Operation Manual: Motosim Eg-Vrc Ver2015Sp1
Operation Manual: Motosim Eg-Vrc Ver2015Sp1
Operation Manual: Motosim Eg-Vrc Ver2015Sp1
OPERATION MANUAL
FOR WINDOWS
Upon receipt of the product and prior to initial operation, read this manual thoroughly, and retain for
future reference.
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MANDATORY
• This manual explains teaching, playback, editing operations of jobs and
files, operation management of MotoSim EG-VRC. Read this manual
carefully and be sure to understand its contents before operation.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
This instruction manual is applicable to both FS100 (a controller for small-sized manipula-
NOTE tors) and FS100L (a controller for large and medium-sized manipulators).
The description of “FS100” refers to both ”FS100” and “FS100L” in this manual unless oth-
erwise specified.
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Notes for Safe Operation
Before using this product, read this manual and all the other related documents carefully to
ensure knowledge about the product and safety, including all the cautions.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
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Notation for Menus and Buttons
Descriptions of the programming pendant, buttons, and displays are shown as follows:
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or bland names for each company or corporation. The indications of (R) and TM
are omitted.
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1 Introduction
1.1 Overview of MotoSim EG-VRC . . . . . . . . . . . . . . . . 19
1.1.1 Difference of the operation from 5.00 . . . . . . . . . . . . . . . . . . . . 19
1.2 Notice and Restriction about MotoSim EG-VRC . . . 20
1.2.1 Optional Functionof controller . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.2.2 Using data saved from a real controller with
MotoSim EG-VRC . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.2.3 Using MotoSim EG-VRC data on a real controller . . . . . . . . . . 21
1.2.4 Function depending on the system version of controller. . . . . . 21
1.2.5 Restriction of Function of Controller . . . . . . . . . . . . . . . . . . . . . 21
1.2.6 Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.2.7 Hardware Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.2.8 Supported robot model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3 Environment Required for MotoSim EG-VRC . . . . . 24
1.4 Hardware Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.5 Installing MotoSim EG-VRC . . . . . . . . . . . . . . . . . . 26
1.6 Definition of Terms . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.7 Folder Configuration . . . . . . . . . . . . . . . . . . . . . . . . 28
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2.6 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5 Displays
5.1 MotoSim EG-VRC Display . . . . . . . . . . . . . . . . . . . 72
5.1.1 Ribbon. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
MotoSim EG-VRC button. . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Option Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.1.2 Mouse Operation Switching Bar . . . . . . . . . . . . . . . . . . . . . . . . 86
Viewpoint Operation Switching Bar . . . . . . . . . . . . . . . . . . . 86
5.2 Virtual Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.2.1 DX200 Virtual Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Virtual Pendant Button . . . . . . . . . . . . . . . . 89
Virtual Pendant Keypad . . . . . . . . . . . . . . . 90
Keyboard Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.2.2 DX100 Virtual Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Virtual Pendant Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Virtual Pendant Keypad . . . . . . . . . . . . . . . 98
Keyboard Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
5.2.3 FS100 Virtual Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Virtual Pendant Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Virtual Pendant Keypad . . . . . . . . . . . . . . 105
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Keyboard Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
5.2.4 NX100 Virtual Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Virtual Pendant Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Virtual Pendant Keypad . . . . . . . . . . . . . . 113
Keyboard Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
5.2.5 Input with keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Input the job name or folder name . . . . . . . . . . . . . . . . . . 119
Input the label name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
6 Display Operation
6.1 Viewpoint Operation Tools . . . . . . . . . . . . . . . . . . 120
