CAD To Point (SCARA Robot)

This section describes CAD to Point for a SCARA robot.

In this example, a motion in which the tip of a syringe traces a periphery of the CAD object (tray) will be created in the same way as a 6-axis robot.

Operate the following procedures:

Connect to the virtual controller (CADtoPoint GX8-C)
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

Connect to the virtual controller (CADtoPoint GX8-C)

Select "CADtoPoint GX8-C" from the Epson RC+ 8.0 toolbar [Current controller connection] list box. When the connection is completed, "CADtoPoint GX8-C" will be displayed in [Current controller connection] list box.

Click the [Simulator] button on the toolbar to display the Simulator window. "CADtoPoint GX8-C" contains CAD objects: "sample_part" and and Hand objects are placed.
Open a project
1. Click [Open...] from [Project] on Epson RC+ 8.0 menu.
2. Select [Projects]-[SimulatorDemos]-[CAD_To_Point_GX8_C].
3. Click the [Open] button.
Select an edge of CAD object and create a motion path of the robot

For selection of surface including edges and edges, see below.

CAD To Point (6-axis Robot)

The image will be shown as below after you select the edges one by one in counterclockwise to trace the periphery.
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. 0-21 in point file "robot1.pts".

Create a program

Create the following program in Main.prg program.

Function main

  Speed 50, 50, 50
  Accel 100,100,100,100,100,100
  SpeedS 100
  AccelS 400

  TLSet 1, XY(-131, 0, -87, 0, 0, 0)
  Tool 1
  Go P0 :Z(-100)
  SpeedS 50

  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

  Go P0 :Z(-100)

  Pulse 0, 0, 0, 0, 0, 0
  Motor Off

Fend

TIP

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

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.

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 P21 sequentially and the tip of the syringe traces the edge of sample_work in counterclockwise direction.

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