Denso WINCAPS III, Manual

Page 1: ...Programming Support Tool WINCAPSIII GUIDE...

Page 2: ...is publication may be reproduced in any form or by any means without permission in writing from the publisher Specifications are subject to change without prior notice All products and company names m...

Page 3: ...bot controller It also supports managing program files as projects storing frequently used programs in program banks and various other program management functions Before using WINCAPS III read this m...

Page 4: ...thods settings and data processing Chapter 5 Writing Programs It also describes the auxiliary functions and control functions for program creation Chapter 6 Arm 3D View Window Describes operation of a...

Page 5: ...ed by the manufacturer plus the space which can be swept by the end effector and the workpiece Quoted from the ISO 10218 1 2006 Restricted space Refers to the portion of the maximum space restricted b...

Page 6: ...Risk of injury Never enter the restricted space Except HM HM Label 2 For UL Listed robot units only Risk of injury This label alerts the user that pressing the brake release switch could drop the arm...

Page 7: ...and the wrist of the VM VS G W are an IP65 equivalent dust and splash proof structure Note that the robot controller is not a dust or splash proof structure Therefore when using the robot controller i...

Page 8: ...ce The protective grounding resistance of the robot power supply should not be more than 100 3 7 Positioning of emergency stop switches Emergency stop switches should be provided in a position where t...

Page 9: ...n interlock that ensures the emergency stop device operates automatically if it is opened or removed 2 Post a warning notice at the entrance exit of the fence stating In operation Entry forbidden or W...

Page 10: ...nt that the object being held by the end effector is dropped or thrown by the end effector consider the size weight temperature and chemical nature of the object and take appropriate safeguards to ens...

Page 11: ...the robot s restricted space to perform teaching or maintenance inspections set working regulations for the following items and ensure workers adhere to them 1 Operating procedures required to run the...

Page 12: ...unction 1 Ensure an overseer is placed in a position outside the robot s restricted space and one in which he she can see all robot movements and that he she is devoted solely to that task c An emerge...

Page 13: ...ignated places 3 Check that no lamps indicating a malfunction on the robot or related equipment are lit 2 Check that the display lamp indicating automatic operation is lit during automatic operation 3...

Page 14: ...isks used for storing task programs to prevent incorrect disks from loading into the robot controller 4 Store the floppy disks where they will not be exposed to dust humidity and magnetic field which...

Page 15: ...Programs 10 2 3 User Levels and Access Rights 12 Chapter 3 Starting Up Shutting Down 13 3 1 Loading WINCAPS III 13 3 1 1 WINCAPS III basic settings 14 3 1 2 Programmer password 17 3 2 WINCAPS III Scr...

Page 16: ...modeling 92 6 1 3 Arm operation 94 6 2 Simple Modeling 95 6 2 1 Adding objects 96 6 2 2 Saving objects 100 6 2 3 Importing objects 101 6 3 Importing 3D Data 102 Chapter 7 Online Functions 103 7 1 Ove...

Page 17: ...1 9 2 1 Configuring lookup tables 141 9 2 2 Editing a macro name 142 9 2 3 Calibrating 143 9 2 4 Configuring camera input 148 9 2 5 Switching display screens 150 9 2 6 Editing a window 151 9 2 7 Editi...

Page 18: ...vi CONTENTS...

Page 19: ...ftware is more recent than that of WINCAPS III In such cases it is necessary to update WINCAPS III with the WINCAPS III trial version that comes with the robot set The license is unchanged If the vers...

Page 20: ...perate effectively Operating System Windows XP or Vista CPU Pentium 4 or later Memory 512 megabytes or more Hard disk drive 500 megabytes or more free Others A graphics processing unit GPU is recommen...

Page 21: ...therwise different encodings can lead to the following problems when receiving data from the robot controller when opening projects etc Editing and saving programs or string variables with garbled tex...

Page 22: ...this software 1 4 2 Installing WINCAPS III The following is the procedure for installing this software Operating procedure 1 First shut down all Windows applications 2 Load the installer Insert the pr...

Page 23: ...aller may take a while before starting installation of WINCAPS III since it installs components required for communication and 3D drawing prior to WINCAPS III 4 Double check the folder specification a...

