Subscribe to DeepL Pro to translate larger documents.
Visit www.DeepL.com/pro for more information.
RobotLive User Manual
RobotLive User Manual
dire
ctor
y
(on
com
Catalogue ...........................................................................................................................................................
pute I
r
1
Introduction.............................................................................................................................................. 1
hard
driv
1.1
Installation and Licensing...................................................................................................................
1
e)
directory (on computer hard drive)
1.2
Software Interface................................................................................................................................ 2
1.2.1
Title Bar....................................................................................................................................... 3
1.2.2
Menu bar ..................................................................................................................................... 3
1.2.3
Layout Window ........................................................................................................................... 3
1.2.4
Scene display area...................................................................................................................... 5
1.2.5
Notification Bar .......................................................................................................................... 5
2
Building Scenarios.................................................................................................................................. 7
2.1
Importing Scene Components........................................................................................................... 7
2.1.1
Importing robot models ............................................................................................................. 7
2.1.2
Import Tools................................................................................................................................ 7
2.1.3
Importing workpieces ............................................................................................................... 12
2.1.4
Other Scene Components ......................................................................................................... 13
2.2
Moving & Assembly............................................................................................................................ 13
2.2.1
Scene movement and rotation................................................................................................. 13
2.2.2
Model movement and rotation................................................................................................. 13
2.2.3
Assembly Tools to Robots ........................................................................................................ 16
2.3
coordinate system............................................................................................................................. 16
2.3.1
World Coordinate System......................................................................................................... 16
2.3.2
Base coordinate system ........................................................................................................... 16
2.3.3
Flange coordinate system ........................................................................................................ 17
2.3.4
Tool Coordinate System ........................................................................................................... 17
2.3.5
Workpiece coordinate system.................................................................................................. 17
2.4
Safe area.............................................................................................................................................. 18
3
Tracks ...................................................................................................................................................... 21
3.1
Importing/Exporting Tracks ............................................................................................................ 21
3.1.1
Exporting trajectories ................................................................................................................ 21
3.1.2
Importing trajectories................................................................................................................ 21
3.2
Creating Independent Tracks.......................................................................................................... 21
3.3
Trajectory generation in shape editing mode............................................................................... 22
3.4
Picking up edges to generate trajectories ..................................................................................... 24
3.5
Pickup surface generation trajectory ............................................................................................. 24
3.6
Track Point Editor.............................................................................................................................. 24
3.6.1
Trajectory point translation ...................................................................................................... 24
3.6.2
Trajectory Point Rotation ......................................................................................................... 24
i
RobotLive User Manual
brief
3.6.3
Trajectory Reversal.................................................................................................................... 27
3.6.4
Inserting a new track point....................................................................................................... 27
3.6.5
Modifying the track start point................................................................................................. 27
3.6.6
Adding a Tool Entry Point......................................................................................................... 28
3.6.7
Adding a tool exit point ............................................................................................................ 28
3.6.8
Unified Gesture.......................................................................................................................... 28
3.6.9
Copy/cut/paste/delete track points......................................................................................... 28
3.7
Follow the rotation ............................................................................................................................ 29
3.8
Recording track information............................................................................................................ 33
4
Robot Programming ............................................................................................................................ 43
4.1
Basic Process ...................................................................................................................................... 43
4.2
Robot Configuration........................................................................................................................... 43
4.3
Trajectory Inspection......................................................................................................................... 44
4.4
Parameter Configuration .................................................................................................................. 46
4.5
Generating Programmes................................................................................................................... 49
4.6
Procedural adjustments.................................................................................................................... 51
4.6.1
M o d i f y i n g t h e cfg value ............................................................................................... 51
4.6.2
retool point post-processing function........................................................................................ 54
4.6.3
Use of the ptp Command............................................................................................................. 55
4.6.4
Use of cir commands................................................................................................................... 55
4.6.5
Use of the helix command........................................................................................................... 57
4.6.6
Changes after setting Speed/Slip/Tool/Wobj parameters ............................................................ 57
4.7
Loading and Running........................................................................................................................ 58
5
Simulation Procedures ......................................................................................................................... 61
5.1
Local Emulation.................................................................................................................................. 61
5.2
Online Simulation .............................................................................................................................. 61
5.3
Detecting Collisions ........................................................................................................................... 61
5.4
Teachers JOG ....................................................................................................................................................................... 61
5.5
Breakpoint Debugging ...................................................................................................................... 62
5.6
Single-step debugging ...................................................................................................................... 63
5.7
Emulating IO Signals ......................................................................................................................... 64
6
File tab .................................................................................................................................................... 71
6.1
Scene.................................................................................................................................................... 71
6.1.1
New Scenes ............................................................................................................................... 71
6.1.2
Open Scene ............................................................................................................................... 71
6.1.3
Recently opened ....................................................................................................................... 71
6.1.4
Save Scene ................................................................................................................................ 72
6.1.5
Save Scene As........................................................................................................................... 72
6.1.6
Close Scene ............................................................................................................................... 72
ii
RobotLive User Manual
6.3
dire
ctor
y 72
Object Manipulation...........................................................................................................................
(on
Save model as...........................................................................................................................
72
com
Loading Models.........................................................................................................................
75
pute
r
derive ........................................................................................................................................ 76
hard
import (data) .............................................................................................................................
driv78
e) 79
Other ....................................................................................................................................................
6.3.1
Help........................................................................................................................................... 79
6.3.2
Withdrawal................................................................................................................................ 79
6.2
6.2.1
6.2.2
6.2.3
6.2.4
7
Modelling tab........................................................................................................................................ 81
7.1
Scene Movement................................................................................................................................ 81
7.1.1
Pan/Rotate/Zoom....................................................................................................................... 81
7.1.2
Suitable for viewing .................................................................................................................. 81
7.2
Model Control..................................................................................................................................... 81
7.2.1
Click to select.............................................................................................................................. 81
7.2.2
Object movement...................................................................................................................... 81
7.2.3
Object Rotation ......................................................................................................................... 82
7.2.4
Drag Joints ................................................................................................................................ 84
7.2.5
D r a g TCP ..................................................................................................................................... 84
7.2.6
Joint Movement......................................................................................................................... 85
7.3
Model Editor........................................................................................................................................ 86
7.3.1
Convex ...................................................................................................................................... 86
7.3.2
Convex decomposition .............................................................................................................. 86
7.3.3
Mesh Cutting.............................................................................................................................. 86
7.3.4
Assembly/Disassembly................................................................................................................ 86
7.4
Redirection of the coordinate system............................................................................................ 86
7.4.1
Same world coordinate system................................................................................................ 86
7.4.2
Cylindrical spindle shapes............................................................................................................ 86
7.4.3
Spindle rectangular ................................................................................................................... 86
7.4.4
Spindle random shape ............................................................................................................. 87
7.5
Scene View.......................................................................................................................................... 87
7.5.1
Page Selector............................................................................................................................. 87
7.5.2
Scene Selector........................................................................................................................... 88
7.6
Models.................................................................................................................................................. 88
7.7
Basic tools........................................................................................................................................... 89
7.7.1
Original shape........................................................................................................................... 89
7.7.2
joint (physiology)....................................................................................................................... 90
7.7.3
Reference point......................................................................................................................... 90
7.7.4
Chart.......................................................................................................................................... 90
7.7.5
Mounting point ......................................................................................................................... 90
7.8
Path...................................................................................................................................................... 90
7.9
Sensors................................................................................................................................................. 91
iii
RobotLive User Manual
brief
7.10
Secure Area......................................................................................................................................... 91
8
Tools tab................................................................................................................................................. 93
8.1
Attributes ............................................................................................................................................. 93
8.2
Tools..................................................................................................................................................... 93
8.2.1
Scene Layers.............................................................................................................................. 93
8.2.2
layers......................................................................................................................................... 93
8.3
Recording of short films ................................................................................................................... 94
8.4
Trajectory Editor.................................................................................................................................. 95
8.4.1
Pickup Edge .............................................................................................................................. 95
8.4.2
Pick-up Surfaces........................................................................................................................ 99
8.4.3
Trajectory Editor ....................................................................................................................... 104
8.5
Shape Editor ..................................................................................................................................... 104
8.6
Collision Detection........................................................................................................................... 106
8.7
Distance measurement ................................................................................................................... 106
8.8
Calibration ......................................................................................................................................... 106
8.8.1
Tool Calibration........................................................................................................................ 106
8.8.2
Workpiece Calibration ............................................................................................................. 107
8.9
Robotics ............................................................................................................................................. 108
8.9.1
Quickly reach feature points on the model............................................................................ 108
8.9.2
Getting to the nearest point on the model quickly ............................................................... 109
8.10
Workspace ......................................................................................................................................... 109
8.11
Creation ............................................................................................................................................. 110
8.11.1
Creating a Mounting Point...................................................................................................... 110
8.11.2
Creating a Device..................................................................................................................... 113
9
Emulation tab ..................................................................................................................................... 120
9.1
Simulation Model Configuration.................................................................................................... 120
9.1.1
Robot Configuration................................................................................................................. 120
9.1.2
Outer Axis Configuration.......................................................................................................... 121
9.1.3
I/O Configuration........................................................................................................................ 122
9.2
Online Simulation............................................................................................................................. 123
9.3
Controller........................................................................................................................................... 124
9.3.1
Robot parameters.................................................................................................................... 124
9.3.2
Safe area.................................................................................................................................. 125
9.3.3
File Transfer ............................................................................................................................. 127
9.4
Teachers............................................................................................................................................. 129
10
Programming Tab ......................................................................................................................... 131
10.1
visible ................................................................................................................................................. 131
10.2
Programming text manipulation................................................................................................... 131
10.2.1
New/Open/Save/Save As.............................................................................................................. 132
iv
RobotLive User Manual
10.4.3
dire
ctor
y 132
Programme Clipboard.....................................................................................................................
(on
Copy/Cut/Paste/Select All .........................................................................................................
132
com
Programme Editor...........................................................................................................................
132
pute
r
Annotation/Cancellation of Annotation ................................................................................. 132
hard
Undo/Redo...............................................................................................................................
132
driv
e)132
Insert command ......................................................................................................................
10.4.4
Insertion Procedure................................................................................................................. 132
10.5
Find/Replace...................................................................................................................................... 132
10.6
Target................................................................................................................................................. 132
10.6.1
Robotics ................................................................................................................................... 132
10.6.2
Tracks...................................................................................................................................... 132
10.7
Controller........................................................................................................................................... 132
10.7.1
Controller ................................................................................................................................. 132
10.7.2
Channel ................................................................................................................................... 132
10.8
Programme Management............................................................................................................... 133
10.8.1
Inspection................................................................................................................................ 133
10.8.2
Setting..................................................................................................................................... 133
10.8.3
Generation............................................................................................................................... 134
10.8.4
Download................................................................................................................................ 135
10.9
Programming Simulation ............................................................................................................... 135
10.10
Testing and Commissioning....................................................................................................... 135
10.10.1
Mode of operation .................................................................................................................. 136
10.10.2
Breakpoints ............................................................................................................................ 136
10.10.3
Continue ................................................................................................................................. 136
10.10.4
clearance ................................................................................................................................ 136
10.3
10.3.1
10.4
10.4.1
10.4.2
v
RobotLive User Manual
1
1.1
brief
brief
Installation and Licensing
Robotlive is a software developed by our company for offline programming and simulation, the following
points should be noted before installation and use:
◼
Operating system: 64bit Windows operating system, it is recommended to install under Windows 7
environment;
◼
Computer configuration: AMD Radeon R7 M360/intel HD graphics 520 and above graphics configuration;
◼
Screen resolution: 1920*1080 recommended, 1280*600 minimum;
◼
Usage rights: Robotlive can be started with either hardware
encryption or account login. installation environment:
Step 1. Install the library file
vcredist_msvc2015_x86.exe; Step 2. Install the
library file vcredist_x64.exe;
Step 3. Install the Robotlive software, the installation path must be in full English, otherwise it will report an
error;
Step 4. If you use hardware encryption to log in, you need to install the dongle driver HASPUserSetup.exe
and then start Robotlive. If you use account to log in, you need to provide us with the
username and password of the account and then start Robotlive after logging in.
Note 1: The installation path of the software is in the C directory of the system disc by default, and you
can also choose other installation paths by yourself, but if you install the software in the
C:\Program Files (x86) directory, you need to make sure that you add extra privileges to the software, i.e. the
software runs the program as administrator.
1.1.1
dongle login
The dongle login method requires that a hardware dongle be inserted into the computer.
Robotlive can only be started when the red light of the dongle is on and the driver installation is
complete.
Note: Please do not pull out the dongle during the use of the software, otherwise the software will exit
automatically.
1.1.2
Account Login
The account login method requires the user name and password of the account to be provided by our
company. The login method is as follows:
After you open Robotlive software, the login screen will pop up, enter your username and password, and
click login to start Robotlive.
1
RobotLive User Manual
brief
2
RobotLive User Manual
brief
When your company is using a proxy network environment, please set up the proxy
settings before logging in. Proxy setting method is as follows: Step 1. Click
in the
upper right corner of the login screen, and set the network proxy on the pop-up
screen.
Step 2. Click [Open] to bring up the screen shown below.
Step 3. Enter the address, port number, user name and password of the
web proxy and click <OK> to complete the configuration. Caution:
◼
An account can only be launched on one computer Robotlive, i.e. the same account logged in
on one computer is automatically logged out of the same account logged in on another
computer.
◼
When the company has a proxy, the software also needs to set the proxy information, if
you do not set the proxy information, you will be prompted with "Connection Denied"
when logging in.
3
RobotLive User Manual
brief
◼
If you need to change your password, you can click Change Password in the login screen, enter
the old password and new password to complete the password change.
1.2
software interface
4
RobotLive User Manual
brief
The software interface is by default divided into a title bar, a menu bar, a layout window, a scene
display area and a notification bar.
1.2.1
title
bar
(of a
windo
w)
(com
putin
g)
Displays the software name, the name of the currently open scene, and the current status of the
software simulation.
Also added to the left side of the title bar are Save Scene, Undo, and One-Click Control Window.
1.2.2
menu
bar
Contains 5 tabbed menus File/Modelling/Tools/Simulation and Programming, with submenus under
each tabbed menu.
Submenu options can be shown or hidden by double-clicking on the menu icon where the
File/Modelling/Tools/Simulation and Programming menus are located .
1.2.3
Layout Window
5
RobotLive User Manual
brief
By clicking the [Scene Hierarchy] button under the [Tools] menu, you can show or hide the
Layout window, which lists all the objects added to the scene and reflects the hierarchical
relationship between each object.
6
RobotLive User Manual
brief
Robot models added to the scene are displayed in the upper part of the Layout Window. In
addition to the model name, the robot models that have been added are categorised under the
[Robots] list in the Layout Window.
Tools added in the scene are categorised under the [Tools] list
in the Layout window. The trajectories generated in the scene
are categorised under the [Trajectories] list in the Layout
window.
