrictions e Only the computer doing the debugging can run PAC programs or supervisory tasks or turn on motors not a teach pendant a mini pendant I O devices or other computers running the ORIN SDK e The teach pendant cannot load programs 113 Chapter 7 Online Functions 7 3 2 Launch the program from WINCAPS Ill In addition to monitoring WINCAPS III runs and
6. New Project This radio button is for creating a new project and reading data from a USB memory into the project Enter a project name and select a location for saving the project Merge with Existing Project This radio button is for selecting an existing project and reading data from a USB memory into the project The data read from a USB memory merges with data in the existing project 64 Chapter 4 Creating a Project 2 Click the Next button FDTool ver 2 703 Select a target folder This area specifies folders in the USB memory to read data from them 3 Click the Next button L FOTool ver 2 70 9 A program data Al variable data AN DIO data Al arm data of All sion chata lt Allo data A bateo dl Select target data Selecting these check boxes specify data to read from the USB memory To read all data click the Select All button 65 Chapter 4 Creating a Project 4 Click the Next button to read the specified data from the USB memory Upon completion of reading the following dialog appears A 2 7039 ENPRIDIAT AlOSOSO 00RA obot je The time stamp of the written data wi be 200509011113731 66 Chapter 4 Creating a Project 4 8 2 Writing data into USB memory Follow the FDTool wizard to write data into a USB memory Operating procedure 1 Select Tool USB Write to start the FDTool wizard kri ico ver zorua Enter a target folder Write data
7. Area OW Vision Close i a ll es Log 1 ul Eel Ee EH gt Parameter Controller Information El 2 Select the data you wish to print and press the Preview button Check the preview and then make your print out Printing out log data can result in vast amounts of printout pages hence be sure to check the number of pages using the preview function first before printing 69 Chapter 5 Writing Programs 5 1 Creating a New Program Operating procedure 1 Choose Project Add Program to display the dialog box for creating a new program head er file or teach pendant TP panel Create new program Create new program Select kind of program anal input Program name Pype Template 2 Program PAC TITLE lt Title gt PROGRAM lt Program Marne gt Header h END O Operation panel pni 2 Specify the type There are three choices e Program pac e Header h e Panel designer pnl The box to the right automatically displays the corresponding template 3 Specify a name title for the program The default is to use this program name as the file name To use a different file name enter it in the File name field 4 Press the OK button to open a new file based on the template in the corresponding win dow a Program edit window in the Program view area for a program or header file or the Panel Designer window for a TP panel Panel Designer procedure
8. Press the Apply button Before digitization After digitization m 9 2 8 2 Automatically determining digitization thresholds Operating procedure oA NO Press the Histogram radio button to display the Histogram settings screen Choose the window to process in the Processing window Choose the method calculation with mode method discriminant analysis or p tile thresh old calculation If your choice is other than p tile proceed to step 5 For p tile only Specify the reference area and target fields Press the Measure button to display the resulting boundaries on the histogram and save them in the two boundary fields of the Digitization settings screen Select the Digitization radio button to display the Digitization settings screen Press the Apply button 160 9 2 9 Chapter 9 Vision Manager Calculating area center of gravity and principal axis The following is the procedure for determining three object features area center of gravity and principal axis This procedure uses the thresholds specified with the Register digitization settings screen Feature SA CG PA settings screen Vision tool ane R E E rea Gravity Principa Measuring mMOOWS G Processing Time 0 Area J Gravity Center X 0 Gravity Center Y 60 Principal Axis Angi 0 Integrate Brightnes A Primary Momentx 0 Primary Moment 0 Secondary Women 0 Camera Project window Arm operation vision tool
9. Relerence 2 Reference Reference 2 X G A Target window This field specifies the window range to measure B Automatic digitization Choosing True specifies automatic digitization C Digitization upper threshold D Digitization lower threshold These two fields display specify the digitization thresholds for image analysis E Measure This button proceeds with the operation F Results This area displays a list of measurement results G Result string This area displays the corresponding string 175 Chapter 9 Vision Manager 9 2 13 1 Specifying measurement conditions Automatic digitization Enable or disable automatic digitization Choosing True specifies automatic digitization Digitization thresholds If automatic digitization has been disabled these two fields specify the two boundaries used in digitization 9 2 13 2 Reading in a QR Code symbol Operating procedure 1 Choose a target window range to measure 2 Enable or disable automatic digitization Choose True for automatic digitization Otherwise specify the thresholds with the Register digitization set tings screen 3 Press the Measure button to display the resulting boundaries on the histogram save them in the two boundary fields of the Digitization settings screen and display the results in the Vision monitor window 176 Chapter 10 Appendices 10 1 List of Prohibited Characters Use of the following chara
10. T E i af T Add Existing File Add Program Enable Disable Folder Create Macro Definition File Import Macro Definition File Command builder Program Bank Check Grammar Make Executable Parameter Joint Setting Table Property Ctrl B Add Program This is for creating a new program and adding it to the current project Add Existing File This submenu is for copying the selected program into the current project folder to add it in the project Enable Disable This submenu controls usage of a file within the project Enabled programs can be executables Folder This submenu is for creating renaming and importing folders Programs of other projects can be imported as folders Create Macro Definition File This submenu is for creating header files defining macro names of variables and I O ports Import Macro Definition File This submenu is for reading the content of header files defining macro names to apply it to variables and I O ports Command builder This submenu is for displaying the Command builder dialog box to support PAC commands input Program Bank This displays a dialog box with programs covering handy DENSO robot functionality Developers can also add their own work to this open ended library Check Grammar This runs a syntax check on the selected program The results appear in an Output window Make Executable This updates the executables for the project An O
11. e Motor speed current actual value r min e Motor torque command value less torque offset of rating e Motor angle difference motor angle command value actual motor angle Pulse e Motor current absolute value the maximum detected motor 3 phase absolute current value The recording range can be specified with the program The following programs stored in the program bank are used For further details refer to Programming Manual II e SetMonitorCond e StartSrvMonitor e SotpSrvMonitor e ClearSrvMonitor E Single joint servo log orque target e Maximum current Si Offset ll Sampling a pm 0 584 i 21 725 2 21 725 if 137 Chapter 9 Vision Manager 9 1 Overview The Vision Manager is for writing robot vision programs in the PAC programming language Working interactive ly in the WINCAPS III environment the programmer defines processing windows writes search models and cre ates lookup tables WINCAPS III saves image data in bmp format and search models in a special data format 9 1 1 Screen descriptions Vision monitor window This window displays the image from a camera connected to the robot unit Choose View Vision Monitor to display it in the Program view area Mision Monitor Obj Prod 138 Chapter 9 Vision Manager Vision tool window This window is for configuring the Vision Manager Choose View Vision Tool to display it in the Docking view area Wis lon Con ce E j A
12. O Labeling Order 5 Black 125 EE NnMU0O0OU gt A Target window This field specifies the window range to measure B Sorting order This field specifies the display order for the results C Area cutoff Only objects larger than this value qualify D Color This field specifies the color to use white or black E Digitization upper threshold F Digitization lower threshold These two fields display specify the digitization thresholds for image analysis G Measure This button is for finding and labeling objects in the window H Results This area displays a list of measurement results 164 Chapter 9 Vision Manager What is labeling Labeling digitizes the camera image and then sequentially numbers contiguous areas of black 0 or white 1 pixels See Figure 1 The result is a list of individual objects within the specified range in the window This list includes the following object features area center of gravity principal axis angle fillet and circumference Here fillet means the bounding rectangle the minimum rectangle enclosing an object See Figure 2 The circumference is the number of pixels just inside this boundary See Figure 3 Figure 1 Figure 2 Origin of fillet Figure 3 ra a E a o Mon tal iz a SS a a y E Boundar y Circumference 12 pixels F Height Window Object Width NCaution Only rectangular processing windows angle 0 can be
13. i PE AE ba l i j HTD it T oF M A aa E i Object Model Model Setting Offset Angle Model Size Byte Remaining Size P Byte The following buttons switch the configuration area of this window A Lookup table This button is for specifying lookup tables B Edit macro name This button is for editing window and search model macro names C Calibrate This button is for measuring coordinate conversion coefficients D Camera input This button is for copying a camera image to an image processing screen E Screen display This button switches the Vision monitor window F Edit window This button enables window editing G Edit search model This button enables search model editing H Register digitization This button is for determining the digitization thresholds for image analysis 139 Chapter 9 Vision Manager Area Center of gravity Principal axis This window is for determining three object features area center of gravity and principal axis J Labeling This button 1s for finding and labeling objects in the window K Edge This button 1s for detecting edges L Model search This button 1s for pattern matching using a search model M Scan code This button 1s for reading in a QR Code symbol N Configuration area This button is for displaying the settings screen for the selected function For screen descriptions refer to 9
14. import one of projects held in the robot controller into WINCAPS III to create a new project Using this method does not require newly configuring the robot type and other various settings but requires that the robot controller and PC WINCAPS III be connected with each other for data exchange When im porting a project from the robot controller it is possible to search for robots connected Operating procedure 1 Choose File New project to load this wizard WINCAPS III Project wizard Welcome to New project wizard This wizard creates a new project by specifying robot type and controller specification select robottype manually For creating a new project O Get information from the controller For creating a new project F Cancel The Back button returns the wizard to the preceding screen The Next button advances the wizard to the next screen The Cancel button exits the wizard Starting WINCAPS III Project wizard when the currently open project has unsaved modifications dis plays the following confirmation dialog asking whether or not to save unsaved modifications before closing the project 91 Chapter 4 Creating a Project 2 Follow the wizard s instructions to configure the project There are six items to specify in the case of manual robot type selection 1 Project name and location 2 Robot type 3 Robot controller options 4 Link type 5 Variables 6 I O port settings In the case of project creatio
15. refer to the Robot Installation Protection Guide Arm parameters received from the controller can be written to a separate file or loaded as arm data Operating procedure 1 Log in at programmer level 2 Choose Tool Arm parameters to open the Arm parameter dialog box Arm Parameter Save the ARM Parameter Save Load the ARM Parameter to current project Load Save button Writes WINCAPS III project arm parameters to a file Load button Arm data from files below on your PC is uploaded to your current project e WAM WINCAPS III arm data format e WPJ Loads only arm data from WINCAPS III projects e ARM WINCAPS II arm data format 63 Chapter 4 Creating a Project 4 8 USB Tool Instead of direct data transfer between a computer running WINCAPS III and the robot controller a USB memory 1s available as a media for data exchange between them 4 8 1 Reading data from USB memory Follow the FDTool wizard to read data from a USB memory Operating procedure 1 Select Tool USB Read to start the FDTool wizard K FDTool ver 2 703 When New Project 5 selected data wil be witten mio a new rider constructing a poart When Merge with Easting Project E solected date vd bo merged wih the existing project Read data from drive ce ll Chew Project Project Mame Test HE PE CINCAR VB Merge with Existing Project Hert gt Cam Read data from drive This field specifies a drive for reading a USB memory
16. 109 Chapter 7 Online Functions 7 2 6 Validate the controller function extension This enables validation invalidation of controller function extensions from WINCAPS III Select Tool Controller function extension in online monitor mode to open the Controller function extension dia log box Controller function extension Input password number and click Add or Delete Password number Delete Enter the password number for the function to be extended and press on the Add button to validate it To invalidate them enter the validation password number and press the Delete button 110 Chapter 7 Online Functions 7 3 Using Debugging For further details on connecting to a robot controller refer to 1 5 Connecting to Robot Controller P 8 and 4 7 Link with Robot Controller P 59 7 3 1 Initiating debugging First the robot controller must satisfy the following conditions e The mode selector switch physical switch on the teach pendant or mini pendant must be in its AUTO posi tion e The communications link must be properly configured Link type For Serial RS 232C COM2 This must allow read write access Ethernet The individual address list must allow read write access from the computer Only computers with Read write in the column circled in red can initiate de bugging 0 ol mem Joint Mero mm t e E IndiviP 1 i Rradiiaribe IndiwIP 2 IndivIP 3
17. 57 50 13 57 49 13 57 39 13 57 39 13 57 39 13 57 39 13 57 39 13 57 39 13 57 39 13 56 59 13 51 06 Module Code BU Bl 6426 6423 04 24 423 na 6421 2220 2204 2 B0 Message cooling fan error Level Caution Fan speed drt J encoder data not t J5 encoder data not t 14 encoder data not t J3 encoder data not t J2 encoder data not t Ji encoder data not t Not available I O optic Interruption power ce cooling fan error PRO Name Line Mu a pa ba 2009 12 13 51 06 2CB1 2009 12 13 50 56 6426 16 encoder data not t lal Caution Fan speed art fre hm oe E ke Ef HR Rep A Receive button This receives error log data from the controller and displays it B Jump to source code button This displays the source code for the error C Error information button This displays explanations and recovery methods for the errors The following items are recorded for the data e Date time e Code Error code e Level Error level PRO name line number Name of the program and the line number in which error occurred e Time since controller boot 126 Chapter 8 Logging 8 3 2 Operation log This is a record of controller operations The most recent 1 000 items are recorded The data is saved in SRAM The operation log is regularly updated If you wish to secure particular log data use error trigger logs or suchlike Operation log Time Client Code Operation Time since Contro
18. 9 2 8 Registering digitization aida 157 9 2 9 Calculating area center of gravity and principal axis ooocccocncconcconoconnncnncnonnnos 161 PAO EDSN ahea Renae ee ee een ne E A A ene 164 J2 MES dE CN is ii 167 9212 MODELS e de da O 172 9 2 13 Reading a ORCOS MD dead 175 chapter TO ADDENGICES mesias 177 10 1 LiStot Proniblitea Character iii uaeees 177 CONTENTS yi Chapter 1 Overview 1 1 1 2 WINCAPS III Features WINCAPS III is a package for efficiently developing and validating Denso robot operation programs PACs It permits checking of robot operation variables and I O from a computer connected to the robot controller It also supports managing program files as projects storing frequently used programs in program banks and various other program management functions Robot Controller and WINCAPS Ill Versions Use the same version of WINCAPS III as that of the robot controller software If the WINCAPS III and robot controller software versions differ connection may not be possible and usable func tions may be limited e Ifthe version of the robot controller software is more recent than that of WINCAPS III In such cases it is necessary to update WINCAPS III with the WINCAPS III trial version that comes with the robot set The license is unchanged e Ifthe version of the robot controller software is older than that of WINCAPS III Ver 2 0 and higher of the robot controller can be used However functions not co
19. B 2 ANHEE PERA ZENAMEN o Post a notice showing axes names and moving directions in a visible location on the robot unit The posted moving directions should match the actual directions No posting or wrong direction posting may result in bodily injuries or property damages due to incorrect operation SAFETY PRECAUTIONS 4 Precautions NM Touching the robot while it is in while Robot is Warning operation can lead to serious NWARNING Running injury Please ensure the fol lowing conditions are maintained and that the cautions listed from Section 4 1 and onwards are followed when any work is_ being TROEN MARRAS performed Risk of injury Do not enter restricted space Untallgefahr Nicht die Sperrzone betreten B59 Pot GE 745 Ast AA Yo EAH LA AMEER AREA A AR el Mah Do not enter the robot s restricted space when the robot is in operation or when the motor power is on As a precaution against malfunction ensure that an emergency stop device is activated to cut the power to the robot motor upon entry into the robot s restricted space When it is necessary to enter the robot s restricted space to perform teaching or maintenance work while the robot is running ensure that the steps described in Section 4 3 Ensuring safety of workers performing jobs within the robot s restricted space are taken 4 1 Creation of working When entering the robot s restricted space to perform teaching regulations and
20. By using the three fol lowing commands logs can be retained for program specified areas Control log commands will be used as exam ples to explain recording to the ring buffer e STARTLOG Begins writing of data not to be updated to the ring buffer When the ring buffer 1s full of non updatable data no new logs can be written to it e STOPLOG Changes log data recorded in the ring buffer at that point into non updatable data and retains it If STARTLOG 1s being executed log data between STARTLOG and STOPLOG will be retained e CLEARLOG Deletes data retained in the ring buffer and begins recording of updatable data in new logs The relationship between the above three commands and the retained log data is shown here In this example the ring buffer size is set at 20 Ring Buffer size 20 10 20 30 40 50 bp tt tpt tt tt pp A _ ____ _ 9 0 0 0 0 0 0 00 00000000069 _ ClearLog StartLog Buffer Full t mmm Oe eC eee een em UU ClearLog StartLog StopLog C e0 e eeccceceecsesssessecsesosesg ClearLog StopLog ic __ 9 6 s6 5 e os t ttnt e o r ClearLog StopLog Case A Recorded control logs from 25 44 20 control logs are recorded after StartLog taking up all space in the ring buffer with 20 sets of log data re tained Case B Recorded control logs from 25 40 Only 16 control logs are retained from after StartLog to StopLog Case C Recorded control logs from 21 40 The 20 c
21. Cal H a al E 2 O sairi 0 pl lll 97 Chapter 6 Arm 3D View Window 5 Change the object s position and size cl me ada Seals er ohar obser o Isc OH ON CMC es 6 Add two more boxes to complete the pallet bench Here it is faster to copy and paste the above box as the second leg and then again as the starting point for the top 98 Chapter 6 Arm 3D View Window The way the object is displayed can be altered with the Model tree Property button Pressing the Property button displays the dialog box below Model setting Display setting Display Framework Display point only Invert material color Display bounding mesh Display name on the screen Display coordinate origin Related axis 137 Collision detection setting Display setting Sets object display properties Related axis Settings for objects moving in relation to the added axes in the case of projects with added axes or SMT7 controller Set the axis movement and movement units Collision detection setting Detection level Specifies the sensitivity for detection of collisions Display detection area Displays the range for detecting object collisions Detailed option Further options for the range for detecting collisions with imported 3D data 99 Chapter 6 Arm 3D View Window 6 2 2 Saving objects Saving objects as modeling data files allows immediate reuse in other projects Operating procedure 1 Select t
22. G J H K A Object tree This shows the object hierarchy behind the Arm 3D view Right clicking anywhere in the object tree area displays the following context menu rs Add node Add node This is for adding a node underneath the selected object Add 3DData Add 3D data Import shape data This is for adding an object using 3D data from an external source Export shape data Import shape data Cut This is for reading in existing modeling data T ai Export shape data Eee This is for saving the modeling data for the selected node or object as a file Delete Cut Change name This moves the selected object to the Windows clipboard Move Robot Data UA A SV A A Copy Children nodes This copies the selected object to the Windows clipboard Property Paste This inserts the object in the Windows clipboard as a child of the currently selected object Delete This deletes the selected nodes and objects Change name This is for changing the name of the selected node or object Move Robot Data This is for moving all data of Base objects including the robot on the object tree The robot data moves as a child of the selected node or object 92 Chapter 6 Arm 3D View Window Children nodes All objects below the selected node can be expanded collapsed displayed not displayed interference checked not checked Property This displays the property sheets for the selected object B Add but
23. Object Replace Case sensitive O Selection Exact word match G File Replace All Regular expression O Project ignore comments Save Files after Replace All Cancel Target items This field specifies the range of the target to be searched replaced Choose Project to specify the file type Option You can specify various search methods You can also select the files when executing Replace all Double clicking a line in the Search results window displays the corresponding program line 14 Chapter 5 Writing Programs 5 4 2 Other editing functions 5 4 2 1 Jump to This is for moving the cursor to a line specified by number in the Program edit window Operating procedure 1 Choose Edit Jump to to display the eponymous dialog box pro33 pac Input bre number Lo jump to 2 Enter the line number 3 Press the OK button to move the cursor to that line 5 4 2 2 Comment out This submenu command changes the lines selected in the Program edit window into comments Operating procedure 1 Select the lines to comment out 2 Choose Edit Comment Block Comment to convert them to comments dde 0 0 90 0 0 316 08 2 4 0 50 0 0 315 06 J3 0 0 90 0 0 45 00 3 0 0 90 0 0 45 07 CALL aspAGl D6000 0 60 160 07 GALL aspAGL06000 0 80 150 MOWE PJ MOVE F J DELAY 250 6 DELAY 250 MOVE Powe 10 MOVE P de DELAY 250 i DELAY 250 MEWE A P