6.1.1 Viewpoint Operation with the Mouse. . . . . . . . . . . . . . . . . . . . 120
Right Mouse Button Operation. . . . . . . . . . . . . . . . . . . . . . 121
6.1.2 Preset Viewpoint Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Viewpoint Operation with the View Manager . . . . . . . . . . . 121
Using Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Smooth Transition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
6.2 Light Manager Operation. . . . . . . . . . . . . . . . . . . . 124
Adding and Modifying Lights . . . . . . . . . . . . . . . . . . . . . . . 126
Deleting Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Light Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
6.3 Displaying Shadows . . . . . . . . . . . . . . . . . . . . . . . 131
6.4 Pick Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Pick Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Pick Object Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Pick method and screen display . . . . . . . . . . . . . . . . . . . . 132
6.5 Markup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
6.5.1 Freehand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
6.5.2 Circle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
6.5.3 Rectangle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6.5.4 Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Adding a Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Deleting a Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Relocating a Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
6.6 Memo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Creating a Memo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Deleting a Memo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Relocating a Memo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
6.7 Cutting Planes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
6.7.1 X-Cutting Planes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Displaying the X-Cutting Plane . . . . . . . . . . . . . . . . . . . . . 141
Deleting the X-Cutting Plane . . . . . . . . . . . . . . . . . . . . . . . 141
Changing Display of the X-Cutting Plane. . . . . . . . . . . . . . 141
6.7.2 Y-Cutting Planes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Displaying the Y-Cutting Plane . . . . . . . . . . . . . . . . . . . . . 142
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Deleting the Y-Cutting Plane . . . . . . . . . . . . . . . . . . . . . . . 142
Changing Display of the Y-Cutting Plane. . . . . . . . . . . . . . 143
6.7.3 Z-Cutting Planes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Displaying the Z-Cutting Plane . . . . . . . . . . . . . . . . . . . . . 143
Deleting the Z-Cutting Plane . . . . . . . . . . . . . . . . . . . . . . . 143
Changing the Z-Cutting Plane . . . . . . . . . . . . . . . . . . . . . . 144
6.8 Measure Distance . . . . . . . . . . . . . . . . . . . . . . . . . 145
6.9 Measure Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
6.10 Measure Line . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Creating a Dimension Line. . . . . . . . . . . . . . . . . . . . . . . . . 149
Deleting a Dimension Line . . . . . . . . . . . . . . . . . . . . . . . . . 149
Relocating a Dimension Line . . . . . . . . . . . . . . . . . . . . . . . 149
6.11 Changing the Rendering Mode . . . . . . . . . . . . . . 150
6.12 Other Display Operations . . . . . . . . . . . . . . . . . . 151
6.12.1 Changing Frame Width. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
6.12.2 Copying the Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
6.12.3 Dividing a Cell Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
6.12.4 Printing the Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
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7.6.1 Robot Property . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
7.6.2 Reach View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
7.6.3 Robot Calibration Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
7.7 Peripheral Equipment . . . . . . . . . . . . . . . . . . . . . . 182
7.7.1 Adding a Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Adding a Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Conveyor Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
7.7.2 Adding a Press . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
7.7.3 Adding a Gantry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
7.7.4 Modifying the Soft Limit of a Device . . . . . . . . . . . . . . . . . . . . 187
7.7.5 Moving a Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
7.7.6 Programming a Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Select Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Input of Coordinates (AxisInput) . . . . . . . . . . . . . . . . . . . . 192