In the Layout window, double-clicking an object after selecting it with the mouse will
automatically adjust the viewing angle of the selected object to make it suitable for viewing,
which is equivalent to executing the [Suitable for Viewing] operation under the [Edit] tab.
In the layout window, the mouse selects the object and then clicks the right mouse button to bring up
the context menu, Contains:
◼
Copy/Delete/Paste/Cut: Performs copy/delete/paste/cut operations on selected objects in the
scene;
◼
Rename: Renames the selected object;
◼
Properties: Opens the Scene Object Properties screen for the selected object, as shown below.
7
RobotLive User Manual
brief
◼
1.2.4
Install to: You can install the selected object to the target object. For example, you can
mount a robot model to a mounting point, a tool to a robot, etc.
Scene display area
Used to build scenarios, modify scenarios, observe simulation status, etc.
1.2.5
notifi
cation
bar
It is mainly used for displaying operation feedback information, error alarm information, printing
programme results and other information.
8
RobotLive User Manual
brief
9
RobotLive User Manual
2
Build a
Scenario
Build the Scenario
2.1
Importing Scene Components
2.1.1
Importing robot models
Imported through the model browser window
Click [Model Library] under [Modelling] tab, and then click [Ontology] folder in the model
browsing window, the bottom of the model browsing window will show all the robot models
added by default in the software, select the required model and hold down the left mouse button
to drag it to the scene display area.
Import via Load Model button
Without opening the model browsing window, click [Load Model] under the [File] tab to bring up
the Load Model window, double-click on the [Ontology] folder in the window, it will list all the
robot models under the folder, select the desired robot model and click to open it.
2.1.2
import tool
Imported through the model browser window
Click the [Model Library] button under the [Modelling] tab, and then click the [Tools] folder in the
model browsing window, the bottom of the model browsing window will show all the tool
models added by default in the software, select the required model and hold down the left
mouse button to drag it to the scene display area.
Import via Load Model button
Without opening the model browsing window, click [Load Model] under the [File] tab to bring up
the Load Model window, double-click on the [Tools] folder in the window, it will list all the tool
models under the folder, select the desired tool model and click to open it.
Customisation tools
The following is an example of a calibration needle tool, detailing the steps to customise the tool:
Click [Import] -> [Custom Model] under the [File] tab to import a tool file in stp/step format.
Open the [Tools] tab under the [Create Device], the right side of the interface to create a device
pop-up window, the device type select Tool, the default device name for the tool, you can
customise it, here change to AIR10_Tool.
7
RobotLive User Manual
Build a
Scenario
◼
Creating Parts
Select the part, click the right mouse button pop-up [Add Part], click [Add Part] pop-up window
to add parts, in the pop-up window to add parts, you can customise the part name, here the
default name P1, select the model to be created, click OK;
◼
Creating a mounting surface
8
RobotLive User Manual
Build a
Scenario
Select the reference position, click the right mouse button to pop-up [Add Reference Position],
click [Add Reference Position], in the pop-up Add Reference Position window, you can customize
the name, the default name Base Plane, the type of selection of the mounting surface, click the
[Pickup Creation] button, the pop-up interface to create the mounting point, the location to
select the point (Note: the location of the selection needs to be based on the actual creation of
tool models), click the [Select Point] button. (Note: the selection of the location should be based
on the actual creation of the tool model), pick mode selection of the centre point (Note: the
selection of the pick mode should be based on the actual creation of the tool model), click the
[Select Points] button.
Move the mouse to the imported tool model to pick up the point, here choose the centre of the
plane as the pickup point (picked up after the yellow point), select the point after clicking the
left mouse button, then the reference point is created, at this time the pickup point will be
automatically set up at the installation of the surface coordinate system, you can root
Adjust the attitude as necessary, the Z-axis direction should be the same as the Z-axis direction
of the flange, so that it can be mounted to the robot flange properly, after the attitude is
adjusted, click OK, then the mounting surface is created.
9
RobotLive User Manual
Build a
Scenario
◼
Creating TCP Points
Select [Reference Position], click the right mouse button to bring up [Add Reference Position],
click [Add Reference Position], in the pop-up Add Reference Position window, you can
customise the name, here customise it to TCP, select TCP point for the type, click the [Pickup
Creation] button to bring up the interface for creating the reference position, select the point
for the position, select [Vertex or Midpoint] for the pickup mode, click the [Select Point]
button.
The mouse moves to the imported tool model to pick up the point, here choose the vertex of the
tool as a pickup point (picked up after the yellow point), select the point after clicking the left
button of the mouse, then the reference point is created, at this time the pickup point will be
established at a coordinate system, you can adjust the posture as needed, posture adjustment is
complete, click OK, then the TCP point is created.
10
RobotLive User Manual
Build a
Scenario
After the reference position mounting surface and TCP points are picked up, both Base Plane and TCP
are displayed under the Reference Position sub-menu, and clicking the [Create] button prompts the
device to be created successfully.
At this point, the successfully created tool object AIR10_Tool is automatically added to the layout window.
11
RobotLive User Manual
Build a
Scenario
Select the tool in the layout interface and right-click to bring up the drop-down list, click [Install to] > [AIR10], the tool is installed to the robot model.
2.1.3
Importing workpieces
Imported through the Model Browser window
Click the [Model Library] button under the [Modelling] tab, and then click the [Workpiece] folder
in the model browsing window, the bottom of the model browsing window will show all the
workpiece models added by default in the software, select the required model and hold down
the left mouse button to drag it to the scene display area.
12
RobotLive User Manual
Build a
Scenario
Import via Load Model button
Without opening the model browsing window, click [Load Model] under the [File] tab to bring up
the Load Model window, double-click on the [Workpiece] folder in the window, all the
workpiece models under the folder will be listed, select the required workpiece model and click
to open it.
Import via [Import] -> [Grid].
By clicking [Import] -> [Custom Model] under the File menu, you can import an artifact model in
*.obj, *.dxf, *.stl, *.stp, *.step format.
2.1.4
Other Scene Components
The Robotlive model library contains some of the components that may be used in the scene
under the folders of Functional Components, Shifters, Base Axes, Control Cabinets, and Others.
In actual use, if the model library does not contain the required component models, you can
design the component models in other 3D software and then import them into the scene
through [Import] -> [Custom Model].
2.2
Moving & Assembly
2.2.1
Scene movement and rotation
The movement of the scene mainly refers to the translation and rotation of the scene. The
translation of the scene is achieved by the [Translation] button under the [Modelling] tab, and
the rotation of the scene is achieved by the [Rotation] button under the [Modelling] tab, and the
rotation of the scene can also be achieved by holding down the scroll wheel of the mouse and
moving the mouse.
2.2.2
Model movement and rotation
The movement and rotation of robots, tools, workpieces and other component models in the
scene is mainly achieved by the [Object Move] and [Object Rotate] buttons under the [Modelling]
tab.
2.2.2.1
Object Movements
Select the object to be moved and click the [Object Move] button under the [Modeling] tab to
bring up the Object Move dialog box. The Object Move dialogue box contains three tabs: Mouse
Pan, Position and Pan.
1） Mouse Panning tab
13
RobotLive User Manual
Build a
Scenario
The Relative to tab has three options: world coordinate system, parent coordinate system and
own coordinate system. It means that the object will be moved relative to the world coordinate
system/parent coordinate system/self coordinate system respectively.
14
RobotLive User Manual
Build a
Scenario
The panning step refers to the step distance when moving the object with the mouse. The Pan
Steps drop-down box provides several step values to choose from. If you need a smaller panning
step while moving, hold down the [shift] key while pressing the mouse to pan the object to
achieve a smaller panning step.
The preferred axis can be X-axis, Y-axis or Z-axis alone, or any two of the three axes at the same
time. When a single axis is selected, it means that you can translate along that axis; when two
axes are selected, it means that you can translate in the plane formed by the two axes.
2） Location
tab
The Position tab allows you to set the relative coordinates of the object under a certain reference
point or a certain coordinate system. Any reference point added to the scene, or a new workpiece
coordinate system, or a tool coordinate system will appear in the Relative to drop-down list. After
selecting the reference coordinate system, enter the coordinate value (in mm) in the input box
corresponding to the X direction (or Y direction or Z direction) and press [Enter] to set the relative
coordinate.
3） Panning
tab
The Panning tab moves the object along the world coordinate system, the parent class coordinate
system, or its own coordinate system.
After selecting the object, select the coordinate system for relative movement, enter the distance
you want to move along X (or Y direction or Z direction) in the input box behind the input box
(in mm), and then click [X/Y/Z Direction Move Selection] behind the input box to realise the
15
RobotLive User Manual
Build a
Scenario
translatio
n in X/Y/Z
2.2.2.2
direction.
This is mostly used for panning when the object moves a small distance.
Object Rotation
16
RobotLive User Manual
Build a
Scenario
Select the object to be rotated and click the [Object Rotation] button under the [Modeling] menu
to bring up the Object Rotation dialog box. The Object Rotation dialogue box contains three tabs:
Mouse Rotation, Orientation and Rotation.
1） Mouse rotation tab
The Relative to tab has three options: world coordinate system, parent coordinate system and
own coordinate system. It means the mouse will rotate relative to the world coordinate
system/parent coordinate system/self coordinate system respectively.
The rotation step refers to the step when rotating an object with the mouse. The step value in the
Rotation Step drop-down box is in degrees.
If you need a smaller rotation step during rotation, hold down the [shift] key while pressing the
mouse to rotate the object to achieve a smaller step rotation.
The selection axis can only be one of X-axis, Y-axis or Z-axis. Rotating along orthogonal axes can
be achieved by holding down the [ctrl] key at the same time as pressing the left mouse button to
rotate the object.
2） Orientation tab
The Orientation tab shows the Euler angle of the selected object's own coordinate system
relative to the world coordinate system or the parent coordinate system. If you need to modify
the relative Euler angle of the object, you need to select the relative coordinate system first, then
enter the Euler angle value in the input box and press [Enter].
3） Rotate tab
17
RobotLive User Manual
Build a
Scenario
The Rotation tab allows you to rotate an object around the world coordinate system, the parent class
coordinate system, or its own coordinate system.
After selecting the object, choose the coordinate system for relative rotation, enter the angle
value you want to rotate in the input box behind the X-axis (or Y-axis or Z-axis), and then click [Xaxis Apply] behind the input box to realise the rotation around the X-axis. When the angle of
rotation of the object is small, or when the accuracy of rotation is required to be high, this way of
rotation is often used.
2.2.3
Assembly tools to robots
Currently, the software supports one-click installation of tools to robot models. For example,
after adding the robot model AIR6_ and the tool model Trajectory in the scene, you can install
the tool Trajectory to the robot AIR6_ by selecting the tool model in the Layout window and
2.3
coord
clicking the right mouse button, and then selecting [Install to] -> AIR6_.
inate
syste
m
2.3.1
world coordinate system
The coordinate system of the whole scene interface, the origin is located in the centre of the scene
interface, and the direction of the coordinate axis of the world coordinate system is fixedly displayed
in the lower left corner.
Basic tools added to the scene, such as primitive shapes, reference points, mounting points,
charts, etc., are by default aligned with the world coordinate system in the scene.
18
RobotLive User Manual
Build a
Scenario
For models with a different coordinate system from the world, if necessary, you can click
[Modelling] -> [Redirect Coordinate System] -> [Same World Coordinate System] to keep the
direction of the object's coordinate system the same as the world coordinate system.
2.3.2
coordinate system based on coordinates
19
RobotLive User Manual
Build a
Scenario
The base coordinate system, also known as the robot coordinate system, is located on the foot of
the robot and uses the world coordinate system as a frame of reference that can be used to
illustrate the robot's position.
2.3.3
Flange coordinate system
For the robot model AIRx, select the [AIRx_Flange] subobject under the AIRx model in the Layout
window to see the orientation of the flange coordinate system.
If you need to view the flange coordinate system more clearly, select the [AIRx_Flange] subobject in
the layout window, click the [Layer] button under the [Tools] tab, and uncheck the first box in the
Layer dialog box, at which time the model is hidden and only the flange coordinate system is
displayed.
2.3.4
Tool Coordinate System
Every tool model that comes with Robotlive, after being added to the scene, can see the TCP subobjects in the layout window, and the coordinate system of the tool TCP can be displayed in real
time in the scene display area.
2.3.5
Workpiece coordinate system
After importing the workpiece, select the workpiece in the layout window and click [Shape Edit]
under the [Tools] tab to enter the Shape Edit mode interface, as shown in the following figure.
20
RobotLive User Manual
Build a
Scenario
Check [Vertex Edit Mode] in the Shape Edit Mode's Shape Edit dialogue box.
In Vertex Edit mode, you can create a workpiece coordinate system by the three-point method.
Step 1. Select a point in the model display window as the origin of the new workpiece coordinate
system.
Step 2. Hold down the [Ctrl] key and select the second point to determine the X-axis and positive
direction of the new workpiece coordinate system.
Step 3. Hold down the [Ctrl] key and select the third point to determine the new workpiece coordinate
system XY plane and Y-axis positive.
Step 4: After selecting the three points, click [Create Workpiece Coordinate System] in the Shape
Edit dialog box to complete the creation of the workpiece coordinate system. At this time,
the workpiece coordinate system Wobj will be listed in the layout window.
2.4
security zone
In complex scenarios, it will be necessary to introduce safety zones to better simulate the actual
use of the scene. The addition of safety zones can be achieved through the [Safety Zones]
function under the [Modelling] tab.
Click [Safe Area] under the [Modeling] tab to bring up the [Safe Area] dialogue box, as shown below:
21
RobotLive User Manual
Build a
Scenario
The [Area Type] drop-down box has working areas, prohibited areas, shared areas, and tool
envelopes.
The [Area Shape] drop-down box has rectangles, cylinders and spheres to choose from.
When the area type is selected as work area (or prohibited area or shared area) and the area
shape is selected as rectangle, the dimensions to be set are X, Y, and Z, which represent the
length, width, and height of the security area, respectively.
When the area type is selected as working area (or forbidden area or shared area) and the area
shape is cylinder, the X parameter and Y parameter represent the diameter of the bottom circle
(you only need to input the value in any of the X or Y input boxes when setting, the other value
will be kept consistent automatically), and the Z parameter represents the height of the
cylinder.
When the area type is selected as Working Area (or Prohibited Area or Shared Area) and the area
shape is Sphere, the XYZ parameters all represent the diameter of the sphere. When setting, you
only need to set one of the values, and the other two values will automatically be consistent.
The dialogue box changes when the area type is selected as Tool Envelope, as shown in the figure:
When the Region Type is selected as Tool Envelope, the Region Shape will be selected as Sphere
by default, and a new Tool drop-down box will be added, where all the tools in the scene will
appear. Select the tool you want to add a tool envelope to. Click OK to add the tool envelope to
the scene.
22
RobotLive User Manual
Build a
Scenario
Note: When creating a new security area, follow the steps of selecting the area type, then
selecting the area shape, and then setting the dimensions (tool envelopes are also required to
select the tool).
After setting up the work area in the scene, you need to import the finished work area into the
controller for it to take effect.