24. P 88 Dita wa BORK BH 40803Gh tH 40603GA Source andy dit fore mi te BORE HA DIGAN HH d0603GA Source Files ps pnl A ee Oo Oo oo SS A Werning L 3 2 4 11 Search results window This window type displays the results of a project wide search For further details on this output please refer to 5 4 1 Finding and replacing strings P 74 Search Result PROGRAM y Content PROGRAM apad Dimm my eit cri PROGRAM Ane yar PROGRAM 4xI53 PROGRAM CC_Lirk PROSRAM Ceart OPU PROGRAM ClearPP PROGRAM Ceant R Gai PROGRAM Gean PROZZ PROGRAM CranPROZ3 PROGRAM CainPRO2A 1 1 2 3 1 1 5 61 PA gn a 10 1 Bi FE Ri Al PJ E Bi a Ul 0 36 Chapter 3 Starting Up Shutting Down 3 2 4 12 Vision tool window This window type is for configuring visual functions For further details on this window please refer to Chapter 9 Vision Manager P 138 isin Bool o a 2 3 dj 5 6 it B a 10 11 3 Chapter 3 Starting Up Shutting Down 3 2 9 Program view This displays the following window types Arm 3D view Vision monitor and Program edit If there is a robot con troller on line the list expands to include Task and Log windows This area provides a tab interface for switching windows 0 0000 EE 0 0 0 80 00 pad A SL ee 850 LISA 5 E la a p m amp mm This area displays the following window types e 3 2 5 1 Program
25. Pio 550 176 P Enable de ae dE TESTO ILOOPO1 6 I Enable Wii nn F50 TESTO ILOOPO2 PAIS 1 I Enable P be Sree aT GIORAI H PAN ARN INA P Frnahle A Receive button This receives variable log data B Start variable log button This begins logging the variables C Stop variable log button This suspends logging D Clear variable log button This clears saved variable log data E Jump to source code button This displays the relevant program code for the selected log The data recorded in the log is as follows PRO name variable name The name of the program defining the variables and their names e Type The types of variables e Written values e Writing source The device which altered the variables 135 Chapter 8 Logging PRO name line number The name of the altered program and line number e Time since log record start ms e Time since controller boot ms 8 3 6 I O log This records the I O status at the start of logging and subsequent I O changes It is mostly used for checking the I O status safety circuits drive preparations when activating equipment Operating the recording timing can be performed manually using WINCAPS III start buttons etc and records taken from controller power on Only I O with checks in the Log column of the WINCAPS III 1 O screen are logged Log acquisition in programs is not possible IF 1 0 los Sele FB BEA Start Yo og record from RC boot ae h h
26. Program Bank The program bank allows robot applications to share library programs functions originally written for one specific robot or application Program samples are already preset in the program bank For further details on program samples please refer to Programming Manual Il 5 5 1 Adding a program to a project This adds a program from the program bank to a project Operating procedure 1 Choose Project Program Bank to display the eponymous dialog box These programs are listed by category Double clicking a category displays the programs in that category Bina am bar la E l LEA E e ih Sern lee i a WAL Pa etra ae LL sol Speer en MY 1000 Input Output a Aca EE DWH A Corro e e AAA Ani Ciri TS am Colon E o e ICAA rm Sent Ral io A Art Maz T be B WG Vian Eo e A i e Soom 2 Select a program Rancho dvnchronetion wth the eee dewing ouch enoe connected be DTS Foia pa A a A n e E Explanance Tha taternent e the onde d procedure do synchronoe ch the eterna denoe such e ATEN Emt Perra Miri Eip Two tabs switch between the documentation and source code for the selected program Readme tab Proper documentation covers function syntax usage conditions limitations and other particulars Source tab This displays the source code for the selected program 82 Chapter 5 Writing Programs 3 Press the Add program button to
27. Start Line Set Clear Variable Log End Line Single trace Log 31 Chapter 3 Starting Up Shutting Down Chapter 3 Starting Up Shutting Down 3 2 4 Docking view The Docking view area provides tab interfaces for switching between members of windows that the user has docked grouped together Jump Smart View Jump Smart View Styler w State Type Usage eae System input Step stop all t System input Strobe signal Syetam innit Mata awaa hit N A Value Usage 100 v Typel TypeP Type J O Grep Output For further details on docking procedures refer to 3 2 6 Screen operations P 41 Docking is available for the following window types e 3 2 4 1 Project view P 32 e 3 2 4 2 Program list P 33 e 3 2 4 3 Arm modeling P 34 e 3 2 4 4 Arm operation P 34 e 3 2 4 5 I O window P 35 e 3 2 4 6 Variables window P 35 e 3 2 4 7 Tool work area setting window P 35 e 3 2 4 8 Local variables window P 35 e 3 2 4 9 Watch window P 36 e 3 2 4 10 Output window P 36 e 3 2 4 11 Search results window P 36 e 3 2 4 12 Vision tool window P 37 3 2 4 1 Project view This window lists folders and files in the project It has buttons for adding programs importing files and other operations AB C D 2 z SB Project SampleProject A C3 vibration_vsl 3 yib_vsl clearsrymonitor pac pro3l pac S pro32 pac
28. View Window Adding nodes A node may be added anywhere in the object hierarchy Select a node on the object tree right click and choose Add node from the context menu that appears to add a new node as a child of the selected one Grouping the pallet pallet bench and other objects under a common node for example enables copying and pasting them together as a single group 6 2 1 Adding objects The following is the procedure for adding the pallet bench pallet work pieces and other objects to the Arm 3D view window Layout example PU TT f ae ArT JU Vey oe As et ae the 24560 q T P em E E z E ul El 96 Chapter 6 Arm 3D View Window As our example let s start with the pallet bench 1 Choose View Arm View to display the modeling window 2 Specify where to add to the model by selecting a node to be the parent 3 Press the Ol Box button in the Model tree window to add a box to the Arm view window 4 Modify the object to give it a name and a color Change name Right click on the object and choose Change name from the context menu that appears to highlight the name ready for editing Changing color To change the color of an object press the Pick color button in the Model tree window and choose from the palette that appears hr ee See A wan Ee BHeREER Ee Sadat pete ___ Se Se eee E ET EE BEE SE SBE ac opw oel ot CO AS im Scale GH
29. Vision tool Controller Information ToolBar K a Insert Command This is for inserting a command selected from the command input list at the cursor position in the predetermined syntax Project View This displays the Project view window Program List This displays the Program list window Arm View This displays the Arm view window Arm Modeling This displays the Arm modeling window Arm Operation This displays the Arm operation window I O View This displays an I O window in the Docking view area Variables View This submenu displays variables of specified types in the Docking view ar ea Log View This submenu displays Log windows of specified types in the Program view area Tool Work Area setting This submenu displays windows for specifying tools work pieces and ar eas Local This displays local variables in the Docking view area Watch This displays the Watch window in the Docking view area Output This displays output in the Docking view area Search Result The results are displayed when Search replace is executed Vision monitor This toggles display of the Vision monitor window Vision tool This toggles display of the Vision tool window Controller Information This displays basic information of the controller ToolBar This submenu controls the display of toolbars 23 Chapter 3 Starting Up Shutting Down 3 2 2 4 Project menu Project Connect Debug rm Br E AS
30. acidic alkaline or other corrosive material 4 there is a mist 5 there are any large sized inverters high output high frequency transmitters large contactors welders or other sources of electrical noise E For dust 8 splash proof The dust amp splash proof type has an IP54 equivalent structure type but it has not been designed to withstand explosions The HM HS G W and the wrist of the VM VS G W are an IP65 equivalent dust and splash proof structure Note that the robot controller is not a dust or splash proof structure Therefore when using the robot controller in an environment exposed to mist put it in an optional protective box The dust amp splash proof type should not be installed in any environment where 1 there are any flammable gases or liquids 2 there are any acidic alkaline or other corrosive material 3 there are any large sized inverters high output high frequency transmitters large contactors welders or other sources of electrical noise 4 it may likely be submerged in fluid 5 there are any grinding or machining chips or shavings 6 any machining oil not specified in this manual is in use or Note Yushiron Oil No 4C non soluble is specified 7 there is sulfuric cutting or grinding oil mist 3 2 Service space The robot and peripheral equipment should be installed so that sufficient service space is maintained for safe teaching maintenance and inspection 3 3 3
31. and press the Add but ton Input the license key printed on the installation disc label for Light or Trial versions If the user ID appears under License Key press the Close button e Skipping over this license registration process loads WINCAPS III in test drive mode with limited functionality e To register at a later date choose Help License to display the above dialog box Chapter 1 Overview 1 4 4 Uninstalling The following is the procedure for uninstalling this software Operating procedure 1 From the Start menu choose Settings Control panel and then Add or Remove programs F Add or Remove Programs FA Currently installed programs C Show updates Sort by Name y Change or Remove Programs Add New Programs Add Remove Windows Components Pade Sg I a a SICA Cy foun AY ore WINCAPS IN Size 359 00MB Set Program Se Access and Click here for support information Used occasionally Defaults Last Used On 1 21 2010 click Change Remove Change Remove shit auntie 2 Choose WINCAPS lll and then press the Change Remove button to display a confirmation dialog box Contirm Uninstall Are you sure ou want to completely remove INCAPS IIT and all of its features Cancel 3 Press the OK button to proceed with the uninstall operation e Ifa dialog box appears warning of shared files press the Leave all button e Installing WINCAPS III installs also ORIN2 SDK automaticall
32. ane icone 32 Oo F OGM ata LGV oe tear O PE PO E ae mee enedete ss aes 38 PASES ep A 41 Jo QUINA MANGA RS Maia as 49 Chapter 4 Creating a Project oococococcccocnconiconocanonnnconocanenanonons 50 AON OVO IC W iio 50 a S id edo 1 6 E oe oe ee ne E 50 42 Creating a New POC ui di 51 4 9 Opening an EXISUNO PrOJeCt tac linia cibisai 53 AA SAVING PO Odin da 53 do COmiguiing a Projects oia 54 46 Configuring ParametelsS ai data dali 58 AF LINK WEITRoDOt COn tolera sas a as De ec 59 ATA Communications SEWNGS ic rias 59 AZ Data A tae ala 60 4 7 3 Arm parameter data transfer essre e aa a ea ia 63 Lo WSB Tonada di 64 4 8 1 Reading data from USB MeMoOryY ccoocccccncncncocnccnccnncncncnnnnnnoncncnnnnnnnnnnnnnnnnonnnonanennnnnnnnnos 64 4 8 2 Writing data Into USB MEMORY ssuescicanisitaos li dei di 67 A9 A o r A E a 69 CONTENTS Chapter 5 Writing Programs ccooccccccccnconccocncncnnnconononnnconnnnnnnanenanonons 70 Dl Creating a New Progra Mic d wenetintanersensluse tend iiieae tad A A vanadate 70 952 Leveraging EXISHUNG RINGS secchsi es sa e a Ung Sectneeuine Yratuniets 11 So Saving a Progra Mirar died 12 Oe Editing a Prog Mean 73 5 4 1 Finding and replacing StrinGS cccccccccccsccceccceecceeeceeeceueecececaeecaueceueseusssueesaeesseesaass 14 942 Otherediting TUMNCUONSsciicase hikes seot n aa e a a a a Gaceumatoneads 75 A oee ee e T 82 Sol Adding a hOGhaln 10 a Proe Chaani ca 82 5 5 2
33. box Follow the screen instructions to configure the installation WINCAPS 111 InstallShield Wizard Welcome to the InstallShield Wizard for WINCAPS III The InstallShield Wizard will install INCAPS II on your computer To continue click Next i Cancel There are three items to specify 1 Acceptance of the end user license agreement EULA 2 License key input 3 Select the folder where the program is installed The installer may take a while before starting installation of WINCAPS III since it installs components required for communication and 3D drawing prior to WINCAPS III 4 Double check the folder specification and press the OK button Proceed with the install operation WIHCAPS 111 InstallShield Wizard Setup Status WINCAP S IIL is configuring pour new software mnstallation Removing applications Restart the computer if the installation process ends with a message advising you to do so If the required modules are not installed these will be installed prior to WINCAPS III Some modules may require you to restart the computer return to WINCAPS III installation after having done so Chapter 1 Overview 1 4 3 Registering license During installation a License Information dialog box will appear Line me Informailan Peje ber pour License Cry ported on He hence chest Loaner ey Enter the user ID printed on the license included with the product to the License Key field
34. data from the robot controller and displays it B Start control log button This starts or resumes the control log STARTLOG is executed C Stop control log button This stops the control log STOPLOG is executed 128 Chapter 8 Logging D Clear control log button This button clears the currently retained control log CLEARLOG is executed E Jump to source code button This displays the source code for the selected log program F Reverse step in button This reproduction button plays back the control log producing step by step robot motion in the reverse direc tion in the Arm 3D view G Reverse playback button This reproduction button plays back the control log producing robot motion in the reverse direction in the Arm 3D view H Playback motion button This reproduction button plays back the control log producing robot motion in the Arm 3D view I Step in button This reproduction button plays back the control log producing step by step robot motion in the Arm 3D view J Stop control button This button stops reproduction using the control log K Speed control This controls the robot operating reproduction speed in the Arm 3D view subject to testing priority There are two choices e Priority to collision detection Robot movement is reproduced for each log data line For collision detection you can prioritize collision determination with slowed down reproduction e Priority to actual running times Repr
35. dimensions the robot s current position and attitude It is for visualizing robot activity determining the robot s operation range and after adding other objects to the layout detecting collisions with surrounding equipment M Arm 3D View A Current positions This area displays the current values of robot position variables of types P J T and J EX The Arm Display current angles submenu switches the layout here B Work number This area displays the current work number The Arm Work coordinate monitor submenu switches between display non display of the layout here C Tool number This area displays the current tool number The Arm Tool coordinate monitor submenu switches between display non display of the layout here 90 Chapter 6 Arm 3D View Window D Arm 3D view tool bar D 1 Rotate This rotates the view on the screen using a mouse EN D 2 D 2 Fixed view This fixes the current view on the current position D 3 Rotation on Z axis E D 4 This rotates the view on Z axis using a mouse Default AL D 5 D 4 Rotate screen bisection This rotates the view on the horizontal vertical axis D 5 Screen shot This captures the current screen image and saves it as a file D 6 3D screen This switches the screen to the 3D perspective projection mode D 7 2D screen This switches the screen to the 2D parallel projection mode D 8 Move origin This moves the origin of the base coordinates to the center of t
36. edit window P 38 e 3 2 5 2 Arm 3D View P 39 e 3 2 5 3 Vision monitor window P 39 e 3 2 5 4 Log window P 40 3 2 5 1 Program edit window This window type is for editing program and header files Syntax highlighting displays numbers operators comments and other elements in different colors in VLE Sampha E PROGRA HANI EE m tes mm OF 11 170 100 a 250 54 12 170 100 119 190 120 350 07 3 gt 0 100 114 190 120 300 w M2 0112 119 190 120 360 if 0 90 119 100 10 350 10 16 0 0 0 0 0 0 12 CALL A640 DSO 0 80 150 i SFEED D MOVERS Mo MOVER 1r IF IA 38 Chapter 3 Starting Up Shutting Down 3 2 5 2 Arm 3D View This 3D window is for checking robot operation Adding other equipment and devices allows for collision detection 3 2 5 3 Vision monitor window This window displays the image from a camera For further details on this window please refer to Chapter 9 Vision Manager P 138 Vision Monitor Disp Cami Obj Prod 39 Chapter 3 Starting Up Shutting Down 3 2 0 4 Log window If there 1s a robot controller on line this displays log data For further details on such logs please refer to Chapter 8 Logging P 120 all amp Control log UAEM A No Ji Target Ji Encoder Ji Motor Current J1 Motor Load Ratio 32 Target 776 12 12744 12 12744 o 4 631585E 03 25 31067 777 11 69861 11 69861 4 631
37. fields display specify the digitization thresholds for image analysis H Measure This button proceeds with the specified operation Results This radio button lists measurement results J Distribution data This radio button displays the distribution for the measurement results 167 Chapter 9 Vision Manager Chapter 9 Vision Manager What is an edge Window Edge UN V 0 D Q E Absolute UN V V 9 0 ab z lt lt lt Brightness 2 a ee ee A level NCaution Here the Target window range can have the following shapes e Straight line scan 0 or 1 e Rectangle scan 0 or 1 e Sector scan 0 or 1 Position Relative Edge detection point 168 Brightness level An edge is a brightness transition in the specified window a boundary between dark grays and light ones The DENSO uVision board offers edge detection based on brightness levels or on areas For brightness levels there is also a choice of ab solute and relative levels for detect ing transitions Specifying absolute defines transition as crossing the specified brightness level Specify ing relative defines transition as a change in brightness or surface big ger than the specified threshold Chapter 9 Vision Manager 9 2 11 1 Specifying measurement conditions Level Specify the edge detection level The range is 0 to 255 for detection using a brightness
38. for moving the simulated robot in the Arm 3D view window Operation A Ope mode Joint v B work coordinates C Tool Coordinates D Distance 1 mM Robot q 0 00 3 lt gt 0 00 E 3 4 9 0 00 4 4 gt 0 00 5 4 gt 0 00 aaa Ga A Ope mode Select movement mode e Axes operates all axes e XY bisection moves according to the selected work coordinates RX RY RZ rotate around the work co ordinates centered on the tool origin point e Tool moves according to the selected tool coordinates RX RY RZ rotate around the work coordinates centered on the tool origin point B Work coordinates Select work coordinates C Tool coordinates Select tool coordinates D Distance Select the movement quantity unit with the Move position buttons E Move position buttons Moves the robot displayed in Arm 3D view in accordance with the selected movement mode 94 6 2 Chapter 6 Arm 3D View Window Simple Modeling The built in tool is for quick and dirty modeling of the pallet bench pallet work and other objects The Model tree window presents a hierarchical display of the objects in the Arm 3D view The top node is Root which starts out with the following predefined nodes Nodes are virtual items to combine multiple objects and name them PB Base HE V5 65776 J lt frea group gt A lt Work group gt A conv A table Work group This group contains the coordi
39. level absolute or rela tive and 0 to 512 for detection using an area absolute or relative Digitization thresholds Detection using areas requires specifying the digitization thresholds Pixels between the two thresholds become white 1 everything else black 0 Scan direction Specify the scan direction The meaning of Positive and Negative depends on the window shape Rectangular windows Straight line Connecting 2 points Parameter 0 X axis projection Parameter 1 Y axis projection Parameter 2 None Origin Width Positive direction Starting point positive _ Negative direction Ending point Positive direction Negative direction Negative direction lt y _ ____ Sector windows Straight line length Parameter 0 Meridional direction projection Parameter 1 Circumferential projection Parameter 2 None Negative direction Positive direction Origin e eae sa A direction on o wean direction Starting angle 169 Chapter 9 Vision Manager 9 2 11 2 Detecting edges Operating procedure 1 DAUN Choose a target window range to measure Choose the edge detection method absolute relative area relative or area relative Choose the Transition s 0 Black to White 1 White to Black or 2 Both Specify the level Choose the scan direction for scanning in the projection window Positive or Negative Press the Measure button to displa
40. lock The ON setting locks the robot limiting WINCAPS III control to the simulation e I O lock settings These duplicate the teach pendant settings under F4 I O F6 auxiliary functions and F7 I O Lock e External speed settings These modify the Speed Acceleration and Deceleration speed settings adernal speed setting e Automatic mode settings Standard robot controller specifications only The choices are external and internal 115 Chapter 7 Online Functions 7 3 4 Input signal dummy operation Operation of the program can be checked even without peripheral devices linked by dummy alteration of the I O input signal 7 3 4 1 Configuring dummy I O Dummy operation of the I O requires selection of the input signal to be operated Operating procedure 1 Choose View I O Window to display this window in the Docking view area Fiz 390 0 IVY Feet Oy DSIN31 TRY Feet h DSIN32 AVY KiE B2Eyb DSIN33 E b DSIN34 DUINI DUIN2 DUIN3 DUIN4 DUINS DUING DUIN DUINS DUING DUINIO DUIN11 1 0 EJ No RHE 547 Fiz 300 Hail ov AR 544 SAA aN SRE ORY DSINI 545 BRAN IVY ESB BS A DSIN32 546 SAA a B2Ey DSIN33 547 E Say b DSIN34 548 549 550 551 552 DUINI 553 DUIN2 554 DUIN3 555 DUIN4 556 DUINS 557 DUIN6 558 DUIN 559 DUINS 560 DUIN9 561 DUINTO 562 DUIN11 116 Chapter 7 Online Functions If several input signals are set specify the range by dragging and combine them by s
41. no I Os are assigned as shown with in the Type column No I O port number State A green icon 1s displayed when on and gray when off You can switch between on off by clicking on the icon when in Dummy input mode Type Displays the I O type Displays I O port type input output exclusive universal internal hand I O etc Application Users can add comments for each I O port Already input in exclusive signals etc Macro name Input the macro handling the I O as the name inside the program This 1s already input but can be freely changed Dummy Dummy operations are possible for I O with a check in this column Log I O with a check in this column will have a log record The upper limit is 50 at a time 108 Chapter 7 Online Functions Smart Press the Smart view button to display only I O with a check Oscilloscope Displays whether the I O is on off in oscilloscope fashion On off changes can be checked with a time line 7 2 4 Monitoring robot The Arm 3D View window shows the robot s current attitude The trajectory of the robot s hand movements can be displayed This trajectory display can be operated by choosing Arm Movement history Y Arm 3D View J J2 J3 J4 d alt ods y wI E Tvpe J 1816 5954 106 59 529 11 07 E ia q A b M EO b ip S 7 2 59 Errors during monitoring A robot controller error displays a WINCAPS III error message Error occurred al controler 210i
42. or maintenance inspections set working regulations for the assuring worker following items and ensure workers adhere to them adherence 1 Operating procedures required to run the robot 2 Robot speed when performing teaching 3 Signaling methods to be used when more than one worker is to perform work 4 Steps that must be taken by the worker in the event of a malfunction according to the contents of the malfunction 5 The necessary steps for checking release and safety of the malfunction status in order to restart the robot after robot movement has been stopped due to activation of the emergency stop device 6 Apart from the above any steps below necessary to prevent danger from unexpected robot movement or malfunction of the robot 1 Display of the control panel See Section 4 2 on the next page 2 Assuring the safety of workers performing jobs within the robot s restricted space See Section 4 3 on the next page 3 Maintaining worker position and stance Position and stance that enables the worker to confirm normal robot operation and to take immediate refuge if a malfunction occurs 4 Implementation of measures for noise prevention 5 Signaling methods for workers of related equipment 6 Types of malfunctions and how to distinguish them Please ensure working regulations are appropriate to the robot type the place of installation and to the content of the work Be sure to consult the opinions o
