Simulation of Industrial Automation Processes and Offline Programming of ABBs Robots

Simulation of Industrial Automation Processes and Offline Programming of ABBs Robots

• Practical guide for students
  Bogdan MOCAN
  Sanda TIMOFTEI Anca STAN Mircea FULEA
  RobotStudio®
  Table of Contents
  Table of Contents .3
  Workshop 1: Getting started with RobotStudio® 6
  1.1. Introduction .7
  1.2. RobotStudio® – terms and concepts .8
  1.3. RobotWare .11
  1.4. RAPID concepts 13
  1.5. Programming concepts 15
  1.6. Paths and targets 17
  1.7. Coordinate systems 18
  Tool Centre Point Coordinate system 19
  RobotStudio® World Coordinate system .19
  Base Frame (BF) 20
  Task Frame (TF) .20
  Stations with multiple robot systems .21
  1.8. MultiMove Coordinated systems .22
  1.9. Robot axis configurations 26
  Storing axis configurations in targets .26
  Common problems related to robot axis configurations 26
  Common solutions for configuration problems .27
  How configurations are denoted (quaternions) 27
  Configuration monitoring .29
  Turning configuration monitoring off 29
  Turning configuration monitoring on .30
  Libraries, geometries and CAD files 30
  Difference between geometries and libraries .30
  How geometries are constructed 31
  Importing and converting CAD files 31
  Supported 3D formats 31
  1.10. Installing and licensing RobotStudio® 334
  Activation the RobotStudio® .33
  Workshop 2: Introduction in RobotStudio® environment .35
  2.1. Aim of the workshop .36
  2.2. Theoretical notions 36
  How to create a station in RobotStudio®? .38
  How to program a robot to work in RobotStudio®? 42
  How to import a tool in RobotStudio®? 46
  Workshop 3: Define Targets and Paths (trajectories) 48
  3.1. Aim of the workshop .49
  3.2. Robot Targets 49
  Paths .58
  Simulation 63
  Workshop 4: Collision Control & Create a mechanism .67
  4.1. Aim of the workshop .68
  4.2. Collision Control .68
  4.3. Tool mechanism 71
  TCP definition 80
  Workshop 5: Create the Conveyor’s Mechanism and Programming
  MultiMove systems 83
  5.1. Aim of the workshop .84
  5.2. Create Conveyor Mechanism 84
  5.3. Programming/Setting up/Testing MultiMove systems 86
  Programming MultiMove systems .86
  Setting up MultiMove systems .87
  Testing the MultiMove systems .88
  Workshop 6: Create a smart component tool .90
  6.1. Aim of the workshop .91
  6.2. The smart component’s definition .91
  Workshop 7: Create a path from a curve 101
  7.1. Aim of the workshop .102
  7.2. Defining an Auto path .102
  7.3. Edit a RAPID program in RobotStudio® 1045
  Workshop 8: Virtual FlexPendant from RobotStudio® .106
  8.1. Aim of the workshop .107
  8.2. Virtual FlexPendant in RobotStudio® .107
  HotEdit menu .108
  Inputs and outputs, I/O menu .110
  Jogging menu .111
  Production window 112
  Program editor 113
  Program data 114
  The Quickset menu .115
  Workshop 9: Creating a robotic station using RobotStudio® 116
  9.1. Aim of the workshop .117
  9.2. Creating a robotic station using RobotStudio® .117
  Workshop 10: Examples of robotic cells and RAPID programmes developed
  in RobotStudio® .128
  10.1. Arc welding one robot cell overview 128
  10.2. RAPID program of the arc welding one robot cell .129
  10.3. Arc welding two robots cell overview .130
  10.4. RAPID program of the two robots arc welding cell .131
  10.5. Arc welding four robots cell overview 133
  10.6. RAPID program of the four robots arc welding cell 134
  10.7. Assembly two robots cell overview .136
  10.8. RAPID program of the two robots assembly cell 137
  Bibliography .