23
RobotLive User Manual
3
orbi
t
orbit
3.1
Importing/exporting traces
3.1.1
Exporting trajectories
Select the track Path to be exported in the layout interface, click [Export] -> [Selected Path as CSV]
under the [File] tab, then the track can be exported. The exported file is in CSV format, and the
data composition of the exported file is shown in the figure below:
3.1.2
Importing trajectories
Click [Import] -> [Path to CSV] under the [File] tab to import tracks.
As can be seen from the exported CSV trajectory file, the import and export of trajectories
involves a total of 16 parameters of the trajectory points, which from left to right are:
◼
Columns 1 to 3 - coordinates of track points (X,Y,Z) in millimetres (mm)
◼
Columns 4 to 6 - Eulerian Direction Angles of Trajectory Points (Alpha,Beta,Gamma)
◼
Column 7 - relativeVelocity, default value is 1
◼
Column 8 - BezierPointCount, default value is 1
◼
Columns 9 to 10 - represent Bessel Difference Factors 1 and 2, both with default values of 0.5
◼
Column 11 - virtualDistance, in metres (m), default value is 0
◼
Column 12 - auxiliaryFlags, default value 0
◼
Columns 13 to 16 - Auxiliary channels 1-4, all default values are 0
Among the above 16 parameters, only the coordinates of the trajectory points are required, the rest
can be omitted or default values can be used.
Therefore, the easiest way to import trajectory points is to edit the exported CSV trajectory file,
delete all the parameters in columns 4 to 16, then fill in the coordinates of the trajectory points to
be imported into columns 1 to 3 according to the order of X-Y-Z, and then save it, and then go to the
[Import] -> [Path of CSV] under the [File] tab, and then you can realise the importing.
3.2
Creating independent trajectories
Click the [Path] button under the [Modelling] tab to add
trajectories. The default trajectory type added is the
subdivision type trajectory, as shown in the figure below:
21
RobotLive User Manual
orbi
t
Users can add and modify the trajectory points on the trajectory according to their own needs,
etc. to realise the design of various trajectories, the editing and modification methods of the
trajectory points will be introduced in detail in section 3.6.
3.3
Trajectory generation in shape editing mode
For the workpieces imported into the scene, trajectories can be generated on the surface of
the workpieces. The following is an example of a mobile phone case model, detailing the
specific steps for generating trajectories on the model in shape editing mode:
Select the imported workpiece in the Layout window and click [Shape Edit] under the [Tools] menu to
enter the shape editing mode.
Select [Edit Side Mode] in the pop-up shape editing dialogue box.
22
RobotLive User Manual
orbi
t
Step 3. Select an edge on the model as needed. If you need to generate a closed path, you can tick [Auto
Edge Following] on the [Edge Edit Mode] screen.
If some models are still unable to generate closed paths after checking Auto Edge Following, you
can modify the parameters [Maximum Edge Angle] and [Maximum Direction Change Angle] to
achieve the generation of closed paths.
Step 4. Click [Extract Path] in the shape editing dialogue box, close the shape editing dialogue box,
and select Save Changes.
At this point, the path named ExtractedPath appears in the layout window. In order to prevent the
workpiece from being separated from the path when moving the workpiece, you can select the
path ExtractedPath, then hold down the [Ctrl] key, then select the workpiece and click
[Assembly/Disassembly] under the [Modelling] tab to assemble it.
23
RobotLive User Manual
orbi
t
After the path and the workpiece are assembled, if the workpiece is moved again, the path moves
with it.
3.4
Picking up an edge generates a trajectory
See the description of the [Pickup Edge] function under the [Tools] tab in Chapter 8.
3.5
Pickup surface generation trajectory
See the description of the [Pickup Surface] function under the [Tools] tab in Chapter 8.
3.6
Trackpoint Editor
In this section, all the following operations for the track points need to be achieved by closing the
[Path Edit] window, specifically closing the window, in the pop-up dialogue box prompting
whether or not to save, click on [Yes] to save the previous changes, click on [No] to discard the
previous changes.
3.6.1
trajectory point translation
The position adjustment of the trajectory points is achieved by the [Object Move] button under the
[Modelling] tab.
3.6.2
orbit point rotation
24
RobotLive User Manual
orbi
t
For the trajectories generated in the above way, the direction of the
trajectory points is the default automatic direction (X-axis up). As shown in
the figure below:
In order to ensure runtime reachability, it is generally necessary to change the direction of the track
point so that it is close to or consistent with the direction of the TCP point.
The trajectory point orientation adjustment is achieved by the
[Object Rotation] button under the [Modelling] tab. The steps to
adjust the track point orientation are as follows:
Select the generated track ExtractedPath in the Layout window and click [Track Edit] under the
[Tools] tab to enter the track editing mode.
Step 2. Uncheck [Auto Direction] in the pop-up path editing dialogue box.
25
RobotLive User Manual
orbi
t
Step 3. Click [Reverse Selection] to select all track points. (Or hold down [ctrl] and click in the list
box on the left to select the points that need to be adjusted in turn).
Click [Object Rotation] under the [Modelling] menu, switch to the [Rotation] tab, and select [Own
Coordinate System].
Step 5. Depending on the direction of the TCP point, enter the corresponding value in the input box
behind the X-axis (or Y-axis or Z-axis), and then click the Apply button behind the input box
26
RobotLive User Manual
to realise the adjustment of the direction of the track point.
27
orbi
t
RobotLive User Manual
orbi
t
3.6.3
Trajectory reversal
The track reversal function is located in the right mouse button menu after selecting the track points,
called [Reverse Order Track Points], as shown below.
3.6.4
Insert new track point
In the right-click menu, there are two kinds of operations for inserting track points, which are
[Insert New Control Point after Selection] and [Insert New Control Point after Step-by-Step
Selection], and the differences between them are as follows:
◼
[Insert a new control point after selection] means to insert a new control point at the location of
this control point. The two control points overlap completely.
◼
[Insert new control point after step-by-step selection] means to generate a new control
point at the midpoint of this control point and the next control point. As shown below:
3.6.5
Modify the track start point
The function of modifying the trajectory start point is located in the right mouse button menu
after selecting the trajectory point. When it is executed, the selected point becomes the start
point of the trajectory. The following figure shows the starting point of the trajectory:
28
RobotLive User Manual
3.6.6
3.6.7
3.6.8
orbi
t
Adding the entry point
◼
Method 1: Move the robot to a safe position by [Joint Motion] or [Drag TCP] or other methods,
select TCP in the Layout Window, and then [Right-click] -> [Add Tool Entry Point to] -> [Path*]
at any position in the display scene interface to complete the addition of the tool entry point
in the path.
◼
Method 2: Click [Modeling]->[Reference_Point], the reference point is added to the scene
interface, select the reference point Reference_Point* in the layout interface, click
[Modeling]->[Object Moving], after the object moving dialog box pops up, move the reference
point to the desired position by mouse panning, position or panning, and then [click] [Right
Mouse Button]->[Add Tool Point to]->[Path*], to complete the addition of the entry point in
the path. Right Mouse Button] -> [Add Tool Point to] -> [Path*], complete the addition of the
tool point in the path.
Adding a tool exit point
◼
Method 1: Move the robot to a safe position by [Joint Motion] or [Drag TCP] or other methods,
select TCP in the Layout Window, and then [Click Right Mouse Button] -> [Add Tool Points to]
-> [Path*] at any position of the Display Scene Interface to complete the addition of tool
points in the path.
◼
Method 2: Click [Modeling]->[Reference_Point], the reference point is added to the scene
interface, select the reference point Reference_Point* in the layout interface, click
[Modeling]->[Object Moving], after the object moving dialog box pops up, move the reference
point to the desired position by mouse panning, position or panning, and then [click] [Right
Mouse Button]->[Add Tool Point to]->[Path*], to complete the addition of the tool exit point
in the path. Right Mouse Button] -> [Add Tool Point to] -> [Path*], complete the addition of
the tool point in the path.
Uniform gestures
Select the track Path* in the layout window, click [Tools]->[Track Edit], the path editing dialogue
box pops up, and in the left side of the scene shows the list of path selection points, select
multiple path points in turn, the last selected path point is Path point*, click [Modeling]->[Object
Rotation], the object rotation dialogue box pops up, click the [Direction], the interface displays the
This interface shows the attitude of the last selected path point Path point*.
With the [Apply] button, the poses of all the selected points are unified and changed to the pose of the
point Path point*.
3.6.9
Copy/cut/paste/delete track points
29
orbi
t
RobotLive User Manual
Select the track point in the left list column, click the right mouse button, you can copy the track
point, paste the track point, delete the track point, cut the track point and other operations. The
following figure:
30
RobotLive User Manual
3.7
orbi
t
follow a spin
In a closed trajectory, the tool is close to the 6-axis limit after one revolution of the trajectory, and if
continuous operation is required, it must be 6-axis per revolution.
The axes all need to rotate 360 degrees. In order to ensure the
continuity of the operation, the concept of follow rotation is
introduced. The Follow Rotation function is located in the Path Edit
mode, in the Path Edit dialogue box, as shown below:
31
RobotLive User Manual
orbi
t
You can select to follow the rotation operation for X/Y/Z axis.
The axes of the trajectory points before the follow-rotate operation are shown below:
32
RobotLive User Manual
orbi
t
After selecting Follow Rotation around X-axis, as shown in the following figure:
After rotating a point, the point will be rotated by a fixed angle relative to the axis of
rotation starting from the starting point of the trajectory. Check [Reverse Rotation] to
rotate the track in the opposite direction.
The picture below shows the state of the sanding head on the four edges of the case after following
rotation is applied.
33
RobotLive User Manual
orbi
t
34
RobotLive User Manual
orbi
t
In this case, after one round of sanding, the state of each axis is returned to its initial state, thus
enabling cyclic sanding.
3.8
Record track information
The movement information of TCP points can be
recorded by adding charts at the TCP points. Using the
AIR10 model as an example, the steps are as follows:
Step 1. Drag and drop AIR10_model from Model Library [Ontology], drag and drop Tool Polish from
[Tools], and implement the assembly by assembling the tool to the robot using the method
in Chapter 2.2.3.
35
RobotLive User Manual
orbi
t
Step 2. Add a chart to the scene using the [Chart] button under the [Modelling] tab.
Step 3. In the Layout window, mouse click to select the newly added diagram, hold down the [Ctrl] key, then
select the TCP tool PolishTCP,click[Object Move] under the [Modeling] menu, select the [Position]
tab in the Object Move dialog box, click the [Apply] button in the lower right corner, and close
the Object Move dialog box.
Click the [Object Rotation] button, select the [Orientation] tab in the Object Rotation dialog
box, and click [Apply] to close the Object Rotation dialog box.
Click [Assembly/Disassembly] under the [Modelling] menu, the graph will be installed at the TCP point of
the tool, and the icon Graph will be displayed.
Subobject of PolishTCP.
Select the chart and click [Scene Object Properties] under the [Tools] menu to open the Chart
Properties Settings dialogue box.
36
RobotLive User Manual
orbi
t
Step 7. Click the [Add New Data Stream to Record List] bar in the centre to create the following three
data streams:
◼
Data (select [Object: Absolute X Position] for the data stream type and [PolishTCP] for the object to be
recorded)
◼
Data0 (select [Object: Absolute Y Position] for the data stream type and [PolishTCP] for the object to be
recorded)
◼
Data1 (select [Object: Absolute Z Position] for the data stream type and [PolishTCP] for the object to be
recorded)
37
RobotLive User Manual
orbi
t
Step 8. Double-click Data in the Data Flow Records list to rename it to TCP_X; double-click Data0 to
rename it to TCP_Y; and double-click Data1 to rename it to TCP_Z.
38
RobotLive User Manual
orbi
t
Click Edit 3D Curve in the lower right corner of the Chart Setup Properties dialog box to bring up the 3D
Curve Properties dialog box.
39
RobotLive User Manual
orbi
t
Step 10. Click [Add New Curve], and in the pop-up dialogue box, the X value is set to TCP_X, the Y value is set to
TCP_Y, and the Z value is set to
TCP_Z, click OK.
Step 11. In the 3D Curve Properties dialogue box, check [Curve Always in Front] and select [Relative to
World].
40
RobotLive User Manual
orbi
t
Up to this point, when running or JOG, you can record the trajectory information of TCP points, and
export the recorded data by [Export] -> [Selected Graphics as CSV] under the [File] menu.
If you want to simplify the grid display of the graph, you can uncheck [Show XYZ Plane] in the
Graphic Object Properties Settings dialog box, as shown below.
41
RobotLive User Manual
orbi
t
The default number of storage points of the chart is 1000, if the track is longer, there may be
incomplete data recording, you can modify the value of [Storage Size] in the Graphical Object
Properties Setting Dialog Box to change the number of recording points to ensure that all the
required points are recorded, as shown in the following figure area.
42
RobotLive User Manual
orbi
t
43
RobotLive User Manual
4
Robot
programm
ing
Robot programming
After creating a new scene and generating a trajectory, we enter the trajectory generation
procedure. In this chapter, we take the example of two robots in the scene to describe the whole
process of the generation procedure.
4.1
Basic Processes
Step 1 New
scene Step 2
Generate
trajectory Step 3
Robot
configuration
Step 4 Start
controller Step 5
Trajectory check
Step 6 Parameter
configuration
Step 7 Generate
program
4.2
Robot Configuration
Click [Robot Configuration] under the [Simulation] tab to bring up the robot configuration
interface. In the Robot Configuration list, configure the mechanical unit model, controller name
and channel number of the two robot models. In this example, the AIR10 robot is set in channel 1
and the AIR6L robot is set in channel 2, and both of them are controlled by the controller offline1.
In the Controller Configuration list, the local controllers and online controllers that have been added are
listed. Local controllers and online controllers can be added by clicking the [Add Offline] and [Add
Online] buttons. Among them, the IP address of the local controller is displayed as [Local
Controller], move the mouse cursor to the list of local controllers, the current default port number
will be displayed, the port number of a local controller is 5001 by default, and the port number
will be increased by 1 by default every time a local controller is added, which is mainly used to
start multiple controllers locally. The default IP of online controller is 213.65.69.1, you can
modify it by double clicking the IP address, online controller is mainly used for real-time
simulation scenarios.
Select the local controller off-line1 in the controller list and click the [Start] button to start the local
controller off-line1.
43
RobotLive User Manual
Robot
programm
ing
4.3
Trajectory check
Step 1. Click the [Robot] drop-down box under the [Programming] menu and select the AIR10 robot.
Step 2 Click the "Path" drop-down box under the "Programming" menu and select the corresponding
path for AIR10 robot. In this example, the corresponding trajectory of AIR10 is Path.
Step 3 Click the [Controller] drop-down box under the [Programming] menu and select the controller
for the AIR10 robot. In this example, the controller for AIR10 is off-line.
Click the [Channel] drop-down box under the [Programming] menu and select the channel
corresponding to the AIR10 robot. In this example, the channel corresponding to AIR10 is 1.
(See the results of channel setting in the previous section.)