43. selected for image processing 165 Chapter 9 Vision Manager 9 2 10 1 Labeling objects Operating procedure 1 2 3 4 9 Choose a target window range to measure Choose the sorting order numerical descending area or ascending area Enter the area cutoff a boundary specifying the minimum size Objects smaller than this setting are ignored Choose the color 0 White or 1 Black Press the Measure button to display the resulting boundaries on the histogram save them in the two boundary fields of the Digitization settings screen and display the results in the Vision monitor window 166 9 2 11 Edge detection This function detects edges within the specified window This measurement uses a projection window Parameter 0 or 1 Edge settings screen Vision tool ale 2 8 58 2 0 Measuring Target Window Detection Method 0 Brightness Absolute Edge Object Black gt white Level 128 0 7MV0OD gt 5 Results O Distribution Gata ES J A Y A m nle Projectwindow Arm operation Vision tool A Target window This field specifies the window range to measure B Method This field specifies the edge detection method C Transition This field specifies the transition defining edges D Level This field specifies the edge detection level E Scan direction This field specifies the scan direction F Digitization upper threshold G Digitization lower threshold These two
44. since Starting Lor 10 STARTTR 0 00 0 00 11 clearlog 0 00 0 00 12 startlog 0 00 0 00 15 takearm 0 25 0 00 18 Do while iL 0 00 0 25 19 GOHO 72400 0 25 20 MO0 iLoc 0 00 T2725 21 delay 1019 25 1212b 22 MOVE F 2444 75 1746 50 2a delay Bl 491 75 4191 25 25 DO WHI 0 00 4683 00 26 LET 0 50 4683 00 af DEP 123 75 beers SS 1 Al AI i al si zi The data recorded is as follows e PRO name line number e Code Program code e Execution time until starting next ms e Time since log record start ms e Time since controller boot ms 133 Chapter 8 Logging 8 3 4 3 Trace logging multi Trace logging mult1 records the command line sequence executed for multiple programs running simultaneously ABCD E amp Trace log FP A No PRO Name Line Numb Code Time since Log Record Ste Time since Controll 447 POSGETO 7 fS02CURSPD O 17601350 1475399 75 448 POSGETO 8 delay 100 1761350 147530975 449 TESTO 25 DO WHILE i 1771350 147540975 450 POSGETO 9 J60 CURINT 1771350 147549975 451 TESTO LETY px 1771350 147549975 _ 452 POSGETO 10 delay 100 17713 75 1475500 00 453 TESTO DEPART 1771400 147550025 454 POSGETO f51 GUREXTAC 1781350 1475599 75 POSGETO delay 100 1781350 1475599 75 TESTO APPROAL 17839 25 147562550 POSGETOI END 1791350 147560975 8 POSGETO PROGRAM pose 1791350 147569975 POSGETO if io20 1 then 1791375 1475700 00 50 POSGETO PSO CURPOS 17913 75 1475700 00 A Receive butto
45. the absc ARRIVE Halt the executior CHANGETOOL Changes the tool i pu CHANGEWORK Changes the user ree CURACC Obtains the currer Obtains the currer Obtains the currer CUREXTACC Obtains the currer y G xecutes the absolute motion designated with the tool coordinate system H APPROACH P P1 0 Fi 5 100 A History Select command from history of previously entered commands B Find Search commands using their names or description C Insert Selected commands are input at the cursor position on the program editing window D Help This displays the Help for the selected command E Command list Commands are listed by category P Parameter List of parameters for the selected command Correct commands can be created by input into the values col umns G Brief description Shows a simple description of the command H Input command display Displays the text inserted for the command including the input parameters 79 Chapter 5 Writing Programs 5 4 2 8 Insert registered character string Allows registration of character strings commonly used in program editing for fast insertion 1 Register character string Operating procedure 1 Press the desired key to which the selected string should be assigned 2 Choose Edit Register string Register string APPROACH P PIO BO Fl 8 100 APPROACH F BO Flo E Cc TD E F D i H I ao E L H HN o F go R 4
46. the application window or just within the current area sot Os DAN A ta Sued E E aL ee Ae Lo pel ee A SL As PU E A A OM Mondor Coourmcac ator oine oe ee LEAT pe a r ie CI Project ate GTEST 00065 5658776 Y OVC Project VERSIO TEST 0 a VOL ds S28 7GcTEST OBOE TobS7TG pa an Fran be Tias eerie Wh enga feed Start A Snapping within application window Your first choice is to move windows to an edge of the application window Operating procedure 1 Start dragging the window s title bar to display the snap icons gt e oe a eS ee SC ee EA co CIJ Passer ALTE z PERT eee TTS A Parait Fii Ha PEST Pph HH f a teem doa Eim i li PS aF TN ese PLOT Pent aged wee Pry F a ad ms Eo y eg Wij t aa Pem 43 Chapter 3 Starting Up Shutting Down 2 Drop the blue window silhouette on an icon in the outer set to move the window against the corresponding edge of the application window Me Jr e Juas sap Ia A Jal A ae Lal o TP af E CE Peet Miah TT TIT des MITTS hs eit Fakhi Hu PETT api TAN j Hj Pi A A t a LA de Pa E E ir FEF ae rp ur vr a jima m a OD iy ym po ea i Aii ana bs peor el ce E a a E E DO RA Sai er it Fa FE E ECA Pes pacer MATT PENT ee TTG Et Pais rut 4 PEST arin FA E Ens a Bei h e St ee i LF m E Liis PALETTE PEI aE rl g Gruas F E es me ii Io p e
47. the crosshair cursor in the corresponding direction 5 Press the Read button to read in the cursor coordinates 145 Chapter 9 Vision Manager 3 Measurement input Find the center of gravity with image analysis and enter the results as the coordinates Operating procedure 1 Display an image in the Vision monitor window Specify the point to edit 3 Choose the Measurement input radio button to display a selection window in the Vision monitor window Move the cursor to the target coordinates with dragging or with arrow keys Moving window with keyboard lt gt T and J keys These four arrow keys move the window in the corresponding direction W and S keys These keys widen and shrink the window respectively H and L keys These keys make the window higher and lower respectively 5 Press the Measure button to display the center of gravity Selection window Center of gravity 6 Press the Read button to read in the coordinates 146 9 2 3 3 2 Chapter 9 Vision Manager Specifying robot coordinates There are the following two ways to enter robot coordinates e Direct entry Directly entering numerical values e Copying variable Copying coordinates from a robot P variable The following are the procedures Make sure that the Vision monitor coordinates and the robot ones refer to the same point Direct entry Double click the x y or z coordinate cell in the Robot area of the calibration data t
48. values actual values e Axis current values Current values in the motors of the axes e Axis load ratios Load ratios in the axes e Regenerative resistance load ratio Regenerative resistance load for relevant models e Program name and Line number e Time since controller boot 8 3 3 1 Secure control log data Control logs are recorded in DRAM where data is lost when power is turned off but can manually be copied to flash memory where it is retained after switchoff Manual copying proceeds by F2 Arm F6 Auxiliary function F11 Control log F7 Save log in the teach pen dant ea a vs 65776 Joint noro z Cont System Message iE Do you want to save log data to flash area Str rLog LFA Cancel OK 6 SaveLog DelLog CF7 CF12 SHORT CUT ee y 130 Chapter 8 Logging 8 3 3 2 Setting the control log recording interval and number You can configure the sampling interval and number of logs control log mode for recording control logs in the ring buffer The number of control logs recorded control log mode is set in 1 24 units of 1 250 1 250 30 000 The sampling interval can be set at 8 16 24 32 ms The default setting records 10 seconds of log in the ring buffer control log number 1 250 sampling interval 8 ms Configuring with teach pendant Press F2 Arm F6 Auxiliary function F7 Usage conditions and enter values for No 22 and No 23 vs 65776 Joint mo
49. variables P 105 105 Chapter 7 Online Functions 7 2 2 2 Confirm the registered watch items This window displays variables from a user configurable list Operating procedure 1 Choose View Watch to display this window in the Docking view area Varable name I 2 I 2 1121 Program list Local variable watch Task This displays the program name Variable name This displays the registered variable names Value This displays the variable values Type This displays the variable types Log Select Valid invalid for the log Select Valid if a log is to apply 7 2 2 3 Checking global variables This window type displays global variables of types I F D V P J T and S Operating procedure 1 Choose View Variables and choose a type from the submenu to add the corresponding window in the Docking view area lype 3 0 0 i O 1124608 128 9574 0 30 89651 135 2 70 68 75302 48 85742 120 80 10349 377 3 g D 30 g 45 4 3 52 60 45 45 72 5 o o O D uA 45 Jump Displays the specified number Smart View Displays only variables with a check in the Smart column 106 Chapter 7 Online Functions No Displays the variable numbers Value Displays the value Application The user can enter the application When the Add comment function is in use text input for the Appli cation is added to the program as a comment Macro name Enter the name of macros usable in t
50. 0 file wrl WINCAPS III does not support the VRML 1 0 format Use VRML 2 0 or VRML 97 format data Operating procedure 1 Select the parent node for adding the object 2 Right click and choose Import modeling data from the context menu that appears to dis play the dialog box for importing such data read 3D data Look in 3D A e g El410365 2670 pubs E 410365 2680_prt wrl E 410811 046 c_prt wel le 41081 1 186 c_prt rl E 410833 0740_prt wrl File name 41 0365 2670_prt wl o Files of type SDD ataFile 1 wil Unit Milimeterimrmn 3 Select a file and press the OK button The default format is DirectX For VRML data switch the file type to VRML wrl The corresponding object appears in the Arm 3D view The units of the data scale may differ according to the software on which the 3D data was created Select the appropriate unit and import 102 Chapter 7 Online Functions 7 1 7 1 1 Overview These functions are for monitoring robot controller variables I O and other aspects of operation and for checking robot controller program operation under WINCAPS III control They cover all phases of robot application development Preliminary investigation with no actual equipment e Equipment layout with 3D modeling Collision detection using this 3D model e Dummy I O input Adjusting initial equipment setup e Modifying variables and I O e Running programs Troubleshoo
51. 2 Configuring Vision Manager P 141 O Capture This button copies the camera image to the processing screen specified on the Camera input settings screen and displays that data in the Vision monitor window P Camera image This button switches the Vision monitor window to the camera number specified with the Camera input set tings screen 140 Chapter 9 Vision Manager 9 2 9 2 1 Configuring Vision Manager Configuring lookup tables Lookup tables specify the camera s input characteristics as well as the display characteristics for the camera image and processing screens Tables 0 to 4 are reserved for system use 5 to 15 are user modifiable Lookup table screen Wision tool A Look up Table Brigt Taben Tablet Table Tabled 255 254 253 252 251 250 249 248 247 246 245 244 g 1 z a 4 z 6 Fi a q pe oN oo em io pap Joon AAA Rd Standard LOOKS Project window Am operation Vision tool A Lookup table Table4 175 174 173 172 172 171 170 170 169 168 168 This area contains the tables specifying characteristics The user modifiable ones start at number 5 B Graph This graphs the characteristics for the currently selected column in the Lookup table area C Save button This button saves search model modifications D Standard table This field 1s for choosing a standard table from a pull down list E Apply This copies the specified st
52. 20 94 Register string Enter Register string Delete Delete string Esc Close 3 Press the desired key to which the selected string should be assigned 2 Insert registered character string Operating procedure 1 2 3 In the Program edit window move the cursor to the line to which the registered string should be inserted Choose Edit Insert registered string Press the key to insert the character string into the program edit window 80 Chapter 5 Writing Programs 9 4 2 9 Add comment function Automatically adds comments to explain the applications of the variables and I O during program editing Comments are added with placed after them If a further comment is added after changing the application description of the I O and variables the content from onwards is updated E test_pac speed 12 clear loz tart loz MOVE P 0 P20 HOVE P 0 P21 move c pel Bp ppp bd timer tt stop loz delay 1000 wait 1o 128 OFF next Loop 25 END a5 RZ FIG O 1 iE Palette A ARAS checks l Seren TST rerer ret ree Bret a A A n roo S 39 07 7MRIA R lefte ld 81 E test pac speed i20 clear log start log HOWE P 20 P20 HOWE P E Pz move c pl Mp ppp 54 timer tt stop loz delay 1008 wait o 128 OFF next Loop check3 7 Palette A ff part fy Palette A Syne LOG Chapter 5 Writing Programs 9 9
53. 256 possible values for each pixel brightness Digitization uses brightness thresholds boundaries to make each pixel either pure white Ex or jet black There are two digitization thresholds Pixels between the two thresholds become white 1 everything else black 0 Before digitization After digitization What is a histogram This graph gives the brightness frequency distribution for pixels within the specified range inside the window showing the camera image Displaying the brightness distribution as a graph histo gram simplifies the task of selecting thresholds for digitizing the image Histograms allow the DENSO pVision board to automatically determine digitization thresholds Figure 1 Figure 2 Lower Upper Lower Upper 0 Br ightness ak threshold threshold threshold threshold Count of pixels Before digitization After digitization After digitization Caution Only rectangular processing windows angle 0 can be selected for image processing 159 Chapter 9 Vision Manager 9 2 8 1 Manually specifying boundaries Operating procedure 1 D OA WH Choose the Histogram radio button to display the Histogram settings screen Select the Processing window to display the histogram calculation window Press the Calculate button to display the histogram Select the Digitization radio button to display the Digitization settings screen Specify the two digitization thresholds and check the lines on the histogram
54. 4 3 5 3 6 3 7 3 8 Control devices outside the robot s restricted space Positioning of gauges Protection of electrical wiring and hydraulic pneumatic piping Grounding resistance Positioning of emergency stop switches Positioning of operating status indicators The robot controller teach pendant and mini pendant should be installed outside the robot s restricted space and in a place where you can observe all of the robots movements and operate the robot easily Pressure gauges oil pressure gauges and other gauges should be installed in an easy to check location If there is any possibility of the electrical wiring or hydraulic pneumatic piping being damaged protect them with a cover or similar item The protective grounding resistance of the robot power supply should not be more than 1000 Emergency stop switches should be provided in a position where they can be reached easily should it be necessary to stop the robot immediately 1 The emergency stop switches should be red 2 Emergency stop switches should be designed so that they will not be released after pressed automatically or mistakenly by any other person 3 Emergency stop switches should be separate from the power switch Operating status indicators should be positioned in such a way where workers can easily see whether the robot is on a temporary halt or on an emergency or abnormal stop Note The UL Listed robot units have mot
55. 585 03 25 27478 778 11 268531 11 26831 4 631585 03 25 24035 779 10 63691 10 83691 4 631443 03 25 2074 700 10 40405 10 40405 4 6514435E 035 23 17354 7al 782 783 784 700 786 3007 9 970093 9 535034 9 09551 5 661254 0 222234 7 FEBSDO1 7 Demni nT 3 970093 3 23034 93 09551 5 6061254 0 222934 7 70081 7 AENA 40 PREL EHA EHRE EHRE EHRE E 4 09144 gt 3E 05 4 6514435E 03 4 651302E 03 4 651302E 03 4 651302E 03 4 651302E 03 41621160 12 eo 14514 23 11554 22 08801 23 06163 2203674 23 01294 aA nmi TF 3 2 6 3 2 6 1 Chapter 3 Starting Up Shutting Down Screen operations WINCAPS III allows flexible customization of menus toolbars and windows on the screen Moving toolbars Toolbars can be dragged anywhere on the screen Inside the toolbar display area they clump together to conserve space SampleProject WINCAPS III gt Project SampleProject Source Files iihkestian siel na Dragging one outside this area however adds a title bar fl SampleProject WINCAPS III Ele Eo We poeet Connect Debug int Jeol Window Heb E 1 ae fi Sy Ca Project SampleProject C3 Source Files E 3 vibration_vsl E vib_vsl clearsrvmonitor pac pro31 pac pro32 pac pro33 pac pro34 pac pro35 pac pro36 pac setmonitorcond pac 3 startsrymonitor pac stopsrvmonitor pa
56. 77G TEST 080657S65776 TEST 0806 Source Files ha 2 7 00 C WC3 Progect 1365 1 GTEST 08606 Y5657G TESTI 0006 Scurce Files RAI Wa 00 zi FSGS 7G TEST 0406 15657 7G TEST D806 Source Files gt ki 12 7 00 95657 7G TEST 0806 56577G TEST O806 Source Files ko TRA Wa Ee WS 3 Pronet ete 0606Y56577G TEST 0606 Source Fa lee ku An error triggers an error message consisting of an indication errork the line number and a brief note in the Output window Double clicking on this message highlights the corresponding line in reverse in a Program edit window nic Undefined name PLTKEENEL Le WORE AM 40 60 3GA aH 40603G4 Source E PAHELCOA PI LER LC BLUITA gt A H 1060364 HN 1060364 Saure Piles pa pnl Varning L e Checking executable operation requires first downloading it to the robot controller with the proce dures in 4 7 2 Data transfers P 60 e To specify file names for executables choose Project Properties to display the project property dialog box and select the Compiler tab 89 Chapter 6 Arm 3D View Window The Arm 3D view window displays in three dimensions the robot s current position and attitude Simulation allows the efficient and safe development of robot control programs without having to connect an ac tual robot During remote debugging the robot arm on the screen responds to program commands 6 1 Screen Descriptions 6 1 1 Arm 3D view This window displays in three
57. A Target window This field specifies the window range to measure B Feature This field specifies the feature to extract surface area center of gravity or principal axis C Color This field specifies the color to use white or black D Digitization upper threshold E Digitization lower threshold These two fields display specify the digitization thresholds for image analysis F Measure This button determines the specified feature G Results This area displays a list of measurement results 161 Chapter 9 Vision Manager What is the brightness integral The brightness integral is the sum of the Window brightness values over all camera image pixels within the specified range in the y oooon window o roo ron froo froo o 2020 00 o 0 20 29 00 i Brightness integral 100 x 13 20 x 12 1540 What is the area The area is a count of pixels within the specified range in the win Window dow having the specified color after digitization black 0 or white 1 The DENSO uVision board implementation combines on the fly digitization and counting making it unnecessary for programs A to first digitize and also leaving the image unaltered on the screen 1 white area 13 0 black area 12 lin What is the center of gravity Camera images portray their subjects as flat so here center of X Window gravity means in the plane The DENSO uVision board deter mines the center of gravity by di
58. Adding a program to the program bank ooocccocccccncocncocnccoccnncnnonononnnoncnonnnnonnnnnnnnnos 83 9 90 39 AQUINO A cateo a A da 84 5 6 Editing a Teach Pendant TP Panelaren 85 9 05 EGIUNG a TP PANE desc vices cia tech lcd aunt 85 Of Folder FUNCIONS cess aig a arent aroe a E o 86 Only Creatina amo A aan 86 9 12 IMPORING aN entire Tolde uri rte detente 87 90 MAKING EXCCULADICS sario ia 88 5 0 1 EME SVM AN eats ccs hcssa leccion 88 5 8 2 Making CXCCULADIC Scola festaaneceatsianesatsceaamacmeesteueses 89 Chapter 6 Arm 3D View WINdOW cooccoccoccoccoccoccoccocconncnnonnonnoanonnonoos 90 01 Screen DESCANSO ee eee 90 SA d assabers asunsten a tenia ws dantsanes ve seatecad ape senoace sobs 90 OL APMUIIMOGGCIING aaa a eee Sta tesi uote 92 OLS FAO DEI raro 94 0 2 Simple Model coo iia 95 Bala AQUINO Sara 96 62 2 SAVING OD OCIS tri nana 100 0 2 0 IMPONG ODIO CUS see torta illa saca a Usa lr 101 0 9 IMPONG D Dala vio io 102 Chapter 7 Online FUNCTIONS ocooccocconcocconcociocconconncanonncnnonnonnonnonnons 103 LT COVE Wire 103 7 1 1 Monitoring and debugging occccocccccccocncccncncnonncnnncnoncnnnononaconncnnnnnnnrnonnnonanonronanennnnnns 103 fa MONO ING ii pta e 104 REZA MANO MONO na ooo idol 104 72 2 MONTON VANIADICS a 105 2 ONO NT VO bdo 108 T24 MONTANO PAI e 109 1220 Errors during MONO iaa di 109 7 2 6 Validate the controller function extensSi0N ooccccocccccccocicocncncncnononanonaconaconnron
59. BackColor This sets the Arm 3D View window background color C Show message when collision is detected Select to display the Collision dialog box when a collision is detected D Type to display collision position Choose the method of displaying the robot s position when a collision occurs 3 When configuration is complete press the OK button Pressing the Cancel button instead discards all changes Moving to another tab does not save changes To save your new settings always press the OK but ton 16 Chapter 3 Starting Up Shutting Down 3 1 2 Programmer password Using WINCAPS III at the programmer level requires logging in with a password Register one with your first login Passwords are case sensitive 3 1 2 1 Registering a password Operating procedure 1 In the Login WINCAPSIII dialog box choose 1 programmer as the user level to enable pass word input Login WINCAPS 11 Log in bo the WINCAPSI Select cer level snd mput password 2 Enter the desired password and press the Login button to display the dialog box for chang ing the password Change password Setting few pind bi Pinase Input new pastword 3 Re enter the new password in the Review new password field and press the OK button to register the password 17 Chapter 3 Starting Up Shutting Down 3 1 2 2 Changing the password 1 Choose Tool Re Login to display the dialog box for logging in Login WINCAPSIII Log into t
60. DENSO ROBOT Programming Support Tool WINCAPSIIT GUIDE Copyright DENSO WAVE INCORPORATED 2008 2010 All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher Specifications are subject to change without prior notice All products and company names mentioned are trademarks or registered trademarks of their respective holders Preface Thank you for purchasing our programming support tool WINCAPS III WINCAPS III is a package for efficiently developing and validating robot operation programs PACs It permits checking of robot operation variables and I O from a computer connected to the robot controller It also supports managing program files as projects storing frequently used programs in program banks and various other program management functions Before using WINCAPS III read this manual carefully to safely get the maximum benefit from your WINCAPS III system After you have finished reading this manual keep it handy for speedy reference Important To ensure operator safety be sure to read the precautions and instructions in SAFETY PRECAU TIONS How this book is organized This book consists of the following SAFETY PRECAUTIONS Defines safety terms and related symbols and provides precautions to be observed Be sure to read this section before operating your robot Chapter 1 Overview Describes the WINCAPS III featur
61. For further details on monitoring global variables please refer to Chapter 7 Online Functions P 103 T Fl Lisage O 1 lindef Reserved D Le Lido Area D interfer nce p n O 1 Linde Area interfengrmme pAr O 1 Undef uba 2 inierference y pire O 1 nde Area 3 interference pare Ole Uindel Area 4 interference pare 0 1 nde Area S interference pare D 1 lindef Area 6 interference par ip O O GO 2 aS oA 5000 00 oe 0 Nif 3 2 4 7 Tool work area setting window This window type 1s for setting tool coordinates work coordinates and area For further details on these coordinates please refer to Chapter 6 Arm 3D View Window P 90 No X z T H ol 0 0 oJ 2 o D 0 3 a D o o ry o 0 o 0 J O O O o 3 2 4 8 Local variables window This window type is for monitoring the selected local variables For further details on monitoring local variables please refer to Chapter 7 Online Functions P 103 lc a ara bir 35 Chapter 3 Starting Up Shutting Down 3 2 4 9 Watch window This window type is for monitoring the values of variables on the watch list For further details on watch lists please refer to Chapter 7 Online Functions P 103 3 2 4 10 Output window This window type displays progress and error messages from the syntax check and compiler For further details on such output please refer to 5 8 Making Executables
