To find out what robots are supported in RobotWorks, click here

 

1. General

Most industrial robots are fully supported by RobotWorks, with the following key features:


Solid models with movable links
Math files that enable joint values and joint limits (.RB4 file)
A post processor that writes points data in their native robot language, so they can be loaded into the robot

    controller and run with minimum interaction.
 

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.

 

 


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