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WorkPieceMaker

User's Guide

Version 3.

ABB Flexible Automation

©1998 ABB Flexible Automation

All rights reserved. Printed in the United States of America May-

The information in this document is subject to change without notice and should not be construed as a commitment by ABB Flexible Automation Inc. ABB Flexible Automation Inc. assumes no responsibility for any errors that may appear in this document.

In no event shall ABB Flexible Automation Inc. be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document.

This document and parts thereof must not be reproduced or copied without ABB Flexible Automation Inc.’s permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.

© 1998 ABB Flexible Automation Inc. All rights reserved. Printed in the United States of America May-

CHAPTER 1: GETTING STARTED

WHAT IS WORKPIECEMAKER

The WorkPieceMaker is an editor used to turn a RAPID program into a workpiece and to edit existing workpiece files so they look even nicer on the screen. By workpiece we mean an image of the physical object (part) the robot is working on. A workpiece is represented as a 3D wire-frame model. Workpiece images are an aid for the programmers using ProgramMaker’s GraphView or the SiTo Programming Station. The workpieces are kept fairly simple, as their sole function is to help you determine where you are in a program during editing. Workpiece files may be stored at any drive that your workstation can access.

THE GRAPHICAL VIEW

The graphical view displays a workpiece in three-dimensional (3D). A triad showing the rotation of the graphical view is displayed at all times in the lower left corner.

The X vector is red, Y is green and Z is black.

You can change the view by using the functions in the Orientation Toolbar and Fixed Views Toolbar. You can open several graphical views of a workpiece by activating the menu Window and choose New Window. The WorkPieceMaker will change the window text of the graphical view that already was opened so you can identify the different views of the same workpiece.

VISIBLE RANGE

The graphical view can show positions within the range -6000 mm to 6000 mm. The view has a resolution of 1 mm.

CURRENT POINT

Current point is the selected element in a workpiece. The graphical view marks it with a circle. You can edit the current point from the Properties dialog, delete it or insert new positions after it.

CONTEXT SENSITIVE MENU

You activate a context sensitive menu by clicking the right mouse button or by pressing the menu key if you have a windows-keyboard.

CHAPTER 2: WORKPIECE EDITING

CREATING A WORKPIECE IMAGE

You use the robot arm to make a workpiece image. The workpiece object (part) is digitised using the robot as a digitiser. You teach the workpiece as a standard RAPID program. To be able to do this you must mount a known tool on the robot arm and install the correct TCP. The tool is used as a pointing device. The more accurate the tool, the better the workpiece image. To digitise an object you touch the object with the pointing tool and get the points (for example using the teach functionality on the robot pendant). For a straight part of the object a point in each end is sufficient, but for curved parts more points are needed. The rule is to not overdo it. Experiment to find the trade-off between time used and finished result. The benefit of using the robot arm as a digitiser to build the workpiece is that no external file transfer, no file format conversion and no data-reduction from a CAD/CAM system is needed. You are also certain that the workpiece and the robot program, when displayed together in the graph window, have the exact same coordinate system, the same scaling and a common origin. And it is fast - typically you build a complete workpiece object in an hour. Please note when teaching programs meant for workpiece conversion, that the WorkPieceMaker extracts both the positions defined as robtargets and the robtargets defined directly in the syntax parts of the program. The positions are converted in the order which they are defined in the program file, so the order points are taught is important. Please also make sure to teach all points with the same user and object frames so the workpiece image appears in the same object coordinates. When the program has been taught in the robot transfer it to the your PC. Convert the program into a Workpiece file by inserting the program file as RAPID code in the WorkPieceMaker.

CONVERT RAPID CODE INTO A WORKPIECE FILE

The WorkPieceMaker can insert RAPID program files into a workpiece. During this process it extracts the X, Y and Z values of the texts that have the same bracket structure as robtarget. The WorkPieceMaker inserts both robtarget definitions and robtargets defined directly in procedure calls. See creating a workpiece image to get information on how to create a RAPID file. You activate the Insert menu and choose RAPID code, to convert the robtarget of a file. After activating the Insert RAPID code menu the WorkPieceMaker displays a file open dialog. You use that dialog to find the file you will insert into your workpiece. For your convince we have provided masks for files of type: Program Files (*.prg).