62. NCAPS lll Versions oocooocccocccoccncccccconnccncncnonononoss 1 1 3 Product Components and Operating EnvironMent oocccccccocccocicccncncncncncncncncnnnos 2 ISSA Product CANIS el 2 123 2 Operating environment assess e E E a 2 1 3 3 License certificate and user registration ooocccocccocccocnoccncconoconoconnonnnoncnonanonanocanonos 2 1 3 4 WINGAPS IIl trial and light versions vii tl sad 3 1 3 9 Note OM langage oca 3 1 4 Installing WINCGCAPS Uli a a aaia n 4 Ad Before y u Dd te td e 4 1 42 Installing WINCAPS Ml ao coia 4 1 4 3 Registering Icesi ai sdset oda teats amended anuneateds Grteceeienenedecs 6 A A titeataxxteteacet 7 145 Connecting to Robot Controller unica iria dais 8 Chapter 2 Basic Functions and Operational Flow oo oo o 9 201 WINGAPS II Basie FUNCIONS iii ra iia 9 2 2 Steps in Writing Robot ProgramS cooocccccncccnnccocncocononcncconononnnnnnnnnnnonnnnnonnnnonnnonos 10 2 3 User Levels and Access IONES stas teateanstiicuilcessciuauctueeal ste iia caddcas 12 Chapter 3 Starting Up Shutting DOWN occcccccccccoccccnconncccncaninanonons 13 Sl LKoadNng WINCGAPS Ilo crias eos 13 31 1 WINCAP S IiDasiec SCTINGS ste biie 14 3 1 2 Programmer DASSWOl Gigaset E E Sate nee 17 3 2 WINCAPS Ill Screen Descriptions occcocccccncocnconncocncocncconcoonconnnoonnonnnnonnnanonnnos 19 3 2 SOreen COMPONCING id eo c d 19 222 MEROS a laa 21 P Eo MOON AN CP EO O O 30 A e sectae
63. No Camera 2 il ook Up 70 OWD nput Screen Process O A Camera number This field specifies the image source B Lookup This field specifies the lookup table for adjusting the data C Input This field specifies the processing screen to receive the camera image D Apply This button copies the camera image to an image processing screen What is a pixel The pVision board processes an image as an array of dots called picture elements or pixels For storage it handles images up to 512 pixels wide and 480 pixels tall for drawing up to 624 by 480 512 Processing result 480 Er 480 Image processing screen Draw screen What is brightness Each pixel has a brightness one of 256 numerical val 255 ues between 0 and 255 The dark end of this scale is 0 the bright end 255 Image processing screen 148 Chapter 9 Vision Manager 9 2 4 1 Reading in an image 1 Specify the source camera by number 2 Specify the lookup table for adjusting the image 3 Specify the Input screen 4 Press the Apply button to copy the camera image to an image processing screen 149 Chapter 9 Vision Manager 9 2 5 Switching display screens The Vision monitor window switches between three types of images camera processing and draw Screen display settings screen ision tool Display Screen Drawing Mone il Process Screen Camera 1 ook Up 100 OU gt gt A Draw screen This field specifies the draw im
64. Stens COE EFI seno ata 1o root oononer A gt a Y gt a EE ewincarsm Step 1 Load WINCAPS III Launch WINCAPS III For further details refer to Chapter 3 Starting Up Shutting Down P 13 Step 2 Create a project This project contains all necessary data for the target robot For further details refer to Chapter 4 Creating a Project P 50 Step 3 Write robot program Write the robot operation program using the built in editor For further details refer to Chapter 5 Writing Programs P 70 Step 4 Teach operation positions Specify operation positions by manipulating the virtual robot in the Arm 3D view window For further details refer to Chapter 6 Arm 3D View Window P 90 Using simple modeling and importing 3D data creates an on screen simulation for specifying the ro bot s operation range and detecting collisions with surrounding equipment 10 Chapter 2 Basic Functions and Operational Flow Step 5 Compile executables The compiler converts project programs to executables for execution by the robot controller For further details refer to Chapter 5 Writing Programs P 70 Step 6 Send data to robot controller Connect to the robot controller and send it the data necessary for robot operation For further details refer to 4 7 Link with Robot Controller P 59 Step 7 Test program operation debug Use WINCAPS III online functions to examine program flow determine the robot s oper
65. Taj z User Preferences LNo of parameters 405 22 Control log mode 1 23 Control log sampling time NES 24 Efficiency of gravity effect 0 Disabled 1 25 curlmt function cancellation switch Cancel OK CI F5 Change the selection OK Exit with saving WINCAPS III settings Choose Debug Controller Settings Control log acquisition times in online debugging mode Control lop setting Sampling interval Number of samples ams C 16m 24m 32m OK Cancel The most recent 1 250 error trigger logs are secured regardless of the number setting 131 Chapter 8 Logging 8 34 Trace logging single multi Trace logging records the program execution flow and timing There are two types single trace logs for recording single program flows and trace logging multi for recording multiple program flows 8 3 4 1 Trace log recording operations There is no distinction in these operations between single and multi trace logging Using these operations will record single trace logs and trace logging multi for all active programs The following methods are used to operate trace logging e Manual operation buttons Using the buttons on the top of the trace log window amp Trace log Ad PNERFTI 7 e Setting recording ranges in the program Display the program for recording in online mode monitoring or debugging select the command for record ing and set the start and end lines
66. The area required for the robot to work is called the robot s motion space operating space If the robot s motion space is greater than the operating space it is recommended that you set a smaller motion space to prevent the robot from interfering or disrupting other equipment Refer to the INSTALLATION amp MAINTENANCE GUIDE Chapter 2 3 11 No robot modification allowed 3 12 Cleaning of tools 3 13 Lighting 3 14 Protection from objects thrown by the end effector 3 15 Affixing the warning label 3 16 Posting the moving directions of all axes Never modify the robot unit robot controller teach pendant or other devices If your robot uses welding guns paint spray nozzles or other end effectors requiring cleaning it is recommended that the cleaning process be carried out automatically Sufficient illumination should be assured for safe robot operation If there is any risk of workers being injured in the event that the object being held by the end effector is dropped or thrown by the end effector consider the size weight temperature and chemical nature of the object and take appropriate safeguards to ensure safety Place the warning label packaged with the robot on the exit entrance of the safety fence or in a position WARN N G where it is easy to see EA Risk En Do not enter safety fence area Unfallgefahr Nicht den Sicherheitsbereich des Roboters betreten 359 Pa Us oe HS 119 ol SA7
67. This button deletes the selected window 151 Chapter 9 Vision Manager What is a window Here a window means the portion of the image that the uVision board is to process The board remembers the sizes for each window There are two ways to edit windows with Vision Manager and with user programs The board stores window specifications sup plied by user programs in volatile memory so these disappear when the power is removed Target area Window 9 2 6 1 Creating a new search model Operating procedure 1 Enter a number for the window in the Target window field 2 Choose a shape 3 Adjust the window size Moving the window Changing the window size Drag the window outline to move the window Drag a window corner to resize the window pos d Window corner The Window settings dialog box also permits direct numerical specification of window position and size 4 Press the Register button 152 Chapter 9 Vision Manager Projection window Rectangular and sector window shapes add an edge detection direction setting This parameter specifies the scan direction for edge detection Set this to 2 none if edge detection is not used This is the default setting when a window is first created and after a shape change Change this setting to match the measurement method e Rectangular window Parameter 0 X axis projection Parameter 1 Y axis projection Parameter 2 None Origin Height Width No proje
68. a selected in the Program edit window Select All This selects the entire contents of the Program edit window Find and Replace This replaces occurrences of one string with another Jump to This is for moving the cursor to a line specified by number in the Program edit window Comment Block This submenu converts the lines selected in the Program edit window to and from comments Indent This submenu controls indenting of the lines selected in the Program edit window Bookmark This is for working with bookmarks Insert registered string Previously registered character strings are placed in the program Register string Commonly used character strings can be registered in advance and placed in programs through shortcuts Add comment Selecting this automatically adds texts written in the application columns of variables and I O lists to the source code as comments Format code The program code is shaped into a standard form Line indents are inserted and blank spaces inside the code added or deleted automatically Command List Selecting this automatically displays a scrolling list of commands available with auto completion at the cursor position 22 Chapter 3 Starting Up Shutting Down 3 2 2 3 View menu VIEW Project Connect S Project view E Program List Arm View Arm Modeling Ji Arm Operation DO view Variable view Log View Tool orki Area setting Local Watch Cu put Search Result vision monitor
69. able and enter a numerical value Copying variable This method copies robot coordinates from the specified P variable Operating procedure 9 2 3 4 1 Specify the point to edit 2 Move to the P variable field and enter the number for the robot coordinates 3 Press the Read button to read in the coordinates Calibrating A calibration operation calculates conversion coefficients by comparing monitor coordinates with their robot coun terparts for three image features Although WINCAPS III must send calibration data to the robot controller the robot controller stores only the conversion coefficients The conversion library converts robot coordinates using these stored coefficients User programs can also use it to convert Vision monitor coordinates into robot ones Operating procedure 1 Choose the dataset number for the calibration operation 2 Press the Calibrate button to display a Results window e lf an error message indicates problems with coordinate data double check the data for the three features e Adjust the coordinates until pressing the button successfully yields valid coefficients 147 Chapter 9 Vision Manager 9 2 4 Configuring camera input The following is the procedure for copying the camera image to an image processing screen The following screen controls data transfers from the camera to an image processing screen Vision tool am S S A IAC Camera In Camera Input samera
70. add the program to the folder selected in the Project win dow Other programs within the project can then access this program with CALL state ments i Bare Fumio E BE AO Creen apa rro h the pebei drio such a enoe connected bo Di r DATI Pat Wl Pad Format Ie E OW Tot operation dotetAnciat onp agaa chynchonzshon spa MY bwi Input Suip Enpi date The statermand le the standard procedure co eyncheonoe h the miena device euch i thet a Raat Hino deta PMH Ae Compare E ADS Ann Catnip Enote ferns ME eee eee lie 5 5 2 Adding a program to the program bank The following procedure adds a user program to the bank register 1 Choose Project Program Bank to display the dialog box 2 Select the category The first dozen categories with names starting with exclamation points DW00 to DW11 Miscellaneous are locked so choose another category To add a new category refer to 5 5 3 Adding a category P 84 3 Press the Add program button to display the Add title dialog box se th Sonne lee 27 Mal Paleta En i Tan cope ain gt y ADO Prout output detal Al don dc rei Br Cole Ath Carte rr Cen 07 Apra Sola barro Dat Fa my r Pl di Wien Bae 83 Chapter 5 Writing Programs 4 Enter a title for the program and press the OK button Add Title Please input mew title 5 Fill out the two tabs For the Source tab copying the content
71. age to display B Camera amp processing This field specifies the camera image or processing image to display C Lookup This field specifies the lookup table for adjusting the image D Apply This button switches the Vision monitor window to the specified image Caution Image analysis automatically changes the Draw screen setting on this settings screen to Draw screen 1 to display its results there If the current setting is Draw screen 0 however the setting changes to Draw screen 0 1 9 2 5 1 Switching the Vision monitor window display 1 Select the Draw screen field and specify the draw image to display Select the Camera processing screen field Specify the lookup table for adjusting the image AUN Press the Apply button to copy the camera image to an image processing screen 150 Chapter 9 Vision Manager 9 2 6 Editing a window To edit robot controller window settings WINCAPS III must first read in their current values Edit window settings screen ENEE Sma g A Object window B Shape Line between 2 P C Set Window Starting Point X Starting Point Y Ending Point A Ending Point Y Camera Tryout Cam Image A Target window This field specifies the window to edit B Shape This field specifies the window shape C Window settings This area lists window settings D New Creates a new window E Save This button saves window modifications F Delete
72. andard table to the selected column in the Lookup table area 1 Select a column in the Lookup table area 2 Choose a standard table from the pull down list 3 Press the Apply button 141 Chapter 9 Vision Manager 9 2 2 Editing a macro name This is for editing macro names and application for windows and search models Defining macros allows programs to use substitute the macro name for its content A macro name must be in single byte characters Using other characters renders that portion ofthe macro definition file unavailable to programs Edit macros screen ision tool 5 1 mm a ee MacroEdit A C Window O Search Model Mo Usage 1 2 3 4 6 7 8 Registrabias B A Macro scope Specify the macro s scope B Save This button saves modifications to the macro Operating procedure 1 Specify the macro s scope with a radio button Window or Search model Double click a cell to highlight its contents for editing An empty cell has only an cursor Enter the application or macro name AUN Press the Register button A macro name must be in single byte characters 142 Chapter 9 Vision Manager 9 2 3 Calibrating The Calibration settings screen manages thirty two sets of calibration data numbered 0 to 31 A calibration opera tion calculates conversion coefficients by comparing monitor coordinates with their robot counterparts for three image features and saves both the so
73. ation range and detect collisions with surrounding equipment Modify the program to eliminate any problems detected Repeat the compile debug cycle until no such problems remain For further details refer to Chapter 7 Online Functions P 103 e WINCAPS III directly controls robot controller program operation e Trace logging allows efficient validation of multitasking and other complex program flow as well as easy analysis of interactions with other programs e 1 0 logging simplifies timing adjustments with neighboring equipment for use in optimizing oper ation and reducing cycle times Step 8 Back up data Use WINCAPS III to save the robot controller s internal data in projects For further details refer to 4 7 2 Data transfers P 60 Step 9 Exit WINCAPS III For further details refer to Chapter 3 Starting Up Shutting Down P 13 11 Chapter 2 Basic Functions and Operational Flow 2 3 User Levels and Access Rights WINCAPS III s two user access levels operator and programmer ensure data security by limiting access to ad vanced functionality and sensitive data The user specifies which on the log in screen when WINCAPS III first starts For further details on logging in refer to 3 1 Loading WINCAPS III P 13 Operator level Level enabling PAC program creation editing and other basic operations It blocks changes to WINCAPS III settings It does not require a password Programmer level Leve
74. aws zko EZS PALS This screen shows standard I O assignment mode 118 Chapter 7 Online Functions 2 Select desired items from the pull down lists for Command field and Data field 1 and input appropriate values in Data field 2 Odd parity is automatically set DIF 13 Tee Bt 101544 547 ody odd T A 101520 527 527 520 T ABRE 1O 528 543 MOMO SHEE PERE Ba 543 523 F rotal Eure AED Trekta p Pa 3 Press the Command set button The on off status of the Command field Data field 1 Data field 2 and Odd parity are reflected in the robot controller 4 Press the Strobe button The robot controller strobe signal will turn off then on again and the command will be executed 119 Chapter 8 Logging Various types of logs can be recorded for robot operations and viewed or saved This data can be put to use to search out the causes of errors and remedy them to shorten cycle time Recording times saving fields and acquisition methods differ according to the type of log The number of logs recordable is decided by log types The number and intervals fineness of control logs and servo data logs can be set The three types of memory fields for recording log data are as follows e DRAM Data will be lost in this field when the controller s power is switched off e SRAM Data is retained even when the power of the controller is switched off though it will be lost if the me
75. ay lamp indicating automatic operation is lit during automatic operation Steps to be taken when a malfunction occurs Stop the robot s operation by activating the emergency stop device when it is necessary to enter the safeguarded space with a safety fence to perform emergency maintenance in the case of malfunction of the robots or related equipment Take any necessary steps such as posting a notice on the start switch to indicate work is in progress to prevent anyone from accessing the robot Do not perform repairs outside of the designated range Under no circumstances should the interlock mechanism be removed When opening the robot controller s cover for battery replacement or any other reasons always turn the robot controller power off and disconnect the power cable Use only spare tools specified in this manual 5 Daily and Periodical 1 Be sure to perform daily and periodical inspections Before In tion starting jobs always check that there is no problem with the ll robot and related equipment If any problems are found take any necessary measures to correct them 2 When carrying out periodical inspections or any repairs maintain records and keep them for at least 3 years 6 Management of 1 Carefully handle and store the Initial settings floppy disks packaged with the robot which store special data Floppy Disks exclusively prepared for your robot 2 After finishing teaching or making any changes alway
76. c vibration pac aspacld pac genten pac hani pac jltest pac kiseki pac konpou pac kurikaesi pac prol8 pac pro20 pac Procedure To drag a toolbar grab its end tab or title bar shown in red below 41 Chapter 3 Starting Up Shutting Down 3 2 6 2 Changing window layout WINCAPS III s flexible layout allows you to freely move its windows anywhere within its application window and to snap them vertically or horizontally to an edge within the application window or just the selected area The Docking view area provides tab interfaces for switching between members of windows that the user has docked stacked together within their own display area 1 Grouping window for display Docking adds a freestanding window to another window to form or expand a group Just grab the first window s title bar shown in red and drag the blue window outline to the second window s title bar A tab then appears below the stacked windows to indicate successful docking Type P Jump Smart View Get Position Move TO Grep Program The drag destination is the title bar Dropping anywhere else produces normal window overlap 42 Chapter 3 Starting Up Shutting Down 2 Snapping windows This operation moves the selected window up against the specified edge The first step 1s grabbing the window s title bar to display the snap arrow icons These offer two choices snap with in
77. ck the tab containing the desired configuration option The dialog box has the following three tabs General tab Option setting A Project y Save folder C Documents and Settings jaralMy Documents B When loading it the last window arrangement is restored 4 Trace Log display PAC Commands D Debug Function R wW Enable online debug mode OK Cancel A Project This field specifies a folder for saving projects This becomes the default folder for saving new projects B When loading it the last window arrangement is restored Opens project with the program window and 3D view window in the same place as when last closed C Log Selecting this check box adds a Code column displaying souce code to the Trace log window Note that large logs can take considerable time to display D Debug function Selecting this check box enables debugging e Leaving it deselected disables all debugging functions so selecting one during online operation triggers an error message e WINCAPS III always starts with debugging disabled 14 Chapter 3 Starting Up Shutting Down Option setting Font name Courier New Front color a Be Align back color Default setting Tab width C Replace tab to space Use auto indent Editor tab A B C D A Font _ Automatic grammer check at window close Delete comment except For REM statement when Add com
78. cters is prohibited in file names e g program names and project names Using any of those characters results in an error during file transfer between WINCAPS III and the robot controller or during loading or compilation in the robot controller Single byte characters Double byte characters o b B Y E MM kK t2 HR 7 s2 fH FF TG ti He IK aR xz HS He CR BE GH te Se RE ot MR Um GH Me We eS th mM a Al BX HR fh By me WR R RA E a f CI E E CS 177 Chapter 10 Appendices 178 DENSO ROBOT Programming Support Tool WINCAPSIII GUIDE First Edition June 2008 Third Edition April 2009 Fourth Edition March 2010 DENSO WAVE INCORPORATED 2M C The purpose of this manual is to provide accurate information in the handling and operating of the robot Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have for generally improving the manual In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual
79. ction e Sector window Parameter 0 Meridional direction projection Parameter 1 Circumferential projection Parameter 2 None No projection 9 2 6 2 Editing a window The following is the procedure for editing a window Operating procedure 1 Enter the window number in the Target window field to display the settings for the window specified on the Window settings screen and display the image in the Vision monitor win dow 2 Adjust the window size 3 Press the Register button 9 2 6 3 Deleting a window 1 Enter the number of the window in the Target window field to display the settings for the window specified on the Window settings screen 2 Press the Delete button 153 Chapter 9 Vision Manager 9 2 7 Editing a search model To edit a robot controller search model WINCAPS III must first read it in Search model settings screen Vixion togi A B Offset Angle Model Size Byte Remaining Site Byte C A Target model This field specifies the search model B Model settings This area displays information on the current search model for editing C Save This button saves search model modifications D Delete This button deletes the search model The offset angle field is not available when the robot controller does not support angle measurements 154 Chapter 9 Vision Manager 9 2 7 1 Creating a new search model Operating procedure 1 Enter a number for the new s
80. data receivable only Set log data in flash fields and so on using Log acquisition settings Parameter All parameter data Includes parameters in the Parameter editing screen There are five types of data for parameters as follow Arm parameters Parameter on movement of the robot e Path tab e Config tab e Servo tab I O parameters Parameters concerning I O e I O tab e DNet master tab Program parameters Parameters concerning programs e Program tab e Interpreter tab Communication Communications settings parameters receivable only e Communication tab 60 Chapter 4 Creating a Project Vision Parameters concerning visual functions e Vision tab Vision All visual tools data Select Screen data settings on the Transfer data screen Configuration All configuration data calset values etc Some items will not appear in the list of transferable data due to WINCAPS III settings or robot con troller specifications Operating procedure 1 Choose Connect Transfer data to display the bidirectional transfer dialog box iranse dala WAS IE Controller CH Local deta canned Eg Propan CR Program COJE Source fie JR tours te TO Executable Fie Map Me Ch variates CMP Variable Le Toot Work Area Fa Lo CUF Tool Work Anse A a E iLO Fese A Controber 192 1480 a OID Prania PRA Configqurston KGS casti 2 Select the data source s Selecting the WINCAPS III c