Page 24: ...nse Key field and press the Add but ton Input the license key printed on the installation disc label for Light or Trial versions If the user ID appears under License Key press the Close button Note Sk...

Page 25: ...e Remove button to display a confirmation dialog box 3 Press the OK button to proceed with the uninstall operation Note If a dialog box appears warning of shared files press the Leave all button Insta...

Page 26: ...nect the computer to the robot controller Direct connection Connection via a hub RS 232C connection This method uses a serial port CN1 to connect the computer to the robot controller Ethernet Crossove...

Page 27: ...he program bank They can also add their own Online monitoring WINCAPS III monitors controller status providing immediate access to variables I O values and other quan tities Online debugging WINCAPS I...

Page 28: ...am using the built in editor For further details refer to Chapter 5 Writing Programs P 70 Step 4 Teach operation positions Specify operation positions by manipulating the virtual robot in the Arm 3D v...

Page 29: ...ding equipment Modify the program to eliminate any problems detected Repeat the compile debug cycle until no such problems remain For further details refer to Chapter 7 Online Functions P 103 Note WIN...

Page 30: ...require a password Programmer level Level enabling changes in project settings and other higher operations It allows changes to WINCAPS III settings It requires a password For further details on setti...

Page 31: ...n the Start menu choose All Programs DENSO FACTORY WARE WINCAPS III WINCAPS III to display the dialog box for logging in 2 Specify user level and password The user level choices are 0 operator and 1 p...

Page 32: ...der for saving new projects B When loading it the last window arrangement is restored Opens project with the program window and 3D view window in the same place as when last closed C Log Selecting thi...

Page 33: ...color C Tab This area specifies the tabs for Program edit windows D Others Selecting this check box automatically runs a syntax check on the selected program before closing the Program edit window Sel...

Page 34: ...when collision is detected Select to display the Collision dialog box when a collision is detected D Type to display collision position Choose the method of displaying the robot s position when a col...

Page 35: ...s are case sensitive 3 1 2 1 Registering a password Operating procedure 1 In the Login WINCAPSIII dialog box choose 1 programmer as the user level to enable pass word input 2 Enter the desired passwor...

Page 36: ...re 1 Choose Tool Re Login to display the dialog box for logging in 2 Press the Chg PW button to display the dialog box for changing the password 3 Enter three passwords the current password in the fir...

Page 37: ...hand For further details on screen customization refer to 3 2 6 Screen operations P 41 The screen shots in this document use the default layout so may not necessarily match what appears on your screen...

Page 38: ...her details on toolbars refer to 3 2 3 Toolbars P 30 C Docking view The Docking view area displays various types of information windows showing the results of a project wide search compile error messa...

Page 39: ...copies all current project data into the folder Import This is for reading in csv files containing variables and log data exported from other projects Export This exports variables I O values and log...

Page 40: ...cursor to a line specified by number in the Program edit window Comment Block This submenu converts the lines selected in the Program edit window to and from comments Indent This submenu controls inde...

Page 41: ...variables of specified types in the Docking view ar ea Log View This submenu displays Log windows of specified types in the Program view area Tool Work Area setting This submenu displays windows for...

Page 42: ...s to apply it to variables and I O ports Command builder This submenu is for displaying the Command builder dialog box to support PAC commands input Program Bank This displays a dialog box with progra...

Page 43: ...the project Monitor Communication This submenu specifies the connection to the robot controller Offline WINCAPS III operates alone without connecting to the robot control ler Monitoring WINCAPS III co...

Page 44: ...e stop Program execution runs through to the end of the current cycle Program reset This returns the current program to its starting point Reset all tasks This returns all programs to their starting p...

Page 45: ...angle variables of types P J T and J EX It also supports copying of those values Tool Coordinate Monitor This toggles the display of the current tool number and coordinate axis in the Arm 3D view win...

Page 46: ...O Controller extension This is available only in the online monitoring mode USB This is for reading or writing project data from to a USB memory ARM Parameter Reads writes arm parameters needed for co...

Page 47: ...es horizontally in the Program view area Tile Vertically This lines up all windows of the above types vertically in the Program view area Window List This submenu lists all windows of the above types...

Page 48: ...toolbars The following lists map their buttons to the corresponding menu items Standard toolbar Edit toolbar A New Project B Open Project C Save Project D Save E Cut F Copy G Paste H Delete I Find J...

