ROBOT3D - Robot Offline Programming & Simulation

Features


The ROBOT3D system allows the simulation and offline programming of robots and industrial robot cells using MSDOS computers.

The system runs on a minimum platform 386 DX 33 with VGA adapter and a mouse. To achieve an optimum performance the system requires a Pentium machine.

The software is customised for several combinations of external axis (or positioners) and robots. Expansion of the system is possible with an optional C library.

The software is tested and calibrated for the TAURUS BISIACH & CARRU (Italy) robots - RCM3 SIEMENS controller, IRB2000 (s3),IRB2400 (s4) ABB, and KR15/2 KUKA (KRL 32 a C1).

Licences of this system are working at SOREFAME ABB - Portugal (train manufacturing - spot welding) and CTCV - Coimbra Portugal - Ceramics institute (polishing application using IRB2400 robot). The system is ready to use with ABB IRB2400, IRB1400 (s4) family of robots.

Several other robots are included with the package as IRB1400, KUKA IR163, BOSCH (scara), HITACHI M6100. A post-processor for the programming language of these robots can be developed for each case (delivery 15 days).

Inclusion of other less usual robots requires the development of a specific inverse co-ordinate transformation (separated order).

The software creates ASCII files. The download and upload of each robot program is performed with the communications software of third party robots manufacturer (e.g. ROB.EXE from SIEMENS and OLP3 from ABB) or directly in cases where is allowed by specific robot systems (e.g. S4 from ABB, ACR - SIEMENS, KRL 32 and C1).

The system includes the register of axis status when locations are created. This feature avoids uncertainty on the inverse kinematics solution.

With a proprietary principle is possible to convert a set of locations in a program file post-process this file and simulate or download the program immediately.

The ROBOT3D system allows the calculation of cycle times, PTP, linear and circular motion in 3D space. Coupling with external axis. It has support for Frames (ZOF), incremental and absolute programming, mathematical functions, subroutines, I/O simulation, grippers, parametric programming, object manipulation functions in the workcell, and other. The system is supported by a complete user manual.

The package includes a CAD and calibration module (Translations and rotations, Frame calculation) , programming editor and bi-directional translator to DXF format, communication module and utilities (e.g. mirror). Available language post-processors are included. Output of cell is possible in DXF format.

The package has the advantage to introduce industrial robot concepts in a very effective way and has been used for training in robotics in several courses at ISQ - Quality an Welding Institute (OEIRAS - PORTUGAL).

Learning of the system is very easy. The estimation is that an operator with basic computer knowledge (DOS, editor), CAD (for modelling only) and some experience in on-line robot programming, is ready to explore the system with only 16 hours training.

A demo diskette is available for evaluation. Also available from Internet (see demo)

Programming Instructions

Example 1 - Bisiach & Carru Taurus Robot

Example 2 - IRB2000 Robot

Example 3 - KUKA KR15/2 Robot

DEMO

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Copyright © 2008, Francisco J.C. Fernandes, Last Updated - 28-3-2019 10:00:00