81. dataset number Enter the Vision monitor coordinates For further details refer to 9 2 3 2 Entering the Vision monitor coordinates P 145 4 Enter the robot coordinates For further details refer to 9 2 3 3 Specifying robot coordinates P 147 Calculate the coordinate conversion coefficients For further details refer to 9 2 3 4 Calibrating P 147 144 9 2 3 2 2 Chapter 9 Vision Manager Entering the Vision monitor coordinates There are the following three ways to enter the Vision monitor coordinates e Direct entry Directly entering numerical values e Cursor input Marking the corresponding point in the Vision monitor window with the cursor e Measurement input Finding the center of gravity with image analysis The following are the procedures Direct entry Double click the x or y coordinate cell in the Vision monitor area of the calibration data table and enter a numer ical value Cursor input Indicate the corresponding point in the Vision monitor window with the crosshair cursor Operating procedure 1 Display an image in the Vision monitor window 2 Specify the point to edit 3 Select the Cursor input radio button to display the crosshair cursor in the Vision monitor window Crosshair cursor 4 Move the crosshair cursor to the target coordinates with dragging or with arrow keys Moving crosshair cursor with keyboard gt T and Y keys These four arrow keys move
82. debugs programs stored inside the robot controller Operating procedure 1 Double click the program to execute in the Project or Program list window to display it in the Program view area 2 Choose Debug Start a Task to display a confirmation dialog box WINCAPS III Do vou wank to run the program FOLDERO1 TEST a Single cycle Continuously 3 Select an option and press the OK button to run the robot program as specified The robot will operate following the program s commands The Arm 3D view 1f open tracks actual robot operation E Pu a a a a pa ETET AN et sane YS ae oe MISA AA TEA A AA A E a i A i a is AA ch XA When debugging supervisory tasks from WINCAPS III the following functions are used e Step in Step stop e Halt e Program reset e Toggle breakpoint Note that stop commands to all programs such as Emergency stop and Reset all programs cannot stop supervisory tasks 114 Chapter 7 Online Functions ACaution The WINCAPS III buttons are useless if the computer crashes or the communications link is lost To ensure safety always stay within reach of an Emergency stop button on the teach pendant the mini pendant or the equipment 7 3 3 Controller settings Debugging allows WINCAPS III to modify the robot controller s operating settings The following settings are accessible e Motor These control power to the corresponding motor e Machine
83. e MOVE Pua i ENG To reverse this operation select lines and choose Edit Comment Block Decomment 19 Chapter 5 Writing Programs 5 4 2 3 Indent This submenu command indents the lines selected in the Program edit window into comments Operating procedure 1 Select the lines to indent 2 Choose Edit Indent Indent to indent them Je 40 0 90 0 0 310 J3 0 0 90 0 0 45 CALL aepAGlDS000 0 80 150 MOVE P J DELAY 250 MOWE FJ DELAY 250 OF 0 0900 0 311 06 13 0 0 90 0 0 45 oF lik sspAGLD6000 0 80 1504 Ts MOVE F J DELAY 250 MOVE Pyle DELAY 250 MOVE Pw MOVE Py wd END To reverse this operation select lines and choose Edit Indent Unindent 5 4 2 4 Bookmark This submenu command is for setting a bookmark on the line under the cursor or moving the cursor to a bookmark 1 Setting a bookmark The following is the procedure for setting a bookmark on the line under the cursor Operating procedure 1 Move the cursor to the line on which to set the bookmark 2 Choose Edit Toggle Bookmark to set the bookmark or if there is already a bookmark there delete it Bookmark OO Je 0 090 0 0 316 8 00 900 046 FP OALL sspAC LOG000 0 80 1 50 MOYE PAM DELAY 250 DELAY 250 MOWE PJ DELAY 250 MOVE P 3 12 END M VE P fz 11 DELAY 250 if MOVE P B 13 END 2 Moving to a bookmark There are submenu commands for moving the cursor to a line with a bookmar
84. e Save project as This creates a folder under a specified name and copies all current project data into the folder When executing Save project as specify a folder name other than the current project folder name and all folder names contained in the current project folder 99 Chapter 4 Creating a Project 45 Configuring a Project Operating procedure 1 Choose Project Properties to display the property sheets for the project 2 Click the tab containing the desired configuration option for the settings 3 When configuration is complete press the OK button Pressing the Cancel button instead discards all changes Moving to another tab does not save changes To save your new settings always press the OK but ton The dialog box has the following five tabs Robot info tab This displays project information Property 110 Robot 7 Type ys 6577G Type Displays the robot type 94 Chapter 4 Creating a Project Communication setting tab This specifies the communications link to the robot controller plus communications options Property Robot info Communication setting Compile Variable jo Device Ethernet O Rs 232C IP address 192 168 0 7 O Specify the IP address of the local machine O Specify the port number of the local machine Timeout 3000 Ms Retry f 3 times OK Cancel Ethernet Enter the robot controller s IP addres
85. e out limits 28 Chapter 3 Starting Up Shutting Down 3 2 2 9 Window menu Mindo Help Close Window Close All Windows Cascade v ndowsC Tie Boriz ntaly Tie Vertically Window List Show al hidden prados Hide il Reset window layout 3 2 2 10 Help menu Help WINCAPS IIT quide License Version Se Close Window This closes the program or header file selected in the Program view area Close All Windows This closes the following Program view window types Arm 3D view Vi sion monitor and Program edit Cascade windows This stacks all windows of the above types so that they overlap each other with the title bars visible in the Program view area Tile Horizontally This lines up all windows of the above types horizontally in the Program view area Tile Vertically This lines up all windows of the above types vertically in the Program view area Window List This submenu lists all windows of the above types currently open in the Program view area Show all hidden windows This restores a minimized window to the original size Hide all This minimizes all windows in the Docking view area to maximize the Pro gram view area Use this to maximize the Arm 3D view window or Pro gram edit window Reset window layout This returns windows to the default layout WINCAPS III guide This shows the WINCAPS III help License This shows the license information Version This shows the versi
86. eaching malfunction and perform any other necessary measures 1 Check for any damage to the sheath or cover of the external wiring or to the external devices 2 Check that the robot is functioning normally or not any unusual noise or vibration during operation 3 Check the functioning of the emergency stop device 4 Check there is no leakage of air or oil from any pipes 5 Check there are no obstructive objects in or near the robot s restricted space SAFETY PRECAUTIONS 4 5 Release of residual air pressure 4 6 Precautions for test runs 4 7 Precautions for automatic operation 4 8 Precautions in repairs Before disassembling or replacing pneumatic parts first release any residual air pressure in the drive cylinder Whenever possible have the worker stay outside of the robot s restricted space when performing test runs 1 At start up 4 Stay out of the safeguarded space with a safety fence when starting the robot in particular take extra caution in Internal automatic operation Before starting the robot check the following items as well as setting the signals to be used and perform signaling practice with all related workers 1 Check that there is no one inside the safeguarded space with a safety fence 2 Check that the teach pendant and tools are in their designated places 3 Check that no lamps indicating a malfunction on the robot or related equipment are lit Check that the displ
87. earch model in the Target field 2 Adjust the search model shape and offsets Moving the window Changing the size Drag the window outline to move the window Drag a window corner to resize the window Window corner Changing offset Changing the offset angle Drag the crosshairs to adjust an offset position Drag the long arm of the crosshairs to adjust the offset angle 3 Press the Register button 155 Chapter 9 Vision Manager 9 2 7 2 Modifying a search model The following is the procedure for editing a search model Operating procedure 1 Choose the search model to edit from the list box to display its data on the Model settings screen and display it in the Vision monitor window 2 Adjust the search model shape and offsets 3 Press the Register button 9 2 7 3 Deleting a search model Operating procedure 1 Choose the search model to edit from the list box to display its data on the Model settings screen 2 Press the Delete button 156 Chapter 9 Vision Manager 9 2 8 Registering digitization The following give the procedures for specifying or determining digitization thresholds The Register digitization settings screen offers four choices for determining the optimal thresholds manual spec ification calculation with mode method discriminant analysis and p tile threshold calculation Radio buttons switch this screen between Histogram settings and Digitization settings Digitiza
88. easier to un derstand and encourages compartmentalization enhancing program portability to other projects 5 7 1 Creating a folder 1 Select the parent the folder in the Project window to hold the new folder Project window es Sorte Pes 2 Choose Project Folder New to create a new folder and select its name for editing Project window ca Project best 5 Source Fies a _ 3 Enter a name for the folder This folder name can be modified at a later date 86 Chapter 5 Writing Programs 5 7 2 Importing an entire folder Importing a folder 1s much faster than importing the files one at a time Operating procedure 1 Select a folder in the Project window 2 Choose Project Folder Import to display the Browse folders dialog box and specify the folder to import Browse For Folder Select the Folder bo import 1 English i HP LI OR 1 Program Files 1 swsebup i teleRobot 1 test Ey WC3 Data O Wca Project l Y WINDOWS E OK Cancel 3 Press the OK button to copy the selected folder as well as the files inside to the target fold er selected in the Project window If the target folder already contains a file with the same name however a dialog box asks permission to overwrite it 87 Chapter 5 Writing Programs 5 8 Making Executables 5 8 1 Checking syntax The following procedure runs a syntax check on the selected program The target is the f
89. ed as Reserved for exclusive input Switch the Dummy check boxes off before using 117 Chapter 7 Online Functions 7 3 4 2 Input signal on off operation Press the Status lamp of the input signal to be turned on off When lit green it is on when gray it is off azaan a E aig 790 TV ESR 0E SINE TT RAR BE OSING2 TV ARE BEZEY A DSIN33 TIVA BY DSIN34 DUINI DUIN2 DUINS DUIN4 DUINS DUING DUIN DUINS DUINS DUIN1O DUIN11 Sd QUA A A KKM KEK 7 3 4 3 Exclusive input signal on off operation DIO command viewer In debugging exclusive input signals can also be dummy operated With monitoring non exclusive input signals can be dummy operated Dummy I O configuration is the same as for other input signals but on off can be operated through the DIO com mand viewer as well as the standard method The DIO command viewer can be used when the I O assignment mode is Mini I O exclusive or Standard Com mand and data fields are automatically turned on off in response to the I O command functions For I O commands refer to the Command Execution Input Output Signals of the RC7M Controller Manual or the Command Execution Input Output Signals standard mode exclusive of the RC7M Controller Option Equipment Manual Operating procedure 1 Choose Tool DIO command viewer DIO 13 TPB 101544 547 547 544 T 25880 10520 5627 BOGE MAMAS 1 FOSS uty heat 327 320 T ASB 1O 528 543 543 o 528 A roma s
90. electing Enter dummy check or Remove Dummy check using the mouse right button menu 23H NA E EE Fi SAAN ayy ESB BOY SRA IVAR BIE yb TV RSE BEY h IV PRE BEY DUIN1 DUIN2 DUINS DUIN4 DUIN5 DUIN6 DUIN DUINS DUINS DUINIO DUIN11 EJ Ae 7008 544 3AN IFY FE BOE h DSINS1 reno ener 545 JAAN JVKA Sie DSIN32 MC 546 SAAN RU PRE 2v DSINGS iy Saar Re 54 BAA E b DSIN34 548 u EAE 549 MO EEN 550 5 oorovais3 ELI z on sel ee st BE iosia 553 ARAJN DUIN2 554 ABAD DUIN MICA 555 ARAN DUINA MI 0 559 NAAN DUIN MO somero 559 AEAN DUINE Mia 7 560 ARAN DUIN9 ETE 3 Press the Dummy input button to reflect the dummy I O settings in the robot controller Press the Dummy input button again to remove the robot controller dummy I O settings 1 0 a i BE 790 RHL 04 AR H IZY RARA Oy DSIN3I Y go E IV PR Bley DSING2 Y TV PAE B2Ey DSIN33 Y IT Eset tyh DSIN3A4 wi DUINI DUIN2 DUIN3 DUIN4 DUINS DUIN6 DUIN DUIN8 DUIN9 DUINIO DUIN11 KIR RI R RHE KHE EHE K e If communications errors occur using DeviceNet or other field networks dummy input settings cannot be made unless field network display error settings are 1 Default Refer to Field Network Display Error Parameters in the RC7M Controller Manual Option Equipment Manual regarding such display errors e Dummy I O settings are not possible for applications list
91. es product components operating environment and installation procedure Chapter 2 Basic Functions and Operational Flow Describes the basic functions operational flow and editor categories of WINCAPS III Chapter 3 Starting Up Shutting Down Describes the WINCAPS III starting up and shutting down procedures its windows tools and menus Chapter 4 Creating a Project Describes project creation methods settings and data processing Chapter 5 Writing Programs It also describes the auxiliary functions and control functions for program creation Chapter 6 Arm 3D View Window Describes operation of arm 3D viewing and handling 3D data to check for collisions with peripheral equipment Chapter 7 Online Functions Describes the online functions monitoring and debugging of WINCAPS II Describes monitor functions for checking robot status and debugging functions to directly debug robot controller programs on your PC Chapter 8 Logging Describes the log functions of WINCAPS III Describes error logs operation logs control logs and other types and log acquisition timing using such devices as error triggers Chapter 9 Vision Manager Describes vision functions using the UVision optional viewing device for WINCAPS III Chapter 10 Appendices Contains related information SAFETY PRECAUTIONS SAFETY PRECAUTIONS Be sure to observe all of the following safety precautions Strict observance of these warning and caution indica
92. ety precautions to be observed for the robot system The installation shall be made by qualified personal and should confirm to all national and local codes The robot unit and controller have warning labels These labels alert the user to the danger of the areas on which they are pasted Be sure to observe the instructions printed on those labels Instructions printed on the label Risk of injury Never enter the restricted space For UL Listed robot units only Risk of injury This label alerts the user that pressing the brake release switch could drop the arm Risk of electrical shock Never open the controller cover when the power is on Never touch the inside of the controller for at least 3 minutes even after turning the power off and disconnecting the power cable Risk of injury Be sure to perform before starting servicing lockout tagout Turning the power ON when a person is inside the safety fence may move the arm Causing injuries SAFETY PRECAUTIONS 3 Installation Precautions 3 1 Insuring the proper installation environment E For standard type and The standard and cleanroom types have not been designed to cleanroom type withstand explosions dust proof nor is it splash proof Therefore it should not be installed in any environment where 1 there are flammable gases or liquids 2 there are any shavings from metal processing or other conductive material flying about 3 there are any
93. f defined IO variables Dim table Sets the size of working range for registering information on array variables The numerical value of this table is equal to the number of array variables that can be defined Free chain Sets the size of working range for registering information address link This is the range used for solving label addresses jumping address of branch and loop commands and global variables Name table Sets the size of working range for registering information concerning label and other names This is the range used for registering information on reserved words and user defined labels etc 96 Chapter 4 Creating a Project Variable tab This specifies the number of variables used Set 1t to match the number of project variables used by the robot controller Property Robot info Communication setting Compile used size Type stg Type Pi Type E Type J Type D sol Type I Type Y Types I O tab This specifies I O assignments and I O options For further details on I O specifications settings for each device refer to the Option Equipment Manual Property Robot info Communication setting Compile Yariable I O Assign a A Mode minilo Options There is no option to this device 57 Chapter 4 Creating a Project 46 Configuring Parameters Operating procedure 1 Choose Project Parameters to display the parameter configura
94. f related workers engineers at the equipment manufacturer and that of a labor safety consultant when creating these working regulations 4 2 Display of operation To prevent anyone other than the worker from accessing the start panel switch or the changeover switch by accident during operation display something to indicate it is in operation on the operation panel or teach pendant Take any other steps as appropriate such as locking the cover 4 3 Ensuring safety of When performing jobs within the robot s restricted space take workers performing any of the following steps to ensure that robot operation can be jobs within the robot s stopped immediately upon a malfunction restricted space 1 Ensure an overseer is placed in a position outside the robot s restricted space and one in which he she can see all robot movements and that he she is devoted solely to that task An emergency stop device should be activated immediately upon a malfunction Do not permit anyone other than the worker engaged for that job to enter the robot s restricted space 2 Ensure a worker within the robot s restricted space carries the portable emergency stop switch so he she can press it the emergency button on the teach pendant immediately if it should be necessary to do so 4 4 Inspections before Before starting work such as teaching inspect the following commencing work items carry out any repairs immediately upon detection of a such as t
95. from drive ROBOTPRIRoot Folowing fiider 080900100 Write data into drive This field specifies a drive for writing into a USB memory ROBOTPRJ Root This radio button is for writing the entire project file into a USB memory Following folder This radio button is for specifying a folder in the project and writing data held in the folder into a USB memory When writing data into a USB memory first open a target project and then start the FDTool wizard The wizard cannot select an unopened project 67 Chapter 4 Creating a Project 2 Click the Next button FOTool ver 2 703 Select objactwe cata Al progam data Al variable data AN DIO data arm data wf All vision chata All log data Select target data Selecting these check boxes specify data to write into the USB memory To write all data click the Se lect All button 3 Click the Next button to write the specified data into the USB memory Upon completion of writing the following dialog appears FOTeol ver 2 703 al A fe A The time stamp of the written data wh be 20030901111323 l 68 Chapter 4 Creating a Project 49 Print Project data of various types can be printed out Operating procedure 1 Choose File Print to display the Print dialog box 2 Print Print object Options DA v5 65776 001114 S Source file Program list E Variable 14 1 0 mapping Page Setup A Tool Work
96. g License for Service The User ID on the license identifies your copy of this product It is required for after sales service so file the license for future reference 2 User Registration User registration holds the key to our efforts to provide the best possible after sales service Registration en sures timely arrival of notification of technical enhancements and upgrade availability Procedure To register as a user use the web address given on license Chapter 1 Overview 1 34 WINCAPS Ill trial and light versions WINCAPS III is available in the trial and light versions in addition to the product version Trial and Light Versions Difference from Product Version WINCAPS III Light version This comes with the optional mini pendant purchased Unavailable functions Printing arm player Plus 3D data import monitoring interval set ting a part of program bank WINCAPS III Trial version This comes with the robot set purchased Unavailable functions Only a program named PRO1 pac is editable e The trial and light versions show Trial and Light on the status bar at the bottom of the screen respectively e Entering the license key of the product version to the trial or light version makes it available as a product version 1 3 5 Note on languages Use the same language for WINCAPS III and the robot controller Otherwise different encodings can lead to the following problems when receiving data from the robot c
97. g Meij P de bum 44 Chapter 3 Starting Up Shutting Down Snapping within current area Alternatively you can snap within the Program view Docking view or other area Operating procedure 1 Start dragging the window s title bar to display the snap icons a ey ey it ee oe saa EE CETT 7 SE A E A m fe ss A AE E i a d 4 i Rew E i _ i i se 1 Lal ath O OOO e jE Ps cet A E A T TG A 4 at a Em m i E E Aa PA HE PES gt FAA T Akif re hi A pee T Fil SST es a Lt PS E iF j 14 Peet Pe Pa ra i Fra er 7 me E F sjm a h su 2 Drop the blue window silhouette on an icon in the inner set to move the window against the corresponding edge of the current area CATE A T a TT E i papai A A NE Mi A Psm eee ee MES a A ied eee PRCT TS Fan tee ae Po f arua 7 al A a O ay egm r al held oom ASE 45 Chapter 3 Starting Up Shutting Down ua e de a neces CE A Prpa PARTO Te PET de MATT ki Ei Jaisa Faki na FEES apii MAA TE g E R ins E me lr Et ithe LPS im Premi BALD H EPA ra Hp DEES E _ eg l bum AR TS 46 Chapter 3 Starting Up Shutting Down 3 Minimizing Docking view area This operation minimizes the Docking view area to maximize the Program view area se e e dd AMA AAA IARAA e A dd i Tet eee re ees Bod ai PTT ITTF drithra Operating procedure 1 Click the EJ icon on the right end of t
98. g WINCAPS III or the teach pendant E Trace log No PRO Name Line Numb dd PASA FT 7 Ma c G vse Jint noto r Program List No of programs 6 Dir folder 1 MPRO101 pro1l 1 pa Yes Yes Enable PROS protean Yeo Yeo free PROYO4 proton es ve treble XDGETPALT er TN _ StrtLog _ Stoplog _ Clrtog Cancel Close this window Cr e Recording by program commands Settings are available to start stop log records or clear them in programs This is used when you wish to record a particular operation in a program The three commands used are STARTLOG STOPLOG and CLEARLOG It is also possible to determine the range of logging by specifying program lines in WINCAPS III e Error trigger log A record log is saved in flash memory when a specified error occurs Error logs operational logs control logs and trace logs multi are available This is used when searching for the causes of errors Errors specifiable by the error trigger are of two types those specified by error level and those of a particular error code 121 Chapter 8 Logging 8 1 1 Recording by program commands The timing when logs are recorded can be controlled by program commands the teach pendant and WINCAPS III for control trace single trace variable servo single axis data logs These logs use a memory field called a ring buffer The ring buffer has a set capacity and overwrites its oldest data with the latest
99. gging online 2 Wait for monitoring to start A status bar appears to display the current monitoring status Y 5557 7G TEST WINCAPS jil When connection for online operation is complete WINCAPS III windows automatically display robot controller internal data Returning online brings you back to the project in the PC The received log data also remains in the PC project 104 Chapter 7 Online Functions 7 2 2 Monitoring variables There are three window types for monitoring variables 7 2 2 1 Adding variables to the watch list There are two ways to monitor variable s contents directly selecting 1t to temporarily display its value as pop up tip text and adding it to the Watch list Operating procedure 1 Double click a program in the Project or Program list window to display that file in the Pro gram view area TF rear m 04 31 0 0 0 0 0 0 0 E I I 1 0 LL POS Tea O 5000 0 00 13 CALL Sta Gavoi LIELA T Fa A Current step line Highlighting indicates the current program line B Variable contents The contents of the currently selected variable appear as pop up tip text 2 Select a variable and choose Debug Show Quick Watch to display this dialog box Qui arch Thik LORA Wirvable gt XML Wal 0 iSe 140 5574 0 905551 lt b 3 Press the Register button to add the selected variable to the Watch list For further details on Watch window settings refer to 7 2 2 Monitoring
