CAD To Point (6-axis Robot)

CAD To Point outputs the edge (edge line) information included in the CAD data as a point data. This function enables the user to generate a point data according to the path by sequentially selecting the edges of the CAD data shown in the 3D display. Since this function automatically registers points of manipulator motion based on the CAD data of the workpiece, it can save time to develop a program.

Follow the simple CAD data sample below to use CAD To Point. In this example, a motion in which the tip of a syringe traces a periphery of the CAD object (tray) will be created.

Follow the steps below:

• Connect to the virtual controller (CADtoPoint C4-B)
• Open a project
• Select edges of the CAD object to generate a motion path
• Export the edges as point data
• Create a program
• Operate the robot by executing the program

1. Connect to the virtual controller (CADtoPoint C4-B)

   

   Select "CADtoPoint C4-B" from the Epson RC+ 8.0 toolbar [Current controller connection] list box. When the connection is completed, "CADtoPoint C4-B" will be displayed in [Current controller connection] list box.

   Click the  [Simulator] button on the toolbar to display the Simulator window. CADtoPoint C4-B contains CAD objects: "Work" and the Hand are placed.

   

2. Open a project

   1. Click [Open...] from [Project] on Epson RC+ 8.0 menu.
   2. Select [Projects]-[SimulatorDemos]-[CAD_To_Point_C4_B].
   3. Click the [Open] button.

3. Select an edge of CAD object and create a motion path of the robot

   1. 1. Click the  [CAD to Point] button on the toolbar to display the [CAD to Point] dialog box.

      

   2. Hover the mouse over the CAD object and select a part having the edges. The selected part turns to be light blue and the edges are shown in blue.

      

   3. Hover the mouse over a desired blue edge. The selected edge turns to be white. Select the line first. This sample program will not operate properly when selecting the curve first since this is designed to select the line first.

      

   4. Click the white edge. The selected edge will be shown in the [Edge] box of the [CAD to Point] dialog box.

      

   5. In the 3D View, the selected edge is indicated with a red arrow.

      

   TIP

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   • The arrow indicates the direction from the starting point to the end point. The direction of the arrow can be reversed by clicking the [Reverse] button.

   • If the start and end points of a consecutive edge with the same moving direction are piled up, the vertex color changes. When the both position (X,Y,Z) and orientation (U,V,W) match, the vertex is displayed in green. When only the position (X,Y,Z) matches, the vertex is displayed in light blue

     

   • The image will be shown as below after you select the edges one by one in counterclockwise to trace the periphery.

     

4. Export the edges as point data

   Click the [Export] button on the [CAD to Point] dialog to display the [Export Points] dialog.

   

   Click the [OK] button to output the point data to rows No. 0-20 in point file "robot1.pts".

   

5. Create a program

   1. Set the proper robot orientation for the point data.

      Open the point file "robot1.pts" from the layout object, and change the wrist orientation (Wrist) of the exported No. 0-20 from "NoFlip" to "Flip".

      

   2. Create the following program in Main.prg program.

      Function main
      
        Motor On
        TLSet 1, XY(-112, -41, 80, 0, -90, 0)
        Tool 1
      
        Go P0
        Move P1 CP
        Arc P3, P5 CP
        Move P6 CP
        Arc P8, P10 CP
        Move P11 CP
        Arc P13, P15 CP
        Move P16 CP
        Arc P18, P20 CP
      
        Pulse 0, 0, 0, 0, 0, 0
        Motor Off
      Fend
      

      TIP

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      By using Tool coordinate system 1, the tip of the syringe can trace outlines of workpiece.

   3. Click the [Build] button on the toolbar. The program will be built.

      When the build is complete, the message "Build complete, no errors" appears in the status window.

6. Operate the robot by executing the program

   1. Click the [Run Window] button on the toolbar  to display the Run window.

   2. Click the [Start] button. When the message "Are you ready to start?" appears, click [Yes].

   3. The program will be executed. Check that the manipulator moves from P0 to P20 sequentially and the tip of the syringe traces the edge of Work in counterclockwise direction.