Denso Training
Using WINCAPS III
Braas Company
Denso Training II- Agenda
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Setting up Communications
Setting up a New Project (Wizard)
WinCapsIII Software Tour
Configuration Settings using WincapsIII
Arm Modeling using Arm 3D Simulator
Programming using WinCapsIII
Using Macros for IO Names
Interference Areas
Library Files
Errors and Error Recovery
Denso – Pendant – Communication Setup
Access: [F6 Set] – [F5 Set Com] –[F1 Permit]
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Com1 is dedicated to the Pendant
To use RS232, Ethernet must be disabled
To use Ethernet, RS232 must be disabled
Denso – Pendant – Communication Setup
Access: [F6 Set] – [F5 Set Com] –[F1 Permit]- [F5 Change]
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Com1 is dedicated to the Pendant
To use RS232, Ethernet must be disabled
To use Ethernet, RS232 must be disabled
Denso –Software – Log-In
1. Launch WinCaps III
2. Select “Programmer”.
3. Enter password or “SHIFT + down-arrow”
Denso –Software –New Project Wizard
4. Create a New Project.
5. Assign a project name and path.
Denso –Software –New Project Wizard
6. Select a Robot.
7. Select Options.
Select “ANSI”
Verify version from
RC7 controller label.
Denso –Software –New Project Wizard
8. Select connection
& address.
9. Set number of variables.
Denso –Software –New Project Wizard
10. Set I/O settings.
11. Finish.
Denso – Software
• Always upload Robot Configuration from the
controller before doing any programming!
• Save the settings from the factory and the last programs,
so that you can restore what you had.
Robot Controller
Denso – Upload Exercise
• Upload the current projects from the robot
and save.
Denso – Project Transfer
• 1. Connect –Transfer Data
• 2. Select “Yes”.
Denso – Project Transfer
• 3.
Transfer Data
• 4. OK
• 5. Close
• 6. Save Project.
Denso Training II- Agenda
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Setting up Communications
Setting up a New Project (Wizard)
WinCapsIII Software Tour
Configuration Settings using WincapsIII
Arm Modeling using Arm 3D Simulator
Programming using WinCapsIII
Using Macros for IO Names
Library Files
Errors and Error Recovery
Denso –Software – WinCaps III
Denso –Software – Variable View
Denso –Software -IO View
Denso – Software - Error Log
Access: [F6 –Set] [F2 –Log.] [F1 -ErrLog]
Document: error-e.pdf
Denso – Software - Operation Log
Access: [F6 –Set] [F2 –Log.] [F2 -OprLog]
Denso – Software –Variable Log
Denso –Software – Program List
Denso Training II- Agenda
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Setting up Communications
Setting up a New Project (Wizard)
WinCapsIII Software Tour
Configuration Settings using WincapsIII
Arm Modeling using Arm 3D Simulator
Programming using WinCapsIII
Using Macros for IO Names
Library Files
Errors and Error Recovery
Denso –Software Configuration
-Parameter Setting
Set to 3
Set for load
Denso –Software Configuration
Set to 1
Denso Training II- Agenda
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Setting up Communications
Setting up a New Project (Wizard)
WinCapsIII Software Tour
Configuration Settings using WincapsIII
Arm Modeling using Arm 3D Simulator
Programming using WinCapsIII
Using Macros for IO Names
Library Files
Errors and Error Recovery
Denso –Software -Arm 3D Simulator
• Allows the user to:
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Visually see the robot cycle
Determine the execution time of a program cycle
Step thru the program to see the time for each step
Build a trial program
Denso –Software - Arm 3D Simulator -Exercise
• Get the robot to move between two points and
determine the cycle time using Arm3D Simulator.
Denso – Software – Arm View – CAD Import
Import:
VRML files (*.wrl)
Directx files (*.x)
Denso Training II- Agenda
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Setting up Communications
Setting up a New Project (Wizard)
WinCapsIII Software Tour
Configuration Settings using WincapsIII
Arm Modeling using Arm 3D Simulator
Programming using WinCapsIII
Using Macros for IO Names
Interference Areas
Library Files
Errors and Error Recovery
Denso – Using Macros (Symbol Names)
• The symbol names used for I/O may be changed by
modifying the macro names in WincapsII
Access: [F4 I/O]
Denso – Using Macros (Symbol Names)
1. Edit Macro names.
Denso – Using Macros (Symbol Names)
2. Create Macro Definition file
3. In the PAC Manager, Import “dio_tab.h & download
programs to the robot controller.
4. Download the programs to the robot controller
Denso – Using Macros (Symbol Names)
5. Enable through the pendant.
Access: [F4 - I/O] [F6 – Aux.] [F3 – Sw Display] [Macro Name]
6. Example use in program:
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'!TITLE "XAY"
PROGRAM XAY
#include "DIO_TAB.H"
TAKEARM
APPROACH P,P100,@0 50,S=100
MOVE L,@E P100,S=100
RESET IO65
SET IO64
SET IO[HELLO]
DELAY 100
DEPART L,@P 50,S=100
APPROACH L,P101,@0 50,S=100
MOVE L,@0 P101,S=100
RESET IO64
SET IO65
DELAY 100
DEPART L,@P 50,S=100
END
7. Dio_tab.h files are only downloaded.
Denso Training II- Agenda
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Denso System Manager Software Tour
Setting up Communications
Monitoring using WinCapsIII
Configuration using WincapsIII
Programming using WinCapsIII
Using Macros for IO Names
Interference Areas
Library Files
Errors and Error Recovery
Denso -Interference Areas
• Interference Check
– Ability to disable the robot upon the tool entering a
forbidden workspace.
Denso -Interference Areas
• AREA
– Declares the area where an interference check is performed.
• SETAREA
– Selects the area where an interference check is performed and
enables the interference check.
