Programming Support Tool WINCAPSIII GUIDE
Copyright © DENSO WAVE INCORPORATED, 2008-2011 All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher. Specifications are subject to change without prior notice. All products and company names mentioned are trademarks or registered trademarks of their respective holders.
Preface Thank you for purchasing our programming support tool, WINCAPS III. WINCAPS III is a package for efficiently developing and validating robot operation programs (PACs). It permits checking of robot operation, variables, and I/O from a computer connected to the robot controller. It also supports managing program files as projects, storing frequently used programs in program banks, and various other program management functions.
How this book is organized This book consists of the following. Chapter 1 Overview Describes the WINCAPS III features, product components, operating environment, and installation procedure. Chapter 2 Basic Functions and Operational Flow Describes the basic functions, operational flow and editor categories of WINCAPS III. Chapter 3 Starting Up/Shutting Down Describes the WINCAPS III starting-up and shutting-down procedures, its windows, tools and menus.
CONTENTS CONTENTS Chapter 1 Overview ............................................................................ 1 1.1 1.2 1.3 WINCAPS III Features .......................................................................................... 1 Robot Controller and WINCAPS III Versions ........................................................ 1 Product Components and Operating Environment................................................ 2 1.3.1 1.3.2 1.3.3 1.3.4 1.3.5 1.4 2 2 2 3 3 Installing WINCAPS III .
CONTENTS Chapter 5 Writing Programs ............................................................. 70 5.1 5.2 5.3 5.4 Creating a New Program..................................................................................... 70 Leveraging Existing Files .................................................................................... 71 Saving a Program................................................................................................ 72 Editing a Program...................................
CONTENTS 8.1.2 Error trigger log......................................................................................................... 127 8.2 Acquisition of log data ....................................................................................... 128 8.2.1 Log acquisition settings ............................................................................................ 129 8.3 Detailed description of log types .......................................................................
CONTENTS iv
Chapter 1 Overview 1.1 WINCAPS III Features WINCAPS III is a package for efficiently developing and validating Denso robot operation programs (PACs). It permits checking of robot operation, variables, and I/O from a computer connected to the robot controller. It also supports managing program files as projects, storing frequently used programs in program banks, and various other program management functions. 1.
Chapter 1 Overview 1.3 Product Components and Operating Environment 1.3.1 Product components Your WINCAPS III package should contain the following items. Software WINCAPS III Installer Product CD-ROM License certificate The WINCAPS III license is written on this. The reverse is a user registration card. Instruction manual (printed versions optional) WINCAPS III Guide (this document) The software Help function contains the WINCAPS III Guide (this manual). 1.3.
Chapter 1 Overview 1.3.4 WINCAPS III trial and light versions WINCAPS III is available in the trial and light versions in addition to the product version. Trial and Light Versions WINCAPS III Light version Difference from Product Version • This comes with the optional mini-pendant purchased. • Unavailable functions Printing, simulation function, 3D data import, monitoring interval setting, a part of program bank WINCAPS III Trial version • This comes with the robot set purchased.
Chapter 1 Overview 1.4 Installing WINCAPS III 1.4.1 Before you begin Always uninstall any existing WINCAPS III versions before installing a new version on your computer. For the procedure, refer to 1.4.4 "Uninstalling" (P. 7). Note Be sure to shut down all other applications before installing or uninstalling this software. 1.4.2 Installing WINCAPS III The following is the procedure for installing this software. Operating procedure 1. 2. First shut down all Windows applications. Load the installer.
Chapter 1 Overview 3. Press the install WINCAPS III button to display the WINCAPS III - InstallShield Wizard dialog box. Follow the screen instructions to configure the installation. There are three items to specify. 1) Acceptance of the end user license agreement (EULA) 2) License key input 3) Select the folder where the program is installed.
Chapter 1 Overview 1.4.3 Registering license During installation a License Information dialog box will appear. Enter the user ID printed on the license included with the product to the License Key field, and press the Add button. Input the license key printed on the installation disc label for Light or Trial versions. If the user ID appears under License Key, press the Close button. Note • Skipping over this license registration process loads WINCAPS III in test drive mode with limited functionality.
Chapter 1 Overview 1.4.4 Uninstalling The following is the procedure for uninstalling this software. Operating procedure 1. 2. 3. From the Start menu, choose Settings|Control panel and then Add or Remove programs. Choose WINCAPS III and then press the Change/Remove button to display a confirmation dialog box. Press the OK button to proceed with the uninstall operation. Note • If a dialog box appears warning of shared files, press the Leave all button.
Chapter 1 Overview 1.5 Connecting to Robot Controller There are two ways to connect the computer to a robot controller. Ethernet connection This method uses an LAN interface (CN4) to connect the computer to the robot controller. Direct connection Robot controller Ethernet Crossover cable Connection via a hub Hub Robot controller Ethernet Straight-through cables RS-232C connection This method uses a serial port (CN1) to connect the computer to the robot controller.
Chapter 2 Basic Functions and Operational Flow 2.1 WINCAPS III Basic Functions The following describes the product's basic functions. Communications Communicating with a robot controller over an Ethernet or serial link. Writing programs Program using a PAC editor. For further details on programs, please refer to the programming manual. The editor provides the following functions.
Chapter 2 Basic Functions and Operational Flow 2.2 Steps in Writing Robot Programs The following shows the WINCAPS III work flow for writing a program and validating its operation. Step 1 Load WINCAPS III. Step 2 Create a project. Step 3 Write robot program. Step 4 Teach operation positions. Step 5 Compile executables. Step 6 Send data to robot controller. Step 7 Test program operation (debug). Step 8 Back up data. Step 9 Exit WINCAPS III. Step 1: Load WINCAPS III. Launch WINCAPS III.
Chapter 2 Basic Functions and Operational Flow Step 5: Compile executables. The compiler converts project programs to executables for execution by the robot controller. For further details, refer to Chapter 5 "Writing Programs" (P. 70). Step 6: Send data to robot controller. Connect to the robot controller and send it the data necessary for robot operation. For further details, refer to 4.7 "Link with Robot Controller" (P. 59). Step 7: Test program operation (debug).
Chapter 2 Basic Functions and Operational Flow 2.3 User Levels and Access Rights WINCAPS III's two user access levels, operator and programmer, ensure data security by limiting access to advanced functionality and sensitive data. The user specifies which on the log-in screen when WINCAPS III first starts. For further details on logging in, refer to 3.1 "Loading WINCAPS III" (P. 13). Operator level Level enabling PAC program creation / editing and other basic operations.
Chapter 3 Starting Up/Shutting Down 3.1 Loading WINCAPS III Operating procedure 1. 2. On the Start menu, choose All Programs|DENSO FACTORY WARE|WINCAPS III|WINCAPS III to display the dialog box for logging in. Specify user level and password. The user level choices are 0-operator and 1-programmer. The latter requires a password. 3. Press the Log in button to load WINCAPS III.
Chapter 3 Starting Up/Shutting Down 3.1.1 WINCAPS III basic settings Operating procedure 1. 2. Choose Tool|Option to display the dialog box for configuring such software options. Click the tab containing the desired configuration option. The dialog box has the following three tabs. General tab A B C D E F A: Project This field specifies a folder for saving projects. This becomes the default folder for saving new projects. B: When loading it, the last window arrangement is restored.
Chapter 3 Starting Up/Shutting Down Editor tab A B C D A: Font This area specifies the font type and size for Program edit windows. B: Code color This area specifies the colors for highlighting text in the Program edit window. Select the text type, then choose text color with Front color and surrounding color as Back color. C: Tab This area specifies the tabs for Program edit windows.
Chapter 3 Starting Up/Shutting Down Arm tab A B C D A: Moving tracks Sets the point numbers for the robot operation trajectory displayed in the Arm 3D view window. B: BackColor This sets the Arm 3D View window background color. C: Show message when collision is detected Select to display the Collision dialog box when a collision is detected. D: Type to display collision position Choose the method of displaying the robot's position when a collision occurs. 3.
Chapter 3 Starting Up/Shutting Down 3.1.2 Programmer password Using WINCAPS III at the programmer level requires logging in with a password. Register one with your first login. Note Passwords are case sensitive. 3.1.2.1 Registering a password Operating procedure 1. 2. 3. In the Login WINCAPSIII dialog box, choose 1-programmer as the user level to enable password input. Enter the desired password and press the Login button to display the dialog box for changing the password.