Page 49: ...nication A Start a Task B Step In C Continue All Tasks D Halt E Step stop F Cycle stop G Program Reset H Reset All Tasks I Toggle Breakpoint A Set Clear Control Log Start Line B Set Clear Control Log...

Page 50: ...Arm operation P 34 3 2 4 5 I O window P 35 3 2 4 6 Variables window P 35 3 2 4 7 Tool work area setting window P 35 3 2 4 8 Local variables window P 35 3 2 4 9 Watch window P 36 3 2 4 10 Output window...

Page 51: ...king a program header or teach pendant TP panel file opens it 3 2 4 2 Program list This window lists the programs in the project Icon A key icon is shown for locked files Program name This displays th...

Page 52: ...urther details on modeling in the Arm 3D view window and Arm modeling please refer to Chapter 6 Arm 3D View Window P 90 3 2 4 4 Arm operation This window is for moving the simulated robot in the Arm v...

Page 53: ...le For further details on monitoring global variables please refer to Chapter 7 Online Functions P 103 3 2 4 7 Tool work area setting window This window type is for setting tool coordinates work coord...

Page 54: ...nline Functions P 103 3 2 4 10 Output window This window type displays progress and error messages from the syntax check and compiler For further details on such output please refer to 5 8 Making Exec...

Page 55: ...hapter 3 Starting Up Shutting Down 37 3 2 4 12 Vision tool window This window type is for configuring visual functions For further details on this window please refer to Chapter 9 Vision Manager P 138...

Page 56: ...and Log windows This area provides a tab interface for switching windows This area displays the following window types 3 2 5 1 Program edit window P 38 3 2 5 2 Arm 3D View P 39 3 2 5 3 Vision monitor...

Page 57: ...3D window is for checking robot operation Adding other equipment and devices allows for collision detection 3 2 5 3 Vision monitor window This window displays the image from a camera For further detai...

Page 58: ...40 Chapter 3 Starting Up Shutting Down 3 2 5 4 Log window If there is a robot controller on line this displays log data For further details on such logs please refer to Chapter 8 Logging P 120...

Page 59: ...us toolbars and windows on the screen 3 2 6 1 Moving toolbars Toolbars can be dragged anywhere on the screen Inside the toolbar display area they clump together to conserve space Dragging one outside...

Page 60: ...interfaces for switching between members of windows that the user has docked stacked together within their own display area 1 Grouping window for display Docking adds a freestanding window to another...

Page 61: ...abbing the window s title bar to display the snap arrow icons These offer two choices snap with in the application window or just within the current area Snapping within application window Your first...

Page 62: ...44 Chapter 3 Starting Up Shutting Down 2 Drop the blue window silhouette on an icon in the outer set to move the window against the corresponding edge of the application window...

Page 63: ...you can snap within the Program view Docking view or other area Operating procedure 1 Start dragging the window s title bar to display the snap icons 2 Drop the blue window silhouette on an icon in th...

Page 64: ...46 Chapter 3 Starting Up Shutting Down...

Page 65: ...view area This operation minimizes the Docking view area to maximize the Program view area Operating procedure 1 Click the icon on the right end of the Docking view title bar The operation minimizes t...

Page 66: ...the tab shown in step 1 Note To minimize all windows in the Docking view area select Window Hide all To restore a minimized window in the Docking view area to the original size display the mini mized...

Page 67: ...a project is already being edited the confirmation dialog appears The edited changes can be selected and saved by pressing Show extra information Save button Overwrites the project Don t Save button...

Page 68: ...the project Its name becomes the project name D Backup folder This folder holds backup copies of robot controller related data including the power on time Receiving data from the connected robot cont...

Page 69: ...ts held in the robot controller into WINCAPS III to create a new project Using this method does not require newly configuring the robot type and other various settings but requires that the robot cont...

Page 70: ...ation and 4 Link type Note The last four can be modified at any time but not the first three Project name and location Robot type Robot controller options There is a basic setting that specifies where...

Page 71: ...s currently edited the confirmation dialog appears asking whether or not to save unsaved modifications 4 4 Saving Project The File menu offers two ways to save the current project Save project This sa...

Page 72: ...he desired configuration option for the settings 3 When configuration is complete press the OK button Pressing the Cancel button instead discards all changes Note Moving to another tab does not save c...