WorkPieceMaker User’s Guide

Module Files (.mod). System Module File (.sys).

WORKPIECE EDIT OPERATIONS

The edit functions in the WorkPieceMaker are used to refine the workpiece image (like hiding unwanted lines), so it looks nicer when displayed in the ProgramMaker’s GraphView together with a robot program. Workpiece files are opened and saved using the file menu. You may have several graphical views open within the WorkPieceMaker at the same time. Use the Properties dialog for editing the positions of the open workpieces.

The edit operations:

• Insert a point in workpiece
• Delete a point in workpiece
• Copy a point into the clipboard
• Cut a point from a workpiece and place it into the clipboard
• Paste points from the clipboard into a workpiece
• Selecting points in a workpiece.
• Load default view
• Save default view
• Zooming the graphical view
• Rotating the graphical view
• Panning the graphical view
• The Parallel views
• Creating a workpiece image
• Convert RAPID code into a Workpiece file

EDITING POSITIONS BY USING THE PROPERTIES DIALOG

The Properties dialog has edit fields for the x, y and z values in mm. A point can be moved by editing the values. If you want the graphical view to update immediately after changing a value, press enter or choose another edit field. The edit fields have context sensitive menus giving you the possibility to undo the last typing inside the fields and to use the clipboard functions locally between the edit fields.

Activating the Properties dialog

You can activate the Properties dialog by double clicking inside a graphical view.

WorkPieceMaker User’s Guide

functions. You can thereby interactive between the WorkPieceMaker and Notepad gaining more flexibility while editing the workpieces.

Copy a point into the clipboard

In the WorkPieceMaker you use the Copy function to place the text representing the X, Y and Z values of the current point to the standard clipboard. Click the Copy button in the Standard Toolbar or activate the Edit menu and choose Copy. The Copy function is also available from the context sensitive menu.

Note: You can insert new lines to the copied position by selecting points in a workpiece and then use the clipboard function paste

Cut a point from a workpiece and place it into the clipboard

In the WorkPieceMaker you use the Cut function to remove the current point and place it on the standard clipboard. The point is placed on the clipboard as a text that represents the X, Y and Z values. Click the Cut button in the Standard Toolbar or activate the Edit menu and choose Cut. The Cut function is also available from the context sensitive menu. You can insert new lines to this position by selecting points in a workpiece and then use the clipboard function paste.

Paste points from the clipboard into a workpiece

In the WorkPieceMaker you use the Paste function to insert positions from the standard clipboard. Use copy or cut to enter points to the clipboard. If the text that is on the clipboard contains several lines then you will insert the same number of points. The WorkPieceMaker ignores clipboard text that does not represent at least one position value, while pasting. If the clipboard text only represents the X value then the Y and Z value defaults to 0. Click the Paste button in the Standard Toolbar or activate the Edit menu and choose Paste. The Paste function is also available from the context sensitive menu.

TOOLBARS

A toolbar is a window that contains graphical buttons. By pressing one of the buttons you activate its function. If you move the mouse over the buttons you will see short descriptions of the functions in the statusbar. Alternatively, you can get a flyby text attached to the mouse cursor describing the toolbar function. To get the flyby text you place the mouse cursor inside a toolbar button for a little while. While the flyby text is active you can move the mouse to another button to see its text. You can place a toolbar at any sides inside the WorkPieceMaker or make it floating

. To place a toolbar at another location you press the left mouse button down inside the toolbar. You can drag the toolbar after a gray frame appears. You will see the frame grow when dragging it off one of the WorkPieceMaker’s sides. Equivalent the frame will shrink when you enter one of the sides. If you release the mouse button at one of the sides you dock the toolbar otherwise you make it floating. You can place the floating toolbars anywhere also outside the WorkPieceMaker.

Chapter 2: WorkPiece Editing

STANDARD TOOLBAR

You can hide or show the toolbar by activating the menu View and then choose Standard Toolbar. The toolbar has buttons for creating, saving and opening files. It also has buttons for the clipboard functions and to show symbols.

