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HRSim software operation manual for the arm simulation environment of Shangyin

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content

1 Introduction to the software and instructions for using the environment ................................................ .................................4

1.1 Introduction to the software HRSim ................................................................ ...................................................... ........4

1.2 Instructions on how to operate ................................................................ ...................................................... .............4

1.3 How to start HRSim software................................................................ ...................................................... ..5

1.4 Description of data configuration...................................................... ...................................................... .............6

2Introduction and description of interface functions...................................................... ................................................7

2.1 Analog Display Window ...................................................... ...................................................... .............8

2.1.1 Switching perspective...................................................................... ...................................................... ....................... 8

2.1.2 Screen zoom adjustment...................................................................... ...................................................... ................ 9

2.1.3 Show/Hide Arm Range ................................................ ...................................................... ........ 9

2.1.4 Show/Hide Track Paths................................................ ...................................................... ........ 9

2.1.5 Floor Display Settings ..................................................................... ...................................................... ............ 10

2.1.6 Coordinate system adjustment ..................................................... ................................................................. .................. 11

2.1.7 Object display number ................................................ ...................................................... ............ 11

2.2 Function menu ...................................................................... ...................................................... .................12

2.2.1 File open File......................................... ...................................................... ................. 12

2.2.2 Connecting Connect...................................................... ...................................................... ................. 13

2.2.3 Information About................................................................ ...................................................... ...................... 14

2.2.4 Option Setting options...................................................................... ...................................................... ......... 14

2.3 Message Output Window ...................................................... ...................................................... ...........15

2.3.1 Message Output Tab (Output) ................................................ ...................................................... ...... 15

2.3.2 HRSS Error Message Output Tab (HRSS Alarm)................................................ ................................. 15

2.4 Function Tabs ...................................................................... ...................................................... .................16

2.4.1 Add arm and arm-related operation settings [Robot] ................................................ ................................. 17

2.4.2 Importing the object image file [Object] ................................ ...................................................... ........ 31

2.4.3 External Axis [External Axis] ...................................................... ................................................................. ........ 42

2.4.4 Palletize function setting [Palletize] ................................................ ...................................................... .... 49

2.5 Tree View ................................................................ ...................................................... ................56

2.5.1 System Architecture Layout...................................................... ...................................................... .............57

2.5.2 HRB File ...................................................................... ...................................................... ...........58

2.5.3 Description of the Arm Program Editing Interface ................................................ ...................................................... 60

2.5.4 Object point planning Path & Point................................................ ................................................. 65

2.6 Mouse shortcut menu ................................................ ...................................................... ............68

2.6.1 basic setting................................................ ................................................................. ..................... 68

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2.6.2 Pick-and-place feature...................................................... ...................................................... ................................

2.6.3 69 Move Functions ................................ ...................................................... ............................................... 70

2.6.4 CAM function...................................................................... ...................................................... .................................71

2.6.5 Arm and External Axis Adjustment (Jog)................................................. ...................................................... ... 72

3 Description of common commands in arm software programs................................................ .................................75

3.1 Motion command Motion...................................................... ...................................................... ......76 3.2 Function

Function...................................................... ...................................................... ...........80 3.2.1 Conditional

Selection ............................................... ...................................................... ................................81 3.2.2

Iteration ................................................ ...................................................... ................................................. 83 3.2.3

Setting ...... ...................................................... ...................................................... ......... 84 3.2.4

Jump ................................................ ...................................................... ................................. 86 3.2.5 Get information

Get................................ ...................................................... ...................................................... . 86 3.2.6 Angle calculation

Math................................................ ...................................................... ... ................................. 87 3.3 Configure the command

Configure ................................ ...................................................... .................89 3.3.1 Declaring

Variable ................................................ ...................................................... ................................. 89 3.3.2

Register .................................. ...................................................... ........................................... 89 3.3.3 Output Signals

Output...................................................... ...................................................... ...... 91 3.3.4 Subroutine/Function

Subroutine ...................... ...................................................... ...........91 3.4 Program Editing

Program ................................. ...................................................... ................93 3.5 Command Editing

Edit ............................................... ...................................................... .................................93

4Sample description of the simulation software ...................................................................... .................................94

4.1 Newly added arm operation and importing object exercises ................................. .................................................95
4.2 Modularization of tray equipment... ...................................................... ..................................................97
4.3 Importing workpieces in the tray, drill.. ...................................................... .................................102 Exercise of
4.4 picking and placing materials at the end of arm installation.. ...................................................... .................................104

4.5 Exercises for the arm erection on the external axis of the parallel track ........................................................

104 ...................................................... ............ 108 4.6 The arm picks up the workpiece and moves it to the machine tool . .................................

5 Frequently Asked Questions ................................................ ...................................................... .125

5.1 Frequently Asked Questions about Arm Manipulation ..................................................... ...............................................

5.2 125Importing Graphics Related FAQs................................................ .................................126 5.3 Frequently

Asked Questions about Program Instructions ...................................................... .................................127

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1 Software introduction and environment usage instructions

1.1 Introduction of software HRSim

HRSim is the abbreviation of HIWIN Robot Simulation, which is a robot simulation environment software developed by Shanghai Yin Technology. This manual

All are referred to as HRSim.

Using HRSim to bring in drawings to build an accurate 3D model can actually simulate the factory environment, as shown in Figure 1-1.

Action simulation of peripheral equipment, production line planning and work area configuration...etc.

Quickly evaluate the benefits of automated system introduction and reduce resource loss caused by incomplete planning.

Figure 1-1 Schematic diagram of HRSim

1.2 Instructions on how to operate

HRSim can create a 3D configuration model of an automation system by loading a 3D drawing file alone, and teach it offline.

way to easily evaluate the accessibility of the arm in the system; or with the function of virtual controller to simulate the HIWIN robot hand

The motion control system of the arm further realizes functions such as program writing, signal gripping, and object picking and placing, and further evaluates the overall system.

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system health.

1.3 How to start HRSim software

Unzip the downloaded compressed file and execute the HRSim.exe application (Figure 1-2), see Figure 1-3 HRSim start screen

Indicates that the opening is successful.

Figure 1-2 Schematic diagram of HRSim opening method

Figure 1-3 Schematic diagram of starting HRSim start page

If you need to close the HRSim software, please save the file and click the "X" in the upper right corner to close the software.

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1.4 Data configuration description

Unzip the downloaded compressed file, there are preset folder categories to store different image files and program data (Figure 1-4),

HRSim will access the required graphic files and program data according to different folders. There are mainly 4 folders classified as follows:

(1). "eq" folder: Save the set analog device.

(2). "file" folder: Save the set HRSim combination file.

(3). "hrb" folder: Store the robot HRSS (.hrb) program on the local side.

(4). "stl" folder: put STL format 3D graphics files.

The set module device will be stored in the eq folder

The set HRSim combination file will be stored in the file folder

The robot program written on the local side is placed in the hrb folder

Put the STL image files of peripheral equipment and objects into the STL folder

Figure 1-4 Schematic diagram of data configuration

Among them, there are 3 folders in the "stl" folder to place different types of STL graphics files (Figure 1-5), which are classified as follows:

(a). "External" folder: External axis, applied to linear external axis or rotary axis.

(b). "Object" folder: objects, applied to surrounding objects or objects fixed to the arm.

(c). "Workpiece" folder: Workpiece, applied to the workpiece to be clamped or processed.

External axis applies to: external linear or rotary axis

Object Application: Peripherals, Objects

Workpiece application: objects that can be clamped

Figure 1-5 Schematic diagram of data configuration in STL folder

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2 Introduction and description of interface functions

This chapter describes the interface used by the HRSim software, which can be divided into the following five areas (Figure 2-1):

2.1 Simulation display window: Display and operation of simulation window.

2.2 Function menu: file operation, connection and display settings.

2.3 Message output window: system message output.

2.4 Function tab: import image files and arm operation.

2.5 Tree view window: arm system structure display, program task list and parameter setting table.

Subsequent subsections will introduce the corresponding functions of each area.

function menu

Function tab

Analog display window

tree view

message output window

Figure 2-1 Schematic diagram of HRSim window

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2.1 Analog Display Window

The display and setting of the simulation window are shown in Figure 2-2: including viewing angle switching, screen zoom adjustment, display/hide arm range display

display, show/hide track path display, floor display settings, coordinate system adjustment, etc.

The world coordinate system is displayed in the upper right corner. The red arrow represents the positive X-axis direction, the green arrow represents the positive Y-axis direction, and the blue arrow represents the positive Y-axis direction.

Represents the positive Z-axis direction.

FPS: Frames per second, the number of frames displayed per second, the frame rate measurement unit.

World coordinates

FPS: The rate at which the simulated screen is updated per second

Figure 2-2 Schematic diagram of the analog display window

2.1.1 Viewing angle switching

Isometric view top view right side view

front view rear side view bottom view

left side view 7 different standard viewing angles for free choice of desired angle.

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2.1.2 Screen zoom adjustment

Click the following buttons to adjust the screen, provide different ways to switch the view angle, and freely adjust the desired angle to achieve

become the target of the desired inspection.

Zoom in (or mouse wheel forward) Panning the window (or pressing the left mouse button and dragging)

3D Rotation: Rotate around the mouse down position

Zoom out (or mouse wheel back)
(or middle mouse button and drag)

Zoom the window to the proper ratio Screen rotation view

2.1.3 Show/Hide Arm Range

This button is used to show/hide the maximum moving range of the arm. After the function is turned on, the maximum moving range of the arm will be displayed in light green.

The default state is the maximum movement range of the hidden arm.

show hide

Figure 2-3 Schematic diagram of the display (left)/hide (right) arm motion range window

2.1.4 Show/Hide Track Path

This button is used to show/hide the moving TCP track of the arm. After the function is turned on, the movement track after moving will be displayed with a purple bar.

trace. The default state is to hide the movement track of the arm.

hide show

Figure 2-4 Hide (left)/show (right) arm movement track window

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2.1.5 Floor Display Setting

The simulation software constructs a virtual floor, which is parallel to the XY axis of the world coordinate, so that it can be erected close to the real environment, and the ground

The board is made up of multiple 500mm X 500mm squares (Figure 2-5).

Figure 2-5 Initial schematic diagram of the window floor

The initial setting is 4 pieces X 4 pieces of plane, the combination of width and length of the base plate can be adjusted through the floor display setting.

It can be used as a plane to move up and down the Z axis, or show/hide the floor plane. After setting, you need to press the "Set" button to adjust

Floor display.

Set the length and width of the

floor (confirm need to "Set")

Floor Z-axis offset (press "Set"

to confirm)

hidden version

Figure 2-6 Floor Display Setting Interface Diagram

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2.1.6 Coordinate system adjustment

The simulation system has various types of coordinate systems according to the types of objects, and users can freely adjust the coordinate system according to their needs.

Show/hide or proportional size.

The 6 coordinate systems that can be set are as follows:

(1) Robot Base Coordinate.

(2) Robot Tool Coordinate (arm tool coordinate system).

(3) External Axis Coordinate.

(4) Tool Part Coordinate (tool part coordinate system).

(5) Object Coordinate.

(6) Workpiece Coordinate (workpiece coordinate system).

Robot Tool

Tool Part

External Axis

Robot Base

Object
Workpiece

Figure 2-7 Coordinate display setting interface

2.1.7 Object display number

This button is used to display the object number. After clicking, the display window will display Figure 2-8. You can check to display the object number and workpiece

number. After checking, the number will be displayed in the simulation window, refer to Figure 2-9.

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Figure 2-8 Select display label category Figure 2-9 Schematic diagram showing object labels

2.2 Function menu

There are 5 menu functions in the function menu, including file, connection, display, option and information. The following subsections will focus on each function.

Be explained.

file open connection display setting options setting information

Figure 2-10 File tab interface

2.2.1 File open File

New file: Create a new system project (.hrs), if there is an innovative file, the software will first ask whether to close the currently running file

(Close the existing project will not automatically save, if you need to save the current settings, please save and then close).

Open old file: Open the edited system project (.hrs), the software will pop up a window for the user to select the file.

Save the old file: save the current edited file (.hrs), the software will pop up a window for the user to enter the new file name,

If it is not the first time to archive, the old file will be selected and used to overwrite the previous file. It is automatically archived every 5 minutes under the file name

Auto_Save.hrsÿ

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new file

Open old file

Save file Figure

2-11 File tab interface

2.2.2 Wiring Connect

In the connection menu, you can add a virtual controller to the existing arm through the "Add New Controller" option (Fig.

2-12), after the arm is connected to the virtual controller, the JOG and IO setting functions in the Robot function tab can be enabled. Add virtual

Before adding a controller, you need to add more than one arm (Robot tab >> Add Robot) to the system before you can execute the controller.

Added.

After pressing the "Add New Controller" option, the controller setting page will appear (Figure 2-13), check the "Pallet" option,

This enables the controller's palletizing-specific kinematics (only available for hexa-axis arms).

The virtual controller can be shut down through "Disconnect" (Figure 2-14, or you can choose Disconnect All (cut all connections) to shut down

Virtual controllers for all arms. (The virtual controller will also be automatically turned off when the arm specification is changed)

Figure 2-12 Connect interface diagram

Figure 2-13 Virtual controller setting page

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Figure 2-14 Connect interface diagram

2.2.3 Information About

Display the information about the software version of HRSim and the software version of the virtual controller.

Figure 2-15 Information (about) page

2.2.4 Option setting options

The simulation software provides two different viewing angle operation modes, and can set the viewing angle rotation according to the user's operating habits

mouse operation button.

1. Static Axis: Rotate according to the X-axis and Y-axis of the screen

2. HRSS (Dynamic Axis Rotation) : Rotate according to the X axis of the screen and the Z axis of the world coordinate system

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Figure 2-16 Option setting option diagram

2.3 Message output window

The related operation messages (Output) and virtual controller error messages (HRSS Alarm) will be displayed in the message output window.

2.3.1 Message output tab (Output)

Output output page: It is used to display relevant information about whether various operations have been successfully executed or a prompt message of wrong operation.

connection message

file open message

Add object information

Figure 2-17 Output page interface diagram

2.3.2 HRSS Error Message Output Tab (HRSS Alarm)

HRSS Alarm error message output page: used to display the HRSS error code output text information, in order to eliminate arm problems.

HRSS error code message

Figure 2-18 Output page (Output) interface diagram

The "operator" authority in "EXT mode" can be accessed through the "Clear" button Directly clear arm errors

error message.

