2. Creating a Station in RobotStudio
When first launching RobotStudio (currently version 5.60 - the robots are now
all white!), we will need to create a new Station. We want to create a robot
system which is, at its most basic, a paired industrial robotic arm and robotic
controller.
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3. Creating a Station in RobotStudio
In the New File menu, select a
“Station with Robot Controller”
and navigate to the IRB140 in
the Small Robots section. Hit
“Create.”
4. Creating a Station in RobotStudio
While the virtual controller
already exists within the
RobotStudio station, you may
wish to import a CAD model
of the IRC5 compact
controller to better visualize
your setup. This can be done
through the Import Library
button where both default and
user libraries are referenced.
5. Creating a Station in RobotStudio
Use the Move and Rotate
tools within the Freehand
menu to position the controller
adjacent to the IRB140 arm.
To navigate the graphics
window:
● CTRL+SHIFT+LMB = ORBIT
● CTRL+LMB = PAN
● CTRL+RMB (or MM scroll) =
ZOOM
6. Creating a Station in RobotStudio
You likely noticed that it was
difficult to move and rotate the
IRC5 with precision.
To transform with precision,
right-click the IRC5 in the
Layout menu and select “Set
Position.”
Remember to “Apply” the
transformation and “Close”
the tab.
7. Document Management in RobotStudio
RobotStudio projects are
more than just one file -
they’re an entire folder tree of
resources that you’ll utilize in
a project.
Set your User Project Folder
to a local drive in Options >
Files & Folders > User
Project Folder
Note: We will reference the
“NYCCTfab Courseware” location from
the shared Lab C drive.
8. Document Management in RobotStudio
When you save your
RobotStudio file you are
saving as a RobotStudio
Station file (*.rsstn) - this file
typically goes in the Stations
sub-folder of your User
Project Folder.
Title your Station
[yourSurname]_pen.rsstn.
9. Document Management in RobotStudio
While RobotStudio comes
pre-loaded with geometry for
ABB controllers, external
positioners, and other
common models, you’ll want
to be able to reference your
own commonly used robotic
geometry as RobotStudio
Galleries.
To add Galleries, select the
Locations link within the
Documents tab.
10. Document Management in RobotStudio
Do this for both your
Geometry and your Library
folders within your User
Project Folder.
Geometry is a loose
collection of many CAD file
types you’re using for your
Station, whereas Libraries
(*.rslib) are formalized
RobotStudio models that
you use frequently without
modification.
11. Importing Geometry in RobotStudio
Import the file
NYCCTfab_Robot_Rack.sat
from the User Geometry
Gallery.
Use Set Position to place it
beneath the IRB140’s base.
Note: It is not
recommended to move the
IRB140 away from the
global coordinate system.
12. Importing Geometry in RobotStudio
Use the Point to Point button in the
Modeling tab to measure:
1. Delta X from the left of the
rack to its center
2. Delta Y from the front of the
rack to the center of the next
to last crosspiece
3. Delta Z from the floor to the
top surface of the rack
Enter the negative values of these
distances along with a 90 degree
rotation about the Z axis to properly
set the rack’s position.
Note: Make sure that you use the
proper object snaps when
measuring distances!
13. Importing Geometry in RobotStudio
Right click the
NYCCTfab_Robot_Rack
object in the Layout browser
and select Save as Library
and save it to your User
Project Libraries folder.
The rack is now accessible
as a RobotStudio Library
object.
14. Importing Geometry in RobotStudio
Import the Controller Cart
and Transformer and move
them into position using the
Point to Point measuring
and Set Position.
Save the Cart and
Transformer as Library
objects.
15. Add a Tool in RobotStudio
Import the tool
NYCCTfab_Pen_Tool from
the Libraries folder. Notice
that the CAD model origin is
at the center of the robot
wrist flange.
Now we will need to create
a tool center point or a TCP.
16. Add a Tool in RobotStudio
Any RobotStudio coordinate
system, including that of the
tool, can be understood
using the Right Hand Rule.
17. Add a Tool in RobotStudio
Robotic Motion
Controller project by
LIFT Architects. In
this project the TCP is
at the tip of the
Sharpie marker,
whereas in a paint
gun or laser cutter the
TCP would be offset
along the normal a
distance away from
the physical tool tip.
18. Add a Tool in RobotStudio
Import the Pen Tool
Geometry, then place a
Frame using Face Selection
and Center Snap.
Note: Right-click an object
and select Examine to
optimize the object view.