44
RobotLive User Manual
Robot
programm
ingappears where
Click the [Check] button under the [Programming] menu, and the Trace Check window
the original Layout window was, as shown below.
Step 6. Click the [Check] button in the Trajectory Check window to see if the trajectory points are
reachable, overrun, or singular in the corresponding trajectory of the AIR10 robot. In this
example, the result is ok, indicating that the trajectory points are reachable.
Step 7: Select the trajectory point in the trajectory checking window, click the [CFG] button in the
middle to display the corresponding cfg value of the trajectory point, double click the cfg
value in the cfg list (for example, double click the line of cfg0), and then the robot in the
model display window will show the position. Click the [Reset] button to return to the
default pose.
45
RobotLive User Manual
Robot
programm
ing
Click the [Clear] button at the bottom right corner of the Trace Inspection
window to clear the inspection information of the AIR10 trace. Step 9. Click
the [Check] button under the [Programming] menu to exit the Track
Inspection window.
Step 10.Repeat the above to perform a trajectory check for the AIR6L robot.
4.4
Parameter Configuration
Step 1. Click the [Robot] drop-down box under the [Programming] menu and select AIR10 Robot.
46
RobotLive User Manual
Step 2 Click the [Path] drop-down box under the [Programming] menu and select
the corresponding path for the AIR10 robot Step 3 Click the [Channel] drop-down
box under the [Programming] menu and select the corresponding channel 1 for
the AIR10 robot.
47
Robot
programm
ing
Robot
programm
ing
RobotLive User Manual
Click the [New] button under the [Programming] menu to create a new blank programme. (The
new unnamed programme cannot perform the operation of generating a programme, it
must be saved as a file first)
Step 5. Click the [Save As] button under the [Programming] menu, enter the name dual.arl and save it.
All ARL programmes are saved in the installation folder \Robotlive\ARCS\sharefolders\script
folder.
Step 6 Click the [Generate] button under the [Programming] menu and close the pop-up dialogue box. At this point,
a file named dual_data.arl is generated in the \Robotlive\ARCS\sharefolders\script folder.
Click the [Open] button under the [Programming] menu to open the file named dual_data.arl generated in
the previous step.
Step 8. Click the [Setup] button under the [Programming] menu to bring up the setup dialogue box. In
the Select Data File drop-down box, select
dual_data.arl.
Select the speed tab in the Setup dialog box, click the [Add] button, and enter appropriate values in
the input boxes for per, tcp, ori, and exj. In this example, the values are 100,100,50,100
respectively.
48
RobotLive User Manual
Robot
programm
ing
Step 10: Switch to the slip tab, click the [Add] button, and enter the appropriate values in the input
boxes for jdis and pdis respectively. In this example, it is -1, -1 respectively.
Step 11.Switch to the Tool tab, click the [Add] button, double-click the input box under the object,
and select the tool coordinate system in the drop-down menu. In this example, AIR10
selects toolTCP; double-click at the input box under Relative and select Flange Coordinate
System in the drop-down menu.
In this example, double click on the input box of object, and select ToolTCP in the drop-down
menu; double click on the input box of relative, and select AIR10_Flange in the dropdown menu; double click on the input box of world, and select F in the drop-down menu.(Note:
Setting F means that the tool is specified to be a tool mounted at the end of the flange of
48
RobotLive User Manual
Robot
programm
the robot, and the tool coordinate system is defined with reference to the flange
ing
coordinate system; if it is set to T, it means that the tool is specified to be an external
stationary tool, and the tool coordinate system is defined with reference to the world
coordinate system). (Note: Setting F means that the tool is defined as a tool mounted
on the end of the robot flange, and the tool coordinate system is defined with reference
to the world coordinate system.)
49
RobotLive User Manual
Robot
programm
ing
Step 13: Click the [Apply] button in the setup dialogue box, and the setup parameters will appear in the
dual_data.arl file in the program editor window.
Step 14. Close the setup dialogue box, and the parameters for
the AIR10 robot are now set. Step 15. Repeat the same
procedure as above to configure the parameters for the
AIR6L.
4.5
generator programme
Click the [Open] button under the [Programming] tab to open the
50
RobotLive User Manual
dual.arl file. Step 2. Ensure that the configuration under the
[Programming] tab is as shown below.
51
Robot
programm
ing
RobotLive User Manual
Robot
programm
ing
Step 3 Click the [Generate] button under the [Programming] tab to bring up the program generation
dialogue box, select the parameters set in the parameter setting link in the [Speed][Slip][Tool]
[Wobj] drop-down box, and the default settings used in this example are v0, s0, tool1.
Step 4. Click [Settings] in the Generate Program dialogue box, and in the display area below,
information about all the trajectory points is displayed.
Step 5. Here, we temporarily use the default track point status, click the [Apply] button in the
lower-right corner of the Generate Program dialogue box, at this time, the program
editing window where the cursor is located, that is, the generation of all track points of
the program.
52
RobotLive User Manual
Robot
programm
ing
Step 6. Click the [Save] button under the [Programming] tab to
save the arl programme. Step 7. Repeat the above operation
to generate a programme for another robot.
4.6
Procedural adjustments
4.6.1
Modify cfg value
If you need to modify the cfg value of a track point in the track, you can do so in the [Check]
interface under the [Programming] tab. The steps are as follows: Step 1. Make sure you have
configured the controller and assigned the channels.
Ensure that the controller is powered up.
Step 3 Click [Check] under the
[Programming] menu. Step 4. Click the
[Check] button in the check dialogue box.
Step 5. Mouse over a track point in the trace (e.g. Path_4) and click the [CFG] button.
53
RobotLive User Manual
Robot
programm
ing
Double-click the cfg1 value line in the list and click [Apply CFG], the cfg value of the point will be modified
successfully.
Step 7. Go back to the Program Editor window and click [Open] under the [Programming] menu to
open the previously created main program.
Step 8 Click [Generate] under the [Programming] menu to bring up the dialogue box for program
generation, and select the parameters set in the parameter setting link in the [Speed] [Slip]
[Tool] [Wobj] drop-down box, and the default settings used in this example are v0, s0, and
tool1, respectively.
Step 9. Click [Settings] in the Generator dialogue box, and in the display area below, the
information about all the track points is displayed. The following figure is shown.
54
RobotLive User Manual
Robot
programm
ing
Step 10. Here, we temporarily adopt the default trajectory point state, click the [Apply]
button at the lower right corner of the Generate Program dialogue box, at this
time, the program editor window that generates all the trajectory points of
the program, as shown below. Please note that the instruction of Path_4 has
changed from linear motion lin to point motion ptp due to the change of cfg.
55
Robot
programm
ing
RobotLive User Manual
Step 11: Click [Save] under the [Programming] menu to save the arl programme with the modified cfg
value.
4.6.2
retool point post-processing function
The point post-processing function is located in the programme generation interface. After
completing the parameter setting, click [Generate] to enter the programme generation interface.
Tick retool, rel_x, rel_y, rel_z, rel_a, rel_b, rel_c become inputtable.
◼
The rel_x parameter indicates the amount of translation in millimetres (mm) along the X direction of
the tool coordinate system;
◼
The rel_y parameter indicates the amount of translation in millimetres (mm) along the Y direction of
the tool coordinate system;
◼
The rel_z parameter indicates the amount of translation in millimetres (mm) along the Z direction of
the tool coordinate system;
◼
The rel_a parameter indicates the amount of rotation in degrees (°) along the X direction of the tool
coordinate system;
◼
The rel_b parameter indicates the amount of rotation in degrees (°) along the Y direction of the tool
coordinate system;
◼
The rel_c parameter indicates the amount of rotation along
the Z-direction of the tool coordinate system in degrees; when
retool is unchecked, the lin instruction takes the form of the
generated program:
lin p:Path_0,v:v0,s:s0,t:tool1
When Retool is ticked, the lin instruction in the generated programme takes the form:
lin p:reltool(Path_0,rel_x,rel_y,rel_z,rel_a,rel_b,rel_c),v:v0,s:s0,t:tool1
If you tick Retool when generating a programme and set rel_x, rel_y, rel_z, rel_a, rel_b, rel_c to
56
RobotLive User Manual
10,10,10,5,5,5, the programme will be as follows:
57
Robot
programm
ing
RobotLive User Manual
Robot
programm
ing
4.6.3
Use of the ptp command
If you need to use the ptp instruction, first determine the cfg value to be used when using the ptp
instruction, which can be judged and selected during the trajectory check. After the cfg value is
selected for the target point, the cfg value can be applied directly in the trajectory check
interface, and the generated programme will use the ptp instruction.
As an example, when generating a
programme for an AIR10 model, the steps
are as follows: Ensure that the controller
has been configured and the channels
assigned.
Ensure that the controller is powered up.
Make sure that AIR10 is selected for the [Robot] drop-down box under the [Programming] tab, Path
is selected for the [Trajectory] drop-down box, and Channel 1 is selected for the [Channel] dropdown box.
Click [Check] under the
[Programming] tab. Click the
[Check] button in the check
dialogue box.
Select the target point in the trace with the
58
RobotLive User Manual
Robot
programm
ing
mouse and click the [CFG] button. Double
click the target cfg value and click [Apply
CFG].
Click [Generate], double-click the CMD with the mouse, and select ptp in the pull-down menu, and the
command of the target point will be changed to ptp command.
4.6.4
Use of the cir command
If you need to use the cir command, you need to add an auxiliary reference point manually, then
modify the command in the CMD column of the program generation dialogue box, select the
auxiliary reference point in the M column, and then click [Apply] to generate the program.
As an example, when generating a programme for an AIR10 model, the steps are as follows:
59
Robot
programm
ing
RobotLive User Manual
Click [Reference Point] under the [Modelling] tab to add a reference point as an auxiliary point in
the cir command, and use [Object Move] and [Object Rotate] under the [Modelling] tab to move
the reference point to the target position.
Ensure that the controller has been
configured and channels assigned.
Ensure that the controller has been
started.
Make sure that AIR10 is selected in the [Robot] drop-down box under the [Programming] menu,
ExtractedPath is selected in the [Trajectory] drop-down box, and Channel 1 is selected in the [Channel]
drop-down box.
Make sure the Speed/Slip/Tool/Wobj parameters are set.
Click [Generate] under the [Programming] menu, and in the CMD column of the Generate Program
dialogue box that pops up, change the default lin command to
The cir command.
Select the reference point to be added in the drop-down box in the M column.
60
RobotLive User Manual
Robot
programm
ing
Click [Apply] to generate a programme with a target point of the cir instruction.
4.6.5
Use of the helix command
If you want to use the helix command, you need to modify the command in the CMD column of
the program generation dialog box, set the r parameter in the R column and the n parameter in
the N column, and then click [Apply] to generate the program.
As an example, when generating a
programme for an AIR10 model, the steps
are as follows: Ensure that the controller
has been configured and the channels
assigned.
Ensure that the controller is powered up.
Make sure that AIR10 is selected for the [Robot] drop-down box under the [Programming] menu, Path
is selected for the [Trajectory] drop-down box, and Channel 1 is selected for the [Channel] dropdown box.
Make sure the Speed/Slip/Tool/Wobj parameters are set.
Click [Generate] under the [Programming] menu to set the radius of the base circle r of the helix in
column R (just enter the value directly into the input box), and set the number of rotations n of the
helix in column N (just enter the value directly into the input box).
Click [Apply] to generate a program with the helix instruction as the target point.
4.6.6
Modification after setting Speed/Slip/Tool/Wobj parameters
After setting the parameters in the Parameter Setting screen, if you want to modify the parameters that
have already been set, for example, if you want to modify the Speed of the AIR10 model
parameter in the following way:
61
Robot
programm
ing
RobotLive User Manual
Click the [Open] button under the [Programming] menu to open the dual_data.arl file.
Click the [Setup] button under the [Programming] menu, and select the dual_data.arl file
in the drop-down box for data file selection. Switch to the speed parameter tab, change
the parameter, and then click Apply.
62
RobotLive User Manual
4.7
Robot
programm
ing
Load and Run
In this example, there are two models, AIR10 and AIR6L. For this multi-robot scenario, make sure
that you have configured the controllers, assigned the channels, and made sure that the
controllers are up before loading the runtime program.
Click [Open] under the [Programming] tab, open the corresponding program dual.arl of AIR10, and
make sure that the [Robot] drop-down box under the [Programming] tab is selected as AIR10,
the [Trajectory] drop-down box is selected as Path, and the [Channel] drop-down box is
selected as Channel 1.
Click [Download] under the [Programming] tab and a prompt box for successful loading appears.
Click [Open] under the [Programming] tab to open the corresponding program dual_6L.arl for AIR6L,
and make sure that the [Robot] drop-down box under the [Programming] tab is selected for AIR6L,
the [Trajectory] drop-down box is selected for Path0, and the [Channel] drop-down box is
selected for Channel 2.
Click [Download] under the [Programming] menu, and a prompt box for successful loading appears.
Click [Start Simulation] under the [Programming] menu, and the two robot models will start running
simultaneously.
63
RobotLive User Manual
Robot
programm
ing
64
RobotLive User Manual
Robot
programm
ing
65
RobotLive User Manual
5
simulation program
5.1
local simulation
simulati
on
program
Local emulation starts the local controller without modifying the
controller's IP and port number. The examples in Chapter 4 are
examples of local emulation.
5.2
Online Simulation
During the actual robot simulation, IP address matching is
required as follows: Connect the computer to the router via a
network cable.
Connect the control cabinet to the router via the network cable.
Set the control cabinet user IP, which needs to be in the same
segment as the computer's IP address. Modify the online
controller IP address in the robot configuration screen to the
user IP of the control cabinet.
Click the [Start] button at the bottom of the robot configuration screen to start the online controller.
Click the [Start] button under the [Simulation] menu. The robot model will adjust its attitude
according to the position information sent from the remote robot control cabinet.
5.3
Detecting collisions
You can click [Open Collision Detection] under the [Tools] menu to open the collision detection. When
you need to turn it off, click again to turn it off.
5.4
Teachers Jog
In RobotLive, if you need to change the position of the robot model, there are two ways to do it:
◼
Change the robot position by using the [Joint Movement] plug-in under the [Modelling] menu.
(See 7.2.6 Joint Motion for details on how to adjust the position.)
◼
After starting the controller, click the Start button under [Simulation], and change the
robot's position through the [Oscillator] Jog under the [Simulation] menu.
In this section, the AIR10 model is used as an example to show the operation steps of the method in (2).
Drag and drop the AIR10 model and tools from the RobotLive model library
into the scene display as described in Chapter 2. Assemble the tools as
described in Chapter 2.
Step 1. Click [Robot Configuration] under the [Simulation] tab
to start the controller. Step 2. Click the [Start] button under
the [Simulation] tab.
61
simulati
on
program
RobotLive User Manual
Step 3. Click [Teacher] under the
[Simulation] tab. Step 4. Click the [Login]
button on the Demonstrator.
Step 5. Click the [Enable] button on the Teach-In to
enable the servo. Step 6. Click the + and - on the right
side of J1-J6 to realise Jog on each axis.