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Figure 2-19 Clear page interface diagram

2.4 Function tab

The function table tab is mainly used for the setting of the surrounding environment and the JOG operation of the arm. It is divided into four pages according to the function:

[Robot], [Object], [External Axis] and [Palletize], the subsections will describe each interface.

ÿ 2.4.1[Robot] : Added arm and arm related operation settings

ÿ 2.4.2[Object] : Setting of object, gripper, workpiece, equipment, etc.

ÿ 2.4.3 [External Axis]: External Axis setting

ÿ 2.4.4 [Palletize] : Palletize function setting

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2.4.1 Add arm and arm related operation settings [Robot]

The added arm and arm-related operation setting interface is divided into 7 small interfaces, which are explained in the following chapters:

program operation Arm running speed adjustment Connection status display

arm setting

Arm manual JOG arm signal monitoring Arm tool (TooL) and base (Base) coordinate

operation Robot IO settings system settings

Figure 2-20 Add arm and arm related operation setting interface

2.4.1.1 Arm Settings

Different types of arms can be added to the arm setting, and the arm's enable, show/hide and position in the system can be set.

ÿ Add the arm Add Robot method:

Click the "Add Robot" icon, and the steps to add an arm are as follows: (Refer to Figure 2-21)

(1). There are two types of arms: Articulated and SCARA. Click on the picture to select the desired arm.

Arm series and model specifications (up to 3 new arms can be added to a project).

(2). If it is a SCARA Robot, you need to select the corresponding Z-axis travel (the default Z-axis travel is 200m).

(3). Click the "Add Robot" button to add the arm to the simulation screen.

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(1).Select arm type

((2).SCARAZ axis travel)

(3).Add arm

Figure 2-21 Schematic diagram of adding arm settings

When the arm is added to the simulation screen, it will appear at the origin of the world coordinates. If there are other files before, it may be overwritten

The cover can be moved by using the Modify arm setting method.

ÿ Modify the arm settings (Modify) method:

Choose to click the "Modify" icon, or right-click the arm model in the Layout page and click Robot Modify to set the arm

Enable, arm screen display/hide, position and change model, refer to Figure 2-23.

or

Figure 2-22 Modify arm setting icon or path designation interface

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arm number

arm enabled

Hide arm simulation file

Arm model information and modification

set arm position

Set archive and close windows

Figure 2-23 Schematic diagram of modifying arm settings

ÿ Arm ID (Robot_ID): Select the arm ID from the drop-down menu.

ÿ Robot Enable: Enable/disable the arm; the arm and corresponding external axes and arm tools can be disabled.

ÿ Hide_Robot: The display of the arm can be hidden, but the corresponding external axes and arm tools are not affected.

ÿ Robot Type: Displays the model, operating range and load information. Click the icon to modify the robot type.

ÿ Set the position of the arm (Robot Position): the position of the arm on the world coordinates, if there is a setting with the external axis "Couple",

represents the position of the arm on the external axis. (After modifying the value, press "Set" or press "Enter" to write the change)

ÿ Set save and close window (Set & Close) button: "Set" button to change arm position data, "Close" button to close

Close the Modify Arm Settings window.

2.4.1.2 Display of connection status

Displays a list of the connection/disconnection status, authority, external mode, motor servo status and execution status of the three arms.

Connection step description:

(1). From the function menu, select Connect >> Robot1 >> Add New Controller option to add a new controller, refer to 2.2.2.

(2). You can confirm the connection status in the status bar, refer to Figure 2-24(a), and see the successful connection message on the message output tab, refer to

Figure 2-24(b).

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(a)

(b)

Figure 2-24 Diagram of successful connection message

Connection status display

Referring to Figure 2-25, after the HRSS is successfully connected, the connection status will be displayed, and the operation mode of the controller is (EXT) upper control mode

, the operation status is displayed as operator manual at this time, and it is displayed during program running after the program is executed.

running manual HRSS mode Manual teaching

no operation
monitor
host control
Program running status operating state

false alarm

HRSS Servo Status

I on 0 off

connection status No connection in connection

Figure 2-25 Schematic diagram of connection status display description

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2.4.1.3 Arm Manual JOG

The moving arm can choose different coordinate systems by itself. Refer to Figure 2-26 for movement control. are the robot arm joint coordinate system

(JOINT), Cartesian coordinate system (XYZ) or Cartesian coordinate system or base coordinate system, tool coordinate system (TOOL), and external axis coordinate system

(EX). This function can only be used after connecting in HRSS EXT mode. If there is no connection, the icon will be gray and cannot be controlled.

joint coordinate system Cartesian coordinate system Tool coordinate system External axis coordinate system

Figure 2-26 Schematic diagram of coordinate system selection

Figure 2-27 Schematic diagram of the coordinates of the six-axis arm

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Figure 2-28 Schematic diagram of the coordinates of Scala's arm

There are two ways to move the arm: the key JOG mode and the input value mode. The following describes the use methods respectively.

ÿ Description of the button JOG mode, Figure 2-29 takes the six-axis Tool coordinate interface as an example, the unit is mm (/or degrees).

Select the operating arm type

Home key

(need to hold for a long time)

Switch between
inch value
online and offline modes

JOG movement (according to the inch value)

Corresponding to each axis and position

Reverse movement on the left (decrease in

value) Forward movement on the right (increase in value)

Overview of angle values, unit: degrees

Figure 2-29 Schematic diagram of key JOG mode

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ÿ Enter a numerical value to describe the JOG mode (take the six-axis XYZ coordinate interface as an example in Figure 2-30), in mm (/or degrees).

1. Click the picture to switch absolute or relative movement

2. Click on the

picture of each axis to

open the absolute or

3-1 Absolute way:

relative movement
Enter the position you want to

input value view

move to and press "GO" to move

3-2 Relative way:

After entering the position

increment value, press "GO" to move

Figure 2-30 Schematic diagram of input value JOG mode

2.4.1.4 Arm running speed adjustment

Arm speed adjustment key: adjust the speed of the robot arm when moving, the slowest to fastest ratio is 1% >> 3% >> 5% >>

10% >> 30% >> 50% >> 75% >> 100%, and vice versa. This function can only be enabled after the virtual controller is enabled.

Control the arm speed. When there is no controller, the icon is gray and cannot be controlled.

2.4.1.5 Arm program operation

The arm program operation is simply divided into four buttons: Start, Pause, Stop and Step.

Referring to Figure 2-31, it should be used with the HRB File page of Chapter 2.5.2 File Task. This function needs to be enabled after the virtual controller is enabled.

If there is no controller, the icon is gray and cannot be controlled.

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start the program

single step

Pause program stop program

Figure 2-31 Schematic diagram of the program running button

If the program has been written in the arm HRSS software, the setting steps refer to Figure 2-32 as an example:

(1).Select the arm model to set/execute the program.

(2). In the HRB File tab, first select the program, and right-click the program to be executed.

(3-1). Select "Set Task" to select the program.

(3-2). Or you can directly execute the program by clicking "Run HRB File" without selecting the program.

(4). The selected program will be displayed at the Task input, and the link path and file name will be displayed, for example: Mod/Mod_copy.hrb.

(5) Press the arm operation button to control the arm, "Start" to execute the selected program, "Pause" to pause, "Stop" to stop, or

"Step" single-step execution executes a program one line at a time.

1. Select the arm

4. Display the current task

3-1. Set as the current task

2. Right click to open the menu

3-2. Execute the task directly

Figure 2-32 Schematic diagram of program running steps

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2.4.1.6 Arm Signal Monitoring Robot IO

The arm signal monitoring page has five sub-windows: [IO Setting] signal handshake setting, [DI] digital input signal, [DO] data

Bit output signal, [Counter] count register and [EQ Setting] device settings, the following chapters will describe each function separately. this

The function can only be used after the virtual controller is turned on.

Digital input signal Digital output signal count register

Handshake Settings
Equipment setting

Figure 2-33 Interface of arm signal monitoring

ÿ IO Setting handshake window (Figure 2-34):

Referring to Figure 2-34, the handshaking of I/O signals between the arms can be set here, and the input and output signals of the arms can be monitored and controlled.

In Robot DI Setting, the DI signal of Robot 1 and the DO signal of Robot 2 can be connected.

When the signal is triggered, the corresponding DI signal will be triggered at the same time. Please refer to Figure 2-35 for the setting steps.

Robot IO handshake settings

Arm Tool Grip Shortcuts

Hand Grip Quick Action

Device Script Shortcuts

Figure 2-34 Schematic diagram of IO Setting

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1. Select Robot 1 number

2. Select the corresponding DI number

3. Select Robot 3 number

4. Press [+] to establish association Press

[-] to disassociate
4. Select the corresponding DO number

5. Press the DO button to test

Figure 2-35 Schematic diagram of inter-arm I/O handshake setting

To illustrate with a picture example:

(1) Select the Robot 1 arm number (Robot ID 2: RA610-1476).

(2) Select the DI[12] signal corresponding to Robot 1, and the DI that has been set in the drop-down menu will be displayed in red text.

(3) Select the Robot 2 arm number (Robot ID 1: RA610-1476).

(4) Select the DO[12] signal corresponding to Robot 2, and press the "+" button to connect (if you press the "-" button to cancel the connection).

(5) The setting result is displayed in the Robot DI Setting window. The green display on the left is the DI status of Robot 1; the orange display on the right is the DI status of Robot 1.

It shows the DO status of the Robot. Press the orange button to trigger the DO signal, and the corresponding DI signal will be triggered at this time.

(When the signal is triggered, the white box in the button will turn green)

Referring to Figure 2-36, the Robot Tool monitors the gripper pick-up signal, and the Workpiece Group can select the picked workpiece and place it on the

On which object (you can also select the placement position of the workpiece through the setting of the corresponding register, if not selected, it will be placed at the horizon coordinate

middle), Robot Tool 1 Workpiece selects the workpiece number that you want to grip (you can also select the gripping tool through the setting of the corresponding register).

Pieces), press the orange button to send the tool to grip the workpiece, and when the DO is triggered, press the button to put down the gripped object.

Select the object on which the

workpiece is to be placed

Trigger the pick and place action of the

tool on the workpiece

Select the workpiece number you

Figure 2-36 Robot Tool setting interface want to grip

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Referring to Figure 2-37, Robot DO Setting (Equipment) is used to set the association between the equipment motion script and the arm IO signal

properties, must be set in EQ Setting first, and the relevant setting results will be displayed here. DO is the trigger signal for the device script action,

DI is the display signal of the action status. Press the orange DO button to trigger the corresponding script action. When the action is completed, the corresponding

DI will be triggered at the same time.

DO number corresponding to the script

DI number corresponding to the script

Figure 2-37 Schematic diagram of equipment signal monitoring settings

ÿ DI digital input signal window

The current DI signal status of the corresponding controller will be displayed in the DI window. Refer to Figure 2-38. The descriptions of the fields are as follows:

ÿ The No. column is the signal number.

ÿ The SIM field enables the analog function. After enabling, you can check the DI Value analog signal input.

ÿ The DI Value column is the arm input signal on/off, and a green light will be displayed after the signal is turned on.

ÿ Comment column is a comment. You can make text remarks for the signal, making it easier to confirm the meaning of the signal. If via the Object page

After setting the DI on the surface, the remarks column will add relevant explanations.

The program can use the input signal to open or close it as a judgment condition, and only after the signal is determined, the subsequent program is executed.

Often used in conjunction with the WAIT FOR instruction, or used in IF conditional judgments. Such as: WAIT FOR $DI[1] == TRUE.

Select arm number

Figure 2-38 Schematic diagram of DI digital input window

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ÿ DO digital output window

The current DO signal status of the corresponding controller will be displayed in the DIO window. Refer to Figure 2-39. The descriptions of the fields are as follows:

ÿ The No. field is the signal number;

ÿ Click DO Value to change the ON/OFF of DO. After the signal is turned on, a green light will be displayed.

ÿ The Comment field is a remark, which can be used as a text remark for the signal, making it easier to confirm the meaning of the signal. If via the Object page

Remarks will be added in the remarks column after setting Do on the surface.

Select arm number

Figure 2-39 Schematic diagram of DO digital output window

ÿ Counter window

The counter can be used as a temporary variable. When the virtual controller is restarted, the value will be reset to 0. Refer to Figure 2-40, column

The bit descriptions are as follows:

ÿ The No. column is the counter number;

ÿ The Value column is a numerical display, you can click to modify the value or use a program to change the value. Program example: $C[1] = 4;

ÿ The column of Comment is a remark, which can be used as a text remark for the count, which is easier to confirm the representative meaning. If set through the Object page

Remarks will be added to the remarks column after the Counter is used.

Select arm number

Figure 2-40 Schematic diagram of Counter window

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ÿ EQ Setting device, Robot Tool DI, DO setting window

Here you can set the association between Robot Tool, Equipment scripts and arm IO, refer to Figure 2-41, the function description is as follows

(1.) The items that can be selected in the drop-down menu of ÿ include Robot Tool, Equipment, Load port and Aligner. In ÿ

The corresponding Robot number or Equipment name can be selected from the drop-down menu of .

(2.) After setting the options of ÿ and ÿ, the script data of the related Equipment or Robot Tool will be listed as shown in Figure 2-42.

ÿ After clicking the script field, you can set the association between this motion script and Robot IO.

(3.) The Robot 1 drop-down menu specifies the Robot number corresponding to the DO signal to trigger the script, and the Robot 2 drop-down menu specifies the script

When completed, it corresponds to the Robot number of the DI signal, and the drop-down menus of DO and DI specify the corresponding DO and DI numbers.

(4.) The drop-down menu of ON\OFF can specify the DO state to trigger the script. When ON is selected, the script will start at the specified DO.

Act upon action, when OFF is selected, the script will act when the specified DO is closed, and when the script action ends, the specified DO will be executed.

DI status changes to ON.

Figure 2-43 Schematic diagram of EQ Setting interface

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2.4.1.7 Tool (TooL) and Base (Base) coordinate system switching and setting

Tool coordinate system correction purpose: to rotate and translate the TCP point (Tool Center Point, tool center point) of the flange surface to the workpiece.

On the TCP point with the terminal, it corresponds to the real terminal rotation and translation.

Base coordinate system calibration purpose: Rotate and translate the origin of the coordinate system of the robot arm to the user's desired reference point, and conform to the

The orientation of the user coordinate system.