100. gitizing the pixels within the spec ified range in the window and then counting either black 0 or white 1 ones This center of gravity has both x and y coordi nates Subject Center of gravity What is the principal axis angle Camera images portray their subjects as flat but a subject can have its major axis length rotated relative to the viewing plane The minor axis width is perpendicular to this axis The DENSO uVision board defines the angle 0 from the plane s x axis to the subject s major axis as the principal axis angle The DENSO uVi sion board determines this angle by digitizing the pixels within the specified range in the window and then counting either black 0 or white 1 ones Major axis Minor axis Window Subject 162 Chapter 9 Vision Manager 9 2 9 1 Extracting features 1 Choose a target window range to measure Choose the feature area center of gravity or principal axis Choose the color 0 White or 1 Black A 0 Press the Measure button to display the resulting boundaries on the histogram and save them in the two boundary fields of the Digitization settings screen and display them in the Vision monitor window 163 Chapter 9 Vision Manager 9 2 10 Labeling This function labels objects within the specified window This procedure uses the thresholds specified with the Register digitization settings screen Labeling settings screen aja 3 2 8 eeo sae Labeli
101. he Docking view title bar A SampleProject WINCAPS III ot TITLE Prosi 02 PROGRAM PROS1 GS takearm a ann ANA The operation minimizes the Docking view area showing the tab instead as shown below ll SampieProject WINCAPS Ill eS ea ee ee Se ee Se eS Ses Joro31pec pros2par Tal Arm 3D View Fi bro dl pa pe Mb More ll S Arm 30 View 03 takearm 04 31 0 6 90 0 0 0 08 12 25 0 90 9 0 04 sd PAAD B pio 32 pac s mover 0 ITITLE Prosz aa pELAy cog 42 PROGRAM PROS 7 CALL Seth QU takes u CALL Clears es 34 0000 00 1 pasresd ST ASpACLD 5000 0 80 1 1 fa Le PA A Chapter 3 Starting Up Shutting Down 2 To temporarily display the minimized window in the Docking view area so that it overlaps the Program view area as shown below click the tab shown in step 1 ot 2 NE ae ee PA sasa Manika qe r e lt rim Al ca e e To minimize all windows in the Docking view area select Window Hide all e To restore a minimized window in the Docking view area to the original size display the mini mized window and click the EJ icon on the right end of the title bar To restore all minimized win dows to the original size select Window Show all hidden windows from the Window menu 48 Chapter 3 Starting Up Shutting Down 3 3 Quitting WINCAPS III Operating procedure 1 Choose File Exit to quit the program If a project is already being edited the confir
102. he WINCAPS IIT Select user level and input password 3 Enter three passwords the current password in the first field and the new one in the other two 4 Press the OK button to update the password 18 3 2 3 2 1 Chapter 3 Starting Up Shutting Down WINCAPS lil Screen Descriptions Screen components WINCAPS III uses the following general screen layout WINCAPS Ill offers the user considerable flexibility in rearranging screen elements to match the needs at hand For further details on screen customization refer to 3 2 6 Screen operations P 41 The screen shots in this document use the default layout so may not necessarily match what appears on your screen wl 4 HHI y Er J E A mu A EHE f A Menus This area displays the following ten menu items available in WINCAPS III e File menu e Edit menu e View menu e Project menu e Connect menu e Debug menu e Arm menu e Tool menu e Window menu e Help menu For further details on menu items refer to 3 2 2 Menu items P 21 19 Chapter 3 Starting Up Shutting Down B Toolbars This area displays the following six toolbars that provide user alternate access to most menu items with button icons Standard toolbar Edit toolbar View toolbar Link Mode toolbar Debug toolbar Log toolbar For further details on toolbars refer to 3 2 3 Toolbars P 30 C Docking view The Docking view area displays var
103. he object or node to export 2 Right click and choose Export data from the context menu that appears to display the Browse folders dialog box Browse For Folder Select save folder 11 Program Files gt sweetup LO teleRobot 1 test D WC3 Data WES Project 1 SampleProject 15 S5ampleProgect 15 Backup E Modal Data al Make New Folder oK cana 3 Select the target folder and press the OK button All objects contained in the selected nodes objects are also saved 100 6 2 3 Importing objects Chapter 6 Arm 3D View Window The following is the procedure for reading in modeling data exported from another project Operating procedure 1 Select the parent node for the data 2 Right click on the object tree and choose Read shape data from the context menu that ap pears to display the dialog box for selecting a file to import Select shape data Look in Ey HANDO Esp rts LL EIHANDOL PT3 My Recent Documents Desktop My Documents de hy Computer Pe name HANDOTPTA My Network Files of type Shape data pt3 3 Select a file and press the OK button Selection is limited to shape files pt3 101 Cancel Chapter 6 Arm 3D View Window 6 3 Importing 3D Data The following is the procedure for adding an object using 3D data from an external source The following formats are supported e Directx file x e VRML 2
104. he project Smart check box Only those variables checked will be displayed 7 2 2 4 Checking local variables This window type displays local variables for the currently selected program Operating procedure 1 Choose View Local Variables to display this window in the Docking view area Variable name Displays the variable names Value Displays the value Type This displays the variable types 107 Chapter 7 Online Functions 7 2 3 Monitoring I O The I O window shows the current I O states Operating procedure 1 Choose View I O Window to display this window in the Docking view area Smart View g Ele No Stat Type Usage Macro Dummy Log Smart Oscilloscope Es System input Step stop fall t SINI an y m cad System input Strobe signal SIN2 wi IM System input Data area bit O SINS L Beane eR System input Data area bit 1 SIN4 O E El DUO A UN System input Data area bit 2 SINS F H ERERERREN System input Command area SING O O C DU IM System input Command area SIN POBRE Men DI A tt E o 1 a 3 4 gi 6 7 System input Command area SINS Jump Displays the I O of the specified number Smart View Displays only I O with a check in the Smart column Oscilloscope display button Turns on off the Oscilloscope display Dummy input button Dummy input is possible for I O with a check in the Dummy column Hide unused field button Pressing this button hides unused fields fields to which
105. he project name B Project file This file with file extension wpj contains data on the project overall Double clicking this file opens the corresponding project File extension wpj C Project data folder This folder holds the data for the project Its name becomes the project name D Backup folder This folder holds backup copies of robot controller related data including the power on time Receiving data from the connected robot controller automatically creates this folder E Modeling data folder This folder holds 3D modeling data for the project F Remote files folder If there is a robot controller on line the software spools robot controller files here G Source files folder This folder holds the programs header files and teach pendant TP panels for the project The Project window displays its contents 90 Chapter 4 Creating a Project 4 2 Creating a New Project WINCAPS III provides a wizard for creating a new project New projects are created using the following two methods e Select robot type manually for creating a new project This method can be used when the robot is not linked Used for creating projects in advance of robot installa tion when designing equipment etc Match the settings with the controller to link to Errors will occur during linking 1f the settings do not match e Get information from the controller for creating a new project If the robot and the controller are set up
106. he screen D 9 Whole object This resizes the display to show the whole object D 10 Change view X This shows the display viewed from the X direction D 11 Change view Y This shows the display viewed from the Y direction D 12 Change view Z This shows the display viewed from the Z direction D 13 Change view X This shows the display viewed from the X direction D 14 Change view Y This shows the display viewed from the Y direction D 15 Change view Z This shows the display viewed from the Z direction D 16 Help This shows the operating procedure in the right corner of the screen Moused based viewing operations e Rotate Left button drag e Pan Left right button hold drag e Zoom Right button drag Moused based robot object operations e Select Left click e Move object view to the center of the screen Shift left click e Object full screen display Alt left click e Move Ctrl Left click e Move in a straight line Coordinate axis Left button drag e Rotate Ctrl coordinate axis Left button drag 91 Chapter 6 Arm 3D View Window 6 1 2 Arm modeling This window is for adding tools work pieces obstacles and other objects to the equipment layout in the Arm 3D view window using 3D data from either the built in simple modeling software or external sources Model tree W5 6577G J lt Tool group gt J lt Area group gt A J lt Work group gt C B D E F
107. he teach pendant or WINCAPS III or through program operations and error triggers The recording timing of the program is controlled using the STARTLOG STOPLOG and CLEARLOG com mands For further details refer to Programming Manual 1 Grid display ABCDEFGHIJKLM E Contrcl loz Beles gt it MN Are No it Target Eg Encoder i Motor Current J1 Motor Load Ratio 2 Target B Encoder a 5 648804 5 837036 6 026733 6 21643 9 6 405761 6 595459 6 785156 6 974497 7 164155 7 353882 5 648804 5 837036 6 026733 6 21643 6 405761 6 595459 6 785156 6 974487 7 164185 7 353882 E oo oo Coo CO Oo 00 0 5473602 0 5473602 0 5473436 0 5473436 0 5473436 0 5473436 0 5473268 0 5473268 0 5473268 0 5473268 17 16284 18 39111 19 62817 20 8656 22 10266 23 34009 24 37715 25 81458 27 05163 28 28906 17 16284 18 39111 19 62817 20 8656 22 10266 23 34009 24 57715 25 81458 27 05163 28 28906 0 L Oo Ot Ore Ord O 7 543579 7 543579 0 5473101 29 5 29 52612 Graph display ABCDEFGHIJKLM P EBS 8 Control log O wt Target position Encoder position Motor current Motor load ratio N ursor position s Program PLDERO1 PRO101 Q line 5 O rawing axis 74 0 008 Target position 41 178 Encoder position 41 178 Motor current0 000 Motor load ratio0 264 4 R A Receive button This receives control log
108. heck box sends data to the Controller selecting the Controller one receives Selecting multiple sources is perfectly acceptable 61 Chapter 4 Creating a Project 3 Press the Send or Receive button to display a confirmation dialog box WINCAPS 111 12 Data of PC will be Updated Are you sure you receive the data Transfer dela Masa deta Teanchered dem GQQvbration vs Neral al cesar raro par 24 prod pac 2 pros pac 2 poti par aj pro pac al prod pte dal A A 2 setmontirc nd pac A harli viria par a stoprmontw par 2 mbrabion pac D era pa A genteni pac al hari pac all iton pe COT Receiving data from the robot controller updates the WINCAPS III project data nullifying any program updates in the interim NCaution When transferring data to the robot controller close the Program List window or the Select Variable Type window if opened on the teach pendant beforehand otherwise the controller cannot load map files or executable files transferred from WINCAPS III Ae id nue an a 62 Chapter 4 Creating a Project 4 7 3 Arm parameter data transfer The arm parameters contain a CALSET value deciding the robot s particular position data CALSET values are included when transferring arm parameters from the robot controller to WINCAPS III but not vice versa in order to prevent overwriting If you wish to transfer arm parameter data including CALSET values to the robot controller
109. ile in the currently active Program edit window Operating procedure 1 Select the program to check 2 Choose Project Check Syntax to run the check and display the results in an Output win dow Cit put gt WC3_Project S6577G TEST 0806SVS6577G TEST G806 Source Fileswi A syntax error triggers an error message consisting of an indication errore the line number and a brief note in the Output window Double clicking on this message highlights the corresponding line in reverse in a Program edit window Wo 0 AMORES HA 4060 3GA HH 4 05 03G4 Source Files prol pac 4 Line 51 Undefined none 1d Ab eo Instruction not conform to format LET EJL AR ji PORE HM 4060364 BM 4060I64 5o0urce Files pltdesocnt pac There is an option for automatically running this check on the program after each save Choose Project Properties to display the project property sheets and look for it on the Compiler tab 88 Chapter 5 Writing Programs 5 8 2 Making executables This batch operation applies to all files in the project The update is conducted for all programs registered in the project Operating procedure 1 Choose Project Compile to update the executables for the project An Output window in the Docking View window tracks progress and error messages from the compiler ith E iSe 776 TEST 0006 SE5776 TEST 0606 Source Filoes az AA ARSS TEST 00 065657 7C TEST 0606 Source Fi les ge TE a if 7 00 St WS65
110. in log operation is saved in flash memory If the log is non empty a special symbol O appears on the first line of this dialog box 123 Chapter 8 Logging 8 2 Acquisition of log data Log data retained in the controller can be retrieved by the following methods e Data transfer in WINCAPS III Log data checked in the robot controller is retrieved into WINCAPS III in the data transfer screen LS Transfer data WINCAPS III Controller Hs Local data Y5 65776 001114 md 14 Controller 10 6 233 7 a Program a Program ES Source file CEA Source file PIES Executable File Map file IAS Executable File Map file Ja Variable 4 variable 4 Tool Work Area 4 Tool Work Area EP Parameter a la 4 Control log 4 Error log wf al Operation log Fla Variable log y al 110 log Fla Trace log wf al Single joint control log Fa Communication log Fla Version information E Parameter Log setting e Transfer using the WINCAPS II log screen Log data is received and displayed by pressing the Receive button in the log screens displayed by WINCAPS III Not for single servo data logs amp Operation log No Date Time Client 141200412 Tsamsy TP e Retrieval of log data using USB memory Log data can be retrieved from the controller to USB memory DRAM or flash memory can be selected as the retrieval source for control logs For further details refer to the Operating Guide 124 Chapter 8 L
111. ious types of information windows showing the results of a project wide search compile error messages variables and I O values etc For further details on the Docking view refer to 3 2 4 Docking view P 32 D Program view The Program view area displays the source code Arm 3D View window etc For further details on the Program view refer to 3 2 5 Program view P 38 20 Chapter 3 Starting Up Shutting Down 3 2 2 3 2 2 1 Menu items The following describes each WINCAPS II menu item File menu Ele Edit View Project E Mew Project LS Open Project Close Project g Save Project import Export ted Save pro33 pac Cris S48 POIs ee Az Print Recent Project Exit co New Project This is for creating a new project Open Project This is for opening an existing project Close Project This closes the currently open project If the project has program edits or other unsaved modifications a dialog box asks whether you wish to save them Save Project This saves the currently open project Save As Project This is for saving the currently open project under a new name It creates a folder under a specified name and copies all current project data into the folder Import This is for reading in csv files containing variables and log data exported from other projects Export This exports variables I O values and log data in standard csv format for use by other application
112. k Operating procedure 1 Choose Edit Bookmark Next Bookmark to move the cursor downward from the current po sition to the next bookmark To move the cursor upward choose Edit Bookmark Previous Bookmark instead 76 Chapter 5 Writing Programs 3 Clearing bookmarks There is a menu command for clearing all bookmarks Operating procedure 1 Choose Edit Bookmark Clear Bookmarks 9 4 2 5 Command candidate function As you type a command a command list will appear Ctrl Space key will also display the command list The command list will automatically scrolls to the first match Typing CA for example highlights CALL prel pac PROGRAM Pro CA ED BLOBCOP ELOGLABEL ELODMEASUARE GUTZER CALL Mes gati Selecting a command on this list displays a functional description to the right Double clicking one inserts it in the text 17 Chapter 5 Writing Programs 5 4 2 6 Insert command function The Insert command submenu lists commands by function Selecting a command on this list inserts 1t into the program being edited Operating procedure 1 Move the cursor to the insertion position 2 Choose Edit Command Input to list the commands by function Indert h Bol s Dedaratrme statement F m ani ali b Leonel Staten 4 Command List Sj Femme nac hanip E jlbest par i5 hselo pac E konpou pac Fobot Othears 5 hurikaesi pac 10 control statement E 18 pa abro Multita
113. l enabling changes in project settings and other higher operations It allows changes to WINCAPS III settings It requires a password For further details on setting this password refer to 3 1 2 Programmer password P 17 Differences in functions due to user levels are as follows Function Operator Programmer Creating a new project Writing editing programs Data transfers Online monitoring debugging functions Addition of controller function extension Altering project properties Altering parameters Reading writing arm parameters Only communications settings can be changed Changing user levels while WINCAPS III is running requires returning to the dialog box for logging in 12 Chapter 3 Starting Up Shutting Down 3 1 Loading WINCAPS III Operating procedure 1 On the Start menu choose All Programs DENSO FACTORY WARE WINCAPS III WINCAPS Ill to display the dialog box for logging in Login WINCAPSIII Log in to the WINCAPS IIT R Select user level and input password User level cia v 2 Specify user level and password The user level choices are 0 operator and 1 programmer The latter requires a password 3 Press the Log in button to load WINCAPS III 13 Chapter 3 Starting Up Shutting Down 3 1 1 WINCAPS lll basic settings Operating procedure 1 Choose Tool Option to display the dialog box for configuring such software options 2 Cli
114. lared in TITLE xxxxx Usage This displays the usage status of the program 39 Chapter 3 Starting Up Shutting Down 3 2 4 3 Arm modeling This window is for arranging objects in the Arm 3D view window For further details on modeling in the Arm 3D view window and Arm modeling please refer to Chapter 6 Arm 3D View Window P 90 Preece free n lt Tool group gt J lt bresgroup gt A dark group Modo 4 0 0414 10 0 0 Mama 565776 Display istection Property E wf Protect Wendaw Model bres Arm operator 3 2 4 4 Arm operation This window is for moving the simulated robot in the Arm view window For further details on operating the robot in the Arm view window please refer to Chapter 6 Arm 3D View Win dow P 90 Operation Ope mode el Work coordinates Tool Coordinates Robot Ji A gt 0 00 q A Ar A cy 34 Chapter 3 Starting Up Shutting Down 3 2 4 5 I O window This window type is for monitoring I O and editing For further details on monitoring I O please refer to Chapter 7 Online Functions P 103 State Type System input Step stop al tasks n System input Data area bit O Stem input Data area bit 1 System input Data area bit gt System input Command ares btO SING Duron keti Pnirrnand aos bit 1 Eri 3 2 4 6 Variables window This window type is for displaying global variables Listing or editing is possible
115. ller Boot ms 15 13 15 TP 1010 Speedset 4540643 00 2009 12 15 09 18 TP 1004 Mode set 4304198 75 1 2009 12 15 09 14 TP 1004 Mode set 4299370 25 y 2009 12 15 09 11 TP 1004 Made set 4297023 00 2009 12 15 03 55 TP 1004 Made set 3980815 75 2009 12 15 02 25 TP 1015 cnfPAC 17 3891218 50 2009 12 15 02 07 TP 1004 Mode set 3873247 75 8 2009 12 15 02 01 TP 1015 cnfPAC 17 3867084 50 2009 12 15 01 03 TP 1004 Mode set 3809094 75 O 2009 12 14 51 02 TP 1008 Mode set 3207466 50 11 2009 12 14 47 31 TP 1004 Mode set 2996666 25 412 2009 12 14 44 34 TP 100A Mode set 2819226 75 13 2009 12 14 44 22 TP 1004 Mode set 2807666 25 Y A Receive button This receives operation log data from the controller and displays it The following items are recorded for the data e Date time e Client The device that was operated is recorded TP Teach pendant PC WINCAPS III etc PC I O I O SYS Sys tem e Operation e Time since controller boot 127 Chapter 8 Logging 8 3 3 Control log A record of the robot s control including movement of axes current values load ratios etc This is useful in the following cases e Checking robot behavior within a specified range e Checking the age deterioration of the robot e Approximating the minimal load on the motor by predicting load ratios The control log recording time can be set by specifying the recording interval and number of records Recording can be made manually from t
116. mation dialog appears WINCAPS III Do you want to save the project All the edited data is lost when closing without saying the project Show extra information Don t Save Cancel The edited changes can be selected and saved by pressing Show extra information WINCAPS III Do you want to save the project All the edited data is lost when closing without saying the project Hide extra information Please check Following Files to save The editing contents of the File which are not stored are lost File prod pac prod pac prola parc 5 Don t Save Cancel Save button Overwrites the project Don t Save button This button deletes the edited changes Cancel button Cancels the quitting procedure and reverts to the previous WINCAPS III screen 49 Chapter 4 Creating a Project 4 1 4 1 1 Overview WINCAPS III manages the programs parameters variables and other data for each robot as a separate project Folders A project uses the following file hierarchy a Projector oa A ee A Project file ooooooocaoncaonnnannionninnnnincnncannnnencniecenee B O Project data folder cee ee ee eee eee c CJ Backup older o D nl Modeling data older menie E CJ Remote files folder F ram Source files folder G A Project folder This holds all files for the project Its name becomes t
117. ment OK Cancel This area specifies the font type and size for Program edit windows B Code color This area specifies the colors for highlighting text in the Program edit window Select the text type then choose text color with Front color and surrounding color as Back color C Tab This area specifies the tabs for Program edit windows D Others Selecting this check box automatically runs a syntax check on the selected program before closing the Program edit window Select the check box to delete comments other than those in REM for Adding Comments Communication tab Option setting A Monitor sampling time Y Robot R s A 00 msec gt _ Programi D _ 1100 msec Others O 1100 msec B Data send option Data send setting CALSET data C A Monitor sampling time OK Cancel This area specifies the intervals at which to monitor robot controller operation B Data send option The options in this area configure data transfers to the robot controller 15 Chapter 3 Starting Up Shutting Down Arm tab Option setting General Editor Communication Arm View Moving tracks usd poi A g 10 Ba Point B BackColor E Y Collisian C Ll Show message when collision is detected Type to display collision posit Type J A Moving tracks Sets the point numbers for the robot operation trajectory displayed in the Arm 3D view window B
118. mory backup battery fades e Flash memory Data is retained even when the power of the controller is switched off even if the memory backup battery fades The types of logs usable in WINCAPS III are as follows Log name Error log Acquisition timing Regularly saved Acquisition inter val When errors occur No saved 1 000 Data record memory SRAM Error trigger log Operation log Regularly saved When operational event occurs 1 000 SRAM Control log Manual program Select from 8 16 24 32 ms 1 250 to 30 000 DRAM Trace logging multi Manual program Command execu tion 10 000 DRAM Single trace Log Manual program Command execu tion 10 000 DRAM Variable log Manual program Log opening up date of values 1 000 DRAM T O log Manual Log opening up date of values 1 000 DRAM Joint servo log for particular joint Program Select from 1 8 ms Control log data can be manually copied to flash memory 120 1 250 DRAM Chapter 8 Logging 8 1 Log record timing Logs are recorded at four different times as follows e Regular recording Error logs and operational logs are regularly recorded 1 000 logs can be recorded for each with the latest 1 000 being retained e Manual recording by WINCAPS III or the teach pendant Recording can be started and stopped manually usin
