We are constantly adding more models to
our library. As a customer, we are obliged to provide you with
your robot model, providing that the robot is supported by
RobotWorks (standard 6-axis
robot) and technical information is available from the
manufacturer.
If we have a solid model of a robot, it can be used in
RobotWorks, however it will not
have joint values, nor stop at joint limits.
2. Arm Structure
RobotWorks
assemblies of robots built to look similar but may not be
identical to the real arm. No effort was made to make the
models look realistic, or as detailed as the real part.
We provide a geometrically correct model, i.e. the distance
between the link pivots is correct, and the major dimensions
are in accordance with the robot company brochure. This is the
minimum we need for creating and running a correct path in
RobotWorks.
Items that are not required for motion (balance cylinders,
parallel links, control elements, bolts etc.) are sometimes
not added, for two reasons:
Adding lots of details to the arm links may make them look
more life-like, but at the same time cause them to move more
slowly on the screen and also to load more slowly.
More parts in the robot assembly usually mean more mates, and
these may create motion difficulties.
3. Robot Flange
There may be different flanges available
for your robot. The flange we provide as joint 6 may, or may
not, be exactly the same as the one on your robot.
You may safely edit this part (xxxx-JT6.sldprt where
xxxx is usually the robot type), provided you keep the
mates as they were. You can make as many holes as you wish
in the flange, but you must maintain the half-moon cut in the
back of the flange. Also, for the calculations to be correct
the Origin of joint 6 must remain in the middle of the
flange, as it is.
Knowing the above, you may add details to the robot links, as
each robot link is a solid part and thus fully editable.
does not provide any specific files for generic
robots.
4. Robot Parameter File
RobotWorks
provides a robot parameters file (.RB4) for each
robot type. The real robot has a kinematics engine which
differs form the one used in RobotWorks
and SOLIDWORKS, so that file is
used to 'correct' the motion of the robot model. Using this
file is the only way to see and use joint values and to stop
at joint limits during motion simulation.
Users cannot generate these files but can edit them in a
limited way. The file is associated with the form
"Setup, Robot", which shows the joint limits along with
other parameters. We obtained the values in the form from
published robot brochures. If your robot is set up differently
(e.g. your joint 6 can make many turns, or you have modified a
joint limit on the real robot) you may need to edit these
numbers on the form and save the file.
5. Robot File Syntax
RobotWorks
uses motion statements as applicable for the syntax of a point
in a robot file.
Since each robot controller used different syntax, RobotWorks
comes with several post-processors for writing robot files in
their native form.
While the syntax of each line comes from RobotWorks,
the data for the line comes from three different
sources:
Internal RobotWorks settings
User defined default values and settings (applies to all
points)
User defined event at some points, setting individual
values.
Internal settings write only few
?hard-coded? items, such as circular interpolation
lines or special syntax for coordinated motion with
external axes etc. RobotWorks
also produce all the numeric values such as TCP position
information and joint angles. In addition,
RobotWorks makes a distinction
between points in process and in air.
RobotWorks considers points
touching parts or following a path to be in a Linear
movement, while points between parts are considered as
"Joint move". Depending upon the controller language
and options, this will be translated to different speed
and motion information in the motion file.
Default values are for setting the speed (for
both linear and joint), motion related data such as motion
termination at point, tool and frame number etc.
Events provide specific point information, thus
overriding the default, and in some cases also override
internal settings. For example,
RobotWorks provides the current motion mode as
L (for Linear) because of its internal calculation, but
the user wants it to be J (joint) at this point. If the
user changes the L to J using an event,
RobotWorks will write J in
the file even if it does not "make sense".
RobotWorks tries to let the user
determine the output file as much as possible, and enables
editing the data before it?s written to the robot
file. See RobotWorks help on the Convert Window.
For a robot-specific syntax and settings sample file, please
click on the robot manufacturer logo:
RobotWorks
offers limited support for these robots as well:
Contact us to find about other models.
6. Exporting Path Data to other
applications
RobotWorks
provides easy ways to export its path data to other Windows
applications, using several methods:
Copy / Paste - One click on the Copy button
copies all the data to the clipboard in CSV format.
It can then be pasted directly into Excel (it will fill the
cells automatically), Word, Notepad or any ASCII editor.
Saving TEXT files - You may bypass the built-in
post-processor and get a text version of the data,
broken into columns and blocks of numbers. You may then
manipulate the numbers anyway you like.
RobotWorks API - RobotWorks has an API interface for
Visual Basic which enables passing path data to other
Windows applications and integration with user programs using
Windows Automation (OLE). Contact support for details.