Refer to Figure 2-44 for the method of setting the coordinate system of the tool and the base. Steps:

(1). Click the drop-down menu, select the new tool (Tool) coordinate system 1~15 number or the base (Base) coordinate system number 1~31, pay attention to

The 0th coordinate system is the default (Default). The original coordinate system cannot be modified.

(2). Quickly click 2 under the Value field, and enter the values of X, Y, Z, A, B, C, in mm or degrees.

(3). Press the "Save" button to save the settings. (When the virtual controller is not enabled, only Tool 1 and Base 1 can be set)

(1). Select the coordinate system

number

(2). Enter the value

(3).Save

Figure 2-44 Schematic diagram of selecting coordinate system setting

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2.4.2 Import the object image file [Object]

The [Object] interface for importing object graphics files is divided into 4 small interfaces. The following chapters will describe them individually:

2.4.2.1 2.4.2.3 2.4.2.3 2.4.2.4

Add basic originals that Set the object number Add available tools Set the object number

can be used as and script action workpiece to be gripped and script action

equipment or tools corresponding to the end tool corresponding to the

custom device

Figure 2-45 Importing the object image file [Object] interface diagram

2.4.2.1 Add Object

Add 3D objects to the world coordinates, which can be fixed on the arm or external axis by setting, or as a composition Tool

Basic elements with Equipment.

Add object method, refer to Figure 2-46:

(1). Click "Add Object" to select a 3D object (STL format) in the Object folder, and add the object

(2). Select "Setting" object position and group settings.

(3). Select [Object Library] to add parametric objects as required, refer to Figure 2-45. (EX: Arm base fence...etc)

(4). Objects can be selected to be fixed on the arm or on the external axis. Only one set of associations can be set for each object.

a. The object is fixed on the arm: Set the link number of the object fixed on the arm, No. 1 is the base, No. 2 is the axis

1. Number 3 is axis 2...and so on. After selecting the arm number and link number from the drop-down menu, press the "+" button to add

The association between the object and the arm allows the object to move with the arm. After selecting the object in the field, press the "-" key

Associations can be removed.

b. Object fixed on external axis: Set which object on the external axis the object should be fixed on.

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Remarks: If the selected Object has been fixed to other objects or has Workpiece, you need to delete the association first

Only then can new associations be added again.

(5). Set the position of the object. After inputting the value, the background will turn light pink. You need to press the "Set" button or the keyboard "Enter"

Press the key to write the numerical value, which is divided into six axial positions, such as X, Y, Z, RX, RY, RZ, etc., and the unit is mm.

(1).Select the object file

(3).Add parameter object

(2). Object position and group settings

(4). Set the object to be coupled to the arm or external axis

Select the currently set

Object Position and Group Settings
object name

arm number
Modify object color

Arm link number

Modify Object File

"+" add association "-"

delete association

The name of the object fixed on the arm

hidden object

External axis object name

Object name fixed on external axis

(5).Set the object position

Figure 2-46 Schematic diagram of adding object Object setting

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Enable arm base settings Turn on the work fence setting

ÿ

Select base number "+" add base object "-"

delete base object

hidden object
Modify object color
Length
Width
After modifying the

size value, press "Set"

to modify the object size Height

set object position

Single: Single Fence

Combination: Combination Fence

Select fence number "+" add fence object "-"

delete fence object

Width
hidden object
Modify object color

After modifying the

size value, press "Set" Height

to modify the object size

Length
Length
set object position

Figure 2-47 Schematic diagram of adding parameterizable objects

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2.4.2.2 Add Workpiece

Add Workpiece property 3D objects, only Workpiece property objects can be grabbed by the arm tool.

The method of adding workpieces, refer to Figure 2-48:

(1). Click "Add WP" to select the workpiece file (STL file) in the Workpiece folder, and add the workpiece.

(2). Click "Setting" to open the workpiece position and group settings.

(3). The workpiece can be fixed on the moving parts or objects of the external axis, and only one set of associations can be set for each workpiece. out of selection

After the axis number or the object number, press "+" to establish the association, click the workpiece in the field, and then press the "-" key to

Delete existing associations.

(4). Set the initial position of the workpiece. After the input value is changed, the background will turn light pink. You need to press the "Set" button or keyboard.

"Enter" key to write the value, divided into X, Y, Z, RX, RY, RZ and other six axial positions to modify, the unit is mm.

Remarks: (1). When the selected Wokrpiece is already associated with other objects, it is necessary to delete the association before adding new ones.

Relevance.

(2). If the Workpiece disappears, the Group of the Workpiece may be set incorrectly for the execution program, or the objects may be placed

Object is already associated with another object.

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(1). Select the artifact file and add the artifact

(2). Workpiece position and group setting

Select the currently set

(3). Set the workpiece to be fixed on the external axis
Workpiece position and group setting
workpiece name

Modify the color of the workpiece

arm number

External axis edition

Modify artifact file

"+" add association "-" delete

hidden worker association

object number

Workpiece name fixed on the object

(4). Set the workpiece initial position

Figure 2-48 Schematic diagram of adding workpiece Workpiece setting

2.4.2.3 Robot Tool Settings

Set the specified 3D Object and action script for the Robot Tool, so that the set tool can be attached to the end of the arm.

The operation of the virtual controller can trigger the script actions of the tool and the pick and place of the workpiece.

Add the arm tool method, refer to Figure 2-49:

(1). After adding the arm, click "Setting" to open the Robot Tool Setting window to add and move the Robot Tool

Configuration.

(2). Click the folder icon to read the existing .tool configuration file from the Tool folder.

(3). If you need to create a .tool file by yourself, you can import Object and add it to Robot Tool Part Tree.

(4). After adding the base object, click on the object in the tree view, and the object can be set as the sub-level object to which it belongs.

Use "Set Tool" to change the properties of the selected object to "Robot Tool". (The movement of the object will bring the subordinate objects together

Movement, each arm can set up to 3 groups of objects with "Robot Tool" attribute)

(5). After completing the “Robot Tool” attribute setting, click the tool in the tree view to set the “Workpiece corresponding to the grasped workpiece”

Change Counter” and the “Workpiece Group Counter” corresponding to the corresponding placed workpiece, the tool will be specified according to the current

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The Counter value of , to grab the corresponding workpiece or place the workpiece on the corresponding object.

(6).”Robot Tool Action DO” can set the DO number that triggers the tool to grip and place the workpiece. When the DO is triggered, the tool will

The specified workpiece will be set on the tool according to the value of "Workpiece Change Counter". When DO is closed,

The tool will set the workpiece on the tool on the specified object according to the value of "Workpiece Group Counter". (when

Turn on the flash simulation function to simulate the arc effect during welding)

(7) By checking the "Show On Robot Tool" option, the virtual workpiece can be displayed on the tool according to the set value of the position.

When the "Robot Tool Action DO" is triggered, it will be recalculated according to the value of "Workpiece Change Counter".

Calculate the position of the specified workpiece in the corresponding tool and rewrite it.

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(1).Robot Tool tool and action settings

Save the current tool settings to hide the arm tool

Select arm number

(5). Set workpiece change counter

(2).Open the existing Tool and workpiece group counter

profile

(3). Add after selecting the object

Turn on arc simulation

(4). Define the affiliation of each object,

and set as (6).Pick and place trigger DO setting

The components of the Tool are compiled

Corresponding workpiece number

Delete the clicked object

(7). Display the virtual

workpiece on the tool

Delete the "Tool" property of the object

Corresponds to the workpiece on the tool

s position

set object position

Open ActionScript settings

Figure 2-49 Schematic diagram of adding an arm tool Robot Tool

Arm tool script setting, refer to Figure 2-48:

(1) .Add a new script, and you can define the name yourself.

(2) .Delete script, you can delete unnecessary script files.

(3) .Select the script, and select the script through the drop-down menu to modify and simulate.

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(4) .Copy the script. If you have similar script requirements, you can directly copy the script to modify it.

(5) .Rename, you can modify the script name that has been set.

(6) Script DIO setting, each script needs to define a set of DI and DO, and the used DI and DO cannot be reused.

(7) .Add moving objects. On the Tool module, if the moving parts need to be added, they need to be added to the object script settings below.

(8) .Increase the waiting function. In script simulation, if you need waiting time and DI signal, you can add and set it yourself.

(9) .Object script setting, the arm Tool can adjust the range of movement and rotation of each component, and adjust the object according to the needs

The amount of motion and the sequence of motions. (If the Fine option is checked, the movement will be executed before the next object movement)

(10) Perform script simulation. After setting the script, click [Run] to perform script simulation and confirm the script action.

(2).Add script
(3). Delete the script
(1).Select the script

(4). Copy the script

(7). Add moving

(5). Rename
objects

(6).Script IO setting
(8). Increase the waiting

function

adjust the movement

order

delete movement

project

Reverse the order

(9).Object script setting

of motion

(10). Script running simulation Save script settings

Figure 2-50 Schematic diagram of Robot Tool script setting

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2.4.2.4 Add Equipment

Add the Equipment module, through this function, multiple object modules can be grouped into the same group, and can be set through the script

to simulate the operation of the actual equipment.

Add device method, refer to Figure 2-51:

(1). Click "Add EQ" to add an existing EQ file (*eq) from the [eq] folder and load it into HRSim.

(2). Click "Setting" to open the Equipment Setting window for adding Equipment l groups and setting actions.

(3). If no existing device is added, you can add and define the device name by yourself.

(4). The number of DI and DO of the device is set. You can choose how many DI and DO signals the device needs to use. (The number of IOs depends on the number of scripts

quantity pairing)

(5). Add the Object object to the software, first select the Object object number from the drop-down menu

(6). Then click "+" to add the object to the device group. The first object added is the fixed base of the device, and the first object to be moved

When the object is positioned, the entire device will move along with it. If the object has been grouped, the object name will be grayed out and can no longer be changed.

Added on.

(7). To set the affiliation of an object, after selecting the object number, click the desired item in the Equipment Part Tree

Subordinate object number, and then click "+" to append the object to the selected object. (When the object moves through the script,

It will drive the subordinate objects to move together)

(8). Part position setting is the coordinate position setting of the object. When the position is set, the coordinate system of the object to which the object belongs is used.

To refer to the origin, click the object in the Equipment Part Tree to switch to the position of the object and adjust it.

(9). Through the save button, the device setting data can be saved, and the next time click "Add EQ" to directly load the object map

file and device-related settings.

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(2). Change the device group

and action settings

(1). Load the device file delete device

(3). New equipment

(9). Save the device profile

Select device number hidden device

(4).Set the number of device IO

(5).Select the object number

(6).Add new objects

delete object

(7). Set the affiliation between the

objects

Open ActionScript settings

(8). Set the position of each object

Figure 2-51 Schematic diagram of adding equipment Equipment settings

Device script settings, refer to Figure 2-50:

(1) .Add a new script, and you can define the name yourself.

(2) .Delete script, you can delete unnecessary script files.

(3) .Select the script, and select the script through the drop-down menu to modify and simulate.

(4) .Copy the script. If you have similar script requirements, you can directly copy the script to modify it.

(5) .Rename, you can modify the script name that has been set.

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(6) Script DIO setting, each script needs to define a set of DI and DO, and the used DI and DO cannot be reused.

(7) .Add moving objects. On the Tool module, if the moving parts need to be added, they need to be added to the object script settings below.

(8) .Increase the waiting function. In script simulation, if you need waiting time and DI signal, you can add and set it yourself.

(9) .Object script setting, the arm Tool can adjust the range of movement and rotation of each component, and adjust the object according to the needs

The amount of motion and the sequence of motions. (If the Fine option is checked, the movement will be executed before the next object movement)

(10) Perform script simulation. After setting the script, click [Run] to perform script simulation and confirm the script action.

(2).Add script
(3). Delete the script
(1).Select the script

(4). Copy the script

(7). Add moving

(5). Rename
objects

(6).Script IO setting
(8). Increase the waiting

function

adjust the movement

order

delete movement

project

Reverse the order

(9).Object script setting

of motion

(10). Script running simulation Save script settings

Figure 2-52 Schematic diagram of adding equipment Equipment settings

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2.4.3 External Axis

Additional axis control can be added outside the original robot body, so as to control the external table or rotary table to cooperate with the robot body.

Work together to increase the flexibility of automation applications.

add external axis External Axis Parameter Setting External Axis Group

Configuration

2.4.3.1 Adding external axes

Add an external axis External Axis, you can add 1~3 sets of linear or rotary external axes, this function must be added to the arm before it can be used.

The following chapters will explain the parameter setting of the external axis.

(1). Enable the E1 external axis (8). Set the coupling with the arm

Displays the direction of movement of an external axis

Set the external axis color to show the external axis type

(2).Select external axis file (3). Setting external axis

Figure 2-53 Schematic diagram of adding an external axis

Add an external axis method, refer to Figure 2-53:

(1). Check Enable to enable the external axis, you can choose E1 ~ E3 three external axis settings.

(2). Select the external axis file (.stl), first select the corresponding file as the mobile stage, press "Open old file", and then select as the base

the corresponding file, and then click "Open Old File".

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(3). Click the setting icon to open the external axis setting, refer to Figure 2-54.

(4). Press the picture to select the external axis type, linear or rotary movement.

(5). Select the movement direction of the external axis, X, Y, Z for linear, RX, RY, RZ for rotation, "+" is positive direction; "-" is negative direction.

(6). To rotate the external axis, it is necessary to set the rotation center position of the external axis. After inputting, press "Set".

(7) Set the external axis position, press "Set" after inputting, and "Close" is the button to cancel the setting.

(8). If the arm needs to be fixed on the external axis, check the Couple setting to couple with the arm, and then adjust the world position of the arm.

Setting external axis

(4).Select the external axis type

hidden stage

hidden pedestal

(5).Select the external axis direction

(6). Set the rotation center of the external axis

(7). Setting external axis position

Confirmation / cancellation settings

Figure 2-54 Schematic diagram of external axis setting

2.4.3.2 External axis parameter setting

External axis parameter setting

External axis coordination motion calibration setting

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External axis parameter setting

After adding the external axis file, it is necessary to set the external axis parameters of the HRSS software in the arm to simulate the movement of the external axis. Setting method

Refer to Figure 2-55.