119. mpatible with the controller cannot be used In addition match the version of the output code selected in the Project Properties select Property from the Project menu and use the Compile tab displayed in the dialog box to that of the robot controller software con nected to The following functions cannot be used with versions older than Ver 2 6 of the robot controller soft ware e Certain log functions trace log single multi variables log I O log e Online debugging functions For versions of robot controller software prior to Ver 2 0 use WINCAPS II Chapter 1 Overview 1 3 1 3 1 1 3 2 1 3 3 Product Components and Operating Environment Product components Your WINCAPS III package should contain the following items Software WINCAPS III Installer Product CD ROM License certificate The WINCAPS III license is written on this The reverse is a user registration card Instruction manual printed versions optional WINCAPS III Guide this document The software Help function contains the WINCAPS III Guide this manual Operating environment WINCAPS III requires the following computer environment to operate effectively Operating System Windows XP or Vista CPU Pentium 4 or later Memory 512 megabytes or more Hard disk drive 500 megabytes or more free Others A graphics processing unit GPU is recommended for displaying 3D data License certificate and user registration 1 Retainin
120. n Trace log multi data is received from the controller B Start trace log button This begins trace logging C Stop trace log button Logs the currently recorded log data D Clear trace log button Clears the trace log data E Jump to source code button This displays the program code for the selected log The data recorded is as follows PRO name line number e Code Program code e Time since log record start ms e Time since controller boot ms 134 8 3 5 Variable log This records changes overwriting of variables Chapter 8 Logging Variables registered in Watch are recorded You can set whether to record variable log in the Log column of the WINCAPS III Watch screen Recording of variable logs can be operated through setting the log recording range in the WINCAPS III program screen Command statements can also be used The following three commands are used for these operations e STARTVARLOG e STOPVARLOG e CLEARVARLOG For further details on commands please refer to the Programming Manual ABCD E E Variable log BEE RAA E I 1 No PRO Name Variable Ne Type Written Value Write Sour PRO Name Line Numk Time since BF PAG POSGE n 1141375 95 P50 P 546 3154 162 PAC POSGETO 5 1151425 96 F50 F 100 PAC POSGETOI 7 1161375 97 J50 J 18 26587 67 7 PAC POSGETO1 9 111375 98 TESTO ILOOPO2 pp e a Watch 99 TESTO PX a oe Program Varable name Value Type Log GLOBAL
121. n from controller information make settings only for 1 Project name and lo cation and 4 Link type e The last four can be modified at any time but not the first three e Project name and location e Robot type e Robot controller options e There is a basic setting that specifies where WINCAPS III saves new projects For further details on these settings please refer to 3 1 1 WINCAPS III basic settings P 14 e Do not check the Customer specifications check box displayed by Robot controller options for standard robots Use for robots with special specifications with a for the robot type 3 When a Complete button appears on the screen press it to display the new project 92 Chapter 4 Creating a Project 43 Opening an Existing Project 1 Choose File Open project to display the Open dialog box Look in Ey WINCAPS3DATA N E v5 6577G 00011 UE C 5 657 7GEX 0011 My Recent Documents My Documents ds hy Computer My Network Files of type Project file wipi spi i Cancel e The following two types of files can be opened WINCAPS III project data File extension wpj WINCAPS II project data File extension spj e Ifan existing project is currently edited the confirmation dialog appears asking whether or not to save unsaved modifications 44 Saving Project The File menu offers two ways to save the current project e Save project This saves the currently open project
122. nates for eight work pieces Work0 to Work Selecting the Display check box in the Model tree window displays the current coordinates in the Arm 3D view window The work group node relative positions reflect the Work coordinate settings Choose View Tool Work Area Settings Work to display this window for modifying these settings Work0 cannot be edited on the base center IP IA MA IMA a ARAS E E Mc Mo E EA A Monitor Communication Offline A AA MAA MAN BS ee ee Armoperati n ES Tal Arm 3D View Operation mode 8 Arm 3D View Ope mode sey v Work coordinates works v Tool Coordinates TooLo Flange vw Distance 10 Robot potition qa 273 J Y 9 sss 2i 32 2 46 9 79533 Ri Ea 176 04 A 0 0735 RY RZ 5 141 24 76 A Tuna T Tuna O Tuna T Wark Tool group This group contains the coordinates for sixty four tools Tool0 to Tool63 Selecting the Display check box in the Model tree window displays the current coordinates in the Arm 3D view window The tool group node relative positions reflect the Tool coordinate settings Tool0 cannot be edited on the base center Area group This group contains the coordinates for 32 areas Area0 to Area31 Selecting the Display check box in the Model tree window displays the current coordinates in the Arm 3D view window 95 Chapter 6 Arm 3D
123. nnncnnnnos 110 SD o A A 111 7295 Maung debugging as iosa o 111 7 3 2 Launch the program from WINCAPS lll ooccocccncccncconccncocncocncnanoncncnnnocononnnnnos 114 Al A o E eng tnaeaeeeee he 115 7 3 4 Input signal dummy operation sencian a siseueddnageelladat atlas Gavllseeiiiedss 116 Chapter Logging sessions i 120 Beli LOG record TIMING eisai a ra iia 121 8 1 1 Recording by program COMMANAS ccccccceeceseeeseeeeeeeeaeeeaeecseeeeeeeeseeeseeeseeeseeeeaaes 122 o L2 ENOr Nader Oca seemed Gaul emcees 123 9 2 ACQUISIION O 109 Gata ipods 124 92 1 EOJQ 3ICQUISITION SC UNOS ada in agoseen i otoneuenal 125 8 3 Detailed description Of log types occccocccconccocnoconncccnoconinonnonncnonanonnnnnnnnnnnanos 126 SENO IO ide 126 CONTENTS 30 2 OPperatlo M0 id ed o de ct dd 127 o E 128 9 94 Trace logging single MUI acid de 132 An PP acta tak sist saec A 135 B96 OM e A 136 8 3 7 Joint servo log for particular jO Nt ooccocccccnccccncconccnnnoncnnonncnnnnnnnnnnnnnnnnonnnnnnnnons 137 Chapter 9 Vision Manage viscosa 138 gl COVE NW e coi 138 sad Wg A g ie 6 21 1 g Ko ai N o e 138 92 COMIGUIING VISION Manage sup illa 141 9 22 CONNGUMNG IOOKUD Tables coat cd 141 92 2 Eding a Macro AIM o id Maes 142 A A A A 143 9 2 4 Configuring camera input di eerie eee 148 9 2 9 SWILEMING display SCIONS ciroen aei 150 920 EANTA WINGOW roo 151 9 23 Editing a ssaeh Mode aiig aia 154
124. nt from the actual software version of the connected controller an error will occur at the time of communication Language mode Specifies the executable program language Explicit Type Declarations Error will occur unless local variables are explicitly declared with a specification statement or postfix If this option is found invalid without explicit descriptions it will be regarded as a single accuracy variable Inspect Constant Range Checks the range of an argument with the statement described as constant when creating the execution pro gram Symbol table Sets the size of working range for storing information on symbols Name table Sets the size of working range for registering information on names such as label name This range is used to register information on all names handled by the program files included in the executable file Reallocation table Sets the size of working range for determining the absolute addresses Block table Sets the size of working range for storing the nested state of loops and conditional statement etc Line table Sets the size of working range for registering line information The numerical value of this table is equal to the number of all the lines that can be compiled The same value is equal to the nest level allowed for com piling I O table Sets the size of working range for registering information on IO variables The numerical value of this table is equal to the number o
125. obot controller version 2 7 or later Debug Amia Tool Window Start all supervisor tasks This starts all supervisory tasks Stop all supervisor tasks a iea This stops all supervisory tasks Ea Step in Bo Coninue al tasks Start a task E Ha This starts the selected program y Stap stop Step in Gi lt yde stop This executes one program step H Program reset If a step includes CALL text execution pauses at the first step in that func Y Reset al tacks tion Show quick watch Continue all tasks This resumes suspended tasks Halt This suspends program execution Regster to watch SetiReset a break point Reset al break poiritz Break point stop setting Step stop Set line to start stop log Program execution runs through to the end of the current step Gel Single Trace Log Cycle stop Sao Program execution runs through to the end of the current cycle Program reset This returns the current program to its starting point Reset all tasks This returns all programs to their starting points Show quick watch This displays the current values of all variables and I O ports currently se lected in the Program edit window Register to watch Add the currently selected quick watch items to the watch list in the Watch window Delete watch This deletes the watch items selected in the Watch window Set Reset a break point This specifies whether program execution breaks at the step currently under the cursor in the P
126. oduction of operation matches the actual speed The collision may not be accurately determined L Graph display grid display button Switches the display style graph grid for the control log data M Control log analysis The analysis results predictive load ratio maximum load ratio predictive regenerative resistance load ratio are displayed in the output window e Predictive load ratio Displays the predictive load ratio for a series of operations in the log range of processes If the predictive load ratio exceeds 80 an overload error is likely to occur e Maximum load ratio Displays the maximum load ratio in the log At over 100 an overload error will occur e Predictive regenerative resistance load ratio The predictive load ratio for regenerative resistance is displayed for relevant models N Cursor position Moves the position of the cursor in the graph O Drawing axis Selects a data axis displayed in the graph P Select display item The checked items are displayed in the graph Q Program Line Displays the program name and source code line at the cursor position 129 Chapter 8 Logging R Status Displays the cursor position coordinates and the cursor position values of log data displayed in the graph The following items are recorded for the log data e Axis command values Axis angles commanded by the controller in the specified recording interval e Axis encoder value Current axis angle
127. ogging 8 2 1 Log acquisition settings Some logs contain multiple fields for saving log data You can specify from which field you will acquire log data with WINCAPS III Under default standard settings the error and operation logs are acquired from SRAM and other logs from DRAM Selecting the log data on the data transfer screen makes the Select log data source button active WINCAPS III O Select log data source Data source for control log operation log error log and trace log can be selected Normal area _ Flash area control log only C Error trigger Show extra al Cancel 125 Chapter 8 Logging 8 3 Detailed description of log types 8 3 1 Error log Records errors occurring in the controller The most recent 1 000 errors are recorded The data 1s saved in SRAM The error log is regularly updated If you wish to secure particular log data use error trigger logs or suchlike Two or more types of errors may occur simultaneously but what appears as an error message is only one of those errors Checking the error log to see other errors that occurred simultaneously or checking the error log in conjunc tion with the operation log helps in pursuing the cause of errors ABC Seles amp Error log 1 Mo Es me oO 7 5 gt Z Date 2009 12 2009 12 2009 12 2009 12 2009 12 2009 12 2009 12 2009 12 2009 12 2009 12 2009 12 Time 13
128. ogram bank This library holds programs covering handy DENSO robot functionality For further details on programs please refer to Programming Manual II Users can customize programs registered in the program bank They can also add their own Online monitoring WINCAPS III monitors controller status providing immediate access to variables I O values and other quan tities Online debugging WINCAPS III shifts control from the robot controller allowing the operator to run robot programs held in the robot controller from the computer running WINCAPS III Breakpoints Step check and other debugging facilities allow checking variables and I O during operation Arm 3D View This is for visualizing the robot motion and posture on the PC screen Loading 3D data or creating simple ob jects enables the user to check interference with the equipment and movements of workpieces and tools without running the actual robot Logging The following functions for logging variables I O values and error messages are available for efficient pro gram debugging e Error log e Operation log e Control log e Trace log e Variable log e I O log e Single servo data log Chapter 2 Basic Functions and Operational Flow 2 2 Steps in Writing Robot Programs The following shows the WINCAPS III work flow for writing a program and validating its operation EA E Y EPA COTS gt a EFB wie rovo proram o gt a EFIE eeo opsraton potons S
129. oiaiionic ho a Status Time since Log Record Start ms Time since Controller Boot ms Initial Value OFF 0 00 282 75 INITIAL System input OFF 0 00 282 75 INITIAL System input OFF 0 00 282 75 INITIAL System input OFF 0 00 282 75 INITIAL System input OFF 0 00 282 75 INITIAL System input OFF 0 00 282 75 INITIAL System input OFF 282 75 INITIAL System input User input Smart View No State Type Usage Macro Dummy 0 System input Step stop SIN1 a i System input Strobe sigi SIN2 Li 2 gt System input Data area SIN3 E 3 o Systeminput Data area SIN4 LI tl Type 1 Type P Typed Work Yo A Receive button This receives I O log data B Start I O log button This begins the I O log C Stop I O log button This suspends logging D Clear I O log button This clears saved I O log data E Start stop I O logging from power on button This starts or stops I O logging from power on The data recorded in the log is as follows e Port I O port number e Type Exclusive input universal output etc 136 Chapter 8 Logging 8 3 7 e Status Altered status e Time since log record start e Time since controller boot e Initial value INITIAL is entered in the value when logging begins Joint servo log for particular joint More detailed recording of motor control The recording interval can be set from 1 8 ms The following data is logged e Motor speed command value r min
130. on of WINCAPS III 29 Chapter 3 Starting Up Shutting Down 3 2 3 Toolbars The toolbars provide user alternate access to most menu items with button icons Alternatively you can save screen real estate by turning them off all or individually There are six of these toolbars The following lists map their buttons to the corresponding menu items Standard toolbar A B C D E FGH J K LM N aG al e 3105 A Pe AA a A a New Project Open Project Save Project Save Cut Copy Paste Delete Find Undo Redo Create Programs Check Syntax Make Executable ZS5C RS S 10m muay Edit toolbar C a gt ites o T I m 7 Tie al Command List Indent Unindent Encomment Decomment Set Clear Bookmark Next Bookmark Previous Bookmark TO muay p Clear Bookmarks 30 View toolbar A B CDE moa amp ME PA ais Project View Program list Arm view Arm Modeling Arm operation Communication mode toolbar A B La Monitor Communication OFFline A Transfer Data B Monitor Communication Debug toolbar A B C DEF GH I pp A Moa KH h Start a Task Step In Continue All Tasks Halt Step stop Cycle stop Program Reset Reset All Tasks Toggle Breakpoint Log toolbar AB COD EF G kA Meche IS gt QmtOO 8 pe Set Clear Control Log Start Line Set Clear Control Log End Line Set Clear Trace Log Start Line Set Clear Trace Log End Line Set Clear Variable Log
131. ontrol logs recorded up until StopLog are retained Case D Recorded control logs from 10 25 The 16 control logs recorded from ClearLog to StopLog are retained 122 8 1 2 Chapter 8 Logging Error trigger log A record log is saved in flash memory when a specified error occurs Error logs operational logs control logs and trace logs multi are available This is used when searching for the causes of errors Errors specifiable by the error trigger are of two types those specified by error level and those of a particular error code Configuring with teach pendant Error trigger logging records a log when the specified error occurs for the first time from the configuration of the error It does not update the log data until the error is configured again Press F6 Setting F2 Log F5 Error trigger and specify the error logging mode 1 or 2 Ma ci vses77 Joint were z Error Triger Log Setting F5 Change the selection OK Exit with saving ear change Mode 0 This setting disables all error triggers Mode 1 An occurrence of an error of the specified error level or higher triggers logging Mode 2 An occurrence of an error of the specified error code triggers logging Configuring with mini pendant Press Log ErrTrig then specify the error logging mode Error trigger logs retain the various recorded logs when a specified error occurs Log data retained not updated through STOPLOG or another command
132. ontroller when opening projects etc e Editing and saving programs or string variables with garbled text can corrupt data e Project and file names can be garbled making it impossible to open the project Chapter 1 Overview 14 Installing WINCAPS III 1 4 1 Before you begin Always uninstall any existing WINCAPS III versions before installing a new version on your computer For the procedure refer to 1 4 4 Uninstalling P 7 Be sure to shut down all other applications before installing or uninstalling this software 1 4 2 Installing WINCAPS III The following is the procedure for installing this software Operating procedure 1 First shut down all Windows applications 2 Load the installer Insert the product CD into the computer CD ROM drive and wait for the following set up screen to appear WINCAPS Il Setup instal WINCAPS TI This product is protected by Japan Copyright Law and International Agreement Reproduction of whole or part of this product or distribution of copies v thout written consent consbibutes violation of copyright SS Programming tool for DENSO ROBO If the set up screen is not displayed right click on the CD ROM drive under My Computer and choose Open on the menu that appears Double click on setup exe on the CD ROM file list to display the set up screen Chapter 1 Overview 3 Press the install WINCAPS III button to display the WINCAPS III InstallShield Wizard dia log
133. or ON lamps on their robot arms SAFETY PRECAUTIONS 3 9 Setting up a safety A safety fence should be set up so that no one can easily enter fence the robot s restricted space 1 The fence should be constructed so that it cannot be easily moved or removed 2 The fence should be constructed so that it cannot be easily damaged or deformed through external force 3 Establish the exit entrance to the fence Construct the fence so that no one can easily get past it by climbing over the fence 4 The fence should be constructed to ensure that it is not possible for hands or any other parts of the body to get through it 5 Take any one of the following protections for the entrance exit of the fence 1 Place a door rope or chain across the entrance exit of 09 Y the fence and fit it with an interlock that ensures the XS y emergency stop device operates automatically if it is opened or removed 2 Post a warning notice at the entrance exit of the fence stating In operation Entry forbidden or Work in progress Do not operate and ensure that workers follow these instructions at all times When making a test run before setting up the fence place an overseer in a position outside the robot s restricted space and one in which he she can see all of the robot s movements The overseer should prevent workers from entering the robot s restricted space and be devoted solely to that task 3 10 Setting the robot s
134. original file e Save As saves them under a different name Only the latter warrants detailed description 1 Choose File Save As to display a Save As dialog box sayari Cop 1b val Sl desrsremocitor pear Li Monpas My Aecerd S pros pat mi prada par mi pra pac Ed prads poc f pros par i siartr pc E topremehio pi is My Compuler File name My Network Save at hep Pac program fel pac 2 Specify the target folder and file name and press the Save button to save the contents of the Program edit window there If that folder already contains a file with that name however a dialog box asks permission to overwrite it e If there are multiple programs in the Program view area the file saved is the active one the one in the currently selected Program edit window The File menu emphasizes this by adding the file name to the two menu items Save Project Save As Project Import Export A Save prodz pac Chris e Ifthat folder already contains a file with that name however a dialog box asks permission to over write it 12 5 4 Chapter 5 Writing Programs Editing a Program Double clicking a program or header file in the Project or Program list window opens it for editing in a Program edit window e If the Project window does not show file names press its Display files button e The Program view area provides a tab interface for switching between files pro33 par A pro34 pac
135. orming all motions commanded by the task program Quoted from the ISO 10218 1 2006 Task program Refers to a set of instructions for motion and auxiliary functions that define the specific intended task of the robot system Quoted from the ISO 10218 1 2006 1 Introduction 2 Warning Labels Label 1 DENSO Label 4 Label 3 Sr Label 2 Example Location of labels Warning label YA Ai BRORNG TIRAR Risk of injury Do not enter restricted space Unfallgefahr Nicht die Sperrzone betreten SEA FH GS 715 AB 99 Yo EA 82 AER HEN Maer Label 1 lt Except HM gt ANWARNING PDA MER Moving robot can cause serious injury Durch Roboterbewegungen konnen Verletzungen verursacht werden 2 ARM Hot F9 TENER Fo lt HM gt A WARNING Im gt P L xe tA NS Label 2 Part No 410985 406 Moving robot can cause serious injury Durch Roboterbewegungen k nnen Verletzungen verursacht werden HARM 34 Fel HEME ME NWARNING Risk of electrical shock Do not open controller cover when power is on Do not touch inside within 3 minutes of turning off power and disconnecting cable Label 3 NWARNING Risk of injury Do not turn on power when someone is inside safety fence Lockout and tagout power before servicing Label 4 This section provides saf
136. ow Collision Detection Selecting this toggles collision detection Collision Display Reset This removes collision results from the display Moving tracks Sets the display of the trajectory the flange tip moved through Display Enable Disable This submenu controls display of elements in the Arm 3D view window floor arm tool work area and obstacles Armplayer Plus This displays the dialog box for checking the path for MOVE AP PROARCH and other basic operations and calculating overall cycle times without connecting to the robot unit 21 Chapter 3 Starting Up Shutting Down 3 2 2 8 Tool menu Tool window Help DIO Command Viewer USB ARM Parameter Re Login Option DIO Command Viewer This displays the DIO command viewer dialog box for displaying standard command patterns or those with mini I O assignments During debugging this dialog box also allows batch setting of command patterns for dummy T O Controller extension This is available only in the online monitoring mode USB This is for reading or writing project data from to a USB memory ARM Parameter Reads writes arm parameters needed for controller settings Re Login This returns to the dialog box for logging in the only way to changing user levels while WINCAPS III is running Option This displays the dialog box for configuring such software options as the editor s syntax highlighting colors and communications tim
