Denso Training Using WINCAPS III

Denso Training II- Agenda Setting up Communications Setting up a New Project (Wizard) WinCapsIII Software Tour Configuration Settings using WincapsIII Arm Modeling using Arm 3D Simulator Programming using WinCapsIII Using Macros for IO Names Interference Areas Library Files Errors and Error Recovery

Denso – Pendant – Communication Setup Access: [F6 Set] – [F5 Set Com] –[F1 Permit] Com1 is dedicated to the Pendant To use RS232, Ethernet must be disabled To use Ethernet, RS232 must be disabled

Denso – Pendant – Communication Setup Access: [F6 Set] – [F5 Set Com] –[F1 Permit]- [F5 Change] Com1 is dedicated to the Pendant To use RS232, Ethernet must be disabled To use Ethernet, RS232 must be disabled

Denso –Software – Log-In 1. Launch WinCaps III Select “Programmer”. Enter password or “SHIFT + down-arrow”

Denso –Software –New Project Wizard Create a New Project. Assign a project name and path.

Denso –Software –New Project Wizard 6. Select a Robot. 7. Select Options. Select “ANSI” Verify version from RC7 controller label.

Denso –Software –New Project Wizard 8. Select connection & address. 9. Set number of variables.

Denso –Software –New Project Wizard 10. Set I/O settings. 11. Finish.

Denso – Software Always upload Robot Configuration from the controller before doing any programming! Save the settings from the factory and the last programs, so that you can restore what you had. Robot Controller

Denso – Upload Exercise Upload the current projects from the robot and save.

Denso – Project Transfer 1. Connect –Transfer Data 2. Select “Yes”.

Denso – Project Transfer 3. Transfer Data 4. OK 5. Close 6. Save Project.

Denso Training II- Agenda Setting up Communications Setting up a New Project (Wizard) WinCapsIII Software Tour Configuration Settings using WincapsIII Arm Modeling using Arm 3D Simulator Programming using WinCapsIII Using Macros for IO Names Library Files Errors and Error Recovery

Denso –Software – WinCaps III

Denso –Software – Variable View

Denso –Software -IO View

Denso – Software - Error Log Access: [F6 –Set] [F2 –Log.] [F1 -ErrLog] Document: error-e.pdf

Denso – Software - Operation Log Access: [F6 –Set] [F2 –Log.] [F2 -OprLog]

Denso – Software –Variable Log

Denso –Software – Program List

Denso Training II- Agenda Setting up Communications Setting up a New Project (Wizard) WinCapsIII Software Tour Configuration Settings using WincapsIII Arm Modeling using Arm 3D Simulator Programming using WinCapsIII Using Macros for IO Names Library Files Errors and Error Recovery

Denso –Software Configuration -Parameter Setting Set to 3 Set for load

Denso –Software Configuration Set to 1

Denso Training II- Agenda Setting up Communications Setting up a New Project (Wizard) WinCapsIII Software Tour Configuration Settings using WincapsIII Arm Modeling using Arm 3D Simulator Programming using WinCapsIII Using Macros for IO Names Library Files Errors and Error Recovery

Denso –Software -Arm 3D Simulator Allows the user to: Visually see the robot cycle Determine the execution time of a program cycle Step thru the program to see the time for each step Build a trial program

Denso –Software - Arm 3D Simulator -Exercise Get the robot to move between two points and determine the cycle time using Arm3D Simulator.

Denso – Software – Arm View – CAD Import VRML files (*.wrl) Directx files (*.x)

Denso Training II- Agenda Setting up Communications Setting up a New Project (Wizard) WinCapsIII Software Tour Configuration Settings using WincapsIII Arm Modeling using Arm 3D Simulator Programming using WinCapsIII Using Macros for IO Names Interference Areas Library Files Errors and Error Recovery

Denso – Using Macros (Symbol Names) The symbol names used for I/O may be changed by modifying the macro names in WincapsII Access: [F4 I/O]

Denso – Using Macros (Symbol Names) 1. Edit Macro names.

Denso – Using Macros (Symbol Names) Create Macro Definition file In the PAC Manager, Import “dio_tab.h & download programs to the robot controller. 4. Download the programs to the robot controller

Denso – Using Macros (Symbol Names) 5. Enable through the pendant. Access: [F4 - I/O] [F6 – Aux.] [F3 – Sw Display] [Macro Name] 6. Example use in program: '!TITLE "XAY" PROGRAM XAY #include "DIO_TAB.H" TAKEARM APPROACH P,P100,@0 50,S=100 MOVE L,@E P100,S=100 RESET IO65 SET IO64 SET IO[HELLO] DELAY 100 DEPART L,@P 50,S=100 APPROACH L,P101,@0 50,S=100 MOVE L,@0 P101,S=100 RESET IO64 SET IO65 END 7. Dio_tab.h files are only downloaded.

Denso Training II- Agenda Denso System Manager Software Tour Setting up Communications Monitoring using WinCapsIII Configuration using WincapsIII Programming using WinCapsIII Using Macros for IO Names Interference Areas Library Files Errors and Error Recovery

Denso -Interference Areas Interference Check Ability to disable the robot upon the tool entering a forbidden workspace.