Chapter 3 Starting Up/Shutting Down 3.1.2.2 Changing the password Operating procedure 1. Choose Tool|Re-Login to display the dialog box for logging in. 2. Press the Chg. PW button to display the dialog box for changing the password. 3. 4. Enter three passwords: the current password in the first field and the new one in the other two. Press the OK button to update the password.
Chapter 3 Starting Up/Shutting Down 3.2 WINCAPS III Screen Descriptions 3.2.1 Screen components WINCAPS III uses the following general screen layout. Note WINCAPS III offers the user considerable flexibility in rearranging screen elements to match the needs at hand. For further details on screen customization, refer to 3.2.6 "Screen operations" (P. 41). The screen shots in this document use the default layout, so may not necessarily match what appears on your screen.
Chapter 3 Starting Up/Shutting Down B: Toolbars This area displays the following six toolbars that provide user alternate access to most menu items with button icons. • Standard toolbar • Edit toolbar • View toolbar • Link Mode toolbar • Debug toolbar • Log toolbar For further details on toolbars, refer to 3.2.3 "Toolbars" (P. 30).
Chapter 3 Starting Up/Shutting Down 3.2.2 Menu items The following describes each WINCAPS III menu item. 3.2.2.1 File menu New Project This is for creating a new project. Open Project... This is for opening an existing project. Close Project This closes the currently open project. If the project has program edits or other unsaved modifications, a dialog box asks whether you wish to save them. Save Project This saves the currently open project.
Chapter 3 Starting Up/Shutting Down 3.2.2.2 Edit menu Undo This cancels the last operation, returning edits to the preceding state. Redo This repeats the operation canceled with Undo. Cut This moves to the Windows clipboard and deletes the contents selected in the Program edit window. Copy This copies to the Windows clipboard the contents selected in the Program edit window. It does not delete the original. Paste This copies the clipboard contents to the selected portion of the Program edit window.
Chapter 3 Starting Up/Shutting Down Command List Selecting this automatically displays a scrolling list of commands available with auto-completion at the cursor position. Insert Command This is for inserting a command selected from the command input list at the cursor position in the predetermined syntax. 3.2.2.3 View menu Project View This displays the Project view window. Program List This displays the Program list window. Arm View This displays the Arm view window.
Chapter 3 Starting Up/Shutting Down 3.2.2.4 Project menu Add Program... This is for creating a new program and adding it to the current project. Add Existing File... This submenu is for copying the selected program into the current project folder to add it in the project. Enable/Disable This submenu controls usage of a file within the project. Enabled programs can be executables. Folder This submenu is for creating, renaming, and importing folders. Programs of other projects can be imported as folders.
Chapter 3 Starting Up/Shutting Down 3.2.2.5 Connect menu Transfer Data... This is for exchanging data with the robot controller. Connect Setting This opens the Property dialog box to the Communications settings tab, the one for configuring the communications link for the project. Monitor Communication This submenu specifies the connection to the robot controller. • Offline: WINCAPS III operates alone, without connecting to the robot controller.
Chapter 3 Starting Up/Shutting Down 3.2.2.6 Debug menu Note The Debug menu is available in WINCAPS III connected with the robot controller version 2.7 or later. Simulation mode Start the simulation function. This enables checking of cycle time or operation posture. Start all supervisor tasks This starts all supervisory tasks. Stop all supervisor tasks This stops all supervisory tasks. Start a task This starts the selected program. Step in This executes one program step.
Chapter 3 Starting Up/Shutting Down Set line to start/stop log One way to specify a logging range is to select it in the Program edit window. Another is to specify starting or stopping for the current line in the Program edit window. Get Single Trace Log This displays the trace log for the specified program, a listing of the program steps executed and their execution times.
Chapter 3 Starting Up/Shutting Down 3.2.2.8 Tool menu DIO Command Viewer This displays the DIO command viewer dialog box for displaying standard command patterns or those with mini I/O assignments. During debugging, this dialog box also allows batch setting of command patterns for dummy I/O. Controller extension This is available only in the online monitoring mode. Simple position correction Robot position can be corrected easily with WINCAPS III.
Chapter 3 Starting Up/Shutting Down 3.2.2.9 Window menu Close Window This closes the program or header file selected in the Program view area. Close All Windows This closes the following Program view window types: Arm 3D view, Vision monitor, and Program edit. Cascade windows This stacks all windows of the above types so that they overlap each other, with the title bars visible, in the Program view area. Tile Horizontally This lines up all windows of the above types horizontally in the Program view area.
Chapter 3 Starting Up/Shutting Down 3.2.3 Toolbars The toolbars provide user alternate access to most menu items with button icons. Alternatively, you can save screen real estate by turning them off, all or individually. There are six of these toolbars. The following lists map their buttons to the corresponding menu items. Standard toolbar A B C D E F G H A: New Project B: Open Project... C: Save Project D: Save E: Cut F: Copy G: Paste H: Delete I: Find...
Chapter 3 Starting Up/Shutting Down View toolbar A B C D E A: Project View B: Program list C: Arm view D: Arm Modeling E: Arm operation Communication mode toolbar A B A: Transfer Data B: Monitor Communication Debug toolbar A B C D E F G A: Simulation mode B: Start a Task C: Step In D: Continue All Tasks E: Halt F: Step-stop G: Cycle-stop H: Program Reset I: Reset All Tasks J: Toggle Breakpoint H I J Log toolbar A B C D E F G A: Set/Clear Control
Chapter 3 Starting Up/Shutting Down 3.2.4 Docking view The Docking view area provides tab interfaces for switching between members of windows that the user has "docked" (grouped together). For further details on docking procedures, refer to 3.2.6 "Screen operations" (P. 41). Docking is available for the following window types. • 3.2.4.1 "Project view" (P. 32) • 3.2.4.2 "Program list" (P. 33) • 3.2.4.3 "Arm modeling" (P. 34) • 3.2.4.4 "Arm operation" (P. 34) • 3.2.4.5 "I/O window" (P. 35) • 3.2.4.
Chapter 3 Starting Up/Shutting Down C: button These buttons are for moving files and folders up and down the file hierarchy. : Move the selected item up one position. : Move the selected item down one position. D: Display files This button opens a folder, displaying the files inside. E: List hierarchy This button lists all files and folders in the project hierarchy. Double-clicking a program, header, or teach pendant (TP) panel file opens it. 3.2.4.
Chapter 3 Starting Up/Shutting Down 3.2.4.3 Arm modeling This window is for arranging objects in the Arm 3D view window. For further details on modeling in the Arm 3D view window and Arm modeling, please refer to Chapter 6 "Arm 3D View Window" (P. 92). 3.2.4.4 Arm operation This window is for moving the simulated robot in the Arm view window. For further details on operating the robot in the Arm view window, please refer to Chapter 6 "Arm 3D View Window" (P. 92).
Chapter 3 Starting Up/Shutting Down 3.2.4.5 I/O window This window type is for monitoring I/O and editing. For further details on monitoring I/O, please refer to Chapter 7 "Online Functions" (P. 107). 3.2.4.6 Variables window This window type is for displaying global variables. Listing or editing is possible. For further details on monitoring global variables, please refer to Chapter 7 "Online Functions" (P. 107). 3.2.4.
Chapter 3 Starting Up/Shutting Down 3.2.4.9 Watch window This window type is for monitoring the values of variables on the watch list. For further details on watch lists, please refer to Chapter 7 "Online Functions" (P. 107). 3.2.4.10 Output window This window type displays progress and error messages from the syntax check and compiler. For further details on such output, please refer to .5.8 "Making Executables" (P. 88) 3.2.4.
Chapter 3 Starting Up/Shutting Down 3.2.4.12 Vision tool window This window type is for configuring visual functions. For further details on this window, please refer to Chapter 9 "Vision Manager" (P. 142).
Chapter 3 Starting Up/Shutting Down 3.2.5 Program view This displays the following window types: Arm 3D view, Vision monitor, and Program edit. If there is a robot controller on line, the list expands to include Task and Log windows. This area provides a tab interface for switching windows. This area displays the following window types. • 3.2.5.1 "Program edit window" (P. 38) • 3.2.5.2 "Arm 3D View" (P. 39) • 3.2.5.3 "Vision monitor window" (P. 39) • 3.2.5.4 "Log window" (P. 40) 3.2.5.