62
RobotLive User Manual
5.5
simulati
on
program
breakpoint debugging
The breakpoint debugging function can be found in the Test and Debug area under the
[Programming] menu.
When you use the breakpoint debugging function, you do not need to click any button, you only
need to open the arl programme to be debugged to the right of the line number (and the programme
pointer in the same vertical line area), click the left mouse button, you can add a red breakpoint.
63
RobotLive User Manual
simulati
on
program
After adding a breakpoint, the programme will pause when it reaches that line.
Left mouse click on a red breakpoint to
cancel it. Multiple breakpoints can be
added at the same time.
When the programme is paused at a breakpoint, it can be made to continue running by clicking [Start]
under the [Programming] menu.
5.6
single-step debugging
64
RobotLive User Manual
simulati
on
In the Test and Debug area under the [Programming] menu, click on the Run Mode drop-down
program
triangle to find the single-step debugging function.
65
simulati
on
program
RobotLive User Manual
After starting to run the programme, click on the [Single Step] button, after clicking on the single-step
debugging state, the programme will be suspended after running a step.
If you need to continue to run the programme, you can make the programme continue to run by
clicking [Start Simulation] under the [Programming] menu, or you can make the programme
continue to run by clicking [Continue] in the Test and Debug area under the [Programming]
menu.
5.7
Emulating IO Signals
The input of the model is the output of the controller, and
the output of the model is the input of the controller. In this
section, we will take AIR10 robot as an example to simulate
the IO signals as follows:
Click [Model Library] under the [Modelling] tab, select the AIR10 robot and drag it to the scene display
window, select the suction cup tool named suction_pad and drag it to the scene display area.
Right-click the tool to install it on the robot. Click on [Original Shape] under the [Modelling] tab,
select Rectangle and create a new 100mm
The cube.
Select the newly created cube in the layout interface, right-click [Properties] to bring up the
scene object properties dialog box, click [Show Dynamics Properties Dialog Box] in the dialog
box, and make sure [Rigid Body Reaction] is checked. Close the dialogue box.
66
RobotLive User Manual
simulati
on
program
Click the [Robot Configuration] screen under the [Simulation]
tab to start the local controller. Click [Start] under the
[Simulation] tab to enter the simulation state.
Click [Demonstrator] under the [Simulation] tab to open the virtual demonstrator.
Click the [Login] button on the Oscilloscope. Click the [Enable] button on the
Oscillator to enable the servo. Use the Jog function to jog the suction cup to a
distance of less than 1cm from the surface of the cube.
67
RobotLive User Manual
simulati
on
program
ClickI/O Connection underthe[Emulation]tabto bring up the IO Connection dialogue box, in which you
can configure the controller and set the [IO Bit],whichisset to 1 in this example.
Click [Show Signals and IOs] at the lower right corner of the IO dialogue box to bring up the Signals
and IOs dialogue box. In the Signal and IO dialogue box, check [Editable] at the upper right corner.
68
RobotLive User Manual
simulati
on
program
In the Controller DO area of the Signal and IO screen, click the area corresponding to the number 1
(i.e., the IO bit set earlier), and the numbered area turns green.
69
RobotLive User Manual
simulati
on
program
Continuing with the Demonstrator Jog Robot model revealed that the suction cups pick up the cube, allowing for other
Jog operations.
70
RobotLive User Manual
simulati
on
program
If it is necessary to cancel the giving of this signal, click the left mouse button on the area where
the signal corresponds to the number 1 of the IO interface, at this point the area turns red and the
suction cup releases the cube.
In this example, there are 3 prerequisites for the realisation of adsorption:
◼
The Rigid Body Reaction is checked in the Kinetic Properties dialogue box for the adsorbed
object;
◼
The distance between the suction cup and the object to be adsorbed is less than 1cm;
◼
The corresponding IO channel is set high.
71
RobotLive User Manual
6
Document
s tab
Documents tab
The functions under the [File] tab are divided into three sections: Scene, Object, and Other. As shown
in the figure below:
6.1
take
6.1.1
new scene
Used to create a new blank scene.
6.1.2
Open the scene
Open an existing scene. scenes in Robotlive are usually saved in the scenes folder of the installation folder.
(\Robotlive\scenes).
6.1.3
Recently opened
The Recently Opened drop-down list lists the most recently opened scenes for selection. As shown in
the figure:
71
RobotLive User Manual
Document
s tab
6.1.4
Save Scene
Saves the current scene, by default in the scenes folder of the installation folder. The format of the scenes
file is .rls.
6.1.5
Save Scene As
Saves the current scene as another copy.
6.1.6
Close the scene
Close the current scene. If the current scene is not saved, you will be prompted to save the
current scene; if the current scene is saved, you will directly close the current scene.
6.2
object manipulation
6.2.1
Save model as
Save the current model as another copy.
After selecting the model to be saved in the Layout window, click [Save Model As], a dialogue box
will pop up, prompting "Model current X/Y
The position will be the horizontal offset of the drag-and-drop position after the drag-and-drop
operation". This is shown in the figure below:
72
RobotLive User Manual
Document
s tab
Therefore, the best way to handle this is to move the model to the coordinate origin before
saving it, so that the next time you need to use the model, dragging the model to place it will not
create an offset.
After clicking [OK], a dialogue box pops up, prompting whether you want to use the default thumbnail
as the model's display image in the model library.
If you select [Yes], a dialogue box for saving path selection pops up, as shown in the figure below, select
the target folder to save.
73
RobotLive User Manual
Document
s tab
If you select [No], the thumbnail selection dialogue box pops up as shown below:
Click [Select from File] in the dialogue box to bring up the path selection dialogue box, you can
select a suitable picture from your computer as the thumbnail of the model you want to save. The
resolution of the selected image should be 128*128, and the name of the image as well as the path to
save it should not be in Chinese (otherwise, the texture image will not be recognised). After
selecting the image, it is shown in the following figure:
74
RobotLive User Manual
Document
s tab
After clicking [Yes], the save path selection box will pop up, select the save folder, enter the model name
and click OK.
Click [Model Library] under the [Modelling] tab, find the folder where the model is saved, and you
can see the saved as model in the lower left area.
6.2.2
Loading Models
After clicking "Load Models" under the "File" tab, a path selection dialogue box will pop up, which
is located in the models folder of the installation folder. the models folder contains various subfolders that have already been classified, and you can open them by selecting the models that
have been prepared in *.rlm format in the folder.
75
RobotLive User Manual
Document
s tab
6.2.3
derive
The Export menu contains four options under it, which are:
1） Export the currently selected model
Select the model in the layout window and click [Export] -> [Selected Shapes] under the [File] tab to
export the model as obj
format.
2） Export the currently selected chart to CSV
The prerequisite for this item is that a diagram has been added to the scene (which can be added in
[Diagram] under the [Modelling] tab).
Section 3.8 documents the detailed operation of adding chart record trace information.
After adding the chart, the chart will record the movement information of the target points
during the run. At the end of the run, select the chart in the Layout window and click [Export] ->
[Selected Chart as CSV] under the [File] tab to export the target point information recorded
during the run.
3） Export the current path as CSV
Select the trajectory in the Layout window and click [Export] -> [Selected Path as CSV] under the
[File] tab to export the information about the trajectory points of the selected trajectory to a
CSV file.
The exported CSV file contains a total of 16 columns of data relating to the 16 parameters of the
trajectory points, and from left to right, these parameters are:
◼
Columns 1 to 3 - Trajectory point coordinates (x,y,z) in millimetres.
◼
Columns 4 to 6 - Trajectory point Eulerian direction angle (alpha,beta,gamma), default value is (0,0,0).
◼
Column 7 - relativeVelocity relativeVelocity, default value is 1.
◼
Column 8 - Bezier Point Count BezierPointCount, default value is 1.
76
RobotLive User Manual
◼
Document
s tab
Columns 9 to 10 - represent Bessel Difference Factors 1 and 2, both with default values of 0.5.
◼
Column 11 - virtualDistance virtualDistance in metres, default value 0.
◼
Column 12 - auxiliaryFlags auxiliaryFlags, default value is 0.
77
RobotLive User Manual
Document
s tab
◼
Columns 13 to 16 - Auxiliary channels 1-4, all default values are 0.
Among the above 16 parameters, only the coordinates of the trajectory points are required, the rest
can be omitted and the default values can be used.
The parameter settings for columns 7 to 16 are made in the Trace Edit dialogue box of the Trace Edit
mode, as shown in the figure below:
4） Export Bessel Curve for Selected Paths as CSV
For trajectories with Bessel points, this item needs to be selected when exporting.
Below is a loop closure trace to illustrate the difference between selecting [Selected Paths as
CSV] and selecting [Bézier Curves of Selected Paths as CSV] when exporting.
The target trajectories to be exported are shown below.
The blue dots are trajectory points and the dots in the middle of the trajectory points are Bessel
points.
78
RobotLive User Manual
Document
s tab
After selecting [Selected Path as CSV], the data in the exported file contains only the information of
the 16 trajectory points and not the information of the Bessel points, as shown below:
By selecting [Bézier Curves for Selected Paths as CSV], the data in the exported file contains both
trajectory points and Bézier points. Therefore, for trajectories that contain Bezier points, such as
arcs, selecting [Bézier Curves of Selected Paths as CSV] ensures the completeness and accuracy
6.2.4
imp
of the trajectory information when exporting.
ort
(dat
a)
1) Import custom model: support format *.obj *.dxf *.stl *.stp *.step
The import of 3D model files can be achieved by [Import] -> [Custom Model]
under the [File] tab. After clicking [Import] -> [Custom Model], select the path
where the target file is located to import. 2) Import CSV path
Under the [File] tab, [Import] -> [Path to CSV], you can import tracks.
As can be seen from the exported CSV trajectory file, the import and export of trajectories
involves a total of 16 parameters of the trajectory points, which from left to right are:
◼
Columns 1 to 3 - Trajectory point coordinates (x,y,z) in millimetres.
◼
Columns 4 to 6 - Trajectory point Eulerian direction angle (alpha,beta,gamma), default value is (0,0,0).
◼
Column 7 - relativeVelocity relativeVelocity, default value is 1.
◼
Column 8 - Bezier Point Count BezierPointCount, default value is 1.
◼
Columns 9 to 10 - represent Bessel Difference Factors 1 and 2, both with default values of 0.5.
◼
Column 11 - virtualDistance virtualDistance in metres, default value 0.
◼
Column 12 - auxiliaryFlags auxiliaryFlags, default value is 0.
◼
Columns 13 to 16 - Auxiliary channels 1-4, all default values are 0.
Among the above 16 parameters, only the coordinates of the trajectory points are required, the rest
can be omitted and the default values can be used.
Therefore, the easiest way to import is to delete all the parameters in columns 4 to 16 of the
79
RobotLive User Manual
Document
s tab
exported CSV trajectory file, and then fill in the coordinates of the trajectory points of the trajectory
to be imported into columns 1 to 3 in the order of xyz, and then save it, and then use [Import] ->
[Path of the CSV] under the [File] tab, and then you can achieve the importation. The direction
of the track points can be adjusted after importing the track points.
80
RobotLive User Manual
Document
s tab
6.3
(sth. or sb) else
6.3.1
hand
The Help drop-down list contains three options, as shown below:
1） Open the ARL manual. The documentation describes in detail the ARL programming format
specifications and the programming instructions supported by ARL.
2） Open the manual. That is, this document. It describes in detail the entire process of creating a
scenario from new creation to running the simulation, and provides a detailed description of the
functions under each tab.
3） About. Displays the version information of this software.
6.3.2
abo
rt
Exit the Robotlive software.
81
RobotLive User Manual
7
Modelling
tab
Modelling tab
The Modelling tab, which includes several sections such as Scene Movements, Model Controls,
Model Editing, Redirection Coordinate System, Scene View, Models, Basic Tools, Paths, Sensors
and Safe Areas, is shown in the following figure:
7.1
Scene Movement
7.1.1
Pan/Rotate/Zoom
Pan: Pan the scene in the default
camera view. Rotate: Rotate the scene
in the default camera view.
Zoom: Move the default camera back and forth to zoom in and out of the current scene interface.
7.1.2
suitable for viewing
Used to automatically adjust the optimal viewpoint of the scene, thus facilitating observation of the
selected model.
7.2
modelling control
7.2.1
click to select
The button is selected by default. The object will only be in the selected state when the mouse clicks
on it with the button selected.
7.2.2
Object Movements
When moving, select the object and click the [Object Move] button under the [Edit] tab to bring
up the Object Move dialogue box. The Object Move dialogue box contains three tabs: Mouse
Panning tab, Position tab, and Panning tab.
1） Mouse Panning tab
81
Modelling
tab
RobotLive User Manual
The Relative to tab has three options: world coordinate system, parent coordinate system and
own coordinate system. It means the mouse will move relative to the world coordinate
system/parent coordinate system/self coordinate system respectively.
82
RobotLive User Manual
Modelling
tab
Panning step refers to the step distance when moving an object with the mouse. The Pan Steps
drop-down box provides several step values to choose from. If you need a smaller panning step,
hold down the [shift] key while pressing the mouse to pan the object to achieve a smaller
panning step.
The preferred axis can be X-axis, Y-axis or Z-axis alone, or any two of the three axes at the same
time. When a single axis is selected, it means that you can translate along that axis; when two
axes are selected, it means that you can translate in the plane formed by the two axes.
2） Location tab
The Position tab allows you to set the relative coordinates of the object under a certain reference
point or a certain coordinate system. Any reference point added to the scene, or a new workpiece
coordinate system, or a tool coordinate system will appear in the Relative to drop-down list. After
selecting the reference coordinate system, enter the coordinate value (in mm) in the input box
corresponding to the X direction (or Y direction or Z direction) and press [Enter] to set the relative
coordinate.
3） Panning tab
The Panning tab moves the object in the X/Y/Z direction along the world coordinate system, the parent
class coordinate system, or its own coordinate system.
After selecting the object, select the coordinate system for relative movement, enter the distance
(in mm) you wish to move in the input box behind the X (or Y direction or Z direction), and then
click [X Direction Move Selection] behind the input box to realise the panning.
83
RobotLive User Manual
Modelling
tab
This is mostly used for panning when the object moves a small distance.
7.2.3
Object Rotation
To rotate, select the object and click the [Object Rotation] button under the [Edit] menu to bring
up the Object Rotation dialogue box. The Object Rotation dialogue box contains three tabs: the
Mouse Rotation tab, the Orientation tab, and the Rotation tab.
84
RobotLive User Manual
Modelling
tab
1） Mouse rotation tab
The Relative to tab has three options: world coordinate system, parent coordinate system and
own coordinate system. It means the mouse will rotate relative to the world coordinate
system/parent coordinate system/self coordinate system respectively.
The rotation step refers to the step when rotating an object with the mouse. The step values in
the Rotation Step drop-down box are in degrees. If you need a smaller rotation step, hold down
the [shift] key while pressing the mouse to rotate the object to achieve a smaller step.