• RESETAREA
– Resets the I/O set when interference was detected and makes an
interference check invalid.
• AREAPOS
– Returns the center position and direction of a rectangular
parallelepiped with the position type for an area where an
interference check is performed
• AREASIZE
– Returns the size (each side length) of a rectangular parallelepiped
which defines the interference check are with the vector type.
Denso -Interference Areas
• AREA
– Declares the area where an interference check is
performed.
• Up to 8 interference areas may be specified, 0 to 7.
• The origin is always the origin of WORK 0.
Denso -Interference Areas
• SETAREA
– Selects the area where an interference check is
performed and enables the interference check.
• The interference check is performed during the time after
the SETAREA command is executed and prior to the
execution of the RESETAREA command.
• To clear an interference detected issue the RESETAREA
command.
• The next interference check is not detected again until
another SETAREA command is executed.
• To check interference, the system compares the cube
defined as the interference check area with the origin of
the currently active tool coordinates. If the origin of the
tool coordinates is inside the interference check area,
then the system determines it as interference.
Denso -Interference Areas
• AREASIZE
– Returns the size (each side length) of a rectangular
parallelepiped which defines the interference check are with
the vector type.
• The length of each side of the rectangular parallelepiped is
double the length of each component of vectors X, Y and Z.
Denso -Interference Areas
• Example:
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DIM lp1 As Position
DIM lv1 As Vector
Lp1 = (10,10, 5, 0, 9, 0 ,1)
Lv1 = (50, 10, 50)
AREA 1, P50, V10, 104, P55, 1
AREA 2, lp1, lv1, 128, 1
‘ Declares I/O number 128 in the area specified by lv1 at the
position specified by lp1 in area number 2, with error output level 1.
– SETAREA 2
– RESETAREA 2
Denso Training II- Agenda
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Denso System Manager Software Tour
Setting up Communications
Monitoring using WinCapsIII
Configuration using WincapsIII
Programming using WinCapsIII
Using Macros for IO Names
Interference Areas
Library Files
Errors and Error Recovery
Denso –Library Files
• Library Files are programs that extend the
command set of the robot controller.
• Some groups of the library files work together
to achieve tasks like:
– Palletizing, arm compliance, conveyor tracking, etc.
Which one
do I need?
Denso –Library Files
• Groups of Library Files
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Additional Conventional Language Library Files
Palletizing
Tool Operation
Input/Output
Arm Movement
Sample Teach Pendant Panels
Vision Library Commands (Not used in United
States)
• Vision integration uses the standard commands PRINT &
INPUT
Denso – Library Files –Software
• Library Files are located in the Program Bank.
• Documentation for library files is in the “program2-e.pdf” file.
Denso – Library Files –Software Example
• CALL aspACLD(10500,0,0,250)
Denso Training II- Agenda
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Denso System Manager Software Tour
Setting up Communications
Monitoring using WinCapsII
Configuration using WincapsII
Programming using WinCapsII
Library Files
Errors and Error Recovery
Denso –Errors - Error Log / Operation Log
• To determine why a robot has stopped, examine the Error and
Operation Logs.
Denso –Errors - Documentation
• Error documentation is found in the “error-e.pdf”.
• Controller Errors - Chapter 2
• WincapsII Errors – Chapter 3
Denso –Errors - Fault Level
• The error level determines which output will turn on
and what the recovery method will be.
Denso –Errors - Documentation
• Error documentation is found in the “error-e.pdf”.
Denso –Errors – Supervisory Tasks (TSR)
• Supervisory tasks are programs that run on
power-up.
– In the program list they have the name TSR_.
– You may have up to 8 supervisory tasks.
– When operating from the pendant, the TSR is also
starts when auto mode is initiated.
– Will execute unless a level 5 error occurs. This
allows the developer to write programs to handle
fault recovery.
Denso –Errors – Supervisory Tasks (TSR)
-Examples
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TSR EXAMPLE:
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‘!TTITLE “TSR0”
PROGRAM TSR0
DO
I1=SYSSTATE
IF (I1 AND &H0082) THEN
SET IO[128]
ELSE
RESET IO[128]
IF IO[8] = ON THEN
CLRERR
CALL PROGRAMRESUME
ENDIF
ENDIF
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LOOP
' Check for robot errors and warnings
'push button to resume after reason stop is cleared
'clear the error
'production program
Denso – Programming - SYSSTATE
• SYSSTATE (Statement)
– Function
• Gets the system status of the robot controller.
Mask
&h1
&h2
&h4
&h8
&h10
&h20
&h40
&h80
&h100
&h200
&h400
&h800
Denso –Errors – Supervisory Tasks (TSR)
-Examples
TSR EXAMPLE:
‘!TTITLE “TSR0”
PROGRAM TSR0
DO
I1=SYSSTATE
IF (I1 AND &H0002) THEN
' Check for robot errors
SET IO[128]
I102 = GETERR(0)
I104 = GETERRLVL (GETERR(0))
SELECT CASE I104
CASE 1
‘Normal operation
RESET IO[128]
CASE 2
‘Recovery routine for level 2 errors
CASE 3
‘Recovery routine for level 3 errors
CASE 4
‘Recovery routine for level 4 errors
CASE ELSE
‘Recovery routine for exceptions
END SELECT
ENDIF
LOOP
Denso – Programming
-Other Diagnostic/ Recovery Commands
• INITWAITERR
– Initializes the storage of errors detected by WAITERROR.
• WAITERROR
– Detects errors.
• CURERRSTATUS
– Returns the current error status
• GETERR
– Gets the error code from the ring buffer declared by the error
code saving feature.
– Related commands CLRERR, SETERR, GETERRLVL
• ERRMSG$
– Sets and error message.
Denso – Robot Training
• Thank you!
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