Chapter 3 Starting Up/Shutting Down 3.2.5.2 Arm 3D View This 3D window is for checking robot operation. Adding other equipment and devices allows for collision detection. 3.2.5.3 Vision monitor window This window displays the image from a camera. For further details on this window, please refer to Chapter 9 "Vision Manager" (P. 142).
Chapter 3 Starting Up/Shutting Down 3.2.5.4 Log window If there is a robot controller on line, this displays log data. For further details on such logs, please refer to Chapter 8 "Logging" (P. 124).
Chapter 3 Starting Up/Shutting Down 3.2.6 Screen operations WINCAPS III allows flexible customization of menus, toolbars, and windows on the screen. 3.2.6.1 Moving toolbars Toolbars can be dragged anywhere on the screen. Inside the toolbar display area, they clump together to conserve space. Dragging one outside this area, however, adds a title bar. Procedure To drag a toolbar, grab its end tab or title bar (shown in red below).
Chapter 3 Starting Up/Shutting Down 3.2.6.2 Changing window layout WINCAPS III's flexible layout allows you to freely move its windows anywhere within its application window and to snap them vertically or horizontally to an edge within the application window or just the selected area. The Docking view area provides tab interfaces for switching between members of windows that the user has "docked"—stacked together within their own display area.
Chapter 3 Starting Up/Shutting Down (2) Snapping windows This operation moves the selected window up against the specified edge. The first step is grabbing the window's title bar to display the snap arrow icons. These offer two choices: snap within the application window or just within the current area. Snapping within application window Your first choice is to move windows to an edge of the application window. Operating procedure 1. Start dragging the window's title bar to display the snap icons.
Chapter 3 Starting Up/Shutting Down 2. Drop the blue window silhouette on an icon in the outer set to move the window against the corresponding edge of the application window.
Chapter 3 Starting Up/Shutting Down Snapping within current area Alternatively, you can snap within the Program view, Docking view, or other area. Operating procedure 1. 2. Start dragging the window's title bar to display the snap icons. Drop the blue window silhouette on an icon in the inner set to move the window against the corresponding edge of the current area.
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Chapter 3 Starting Up/Shutting Down (3) Minimizing Docking view area This operation minimizes the Docking view area to maximize the Program view area. Operating procedure 1. Click the icon on the right end of the Docking view title bar. The operation minimizes the Docking view area, showing the tab instead as shown below.
Chapter 3 Starting Up/Shutting Down 2. To temporarily display the minimized window in the Docking view area so that it overlaps the Program view area as shown below, click the tab shown in step 1. Note • To minimize all windows in the Docking view area, select Window|Hide all. • To restore a minimized window in the Docking view area to the original size, display the minimized window and click the icon on the right end of the title bar.
Chapter 3 Starting Up/Shutting Down 3.3 Quitting WINCAPS III Operating procedure 1. Choose File|Exit to quit the program. Note If a project is already being edited, the confirmation dialog appears. The edited changes can be selected and saved by pressing Show extra information. Save button Overwrites the project. Don't Save button This button deletes the edited changes. Cancel button Cancels the quitting procedure and reverts to the previous WINCAPS III screen.
Chapter 4 Creating a Project 4.1 Overview WINCAPS III manages the programs, parameters, variables, and other data for each robot as a separate project. 4.1.1 Folders A project uses the following file hierarchy. Project folder A Project file B Project data folder C Backup folder D Modeling data folder E Remote files folder F Source files folder G A: Project folder This holds all files for the project. Its name becomes the project name. B: Project file This file, with file extension .wpj.
Chapter 4 Creating a Project 4.2 Creating a New Project WINCAPS III provides a wizard for creating a new project. New projects are created using the following two methods. • Select robot type manually for creating a new project This method can be used when the robot is not linked. Used for creating projects in advance of robot installation (when designing equipment, etc.) Match the settings with the controller to link to. Errors will occur during linking if the settings do not match.
Chapter 4 Creating a Project 2. Follow the wizard's instructions to configure the project. There are six items to specify in the case of manual robot type selection.
Chapter 4 Creating a Project 4.3 Opening an Existing Project Operating procedure 1. Choose File|Open project to display the Open dialog box. Note • The following two types of files can be opened. WINCAPS III project data (File extension: .wpj) WINCAPS II project data (File extension: .spj) • If an existing project is currently edited, the confirmation dialog appears, asking whether or not to save unsaved modifications. 4.4 Saving Project The File menu offers two ways to save the current project.
Chapter 4 Creating a Project 4.5 Configuring a Project Operating procedure 1. 2. 3. Choose Project|Properties to display the property sheets for the project. Click the tab containing the desired configuration option for the settings. When configuration is complete, press the OK button. Pressing the Cancel button instead discards all changes. Note Moving to another tab does not save changes. To save your new settings, always press the OK button. The dialog box has the following five tabs. Robot info.
Chapter 4 Creating a Project Communication setting tab This specifies the communications link to the robot controller plus communications options. Ethernet Enter the robot controller's IP address. • IP address Enter the robot controller's IP address. • Specify the IP address of the local machine. If your PC has several network cards, you can specify the one to use when linking. Specify the network card's IP address. • Specify the port number of the local machine.
Chapter 4 Creating a Project Output code Sets the software version of the robot controller. Depending upon the version, the output codes of the execution program will differ. If the version specified here is different from the actual software version of the connected controller, an error will occur at the time of communication. Language mode Specifies the executable program language.
Chapter 4 Creating a Project Variable tab This specifies the number of variables used. Set it to match the number of project variables used by the robot controller. I/O tab This specifies I/O assignments and I/O options. For further details on I/O specifications / settings for each device, refer to the Option Equipment Manual.
Chapter 4 Creating a Project 4.6 Configuring Parameters Operating procedure 1. 2. Choose Project|Parameters to display the parameter configuration sheets. Click the tab containing the desired configuration option. The dialog box has the following nine tabs. • Communication tab • Program tab • Interpreter tab • I/O tab • DNet Master tab • Path. tab • Config. tab • Servo tab • Vision tab Note • Enabling the filter lists only parameters containing the specified string.
Chapter 4 Creating a Project 4.7 Link with Robot Controller WINCAPS III supports two types of links for communicating with a robot controller: • Ethernet connection • Serial (RS-232C) connection For further details, please refer to 1.5 "Connecting to Robot Controller" (P. 8) and the robot controller documentation. 4.7.1 Communications settings After connecting the link, configure it at the WINCAPS III end. For further details on configuring the robot controller, please refer to its Setting Guide.
Chapter 4 Creating a Project 3. Configure the options: timeout and number of retries. 4. 4.7.2 Press the OK button to save the new settings. Data transfers This link is for exchanging data with the robot controller. The following data is exchanged. Program Data concerning programs. There are two types of data for programs. Source file Uncompiled program data Executable file / map file Compiled program data Variable Data for all variable values. Tool/Work/Area Data on tools, work, areas.
Chapter 4 Creating a Project Vision Parameters concerning visual functions. • Vision tab Vision All visual tools data. Select Screen data settings on the Transfer data screen. Configuration All configuration data (calset values, etc.) Note Some items will not appear in the list of transferable data due to WINCAPS III settings or robot controller specifications. Operating procedure 1. Choose Connect|Transfer data... to display the bidirectional transfer dialog box. 2. Select the data source(s).
Chapter 4 Creating a Project 3. Press the Send or Receive button to display a confirmation dialog box. 4. Press the Yes button to start transferring data and display a progress screen. Note Receiving data from the robot controller updates the WINCAPS III project data, nullifying any program updates in the interim.
Chapter 4 Creating a Project 4.7.3 Arm parameter data transfer The arm parameters contain a CALSET value deciding the robot's particular position data. CALSET values are included when transferring arm parameters from the robot controller to WINCAPS III, but not vice versa in order to prevent overwriting. If you wish to transfer arm parameter data including CALSET values to the robot controller, refer to the Robot Installation Protection Guide.
Chapter 4 Creating a Project 4.8 USB Tool Instead of direct data transfer between a computer running WINCAPS III and the robot controller, a USB memory is available as a media for data exchange between them. 4.8.1 Reading data from USB memory Follow the FDTool wizard to read data from a USB memory. Operating procedure 1. Select Tool|USB|Read to start the FDTool wizard. Read data from drive This field specifies a drive for reading a USB memory.