Page 73: ...the network card s IP address Specify the port number of the local machine Check the box and enter the port number if you wish to specify the PC s port number when linking RS 232C Input the RS 232C co...

Page 74: ...iles included in the executable file Reallocation table Sets the size of working range for determining the absolute addresses Block table Sets the size of working range for storing the nested state of...

Page 75: ...e number of variables used Set it to match the number of project variables used by the robot controller I O tab This specifies I O assignments and I O options For further details on I O specifications...

Page 76: ...gram tab Interpreter tab I O tab DNet Master tab Path tab Config tab Servo tab Vision tab Note Enabling the filter lists only parameters containing the specified string Selecting the Mask unmodifiable...

Page 77: ...For further details on configuring the robot controller please refer to its Setting Guide Operating procedure 1 Choose Connect Settings to open the Property dialog box to the Communications settings t...

Page 78: ...ata for all variable values Tool Work Area Data on tools work areas Log All log data receivable only Set log data in flash fields and so on using Log acquisition settings Parameter All parameter data...

Page 79: ...es etc Note Some items will not appear in the list of transferable data due to WINCAPS III settings or robot con troller specifications Operating procedure 1 Choose Connect Transfer data to display th...

Page 80: ...ote Receiving data from the robot controller updates the WINCAPS III project data nullifying any program updates in the interim Caution When transferring data to the robot controller close the Program...

Page 81: ...LSET values to the robot controller refer to the Robot Installation Protection Guide Arm parameters received from the controller can be written to a separate file or loaded as arm data Operating proce...

Page 82: ...dure 1 Select Tool USB Read to start the FDTool wizard Read data from drive This field specifies a drive for reading a USB memory New Project This radio button is for creating a new project and readin...

Page 83: ...ton Select a target folder This area specifies folders in the USB memory to read data from them 3 Click the Next button Select target data Selecting these check boxes specify data to read from the USB...

Page 84: ...66 Chapter 4 Creating a Project 4 Click the Next button to read the specified data from the USB memory Upon completion of reading the following dialog appears...

Page 85: ...field specifies a drive for writing into a USB memory ROBOTPRJ Root This radio button is for writing the entire project file into a USB memory Following folder This radio button is for specifying a f...

Page 86: ...ct target data Selecting these check boxes specify data to write into the USB memory To write all data click the Se lect All button 3 Click the Next button to write the specified data into the USB mem...

Page 87: ...File Print to display the Print dialog box 2 Select the data you wish to print and press the Preview button Check the preview and then make your print out Note Printing out log data can result in vas...

Page 88: ...To use a different file name enter it in the File name field 4 Press the OK button to open a new file based on the template in the corresponding win dow a Program edit window in the Program view area...

Page 89: ...1 Choose Project Import to display an Open dialog box 2 Select the file to add and press the Open button to add it to the Project and Program list windows Note The folder for the file is the one curr...

Page 90: ...a Save As dialog box 2 Specify the target folder and file name and press the Save button to save the contents of the Program edit window there If that folder already contains a file with that name how...

Page 91: ...ifferent colors to distinguish between for example operators and comments For further details on Program edit window display options refer to 3 1 1 WINCAPS III basic settings P 14 Finding and replacin...

Page 92: ...cter string Target items This field specifies the range of the target to be searched replaced Choose Project to specify the file type Option You can specify various search methods You can also select...

Page 93: ...the eponymous dialog box 2 Enter the line number 3 Press the OK button to move the cursor to that line 5 4 2 2 Comment out This submenu command changes the lines selected in the Program edit window i...

Page 94: ...or to a bookmark 1 Setting a bookmark The following is the procedure for setting a bookmark on the line under the cursor Operating procedure 1 Move the cursor to the line on which to set the bookmark...

Page 95: ...s 5 4 2 5 Command candidate function As you type a command a command list will appear Ctrl Space key will also display the command list The command list will automatically scrolls to the first match T...

Page 96: ...command on this list inserts it into the program being edited Operating procedure 1 Move the cursor to the insertion position 2 Choose Edit Command Input to list the commands by function Note Choosin...

Page 97: ...programs can also be created A History Select command from history of previously entered commands B Find Search commands using their names or description C Insert Selected commands are input at the c...

