1. Braas Company 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

3. Denso – Pendant – Communication Setup Access: [F6 Setting] – [F5 Communication and Token] –[F2 Network and Permission]

4. Denso –Software – Log-In 1. Launch WinCaps III 2.Select “Programmer” and enter password. 3.Or “hold the SHIFT key + down-arrow”

5. Denso –Software –New Project Wizard 4.Create a New Project. 5.Assign a project name and path.

6. Denso –Software –New Project Wizard 6. Select a Robot. 7. Select Options. Always Select “Use(A)” for Safety I/O

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

8. Denso –Software –New Project Wizard 10.Set I/O settings. (optional) 11. Finish.

9. 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

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

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

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

13. 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

14. Denso –Software – WinCaps III

15. Denso –Software – Variable View

16. Denso –Software -IO View

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

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

19. Denso – Software –Variable Log

20. Denso –Software – Program List

21. 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

22. Denso –Software Configuration -Parameter Setting

23. 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

24. 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

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

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

27. 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

28. Denso – Using Macros (Symbol Names) The symbol names used for I/O may be changed by modifying the macro names in WincapsIII

29. Denso – Using Macros (Symbol Names) Create Macro Definition file Download programs to the robot controller.

30. Denso – Using Macros (Symbol Names) 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 –DELAY 100 –DEPART L,@P 50,S=100 –END

31. 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

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

33. Denso -Interference Areas AREA –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.

34. Denso -Interference Areas AREA –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.

35. 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.

36. 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.

37. 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

38. Denso – Robot Training Thank you! Please fill out the evaluation.