Chapter 4 Creating a Project 2. Click the Next button. Select a target folder This area specifies folders in the USB memory to read data from them. 3. Click the Next button. Select target data Selecting these check boxes specify data to read from the USB memory. To read all data, click the Select All button.
Chapter 4 Creating a Project 4. Click the Next button to read the specified data from the USB memory. Upon completion of reading, the following dialog appears.
Chapter 4 Creating a Project 4.8.2 Writing data into USB memory Follow the FDTool wizard to write data into a USB memory. Operating procedure 1. Select Tool|USB|Write to start the FDTool wizard. Write data into drive This field specifies a drive for writing into a USB memory. ROBOTPRJ (Root) This radio button is for writing the entire project file into a USB memory. Following folder This radio button is for specifying a folder in the project and writing data held in the folder into a USB memory.
Chapter 4 Creating a Project 2. Click the Next button. Select target data Selecting these check boxes specify data to write into the USB memory. To write all data, click the Select All button. 3. Click the Next button to write the specified data into the USB memory. Upon completion of writing, the following dialog appears.
Chapter 4 Creating a Project 4.9 Print Project data of various types can be printed out. Operating procedure 1. Choose File|Print to display the Print dialog box. 2. Select the data you wish to print and press the Preview button. Check the preview and then make your print out. Note Printing out log data can result in vast amounts of printout pages, hence be sure to check the number of pages using the preview function first before printing.
Chapter 5 Writing Programs 5.1 Creating a New Program Operating procedure 1. 2. Choose Project|Add Program... to display the dialog box for creating a new program, header file, or teach pendant (TP) panel. Specify the type. There are three choices. • Program (*.pac) • Header (*.h) • Panel designer (*.pnl) The box to the right automatically displays the corresponding template. 3. Specify a name (title) for the program. The default is to use this program name as the file name.
Chapter 5 Writing Programs 5.2 Leveraging Existing Files In practice, a key technique is to recycle files from other projects. There are three file types. • Program file (*.pac) • Header file (*.h) • Teach pendant panel (*.pnl) Operating procedure 1. 2. Choose Project|Import... to display an Open dialog box. Select the file to add and press the Open button to add it to the Project and Program list windows. Note • The folder for the file is the one currently selected in the Project window.
Chapter 5 Writing Programs 5.3 Saving a Program The following procedure saves edits to the current program. The File menu offers two ways to save modifications to the file in the selected Program edit window. • Save updates the original file. • Save As... saves them under a different name. Only the latter warrants detailed description. Operating procedure 1. 2. Choose File|Save As... to display a Save As dialog box.
Chapter 5 Writing Programs 5.4 Editing a Program Double-clicking a program or header file in the Project or Program list window opens it for editing in a Program edit window. Note • If the Project window does not show file names, press its Display files button. • The Program view area provides a tab interface for switching between files. Alternatively, tiled and other layouts display multiple files for direct selection. WINCAPS III provides the following program editing functions.
Chapter 5 Writing Programs 5.4.1 Finding and replacing strings You can specify the range and method to search and replace the character string. Target items This field specifies the range of the target to be searched/replaced. Choose Project to specify the file type. Option You can specify various search methods. You can also select the files when executing Replace all. Note Double-clicking a line in the Search results window displays the corresponding program line.
Chapter 5 Writing Programs 5.4.2 Other editing functions 5.4.2.1 Jump to... This is for moving the cursor to a line, specified by number, in the Program edit window. Operating procedure 1. 2. 3. Choose Edit|Jump to... to display the eponymous dialog box. Enter the line number. Press the OK button to move the cursor to that line. 5.4.2.2 Comment out This submenu command changes the lines selected in the Program edit window into comments. Operating procedure 1. 2. Select the lines to comment out.
Chapter 5 Writing Programs 5.4.2.3 Indent This submenu command indents the lines selected in the Program edit window into comments. Operating procedure 1. 2. Select the lines to indent. Choose Edit|Indent|Indent to indent them. Note To reverse this operation, select lines and choose Edit|Indent|Unindent. 5.4.2.4 Bookmark This submenu command is for setting a bookmark on the line under the cursor, or moving the cursor to a bookmark.
Chapter 5 Writing Programs (3) Clearing bookmarks There is a menu command for clearing all bookmarks. Operating procedure 1. Choose Edit|Bookmark|Clear Bookmarks. 5.4.2.5 Command candidate function As you type a command, a command list will appear. (Ctrl + Space key will also display the command list) The command list will automatically scrolls to the first match. Typing CA, for example, highlights CALL. Selecting a command on this list displays a functional description to the right.
Chapter 5 Writing Programs 5.4.2.6 Insert command function The Insert command submenu lists commands by function. Selecting a command on this list inserts it into the program being edited. Operating procedure 1. 2. Move the cursor to the insertion position. Choose Edit|Command Input to list the commands by function. Note Choosing a command inserts it with default values for any command parameters. Edit these values without worrying about parameter syntax.
Chapter 5 Writing Programs 5.4.2.7 Command builder function This is for command input through Command builder at the cursor point in the program being edited. Necessary parameters can also be input, allowing correct parameter statements. You can also select from command searches or past commands entered. Help can be referred to for the commands shown, enabling quick command input. Programs created by users in the project are also displayed, call programs can also be created.
Chapter 5 Writing Programs 5.4.2.8 Insert registered character string Allows registration of character strings commonly used in program editing for fast insertion. (1) Register character string Operating procedure 1. 2. 3. (2) Press the desired key to which the selected string should be assigned. Choose Edit|Register string. Press the desired key to which the selected string should be assigned. Insert registered character string Operating procedure 1. 2. 3.
Chapter 5 Writing Programs 5.4.2.9 Add comment function Automatically adds comments to explain the applications of the variables and I/O during program editing. Comments are added with "'//" placed after them. If a further comment is added after changing the application description of the I/O and variables, the content from "'//" onwards is updated.
Chapter 5 Writing Programs 5.5 Program Bank The program bank allows robot applications to share library programs/functions originally written for one specific robot or application. Note Program samples are already preset in the program bank. For further details on program samples, please refer to Programming Manual II. 5.5.1 Adding a program to a project This adds a program from the program bank to a project. Operating procedure 1. Choose Project|Program Bank to display the eponymous dialog box.
Chapter 5 Writing Programs 3. 5.5.2 Press the Add program button to add the program to the folder selected in the Project window. Other programs within the project can then access this program with CALL statements. Adding a program to the program bank The following procedure adds a user program to the bank register. Operating procedure 1. 2. Choose Project|Program Bank to display the dialog box. Select the category.
Chapter 5 Writing Programs 4. Enter a title for the program and press the OK button. 5. Fill out the two tabs. For the Source tab, copying the contents of the corresponding Program edit window is much faster than retyping the program. 6. Press the Update button. This registers it in the program bank. 5.5.3 Adding a category Operating procedure 1. 2. 3. Select the root category, Bank. Press the Add category button to display the eponymous dialog box.
Chapter 5 Writing Programs 5.6 Editing a Teach Pendant (TP) Panel A TP panel represents the interactive image displayed on the screen of the teach pendant attached to the robot controller. 5.6.1 Editing a TP panel To edit a TP panel (*.pnl), double-click it in the Project or Program list window to open it in the Panel Designer window. Note • If the Project window does not show file names, press its Display files button.
Chapter 5 Writing Programs 5.7 Folder Functions Folders hold the key to hierarchical management of the program files in a project. Grouping program files into folders by function or type adds structure that makes overall operation easier to understand and encourages compartmentalization, enhancing program portability to other projects. 5.7.1 Creating a folder Operating procedure 1. Select the parent, the folder in the Project window to hold the new folder. 2.
Chapter 5 Writing Programs 5.7.2 Importing an entire folder Importing a folder is much faster than importing the files one at a time. Operating procedure 1. 2. 3. Select a folder in the Project window. Choose Project|Folder|Import to display the Browse folders dialog box and specify the folder to import. Press the OK button to copy the selected folder as well as the files inside to the target folder selected in the Project window.
Chapter 5 Writing Programs 5.8 Making Executables 5.8.1 Checking syntax The following procedure runs a syntax check on the selected program. Note The target is the file in the currently active Program edit window. Operating procedure 1. 2. Select the program to check. Choose Project|Check Syntax to run the check and display the results in an Output window. A syntax error triggers an error message consisting of an indication, note in the Output window.