Page 98: ...key to which the selected string should be assigned 2 Choose Edit Register string 3 Press the desired key to which the selected string should be assigned 2 Insert registered character string Operatin...

Page 99: ...lly adds comments to explain the applications of the variables and I O during program editing Comments are added with placed after them If a further comment is added after changing the application des...

Page 100: ...ogram to a project This adds a program from the program bank to a project Operating procedure 1 Choose Project Program Bank to display the eponymous dialog box These programs are listed by category Do...

Page 101: ...program bank The following procedure adds a user program to the bank register Operating procedure 1 Choose Project Program Bank to display the dialog box 2 Select the category The first dozen categor...

Page 102: ...s of the corresponding Program edit window is much faster than re typing the program 6 Press the Update button This registers it in the program bank 5 5 3 Adding a category Operating procedure 1 Selec...

Page 103: ...dant attached to the robot con troller 5 6 1 Editing a TP panel To edit a TP panel pnl double click it in the Project or Program list window to open it in the Panel Designer window Note If the Project...

Page 104: ...s overall operation easier to un derstand and encourages compartmentalization enhancing program portability to other projects 5 7 1 Creating a folder Operating procedure 1 Select the parent the folder...

Page 105: ...the Project window 2 Choose Project Folder Import to display the Browse folders dialog box and specify the folder to import 3 Press the OK button to copy the selected folder as well as the files insid...

Page 106: ...Syntax to run the check and display the results in an Output win dow A syntax error triggers an error message consisting of an indication the line number and a brief note in the Output window Double...

Page 107: ...and error messages from the compiler An error triggers an error message consisting of an indication the line number and a brief note in the Output window Double clicking on this message highlights th...

Page 108: ...is for visualizing robot activity determining the robot s operation range and after adding other objects to the layout detecting collisions with surrounding equipment A Current positions This area di...

Page 109: ...shot This captures the current screen image and saves it as a file D 6 3D screen This switches the screen to the 3D perspective projection mode D 7 2D screen This switches the screen to the 2D parall...

Page 110: ...3D data from an external source Import shape data This is for reading in existing modeling data Export shape data This is for saving the modeling data for the selected node or object as a file Cut Th...

Page 111: ...ition These fields specify the relative position for the currently selected object K Size These fields specify the dimensions for the object selected on the tree The radio buttons above offer a choice...

Page 112: ...work co ordinates centered on the tool origin point Tool moves according to the selected tool coordinates RX RY RZ rotate around the work coordinates centered on the tool origin point B Work coordina...

Page 113: ...tes in the Arm 3D view window The work group node relative positions reflect the Work coordinate settings Choose View Tool Work Area Settings Work to display this window for modifying these settings W...

Page 114: ...ext menu that appears to add a new node as a child of the selected one Note Grouping the pallet pallet bench and other objects under a common node for example enables copying and pasting them together...

Page 115: ...parent 3 Press the Box button in the Model tree window to add a box to the Arm view window 4 Modify the object to give it a name and a color Change name Right click on the object and choose Change na...

Page 116: ...ew Window 5 Change the object s position and size 6 Add two more boxes to complete the pallet bench Note Here it is faster to copy and paste the above box as the second leg and then again as the start...

Page 117: ...ed axis Settings for objects moving in relation to the added axes in the case of projects with added axes or SMT7 controller Set the axis movement and movement units Collision detection setting Detect...

Page 118: ...e in other projects Operating procedure 1 Select the object or node to export 2 Right click and choose Export data from the context menu that appears to display the Browse folders dialog box 3 Select...

Page 119: ...ported from another project Operating procedure 1 Select the parent node for the data 2 Right click on the object tree and choose Read shape data from the context menu that ap pears to display the dia...

Page 120: ...rating procedure 1 Select the parent node for adding the object 2 Right click and choose Import modeling data from the context menu that appears to dis play the dialog box for importing such data 3 Se...

Page 121: ...logs 7 1 1 Monitoring and debugging The online functions serve two basic purposes Monitoring This monitors the status of the robot controller Displays the robot s attitude in the Arm 3D view and the v...

Page 122: ...g online to initiate monitoring Note This menu command is only available when the robot controller is offline It is not available during de bugging online 2 Wait for monitoring to start A status bar a...