19. Add a Tool in RobotStudio
The TCP is defined by
selecting a point on the tool
tip and then attaching a
Frame (coordinate system)
to the point. The Frame
must be set normal to the
tool tip surface.
Tip: For pen tips model a
planar face at the tip to
allow the Frame to be set
normal to the surface.
20. Add a Tool in RobotStudio
Launch the Create Tool
Wizard in the Modeling Tab.
Enter your Tool Information.
Highlight any Center of
Gravity Field and select the
Tool Assembly with Center
of Gravity Snap enabled.
Name the TCP, associate it
with the Frame, and add it
to the TCP list.
21. Add a Tool in RobotStudio
Save the Pen Tool to the
Library.
Then drag and drop the Pen
Tool onto the Robot in the
Layout View to attach the
tool to the robot.
22. Modeling Geometry in RobotStudio
To make a pad of paper we
will go to the Modeling tab
and use the Create Box
tool. Rename the box as
NYCCTfab_Paper_Pad in
the Layout browser.
Use Place by Point to Align
the Pad with the center front
of the Rack and save to the
Library.
23. Creating a Workobject
A workobject is a coordinate
system that stores
programmed positions. If
the workpiece moves then
only the workobject needs
to be updated for the
program to be functional
again.
24. Creating a Workobject
To understand workobjects
you need to understand the
various coordinate systems
at play in RobotStudio:
● World CS/Frame
● Task CS/Frame
● Base CS/Frame
● Tool CS/Frame (TCP)
● User CS/Frame
● Object CS/Frame
25. Creating a Workobject
To create the Workobject
use go to Other in the
Modeling Tab and select
Create Workobject. Use
the Three-point method to
create the Workobject.
Select the points X1
(origin), X2, Y.
Name the Workobject
WobjPad.
26. Creating Targets and Paths
Place a Target onto the Top
Center of the Paper Pad
and name it pCenter.
Teach a Target called
pHome by zeroing out all
robot joints.
Notice the alert icon for
pCenter.
27. Creating Targets and Paths
Rotate Target pCenter 180
degrees about the Y Axis.
Configure the Target. A
good rule of thumb is to
select the configuration with
the lowest sum, though in
many cases the visual
preview makes the correct
configuration obvious.
28. Creating Targets and Paths
Use the Freehand Jog
Linear tool to interpolate
the axes along linear
motions that correspond
with the top plane of the
Paper Pad.
Use the Teach Target tool
to create four Targets on
the Paper Pad: p10, p20,
p30, p40.
29. Creating Targets and Paths
Create start and approach
targets by using the Jump
to Target right-click menu
option and then jogging in
positive Z using Freehand
Jog Linear.
Jump to Targets pCenter
and p10 and teach the
elevated positions pStart
and pApproach,
respectively.
30. Creating Targets and Paths
Create a new Path and call
it pathQuad. Select all
Targets except pCenter and
pHome and send them to
pathQuad via the right-click
menu option.
Use the Modify Instruction
option in the right-click
menu to change the first
two and last motion
instructions to MoveJ
instead of MoveL.
31. Simulating the Program
The first step to simulating
is syncing the graphical
program to the Virtual
Controller using the
Synchronize to VC button
in the Home tab.
Ensure all buttons are
checked when
synchronizing for the first
time.
32. Simulating the Program
Once synchronized you can
see the RAPID code in the
RAPID tab by double-
clicking Module1.
Create a New Vertical Tab
Group to see the graphical
editor and RAPID code at
once.
33. Jogging the Robot
The robot can be jogged
using freehand functionality
in RobotStudio. The three
jogging types are:
● Joint Jog
● Linear Jog
● Jog Reorient
34. Jogging the Robot
A joint jog allows you to
individually jog a selected
joint.
A linear jog will move in
XYZ using a transformation
widget at the TCP - joint
locations will be
interpolated.
A jog reorient jogs the tool
about its TCP.
35. Configuring the Axes
To create the Workobject
use the Create Workobject
option.
Name the Workobject
Wobj_pad.
Points are selected X1
(origin), X2, Y2.
36. Running the Simulation
To create the Workobject
use the Create Workobject
option.
Name the Workobject
Wobj_pad.
Points are selected X1
(origin), X2, Y2.
37. Editing with RAPID Code
To create the Workobject
use the Create Workobject
option.
Name the Workobject
Wobj_pad.
Points are selected X1
(origin), X2, Y2.