Chapter 5 Writing Programs 5.8.2 Making executables This batch operation applies to all files in the project. Note The update is conducted for all programs registered in the project. Operating procedure 1. Choose Project|Compile to update the executables for the project. An Output window in the Docking View window tracks progress and error messages from the compiler. An error triggers an error message consisting of an indication, in the Output window.
Chapter 5 Writing Programs 5.9 Simulation function Cycle time, trajectory, posture, and so on can be checked by running a created program on the PC. In addition, the program can be debugged because variables can be monitored during execution and edited. 5.9.1 Grammar check of simulation function Grammar check of the selected program is performed when entering the simulation mode.
Chapter 5 Writing Programs 5.9.
Chapter 6 Arm 3D View Window The Arm 3D view window displays, in three dimensions, the robot's current position and attitude. Simulation allows the efficient and safe development of robot control programs without having to connect an actual robot. During remote debugging, the robot arm on the screen responds to program commands. 6.1 Screen Descriptions 6.1.1 Arm 3D view This window displays, in three dimensions, the robot's current position and attitude.
Chapter 6 Arm 3D View Window D: Arm 3D view tool bar D-1 D-2 D-3 D-4 D-5 D-6 D-7 D-8 D-1: Rotate This rotates the view on the screen using a mouse. D-2: Fixed view This fixes the current view on the current position. D-3: Rotation on Z-axis This rotates the view on Z-axis using a mouse. (Default) D-4: Rotate: screen bisection This rotates the view on the horizontal/vertical axis. D-5: 3D view teach This teaches by clicking the object.
Chapter 6 Arm 3D View Window Moused-based viewing operations • Rotate: Left button + drag • Pan: Left / right button hold + drag • Zoom: Right button + drag Moused-based robot / object operations • Select: Left-click • Move object view to the center of the screen: Shift + left-click • Object full screen display: Alt + left-click • Move: Ctrl + Left-click • Move in a straight line: Coordinate axis Left button + drag • Rotate: Ctrl + coordinate axis Left button + drag 94
Chapter 6 Arm 3D View Window 6.1.2 Arm modeling This window is for adding tools, work pieces, obstacles, and other objects to the equipment layout in the Arm 3D view window using 3D data from either the built-in simple modeling software or external sources. A C B D E G J F I H K A: Object tree This shows the object hierarchy behind the Arm 3D view. Right-clicking anywhere in the object tree area displays the following context menu. Add node This is for adding a node underneath the selected object.
Chapter 6 Arm 3D View Window Children nodes... All objects below the selected node can be expanded/collapsed, displayed / not displayed, interference checked / not checked. Property This displays the property sheets for the selected object. B: Add buttons These add an object of the shape indicated on the button. There are six shapes available. C: Node button This adds a node. D: External button This reads in 3D data from an external source. E: Name This field specifies a name for the selected object.
Chapter 6 Arm 3D View Window 6.1.3 Arm operation This window is for moving the simulated robot in the Arm 3D view window. A B C D E F A: Ope. mode Select movement mode. • Axes: operates all axes. • XY-bisection: moves according to the selected work coordinates. RX/RY/RZ rotate around the work coordinates centered on the tool origin point. • Tool: moves according to the selected tool coordinates. RX/RY/RZ rotate around the work coordinates centered on the tool origin point.
Chapter 6 Arm 3D View Window 6.2 Simple Modeling The built-in tool is for quick and dirty modeling of the pallet bench, pallet, work, and other objects. The Model tree window presents a hierarchical display of the objects in the Arm 3D view. The top node is Root, which starts out with the following predefined nodes. Nodes are virtual items to combine multiple objects and name them. Work group This group contains the coordinates for eight work pieces, Work0 to Work7.
Chapter 6 Arm 3D View Window Adding nodes A node may be added anywhere in the object hierarchy. Select a node on the object tree, right-click, and choose Add node from the context menu that appears to add a new node as a child of the selected one. Note Grouping the pallet, pallet bench, and other objects under a common node, for example, enables copying and pasting them together as a single group. 6.2.
Chapter 6 Arm 3D View Window As our example, let's start with the pallet bench. Operating procedure 1. 2. 3. 4. Choose View|Arm View to display the modeling window. Specify where to add to the model by selecting a node to be the parent. Press the (Box) button in the Model tree window to add a box to the Arm view window. Modify the object to give it a name and a color.
Chapter 6 Arm 3D View Window 5. Change the object's position and size. 6. Add two more boxes to complete the pallet bench. Note Here, it is faster to copy and paste the above box as the second leg and then again as the starting point for the top.
Chapter 6 Arm 3D View Window Note The way the object is displayed can be altered with the Model tree Property button. Pressing the Property button displays the dialog box below. Display setting Sets object display properties. Related axis Settings for objects moving in relation to the added axes in the case of projects with added axes or SMT7 controller. Set the axis, movement and movement units. Collision detection setting Detection level: Specifies the sensitivity for detection of collisions.
Chapter 6 Arm 3D View Window 6.2.2 Saving objects Saving objects as modeling data files allows immediate reuse in other projects. Operating procedure 1. 2. 3. Select the object or node to export. Right-click and choose Export data from the context menu that appears to display the Browse folders dialog box. Select the target folder and press the OK button. Note All objects contained in the selected nodes / objects are also saved.
Chapter 6 Arm 3D View Window 6.2.3 Importing objects The following is the procedure for reading in modeling data exported from another project. Operating procedure 1. 2. 3. Select the parent node for the data. Right-click on the object tree and choose Read shape data from the context menu that appears to display the dialog box for selecting a file to import. Select a file and press the OK button. Selection is limited to shape files (*.pt3).
Chapter 6 Arm 3D View Window 6.3 Importing 3D Data The following is the procedure for adding an object using 3D data from an external source. The following formats are supported. • Directx file (*.x) • VRML 2.0 file (*.wrl) Note WINCAPS III does not support the VRML 1.0 format. Use VRML 2.0 (or VRML 97) format data. Operating procedure 1. 2. Select the parent node for adding the object.
Chapter 6 Arm 3D View Window 3. Select a file and press the OK button. The default format is DirectX. For VRML data, switch the file type to VRML (*.wrl). The corresponding object appears in the Arm 3D view. Note The units of the data scale may differ according to the software on which the 3D data was created. Select the appropriate unit and import. Imported 3D data may display a mirror image. Enter a negative value in the Scale box to display a normal image.
Chapter 7 Online Functions 7.1 Overview These functions are for monitoring robot controller variables, I/O, and other aspects of operation and for checking robot controller program operation under WINCAPS III control. They cover all phases of robot application development.
Chapter 7 Online Functions 7.2 Monitoring For further details on connecting to a robot controller, refer to 1.5 "Connecting to Robot Controller" (P. 8) and 4.7 "Link with Robot Controller" (P. 59). 7.2.1 Initiating monitoring Operating procedure 1. Choose Connect|Monitor Communication|Monitoring (online) to initiate monitoring. Note This menu command is only available when the robot controller is offline. It is not available during debugging (online). 2. Wait for monitoring to start.
Chapter 7 Online Functions 7.2.2 Monitoring variables There are three window types for monitoring variables. 7.2.2.1 Adding variables to the watch list There are two ways to monitor variable's contents: directly selecting it to temporarily display its value as pop-up tip text and adding it to the Watch list. Operating procedure 1. Double-click a program in the Project or Program list window to display that file in the Program view area.
Chapter 7 Online Functions 7.2.2.2 Confirm the registered watch items. This window displays variables from a user configurable list. Operating procedure 1. Choose View|Watch to display this window in the Docking view area. Task This displays the program name. Variable name This displays the registered variable names. Value This displays the variable values. Type This displays the variable types. Log Select Valid / invalid for the log. Select Valid if a log is to apply. 7.2.2.
Chapter 7 Online Functions No. Displays the variable numbers. Value Displays the value. Application The user can enter the application. When the Add comment function is in use, text input for the Application is added to the program as a comment. Macro name Enter the name of macros usable in the project. Smart check box Only those variables checked will be displayed. 7.2.2.4 Checking local variables This window type displays local variables for the currently selected program. Operating procedure 1.
Chapter 7 Online Functions 7.2.3 Monitoring I/O The I/O window shows the current I/O states. Operating procedure 1. Choose View|I/O Window to display this window in the Docking view area. Jump Displays the I/O of the specified number. Smart View Displays only I/O with a check in the Smart column. Oscilloscope display button Turns on/off the Oscilloscope display. Dummy input button Dummy input is possible for I/O with a check in the Dummy column.
