1. Denso Training Using WINCAPS III

2. 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

3. 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

4. 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

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

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

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

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

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

10. 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

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

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

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

14. 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

15. Denso –Software – WinCaps III

16. Denso –Software – Variable View

17. Denso –Software -IO View

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

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

20. Denso – Software –Variable Log

21. Denso –Software – Program List

22. 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

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

24. Denso –Software Configuration
Set to 1

25. 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

26. 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

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

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

29. 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

30. 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]

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

32. 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

33. 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 50,S=100
MOVE P100,S=100
RESET IO65
SET IO64
SET IO[HELLO]
DELAY 100
DEPART 50,S=100
APPROACH 50,S=100
MOVE P101,S=100
RESET IO64
SET IO65
END
7. Dio_tab.h files are only downloaded.

34. 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

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

36. 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.

37. 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.

38. 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.

39. 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.

40. 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

41. 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

42. 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?

43. 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

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

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

46. 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

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

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

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

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

51. 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.

52. 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

53. 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

54. 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 ‘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

55. 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.

56. Denso – Robot Training
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