4
2
3
3
5

12
8

9 13

10 14

11
15

16

Figure 2-55 External axis parameter setting diagram

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Table 1 Explanation table of external axis parameters

line HRSS external axis parameter setting description

1 Select the arm number/model.

2 Select the external axis, and select the input E1~E3 external axis from the drop-down menu.

3 Enable/disable the selected external axis, check to enable.

4 Set the type of external axis as linear/rotary axis movement type, click the picture to switch.

5 Set the direction of the external axis motor, select either forward (Positive) or reverse (Negative).

Set the motion mode of the external axis to either synchronous (Sync) or asynchronous (Async) axis.

Sync synchronized movement:

Synchronized motion means that the motion of all axes, including the robot and external axes, starts at the same time and starts at the same time

At the end, correct the motion path relationship between the robot and the external axis in the synchronous motion mode and set
6

By determining its kinematics type, synchronous coordinated control can be achieved under the condition of controlling external axes.

Async Alien Movement:

Differential movement means that the movement of the robot and the external axis does not start or end at the same time, the machine

The movements of the human and external axes are independent of each other.

7 Set the external axis to enable/disable the synchronization coordination function.

8 Set the upper limit of external axis movement, unit: mm/deg.

9 Set the lower limit of the external axis movement, unit: mm/deg.

10 Set the reduction ratio of the external shaft motor mounted reducer.

11 Set the lead of the external axis (Pitch), which is only applicable to the linear movement of the external axis.

12 Set the maximum speed (RPM) of the external axis motor.

13 Set the external axis acceleration and deceleration time, in mm.

14 Sets the resolution of the external axis motor.

15 Store the set value.

16 Continuous rotation setting, only for external axis of rotation movement.

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External coordination proofreading settings

After the external axis function is activated, when the external axis is set as a synchronous axis, the external axis coordination can be enabled through the following correction settings

Refer to Figure 2-54 for the function of movement and the correction method.

3
2

5
6

Figure 2-56 External axis coordinated motion correction setting diagram

Table 2 Explanation table of external axis parameters

line External axis coordinated motion correction setting description

1 Select the arm number/model.

2 Set the tool coordinate system number corresponding to the calibration.

3 Set the base coordinate system number corresponding to the calibration.

4 The calibration point position and coordinate information are displayed, and you can click to directly input the value.

5 Perform external axis calibration (Linear needs to be calibrated 2 points / Rotary needs to be calibrated 3 points).

6 Store the calibration results.

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Correction procedure:

STEP 1: Select the external axis number to be calibrated

STEP 2: Select the corresponding Tool and Base coordinate system

STEP 3: Execute "Calibrate" to calibrate

STEP 4: Move the TCP position to the calibration jig on the external axis, and set CP1~CP2(Linear)/CP1~CP3(Rotary) respectively

Moving external axis,

Move the TCP position
reset
Proofreading cure
TCP location
Equipment settings
move to correction
CP1
Jig installation

Set CP2

"Linear" external axis correction diagram

Rotate the external shaft, Rotate the external shaft,

Move the TCP position

reset reset
Proofreading cure

TCP location TCP location

Equipment settings

move to correction move to correction

CP1

Jig installation Jig installation

Set CP2 Set CP3

"Rotary" External Axis Correction Diagram

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External axis group setting

External axis and arm coupling state (arm

External axis group setting
moves with external axis)

External axis and arm coupling status

If the arm needs to be fixed on the external axis and move with the external axis, it is necessary to set the coupling between the external axis and the arm. Refer to the figure for the setting method.

2-57: (1). Check the Couple setting and arm coupling. (2). Red line is displayed at the state after coupling.

(1). Check the Couple

(2). Coupling is red line

Figure 2-57 Schematic diagram of external axis and arm coupling setting

External axis group setting

After the external axis group is set, the external axis can move with another external axis. Refer to Figure 2-58 for the setting method: (1).

external axis. (2). Click "+" to set as a group. (3). A red line will be displayed in the status after grouping. If you click "-", the group relationship will be cancelled. (when

When the external axis that has been set as a coupled axis is checked again in the family group, the coupled state will be automatically canceled)

(1). Check the external (2). Click "+" to set

axis to be grouped

(3). The group is red line

Figure 2-58 Schematic diagram of external axis group setting

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2.4.4 Palletize function setting [Palletize]

For related applications of palletizing, you can quickly import customized boxes, pallets and conveyor belt objects from this function tab, and

Customize the stacking method according to the requirements, and automatically generate the corresponding arm motion program according to the relevant settings.

Export HRB program

Join the conveyor belt

add box define placement

add to the pallet

2.4.4.1 Adding the conveyor belt

By adding conveyor belt components, the conveyor belt can automatically generate corresponding box objects or workpieces. With the application of the virtual controller, transparent

The action of the conveyor belt is controlled by the arm IO. The following chapters will explain the parameter setting of the conveyor belt.

For the method of adding conveyor belt, please refer to Figure 2-59:

(1). Add a conveyor belt. After clicking, it will automatically generate a conveyor belt element with a size of 2000mmX300mmX560mm.

(2) Set the size of the conveyor belt. After adding a conveyor belt, you can change the length, width and height of the selected conveyor belt according to your needs.

(3) Set the position of the conveyor belt, and the position and placement angle of the conveyor belt in the simulation system can be modified.

(4). Conveyor belt Speed setting, can set the conveying speed of objects on the conveyor belt, unit (mm/s).

(5). Conveyor belt PPM setting, you can set the number of objects produced by the conveyor belt per minute, unit (quantity/min).

(6). Conveyor belt Limit setting, you can set the transmission limit position of the object on the conveyor belt, when the origin of the object reaches this position

, the movement of the conveyor belt will be interrupted and the corresponding arm DI signal will be triggered.

(7). Conveyor belt Workpiece ID setting, can set the workpiece number automatically generated by the conveyor belt, when the corresponding Robot DO triggers

When the conveyor belt is running, it will automatically generate objects according to the PPM setting. When the workpiece number is not set, the conveyor belt will not automatically

move.

(8). Conveyor Belt Robot IO setting, you can set the DO signal of the arm that controls the conveyor belt operation and when the object reaches the Limit position

Triggered arm DI signal.

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(1).Add conveyor belt

Select belt number

remove conveyor belt

hidden conveyor belt Modify belt color

(2). Modify the size of the conveyor belt

(3). Modify the position of the conveyor belt

(5). Modify the number of objects generated per minute

(4).Modify the object transmission speed

(6). Modify the transmission limit position

(7).Set the generated workpiece number Clear workpiece settings

(8).Conveyor Belt Robot IO Setting

Figure 2-59 Schematic diagram of conveyor belt setting

2.4.4.2 Add custom cabinet

Add cabinet components. The following chapters will explain the parameter settings of custom cabinets.

For the method of adding cabinets, please refer to Figure 2-60:

(1). Add a new cabinet. After clicking, it will automatically generate cabinet components with a size of 200mmX200mmX200mm.

(2). Set the size of the cabinet. After adding a cabinet, you can change the length, width and height of the selected cabinet according to your needs, and you can change the size of the selected cabinet.

Change the placement of the labels on the cabinet (Front, Back, Left, Right).

(3) Set the cabinet position, you can modify the position and placement angle of the cabinet in the simulation system.

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(1). Add a new cabinet

Select case number

delete cabinet

Modify the box color

hidden box

Modify cabinet label position

(2). Modify the size of the box

(3). Modify the position of the cabinet

Figure 2-60 Schematic diagram of cabinet setting

2.4.4.3 Add custom pallet

Add pallet components. The following chapters will explain the parameter settings of custom pallets.

For the method of adding pallets, please refer to Figure 2-61:

(1). Add a pallet, click it, it will automatically generate pallet components with a size of 1200mmX1200mmX150mm.

(2). Set the pallet size. After adding a pallet, you can change the length, width and height of the selected pallet as required.

(3). Set the position of the pallet, you can modify the position and placement angle of the pallet in the simulation system.

(1).Add pallet

Select pallet number

delete pallet

Change pallet color

hidden pallet

(2). Modify the pallet size

(3). Modify the position of the pallet

Figure 2-61 Schematic diagram of pallet setting

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2.4.4.4 New placement method

Define the placement method of the objects. Here you can add the placement method of the cabinet objects. After the definition is completed, you can use the exported function

Yes, the arm HRB program corresponding to the placement method is automatically generated. The following chapters will explain the setting of the placement mode.

To define the placement of objects, please refer to Figure 2-62:

(1). Add a new placement method. After clicking, a window where you can enter a name will appear. Press "Set" to add a new method.

A way to generate a preset named "Pattern #".

(2). After selecting the corresponding pallet number, pressing it will automatically move the viewing angle of the simulation screen to the top of the selected pallet.

(3). After selecting the corresponding cabinet number, pressing it will define the cabinet as the placed object, and lock the current viewing angle of the viewing angle.

(4) In the "Origin" tab of the placement setting, you can set and place the starting point position of the sequence, which can be set from the upper left corner, upper right corner,

The lower left corner or the lower right corner, and the left and right directions can be placed first or the upper and lower directions can be placed first.

(5). In the "Pallet Gap" tab of the placement setting, you can set the boundary of the cabinet on the pallet, X is the left and right boundary, Y is the upper

For the downward boundary, the red area displayed on the pallet after the setting is completed is the area where the cabinet cannot be placed, as shown in Figure 2-63.

(6). The distance between the box and the box can be set in the "Box Gap" tab of the placement setting. The red arrow on the icon is the X direction.

The green arrow is the Y direction. After the setting is completed, when defining the placement of the cabinet, the space between the cabinet and the cabinet will be automatically set according to the setting.

corresponding spacing, as shown in Figure 2-63.

(7). According to the needs of use, there are four placement methods: [Manual](a), [Horizontal](b), [Straight](c) and [Cross](d).

options, the description of each method is as follows:

[Manual]: Press (or keyboard A key) to add a cabinet, press (or keyboard R key) to rotate the cabinet, press (or keyboard R key)

D key) to delete the selected cabinet, press to unlock the viewing angle (the cabinet cannot be dragged at this time), press

Press "Clear" to clear all the newly added cabinets, move the mouse over the cabinets and press the left button to drag and drop the cabinets freely.

The placement of the box can be freely set according to the needs. When the box overlaps with other boxes during the dragging process,

Cabinet alignment will be performed automatically after releasing the left mouse button.

[Horizontal]: Press it to automatically generate the placement mode with the X direction of the cabinet to the right, and other operation modes are the same as manual.

[Straight]: Press it to automatically generate the placement mode with the cabinet X direction facing up, and other operation modes are the same as manual.

[Cross]: Press it to automatically generate the placement mode in a vertical and horizontal manner, and other operations are the same as manual.

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(8). Modify the position of the cabinet. After checking the box, you can directly input and modify the position data of the selected cabinet. Press to write the data (via

This method will not automatically align the cabinet).

(9) Save the setting, save the set placement setting into the corresponding number, and generate the corresponding placement point.

(10) Load settings, press to load the saved configuration file.

(10).Load settings

Select method number

(9). Save the settings

delete placement
(1). New placement method
(2). Load pallet (3).

Load box

(4). Set the placement starting point

and set the placement sequence (5). Set the boundary

(7).Setting mode

(a).Manual

(c). Straight
(b). Horizontal (6). Set the spacing
(d).Cross

(8). Modify the position of the cabinet

Figure 2-62 Schematic diagram of pallet setting

X-direction boundary

Spacing in X direction

Spacing in Y direction

Y direction boundary
Figure 2-63 Schematic diagram of pallet setting

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2.4.4.5 Output HRB program

The parameter setting of the output HRB program will be explained, as shown in Figure 2-64 to Figure 2-66.

(1). Add a new pallet, add a pallet to be placed and press it. After clicking, the tree map will automatically generate the selected pallet.

(2). Add a new placement method, click on the pallet to be placed to make it tick, then select the desired placement method and press

Added placement method.

(3). Select the conveyor belt, that is, the workpiece will be sent out from the selected conveyor belt.

(4). Set the offset of the gripping position to set the offset of the arm when gripping.

(5). Set the offset of the placement position, you can set the offset of the arm when it is placed.

(6) Set the arm waiting position, press to set the current arm position as the arm waiting position.

(7). Select the arm and select the arm to be actuated.

(8). Select the arm tool and select the arm tool to be actuated.

(9). Select the external axis, select the external axis to be enabled, if not, do not need to select.

(10). To export HRB, press Export to export.

(1).Add pallet number

Remove pallet number

Select pallet number
(2).Add placement method number

Remove placement number

Select the placement number

Move up the placement hierarchy

Move down the placement hierarchy

Clear all placement hierarchy data

Simulate the placement of hierarchies

Figure 2-64 Schematic diagram of setting the placement hierarchy

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(3). Select the conveyor belt

(4).Set the clamping offset

(5). Set the placement offset

(6).Set the arm waiting position

Figure 2-65 Schematic diagram of setting arm action

(7).Select the arm

(8). Select the arm tool

(9).Select external axis

Export to PR value

using external axis

export subroutine

(10).Export HRB program

Figure 2-66 Schematic diagram of exporting HRB program

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2.5 Tree View Window

This chapter describes the architecture diagram and tree diagram of the system on the left side of the window, as shown in Figure 2-67. There are three pages:

1. System architecture (Layout) page: Layout displays the configuration tree diagram of the object.

2. HRB File tab: HRB File displays the arm HRB program in the virtual controller.

3. Path & Point tab: Path & Point displays the Path and Point data in the system.

(a) (b) (c)

Figure 2-67 Tree view window

(a.) System Architecture Layout Diagram

(b.) File task HRB File diagram

(c.) Object location plan

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2.5.1 System Architecture Layout

The Layout system structure displays a tree diagram of the list of simulated system objects in HRSim, as shown in Figure 2-68. Clicking an object in the tree diagram will

It will be displayed in reverse, and the selected object will be switched to light green color in the simulation screen. Click the option in the tree view and right-click to

Open the function menu, the menu will be different according to the type of the object clicked, the basic options for the object are enable, hide

(Hide), reset 3D file (Reload Stl file), object color setting (Color), open various object setting pages (Setting), and

Move the object (Move) tree view all the sub-items of the scroll (Collapse All).

The function menu can be opened by the

The selected option will be highlighted and

right mouse button

displayed in the simulation screen

The object will switch to light green

Figure 2-68 System Architecture Diagram

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2.5.2 HRB File

The HRB File page displays the HRB program list in the virtual controller, refer to Figure 2-69, when the virtual controller is opened with the arm

The file information will be displayed, click the option and right-click to set the current task file (Set Task), open the editing program window (Open

HRB File) or run the selected file (Run HRB File), the selected program file will be displayed in the Task name, and the program will run

Refer to Chapter 2.4.1.5 for the line mode, and refer to Chapter 2.5.3 for the arm program editing method.