Chapter 7 Online Functions Smart Press the Smart view button to display only I/O with a check. Oscilloscope Displays whether the I/O is on/off in oscilloscope fashion. On/off changes can be checked with a timeline. 7.2.4 Monitoring robot The Arm 3D View window shows the robot's current attitude. The trajectory of the robot's hand movements can be displayed. This trajectory display can be operated by choosing Arm|Movement history. 7.2.
Chapter 7 Online Functions 7.2.6 Validate the controller function extension This enables validation/invalidation of controller function extensions from WINCAPS III. Select Tool|Controller function extension in online (monitor) mode to open the Controller function extension dialog box. Enter the password number for the function to be extended and press on the Add button to validate it. To invalidate them, enter the validation password number and press the Delete button.
Chapter 7 Online Functions 7.3 Using Debugging Robot controller version 2.7 or later For further details on connecting to a robot controller, refer to 1.5 "Connecting to Robot Controller" (P. 8) and 4.7 "Link with Robot Controller" (P. 59). 7.3.1 Initiating debugging First the robot controller must satisfy the following conditions. • The mode selector switch (physical switch) on the teach pendant or mini-pendant must be in its AUTO position. • The communications link must be properly configured.
Chapter 7 Online Functions Caution • The WINCAPS III debugging functions are for running robot programs and controlling operation from the computer. To ensure safety, always stay within reach of an Emergency stop button on the teach pendant, the mini-pendant, or the equipment. • Never debug over a link that puts the equipment out of sight of the operator at the computer. Operating procedure 1. Choose Tool|Option and select the Enable online-debug mode check box on the General tab.
Chapter 7 Online Functions Stop button The teach pendant or mini-pendant also display a Debugging status screen. Automatic aborting of debugging WINCAPS III and the robot controller automatically switch to offline operation if any of the following situations arises. • Someone switches the pendant's mode selector switch away from its AUTO position. • They detect severance of the link between them. • They detect severance of the robot controller's link with the teach pendant or mini-pendant.
Chapter 7 Online Functions 7.3.2 Launch the program from WINCAPS III. In addition to monitoring, WINCAPS III runs and debugs programs stored inside the robot controller. Operating procedure 1. Double-click the program to execute in the Project or Program list window to display it in the Program view area. 2. Choose Debug|Start a Task to display a confirmation dialog box. 3. Select an option and press the OK button to run the robot program as specified.
Chapter 7 Online Functions Caution The WINCAPS III buttons are useless if the computer crashes or the communications link is lost. To ensure safety, always stay within reach of an Emergency stop button on the teach pendant, the minipendant, or the equipment. 7.3.3 Controller settings Debugging allows WINCAPS III to modify the robot controller's operating settings. The following settings are accessible. • Motor These control power to the corresponding motor.
Chapter 7 Online Functions 7.3.4 Input signal dummy operation Operation of the program can be checked even without peripheral devices linked by dummy alteration of the I/O input signal. 7.3.4.1 Configuring dummy I/O Dummy operation of the I/O requires selection of the input signal to be operated. Operating procedure 1. Choose View|I/O Window to display this window in the Docking view area. 2. Switch on the Dummy check box for the dummy operation input signal.
Chapter 7 Online Functions If several input signals are set, specify the range by dragging and combine them by selecting Enter dummy check or Remove Dummy check using the mouse right-button menu. 3. Press the Dummy input button to reflect the dummy I/O settings in the robot controller. Press the Dummy input button again to remove the robot controller dummy I/O settings.
Chapter 7 Online Functions 7.3.4.2 Input signal on/off operation Press the Status lamp of the input signal to be turned on/off. When lit green it is on, when gray it is off. 7.3.4.3 Exclusive input signal on/off operation (DIO command viewer) In debugging exclusive input signals can also be dummy operated. (With monitoring non-exclusive input signals can be dummy operated.
Chapter 7 Online Functions 2. Select desired items from the pull down lists for Command field and Data field 1, and input appropriate values in Data field 2. Odd parity is automatically set. 3. Press the Command set button The on/off status of the Command field, Data field 1, Data field 2 and Odd parity are reflected in the robot controller. 4. Press the Strobe button. The robot controller strobe signal will turn off then on again, and the command will be executed.
Chapter 8 Logging Various types of logs can be recorded for robot operations and viewed or saved. This data can be put to use to search out the causes of errors and remedy them to shorten cycle time. Recording times, saving fields and acquisition methods differ according to the type of log. The number of logs recordable is decided by log types. The number and intervals (fineness) of control logs and servo data logs can be set. The three types of memory fields for recording log data are as follows.
Chapter 8 Logging 8.1 Log record timing Logs are recorded at four different times as follows. • Regular recording Error logs and operational logs are regularly recorded. 1,000 logs can be recorded for each, with the latest 1,000 being retained. • Manual recording by WINCAPS III or the teach pendant. Recording can be started and stopped manually using WINCAPS III or the teach pendant. • Recording by program commands Settings are available to start / stop log records or clear them in programs.
Chapter 8 Logging 8.1.1 Recording by program commands The timing when logs are recorded can be controlled by program commands, the teach pendant, and WINCAPS III for control / trace / single trace / variable / servo single axis data logs. These logs use a memory field called a ring buffer. The ring buffer has a set capacity and overwrites its oldest data with the latest. By using the three following commands logs can be retained for program-specified areas.
Chapter 8 Logging 8.1.2 Error trigger log A record log is saved in flash memory when a specified error occurs. Error logs, operational logs, control logs and trace logs (multi) are available. This is used when searching for the causes of errors. Errors specifiable by the error trigger are of two types: those specified by error level and those of a particular error code.
Chapter 8 Logging 8.2 Acquisition of log data Log data retained in the controller can be retrieved by the following methods. • Data transfer in WINCAPS III Log data checked in the robot controller is retrieved into WINCAPS III in the data transfer screen. • Transfer using the WINCAPS III log screen Log data is received and displayed by pressing the Receive button in the log screens displayed by WINCAPS III.
Chapter 8 Logging 8.2.1 Log acquisition settings Some logs contain multiple fields for saving log data. You can specify from which field you will acquire log data with WINCAPS III. Under default (standard) settings the error and operation logs are acquired from SRAM, and other logs from DRAM. Selecting the log data on the data transfer screen makes the Select log data source button active.
Chapter 8 Logging 8.3 Detailed description of log types 8.3.1 Error log Records errors occurring in the controller. The most recent 1,000 errors are recorded. The data is saved in SRAM. The error log is regularly updated. If you wish to secure particular log data, use error trigger logs or suchlike. Two or more types of errors may occur simultaneously, but what appears as an error message is only one of those errors.
Chapter 8 Logging 8.3.2 Operation log This is a record of controller operations. The most recent 1,000 items are recorded. The data is saved in SRAM. The operation log is regularly updated. If you wish to secure particular log data, use error trigger logs or suchlike. A A: Receive button This receives operation log data from the controller and displays it. The following items are recorded for the data. • Date / time • Client The device that was operated is recorded. (TP: Teach pendant.
Chapter 8 Logging 8.3.3 Control log A record of the robot's control, including movement of axes, current values, load ratios, etc. This is useful in the following cases. • Checking robot behavior within a specified range. • Checking the age deterioration of the robot. • Approximating the minimal load on the motor by predicting load ratios. The control log recording time can be set by specifying the recording interval and number of records.
Chapter 8 Logging D: Clear control log button This button clears the currently retained control log. CLEARLOG is executed. E: Jump to source code button This displays the source code for the selected log program. F: Reverse step in button This reproduction button plays back the control log, producing step-by-step robot motion in the reverse direction in the Arm 3D view.
Chapter 8 Logging R: Status Displays the cursor position coordinates and the cursor position values of log data displayed in the graph. The following items are recorded for the log data.
Chapter 8 Logging 8.3.3.2 Setting the control log recording interval and number You can configure the sampling interval and number of logs (control log mode) for recording control logs in the ring buffer. The number of control logs recorded (control log mode) is set in 1-24 units of 1,250 (1,250 - 30,000). The sampling interval can be set at 8/16/24/32 ms. The default setting records 10 seconds of log in the ring buffer (control log number: 1,250; sampling interval: 8 ms).