If you select X-axis (you can also select Y-axis or Z-axis), the rotation axis can be changed to Y-axis
or Z-axis when you hold down the [ctrl] key while pressing the mouse to rotate the object.
2） Orientation tab
The Orientation tab shows the Euler angle of the selected object's own coordinate system relative to
the world coordinate system or the parent class coordinate system.
3） Rotate tab
85
RobotLive User Manual
Modelling
tab
The Rotation tab rotates the object around the X/Y/Z axes of the world coordinate system, the parent
class coordinate system, or its own coordinate system.
After selecting the object, choose the coordinate system for relative rotation, enter the distance
(in degrees) you wish to rotate in the input box behind the Around X-axis (or Y-axis or Z-axis), and
then click [X-axis Apply] behind the input box to achieve rotation around the X-axis.
This method of rotation is mostly used when the angle of object rotation is small, or when the
accuracy of rotation is required to be high.
7.2.4
drag joint
In the Layout window, select the object with joints, and then select the sub-joints of the object.
At this time, the sub-joints are in the selected state in the scene display area, and you can move
the joints by dragging them in the scene display area by moving the mouse.
7.2.5
drag TCP
Click [Drag TCP], that is, enter the TCP drag mode, you can drag TCP by mouse, you must open the
controller to drag, the specific steps are as follows:
1） Import AIR10 in the scene and assemble the tools.
2） Click the [Robot Configuration] tab to configure the robot mechanical unit type, controller, and
channels in the robot configuration screen;
3） Start the local controller;
4） Click [Drag TCP] under the [Modeling] tab to enter the TCP drag mode, at this time, [Object Move]
is selected by default, and the Object Move dialog box will pop up, make sure the dialog box is
under the Mouse Pan tab.
5） In the Layout window, select TCP and tap PolishTCP, as shown.
86
RobotLive User Manual
Modelling
tab
6） Move the mouse near the TCP point in the scene model display window and click the left mouse
button to move it.
Under the Mouse Translation tab, if you select X (or Y or Z) axis, the TCP point can only translate in
the X (or Y or Z) direction when moving; if you select two of the XYZ axes, the TCP point moves in
the plane formed by these two axes when moving.
If you need to achieve rotation around a fixed point, proceed as follows:
1） Import AIR10 in the scene and assemble the tools;
2） Click the [Robot Configuration] tab to configure the robot mechanical unit type, controller, and
channels in the robot configuration screen;
3） Start the local controller;
4） Click [Drag TCP] under the [Modelling] tab to enter the TCP drag mode, at this time [Object Move] is
selected by default.
5） Click [Object Rotation] to bring up the Object Rotation dialogue box, make sure the dialogue box is
under the Mouse Pan tab.
6） In the Layout window select the TCP point PolishTCP.
7） Move the mouse near the TCP point in the scene model display window and click the left mouse
button to rotate.
Under the Mouse Panning tab, selecting the X (or Y or Z) axis enables rotation around the X (or Y or Z) axis,
respectively.
7.2.6
joint movement
Click on it to enter the joint running mode, where you can drag the joint movement with the
mouse. Dragging is available both with and without the controller activated, and is not
available in the simulation state.
After importing AIR6 in the scene and assembling the tools as in 2.2.3, click [Joint Motion] to start
dragging the joints as shown below:
87
RobotLive User Manual
Modelling
tab
In the above joint movement window, JR1 to JR6 represent joints 1 to 6 respectively, you can move
a joint by dragging the corresponding scroll bar, and the angle of the joint is shown on the right
side of the scroll bar.
7.3
Model editing
7.3.1
convex
Changing the selected model into a convex shape facilitates calculations during simulation.
7.3.2
conve
x
deco
mposi
tion
Make parameter settings for convex decomposition of the selected model and perform the convex
decomposition operation.
7.3.3
Grid Cuts
The model's mesh can be cropped to reduce the model size according to the selection.
7.3.4
Assembly/Disassembly
Assembly/Disassembly] can be used to assemble or disassemble two objects. When two objects
are originally independent, executing the above operation will realise the assembly of the two
objects; while when two objects are originally in the assembly state, executing the above
operation will change the two objects from the assembly state to the independent state. This
function is mainly used to assemble the extracted path with the workpiece so that when the
workpiece is moved, the path is moved together.
7.4
Redirection of the coordinate system
7.4.1
Same world coordinate system
88
RobotLive User Manual
Modelling
tab
Aligns the coordinate system of the selected model with the world coordinate system.
7.4.2
Cylindrical spindle shape
When the object is a cylindrical object, click [Cylindrical Spindle Shape], and the Z-axis of the
generated coordinate system is the same as the Z-axis of the cylinder. The shape of the object of
this method is very demanding, and this function is invalid if it is not cylindrical.
7.4.3
Spindle rectangular
When the object is a rectangle, click [Spindle Rectangle] to generate a coordinate system parallel to
the faces of the rectangle.
89
RobotLive User Manual
Modelling
tab
7.4.4
Spindle random shape
The default handling of the object's coordinate system. For arbitrary shapes, the system
calculates the minimum boundary. The coordinate axes are parallel to the faces of the cube with
the smallest boundary.
In the following illustrations, the top figure is [same world coordinate system] and the bottom figure
is [random shape of main axis].
7.5
Scene View
7.5.1
page selector
The Page Selector under the [Edit] tab is used to select different viewing perspectives of the
current scene. The default page selector contains 8 views. This is shown in the figure below.
90
RobotLive User Manual
7.5.2
Modelling
tab
Scene Selector
When more than one scene is opened at the same time, clicking the [Scene Selector] under the
[Edit] tab will show the thumbnail of the currently opened scene, which can be used to quickly and
intuitively select different scenes.
7.6
modelling
The [Model Library] under the [Modelling] tab is used to add robot models and peripherals.
Stand-alone the button, will appear in the software on the left side of the model list, in the list to
find the need for the model, the left mouse button click on the model, the mouse does not
release, the mouse will be dragged to the scene display area, you can see the environment shows
the model surrounded by the box, the model will be dragged to the appropriate location, release
the mouse on the completion of the model loading.
Clicking the [Model Library] control again will cause the model list to close.
91
RobotLive User Manual
Modelling
tab
7.7
Basic tools
7.7.1
original shape
Add basic geometric shapes including rectangles, planes,
discs, spheres and cylinders. Clicking this button displays a
drop-down menu.
The following is an example of how to work with rectangular shapes. Click on the rectangle to
display the dialogue box shown below. You can set the dimensions of the rectangle in the xyz
direction, the material density, and other parameters.
92
RobotLive User Manual
7.7.2
Modelling
tab
joint (physiology)
Add three types of joints, including slewing joints, and prismatic joints. Slewing joints are turning
7.7.3
refere joints and prismatic joints are moving joints.
nce
point
s
Adds a reference point that can be used as a reference coordinate system.
7.7.4
diag
ram
s
Used to record the movement track of a point. Its role and adding method can be referred to the
7.7.5
moun
section [3.8 Recording Trajectory Information].
ting
point
Acts as an assembly aid.
After adding a mounting point, select the object to be mounted in the Layout window, then click
the right mouse button and select [Mount to] to mount the object to the added mounting point.
7.8
trail
s
The system comes with an open loop path.
93
RobotLive User Manual
Modelling
tab
7.9
transducers
Add proximity sensors, including Ray, Random Ray, Rectangular, Cylindrical, Fan, and Cone.
During simulation, if an object is within the range set by that type of sensor, the sensor will have
a signal output.
7.10
security zone
In complex scenarios, it is necessary to introduce safe zones to better simulate the actual use
of the scene, when the tool envelope, 3-axis envelope and 5-axis envelope leave the work area
or enter the prohibited area will generate an alarm. Safe zones can be added by using the Safe
Zone function under the Add tab.
Click [Safe Area] under the [Add] tab to bring up the [Safe Area] dialogue box, as shown below:
In the [Area Type] drop-down box, there are working areas, prohibited areas, shared areas and tool
envelopes to choose from.
The [Area Shape] drop-down box has rectangles, cylinders and spheres to choose from.
When the area type is selected as working area or prohibited area (shared area is not supported
94
RobotLive User Manual
Modelling
tab
for the time being), and the area shape is selected as rectangle, the dimensions to be set are X,
Y, and Z, which represent the length, width, and height of the security area, respectively.
95
RobotLive User Manual
Modelling
tab
When the area type is selected as working area or forbidden area (shared area is not supported
at the moment), and the area shape is cylinder, the X parameter and Y parameter represent the
diameter of the circle on the bottom surface (you only need to input the value in any input box of
X or Y when you set up the area, and the other value will be kept the same automatically), and
the Z parameter represents the height of the cylinder.
When the area type is selected as Working Area or Prohibited Area (Shared Area is not supported at
the moment) and the area shape is Sphere, the XYZ parameters all represent the diameter of the
sphere. When setting, you only need to set one of the values, and the other two values will
automatically be consistent.
The dialogue box changes when the area type is selected as Tool Envelope, as shown in the figure:
When the Region Type is selected as Tool Envelope, the Region Shape will be selected as Sphere
by default, and a new Tool drop-down box will be added, where all the tools in the scene will
appear. Select the tool you want to add a tool envelope to. Click OK to add the tool envelope to
the scene.
Note: When creating a new security area, follow the steps of selecting the area type, then
selecting the area shape, and then setting the dimensions (tool envelopes are also required to
select the tool).
After setting up the work area in the scene, you need to import the finished work area into the
controller for it to take effect. For some of the functions, see Section
The [Safe Area Import and Export] function in the [Simulation] tab of Chapter 9.
96
RobotLive User Manual
8
Tools tab
Tools tab
The [Tools] tab includes functions such as Properties, Layer Management, Record Clip, Track
Editing, Shape Editing, Collision Detection, Ranging, Calibration, Robot Manipulation, Workspace
and Creation. As shown in the figure below:
8.1
cau
salit
y
Sets the properties of the objects in the scene.
[Scene Object Properties] is mainly used to edit the properties of objects added to the scene.
There are two types of object properties: general properties and special properties. General
attributes are common to all objects, while special attributes are only for specific objects, for
example, rotary joints can set the angle range.
The generic properties contain the following attributes:
1） General attributes: selectable or not, select whole instead of individual, size scale factor, etc.
2） Visible Properties: Select the visible layer, visible camera where the object is located.
3） Special properties: collisionable, measurable, detectable, renderable, cuttable.
4） Model definition: object as root node.
For specialised attributes recount some of the properties of commonly used objects.
1） Original Shape: Texture attributes, which allow you to adjust the texture, select the texture,
and clear the texture. Dynamics properties, which changes the dynamics properties of the
model.
2） Joints: angular range, moment modes, kinetic properties.
3） Reference point: Reference point connection.
8.2
artif
act
8.2.1
scene level
Click to enable opening/closing the layout window.
8.2.2
laye
r
You can click [Layer] under the [Tools] tab to choose to show/hide the layers in the scene. When
you create a new scene, the objects in the scene are assigned to different layers, and what you
don't need to show can be simplified by hiding the layers, the layer window is as follows:
93
RobotLive User Manual
Tools tab
Layers 1 to 16 are listed in order from left to right, top to bottom. A tick in the layer box indicates that
the layer is visible.
If you need to change the layer of an object, select the object, click the [Tools] tab under the
[Scene Object Properties], the pop-up scene object properties window, select the [General] tab,
in the visible attributes of the region can be checked in the corresponding layer, as shown in the
figure.
8.3
Recording of short films
94
RobotLive User Manual
Tools tab
Click [Start Recording]/[Stop Recording] under [Tools] tab to start/stop video recording. Video
recording defaults to recording the whole screen and cannot be modified.
Click [Video Settings] to bring up the video settings window as shown below:
Tick [Simulation Video Synchronisation], then the video recording will start automatically when the
simulation is run next time, and end automatically when the simulation is stopped.
Click the [Select] button to set the save location of the recorded video file, the default save
location is under the installation folder of the software. Tick [Auto Frame Rate], the frame rate
will be automatically adjusted during the recording of the video to ensure that the actual
simulation is synchronised with the recorded video. Setting the frame rate value can change
the number of frames contained in one second in the video file.
Click the drop-down menu to select the output format of the recorded video.
8.4
Trajectory Editor
8.4.1
pick-up side (computing)
Generates a trajectory along an edge by
picking up the edge of the stp format
model. Clicking this button brings up the
following dialogue box.
95
RobotLive User Manual
Tools tab
Click the [Pick Edge] button to enter the Pick Edge state, mouse hovering over the model
boundary will show the preview of the selected track, and the left mouse button of the standalone mouse can select the edge and put the edge into the list. Before picking up an edge, you
can choose the discrete way of the edge, including distance, angle and bow height, each of which
corresponds to a different precision control method, and you can set the distance you want to
leave before and after an edge.
The selected edge is shown below:
96
RobotLive User Manual
Tools tab
where the red dot represents the starting point.
The selected side list is shown in the figure:
The edges to be edited can be selected in the list, the direction can be reversed and the normal
direction can be reversed. After selecting an edge in the list, the edge in the scene display area
will change to light blue, as shown in the following figure:
97
RobotLive User Manual
Tools tab
The inversion method is shown below:
Finally, click on Generate Path to generate the trajectory in the order of the edges. The generated
trajectory is shown below:
98
RobotLive User Manual
8.4.2
Tools tab
pick-up surface
Generates a trajectory on a face by picking
up the face of the stp format model.
Clicking this button brings up the following
dialogue box:
99
RobotLive User Manual
Tools tab
Firstly, click on the selected face to enter the pick face state. Hover the mouse over the face you
want to select, a preview of the face boundary will appear, click the left mouse button to select it.
This is shown in the figure below:
100
RobotLive User Manual
Tools tab
Then select the guide line, including [Edge Guide] and [Plane Guide]. The [Edge Guiding] will
generate the cross section along the direction of the edge, while selecting [Plane Guiding] will
generate the cross section along the normal direction of the plane, if the direction of the guide line needs to
be reversed, you can switch it by ticking/unticking [Reverse Normal]. The cross section is always
perpendicular to the guide line. The guiding line selected by [Edge Guiding] is shown in the
figure below:
Set the section property, the front-back offset of the section is the front-back reserve distance
between the section and the selected surface. The trajectory is discretised in the same way as the
101
RobotLive User Manual
Tools tab
picking edge and has the same meaning. Reversing the start point changes the start position of
the trajectory.
Before the reversal is shown below:
102
RobotLive User Manual
Tools tab
Inverted as shown below:
where the trajectory point of the square is the starting point of the trajectory.
There are two types of path connections: "bow" and "zigzag". The figure above shows a
"bow" connection and the figure below shows a " z i g z a g "
103
connection.
RobotLive User Manual
Tools tab
A possible collision with the model itself during the trajectory transition requires the connection
point to be raised. By selecting Raise Connection Point and setting the raise distance, you can
raise the connection point in the direction of the point normal. The effect is shown in the figure
below:
104
RobotLive User Manual
Tools tab
Finally, click Generate Path and the generated trajectory is shown below:
8.4.3
Trajectory Editor
The trajectory can be edited to change the position and attitude of any of the trajectory points
individually. See Section 3.6 for a description of trajectory point editing.