Page 123: ...edure 1 Double click a program in the Project or Program list window to display that file in the Pro gram view area A Current step line Highlighting indicates the current program line B Variable conte...

Page 124: ...iable names Value This displays the variable values Type This displays the variable types Log Select Valid invalid for the log Select Valid if a log is to apply 7 2 2 3 Checking global variables This...

Page 125: ...mment Macro name Enter the name of macros usable in the project Smart check box Only those variables checked will be displayed 7 2 2 4 Checking local variables This window type displays local variable...

Page 126: ...s fields to which no I Os are assigned as shown with in the Type column No I O port number State A green icon is displayed when on and gray when off You can switch between on off by clicking on the ic...

Page 127: ...ashion On off changes can be checked with a time line 7 2 4 Monitoring robot The Arm 3D View window shows the robot s current attitude The trajectory of the robot s hand movements can be displayed Thi...

Page 128: ...ion extensions from WINCAPS III Select Tool Controller function extension in online monitor mode to open the Controller function extension dia log box Enter the password number for the function to be...

Page 129: ...n the teach pendant or mini pendant must be in its AUTO posi tion The communications link must be properly configured Link type For further details on configuring the robot controller please refer to...

Page 130: ...sight of the operator at the computer Operating procedure 1 Choose Tool Option and select the Enable online debug mode check box on the General tab Note Leaving Enable online debug mode deselected di...

Page 131: ...ler loses power A password protected screen saver kicks in Side effects Switching to offline operation triggers the following cleanup operations Stopping PAC programs Turning off motors Stopping super...

Page 132: ...oose Debug Start a Task to display a confirmation dialog box 3 Select an option and press the OK button to run the robot program as specified The robot will operate following the program s commands Th...

Page 133: ...bot controller s operating settings The following settings are accessible Motor These control power to the corresponding motor Machine lock The ON setting locks the robot limiting WINCAPS III control...

Page 134: ...evices linked by dummy alteration of the I O input signal 7 3 4 1 Configuring dummy I O Dummy operation of the I O requires selection of the input signal to be operated Operating procedure 1 Choose Vi...

Page 135: ...ut button again to remove the robot controller dummy I O settings Note If communications errors occur using DeviceNet or other field networks dummy input settings cannot be made unless field network d...

Page 136: ...er input signals but on off can be operated through the DIO com mand viewer as well as the standard method The DIO command viewer can be used when the I O assignment mode is Mini I O exclusive or Stan...

Page 137: ...iate values in Data field 2 Odd parity is automatically set 3 Press the Command set button The on off status of the Command field Data field 1 Data field 2 and Odd parity are reflected in the robot co...

Page 138: ...emory backup battery fades Flash memory Data is retained even when the power of the controller is switched off even if the memory backup battery fades The types of logs usable in WINCAPS III are as fo...

Page 139: ...ilable to start stop log records or clear them in programs This is used when you wish to record a particular operation in a program The three commands used are STARTLOG STOPLOG and CLEARLOG It is also...

Page 140: ...LOG Changes log data recorded in the ring buffer at that point into non updatable data and retains it If STARTLOG is being executed log data between STARTLOG and STOPLOG will be retained CLEARLOG Dele...

Page 141: ...oes not update the log data until the error is configured again Press F6 Setting F2 Log F5 Error trigger and specify the error logging mode 1 or 2 Configuring with mini pendant Press Log ErrTrig then...

Page 142: ...he data transfer screen Transfer using the WINCAPS III log screen Log data is received and displayed by pressing the Receive button in the log screens displayed by WINCAPS III Not for single servo dat...

Page 143: ...ng log data You can specify from which field you will acquire log data with WINCAPS III Under default standard settings the error and operation logs are acquired from SRAM and other logs from DRAM Sel...

Page 144: ...ing the error log to see other errors that occurred simultaneously or checking the error log in conjunc tion with the operation log helps in pursuing the cause of errors A Receive button This receives...

Page 145: ...arly updated If you wish to secure particular log data use error trigger logs or suchlike A Receive button This receives operation log data from the controller and displays it The following items are...

Page 146: ...r of records Recording can be made manually from the teach pendant or WINCAPS III or through program operations and error triggers The recording timing of the program is controlled using the STARTLOG...

Page 147: ...roduced for each log data line For collision detection you can prioritize collision determination with slowed down reproduction Priority to actual running times Reproduction of operation matches the a...