Chapter 8 Logging 8.3.4 Trace logging (single / multi) Trace logging records the program execution flow and timing. There are two types: single trace logs for recording single program flows and trace logging (multi) for recording multiple program flows. 8.3.4.1 Trace log recording operations There is no distinction in these operations between single and multi trace logging. Using these operations will record single trace logs and trace logging (multi) for all active programs.
Chapter 8 Logging 8.3.4.2 Single-trace Log This records the command flow for a single program. The time required to execute each command is recorded, giving useful data for shortening cycle time and optimizing operations. Receive log data by specifying a program. The data recorded is as follows.
Chapter 8 Logging 8.3.4.3 Trace logging (multi) Trace logging (multi) records the command line sequence executed for multiple programs running simultaneously. ABCD E A: Receive button Trace log (multi) data is received from the controller. B: Start trace log button This begins trace logging. C: Stop trace log button Logs the currently recorded log data. D: Clear trace log button Clears the trace log data. E: Jump to source code button This displays the program code for the selected log.
Chapter 8 Logging 8.3.5 Variable log This records changes (overwriting) of variables. Variables registered in Watch are recorded. You can set whether to record variable log in the Log column of the WINCAPS III Watch screen. Recording of variable logs can be operated through setting the log recording range in the WINCAPS III program screen. Command statements can also be used. The following three commands are used for these operations.
Chapter 8 Logging • PRO name, line number The name of the altered program and line number • Time since log record start [ms] • Time since controller boot [ms] 8.3.6 I/O log This records the I/O status at the start of logging and subsequent I/O changes. It is mostly used for checking the I/O status / safety circuits / drive preparations when activating equipment. Operating the recording timing can be performed manually (using WINCAPS III start buttons, etc.) and records taken from controller power on.
Chapter 8 Logging • Status Altered status • Time since log record start • Time since controller boot • Initial value INITIAL is entered in the value when logging begins. 8.3.7 Joint servo log for particular joint More detailed recording of motor control. The recording interval can be set from 1-8 ms. The following data is logged.
Chapter 9 Vision Manager 9.1 Overview The Vision Manager is for writing robot vision programs in the PAC programming language. Working interactively in the WINCAPS III environment, the programmer defines processing windows, writes search models, and creates lookup tables. WINCAPS III saves image data in .bmp format and search models in a special data format. 9.1.1 Screen descriptions Vision monitor window This window displays the image from a camera connected to the robot unit.
Chapter 9 Vision Manager Vision tool window This window is for configuring the Vision Manager. Choose View|Vision Tool to display it in the Docking view area. A B C D E F G H I J K M L N O P The following buttons switch the configuration area of this window. A: Lookup table This button is for specifying lookup tables. B: Edit macro name This button is for editing window and search model macro names. C: Calibrate This button is for measuring coordinate conversion coefficients.
Chapter 9 Vision Manager I: Area/Center of gravity/Principal axis This window is for determining three object features: area, center of gravity, and principal axis. J: Labeling This button is for finding and labeling objects in the window. K: Edge This button is for detecting edges. L: Model search This button is for pattern matching using a search model. M: Scan code This button is for reading in a QR Code symbol.
Chapter 9 Vision Manager 9.2 Configuring Vision Manager 9.2.1 Configuring lookup tables Lookup tables specify the camera's input characteristics as well as the display characteristics for the camera image and processing screens. Tables 0 to 4 are reserved for system use; 5 to 15 are user modifiable. Lookup table screen A C D E B A: Lookup table This area contains the tables specifying characteristics. (The user-modifiable ones start at number 5.
Chapter 9 Vision Manager 9.2.2 Editing a macro name This is for editing macro names and application for windows and search models. Defining macros allows programs to use substitute the macro name for its content. A macro name must be in single-byte characters. Using other characters renders that portion of the macro definition file unavailable to programs. Edit macros screen A B A: Macro scope Specify the macro's scope B: Save This button saves modifications to the macro. Operating procedure 1. 2. 3.
Chapter 9 Vision Manager 9.2.3 Calibrating The Calibration settings screen manages thirty two sets of calibration data numbered 0 to 31. A calibration operation calculates conversion coefficients by comparing monitor coordinates with their robot counterparts for three image features and saves both the source data and the coefficients under the specified number. Calibration settings screen A B C I D E F G H A: Number to edit This field specifies the set of calibration data to update.
Chapter 9 Vision Manager H: Read This button copies the robot coordinates from the specified P variable. I: Results This area displays the results of the calibration operation. 9.2.3.1 Calibration procedure The following is the calibration procedure. Operating procedure 1. 2. 3. Select three distinct points. Specify the dataset number. Enter the Vision monitor coordinates. For further details, refer to 9.2.3.2 "Entering the Vision monitor coordinates" (P. 149). 4. Enter the robot coordinates.
Chapter 9 Vision Manager 9.2.3.2 Entering the Vision monitor coordinates There are the following three ways to enter the Vision monitor coordinates. • Direct entry: Directly entering numerical values • Cursor input: Marking the corresponding point in the Vision monitor window with the cursor • Measurement input: Finding the center of gravity with image analysis The following are the procedures.
Chapter 9 Vision Manager (3) Measurement input Find the center of gravity with image analysis and enter the results as the coordinates. Operating procedure 1. 2. 3. 4. Display an image in the Vision monitor window. Specify the point to edit. Choose the Measurement input radio button to display a selection window in the Vision monitor window Move the cursor to the target coordinates with dragging or with arrow keys.
Chapter 9 Vision Manager 9.2.3.3 Specifying robot coordinates There are the following two ways to enter robot coordinates. • Direct entry: Directly entering numerical values • Copying variable: Copying coordinates from a robot P variable The following are the procedures. Note Make sure that the Vision monitor coordinates and the robot ones refer to the same point. (1) Direct entry Double-click the x-, y-, or z-coordinate cell in the Robot area of the calibration data table and enter a numerical value.
Chapter 9 Vision Manager 9.2.4 Configuring camera input The following is the procedure for copying the camera image to an image processing screen. The following screen controls data transfers from the camera to an image processing screen. A B C D A: Camera number This field specifies the image source. B: Lookup This field specifies the lookup table for adjusting the data. C: Input This field specifies the processing screen to receive the camera image.
Chapter 9 Vision Manager 9.2.4.1 Reading in an image Operating procedure 1. 2. 3. 4. Specify the source camera by number. Specify the lookup table for adjusting the image. Specify the Input screen. Press the Apply button to copy the camera image to an image processing screen.
Chapter 9 Vision Manager 9.2.5 Switching display screens The Vision monitor window switches between three types of images: camera, processing, and draw. Screen display settings screen A B C D A: Draw screen This field specifies the draw image to display. B: Camera & processing This field specifies the camera image or processing image to display. C: Lookup This field specifies the lookup table for adjusting the image. D: Apply This button switches the Vision monitor window to the specified image.
Chapter 9 Vision Manager 9.2.6 Editing a window To edit robot controller window settings, WINCAPS III must first read in their current values. Edit window settings screen A B C E F D A: Target window This field specifies the window to edit. B: Shape This field specifies the window shape. C: Window settings This area lists window settings. D: New Creates a new window. E: Save This button saves window modifications. F: Delete This button deletes the selected window.
Chapter 9 Vision Manager Note What is a window? Here a window means the portion of the image that the µVision board is to process. The board remembers the sizes for each window. There are two ways to edit windows: with Vision Manager and with user programs. The board stores window specifications supplied by user programs in volatile memory, so these disappear when the power is removed. Target area Window 9.2.6.1 Creating a new search model Operating procedure 1. 2. 3.
Chapter 9 Vision Manager Note Projection window Rectangular and sector window shapes add an edge detection direction setting. This parameter specifies the scan direction for edge detection. Set this to 2 (none) if edge detection is not used. This is the default setting when a window is first created and after a shape change. Change this setting to match the measurement method.
Chapter 9 Vision Manager 9.2.7 Editing a search model To edit a robot controller search model, WINCAPS III must first read it in. Search model settings screen A B C D A: Target model This field specifies the search model. B: Model settings This area displays information on the current search model for editing. C: Save This button saves search model modifications. D: Delete This button deletes the search model.
Chapter 9 Vision Manager 9.2.7.1 Creating a new search model Operating procedure 1. 2. Enter a number for the new search model in the Target field. Adjust the search model shape and offsets. Moving the window Drag the window outline to move the window. Changing the size Drag a window corner to resize the window. Window corner Changing offset Drag the crosshairs to adjust an offset position. 3. Press the Register button.