7.7.7 Other Operations with devices . . . . . . . . . . . . . . . . . . . . . . . . 195
Deleting a Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
I/O Signals for Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
7.7.8 Conveyor Operation Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
7.7.9 Conveyor Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
7.8 Cycle Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
7.9 Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
7.9.1 Trace Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
7.9.2 Trace Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
7.9.3 Trace Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
7.10 VRC Maintenance Mode . . . . . . . . . 205
7.11 Displaying model / Editing Data of Safety Function .
206
7.11.1 Displaying Robot Range Limit . . . . . . . . . . . . . . . . . . . . . . . 206
Area Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
7.11.2 Editing the Safety Function Data . . . . . . . . . . . . . . . . . . . . . 209
Robot Range Limit Data. . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Axis Range Limit Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Axis Speed Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Speed Limit Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Tool Angle Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Tool Change Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . 214
7.11.3 Displaying the Tool Interference Model . . . . . . . . . . . . . . . . 215
7.11.4 Displaying the Robot Approximate Model. . . . . . . . . . . . . . . 216
7.12 Working Trace. . . . . . . . . . . . . . . . . . . . . . . . . . . 218
7.12.1 Working Trace Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
7.12.2 Working Trace Property . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
7.12.3 Specify the Start Point and End Point. . . . . . . . . . . . . . . . . . 223
8 Tool Functions
8.1 Position Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
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Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Joint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Base. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
8.1.1 Work Frame Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
8.1.2 Fix TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
8.1.3 Robot Position Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 234
8.2 I/O Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
8.2.1 Dedicated and General I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
8.2.2 Expanded Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
8.2.3 Analog I/O (EW Board) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
JANCD-XEW01-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
JANCD-XEW01-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
JANCD-XEW02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
8.2.4 Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
DX200, DX100, NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
FS100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
8.3 I/O Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
8.3.1 I/O Event Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
8.3.2 I/O Event Property. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
8.4 I/O connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
8.4.1 Management of I/O connection . . . . . . . . . . . . . . . . . . . . . . . . 251
8.4.2 I/O Connection setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
PLC setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
8.5 Variable Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . 258
8.6 Lap Time Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
8.7 Stage Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
8.8 Pulse Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
8.9 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
8.9.1 OLP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
OLP Function Pick Method and Display . . . . . . . . . . . . . . 267
Selecting [Position] in the "Move Mode" section: (Other items
set at default). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Selecting [Position] and [Orientation] in the "Move Mode"
section: (Other items set at default) . . . . . . . . . . . . . . . . . . 269
Selecting "Move to External Reference Point". . . . . . . . . . 269
Selecting [CurModel] in the "Operation Object" section. . . 270
8.9.2 Operation Handle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Handle Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Each Axis Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
TCP Handle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Elbow Handle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
OLP Drag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Model Handle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
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8.10 Collision Detection . . . . . . . . . . . . . . . . . . . . . . . 287
8.10.1 Collision Detection Dialog. . . . . . . . . . . . . . . . . . . . . . . . . . . 287
8.10.2 Collision Model Group Setting . . . . . . . . . . . . . . . . . . . . . . . 288
Collision Model Group Display. . . . . . . . . . . . . . . . . . . . . . 288
Auto-registration of the collision model group . . . . . . . . . . 289
Collision Model Group Detail Display. . . . . . . . . . . . . . . . . 289
8.10.3 Collision Definition Setting . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Collision Definition Dialog . . . . . . . . . . . . . . . . . . . . . . . . . 292
8.11 Sensing Option Setting . . . . . . . . . . . . . . . . . . . . 293
8.12 Spray Model for Paint . . . . . . . . . . . . . . . . . . . . . 296
8.13 Speed Graph Function . . . . . . . . . . . . . . . . . . . . 298
8.13.1 Basic usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