8.5
Shape Editor
In the scene object hierarchy window, select the regular shape and click [Shape Edit] under the
[Tools] tab to enter the shape editing mode interface. Combined shapes need to be separated by
clicking [Cancel Selected Shapes] under the [Edit] tab before entering the shape editing mode.
105
RobotLive User Manual
Tools tab
The shape editing dialogue box is divided into two modes: vertex editing mode and edge editing
mode.
1） Vertex Edit Mode. In this mode, you can select a point on the model and set it as a reference
point. It is also possible to create a coordinate system for the workpiece by using the threepoint method (see section 2.3.5 Workpiece Coordinate System for details on how to create a
coordinate system).
2） Edge Edit Mode. In this mode, you can generate paths on the model surface by selecting the
edges on the model and then clicking [Extract Path].
106
RobotLive User Manual
8.6
Tools tab
collision detection
Turn collision detection on or off at the touch of a button during operation.
8.7
dist
anc
e
mea
sure
men
t
When on, outputs the distance between two mouse click positions.
8.8
cali
brat
ions
The calibration function is divided into tool calibration and workpiece calibration.
8.8.1
Tool Calibration
Tool calibration, i.e. calibrating the position and attitude of the tool to ensure that the position of the
tool in the virtual environment is consistent with the position of the tool in the real environment
(The position is relative to the robot's base/flange
coordinate system). The setup screen corresponding to
tool calibration is as follows:
107
RobotLive User Manual
Tools tab
The drop-down list in the drop-down box to the right of [Tool Calibration] lists the robot models
present in the current scene. When a robot model is selected from the list and the model is
equipped with a tool, the calibration interface will display the coordinates and pose information
of the current tool, as shown below:
If you need to correct the TCP information in the virtual environment to make it consistent with the
TCP information in the real environment, enter the position and attitude information in the six input
boxes under the real TCP, and then click [OK TCP], the TCP information in the virtual environment
will be consistent with the TCP in the real environment.
8.8.2
Workpiece Calibration
Workpiece calibration is used to ensure that the relative positions of the robot and the workpiece in
the software design environment are consistent with their relative positions in the real environment.
Workpiece calibration and tool calibration are in the same window, which can be viewed by
dragging the scroll bar. The corresponding setting screen for workpiece calibration is as
follows:
108
RobotLive User Manual
Tools tab
The drop-down list in the drop-down box to the right of [Tool Calibration] lists the robot models
present in the current scene. When a robot model is selected in the scene display area, the
[Pickup Points] in the Artifact Calibration area will become available.
Click [Pickup Points], select the first point on the workpiece in the scene, and then click [OK] to the
right of point 1.
After selecting the second point on the workpiece in the scene with the mouse, click [OK] to the right
of point 2.
After selecting the third point on the workpiece in the scene with the mouse, click [OK] to the right of
point 3.
At this point, the information of the three points in the scene has been picked up. In the real scene,
use the tool TCP to point to the corresponding three points on the workpiece, get the
coordinates of the three points on the workpiece at the same position relative to the robot's base
coordinate system, input the coordinate information of the three points into the three input
boxes for the corresponding points, and then click on [OK] in the lower right corner to finish the
calibration of the workpiece, and then the position of the workpiece relative to the robot in the
virtual scene is the same as that in the real environment.
8.9
Robot operation
109
RobotLive User Manual
Tools tab
Enables the TCP point on the robot tool to quickly reach the reference point when the controller is
switched on. Quick Reach only supports stp format parts. The [Quick Reach] function is only
available if the controller the robot is connected to is activated.
8.9.1
Quickly reach feature points on the model
Click [Quick Reach] under the [Tools] tab to open the Quick Reach pop-up window, as shown below:
110
RobotLive User Manual
Tools tab
Feature points in the pop-up window include endpoints, midpoints, and the centre of the circle.
After selecting [Feature Points], then select the robot model in the drop-down box, click [Pickup],
and after selecting the target point on the model, the left mouse button will be single, and the
TCP point will arrive at the target position.
8.9.2
Quickly reach the closest point on the model
Click [Quick Reach] under the [Tools] tab to open the Quick Reach pop-up window, as shown below:
After selecting [Nearest Point], then select the robot model in the drop-down box, click [Pickup],
and after selecting the target point on the model, the left mouse button will be single, and the
TCP point will arrive at the target position.
8.10
workspace
When there is a robot model in the scene and the robot model is selected, [Workspace] under the
[Tools] tab is enabled and the window shown below pops up:
The display workspace includes a 2D or 3D workspace for displaying tools and a 2D or 3D workspace for
displaying wrist joints.
111
RobotLive User Manual
Tools tab
8.11
establish
8.11.1
Creating a mounting point
The main function of the mounting point is to mount robots and equipment such as changeover
machines (except robot tools).
If you want to mount the robot to a specified working position, you can create mounting points
on the model, provided that the model is in stp/step format.
The screen for creating a mount point is shown below:
There are two options in the Location area:
1） Point.
When the pickup mode is selected as [Centre Point], click [Select Point] and the mouse can
identify the centre point of circles and arcs on the model, as shown in the following figure:
112
RobotLive User Manual
Tools tab
When the pickup mode is selected as [Vertex or Midpoint], click [Select Point] and the mouse can
identify the vertex and midpoint in the model as shown below:
2） Two midpoints.
When the centre point of two points is selected, a reference position will be generated at the
centre point of the two points selected in turn by the mouse. As shown in the figure below, the
pickup mode selects the centre point:
113
RobotLive User Manual
Tools tab
After selecting the two centre points shown in the diagram in turn, the resulting mounting point
locations are shown below:
After generating the mounting point, you can also adjust the
attitude of the reference position.
The list of drop-
down boxes to the right of "Axis" includes [X-axis], [Yaxis], and [Z-axis]. The drop-down list to the right of
"Mode" includes [Parallel to Edge] and [Perpendicular to
Face]. Example:
When the X-axis is selected in the drop-down box to the right of "Axis", if [Parallel to Edge] is
selected in the mode, click the [Select Edge] button, the mouse can select an edge on the
model and then click the left button of the mouse, and the direction of the X-axis will be
114
RobotLive User Manual
Tools tab
changed to parallel to the selected edge, as shown in the figure:
115
RobotLive User Manual
Tools tab
The [Direction Reversal] button also enables the X-axis to be changed in the direction of the selected
edge.
8.11.2
Creating a Device
The Create Device function focuses on creating tools, shifters, pedestals and other devices.
Creating a device is mainly divided into several steps: adding parts, adding joints and adding
reference positions. The overall interface is shown in the figure below:
116
RobotLive User Manual
Tools tab
where the device type is as follows:
The following is an example of creating a shifter
and describes the instructions for creating a
device. The model of the shifter is shown below:
117
RobotLive User Manual
Tools tab
1. Mouse in the structure of the tree [parts] on the right mouse button click on the mouse, will
appear [Add Parts] menu, left mouse button click [Add Parts] call out add parts window. Select
the [Add Part] menu as shown below:
The Add Parts window is shown below:
118
RobotLive User Manual
Tools tab
The models in the [Select Models] list are the models in the scene, and the corresponding models
in the scene will also be selected when they are selected. When you click OK, the name of the
corresponding model will be changed to the name of the part, and the right tree will add the part
to the part. Add all three models of the Shifter to the Parts, and the right tree will be as shown
below:
The order in which parts are added needs to follow the parent-child relationship of the shifter,
where the movement of the parent part drives the movement of the child parts. The order of
adding parts to this shifter is from bottom to top.
2. Right click the mouse on [Joints] in the structure tree, the [Add Joints] menu will appear, left
click the mouse on [Add Joints] to call out the Add Joints window. The Add Joint window is as
follows:
119
RobotLive User Manual
Tools tab
[Types of joints] There are two types: rotary joints and translational joints.
The [Parent Link] and [Child Link] are the two parts of the joint link, the parent link is the part
that the joint depends on, and the child link is the part that the joint drives.
Joints can be created in two ways: pickup creation and direct creation.
Pickup creation is the same as mounting point creation,
and also only supports the stp format. Direct creation
creates a joint at the origin position.
Since the example uses the stl model, a direct creation approach is used.
After creating a joint, you can adjust the joint to a specified position through [Position] and set
the range of motion of the joint through [Joint Motion Range]. After creating a joint, it is shown in
the figure below:
120
RobotLive User Manual
Tools tab
The joints are shown in red in the figure. Joint J1 connects P1 to P2 and J2 connects P2 to P3.
3. Mark in the structure of the tree [reference position] on the right mouse click, will appear [Add
Reference Position] menu, left mouse button click [Add Reference Position] to call out the Add
Reference Position window. The window is as follows:
There are three types of reference positions:
mounting surface, mounted point, and TCP point.
The primary function of the mounting surface is to
mark the position and attitude of the created
device. The mounted point is used to mount other
121
RobotLive User Manual
Tools tab
devices, except for tools.
The TCP point is the working point of the tool.
Parent-child linking cannot be selected when creating mounting surfaces, by default they will be
linked to the first added part, and there is one and only one mounting surface per part.
122
RobotLive User Manual
Tools tab
The installed point and the TCP point can only select the parent link.
After adding the installation surface and the installed point, click [Create] to complete the
creation of the device, such as the correct operation will be prompted to create a successful. As
shown in the figure below:
After creating the device, the joints are moved to other layers, so they are not visible
123
RobotLive User Manual
Simulation
tab
9
Simulation tab
[Simulation] tab, including simulation model configuration, online simulation, controller and
demonstrator, etc., as shown in Fig:
9.1
Simulation Model Configuration
9.1.1
Robot Configuration
[Robot Configuration] is used to set up the robot's mechanical unit model, controller and
channels, and also to add, remove, start, restart, and stop offline or online controllers. As
shown in the figure below:
In this case, the robot configuration is used to set the mechanical unit model of the robot model
to be controlled, the controller used and the channel in which it is located. If there are multiple
robot models in the scene, different channels need to be configured for them.
The controller configuration contains information about the added controllers, specifically:
120
RobotLive User Manual
Simulation
tab
1） Name: Identifies the name of the controller, can be edited, the name of each controller in the list
can not be the same.
121
RobotLive User Manual
Simulation
tab
2） IP, port number: Determine the connection address of the controller, IP can be edited, port
number can not be edited. When the controller is an online controller, the IP needs to be filled in
the user IP of the control cabinet connected to the computer, and the port number is 50001 by
default; when the controller is an offline controller, the port number will be incremented
according to the order of offline controllers starting from 50001. The port number will only appear
when the mouse hovers over the IP of the controller, and there can be offline controllers with the
same IP and different port numbers.
3） Status: Includes three states: not running, starting and running. When the controller status
is Starting or Running, the name and IP cannot be edited.
Functional operation buttons include:
1） Add Offline / Add Online: Add an offline or online controller to the controller list, up to 8
controllers can be added to the controller list.
2） Remove: removes the selected controller. Controllers cannot be removed when their status is
Starting or Running.
3） Start: Starts the selected controller. Up to 2 local controllers can be activated.
4） Restart: restarts the selected controller. Mostly used when the robot model or I/O associated with
the controller changes.
5） Stop: Stops the selected controller.
9.1.2
Outer Axis Configuration
The [External Axis Configuration] enables the association of the external axis device model with the
controller channel in the scene. The outer axis configuration dialogue box is shown in the figure:
122
RobotLive User Manual
Simulation
tab
Click [External Axis Configuration] under the [Simulation] tab to bring up the "External Axis
Configuration" interface, and then finish adding the external axis equipment model in the scene with
the "External Axis Configuration" interface.
The function of controller channel association. External axis device models are in the [Add] [- Model Library],
including all models with rotary or linear axes.
123
RobotLive User Manual
Simulation
tab
During simulation, each external axis device model moves to the appropriate position based on
the real-time axis position of the connected controller channel. This list changes as external axis
device models are added or removed from the scene. Specific information is included:
1） Name: the name of the external axis device model that has been added to the scene.
2） Number of joints: The number of joints included in the external axis device.
3） Controller Name: You can select the controller added in the "Controller Setting" screen.
4） Channels: 1 to 4 channels can be selected.
5） Starting Joint: 1 to 6, representing the number that maps the first axis of the model to the
outer axis of the controller, with subsequent axes following in order.
9.1.3
I/O
Configu
ration
I/O Configuration] enables the association of the I/O of the model in the scene with the I/O bits of the
controller. The [I/O Configuration] interface is shown below:
Clicking on the [I/O Configuration] option will bring up the I/O Configuration screen, which completes the
124
RobotLive User Manual
Simulation
tab
function of associating the models with IO signals added to the scene with the IO bits of the
controller. Among the models provided so far, only "Connection Function Component"
and "Suction Cup Model"
have added I/O signals. The "Connection Function
Component" is in [Add] - [Model Library] - [Function Component], and the "Suction Cup
Model" is in [Add] - [Model Library] - [Tools]. During simulation, when the tool
125
RobotLive User Manual
Simulation
tab
Models with output signals will change the signal state when they are in certain conditions, thus
changing the input of the connected controller IO bit; when models with input signals query the
output of the connected controller IO bit to change, they will change the model's own input
signals, thus triggering the corresponding action. The list changes as models with IO signals are
added or removed. Specific information is included:
1） Signal Name: identifies a unique signal and consists of a signal name and an object name.
2） Signal type: when it is an input, the model can receive the output of the controller and
make corresponding actions; when it is an output, the model in a certain specific condition will
change the signal and set the input of the corresponding controller.
3） Controller Name: You can select the controller added in the "Controller Setting" screen.
4） IO bits: 1 to 40 can be set.
In the simulation state, click the [Show Signal and IO] button at the bottom of the interface to pop
up the Signal and IO interface. In this interface, you can monitor the status of controller IOs and
model IOs, and edit the IO status. In the "Select Controller" drop-down box, select the
controller to be monitored or edited, and "Controller DI" and "Controller DO" will
display the status of the IO bits of the controller respectively. The "Model Output Signal" and
"Model Input Signal" give the status of the model IO signal in the scene, red is 0, green is 1.
When [Editable] is checked, you can change the corresponding IO value by clicking the
corresponding colour block. When [Editable] is checked, you can change the corresponding IO
value by clicking the colour block of the IO.
The signal and IO interface is shown below:
126
RobotLive User Manual
9.2
Simulation
tab
Online Simulation
127
RobotLive User Manual
Simulation
tab
This function mainly starts, pauses or stops the real-time simulation.
9.3
contr
ollers
9.3.1
Robot parameters
[Robot Parameters] is used to export the controller
database and import the controller database. The Robot
Parameters Import and Export dialogue box is shown
below:
Clicking the [Robot Parameters] option will bring up the robot parameters import and export
interface, completing the function of importing and exporting the robot parameters set by the
controller.
In the [Select Controller] drop-down box, select the controller to be imported or exported.