Chapter 9 Vision Manager 9.2.7.2 Modifying a search model The following is the procedure for editing a search model. Operating procedure 1. 2. 3. Choose the search model to edit from the list box to display its data on the Model settings screen and display it in the Vision monitor window. Adjust the search model shape and offsets. Press the Register button. 9.2.7.3 Deleting a search model Operating procedure 1. 2.
Chapter 9 Vision Manager 9.2.8 Registering digitization The following give the procedures for specifying or determining digitization thresholds. The Register digitization settings screen offers four choices for determining the optimal thresholds: manual specification, calculation with mode method, discriminant analysis, and p-tile threshold calculation. Radio buttons switch this screen between Histogram settings and Digitization settings.
Chapter 9 Vision Manager Digitization/Histogram settings screen A B C D E A: Digitization This radio button displays the Digitization settings screen. B: Processing window This field specifies the processing window range. C: Digitization lower boundary D: Digitization upper threshold These two fields display/specify the digitization thresholds for image analysis. E: Apply This button saves window modifications.
Chapter 9 Vision Manager Note What is digitization? The DENSO µVision board accepts as camera input gray scale images with 256 possible values for each pixel brightness. Digitization uses brightness thresholds (boundaries) to make each pixel either pure white or jet black. There are two digitization thresholds. Pixels between the two thresholds become white (1); everything else, black (0).
Chapter 9 Vision Manager 9.2.8.1 Manually specifying boundaries Operating procedure 1. 2. 3. 4. 5. 6. Choose the Histogram radio button to display the Histogram settings screen. Select the Processing window to display the histogram calculation window. Press the Calculate button to display the histogram. Select the Digitization radio button to display the Digitization settings screen. Specify the two digitization thresholds and check the lines on the histogram. Press the Apply button.
Chapter 9 Vision Manager 9.2.9 Calculating area, center of gravity, and principal axis The following is the procedure for determining three object features: area, center of gravity, and principal axis. This procedure uses the thresholds specified with the Register digitization settings screen. Feature (SA/CG/PA) settings screen A B C D E F G A: Target window This field specifies the window range to measure.
Chapter 9 Vision Manager Note What is the brightness integral? The brightness integral is the sum of the brightness values over all camera image pixels within the specified range in the window. Window Brightness integral = 100 x 13 + 20 x 12 = 1540 What is the area? The area is a count of pixels within the specified range in the window having the specified color after digitization: black (0) or white (1).
Chapter 9 Vision Manager 9.2.9.1 Extracting features Operating procedure 1. 2. 3. 4. Choose a target window range to measure. Choose the feature: area, center of gravity, or principal axis. Choose the color: 0-White or 1-Black. Press the Measure button to display the resulting boundaries on the histogram and save them in the two boundary fields of the Digitization settings screen and display them in the Vision monitor window.
Chapter 9 Vision Manager 9.2.10 Labeling This function labels objects within the specified window. This procedure uses the thresholds specified with the Register digitization settings screen. Labeling settings screen A B C D E F G H A: Target window This field specifies the window range to measure. B: Sorting order This field specifies the display order for the results. C: Area cutoff Only objects larger than this value qualify. D: Color This field specifies the color to use: white or black.
Chapter 9 Vision Manager Note What is labeling? Labeling digitizes the camera image and then sequentially numbers contiguous areas of black (0) or white (1) pixels. (See Figure 1.) The result is a list of individual objects within the specified range in the window. This list includes the following object features: area, center of gravity, principal axis angle, fillet, and circumference. Here fillet means the bounding rectangle, the minimum rectangle enclosing an object. (See Figure 2.
Chapter 9 Vision Manager 9.2.10.1 Labeling objects Operating procedure 1. 2. 3. 4. 5. Choose a target window range to measure. Choose the sorting order: numerical, descending area, or ascending area. Enter the area cutoff, a boundary specifying the minimum size. Objects smaller than this setting are ignored. Choose the color: 0-White or 1-Black.
Chapter 9 Vision Manager 9.2.11 Edge detection This function detects edges within the specified window. This measurement uses a projection window (Parameter = 0 or 1). Edge settings screen A B C D E F G I H J A: Target window This field specifies the window range to measure. B: Method This field specifies the edge detection method. C: Transition This field specifies the transition defining edges. D: Level This field specifies the edge detection level.
Chapter 9 Vision Manager Note What is an edge? Edge Brightness Window Position Relative Brightness level Brightness Brightness Absolute Brightness level : Edge detection point Caution Here the Target window range can have the following shapes. • Straight line (scan = 0 or 1) • Rectangle (scan = 0 or 1) • Sector (scan = 0 or 1) 172 An edge is a brightness transition in the specified window, a boundary between dark grays and light ones.
Chapter 9 Vision Manager 9.2.11.1 Specifying measurement conditions Level Specify the edge detection level. The range is 0 to 255 for detection using a brightness level (absolute or relative) and 0 to 512 for detection using an area (absolute or relative). Digitization thresholds Detection using areas requires specifying the digitization thresholds. Pixels between the two thresholds become white (1); everything else, black (0). Scan direction Specify the scan direction.
Chapter 9 Vision Manager 9.2.11.2 Detecting edges Operating procedure 1. 2. 3. 4. 5. 6. Choose a target window range to measure. Choose the edge detection method: absolute, relative, area relative, or area relative. Choose the Transition(s): 0-Black-to-White, 1-White-to-Black, or 2-Both. Specify the level. Choose the scan direction for scanning in the projection window: Positive or Negative.
Chapter 9 Vision Manager 9.2.11.3 Displaying distribution and graph The Edge settings screen displays the measurement results as either a distribution or a graph. These displays are for checking brightness and area changes in the window. The graph display also permits checking of the brightness and area distribution for the specified location. Distribution data Selecting the Distribution radio button switches to the following display.
Chapter 9 Vision Manager 9.2.12 Model search This function runs pattern matching in the specified window using the specified search model. The search model used must be defined previously. Model search settings screen A B C D E F G H I A: Target window This field specifies the window range to measure. B: Search model This field specifies the model for the operation. C: Match judgment This field specifies the match judgment criterion. D: Detection unit This field specifies the unit for detection.
Chapter 9 Vision Manager Note What is a model search? A search moves standard image data, the search model, over the specified range looking for matches. (See Figure 1.) A search model consists of image data and reference coordinates (OX, OY). (See Figure 2.) The match judgment specifies the minimum similarity, the result of a numerical comparison of the search model and the data at the current position, required to be considered a match.
Chapter 9 Vision Manager 9.2.12.2 Running a model search Operating procedure 1. 2. 3. 4. 5. 6. 7. Choose a target window range to measure. Choose a search model. Specify the match judgment criterion. Choose the detection unit: pixel or subpixel. Specify the detection count. Specify the starting and end angles.
Chapter 9 Vision Manager 9.2.13 Reading a QR Code symbol This function reads in a QR Code symbol from the specified window.. Code reading settings screen A B C D E F G A: Target window This field specifies the window range to measure. B: Automatic digitization Choosing True specifies automatic digitization. C: Digitization upper threshold D: Digitization lower threshold These two fields display/specify the digitization thresholds for image analysis. E: Measure This button proceeds with the operation.
Chapter 9 Vision Manager 9.2.13.1 Specifying measurement conditions Automatic digitization Enable or disable automatic digitization. Choosing True specifies automatic digitization. Digitization thresholds If automatic digitization has been disabled, these two fields specify the two boundaries used in digitization. 9.2.13.2 Reading in a QR Code symbol Operating procedure 1. 2. Choose a target window range to measure. Enable or disable automatic digitization. Choose True for automatic digitization.
Chapter 10 Appendices 10.1 List of Prohibited Characters Use of the following characters is prohibited in file names (e.g., program names and project names). Using any of those characters results in an error during file transfer between WINCAPS III and the robot controller or during loading or compilation in the robot controller. Single-byte characters [\ Double-byte characters 10.2 Simple position correction function Robot position can be corrected easily with WINCAPS III.
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DENSO ROBOT Programming Support Tool WINCAPSIII GUIDE First Edition June 2008 Sixth Edition April 2011 Seventh Edition October 2011 DENSO WAVE INCORPORATED 10N**C The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feel free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual.