8.13.2 Trace Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
8.13.3 Graph Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Graph Settings Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
I/O Signal Setting Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . 301
8.13.4 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
8.13.5 Graph Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Graph Data Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
8.14 Running an External Software . . . . . . . . . . . . . . 304
8.15 Job Browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
When starting Job Browser for the first time . . . . . . . . . . . 305
Main Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Sub Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Right-click menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Job Tree Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Search Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Bookmark Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
8.16 Model Library . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
8.16.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
8.16.2 Model Import (Work Type) . . . . . . . . . . . . . . . . . . . . . . . . . . 312
8.16.3 Model Import (Tool Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
8.16.4 Add the model to the model library . . . . . . . . . . . . . . . . . . . . 315
8.16.5 Edit Model of Model Library . . . . . . . . . . . . . . . . . . . . . . . . . 319
8.16.6 Delete Model of Model Library . . . . . . . . . . . . . . . . . . . . . . . 319
8.16.7 Export the Model of Model Library to Other PC . . . . . . . . . . 320
8.17 Simple PP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
8.17.1 Job Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
8.17.2 Job Create . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
8.17.3 Job Copy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
8.17.4 Job Delete. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
8.18 JobPad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Main Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Job Create . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Select Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Find . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
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Replace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Error String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
9 Online Function
9.1 Automatic Construction . . . . . . . . . . . . . . . . . . . . . 332
9.1.1 Create a New VRC Controller (Network) . . . . . . . . . . . . . . . . 332
9.2 Network Function . . . . . . . . . . . . . . . . . . . . . . . . . 335
9.3 Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . 336
9.3.1 Connect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
9.3.2 Disconnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
9.4 File Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
9.4.1 File Manager Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Menu . . . . . . . . . . . . . . . . . . . . . . 340
Tool Button . . . . . . . . . . . . . . . . . . . . 340
Right-button Click Menu . . . . . . . . . . . . . . 340
9.4.2 Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
9.4.3 Connect to a Real Controller. . . . . . . . . . . . . . . . . . . . . . . . . . 342
9.4.4 File Open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
9.4.5 File Compare. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
9.4.6 File Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
10 Model Editings
10.1 Cad Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
10.1.1 Outline of the Cad Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
10.1.2 Tree Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
10.1.3 Opacity Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
10.1.4 Teacher. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
10.1.5 Mouse-Driven Model Editing. . . . . . . . . . . . . . . . . . . . . . . . . 350
Right Mouse Button Operation. . . . . . . . . . . . . . . . . . . . . . 350
10.1.6 Layout function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
10.2 Creating a New Model . . . . . . . . . . . . . . . . . . . . 368
Creating a Model from an Existing Model . . . . . . . . . . . . . 369
Creating a Dummy Model . . . . . . . . . . . . . . . . . . . . . . . . . 370
10.3 Editing a Part . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
10.3.1 Displaying the File Data Editing Dialog Box . . . . . . . . . . . . . 371
10.3.2 Registering a Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
10.3.3 Part Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
BOX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
BOX2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
CYLINDER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
CONE2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
SPHERE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
PIPE2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
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AXIS6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
LINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
LINE2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
CUBE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
FLOOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
FACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
“Teacher” Section of the Parts Editing Dialog Box. . . . . . . 381
10.4 Editing a Model . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Cut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Add . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Rename . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Property . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
10.5 Positioning a Model. . . . . . . . . . . . . . . . . . . . . . . 384
