K-ROSET
Demo project
Operating manual
90210-1435DEA
Kawasaki Heavy Industries, Ltd.
KAWASAKI HEAVY INDUSTRIES, LTD. ROBOT DIVISION
Introduction 1
Painting 3
Handling 7
Handling(Special)[duAro] 11
Arc Welding 14
i
Introduction
Load project to be performed
1 Right-click project icon [ ] on tree display.
ProjectMenu is displayed.
2 Choose [Project]-[Load…] in the menu.
Project loading dialogue box is displayed with saved projects.
3 Click [Open Project File…] button
File selection dialogue box is displayed
4 Move select folder to KHIlibraries on file selection dialogue box.
Click left below [KHIlibraries] shortcut.
Shortcut might not be displayed with Windows7. Making folder shortcut of [Install folder]
¥K-ROSET¥Hisui¥KHIlibraries on Desktop or My document enables to operate easier.
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5 Select [Demo] folder in KHIlibraries and click [Open] button.
All the files in the Demo folder will be displayed.
6 Select application folder to use and click [Open] button.
All the project folders in the selected application folder will be displayed.
Example) Handling application
7 Select object project folder and click [Open] button.
All the files in the project folder will be displayed.
8 Select K-ROSET file
Preview is displayed when the file is selected. Confirm the loading project.
9 Click [Open] button.
[Loading] window will appear and starts loading the project.
2
Painting
This chapter explains how to operate painting project. Example) KG264x2_Wall-hang_Accu
1 Load project
Double click on the “KG264x2_Wall-hang_Accu” in the sample program. The project shown in the
image below will be loaded.
2 Select [Simulation] from [Plug-in] menu.
Simulation application will be displayed.
3 Move mouse pointer onto the PG name in the Simulation dialog and click on file selection
icon [ ].
File selection dialogue box is displayed and program folders of object robot are referred.
In this painting demo project, no program is available on the program tab. Need to load the
file.
4 Select program file and click [Open] button.
Program name for the selected file will appear in the program name list.
Painting programs are classified according to languages.
3
When activating with English mode: en-US, program cannot be operated unless select
file name with EN.
Load the program for R02 with the same way.
5 Input conveyor offset value in LS offset section. Click on a square button on the right in the
conveyor column for R01 [C02].
Conveyor Settings dialog will open.
6 Enter 3000 to LS offset for R01 [C02] and click on “Apply” then click on “Cancel”.
Conveyor Settings dialog will be closed.
Set the LS offset to the conveyor value for each robot to be 0 as each reference point of the conveyor is
center of each robot. That allows each robot to start running a program when a workpiece reaches to in
front of each robot.
7 Click rewind [ ] button.
Robot moves to HOME posture. Conveyor value becomes 0 and conveyor work moves to
default position
Displays such as track line or painting line are reset.
8 Click play [ ] button.
Robot starts painting synchronizing conveyor.
Once simulation is completed, cycle time is automatically displayed.
4
In case cycle time is not displayed, please check quick setting tab [Output track file]
of the controller.
9 Repeat 7 - 8 steps with the second and subsequent cycle
5
Memo
6
Handling
This chapter explains how to operate handling project. Example) 4. RS010N_Floor_Handling
1 Load project
Double click on the “RS010N_Floor_Handling” in the sample program. The project shown in the
image below will be loaded.
2 Select [Simulation] from [Plug-in] menu.
Simulation application will be displayed.
3 Confirm program name of simulation. Click list display icon [ ] to select other programs.
Program list will appear.
Select “Main”.
4 Click rewind [ ] button.
Robot moves to home posture. Displays such as track line or painting line are reset.
Workpiece position jumps back to the starting point.
When robot operates workpiece grasped project, it needs to be returned to the default position.
Following projects need restoration of model.
3.RS010N_RS020N_Floor_Handling
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4.RS010N_Floor_Handling
6.RS030N_RS030N_Floor_Handling
7.RS003N_RS050N_Floor_Handling
8.ZD130S_Floor_Gripper_Handling
10.RS010N_Floor_Handling
11.MX500N_Floor_Handling
12.RS020N_Floor_Handling
15.RS020N_RS020N_Floor_Handling2
Rewind settings for simulation are newly added from V1.7.2. Please set the settings according to the
simulation contents.
5 Click play [ ] button.
Operate the simulation.
Once simulation is completed, cycle time is automatically displayed.
In case cycle time is not displayed, please check quick setting tab [Output track file]
of the controller.
6 Repeat 4-5 with the second and subsequent cycle.
8
Project with interlock setting
Some projects to operate two or more robots have signal setting for operations
confirming signals between each robot.
Following projects move when manually turn signal ON with IO monitor.
6.RS030N_RS030N_Floor_Handling
9.RS020N_RS020N_Floor_Handling
Check program tab to find out number of waiting signal.
After click [ ] on the simulation and turn input signal 1002 of R01 ON.
9
Memo
10
Handling (Special)[duAro]
This chapter describes how to operate a project for handling (special). Example) duAro 1 Floor
Handling Tablet
In case of connecting to Tablet, please use the RobotTeacher2[201601192037].
Version of the Tablet connection program is different, tablet cannot connect to controller. In detail, please refer
to duAro Project Manual_EN [3.Settings] .
1 Load a project.
Double click on the “duAro 1 Floor Handling Tablet” in the sample program. The project shown in
the image below will be loaded
2 Click on the Rewind button [ ].
Robot moves back to the home pose. Track line is reset as well as the workpiece position.
Rewind settings for simulation are newly added from V1.7.2. Please set the settings according to the
simulation contents.
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3 Click on the [Connect Tablet PC] button on the Controller tab.
Operation panel for duAro will be displayed.
4 Click and hold on the [Start] button until it blinks under Auto mode.
Robot starts running the program.
It may cause an error when the operation speed is too fast. Adjust speed by changing the program
running speed on the Tablet or entering [SPEED 50] in the terminal.
5 Cycle time (sec) will appear in the terminal once the program is finished running.
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The same program will be repeated continuously. Click on [Stop] button to finish the program. In order
to run the program again, go back to the procedure 3 to follow.
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Arc Welding
This chapter explains how to operate Arc welding project. Example) Separate Control
1 Load project
The project shown in the image below will be loaded.
2 Select “pg001” and “pg002”in the navigate tree of Program tab to transfer.
The selected programs will be transferred to the robot controller.
3 Select [Terminal] tab to input [load panel_en.if] and press “Enter”.
The I/F panel data is loaded.
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4 Select [Controller] tab to display and click on “Show Pendant”.
Virtual Teach Pendant shows on the view.
5 Dispalys the I/F panel of the pendant and switch the operation mode.
The switch changes to [ACCEPT].
6 Set the transferred program number to turn its motor on.
“Zmain” will automatically be set to the main program.
7 Toggle the switch to set the target table where the workpiece to weld on.
To weld the workpiece on the table A, the switch will be set as shown below.
8 Click on [WORK LOAD].
The program to weld the workpiece on the selected table will be executed.
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