Page 148: ...es Axis current values Current values in the motors of the axes Axis load ratios Load ratios in the axes Regenerative resistance load ratio Regenerative resistance load for relevant models Program nam...

Page 149: ...30 000 The sampling interval can be set at 8 16 24 32 ms The default setting records 10 seconds of log in the ring buffer control log number 1 250 sampling interval 8 ms Configuring with teach pendan...

Page 150: ...ing multi for all active programs The following methods are used to operate trace logging Manual operation buttons Using the buttons on the top of the trace log window Setting recording ranges in the...

Page 151: ...o execute each command is recorded giving useful data for shortening cycle time and optimiz ing operations Receive log data by specifying a program The data recorded is as follows PRO name line number...

Page 152: ...from the controller B Start trace log button This begins trace logging C Stop trace log button Logs the currently recorded log data D Clear trace log button Clears the trace log data E Jump to source...

Page 153: ...TOPVARLOG CLEARVARLOG Note For further details on commands please refer to the Programming Manual A Receive button This receives variable log data B Start variable log button This begins logging the v...

Page 154: ...y using WINCAPS III start buttons etc and records taken from controller power on Note Only I O with checks in the Log column of the WINCAPS III I O screen are logged Log acquisition in programs is not...

Page 155: ...gged Motor speed command value r min Motor speed current actual value r min Motor torque command value less torque offset of rating Motor angle difference motor angle command value actual motor angle...

Page 156: ...nvironment the programmer defines processing windows writes search models and cre ates lookup tables WINCAPS III saves image data in bmp format and search models in a special data format 9 1 1 Screen...

Page 157: ...for editing window and search model macro names C Calibrate This button is for measuring coordinate conversion coefficients D Camera input This button is for copying a camera image to an image proces...

Page 158: ...earch model M Scan code This button is for reading in a QR Code symbol N Configuration area This button is for displaying the settings screen for the selected function For screen descriptions refer to...

Page 159: ...ains the tables specifying characteristics The user modifiable ones start at number 5 B Graph This graphs the characteristics for the currently selected column in the Lookup table area C Save button T...

Page 160: ...ders that portion of the macro definition file unavailable to programs Edit macros screen A Macro scope Specify the macro s scope B Save This button saves modifications to the macro Operating procedur...

Page 161: ...ation data to update B Calibration data table This table specifies the Vision monitor and robot coordinates for the calibration operation The operation requires coordinate data for three separate poin...

Page 162: ...libration procedure Operating procedure 1 Select three distinct points 2 Specify the dataset number 3 Enter the Vision monitor coordinates For further details refer to 9 2 3 2 Entering the Vision moni...

Page 163: ...nitor area of the calibration data table and enter a numer ical value 2 Cursor input Indicate the corresponding point in the Vision monitor window with the crosshair cursor Operating procedure 1 Displ...

Page 164: ...dow in the Vision monitor window 4 Move the cursor to the target coordinates with dragging or with arrow keys Moving window with keyboard and keys These four arrow keys move the window in the correspo...

Page 165: ...r for the robot coordinates 3 Press the Read button to read in the coordinates 9 2 3 4 Calibrating A calibration operation calculates conversion coefficients by comparing monitor coordinates with thei...

Page 166: ...es the processing screen to receive the camera image D Apply This button copies the camera image to an image processing screen Note What is a pixel The Vision board processes an image as an array of d...

Page 167: ...Reading in an image Operating procedure 1 Specify the source camera by number 2 Specify the lookup table for adjusting the image 3 Specify the Input screen 4 Press the Apply button to copy the camera...

Page 168: ...s button switches the Vision monitor window to the specified image Caution Image analysis automatically changes the Draw screen setting on this settings screen to Draw screen 1 to display its results...

Page 169: ...current values Edit window settings screen A Target window This field specifies the window to edit B Shape This field specifies the window shape C Window settings This area lists window settings D Ne...

Page 170: ...ess the Register button Here a window means the portion of the image that the Vision board is to process The board remembers the sizes for each window There are two ways to edit windows with Vision Ma...

Page 171: ...d to display the settings for the window specified on the Window settings screen 2 Press the Delete button Rectangular and sector window shapes add an edge detection direction setting This parameter s...