Denso -Interference Areas Declares the area where an interference check is performed. SETAREA Selects the area where an interference check is performed and enables the interference check. RESETAREA Resets the I/O set when interference was detected and makes an interference check invalid. AREAPOS Returns the center position and direction of a rectangular parallelepiped with the position type for an area where an interference check is performed AREASIZE Returns the size (each side length) of a rectangular parallelepiped which defines the interference check are with the vector type.

Denso -Interference Areas Declares the area where an interference check is performed. Up to 8 interference areas may be specified, 0 to 7. The origin is always the origin of WORK 0.

Denso -Interference Areas SETAREA Selects the area where an interference check is performed and enables the interference check. The interference check is performed during the time after the SETAREA command is executed and prior to the execution of the RESETAREA command. To clear an interference detected issue the RESETAREA command. The next interference check is not detected again until another SETAREA command is executed. To check interference, the system compares the cube defined as the interference check area with the origin of the currently active tool coordinates. If the origin of the tool coordinates is inside the interference check area, then the system determines it as interference.

Denso -Interference Areas AREASIZE Returns the size (each side length) of a rectangular parallelepiped which defines the interference check are with the vector type. The length of each side of the rectangular parallelepiped is double the length of each component of vectors X, Y and Z.

Denso -Interference Areas Example: DIM lp1 As Position DIM lv1 As Vector Lp1 = (10,10, 5, 0, 9, 0 ,1) Lv1 = (50, 10, 50) AREA 1, P50, V10, 104, P55, 1 AREA 2, lp1, lv1, 128, 1 ‘ Declares I/O number 128 in the area specified by lv1 at the position specified by lp1 in area number 2, with error output level 1. SETAREA 2 RESETAREA 2

Denso Training II- Agenda Denso System Manager Software Tour Setting up Communications Monitoring using WinCapsIII Configuration using WincapsIII Programming using WinCapsIII Using Macros for IO Names Interference Areas Library Files Errors and Error Recovery

Denso –Library Files Library Files are programs that extend the command set of the robot controller. Some groups of the library files work together to achieve tasks like: Palletizing, arm compliance, conveyor tracking, etc. Which one do I need?

Denso –Library Files Groups of Library Files Additional Conventional Language Library Files Palletizing Tool Operation Input/Output Arm Movement Sample Teach Pendant Panels Vision Library Commands (Not used in United States) Vision integration uses the standard commands PRINT & INPUT

Denso – Library Files –Software Library Files are located in the Program Bank. Documentation for library files is in the “program2-e.pdf” file.

Denso – Library Files –Software Example CALL aspACLD(10500,0,0,250)

Denso Training II- Agenda Denso System Manager Software Tour Setting up Communications Monitoring using WinCapsII Configuration using WincapsII Programming using WinCapsII Library Files Errors and Error Recovery

Denso –Errors - Error Log / Operation Log To determine why a robot has stopped, examine the Error and Operation Logs.

Denso –Errors - Documentation Error documentation is found in the “error-e.pdf”. Controller Errors - Chapter 2 WincapsII Errors – Chapter 3

Denso –Errors - Fault Level The error level determines which output will turn on and what the recovery method will be.

Denso –Errors - Documentation Error documentation is found in the “error-e.pdf”.

Denso –Errors – Supervisory Tasks (TSR) Supervisory tasks are programs that run on power-up. In the program list they have the name TSR_. You may have up to 8 supervisory tasks. When operating from the pendant, the TSR is also starts when auto mode is initiated. Will execute unless a level 5 error occurs. This allows the developer to write programs to handle fault recovery.

Denso –Errors – Supervisory Tasks (TSR) -Examples ‘!TTITLE “TSR0” PROGRAM TSR0 DO I1=SYSSTATE IF (I1 AND &H0082) THEN ' Check for robot errors and warnings SET IO[128] ELSE RESET IO[128] IF IO[8] = ON THEN 'push button to resume after reason stop is cleared CLRERR 'clear the error CALL PROGRAMRESUME 'production program ENDIF LOOP

Denso – Programming - SYSSTATE SYSSTATE (Statement) Function Gets the system status of the robot controller. Mask &h1 &h2 &h4 &h8 &h10 &h20 &h40 &h80 &h100 &h200 &h400 &h800

Denso –Errors – Supervisory Tasks (TSR) -Examples ‘!TTITLE “TSR0” PROGRAM TSR0 DO I1=SYSSTATE IF (I1 AND &H0002) THEN ' Check for robot errors SET IO[128] I102 = GETERR(0) I104 = GETERRLVL (GETERR(0)) SELECT CASE I104 CASE 1 ‘Normal operation RESET IO[128] CASE 2 ‘Recovery routine for level 2 errors CASE 3 ‘Recovery routine for level 3 errors CASE 4 ‘Recovery routine for level 4 errors CASE ELSE ‘Recovery routine for exceptions END SELECT ENDIF LOOP

Denso – Programming -Other Diagnostic/ Recovery Commands INITWAITERR Initializes the storage of errors detected by WAITERROR. WAITERROR Detects errors. CURERRSTATUS Returns the current error status GETERR Gets the error code from the ring buffer declared by the error code saving feature. Related commands CLRERR, SETERR, GETERRLVL ERRMSG$ Sets and error message.

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