1. Training syllabus
Samuli Ahonen

2. Training content Overview on the user interface
Working with ready made components
Layout configuration
Robot programming with RSL
Component authoring
Python
OLP
Q & A

3. Getting familiar with the user interface
View
Object
File
Simulation controls
Main function tabs

4. Getting familiar with the user interface
Tabs
eCat: Source of the components and layouts
Param: Configure component parameters like lengths, widths, height, capacities, speeds...
Create: Create new- or modify existing components
Teach: robot teaching (RSL ~ robot sequense language)
Navigating 3dWorld
Rotate: Ctrl + Drag with LeftMouseButton
Pan: Alt + Drag with LeftMouseButton
Zoom: Shift + Drag with LeftMouseButton
Choose COI: Ctrl or Alt or Shifth + Click model with LeftMouseButton
Multi select: Ctrl + Shift + LMB
Set appearance
Set floor and backround: View => settings
Shadow: View => Shadow =>
Show/hide frames / robot tools / robot positions / robot bases
View => Headlight

5. Working with ready made components

6. Conveyor - components
Configure inline layouts with ready made components
Drag components from eCat, connect with PnP and play with the parameters
Conveyors
Processes
Routing
Stacking

7. Conveyor – library
Conveyors
Processes
Routing
Stacking

8. Machine tending – library
Configure machine cells
Robotic
Manual
Process Machines
Palletizing

9. Machine tending – library
Configuring simple machine tending cell
Add components to layout:
robot manager,
inlet,
outlet,
process machine,
any robot, feeder and conveyors
Connect process stages to the manager
(see picture on previous slide)

10. Works – library
Combine material flow, robotics, human resources, assembly...

11. ASRS – library Automated storage and retrieval system - library
Configure ASRS-system from ready made components

12. ASRS – library Create layout Run simulation Add ASRS - components
Controller, Crane, Regular Rack, Infeeder, Outfeeder
Controller parameters:
Connect Main Crane, Main Infeeders, Main Outfeeders, Main Racks
Run simulation
Play with parameters to change the functionality
Change prioritizing, retrieve mode, add more racks, in- and outfeeders...

13. Pick’n’place -library
Create pick’n’place layouts using ready made components
Highly parametric automatic robot programs

14. Robot programming

15. Robot programming Robot components in Visual components Main structure
Executor
Executes RSL programs (Teach tab)
Calls controller
Robot Controller
Controls robot movements by driving joints
Calls kinematic solver (forward and backward)
Kinematics
Kinematic solver for calculating joint values
Type: articulated, cartesian, scara... etc. ...and python
Signal maps
IO:s for RSL
ActionScript
Basic robot actions are implemented in this
Grasp, release, mount, unmount, trace On, trace Off
Interfaces
In root node: RobotPositioner-, WorkPiecePositioner- and Accessories -iface
In mount plate: Tool-iface for mounting end of arm tools (EOAT)
Grasp container
In mount plate for grasping parts and tools
JogInfo
Each link has one jog info enabling interactive jogging

16. Robot programming RSL ~ robot sequence language
Robot teaching on teach tab
Move robot to desired position
Add movement-statement
Add wait signal -, write signal -statement
Grasp, release (signals )
Movement trace (signals )
Mount tool (signals )

17. Robot programming Teach tab statements Program Addons
(sequences)
Move robot joint by joints
Translate robot tool
Rotate robot tool
Addons
(plugins and extensions)

18. Component authoring

19. Component authoring Tutorial Conveyor
parameters: Length, Width, Height, Type (Roll/Belt)
Signals for robotics

20. CNC mill tutorial Working with imported cad Kinematic structure
Programming
RSL
Python
Communicating between components

21. Component authoring WorkPiecePositioners RobotPositioners
EndOfArmTools

22. More python examples
Signaling
Functions
Addons
...

23. Robot programming with python
Robot programming in python
Robot control logic and and signal handling in one place, robot pedestal
Connections from pedestal to conveyors, etc.
Easy to use vcHelpers.Robot – library
robo = getRobot(”RobotInterface”)
Highly flexible robot programs
Easy to customize
Easy to swap a new robot

24. OLP and Virtual Topology
Generating robot paths on geometry features
Standard sample olp-commands
Visual Components Virtual Topology engine
Post processing

25. Additional topics Python addons COM PLC
Customer specific layouts (work shop)