Select arm number

show current task

Set the current task to open

the HRB file to execute the

task

Figure 2-69 Schematic diagram of the file task interface

After clicking the file task folder icon, you can choose to open a new HRB file or open an old HRB file.

Add HRB file to open the

HRB file on the local machine

case
Figure 2-70 Schematic diagram of adding/opening old files in the file task

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If you choose to open a new HRB file, a file window will pop up, and you must first enter the name of the new HRB file.

Letters or English letters + numbers, but the number cannot be the first character, and "-" cannot be used as the principle, and then press the "Save" button,

Start editing a new HRB file, refer to Figure 2-71, click the name of the existing program file to overwrite the file, please choose carefully;

If you choose to open the old HRB file, a file selection window will pop up. After selecting the file, click the "Open Old File" button.

button, the HRB edit window will be displayed to edit the file, refer to Figure 2-72. .

Figure 2-71 Open a new HRB program window Figure 2-72 Open the old HRB program window

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2.5.3 Description of arm program editing interface

After opening the program editing page, refer to Figure 2-73. The following is the window function description:

(1). Add a blank file to HRSim.

(2). Open the old file (HRB).

(3). Save the file, you can choose to save the file or save the file in the specified virtual controller, refer to

Figure 2-74.

(4) Open the point data, you can confirm the point information, and you can add or delete the point data, refer to Figure 2-76.

(5).Open or hide the editing function bar: the commonly used tool bar when compiling programs, refer to Figure 2-65.

(6). Open or hide the command selection bar: You can input common commands from the drop-down menu when writing programming languages. Refer to Figure 2-79, Commonly used commands

For instruction descriptions, please refer to Chapter 3, or refer to the Shanghai Bank Robot Software Instruction Set Manual.

(7).Open or hide the HRB editing window.

(8). Display the currently opened file location; on the local PC (Local PC) or virtual controller (Device 1~3).

(9). Corresponding arm number.

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(4).Open point data (5).Open/

hide editing toolbar

(3). Save the file
(6).Open/hide command selection bar
(2). Open the old file
(7).Open/hide edit window

(1).Open a new file

(9). Corresponding arm number

Edit Toolbar (8). Current file location

command selection column

HRB edit window

Figure 2-73 Schematic diagram of program editing function and writing page

save in current location

Stored in select device

Figure 2-74 Schematic diagram of the save file page

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Figure 2-75 Function description of editing function bar

The point information can be recorded through the Point List point information window, refer to Figure 2-76, after the program is written

When the arm moves, it can move to different points, and then it can perform different things according to the program content. The following is the point

Bit window function description:

(1). To add a new point, record the current arm posture to the new point.

(2). In order to delete the specified point, it is necessary to select the point before execution.

(3). In order to cover the point information, you need to select the point before it can be executed. .

(4). To select the point-to-point method, PTP is the point-to-point method to move to the selected point, LINE is the straight line method to move to the selected point

position, you need to select the point you want to reach before you can execute it.

(5). In order to add Path data, the point group of points can be grouped into a path, and the related operations of the path can be performed.

(6). Display Path and Point data, refer to Figure 2-67, you can select different Path data for PTP or LINE to go to point

Simulate actions and delete Path and Point by yourself.

(7) Set the items to be displayed in the point data, refer to Figure 2-68, you can choose which information to display in the point data, and

You can choose which column data to be fixed (currently there are Name and Comment to choose from).

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(3). Covering points (5).Add path data

(2). Delete point (4). Move to the specified point (6). Display path tree diagram

(1).Add points
(7). Point information

Display settings

Figure 2-76 Schematic diagram of the Point List information window

Figure 2-77 Path test plan

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Figure 2-78 Point List data display setting diagram

In the program editing window, it is divided into five main functions: motion command, function function, configuration command, program editing, and command editing.

button, click each main function button, there will be sub-function button command options to choose from, after selecting the command, it may jump out of the corresponding command

Exclusive editing window, after editing the window, you can press the "Set" button to insert standardized program commands to achieve quick programming

The function of editing, take the input PTP command in Figure 2-79 as an example, after selecting the Motion function, click PTP, and then click PTP, jump to

A dedicated PTP editing window appears (some commands do not have a dedicated window). After adjusting the parameters, press the “Set” button to insert the program into the

"PTP P0 CONT Vel=100% Acc=100% TOOL[0] BASE[0]" command.

Figure 2-79 Schematic diagram of pull-down input PTP command

For related common commands, please refer to Chapter 2.6.5.1 for description. For detailed command description, please refer to Shanghai Bank Robot Software Command Set

Manual, please download the manual from the official website of Shanghai Yin Technology.

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2.5.4 Object Point Planning Path & Point

After opening the Path & Point page, refer to Figure 2-80. The following is the window function description:

(1). After entering the Path & Point page, there are Object and Workpiece items in the tree view, and right-clicking the mouse will display the

[New Path]: Add Path.

[Open Path File]: Open Path file (.apt).

(2). If you click [New Path] in the previous step, the Path Group window will appear, and the drop-down menu can be used to select the path to attach to.

On the object (Object) or the workpiece (Workpiece), select (None) to place the Path in the world coordinate system.

(3.) After setting what type of object the Path will be attached to, the drop-down menu at the bottom of the Path Group window will list the current

For objects added to HRSim and matching the selected attributes, you can select the object number to be attached by Path as required.

(4.) After the Path is added to the tree view, right-click on the Path item and a menu for editing Path will appear (refer to Figure 2-81):

[Export Path Data] : Path data is exported to HRB Point List data, it is necessary to connect HRSS and open HRB file and

Point List Only then can the selected Path be imported into HRB Point List data (refer to Figure 2-82).

[Edit Path Data]: Edit Path, you can redefine the object to which Path belongs.

[Add Point]: Add a new point in the selected Path. After clicking, the Point Position window will appear.

Set the position of the point (X, Y, Z, RX, RY, RZ).

[Path Check]: Confirm whether the selected arm tool can reach this path, this function needs to add a virtual controller first

After that, right-click on the corresponding Robot Tool object and select Set Activate, or double-click directly on the simulation screen.

Click the Tool object to make the color of the Tool object change to red, you can click Path Check to confirm whether the path can be reached,

If it cannot be reached, the virtual tool displayed on the point will be red, otherwise it will be blue (refer to Figure 2-83).

[Test Run]: After the Path point planning is completed, the arm running test can be performed after setting the Activate Robot Tool.

(5.) After adding a point in Path, select Point and right-click to display the Edit Point menu:

[Edit Point Data]: Edit the selected Point position (X, Y, Z, RX, RY, RZ).

[Move To Point]: Select a point for arm-to-point simulation.

[Move]: Move the selected Point position.

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Figure 2-80 Path & Point Add Path Flow Chart

Figure 2-81 (left) Path edit page (right) Point edit page

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Figure 2-82 Schematic diagram of Export Path Data

Figure 2-83 Schematic diagram of Path Check operation

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2.6 Mouse shortcut menu

This chapter describes the menu of the right mouse button. Common functions will be placed here. They are mainly divided into five items, namely (1). Basic settings,

(2). Pick and place function, (3). Move function, (4). CAM function and (5). Arm and external axis adjustment

(1). Basic settings

(2).Pick and place function

(3). Mobile function

(4).CAM function

(5). Arm and external axis adjustment

Figure 2-84 Mouse shortcut menu

2.6.1 Basic settings

The following chapters will introduce the basic setting functions of the mouse shortcut menu.

2.6.1.1 Enable

Enable/disable arm enable execution. If checked: enable the execution arm; if unchecked: hide the arm and the corresponding

External axis, and can not start the execution arm (the model on the Layout page will be grayed out).

2.6.1.2 Hide

If checked: the simulation screen of the clicked object can be hidden; if unchecked: the simulation screen of the clicked object is displayed.

2.6.1.3 Modify Stl File (Modify Stl File)

Modify the STL file of the selected object.

2.6.1.4 Object related settings (Setting)

Displays the Setting page of the selected object.

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2.6.1.5 Color Setting (Color)

Displays the Properties Setting page of the selected object.

2.6.2 Pick and place function

The following chapters will introduce the pick and place function of the mouse shortcut menu, the user can quickly move the arm tool to the workpiece position.

2.6.2.1 (Set/Cancel) Enable arm tool and move to workpiece

Click on the arm tool on the screen and right-click to display the menu and then click on Set Activate or

Double-clicking the left mouse button on the arm tool can also be used. If you want to cancel the activation, it is the same as the setting activation process.

Display the menu on the workpiece and then click Move to Workpiece, or double-click the left mouse button on the workpiece, the arm tool

It will move to the workpiece, as shown in Figure 2-85, and the moved position is the On Robot Tool Position in the arm tool setting.

The values of {X, Y, Z, RX, RY, RZ} are shown in Figure 2-86.

Figure 2-85 Setting to enable arm tool and move to workpiece

Figure 2-86 Set move to workpiece position

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2.6.3 Move function

The following chapters will introduce the mouse shortcut menu movement function, the user can quickly move the selected object position and move the arm

tool to the target point.

2.6.3.1 Move
Move the position and posture of the selected object, and display the moving window. Users can drag, move and rotate on the screen.

object properties Enable manual entry

Adjust movement magnification

Manual import
Move position (XYZ) or
position and attitude
adjust attitude (RXRYRZ)

return to pose

store object location

Figure 2-87 Move object (Move) page

2.6.3.1 Move To Point

To enable the arm tool by setting (Set Activate), display the menu on the point (Point) and press Move To

Point), as shown in Figure 2-88.

Figure 2-88 Move To Point

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Then it will display whether to move to the point according to the current arm tool pose. If you choose Yes, the position of the arm tool will remain unchanged;

if you choose No, the position and posture of the arm tool will be the same as the position of the point position; if you choose Cancel, it will not act.

2-89ÿ

Figure 2-89 Schematic diagram of Move To Point

2.6.4 CAM function

The following chapters will introduce the CAM function. Users can make quick dots on Path, which is convenient for quick calibration and path generation.

2.6.4.1 Select Surface

(1) After entering the Path & Point page, add a new path (Path). If there is already a path, you can ignore this step, as shown in Figure 2-90.

(2). Click Select Surface to enter CAM mode, as shown in Figure 2-91.

(3). On the main tree (MainTree), click the Path that needs to be clicked, and press it to make it turn green, that is, to lock the Path, such as

Figure 2-92.

(4). Hold down Shift and click on the surface to be dotted, a red triangle and the selected surface will be displayed, refer to Figure 2-93, if click

To the surface not to be dotted, you can select the surface through the Select Surface drop-down menu, refer to Figure 2-94.

(5) Select the surface to be dotted, and then double-click the left mouse button to add a new point, as shown in Figure 2-95.

Remarks: The dotted object must be placed in the corresponding folder, and the dotted object must be placed in the stl\object folder.

Inside, Workpiece also needs to be in stl\workpiece.

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Figure 2-90 Add new path (Path) Figure 2-91 Enter CAM mode Figure 2-92 Lock path (Path)

Figure 2-93 Select the dotted surface Figure 2-94 Modify the selected surface Figure 2-95 Dot on the surface

2.6.5 Arm and External Axis Adjustment (Jog)

The following chapters will introduce the adjustment of arm and external axis. Users can quickly adjust the position and posture of the arm and external axis by

dragging and dropping with the mouse.

2.6.5.1 Arm joint angle adjustment (Joint)

Select the arm you want to adjust, display the menu and select Joint, then select the axis of the arm, and hold down Shift to display the rotation.

The rotation axis, then hold down the left mouse button to drag and adjust the angle. If the limit is reached, the arm axis will display red.

Figure 2-96 Schematic diagram of mouse dragging joint (Joint)

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2.6.5.2 Arm Tool Adjustment (Tool)

Click on the arm you want to adjust, display the menu and click the Arm Tool (Tool), hold down Shift to display the axes, then hold down the mouse

Left-click to adjust the position and posture of the arm tool according to the arm tool system. If a singular point or limit is encountered, the arm will display red.

Figure 2-97 Schematic diagram of the mouse dragging arm tool

2.6.5.3 Arm Tool Adjustment (XYZ)

Select the arm you want to adjust, display the menu and select the Arm Tool (Base), press Shift to display the axes, then hold down the mouse

The left button can adjust the position and posture of the arm tool according to the basic system of the arm. If the singular point or limit is encountered, the arm will display red.

Figure 2-98 Schematic diagram of dragging XYZ with the mouse

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2.6.5.4 External axis adjustment (EX)

Click on the external axis you want to adjust, display the menu and click on the external axis (EX), press Shift to display the move or rotate axis, then press and hold

Click the left mouse button to adjust the position or attitude of the external axis according to the type of the external axis.

Figure 2-99 Schematic diagram of external axis dragging

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3 Description of common commands of arm software program

This chapter introduces the function description of the command button in the program editing window in HRSim, refer to Figure 2-79. which outlines the soft arm

For the common commands of body programs, please refer to Table 3 for a general list. For more complete descriptions and usage examples, please refer to Shanghai Bank Robot Software Command Set Manual

Please download the manual from the official website of Shanghai Yin Technology.

Table 3 Command button classification summary

motion command function function configuration directives program editing command editor

Motion Function Configure Program Edit

PTP Selection Variable Ready

PTP IF REAL Undo

PTP_REL SWITCH INT Unindent

LIN WAIT FOR BOOL Indent

LIN Iteration CHAR Uncomment

LIN_REL FOR E6POS Comment

LIN_REL_TO LOOP E6AXIS Delete

DIE WHILE A6POINT Cut

CIRCUS REPEAT FRAME Paste

CIRCUS Setting Output Copy

CIRC_REL SPEED VO

BRAKE COORDINATE DO

BRAKE EXTERNAL AXIS RO

USER ALARM SO

EXT TCP WHERE

Get Register

GETPOINT COUNTER

GET_MOTION_STATUS TIMER

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CHECK_LIN PR

FWD Subroutine

Jump DEF

QUIT DEFFCT

GOTO EXT

Math EXTFCT

WITHOUT

SOMETHING

SO

SALTY

ACOS

ATAN

ATAN2

3.1 Motion command Motion

Refer to Table 4 for motion commands, and can be programmed in the following motion modes, PTP point-to-point motion, LIN linear motion

Motion, CIRC circular motion, input motion command parameters after motion command to set parameters such as continuity, speed, acceleration and reference coordinate system

number setting. The starting point of a movement is the target point of the previous movement.