Clicking [Import] will bring up the Select Import File screen, as shown below:
The imported file is a configuration file backed up via HMI or a robot parameter file exported via RobotLive
in the format of
*_config.tar.
After the import is complete, restart the controller for the imported robot parameters to take effect.
Clicking [Export] will bring up the interface for selecting the export path. The following figure shows
128
RobotLive User Manual
Simulation
tab
the interface for selecting the export path:
129
RobotLive User Manual
Simulation
tab
The current controller's robot parameter file will be exported to the selected path in the format
*_config.tar. The exported file can be accessed via the
RobotLive Import to other controllers.
9.3.2
security zone
Safe Area] under the [Controller] tab is used for importing and exporting safe area, tool envelope,
and axis envelope data in the controller and safe area, tool envelope, and axis envelope models
in the scene. This function needs to be performed when the controller is started.
Clicking on the [Safe Area] option will bring up the Safe Area Import/Export interface, as shown in the
following figure:
In the Safe Area Import/Export screen, the drop-down box in the upper left corner is used to switch
130
RobotLive User Manual
the function of [Export to Controller] or [Import from Controller].
131
Simulation
tab
RobotLive User Manual
Simulation
tab
The Controller Safety Zone List lists the safety zone parameters and tool envelope parameters
for the selected controller, the selected tool envelope group. These parameters are stored in the
controller database. Of these, [Select Tool Envelope Group] can be selected from 1 to 4. The
list includes:
1） Name: identification of the security area or tool envelope, obtained from the controller database
and not modifiable.
2） Type: Type of area, including workspace, prohibited area, shared area, and tool envelope. Tool
envelopes must always be in the workspace
In this case, an alarm is generated when leaving the workspace; the tool envelope cannot enter
the prohibited zone, otherwise an alarm is generated; the shared zone is a common workspace
for multiple robots, but only one robot's tool envelope is allowed to enter at the same moment,
otherwise an alarm is generated.
3） Shape: area shapes, including rectangles, cylinders, and spheres.
4） D1~D6: In the controller, the location size description of the safety area.
When the shape is rectangular, D1, D2, and D3 are the x, y, and z coordinates of the vertex with the
smallest value in the robot base coordinate system, and D4, D5, and D6 are the x, y, and z coordinates
of the vertex with the largest value in the robot base coordinate system;
When the shape is a cylinder, D1, D2 and D3 are the x, y and z coordinates of the centre of the circle at the
base in the robot base coordinate system, and D4 is the radius of the circle.
D5 is the height of the cylinder and D6 is an invalid value;
When the shape is a sphere, D1, D2, and D3 are the x, y, and z coordinates of the centre of the sphere in
the robot base coordinate system, D4 is the radius of the sphere, and D5 and D6 are invalid values.
In addition, the interface provides [Delete Selected Rows] [Delete All Safety Zones] [Delete
Current Tool Envelope Group] buttons to complete the deletion operation of controller safety
zones and tool envelope parameters.
[Scene Safe Area List] lists the safe area parameters and tool envelope parameters added to the
current scene. The list includes:
1） Name: Same as "Controller Security Zone List".
2） Type: Same as "Controller Security Area List".
3） Shape: Same as "Controller Security Zone List".
4） Position X, Y, Z: A description of the position of the safe area in the scene. Specifically, the
centre coordinates of a rectangle, a cylinder external to a rectangle, and a sphere external to a
rectangle.
5） Size X, Y, Z: A description of the size of the safe area in the scene. Specifically, the length,
width, and height of a rectangle, a cylinder external to a rectangle, and a sphere external to a
rectangle.
Clicking the [Refresh] button will refresh the "Controller Safe Area List" data and "Scene Safe
132
RobotLive User Manual
Simulation
tab
Area List" data.
Clicking [Show Axis Envelope] will display the axis envelope spheres of the robot model for 3-axis and
5-axis according to the parameters of the controller axis envelope.
When [Export to Controller] operation, in the "Scene safe area list" check the area to be exported,
export the safe area need to select the target reference robot in the drop-down box of [Select
Reference Robot], export the tool envelope need to select the target reference tool in the dropdown box of [Select Reference Tool], and then click the [Export] button to complete the export
operation. button to complete the export operation.
When importing from a controller, check the area to be imported in the "Controller security area list",
and the imported security area is required to be imported in the "Controller security area list".
Select the target reference robot in the drop-down box of [Select Reference Robot]. To import
the tool envelope, you need to select the target reference tool in the drop-down box of [Select
Reference Tool] and click the [Import] button to complete the import operation.
During simulation, the controller will judge whether to give an alarm message or not based on its own
configured safety zone and tool envelope parameters.
133
RobotLive User Manual
Simulation
tab
The figure below shows a scene containing a safe area (red for prohibited areas, green for
working areas, and blue for shared areas), an axis envelope, and a tool envelope.
9.3.3
file transfer
The [File Transfer] under the [Controller] tab enables the transfer of files between controllers. The file
transfer interface is shown below:
134
RobotLive User Manual
Simulation
tab
Select the source controller of the transferred file, click [Browse] to pop up the interface for selecting
the transferred file, as shown in the following figure:
Select the target controller for transferring files and click [Browse] to bring up the interface for
selecting the target path. As shown in the figure below:
135
RobotLive User Manual
Simulation
tab
The list of transferred files includes the absolute path to the file to be transferred, as well as the
transfer status. The transfer status includes Incomplete, Transferring, and Completed.
Clicking the [Transfer] button will transfer in the order of the transfer list. If the transferred file
already exists under the destination path, the transfer will be skipped. Clicking the [Cancel]
9.4
teachi button during transfer will stop the transfer operation.
ng aid
The simulation demonstrator under the [Simulation] tab is not clickable by default. There are two
ways to enable the demonstrator button:
1） Click [Start] under the [Simulation] tab.
2） After loading the programme for the open scene, click [Start] under the [Programming] tab.
Clicking on the [Demonstrator] option will bring up the Analogue Demonstrator. The simulation
tutor can only be connected to the local simulation controller. Click the right mouse button on
the pop-up simulation tutor, and the option of [Always Top] will appear. After clicking [Always
Top] with the left mouse button, the simulation tutor will always be in the forefront, which is
convenient for tutoring or other operations. As shown in the figure below:
136
RobotLive User Manual
Simulation
tab
After popping up the virtual demonstrator, click [Login] directly to enter the operable interface of the
demonstrator.
137
RobotLive User Manual
Programm
ing tab
10 Programming tab
The [Programming] tab, includes several sections such as Visible, Program Text Manipulation,
Program Clipboard, Program Editing, Find/Replace, Target, Controller, Program Management,
Program Simulation, Debugging and Testing. As shown in the figure:
10.1
it
can
clea
rly
be
see
n
(tha
t
this
is
the
case
)
This button is used to control whether the programme editor is visible or not. The program
editing functions under the Programming tab can only be operated if the Program Editor is
visible and there is a program in the Program Editor that needs to be edited. The programme
editor is shown in the right hand area of the diagram below.
131
RobotLive User Manual
Programm
ing tab
After opening the programme, it opens in the programme editor, which allows the user to edit the
programme manually.
The program editor will be displayed in parallel with the window of the 3D scene, so you can
watch the model running while observing the program running in general, which is convenient
for debugging the program and understanding the relationship between the program and the
robot's movement.
The program editor scans the program for keywords and does highlighting, scans the program for
different parameters and does different colour matching.
The program editor lists the different program files and generates tags according to the name
of the program, just click on the different tags to switch between different programs, or data
files.
Program editor has the function of auto-completion code, which will pop up a list when
manually inputting the program, prompting the user to complete the code; at the same time, it
has the function of auto-completion parameter, as long as the parameter or variable has
appeared in the program, it can be appeared in the list of completion for the user to choose,
which is convenient for the user to input the program.
The left sidebar of the program editor lists the line number and breakpoint status of each line in
the program, users can click to add or cancel breakpoints, and a yellow arrow will appear in the
sidebar to indicate the current running line during the simulation process.
The program editor enables operations such as simultaneous simulation of multiple programs
running in different channels of the controller.
10.2
Procedural text manipulation
132
RobotLive User Manual
10.2.1
Programm
ing tab
New/Open/Save/Save As
Includes controls for text manipulation of programs, such as creating a new program, opening an
existing program, saving a program, saving as a program, and so on.
10.3
programme clipboard
10.3.1
Copy/cut/paste/select all
You can perform copy/cut/paste/select-all operations on the contents of the ARL programme.
10.4
programme editor
10.4.1
Annotate/unannotate
Comment: Move the mouse cursor to the line that needs to be commented, click [Comment], the
current line will become a comment.
Cancellation of comments: Move the mouse cursor to the line that needs to be cancelled, and click
[Cancel Comments], the comments of the current line will be cancelled.
10.4.2
Undo/Redo
Undo and redo for the program editor section only, as distinguished from undo and redo for the entire
scene operation.
10.4.3
insertion instruction
Inserts commonly used ARL instructions into the current program. For example, movej, lin, ptp, and so on.
10.4.4
insertion procedure
Inserts commonly used programming statements into the current programme. Such as if, while, init, etc.
10.5
Find/Replace
To find the character to be entered in the current programme or to find the currently selected
10.6
obje
character, the programme will automatically jump to the character to be found.
ctive
s
10.6.1
mech
anical
perso
n
t
10.6.2
orbi
133
RobotLive User Manual
Programm
ing tab
You can
robot model in the current scene. By selecting from the drop-down list, the program will
select the
automatically scan the robot models in the current scene and update them to the list for user
selection.
Tracks in the current scene can be selected. By selecting from a drop-down list, the programme
automatically scans the tracks in the current scene and updates the list for user selection.
10.7
contr
ollers
10.7.1
control
lers
You can select the name of the controller that has been activated in the drop-down list.
10.7.2
pass
age
way
The channel on which the model is located can be selected in the drop-down list. Each controller has
4 channels to choose from.
134
RobotLive User Manual
10.8
programme management
10.8.1
probe
Programm
ing tab
The "Check" control is a control that checks the trajectory points. The control is designed
to be visual, so what you see is what you get, and the robot will follow the set attitude when
the programme is run after setting the attitude for each point.
The module requires turning on the controller and stopping the online simulation in advance,
then setting up the trajectory and robot to be inspected. There are two scrollbars on the right
side of the window that can be scrolled up and down to view the point status and the contents of
the entire control, respectively.
When you click the [Check] button, the control will automatically scan the trajectory points of the
trajectory and calculate whether the trajectory points are reachable, whether they are over the
limit, and whether there are singular points. The results are displayed in the "Status" column of
the table.
Select the point you want to observe and click [CFG], the control will list the various poses that
can be achieved at that point. The poses are listed in a table. By double clicking on cfg* in the
pose table, the robot in the 3D scene will assume the corresponding pose. This makes it easy
to observe and adjust.
Clicking [Apply CFG] will record the current selected CFG state in the control. This is reflected in the
procedure generation that will change the corresponding point according to the selected attitude.
135
Programm
ing tab
RobotLive User Manual
Click [Reset] to restore the robot's initialised attitude.
Click [Clear] to clear the Attitude form and the Track Point Check form.
10.8.2
set
up
136
RobotLive User Manual
Programm
ing tab
The "Settings" control enables setting of specific parameters in the data file of the
programme. The control is designed using visual programming. The parameters to be set can
be adjusted and modified through the visual interface. After saving, the parameters of the
programme run are the parameters set by the control.
The data file to be set can be selected from the drop-down list.
The control automatically scans the data file total for parameters that have already been set and
categorises them to populate each of the four tables.
For the speed and smoothness parameters, you can add, delete, or modify them by double-clicking
on the cell that corresponds to the name of the parameter under a different parameter. During the
modification process, the control will automatically check the range of the parameter, and the
parameter will not be entered if it exceeds the limit.
For the tool and wobj parameters. Parameters can also be modified by double clicking on the cell
corresponding to the name of the parameter under a different parameter. Here, however, a dropdown list of parameters is displayed, which automatically scans the 3D scene for the
corresponding parameter point to select. Once selected, the control automatically calculates
the tool or workpiece coordinates.
The [Add] button will add the corresponding parameter to the current page.
The [Delete] button deletes the selected parameter from the current page.
ing
10.8.3
gen
erat
137
RobotLive User Manual
Programm
ing tab
file.
The
[Apply]
button
will apply
the
changes
to
the
correspon
ding data
file,
updating
the
paramete
rs in the
data file. If
the
paramete
r
already
exists
in
the
data
file, it will
be
updated
at
the
original
position
of
the
paramete
r;
if
the
paramete
r does not
exist
in
the
data
file,
the
newly
added
paramete
r will be
added at
the end of
the
data
138
RobotLive User Manual
Programm
ing tab
The "Generate" control, also known as the "ARL Program Generator", enables the automatic
generation of ARL programs through simple user settings. The control has a visual design and
the required parameters and commands can be seen at a glance in the interface. The user only
needs to set different parameters and commands in the interface to automatically generate the
corresponding program.
The control automatically scans the parameters set in the data file and updates
them to the drop-down list of corresponding parameters for selection. The user
can select a parameter from the drop-down list of parameters as the default
parameter.
"RelTool" function, select the "Reltool" function box, you can set the position and attitude needed for
this function.
After setting the default parameters, click [Setup] and the control will automatically scan the
track points of the trajectory and set the default parameters for each track point. Each parameter
item can also be modified by double-clicking to bring up the drop-down list.
If the attitude is set in front, it will be automatically modified to the corresponding attitude at the
corresponding point, as well as the corresponding command, if it is not set it will be defaulted to
"cfg6", and the programme will automatically calculate and select the required attitude when it
is run.
For the "cir" command, you also need to set the auxiliary point (M), the control will get the auxiliary
point in the 3D scene when the user double clicks, for the user to select, after the user selects
it, the control will calculate the coordinates of the corresponding auxiliary point by itself.
For the "helix" command, the radius of travel (R) and the number of helixes (N) are also set.
10.8.4
downloading
139
RobotLive User Manual
Programm
ing tab
[Applicati
Pressing the key will update the trajectory point and auxiliary point coordinates to the data file of
on]
the programme. Corresponding commands are automatically generated based on commandrelated settings and updated to the programme file.
Loads the program currently open in the Program Editor into the controller. The current programme
must be the main programme that will be run.
10.9
program simulation
Simulate the programme. The program to be simulated must be loaded into the controller
before simulation. You can control operations such as start, pause, and stop of the simulation.
10.10 Testing and debugging
140
RobotLive User Manual
Programm
ing tab
10.10.1 operating mode
You can set single-step debug mode, normal operation mode, and segment debug mode.
10.10.2 brea
kpoi
nt
You can add or cancel breakpoints to an open program. After setting a breakpoint, the program
10.10.3 proc
emulation will pause at the line where the breakpoint is set.
eed
with
Continue the control, and after reaching a breakpoint or executing a line in single-step mode,
10.10.4 clea
continue executing the programme down the line.
ranc
e
Clear control that clears messages from the software message box. Clears alarms, motion
prompts, and operation messages during program simulation.
141
RobotLive User Manual
Programm
ing tab
142