137. rch model This field specifies the model for the operation C Match judgment This field specifies the match judgment criterion D Detection unit This field specifies the unit for detection E Detection count This field specifies the maximum number of pattern matches to search for F Starting angle This field specifies the starting angle for the search G End angle This field specifies the end angle for the search H Measure This button proceeds with the operation Measurement results This area displays a list of measurement results 172 9 2 12 1 Chapter 9 Vision Manager What is a model search A search moves standard image data the search model over the specified range looking for matches See Figure 1 A search model consists of image data and reference coordinates OX OY See Figure 2 The match judgment specifies the minimum similarity the result of a numerical comparison of the search model and the data at the current position required to be considered a match The precision setting specifies pattern matching alignment at the pixel level or smaller Sub pixel measurements take longer Figure 1 Figure 2 Search model Looking for matches Image data Search model Window Z Caution e Only rectangular windows angle 0 qualify as targets e The two angle fields are not available when the robot controller does not support angle measure ments Specifying measurement condition
138. rogram edit window Reset all break points This clears all breakpoints Break point stop setting This specifies whether hitting a breakpoint pauses the current program only or all programs 26 Chapter 3 Starting Up Shutting Down 3 2 2 1 Arm menu Current angle display Tool Coordinate Monitor Work Coordinate Monitor Collision Detection Collision Display Reset Moving tracks Display Enable Disable rmplayer Plus Arm Tool Window Help _ i H Set line to start stop log One way to specify a logging range is to select it in the Program edit win dow Another is to specify starting or stopping for the current line in the Program edit window Get Single Trace Log This displays the trace log for the specified program a listing of the pro gram steps executed and their execution times Controller settings This submenu controls controller operation turning motors and machine locks ON and OFF and specifying times for reading control logs Current angle display This submenu controls the display in the Arm 3D View window of current values for arm angle variables of types P J T and J EX It also supports copying of those values Tool Coordinate Monitor This toggles the display of the current tool number and coordinate axis in the Arm 3D view window Work Coordinate Monitor This toggles the display of the current work number and coordinate axis in the Arm 3D view wind
139. s Save This saves the program or header file selected in the Program view area Save As This saves the program or header file selected in the Program view area un der a different name It adds saved file into a project Print This is for printing programs variables and a list of I Os Recent Projects This displays recently used projects Choosing one opens it Exit This is for shutting down the program If the project has program edits or other unsaved modifications a dialog box asks whether you wish to save them 21 Chapter 3 Starting Up Shutting Down 3 2 2 2 Edit menu Edt view view Project Connect Connect Undo Ctrl 2 M3 Redo A Cut Chris 43 Copy Chri a Paste Ctrl X Delete Del Select All Chrl4 A rey Find and Replace Jump to Ctrl Comment Block Indent Bookmark Insert registerd string F Register string Shift F4 Add comment Format code Command List Chrl Space Insert Command Undo This cancels the last operation returning edits to the preceding state Redo This repeats the operation canceled with Undo Cut This moves to the Windows clipboard and deletes the contents selected in the Program edit window Copy This copies to the Windows clipboard the contents selected in the Program edit window It does not delete the original Paste This copies the clipboard contents to the selected portion of the Program edit window Delete This deletes the are
140. s e IP address Enter the robot controller s IP address e Specify the IP address of the local machine If your PC has several network cards you can specify the one to use when linking Specify the network card s IP address e Specify the port number of the local machine Check the box and enter the port number if you wish to specify the PC s port number when linking RS 232C Input the RS 232C communications settings in line with those of the robot controller Compile tab Sets data regarding the executable program Property Executable program File name project nic El project nic NIC L Output code Wer2 90 Option Language mode English Explicit Type Declaration Inspect Constant Range 3 Compile Symbol table 300000 Block table 100 Name table 10000 Line table 2000 Reallocation table 16384 JO table 50 Dim table 150 Free chain 8000 Name table 16000 OK Cancel File name Specifies a file name when renaming the execution file By default a program project file name having the extension nic is specified If you do not wish to overwrite this file or wish to unify all the projects in an executable file name change this value 55 Chapter 4 Creating a Project Output code Sets the software version of the robot controller Depending upon the version the output codes of the exe cution program will differ If the version specified here is differe
141. s Target window range to measure Search model This field specifies the search model to use Match judgment This field specifies the minimum score considered a match Detection unit This field specifies the precision for pattern matching coordinates pixel or subpixel Specifying subpixel means that measurements take longer Detection count This field specifies the number of matches expected Reaching this limit produces normal termination Other wise the operation times out with an error message In the latter case try reducing this setting Starting and end angles These fields specify the angle range for the search The search looks for matches between the two angles about the origin 173 Chapter 9 Vision Manager 9 2 12 2 Running a model search Operating procedure 1 NOOK OND Choose a target window range to measure Choose a search model Specify the match judgment criterion Choose the detection unit pixel or subpixel Specify the detection count Specify the starting and end angles Press the Measure button to display the resulting boundaries on the histogram save them in the two boundary fields of the Digitization settings screen and display the results in the Vision monitor window Search model 174 Chapter 9 Vision Manager 9 2 13 Reading a QR Code symbol This function reads in a QR Code symbol from the specified window Code reading settings screen Tisha toot A B D F
142. s appear in the Panel Designer User s Manual separately issued e The folder for the new file is the default shown in gray currently selected in the Project window lf the target folder already contains a file with the name specified pressing the OK button displays an error message and returns to the dialog box e The limit is one TP panel per folder 70 Chapter 5 Writing Programs 9 2 Leveraging Existing Files In practice a key technique is to recycle files from other projects There are three file types e Program file pac e Header file h e Teach pendant panel pnl 1 Choose Project Import to display an Open dialog box L k CG WC Propeci amadePropect i aes My Recer Docuerers My Documenta 43 My Computer Fis pame My Network Figs ol Lye Ad source el pac h pri 2 Select the file to add and press the Open button to add it to the Project and Program list windows e The folder for the file is the one currently selected in the Project window If that folder already con tains a file with that name however a dialog box asks permission to overwrite it e If you wish to import by folders choose Project Folder Import and specify the folder 71 Chapter 5 Writing Programs 5 3 Saving a Program The following procedure saves edits to the current program The File menu offers two ways to save modifications to the file in the selected Program edit window e Save updates the
143. s of the corresponding Program edit window is much faster than re typing the program 6 Press the Update button This registers it in the program bank 5 5 3 Adding a category 1 Select the root category Bank 2 Press the Add category button to display the eponymous dialog box Bran an beard F j j a i Bii a al To Sa Li el ot al EA i E UA Caa lou a IATL Pain E Em i Sand cope ain MY 10400 Input apt EF E i E B E Add Category Plasse input name of field in Category Table 84 Chapter 5 Writing Programs 5 6 Editing a Teach Pendant TP Panel A TP panel represents the interactive image displayed on the screen of the teach pendant attached to the robot con troller 5 6 1 Editing a TP panel To edit a TP panel pnl double click it in the Project or Program list window to open it in the Panel Designer window m Pepe oie Tent nl W A omea be HEIR TEULE q Amara SOO Day nag 445 se Lago Panal la y BERGI Tuar ETA A E 2R t e If the Project window does not show file names press its Display files button e Panel Designer procedures appear in the Panel Designer User s Manual separately issued 85 Chapter 5 Writing Programs 5 7 Folder Functions Folders hold the key to hierarchical management of the program files in a project Grouping program files into folders by function or type adds structure that makes overall operation
144. s save the programs and data onto floppy disks Making back ups will help you recover if data stored in the robot controller is lost due to the expired life of the back up battery 3 Write the names of each of the floppy disks used for storing task programs to prevent incorrect disks from loading into the robot controller Store the floppy disks where they will not be exposed to dust humidity and magnetic field which could corrupt the disks or data stored on them T Safety Codes The safety standards relating to robot systems are listed below As well as observing the safety precautions given in this manual ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system Standards Title ANSI RIA R15 06 1999 Industrial Robots and Robot Systems Safety Requirements ANSI UL1740 1998 Safety for Robots and Robotic Equipment CAN CSA 2434 03 Industrial Robots and Robot Systems General Safety Requirements IS010218 1 2006 Robots for industrial environments Safety requirements Part 1 Robot NFPA 79 2002 Electrical Standard for Industrial Machinery 8 Battery Recycling DENSO Robot uses lithium batteries Discard batteries according to your local and national recycling 0 R Ete 55 101087 EU CONTENTS CONTENTS Chapter T OVEN CW eere area 1 kib WINGAPS ILF ESULES moei a a ean ats athetaatldl adie addueataneiant 1 1 2 Robot Controller and WI
145. sk control staternert b pro20 pac window Model tres Arm e Preprocessor control statement PAC Manager control statement i System information b Built in constant Artbmetic Function Character string function b Pose function Error control statement am ist Local varisble WabcH ea cores d Wion Function Choosing a command inserts it with default values for any command parameters Edit these values without worrying about parameter syntax 78 Flow control statement b ACCEL TURBO CURDEC CUREXTSPD CUREXTACE CUREXTDEC CURIEL CURIEL CURISPD CURSPD JSPEED SPEED Chapter 5 Writing Programs 5 4 2 7 Command builder function This 1s for command input through Command builder at the cursor point in the program being edited Necessary parameters can also be input allowing correct parameter statements Y ou can also select from command searches or past commands entered Help can be referred to for the commands shown enabling quick command input Programs created by users in the project are also displayed call programs can also be created A B CD AL Con mand builder History Find El User program Parameter Value Declarative statement Interpolation metho P Assignment statement Reference position Pi Flow control statement Approach length 0Fi E Robot control statement Motion option 5 100 Designates the int NEXT E APPROACH Executes
146. t controller please refer to its Setting Guide Operating procedure 1 Choose Connect Settings to open the Property dialog box to the Communications settings tab Robot info communication setting Compile Wariable IO Device Ethernet O RS5 232C IP address 102 368 0 i Specify the IF address of the local machine O Specify the port number of the local machine Sobor bey Timeout 3000 ms Retry gp times 2 Configure the link First specify the connection between the computer and the robot controller Ethernet connection All that is needed is the robot controller s IP address For further details on determining this please refer to the robot controller documentation Serial RS 232C connection This link requires the following settings e Communications port e Baud rate e Parity bits e Data length e Stop bits 99 Chapter 4 Creating a Project 4 7 2 3 Configure the options timeout and number of retries 4 Press the OK button to save the new settings Data transfers This link is for exchanging data with the robot controller The following data is exchanged Program Data concerning programs There are two types of data for programs Source file Uncompiled program data Executable file map file Compiled program data Variable Data for all variable values Tool Work Area Data on tools work areas Log All log
147. ting equipment already in production use e Monitoring variables and I O e Displaying error operation variable I O and trace logs Monitoring and debugging The online functions serve two basic purposes Monitoring This monitors the status of the robot controller Displays the robot s attitude in the Arm 3D view and the variables I O program executable lines All types of variables can be edited This software can receive all log data and preserve them Debugging In addition to monitor functions programs in the robot controller can be executed on your PC for debugging Z Caution Debugging is not possible for robot controllers prior to Version 2 7 The software also debugs programs using the following functions e Adjust robot speeds e Reset all programs e Start stop supervisory tasks e Run programs e Choice of Step stop Cycle stop Halt and Program Reset e Step in e Toggle breakpoint e Clear all breakpoints e Breakpoint stop setting e Dummy I O for system inputs 103 Chapter 7 Online Functions 7 2 Monitoring For further details on connecting to a robot controller refer to 1 5 Connecting to Robot Controller P 8 and 4 7 Link with Robot Controller P 59 7 2 1 Initiating monitoring Operating procedure 1 Choose Connect Monitor Communication Monitoring online to initiate monitoring This menu command is only available when the robot controller is offline It is not available during de bu
148. tion Histogram settings screen ja mas Thresh Hold A Histogram Binary Measuring Histogram Histogram D Detection Mode Mode Method E F Reference Area 0 F Target Black Project window Arm operation vision taol A Histogram This radio button displays the Histogram settings screen B Processing window This field specifies the processing window range C Calculate histogram This button displays the histogram D Method This field specifies the method for entering digitization thresholds E Reference surface This field specifies the reference area to use for the p tile threshold calculation F Target This field specifies the target area to use for the p tile threshold calculation G Measure This button is for specifying or determining the digitization thresholds for image analysis 157 Chapter 9 Vision Manager Digitization Histogram settings screen Vision tool DUO W Projectaindos Armopberati n vision toal A Digitization This radio button displays the Digitization settings screen B Processing window This field specifies the processing window range C Digitization lower boundary D Digitization upper threshold These two fields display specify the digitization thresholds for image analysis E Apply This button saves window modifications 158 Chapter 9 Vision Manager What is digitization The DENSO uVision board accepts as camera input gray scale images with
149. tion sheets 2 Click the tab containing the desired configuration option Parameter Bing Communication program interpreter 1 0 omet Master pathi Config servo von No Property 1 Time out time ms 2 Mo of reta on occurrence of time out emg Mo of retia on occurrence of HAR 3 4 5 A 7 a 9 RS232C 2 Communication right RASZ320 2 Baud rata The dialog box has the following nine tabs e Communication tab e Program tab e Interpreter tab e I O tab e DNet Master tab e Path tab e Config tab e Servo tab e Vision tab e Enabling the filter lists only parameters containing the specified string e Selecting the Mask unmodifiable items check box lists only those settings available for editing 3 When configuration is complete press the OK button Pressing the Cancel button instead discards all changes Moving to another tab does not save changes To save your new settings always press the OK but ton 58 Chapter 4 Creating a Project 4 7 4 7 1 Link with Robot Controller WINCAPS III supports two types of links for communicating with a robot controller e Ethernet connection e Serial RS 232C connection For further details please refer to 1 5 Connecting to Robot Controller P 8 and the robot controller documen tation Communications settings After connecting the link configure it at the WINCAPS III end For further details on configuring the robo
150. tions are a MUST for preventing accidents which could result in bodily injury and substantial property damage Make sure you fully understand all definitions of these terms and related symbols given below before you proceed to the text itself N WARNING Alerts you to those conditions which could result in serious bodily injury or death if the instructions are not followed correctly N CAUTION Alerts you to those conditions which could result in minor bodily injury or substantial property damage if the instructions are not followed correctly Terminology and Definitions Maximum space Refers to the space which can be swept by the moving parts of the robot as defined by the manufacturer plus the space which can be swept by the end effector and the workpiece Quoted from the ISO 10218 1 2006 Restricted space Refers to the portion of the maximum space restricted by limiting devices i e mechanical stops that establish limits which will not be exceeded Quoted from the ISO 10218 1 2006 Motion space Refers to the portion of the restricted space to which a robot is restricted by software motion limits The maximum distance that the robot end effector and workpiece can travel after the software motion limits are set defines the boundaries of the motion space of the robot The motion space is DENSO WAVE proprietary terminology Operating space Refers to the portion of the restricted space that is actually used while perf
151. tons These add an object of the shape indicated on the button There are six shapes available C Node button This adds a node D External button This reads in 3D data from an external source E Name This field specifies a name for the selected object F Color This field specifies a color for the currently selected object G Display check box Selecting this check box displays the currently selected object in the Arm 3D view H Collision detection check box Selecting this enables collision detection for the currently selected object Properties button This displays the property sheets for the currently selected object J Relative position These fields specify the relative position for the currently selected object X Y Z Relative x y z coordinates in mm RX RY RZ Angles relative to the corresponding axis in degrees K Size These fields specify the dimensions for the object selected on the tree X Y Z Dimensions along the x y and z axes in mm The radio buttons above offer a choice of specifying half or full sized measurements e lf the data of the selected object is 3D data imported the Size fields specify the magnification Assuming the original size of the 3D data as 1 specify the magnification e Imported 3D objects cannot be edited e Entering negative values into the Size fields inverts the object 93 Chapter 6 Arm 3D View Window 6 1 3 Arm operation This window is
152. urce data and the coefficients under the specified number Calibration settings screen 2020 00 Sim ej Calibration A dit No B Item Ponti Pointe Point s vision x HI o Vision Y 0 0 Pahat wo i ri G Get Point D Registration Point 1 Vision Paint E Cursor Input 3 Measure Input Talk F G Robot Point ariable P Mo i H Projectilindow Arm operation vision tool A Number to edit This field specifies the set of calibration data to update B Calibration data table This table specifies the Vision monitor and robot coordinates for the calibration operation The operation requires coordinate data for three separate points numbered 1 to 3 C Calibrate This button initiates calibration D Point to edit This field specifies the point to edit E Vision window points These radio buttons specify the method for entering Vision monitor coordinates F Read This button is for specifying Vision monitor coordinates using the selected input method G P variable number This field is for specifying by number the variable of type P containing the robot coordinates 143 Chapter 9 Vision Manager H Read This button copies the robot coordinates from the specified P variable I Results This area displays the results of the calibration operation 9 2 3 1 Calibration procedure The following is the calibration procedure Operating procedure 1 Select three distinct points 2 Specify the
153. utput window tracks progress and error messages from the compiler Parameter This displays the dialog box for specifying project parameters Joint Setting Table This displays the dialog box for specifying joint settings Axis settings are used in SMRT4G MC2F and Added axes Property This submenu displays the dialog box containing property sheets of com munication compile variables and I O items for referring to them or con figuring the project 24 Chapter 3 Starting Up Shutting Down 3 2 2 5 Connect menu Connect Debug Armia Too Transfer Data A Traster data This is for exchanging data with the robot controller Connect Setting Connect Setting Monitor Communication P This opens the Property dialog box to the Communications settings tab the one for configuring the communications link for the project Monitor Communication This submenu specifies the connection to the robot controller e Offline WINCAPS III operates alone without connecting to the robot control ler e Monitoring WINCAPS III connects to the robot controller and displays its internal data Specify the data update intervals with Tool Option e Debugging WINCAPS III controls automatic program operation from the comput er debugging programs by modifying their variables and I O values as they run 25 Chapter 3 Starting Up Shutting Down 3 2 2 6 Debug menu The Debug menu is available in WINCAPS III connected with the r
154. y however uninstalling WINCAPS III does not uninstall ORIN2 SDK To uninstall ORIN2 SDK first check that no other applications use ORIN and then uninstall ORIN2 SDK using the same procedure as above Chapter 1 Overview 15 Connecting to Robot Controller There are two ways to connect the computer to a robot controller Ethernet connection This method uses an LAN interface CN4 to connect the computer to the robot controller Direct connection Robot controller Ethernet Crossover cable Connection via a hub Hub Robot controller Ethernet Straight through cables This method uses a serial port CN1 to connect the computer to the robot controller RS 232C connection RS 232C Crossover cable E D sub 9 pin connector receptacle D sub 9 pin connector receptacle Chapter 2 Basic Functions and Opera 2 1 tional Flow WINCAPS III Basic Functions The following describes the product s basic functions Communications Communicating with a robot controller over an Ethernet or serial link Writing programs Program using a PAC editor For further details on programs please refer to the programming manual The editor provides the following functions e Displaying line numbers e Color coded syntax highlighting e Easy command input using an automatically scrolling list e Automatic indenting e Comment blocks e Bookmarks Pr
155. y the resulting boundaries on the histogram save them in the two boundary fields of the Digitization settings screen and display the results in the Vision monitor window 170 Chapter 9 Vision Manager 9 2 11 3 Displaying distribution and graph The Edge settings screen displays the measurement results as either a distribution or a graph These displays are for checking brightness and area changes in the window The graph display also permits checking of the brightness and area distribution for the specified location Distribution data Selecting the Distribution radio button switches to the following display Rests O Distribution Data O m Projection brightness distrl Area a 0 CANAL Input Cam Image Graph display Clicking on the Brightness distribution or Area column displays the Brightness distribution graph or Area graph respectively It also displays a marker at the projection position for the selected location 171 Chapter 9 Vision Manager 9 2 12 Model search This function runs pattern matching in the specified window using the specified search model The search model used must be defined previously Model search settings screen o E ETE Sje i a 3 is TE B id ai Weines earch Moda omiidente HU Co Detection Unt C Fyxel Detection Humbe 1 QOmmMmovovagw gt Start angie i sd angle 250 A Target window This field specifies the window range to measure B Sea

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