Table 4 Motion command description table

instruction instruction Usage example Example description

PTP Point-to-point move command PTP P0 Point to point move to P0

Relative position way point PTP_REL {A1 90} Point-to-point relative movement axis 1 90 degrees

PTP_REL

move to point

LIN Linear movement command LIN P1 Move straight to P1

Relative position way straight LIN_REL {X 100} Linear relative movement X 100mm

LIN_REL

Line movement command

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Reference Tool Coordinate Straight LIN_REL_TOOL {Z -200} tool coordinate line relative movement
LIN_REL_TOOL
Line movement command Z -200mm

CIRCUS Circular movement command CIRC P2 P3 Circular movement via P2 to P3

relative position circle CIRC_REL {Y 100} {X 100 , Y Relative position method arc movement

Arc move command 100} Parameter one is the relative offset to the transition point

CIRC_REL
quantity, parameter 2 is the transition point to the end point phase

pair offset

stop and clear the brake IF [conditional expression] THEN If the condition is true, stop and clear

BRAKE middle order BRAKE After the braking instruction, execute the following instruction

ENDIF make.

Refer to Figure 3-1 for the path of point-to-point movement (PTP) and linear movement (LIN).

The movement path is different from the program movement method, please select the corresponding command according to the different usage situations.

Figure 3-1 Schematic diagram of straight line and point-to-point motion

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Circular movement (CIRC) refer to Figure 3-2, use three points to form a circular path, from the current arm position + transition point + end point three

The points form an arc path.

Figure 3-2 Schematic diagram of arc motion

After the motion command, there are 6 parameters, please refer to Figure 3-3: trajectory mode, moving speed, moving acceleration, end coordinate system,

Base point coordinate system. A motion command requires at least input of the motion mode and target point. If there are no input parameters, refer to the previous ones.

parameter. Among them, the trajectory mode is divided into two types: continuous trajectory CONT/non-continuous trajectory FINE, refer to Table 5 to determine the motion continuity

Whether or not, when the program is executed, when the motion parameter is CONT, the program will read the program information after CONT in advance to facilitate the

The movement path of the CONT program is planned in advance, so that the movement path of the center of the arm end is a smooth trajectory. If the point is only in the end of the arm

You can use CONT to make the operation smooth. If the point must be reached accurately, you need to use FINE, FINE refers to

The order is divided into three cases, which can be selected by the user according to the task status, and the default state is FINE =1.

target point movement speed end coordinate system

sports track mode mobile acceleration base point coordinate system

PTP P0 CONT Vel = 40% Acc=75% TOOL[0] BASE[0]

LIN P1 FINE=1 Vel=2500mm/s Acc=75% TOOL[0] BASE[0]

Figure 3-3 Motion command parameter description diagram

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Table 5 Motion command parameter trajectory mode description table

High-speed smooth motion, reducing motion cycle time, program

will read ahead.

ACCOUNT

FINE 3 pieces grade

FINE (=0)

The following instructions are pre-read, and no in-position check is performed.

FINE FINE = 1

Subsequent instructions are not pre-read, and no in-position check is performed.

FINE = 2

Subsequent commands are not pre-read, and an in-place check is performed.

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3.2.1 Conditional Selection

Table 6 Condition selection instruction description table

Program description Usage example Example description

IF [conditional expression] THEN If the conditional expression is true, execute action 1, and the

[Action command 1] If the piece type is not established, execute action 2.

IF Conditional judgment ELSE

[Action command 2]

ENDIF

SWITCH [variable name] If there are more than 2 conditional judgments, use

CASE [variable 1] SWITCH multi-condition judgment.

[Action command 1] When the value in [variable name] is equal to [variable 1]

CASE [variable 2] Execute [action command 1], equal to [variable 2]

[Action command 2] Execute [Action Command 2]...and so on, if

SWITCH multiple selection
CASE [variable 3] If they do not match, execute [Action Command 4].

[Action command 3]

DEFAULT

[Action Command 4]

ENDSWITCH

WAIT FOR [INPUT] The arm stops moving and waits for the input signal.

WAIT FOR WAIT FOR[INPUT]…TIMEOUT waits for the input signal to time out and executes the specified action

do.

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WAIT SEC The arm stops and waits for a few seconds.

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3.2.2 Iteration Iteration

Table 7 Iterative instruction description table

program instruction Usage example Example description

FOR [variable name]=[start value] TO Repeat [action command] to [variable name]

[final value] STEP [increment value] content up to [final value]

FOR FOR loop

[Motion Command]

ENDFOR

LOOP Repeat [action command]

[action command]
LOOP loop back and forth

ENDLOOP

WHILE [conditional expression] When [Conditional Expression] is established, execute [Motion Command],

[Motion Command] And repeat the [Conditional Expression] interpretation and [Motion Command]

WHILE conditional loop

ENDWHILE Jump out of the loop until the [conditional expression] is not established.

REPEAT After executing the [Motion Command], interpret the [Conditional Expression] as

[Motion Command] Whether it is established or not, if established, repeat the execution of [movement instruction

REPEAT repeats

UNTIL [conditional expression] After setting] and [conditional expression] to [conditional expression] are not established

Jump out of the loop.

Jump up and out of a loop

EXIT leave the loop

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3.2.3 Setting Setting

Table 8 Description of setting commands

program instruction Usage example instruction

SET_OVERRIDE_SPEED 100 Set the overall speed (%)

SET_SPEED 100 Set speed (%)

SET_ACC 100 Set acceleration (%)

SPEED speed

SET_ROTATION_SPEED 100 Set the rotation speed (deg/sec)

SET_TOOL 0 Set tool coordinate system

COORDINATE coordinates

SET_BASE 0 Set the base coordinate system

EX_AX[1] = TRUE Open (close) connection of external axes

EX_AX_ASYNC[1] = FALSE External axis setting Synchronous axis (non-synchronized axis)

EXTERNAL AXIS external axis

EX_AX_SYNC_COUPLE[1] = TRUE to close (open) the coordinated control function of the external axis

EX_AX_CT[1] 50 Infinite rotation rate for external shafts

USER ALARM custom alarm USER_ALARM [1] Trigger user-defined alert 1

EXT TCP set external TCP EXT_TCP_START Start external TCP point trajectory command

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EXT_TCP_END Stop external TCP point trajectory command

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3.2.4 Jump

Table 9 Description of jump instructions

program instruction Usage example Example description

QUIT end program QUIT End the running program

GOTO [label name] Jump to the label to execute subsequent motion instructions

GOTO go/jump command

[tag name]:

[Motion Command]

3.2.5 Get information Get

Table 10 Instructions for obtaining information

program instruction Usage example Example description

GETPOINT GET POINT [POINT VARIABLE ] = GETPOINT Store line-in point information to [point variable]

[variable] = Return arm motion status to [variable]

GET_MOTION_STATUS Get motion status

GET_MOTION_STATUS

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$C[2] =CHECK_LIN(P1, P2) Check if there is a singularity between P1 and P2

CHECK_LIN singularity check

And return the status to $C[2]

E6AXIS P1_AXIS = {A1 0, Pass the P1_AXIS variable through the directional robot

Forward equipment human luck A3 0, A4 0, A5 -90, A6 0} Convert kinematics to XYZ Cartesian coordinates
FWD

Kinetic Conversion Instructions E6POS P1_POS system, and stored in the P1_POS variable. (Every

P1_POS = FWD (P1_AXIS) The results calculated by different models are different).

3.2.6 Angle calculation Math

Table 11 Instructions for angle calculation instructions

program instruction Usage example Example description

[variable] = SIN (30) Store SIN30ÿ value in [variable]

Sine function instruction for SIN math operation

[variable] = COS (30) Store COS30ÿ value in [variable]

Cosine Function Instructions for COS Math Operations

[variable] = TAN (30) Store TAN30ÿ value in [variable]

Tangent Function Instructions for TAN Math Operations

[variable] = ASIN (0.5) Store SIN-1 0.5 value in [variable]

Inverse Sine Function Instructions for ASIN Math Operations

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[variable] = ACOS (0.5) Store COS-1 0.5 value in [variable]

Arc Cosine Function Instructions for ACOS Math Operations

[variable] = ATAN (1) Store TAN-11 value in [variable]

Arctangent function instructions for ATAN math operations

[Variable 1] = ATAN2(Variable Set the value of TAN-1 (variable 2/variable 3)

ATAN2 arctangent function change command

2, variable 3) stored in [variable 1]

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3.3 Configuration instruction Configure

The function of the configuration command is to declare variables, registers, output signals, subroutines/functions,

3.3.1 Declaring Variable Variable

Table 12 Declaration variable instruction description table

Program description Usage example Example description

REALfloat _ Real AA = 1.234 Declare floating point number AA initial value 1.234

int integer INT BB = 5 declare integer B initial value 5

BOOL Bollinger BOOL K = TRUE Declare Bollinger K initial value TRUE

CHAR character CHAR WORD = 'A' Declare character WORD initial value 'A'

E6POS HOME = {Y 200,Z -100} declares the Cartesian coordinate point HOME, Y number
E6POS Cartesian Coordinate Points
value 200, Z value -100

E6AXIS HOME = {A1 0, A2 0, A3 Declare the joint coordinate point HOME, A1 0,

E6AXIS joint coordinates
0, A4 0, A5 -90} A2 0, A3 0, A4 0, A5 -90

E6POINT HOME = P0 Declare point HOME record P0 complete point

A6POINT point
bit information

FRAME BASE_2 Declares a coordinate system frame name, frame

The name contains X, Y, Z, A, B, C

FRAME coordinate system Informational variables, which can be used to substitute

Variable value or tool (TOOL) or base

(BASE) Coordinate system.

3.3.2 Scratchpad Register

Table 13 Scratchpad instruction description table

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Program description Usage example Example description

COUNTER count register $C[1] = 10 Store the value 10 in the count register No. 1

$T[1] = 10 Store the value 10 in the timing register No. 1

TIMER timing register
$T_STOP[1] = FALSE Start the first timing register time count

PR position register $PR[2] = {X 0,Y 150,Z 300,A 0,B 0,C 0} store the position information in position register 2

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3.3.3 Output signal Output

Table 14 Description of output signal commands

Program description Usage example Example description

VO solenoid valve output $VO[1] = TRUE turns on the solenoid valve signal gate number 1 to output the signal to the outside

$DO[1] = 1 Open digital signal gateway number 1 to output signal

DO digital output

$ RO [1] = FALSE The signal gateway number 1 of the robot end stops outputting
RO Robot end output
signal

virtual output $SO[1] = 0 Fieldbus signal gateway number 1 stop outputting signal
SO

(Fieldbus) No

WO welding output $WO[1] = TRUE to open the welding signal channel number 1 and output the signal to the outside

3.3.4 Subroutine/Function Subroutine

Table 15 Subroutine/function instruction description table

Program description Usage example Example description

DEF subroutine DEF ()…END Repeated programs create groups to form subroutines

DEFFCT ()… A reusable program that returns a value creates a grouping function.
DEFFCT function
RETURN ENDFCT

EXT [subroutine name]([subroutine Declare an external subroutine, which represents the user's content of this subroutine

formula parameter value]) Written in another separate file, when needed by the main program,
EXT external subroutine
Call the subroutine content of another file for use.

DEF ()…END

EXTFCT [return data] [letter Declare an external function, on behalf of the user to write the content of this function in

EXTFCT external function

formula name]([function parameter value]) In another separate file, when the main program needs it, call it again

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Call the function content of another file for use, and will return the data

DEFFCT ()… value.

RETURN ENDFCT

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3.4 Program editing Program

program editing

Table 16 Program Editing Instruction Table

function keys function instruction

Redo restores the previous step and restores the instructions of the previous step

Undo restores the next step and restores the next command

Cancel the text indent, the text will be the same to the left,

Unindent cancels indentation

No indentation.

The text is indented, the text will be left according to the process

Indent indent Controls the hierarchical arrangement of functions, each indentation phase

4 characters away.

Will cancel one or more lines of command comment function

UncommentUncomment _
to restore normal functioning.

Hide one or more lines of instructions, the program runs

Comment _ Lines are omitted to read, the font will change to green slanted

For body text, add a comma ";" to the first character.

Delete deletes one or more lines of instructions.

Cut Cut will cut one or more lines of instructions.

Paste will paste one or more lines of instructions.

Copy copies one or more lines of instructions.

3.5 Instruction Edit Edit

The command editing option will pop up the corresponding modification parameter interface according to each line of commands. After selecting the command to be edited,

Clicking the Edit button will pop out the small window interface where the command was originally edited, which can be used for parameter modification. not all commands have

The corresponding editing interface.

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4 Examples of the use of simulation software

Summary of practice cases

Numbering topic name Exercise content Degree of difficulty

Robot , Object tab operations, Robot connection settings

4.1 Added arm operation and import object questions easy

Set, save/read files

Robot , Object tab operations, Robot I/O settings

4.2 Modularization of tray equipment middle

Fixed, equipment modularization.

4.3 The problem of importing workpieces into the tray Robot, Object, Workpiece tab operations. middle

Robot , Object, Workpiece tab operations,

4.4 The problem of picking and placing materials at the end of the arm installation middle

Robot I/O setting, arm program editing.

Robot , Object tab operation, External axis setting

4.5 The arm is erected on the external axis of the parallel track difficult

Certainly

Robot , Object , Workpiece tab operations,

4.6 The arm picks up the workpiece and moves it to the machine tool to unload the material Robot I/O setting, arm program editing, External difficult

axis setting

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4.1 Add arm operation and import object exercises

ÿ Exercise content:

Robot , Object tab operations, Robot connection settings, save/read files.

ÿ Estimated completion drawing:

Figure 4-1 Schematic diagram of adding arm operation and importing objects

Steps:

1. Add the arm: model RA610-1476, and match the height of the base, the Z axis is up 450mm.

Figure 4-2 Insert arm interface diagram

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2. Add Object: Insert ra610_base_s.stl base 3D file.

ra610_base_s.stl

Figure 4-3 ra610_base_s base diagram

To fix the arm on ra610_base_s, click the Setting button on the Object tab, select RA610-

1476 After the arm is connected to Link1, and then click to add a new link to set as a link, match the height of the base, and the Z axis is down

-450mm, press the Set button.