Page 172: ...een A Target model This field specifies the search model B Model settings This area displays information on the current search model for editing C Save This button saves search model modifications D D...

Page 173: ...t the search model shape and offsets 3 Press the Register button Moving the window Drag the window outline to move the window Changing the size Drag a window corner to resize the window Changing offse...

Page 174: ...edit from the list box to display its data on the Model settings screen and display it in the Vision monitor window 2 Adjust the search model shape and offsets 3 Press the Register button 9 2 7 3 Del...

Page 175: ...settings Digitization Histogram settings screen A Histogram This radio button displays the Histogram settings screen B Processing window This field specifies the processing window range C Calculate h...

Page 176: ...lays the Digitization settings screen B Processing window This field specifies the processing window range C Digitization lower boundary D Digitization upper threshold These two fields display specify...

Page 177: ...esholds Caution Only rectangular processing windows angle 0 can be selected for image processing The DENSO Vision board accepts as camera input gray scale images with 256 possible values for each pixe...

Page 178: ...mining digitization thresholds Operating procedure 1 Press the Histogram radio button to display the Histogram settings screen 2 Choose the window to process in the Processing window 3 Choose the meth...

Page 179: ...tings screen A Target window This field specifies the window range to measure B Feature This field specifies the feature to extract surface area center of gravity or principal axis C Color This field...

Page 180: ...ity means in the plane The DENSO Vision board deter mines the center of gravity by digitizing the pixels within the spec ified range in the window and then counting either black 0 or white 1 ones This...

Page 181: ...measure 2 Choose the feature area center of gravity or principal axis 3 Choose the color 0 White or 1 Black 4 Press the Measure button to display the resulting boundaries on the histogram and save the...

Page 182: ...re B Sorting order This field specifies the display order for the results C Area cutoff Only objects larger than this value qualify D Color This field specifies the color to use white or black E Digit...

Page 183: ...he result is a list of individual objects within the specified range in the window This list includes the following object features area center of gravity principal axis angle fillet and circumference...

Page 184: ...or ascending area 3 Enter the area cutoff a boundary specifying the minimum size Objects smaller than this setting are ignored 4 Choose the color 0 White or 1 Black 5 Press the Measure button to displ...

Page 185: ...field specifies the transition defining edges D Level This field specifies the edge detection level E Scan direction This field specifies the scan direction F Digitization upper threshold G Digitizat...

Page 186: ...sion board offers edge detection based on brightness levels or on areas For brightness levels there is also a choice of ab solute and relative levels for detect ing transitions Specifying absolute def...

Page 187: ...can direction The meaning of Positive and Negative depends on the window shape Parameter 0 X axis projection Origin Height Width Parameter 1 Y axis projection Starting point Ending point Parameter 0 M...

Page 188: ...relative 3 Choose the Transition s 0 Black to White 1 White to Black or 2 Both 4 Specify the level 5 Choose the scan direction for scanning in the projection window Positive or Negative 6 Press the Me...

Page 189: ...the window The graph display also permits checking of the brightness and area distribution for the specified location Distribution data Selecting the Distribution radio button switches to the followi...

Page 190: ...the model for the operation C Match judgment This field specifies the match judgment criterion D Detection unit This field specifies the unit for detection E Detection count This field specifies the...

Page 191: ...imit produces normal termination Other wise the operation times out with an error message In the latter case try reducing this setting Starting and end angles These fields specify the angle range for...

Page 192: ...e match judgment criterion 4 Choose the detection unit pixel or subpixel 5 Specify the detection count 6 Specify the starting and end angles 7 Press the Measure button to display the resulting boundar...

Page 193: ...to measure B Automatic digitization Choosing True specifies automatic digitization C Digitization upper threshold D Digitization lower threshold These two fields display specify the digitization thre...

Page 194: ...es used in digitization 9 2 13 2 Reading in a QR Code symbol Operating procedure 1 Choose a target window range to measure 2 Enable or disable automatic digitization Choose True for automatic digitiza...

Page 195: ...ters is prohibited in file names e g program names and project names Using any of those characters results in an error during file transfer between WINCAPS III and the robot controller or during loadi...

Page 196: ...178 Chapter 10 Appendices...

Page 197: ...s to provide accurate information in the handling and operating of the robot Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have...

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