![RRS_INITIALIZE
RRS_SET_INITIAL-POSITION
RRS_GET_NEXT_STEP
RRS_SET_OVERRIDE_ACC
[X, Y, Z, Rx, Ry, Rz]
SET_NEXT_TARGET
RCS
RRS](https://image.slidesharecdn.com/virtualcomisionningprocesssimulate-mgurgul-150208044340-conversion-gate02/85/Robotics-Virtual-Commissioning-in-Process-Simulate-8-320.jpg)
![welding
tip_dress
handling
handling_end
welding_end
tip_dress_end
Transitions conditions
handling
Signal
value
t[s]
0
1
Connections in Gantt Chart
don’t determine operations
executing order!
CEE
parts_counter>=20
part on FX](https://image.slidesharecdn.com/virtualcomisionningprocesssimulate-mgurgul-150208044340-conversion-gate02/85/Robotics-Virtual-Commissioning-in-Process-Simulate-21-320.jpg)
![• Simulation is very complex and require 100% verified documentation.
[mechanical CAD data, ePlan, cycle time diagrams].
• Expensive H/W equipment to run the simulation tools, along with the cost
of licenses.
• Process simulation software is not ready for full VC, many open issues and
bugs on the software.
Cons](https://image.slidesharecdn.com/virtualcomisionningprocesssimulate-mgurgul-150208044340-conversion-gate02/85/Robotics-Virtual-Commissioning-in-Process-Simulate-27-320.jpg)
![Hemming
nhOffsRoller := [[0.015,10.2,-17.5],OrientZYX(0.00,0.00,9.9907)];
GHO := [[0,0,0],[0,0,0],[0,0,0]];
NHsetHO 10, 0, 0, 0, 0, 0, -10, 20;
MoveJ NHTarget(f57_area4,HO{10}),v2500,z10,t_r2_cl,WObj:=wobj_15FX16;
! Spot lsp195621_f57;
VP_SpotL lsp195621_f57,Id_03, vmax, t_Gun1_varioWobj:=wobj_22fx16_f57;
!Move VarioPiker Backward
VP_GunOpen 1000;](https://image.slidesharecdn.com/virtualcomisionningprocesssimulate-mgurgul-150208044340-conversion-gate02/85/Robotics-Virtual-Commissioning-in-Process-Simulate-29-320.jpg)
Uploaded byMichał Gurgul
Robotics: Virtual Commissioning in Process Simulate
The document discusses the intricacies of virtual commissioning and simulation processes for robotics, focusing on the ABB IRB 6000 robot and associated software tools like Robcad and RRS. It details the iterative updates to the software, motion planning capabilities, and various services available for robotic simulation and programming, emphasizing the benefits of virtual commissioning such as reduced commissioning time and improved product quality. It also outlines the complexity and challenges associated with simulation due to the need for verified documentation and high costs of hardware and software.
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Robotics: Virtual Commissioning in Process Simulate
- 1.
- 3. Mechanical construction Electrical construction& PLC Simulation Instalation Try-OutProgramming Debug Planning OLP
- 4. Offline robotics Current stateof simulation and OLP software
- 5. Robcad Released in 1986 SupportsRRS I Time-based simulation
- 6. ABB IRB 6000 Robot: ABB IRB6000/2.4-120 and IRB6000/2.4-100 Controller: S3 - Versions M92 and M93 Date created: April 1993 Status: Incomplete Level : Documented Updates : Originally written by Sam Yechiam (January 1992) and based on measurements made at ABB Detroit, USA. Dimensions taken from "Product Manual - IRB6000" (unverified) (..) Updated by Ray Kliemann (October 1992) with measured cycle times using a 100 kg load (..) Updated by Ray Kliemann, Noam Ribon and Udi Naamani (March- April 1993) to include: (a) extensive measurements made at ABB USA and CTC Robotics Lab. (b) new motion planning software written by Mike Hatwell
- 7.