Figure 4-4 Setting diagram of the combination of arm and base

3. Save, on the File tab, select Save HRS File to save the file.

Figure 4-5 Save HRS file

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4.2 Modularization problem drill of material tray equipment

ÿ Exercise content:

Robot and Object tab operations, Robot I/O settings, and equipment modularization.

ÿ Estimated completion drawing:

Figure 4-6 Schematic diagram of the modularization problem of the tray equipment

ÿ Operation steps:

1. Refer to 4.1 Add Arm Operation and Import Object Exercises, and continue with the subsequent operations.

2. Add Object 3D file stl files: tray_base*1, tray_stage*2 stl files of tray modules.

tray_stage.stl

tray_base.stl

Figure 4-7 Component diagram of the tray module

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3. Set the Add Equipment tab to make multiple Objects form a module.

(1) Select Add Equipment >> Setting on the Object tab.

(2) Click " " to create a new device group, and enter the modular file name: EQ.

(3) Set the device DIO Count to DI:4 and DO:4, and click Set.

(4) Select the tray_base of the Object object from the drop-down menu, and click “ ” to add it to the Equipment Part Tree

, it is a modular group, execute the tray_ stage of the Object object twice, and click " " to be included in the modular selection.

Items, it should be noted that adding modules is sequential.

(5) Adjust the set position of tray base (tray_base), (X,Y,Z,RX,RY,RZ) is (200, 1700, 0, 0, 0, 0), press Set

key. Adjust the setting position of the tray stage (tray_stage), one (X,Y,Z,RX,RY,RZ) is (0, 0, 0, 0, 0, 0), the other

(X,Y,Z,RX,RY,RZ) is (-470, 0, 0, 0, 0, 0), press the Set button.

(6) Set the script (Script) Click to expand the script interface, and click " " to enter the script name left_in, click Set,

Select DI1 and DO1 in Script DIO, click Set, select 102 in Add motion, click “ ”, the Y axis moves

Adjust the moving distance to 0mm, set the time to 1.5 seconds, click Save; add a script named left_out,

Script DIO Select DI2 and DO2, Add motion select 102, click “ ”, the Y-axis movement distance is

500mm, set the time to 1.5 seconds, click Save, and perform the same method in the execution of another tray stage (tray_stage) setting.

OK, select 103 for Add motion, click “ ”, the names are right_in and DIO, each is 3; right_out and DIO are

DIO is 4, click Run to test the action.

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(1). Device location and group settings

(6).Add script

(2). New equipment

(3). Set the number of device DIO

(4).Set device group

(6). Set the movement of objects in the device

(5). Set the position of the object in the device

Figure 4-8 Add Equipment module sequence diagram

Figure 4-9 Setting position diagram of tray base and platform

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4. Click the save button in the upper left corner of the Equipment screen, and select the save location for modular file naming and access.

Can be used repeatedly using the Add EQ button.

Figure 4-10 Save EQ file

5. Then connect the Controller, click on the EQ Setting column in the Robot I/O to perform EQ I/O Setting, and then drop down the menu

Click Equipment, choose EQ on the right, click Script left_in, DO1 and DI0, ON\OFF choose OFF;

Script left_out, select 1 for DIO, ON\OFF select ON; click Script right_in, DO2 and DI0, ON\OFF

Select OFF; Script right_out, DIO select 2 each, ON\OFF select ON.

Figure 4-11 Setting script corresponding to DIO

6. After selecting the Robot I/O setting on the Robot tab, there will be more DO Settings that have been connected. Use DO[1] and

DO[2] can make the tray platform move, and after the movement, the DI[1] and DI[2] signals will turn green (ON), which means the setting mode

The composition and signal are correct.

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Figure 4-12 The component diagram of the tray module and the completion diagram of the DO signal setting

7. Save, on the File tab, select Save HRS File to save the file.

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4.3 Exercise on importing workpieces in the material tray

ÿ Exercise content:

Robot, Object, Workpiece tab operations.

ÿ Estimated completion drawing:

Figure 4-13 Schematic diagram of the problem of importing workpieces in the tray

ÿ Operation steps:

1. Refer to the exercise of 4.2 Modularization of the tray equipment, and continue the subsequent operations.

2. Add Workpiece 3D file stl file: Workpiece *4 workpiece files.

Workpiece.stl

Figure 4-14 Add Workpiece Add Workpiece.stl

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3. Fix the Workpiece on the tray stage (tray_stage) as follows, click on the Setting button in Add Workpiece

button, the Workpiece Setting window will appear. Select Workpiece on Object to hang 102:tray_stage.stl.

Click "+" to add it to 104: Workpiece.stl, that is, to complete the first workpiece mount, and enter Initial Position

position, (X,Y,Z,RX,RY,RZ) is (120, -1150, 1056, 0, 0, 90), press the Set button.

Figure 4-15 Interface diagram of mounting Workpiece to the tray platform

4. Select another 105: Workpiece.stl in the left window Layout, click the right mouse button and select Workpiece

Setting setting, refer to step 3. Add 106: Workpiece.stl and mount it on 102:tray_stage.stl, refer to

Initial Position, (X,Y,Z,RX,RY,RZ) is (0, -1150, 1056, 0, 0, 90), press the Set button. in the same way

Formula 106: Workpiece.stl position (X,Y,Z,RX,RY,RZ) is (-120, -1150, 1056, 0, 0, 90) and 107:

Workpiece.stl Position (X,Y,Z,RX,RY,RZ) is (-240, -1150, 1056, 0, 0, 90).

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Figure 4-16 Workpiece initial position setting diagram

5. Save, on the File tab, select Save HRS File to save the file.

4.4 Exercise of picking and placing materials at the end of arm installation

ÿ Exercise content:

Robot, Object, Workpiece tab operation, Robot I/O setting, arm program editing.

ÿ Estimated completion drawing:

Figure 4-17 Schematic diagram of the problem of picking and placing materials at the end of the arm installation

ÿ Operation steps:

1. Refer to 4.3 Importing Workpieces in the Material Tray for the exercise, and continue with the subsequent operations.

2. Add the Object 3D file stl file: mcsh_160*1 gripper body 3D file and f_01*1, f_02*1 clip

The stl file of the claw finger.

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mcsh_160.stl f_01.stl f_02.stl

Figure 4-18 Add the 3D image of the arm tool

3. To set the finger on the gripper and the finger movement, click the Setting button in the Add Robot Tool option to start the setting.

Figure 4-19 Setting interface of Add Robot Tool

After selecting the "108:mcsh_160.stl" object, click "+" to add it to the Robot Tool Part Tree;

Add the "109:f_01.stl" object, the "110:f_02.stl" object, the "108:mcsh_160.stl" object in this way, press

Set Tool to change its picture to .

Figure 4-20 Interface diagram of adding Robot Tool Part Tree components

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Press the right button to open the script page, add the script name pick, Add motion 109: Y is 40mm, motion

110 : Y is -40mm, Motion Time is 0.5 seconds, DIO is 1, press the Save button; then increase in the same way

Script name place, Add motion 109: Y is 0mm, motion 110: Y is 0mm, Motion Time is 0.5

Seconds, DIO is 2 each, Fine is unchecked.

Figure 4-21 Setting the Part motino setting parameter value interface

4. Set the workpiece clamping signal, clamping position and register number, and set Workpiece Change in Robot Tool

Countor is C1 (change the workpiece clamping state of the gripper), Workpiece Group Countor is C7 (change the specified group setting

In Robot Tool Signal Setting, Robot Tool Action Do : 3 and other parameters; then enter the workpiece placement

The position (X, Y, Z, RX, RY, RZ) in the arm tool is (0, -6, 260, 180, 0, -90), refer to Figure 4-29, and press Set to save.

Figure 4-22 Interface diagram for adjusting workpiece clamping signal and clamping position

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5. Then connect the Control, click the EQ Setting column in the Robot I/O to perform EQ I/O Setting, and then drop down the menu to click

Select Robot Tool, select Robot 1 on the right, click Script pick, select 3 for each DIO, select ON for ON\OFF; Script

place, DO3 and DI4, ON\OFF select OFF.

Figure 4-23 Arm tool IO setting

6. After selecting the Robot I/O setting on the Robot tab, there will be more Robot Tool groups that have been linked. Use (Tool

501) DO[3] can make the gripper move to open and close, and after picking up the Pick movement, the DI[3] signal will turn green (ON);

After the Place is moved, the DI[4] signal will turn green (ON), which means the setting is modular and the signal is correct. (Also programmatically

Write control DO/DI signal)

Figure 4-24 The interface diagram of the end tool signal setting completion

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4.5 The arm is erected on the external axis of the parallel track.

ÿ Exercise content:

Robot , Object tab operation, External axis setting.

ÿ Estimated completion drawing:

Figure 4-25 Schematic diagram of the arm erected on the external axis of the parallel track

ÿ Operation steps:

1. Refer to 4.4 Exercise of Picking and Unloading Materials at the End of Arm Mounting, and continue with the subsequent operations.

2. Add external axis (External Axis) 3D file stl file: EX_STAGE (Move mobile platform)*1,

EX_SLIDE(Base movement track) *1 stl file of external axis. Check the E1 Enable option and select the file screen

It must be sequential, first load the stage (EX_STAGE), and then load the movable track (EX_SLIDE).

EX_SLIDE.stl

EX_STAGE.stl

Figure 4-26 3D diagram of moving platform and moving track with external axis added

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3. Click on External Axis Setting, set the parameters of the external axis as linear movement mode (click on the straight line graph), and set it as the external axis

E1 increases the +Y direction, the position of the external axis (X, Y, Z, RX, RY, RZ) is (1100, 0, 1160, 0, 0, -90), press Set and press

key.

Figure 4-27 External Axis Setting parameter setting interface

4. To set the external axis parameters in the arm, you need to connect the arm first, and then click the EX Setting button to set the parameters. E1

The external axis uses the positive and synchronous movement method, the High Limit is 36000mm, and the Low Limit is

3600mm, Gear Ration 100, Pitch 360mm, Motor Max Speed 6000rpm, Motor

Acc Timr is 200ms, Motor Resolution is 131071, press the Save button.

Figure 4-28 EX Setting parameter setting interface

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5. Arm and external axis coupling settings and external axis settings, check the Couple (coupling) in the External Axis option to let the arm and the external axis set.

Combine the movement of the external axes, and adjust the position of the arm (X, Y, Z, RX, RY, RZ) to (0, -1200, -470, 0, 0, 0), press Set

key.

Figure 4-29 Arm and external axis coupling setting diagram

6. To test the movement status of the external axis, click the EX single-axis movement button on the Robot tab to test the forward/reverse movement of the E1 axis.

If the movement matches the expected movement then complete the exercise.

Figure 4-30 Interface diagram of arm movement screen

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4.6 The arm picks up the workpiece and moves it to the machine tool to unload the material

ÿ Exercise content:

Robot , Object , External Axis tab operations, Robot I/O settings, arm program editing.

ÿ Estimated completion drawing:

Figure 4-31 Schematic diagram of the problem that the arm picks up the workpiece and moves it to the machine tool

ÿ Operation steps:

1. Refer to 4.5 The arm is erected on the external axis of the parallel track for the exercise, and then continue the subsequent operations.

2. Import the EQ module, click Open EQ in the Add Equipment option, and select the "EQ_01.eq" file.

Figure 4-32 Open EQ interface diagram

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3. To set the position of the tool unit, click Add Eq setting in the Add Equipment option, under the Equipment option

Pull to select "EQ_01", click "107:machine_boday.stl" in the Equipment Part Tree to set the machine tool

The position of the main body (X, Y, Z, RX, RY, RZ) is (-1000, -800, 0, 0, 0, 0), press the Set button.

Figure 4-33 Tool set position setting diagram

4. Then add the Object files RAS-170_base and RAS-170_A_axis and attach them to the EQ_01

117: on x_platform, then 122: RAS-170_A_axis is appended to 121: RAS-170_base, 121: RAS

The location of 170_base is (-1700,-520,1116,90,90,0}, refer to Figure 4-34.

Figure 4-34 Tool set position setting diagram

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5. Set the device script, set the script as close and open, refer to Figure 4-35 and Figure 4-36.

Figure 4-35 Device close script setting diagram

Figure 4-36 Device open script setting diagram

6. On the setting IO page, set the close script DO:4 and DI:5, ON\OFF of EQ_01 of Equipment in EQ Setting.

ON; open scripts DO:4 and DI:6, ON\OFF are set to OFF, refer to Figure 4-37.

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Figure 4-37 Device IO setting diagram

7. To program the robot arm, you need to connect the arm first, click the task folder, click the New arm program file, and enter

hrb file name practice_6_1, write arm program, refer to the following program example content. (Please refer to Chapter 3 Hands

Description of common commands in arm software programs)

Figure 4-38 Interface diagram of programming robot arm

8. To calibrate the arm points (including external axes) in the program, 6 points need to be calibrated to match the program, refer to the program position in the table below.

Figure 4-39 Correction arm point position diagram

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P4

P6
P0
P7 P5
P1

(a) P0, P1 position (b) P6, P7 position (c) P4, P5 position

P2
P3

(d) P2 position (e) P3 position

Figure 4-40 Correction arm point position comparison chart

9. Save the HRB program of the arm and send it to Device 1 of the arm device, then select the name of the folder to be accessed

"HRSim" and double-click the left mouse button, the system will return the Save HRB file on

Device1successfully)ÿ

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Figure 4-41 Correction arm point position diagram

10. Set the execution task program, in the HRB File tab, select the arm program practice_6_1.hrb to be executed, click the mouse

Right-click and select Run HRB File to start running the program.

Figure 4-42 Correction arm point position diagram

11. Click the Robot tab, execute the arm program, and confirm that the arm has moved. If the speed is too slow, you can adjust the movement speed.

