Braas Company

Denso Training Using WINCAPS III

Denso Training II- Agenda

• Setting up Communications• Setting up a New Project (Wizard)• WinCapsIII Software Tour• Configuration Settings using WincapsIII• Arm Modeling using Arm 3D Simulator• Programming using WinCapsIII• Using Macros for IO Names• Interference Areas

Denso – Pendant – Communication SetupAccess: [F6 Setting] – [F5 Communication and Token] –[F2 Network and Permission]

Denso –Software – Log-In1. Launch WinCaps III

2.Select “Programmer” and enter password.

3.Or “hold the SHIFT key + down-arrow”

Denso –Software –New Project Wizard4. Create a New Project.

5. Assign a project name and path.

Denso –Software –New Project Wizard6. Select a Robot.

7. Select Options.

Always Select “Use(A)” for Safety I/O

Denso –Software –New Project Wizard8. Select connection

& address.

9. Set number of variables.

(optional)

Denso –Software –New Project Wizard10.Set I/O settings.

(optional)

11. Finish.

Denso – Software

• Always upload Robot Configuration from the controller before doing any programming!

• Save the settings from the factory and the last programs, so that you can restore what you had.

Robot Controller

Denso – Upload Exercise

• Upload the current projects from the robot and save.

Denso – Project Transfer

• 1. Connect –Transfer Data

• 2. Select “Yes”.

Denso – Project Transfer

• 3. Transfer Data

• 4. OK

• 5. Close

• 6. Save Project.

Denso Training II- Agenda

• Setting up Communications• Setting up a New Project (Wizard)• WinCapsIII Software Tour• Configuration Settings using WincapsIII• Arm Modeling using Arm 3D Simulator• Programming using WinCapsIII• Using Macros for IO Names

Denso –Software – WinCaps III

Denso –Software – Variable View

Denso –Software -IO View

Denso – Software - Error LogAccess: [F6 –Set] [F2 –Log.] [F1 -ErrLog]

Document: error-e.pdf

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

Denso – Software –Variable Log

Denso –Software – Program List

Denso Training II- Agenda

• Setting up Communications• Setting up a New Project (Wizard)• WinCapsIII Software Tour• Configuration Settings using WincapsIII• Arm Modeling using Arm 3D Simulator• Programming using WinCapsIII• Using Macros for IO Names

Denso –Software Configuration-Parameter Setting

Denso Training II- Agenda

• Setting up Communications• Setting up a New Project (Wizard)• WinCapsIII Software Tour• Configuration Settings using WincapsIII• Arm Modeling using Arm 3D Simulator• Programming using WinCapsIII• Using Macros for IO Names

Denso –Software -Arm 3D Simulator

• Allows the user to:– Visually see the robot cycle– Determine the execution time of a program cycle– Step thru the program to see the time for each step– Build a trial program

Denso –Software - Arm 3D Simulator -Exercise

• Get the robot to move between two points and determine the cycle time using Arm3D Simulator.

Denso – Software – Arm View – CAD Import

Import:VRML files (*.wrl)Directx files (*.x)

Denso Training II- Agenda

• Setting up Communications• Setting up a New Project (Wizard)• WinCapsIII Software Tour• Configuration Settings using WincapsIII• Arm Modeling using Arm 3D Simulator• Programming using WinCapsIII• Using Macros for IO Names• Interference Areas

Denso – Using Macros (Symbol Names)The symbol names used for I/O may be

changed by modifying the macro names in WincapsIII

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

Denso – Using Macros (Symbol Names)Example use in program:

– '!TITLE "XAY"– PROGRAM XAY – #include "DIO_TAB.H"– TAKEARM – APPROACH P,P100,@0 50,S=100– MOVE L,@E P100,S=100– RESET IO65– SET IO64– SET IO[HELLO]– DELAY 100– DEPART L,@P 50,S=100– APPROACH L,P101,@0 50,S=100– MOVE L,@0 P101,S=100– RESET IO64– SET IO65– DELAY 100– DEPART L,@P 50,S=100– END

Denso Training II- Agenda

• Denso System Manager Software Tour• Setting up Communications• Monitoring using WinCapsIII• Configuration using WincapsIII• Programming using WinCapsIII• Using Macros for IO Names• Interference Areas

Denso -Interference Areas• Interference Check

– Ability to disable the robot upon the tool entering a forbidden workspace.

Denso -Interference Areas• AREA

– Declares the area where an interference check is performed.

• SETAREA– Selects the area where an interference check is performed and

enables the interference check.

• RESETAREA – Resets the I/O set when interference was detected and makes an

interference check invalid.

• AREAPOS– Returns the center position and direction of a rectangular

parallelepiped with the position type for an area where an interference check is performed

• AREASIZE– Returns the size (each side length) of a rectangular parallelepiped

which defines the interference check are with the vector type.

Denso -Interference Areas

• AREA– Declares the area where an interference check is

performed.• Up to 8 interference areas may be specified, 0 to 7.• The origin is always the origin of WORK 0.

Denso -Interference Areas• SETAREA

– Selects the area where an interference check is performed and enables the interference check.

• The interference check is performed during the time after the SETAREA command is executed and prior to the execution of the RESETAREA command.

• To clear an interference detected issue the RESETAREA command.

• The next interference check is not detected again until another SETAREA command is executed.

• To check interference, the system compares the cube defined as the interference check area with the origin of the currently active tool coordinates. If the origin of the tool coordinates is inside the interference check area, then the system determines it as interference.

Denso -Interference Areas• AREASIZE

– Returns the size (each side length) of a rectangular parallelepiped which defines the interference check are with the vector type.

• The length of each side of the rectangular parallelepiped is double the length of each component of vectors X, Y and Z.

Denso -Interference Areas

• Example:– DIM lp1 As Position

– DIM lv1 As Vector

– Lp1 = (10,10, 5, 0, 9, 0 ,1)

– Lv1 = (50, 10, 50)

– AREA 1, P50, V10, 104, P55, 1

– AREA 2, lp1, lv1, 128, 1

‘ Declares I/O number 128 in the area specified by lv1 at the position specified by lp1 in area number 2, with error output level 1.

– SETAREA 2

– RESETAREA 2

Denso – Robot Training

• Thank you!

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