SHOW SYMBOLS

In the WorkPieceMaker you use this function to show or hide the crosses representing the end of the points. Click this button in the Standard Toolbar or activate menu View and choose Symbols, to toggle the crosses.

SELECTION TOOLBAR

The selection toolbar has buttons for selecting point in a workpiece. You can hide or show the toolbar by activating the menu View and then choose Selection Toolbar.

SELECTING POINTS IN A WORKPIECE

In the WorkPieceMaker you use the selection functions to make another point the current point. Selecting a point will make it visible, if it is X, Y and Z values are within the visible range. To make another element the current point click one of the buttons in the Selection Toolbar. Click First to make the first element in the workpiece current point Alternatively, activate the menu Edit, expand the pop-up menu Select and choose First. Click Previous to make the element in front the current point. Alternatively, activate the menu Edit, expand the pop-up menu Select and choose Previous.

Click Next to make the element after this the current point. Alternatively, activate the menu Edit, expand the pop-up menu Select and choose Next. Click Last to make the last element in the workpiece current point. Alternatively, activate the menu Edit, expand the pop-up menu Select and choose Last.

The mouse is maybe the preferred way to select a visible position because you just click at the position. You can browse the properties of positions by pressing the left mouse button and keep the button pressed while dragging the mouse inside the graphical view.

Chapter 2: WorkPiece Editing

FIXED VIEWS TOOLBAR

The fixed views toolbar has buttons to load default view , save default view and for viewing the six ISO parallel views. You can hide or show the toolbar by activating the menu View and then choose Fixed View Toolbar.

LOAD DEFAULT VIEW

In the WorkPieceMaker you use the function load default view to reset the view to a pre-defined zoom and rotation. You can set the pre-defined zoom and orientation by activating the save default view function. Click this button in the Fixed Views Toolbar to restore the view. Alternatively, activate the menu View, expand the pop-up menu Fixed Views and choose Load default view.

SAVE DEFAULT VIEW

In the WorkPieceMaker you use this function to store the current zoom and rotation. This pre-defined view can be recalled by loading the default view. Click this button in the Fixed Views Toolbar to save the current zoom and rotation as default. Alternatively, activate the menu View, expand the pop-up menu Fixed Views and choose Save default view. This default view is common for all the graphical views.

PARALLEL VIEWS

In the WorkPieceMaker you use the Fixed Views Toolbar to view the workpiece in one of the six ISO parallel views. They change the view from perspective to parallel view. Click this button to view the workpiece from the Back.

Click this button to view the workpiece from the Front.

Click this button to view the workpiece from the Left.

Click this button to view the workpiece from the Right.

Click this button to view the workpiece from the Bottom.

Click this button to view the workpiece from the Top.

Alternatively, activate the menu View, expand the pop-up menu Fixed Views and choose Back, Front, Left, Right, Bottom or Top.

B-

APPENDIX B: SHORT CUT KEYS

File New Ctrl + N File Open Ctrl + O File Save Ctrl + S Edit Cut Shift + Delete Edit Cut Ctrl + X Edit Copy Ctrl + C Edit Copy Ctrl + Insert Edit Paste Ctrl + V Edit Paste Shift + Insert Edit Delete Alt + Delete Edit Properties Alt + Return Edit Select First Alt + Home Edit Select Last Alt + End Edit Select Next Alt + Arrow Right Edit Select Previous Alt + Arrow Left Insert element Alt + Insert View Pan Down Alt + Shift + Arrow Down View Pan Left Alt + Shift + Arrow Left View Pan Right Alt + Shift + Arrow Right View Pan Up Alt + Shift + Arrow Up View Rotate Down Alt + Ctrl + Arrow Down View Rotate Left Alt + Ctrl + Arrow Left View Rotate Right Alt + Ctrl + Arrow Right View Rotate Up Alt + Ctrl + Arrow Up View Zoom In Alt + Ctrl + Plus View Zoom Out Alt + Ctrl + Minus Window next F Window previous Shift + F