Figure 4-43 Open EQ interface

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ÿ Example program 1: Arm grabs a single workpiece loading and unloading machine tool (practice_6_1.hrb)

lines of code instruction

1 SET_OVERRIDE_SPEED 100 ÿ Set the program running speed to 100%

2 $C[1] = 1 ÿ Initialization state (the gripper is not gripping the workpiece)

3 $DO[1] = FALSE ÿ Tray moving platform 1 (left side)

4 $DO[2] = FALSE ÿ Tray moving platform 2 (right side)

5 $DO[3] = FALSE ÿ Gripper opening and closing signal

6 $DO[4] = FALSE ÿ Machine tool door open/close signal

7 WAIT SEC 0.5

8 PTP P0 CONT Vel = 100% ÿ Move to the point above the left tray

9 LIN_REL {Z -100} FINE=1 ÿ Move to 1 point to grip the workpiece

10 $C[7] = 102 ÿ Set the workpiece group counter to the left tray

11 $C[1] = $C[1] - 1 ÿ

12 $C[7] = 108 ÿ Set the workpiece group counter and place it on the gripper

13 $C[1] = $C[1] + 1 ÿ Set the workpiece counter to increment by 1, and pick up a workpiece with a number one

14 $DO[3] = TRUE ÿ Close the gripper jaws and grip the workpiece

15 WAIT SEC 0.5 ÿ Wait for the jaws to close

16 PTP P0 CONT

17 PTP P2 CONT ÿ Move to the point above the external axis moving platform

18 LIN_REL {Z -200} FINE=1

19 $C[7] = 108 ÿ Set the workpiece group counter and place it on the gripper

20 $C[1] = $C[1] - 1 ÿ Set the workpiece counter to decrement by 1, and the workpiece leaves the gripper

21 $C[7] = 11 ÿ Set the workpiece group counter to be placed on the external axis

22 $C[1] = $C[1] + 1

23 $DO[3] = FALSE ÿ Open the gripper jaws and place the workpiece

24 WAIT SEC 0.5

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25 PTP P2

26 LIN_REL {Z -200} FINE=1

27 $C[7] = 108 ÿ Set the workpiece group counter and place it on the gripper

28 $C[1] = $C[1] - 1

29 $C[7] = 122 ÿ Set the workpiece group counter and place it on the machine tool turntable

30 $C[1] = $C[1] + 1

31 $DO[3] = TRUE ÿ From the external axis platform, pick up the workpiece No. 1

32 WAIT SEC 0.5

33 LIN P2

34 PTP P5 ÿ Put into the machine tool via P5 to P4, P5 is the relay point

35 PTP P4 Avoid the arm movement path hitting the machine tool

36 $C[7] = 11 ÿ Set the workpiece group counter to be placed on the external axis

37 $C[1] = $C[1] - 1

38 $C[7] = 122 ÿ Set the workpiece group counter and place it on the machine tool turntable

39 $C[1] = $C[1] + 1

40 $DO[3] = FALSE

41 WAIT SEC 0.5 ÿ Open the gripper to lower the object

42 Lin_REL {Y 100 } ÿ After moving relative to Y by 100mm

43 PTP P5 FINE=1 ÿ Arm leaves the machine tool

44 $DO[4] = TRUE ÿ Switch on device signal 4 and close the door of the machine tool

45 WAIT FOR $DI[5] == TRUE ÿ Wait for the machine tool action complete signal

46 WAIT SEC 0.5

47 $DO[4] = FALSE ÿ Switch off device signal 4 and open the door of the machine tool

48 WAIT FOR $DI[6] == TRUE

49 P4.Y = P4.Y + 100 ÿ Move to the point P4 and lift up 100mm

50 PTP P4 ÿ Position on the turntable of the discharge point in the gripper machine

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51 LIN_REL{Y -100 } FINE=1

52 $C[7] = 118 ÿ Set the workpiece group counter and place it on the machine tool turntable

53 $C[1] = $C[1] - 1

54 $C[7] = 11 ÿ Set the workpiece group counter to be placed on the external axis

55 $C[1] = $C[1] + 1

56 $DO[3] = TRUE

57 WAIT SEC 0.5

58 LIN_REL{Z 30} ÿ Relatively move to the position of point P4, where Z is raised by 30mm

59 LIN P3 FINE = 1

60 PTP P6 ÿ Move to the point above the right tray

61 LIN_REL {Z -100} FINE=1

62 $C[7] = 11 ÿ Set the workpiece group counter to be placed on the external axis

63 $C[1] = $C[1] - 1

64 $C[7] = 103 ÿ Set the workpiece group counter to be placed on the right pallet

65 $C[1] = $C[1] + 1

66 $DO[3] = FALSE ÿ Open the gripper jaws and place the workpiece

67 WAIT SEC 0.5

68 LIN P6

69 PTP P0

Remark:

ÿ The workpiece group needs to be transformed so that the workpiece can be properly combined with the group.

ÿ If there is related $C[7] workpiece group conversion, it is recommended to write it before the switch signal so that there will be no problem in reading.

ÿ The count register $C[1] should not be a negative value. The workpiece disappears when the value of $C[1] is reduced by 1, and the workpiece appears when it is increased by 1.

ÿ The program is for reference only, and the program content can be written according to the program logic category that users are used to.

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ÿ Example program 2: Arm grabs 4 workpieces with loading and unloading machine tool (practice_6_2.hrb)

lines of code instruction

1 SET_OVERRIDE_SPEED 100 ÿ Set the program running speed

2 $C[1] = 1 ÿ Initialization state (the gripper is not gripping the workpiece)

3 $DO[1] = FALSE ÿ Tray moving platform 1 (left side)

4 $DO[2] = FALSE ÿ Tray moving platform 2 (right side)

5 $DO[3] = FALSE ÿ Gripper opening and closing signal

6 $DO[4] = FALSE ÿ Machine tool door open/close signal

7 WAIT SEC 1

8 E6POINT TRAY1,TRAY2,EXP1,EXP2,EXP3 ÿ Declare custom points

9 TRAY1 = P0

10 EXP1 = P2

11 $C[2] = 1

12 WHILE $C[2]<5 ÿ The action is repeated 4 times (combination calculation)

13 PTP TRAY1 CONT Vel = 100% ÿ Clamps the workpiece from the pallet to the external axis

14 LIN_REL {Z -100} FINE=1 ÿ Move to the top of the tray

15 CHANGEGROUP(103,108) ÿ Switch the workpiece's current group left pallet >> gripper

16 $DO[3] = TRUE ÿ Clamping the workpiece

17 WAIT SEC 0.5 ÿ Wait for the jaws to close

18 PTP P0 CONT

19 PTP EXP1 CONT

20 LIN_REL {Z -200} FINE=1

21 CHANGEGROUP(108,11) ÿ Set workpiece group gripper>>external axis

22 $DO[3] = FALSE ÿ Open the jaws

23 WAIT SEC 0.5 ÿ Wait for the jaws to open

24 $C[1] = $C[1] + 1 ÿ The number of workpieces is accumulated

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25 PTP EXP1 CONT

26 TRAY1.Y = TRAY1.Y-120 ÿ Set the offset and move the point to the next pick-up point

27 EXP1.Y = EXP1.Y-120 ÿ Set the offset and move the point to the next discharge point

28 $C[2] = $C[2] + 1 ÿ Set the workpiece counter, and the next number will be clamped

29 ENDWHILE ÿ while the loop action ends after 4 times

30 $DO[1] = TRUE ÿ Left tray exits refill

31 $C[1] = $C[1] -1

32 EXP2 = P3 ÿ Move to the door of the machine tool

33 EXP2.Y = EXP2.Y-360

34 INT I = 0 ÿ Lines 35~70 of the program take the workpiece from the external axis

35 FOR I = 0 TO 3 STEP 1 And put the value inside the machine tool in sequence, and then the machine tool

36 PTP EXP2 FINE=1 Internally places the workpiece back into the external shaft.

37 LIN_REL {Z -200} FINE=1

38 CHANGEGROUP(11,108) ÿ Set workpiece group external axis >> Gripper

39 $DO[3] = TRUE

40 WAIT SEC 0.5

41 LIN EXP2

42 PTP P5 ÿ Put into the machine tool via P5 to P4, P5 is the relay point

43 PTP P4 FINE=1 Avoid the arm movement path hitting the machine tool

44 CHANGEGROUP(108,122) ÿ Set workpiece group gripper >> Machine tool

45 $DO[3] = FALSE ÿ Open the gripper to lower the object

46 WAIT SEC 0.5 ÿ Wait for the jaws to open

47 LIN_REL {Y 100 } ÿ Arm leaves the machine tool

48 PTP P5 FINE=1

49 $DO[4] = TRUE ÿ Switch on device signal 4 and close the door of the machine tool

50 WAIT FOR $DI[5] == TRUE ÿ Wait for the machine tool action complete signal

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51 WAIT SEC 0.5

52 $DO[4] = FALSE ÿ Switch off device signal 4 and open the door of the machine tool

53 WAIT FOR $DI[6] == TRUE

54 P4.Y = P4.Y + 100 ÿ Add 100mm to the Y-axis direction of the P4 point

55 PTP P4 ÿ Move to the adjusted P4 point

56 P4.Y = P4.Y - 100 ÿ Calculate the Y axis direction of the P4 point minus 100mm

57 LIN_REL{Y -100 } FINE=1

58 CHANGEGROUP(122,108) ÿ Set workpiece group machine tool >> Gripper

59 $DO[3] = TRUE

60 WAIT SEC 0.5

61 LIN_REL{ Z 30}

62 PTP EXP2 FINE=1

63 LIN_REL {Z -200} FINE=1

64 CHANGEGROUP(108,11) ÿ Set workpiece group gripper>>external axis

65 $DO[3] = FALSE

66 WAIT SEC 0.5

67 LIN_REL {Z 200}

68 $C[1] = $C[1] - 1

69 EXP2.Y = EXP2.Y+120

70 ENDFOR

71 LIN P3 FINE=1

72 TRAY2 = P6

73 EXP3 = P2

74 TRAY2.Y = TRAY2.Y-360

75 INT J=0 ÿ Behaviors 76~92 of the program are sequentially fetched from external axes

76 FOR J= 0 TO 3 STEP 1 and place the workpiece on the tray on the right.

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77 $C[1] = $C[1] + 1

78 PTP EXP3

79 LIN_REL {Z -200} FINE=1

80 CHANGEGROUP(11,105) ÿ Set workpiece group external axis >> Gripper

81 $DO[3] = TRUE

82 WAIT SEC 0.5

83 LIN_REL {Z 200} FINE=1

84 PTP TRAY2

85 LIN_REL {Z -100} FINE=1

86 CHANGEGROUP(108,103) ÿ Set workpiece group gripper >> right tray

87 $DO[3] = FALSE

88 WAIT SEC 0.5

89 LIN TRAY2

90 TRAY2.Y = TRAY2.Y+120

91 EXP3.Y = EXP3.Y-120

92 ENDFOR

93 PTP P0 ÿ Return to origin

94 $DO[2] = TRUE ÿ The right tray exits the refill

95 DEF CHANGEGROUP(G1:IN,G2:IN) ÿ Change the current group type of the workpiece, G1 represents the original

96 INT G1,G2 This group code, G2 represents the new group code,

97 $C[7] = G1 The group code will toggle the value of $C[7] (to change the parameter

98 $C[1] = $C[1] - 1 Refer to Figure 4-22); if the value of $C[1] is reduced by 1, the workpiece will be eliminated.

99 $C[7] = G2 If it is lost, add 1 and the workpiece will appear.

100 $C[1] = $C[1] + 1 ;$C[7] = 11 ; External axis ;$C[7] = 102 ; left tray

101 END ;$C[7] = 103 ; Right board ;$C[7] = 108 ; Jaws

102 ;$C[7] = 122 ; inside the machine tool.

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Remark:

ÿ The workpiece group needs to be transformed so that the workpiece can be properly combined with the group; and the group

When replacing, it is recommended to replace the pre-reading state (FINE=1) with the previous point.

ÿ If there is related $C[7] workpiece group conversion, it is recommended to write it before the switch signal so that there will be no problem in reading.

ÿ The count register $C[1] should not be a negative value. The workpiece disappears when the value of $C[1] is reduced by 1, and the workpiece appears when it is increased by 1.

ÿ The program is for reference only, and the program content can be written according to the program logic category that users are used to.

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5 Frequently Asked Questions

5.1 Common problems related to arm operation

ÿ Connected to HRSS but unable to operate the arm?

ÿ Please check the current state of the arm in the connection status bar. HRSS needs to be switched to EXT mode and can only be operated in the state of no alarm.

as an arm.

Figure 5-1 Arm state interface diagram

ÿ Connected but unable to execute the program, how to set the arm program to execute?

ÿ When the arm is executed normally without any error, click the Robot tab and the arm to run the Start button does not perform any action. It needs to be set completely.

The path and name of the program to be executed can be executed normally; please go to the HRB File window on the left and click the

After the program, click the left mouse button, select the "Set Task" option, and confirm whether the Set Task field has the program path and name

say. You can also click the program you want to execute, click the left mouse button, select the "Run HRB File" option, and directly start the selection.

program.

Figure 5-2 Arm state interface

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ÿ Remember that after editing the program, you need to archive it yourself, the system will not automatically assist in the archive.

ÿ After editing the program, remember to make an archive by yourself. The archive can be divided into two parts: HRSim local side (local) and arm device (device) side

place, the user needs to click on the location to be archived.

Figure 5-3 Arm state interface diagram

5.2 Frequently Asked Questions about Importing Graphics

ÿ The image file has been created but cannot be loaded into HRSim?

ÿ Please make sure that the file format is STL file and place it in the specified folder. Please refer to chapter 1.4 for the location of the file.

ÿ Where is the image file after importing?

ÿ There will be a coordinate system of the part when drawing a drawing, and the drawing will be imported into HRSim according to the coordinates.

ÿ Can't see the new simulation object after importing the image?

ÿ If you can see the file name in the object system tree Layout but cannot see the file in the simulation window, the file may be drawn.

Other objects in the surface are blocked or the image file is outside the simulation window screen. You can move the image file position or zoom the simulation window to find it.

Find objects.

ÿ Can I delete unused files?

ÿ If the file is not used after importing the image, you can click hide or disable in the setting to hide the image.

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ÿ How to share the built configuration with others

ÿ Save the created configuration with File- -> Save HRS File, refer to chapter 2.2.1, Error! Reference source not found. At

Find the saved file in the File folder, and share the file and the corresponding image file (STL file) with others.

5.3 Frequently Asked Questions about Program Instructions

ÿ How to quickly find programming errors

ÿ If an abnormal alarm occurs when the program is executed, the first number of the alarm content shows the number of abnormal lines in the program, as shown in the figure below, the alarm

The first number of the content shows 0. Refer to the 0th line in the program or 1~2 lines before and after to find the programming error.

ÿ Want to know more instructions and examples

ÿ For more complete descriptions and usage examples, please refer to the Shanghai Bank Robot Software Instruction Set Manual, which can be found on the official website of Shanghai Bank Technology Co., Ltd.

site download.

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