- 8. RRS_INITIALIZE RRS_SET_INITIAL-POSITION RRS_GET_NEXT_STEP RRS_SET_OVERRIDE_ACC [X, Y, Z,Rx, Ry, Rz] SET_NEXT_TARGET RCS RRS
- 9. Motion trajectory • RobcadMotion Planner (MOP) • VKRC1 RCS RCS vs MOP
- 10. BASE SERVICES INITIALIZE RESET TERMINATE GET_ROBOT_STAMP GET_HOME_JOINT_POSITION GET_RCS_DATA MODIFY_RCS_DATA SAVE_RCS_DATA LOAD_RCS_DATA MOTION PARAMETERSERVICES SET_JOINT_SPEEDS SET_CARTESIAN_POSITION_SPEED SET_CARTESIAN_ORIENTATION_SPEED SET_JOINT_ACCELERATIONS SET_JOINT_JERK SET_MOTION_TIME SET_OVERRIDE_SPEED SET_OVERRIDE_ACCELERATION KINEMATIC AND CONVERSION SERVICES GET_INVERSE_KINEMATIC GET_FORWARD_KINEMATIC MATRIX_TO_CONTROLLER_POSITION CONTROLLER_POSITION_TO_MATRIX GET_CELL_FRAME MODIFY_CELL_FRAME SELECT_WORK_FRAMES PRINCIPAL MOTION SERVICES SET_INITIAL_POSITION SET_NEXT_TARGET GET_NEXT_STEP SET_INTERPOLATION_TIME TRACKING SERVICES SELECT_TRACKING SET_CONVEYOR_POSITION WEAVING SERVICES SELECT_WEAVING_MODE SELECT_WEAVING_GROUP SET_WEAVING_GROUP_PARAMETER MOTION MODIFICATION SERVICES SELECT_MOTION_TYPE SELECT_TARGET_TYPE SELECT_TRAJECTORY_MODE SELECT_ORIENTATION_INTERPOLATION_MODE SELECT_DOMINANT_INTERPOLATION SET_ADVANCE_MOTION SET_MOTION_FILTER SET_OVERRIDE_POSITION REVERSE_MOTION SET_PAYLOAD_PARAMETER SELECT_TIME_COMPENSATION SET_CONFIGURATION_CONTROL FLY-BY AND POINT ACCURACY SERVICES SELECT_FLYBY_MODE SET_FLYBY_CRITERIA_PARAMETER SELECT_FLYBY_CRITERIA CANCEL_FLYBY_CRITERIA SELECT_POINT_ACCURACY SET_POINT_ACCURACY_PARAMETER SET_REST_PARAMETER GET_CURRENT_TARGETID RRS I - API
- 11. ABB RobotStudio, FanucRoboguide, Delmia Virtual Robot Controler (RRS II)
- 12. HMI synch with tools Throughput reaction Sensor positioning Toolchange procedure Mixed production Safety procedures Handling variants Conveyor optimization
- 13.
- 14. Process Simulate VIBN TIME-BASEDSIMULATION EVENT-BASED SIMULATION handling tip_dress welding handling welding tip_dress If … then handling tip_dress welding handling tip_dress welding
- 15. ControlSimulation OPC (Client &Server) Signal mapping Real-time signal exchange PLC ProgramsPLC HMI
- 16. CEE PLC LOGIC BLOCKS LOGICMODULES ESRC MATERIAL FLOW ESRC: • Motion trajectory: RRS1 • Signal processing (Send / Wait Signal) • Non-Boolean Signals • Call Path • Macros • Simulation of logic without RRS2 PS Architecture
- 17.
- 18. Logic Blocks /Modules
- 19. Proximity sensor (require 3Dcomponent) Photoelectric sensor (require activation) Property sensor (QR Code, Barcode, VIN number etc.) Joint Value Sensor Distance sensor Sensors
- 20.
- 21. welding tip_dress handling handling_end welding_end tip_dress_end Transitions conditions handling Signal value t[s] 0 1 Connections inGantt Chart don’t determine operations executing order! CEE parts_counter>=20 part on FX
- 22.
- 23.
- 24.
- 25. Environment for testing,simulation and debug of PLC programs, HMI code, and automation scheme with a virtual model of a factory Faster •Shorter time to production •Quicker change cycle Better •High quality PLC code •Optimized performance Cost effective •Cost of production stop •Cost of prototype parts Easily create a realistic shadow of a production environment Test & Debug PLC code Long before the real system is build Minimize impact on existing environment Use real PLC H/W or emulated S/W Virtual Comisssioning
- 26. • Parallel cooperationof automation and robotics engineers from early stage of project • Validated PLC and robot programs (signal names, sequence, safety) • Reduction of commissioning time at customer’s site, due to fewer errors in systems design. • Possibility to validate stations to reduce additional engineering activities. Better quality of products and processes, thanks to the possibility to evaluate different alternative solutions (virtual ghost run) Pros
- 27. • Simulation isvery complex and require 100% verified documentation. [mechanical CAD data, ePlan, cycle time diagrams]. • Expensive H/W equipment to run the simulation tools, along with the cost of licenses. • Process simulation software is not ready for full VC, many open issues and bugs on the software. Cons
- 28.
- 29. Hemming nhOffsRoller := [[0.015,10.2,-17.5],OrientZYX(0.00,0.00,9.9907)]; GHO:= [[0,0,0],[0,0,0],[0,0,0]]; NHsetHO 10, 0, 0, 0, 0, 0, -10, 20; MoveJ NHTarget(f57_area4,HO{10}),v2500,z10,t_r2_cl,WObj:=wobj_15FX16; ! Spot lsp195621_f57; VP_SpotL lsp195621_f57,Id_03, vmax, t_Gun1_varioWobj:=wobj_22fx16_f57; !Move VarioPiker Backward VP_GunOpen 1000;
- 30. Performance Signals updaterate Proximity sensors are resource consuming
- 31. Thanks for yourattention! Michał Gurgul
Editor's Notes
- #2 Opracowaliśmy ten szablon, aby każdy członek zespołu projektowego miał zestaw slajdów z własnym motywem, na których mógłby prezentować swoje badania. Członkowie, zobaczcie, jak dodać slajd do takiego zestawu: Oznacz miejsce, w którym chcesz dodać slajd: zaznacz istniejący slajd w okienku Miniatury, kliknij przycisk Nowy slajd, a następnie wybierz układ. Nowy slajd będzie miał ten sam motyw co zaznaczony wcześniej slajd. Uwaga! Nie irytuj pozostałych osób prezentujących swoje wyniki przypadkową zmianą ich motywów. Tak może się zdarzyć, jeśli wybierzesz motyw Wariant na karcie Projekt, co spowoduje zmianę wyglądu wszystkich slajdów prezentacji.