10.6 Editing Multiple Models (Model List) . . . . . . . . . . 387
10.7 Searching a Model . . . . . . . . . . . . . . . . . . . . . . . 388
10.8 Saving and Reading a Model Group. . . . . . . . . . 389
Saving a Model Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Reading a Model Group. . . . . . . . . . . . . . . . . . . . . . . . . . . 390
Syntax of the ModelInfo.dat . . . . . . . . . . . . . . . . . . . . . . . . 390
10.9 Changing and Moving the Parent Model. . . . . . . 391
10.9.1 Changing the Parent Model . . . . . . . . . . . . . . . . . . . . . . . . . 391
10.9.2 Moving the Parent Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
10.10 Changing a Model File . . . . . . . . . . . . . . . . . . . 392
10.11 Reading a Model . . . . . . . . . . . . . . . . . . . . . . . 393
10.12 Model Script . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
10.12.1 Model Script Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
10.12.2 Model Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Starting Time of Each Command in Model Script . . . . . . . 398
10.12.3 Display of script input assistance . . . . . . . . . . . . . . . . . . . . 399
10.12.4 Execute Model Script while playback . . . . . . . . . . . . . . . . . 403
10.13 Reduce HSF File . . . . . . . . . . . . . . . . . . . . . . . 404
10.14 CAD Data Import <CadPack Option> . . . 405
CAD Data Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
10.15 Changing the Coordinate Origin of CAD Data
<CADPack Option> . . . . . . . . . . . . . . . . . . . . . . . . 408
10.16 CAD Data Export . . . . . . . . . . . . 409
Export . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
11 Configuration Settings
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11.1 Graphical Settings. . . . . . . . . . . . . . . . . . . . . . . . 413
11.1.1 Background Color . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.1.2 Smooth Transition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.1.3 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.1.4 Shadow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
11.1.5 Frame & AXIS6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
11.1.6 Level of Detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Generating the Level of Detail Data. . . . . . . . . . . . . . . . . . 417
11.2 Markup Settings . . . . . . . . . . . . . . . . . . . . . . . . . 418
11.3 Robot Option Settings. . . . . . . . . . . . . . . . . . . . . 420
11.4 Language and Unit Settings . . . . . . . . . . . . . . . . 422
11.5 Performance Settings . . . . . . . . . . . . . . . . . . . . . 423
11.6 Mouse Customization . . . . . . . . . . . . . . . . . . . . . 424
11.7 CAD Import/Export <CadPack Option> . . . 426
11.7.1 CAD Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
11.7.2 IGES/SAT Export. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
11.8 Show Teach Point <CadPack Option>. . . . 428
12 Applied Operation
12.1 Teaching Using OLP Function . . . . . . . . . . . . . . 431
What is OLP Function? . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
12.1.1 Teaching Operation Setup . . . . . . . . . . . . . . . . . . . . . . . . . . 432
12.1.2 Position Designation in Free Mode. . . . . . . . . . . . . . . . . . . . 433
12.1.3 Position Designation in Vertex Mode . . . . . . . . . . . . . . . . . . 434
12.1.4 Position Designation in Center Mode . . . . . . . . . . . . . . . . . . 435
12.1.5 Position Designation in Edge Mode . . . . . . . . . . . . . . . . . . . 436
12.1.6 Designation with Orientation Mode. . . . . . . . . . . . . . . . . . . . 437
Designation with Z-Axis Mode . . . . . . . . . . . . . . . . . . . . . . 439
12.1.7 Pick Object Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
12.1.8 Changing of Operation Object . . . . . . . . . . . . . . . . . . . . . . . 444
12.1.9 Move to External Reference Point . . . . . . . . . . . . . . . . . . . . 445
12.1.10 Synchronous Base Axis Move to Target Point . . . . . . . . . . 449
Robot with Single Servotrack. . . . . . . . . . . . . . . . . . . . . . . 449
Robot with Multiple Servotracks. . . . . . . . . . . . . . . . . . . . . 454
12.1.11 Position Designation with move slave function . . . . . . . . . 455
12.2 Trace Function . . . . . . . . . . . . . . . . . . . . . . . . . . 457
12.2.1 Changing Trace Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
12.2.2 Changing Trace Parent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
12.3 Collision Detection Setting . . . . . . . . . . . . . . . . . 463
Collision model group registration . . . . . . . . . . . . . . . . . . . 463
Collision definition registration . . . . . . . . . . . . . . . . . . . . . . 464
Start collision detection . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
12.4 Adding I/O Board Module . . . . . . . . . . . . . . . . . . 466
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12.4.1 Adding I/O Board Module (DX200, DX100, NX100). . . . 466
12.4.2 Adding I/O Board Module (FS100). . . . . . . . . . . 469
12.5 Option Function Setting . . . . . . . . . . . . . . . . . . . 473
12.6 Dual-Arm robot Setting . . . . . . . . . . . . . . . . . . . . 475
12.6.1 Dual-Arm robot Setting (DX100). . . . . . . . . . . . . . . . . . . . . . 476
12.6.2 Dual-Arm robot Setting (FS100) . . . . . . . . . . . . . . . . . . . . . . 479
12.6.3 Dual-Arm robot Setting (NX100) . . . . . . . . . . . . . . . . . . . . . 483
12.7 External Axes Setting (Motor Gun) . . . . . . . . . . . 485
12.7.1 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
12.7.2 Model setup and motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
12.8 Setting of spot welding simulation. . . . . . . . . . . . 490
12.8.1 Initialize. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
12.8.2 Setting of welded condition. . . . . . . . . . . . . . . . . . . . . . . . . . 491
12.8.3 Setting of welding machine. . . . . . . . . . . . . . . . . . . . . . . . . . 494
12.8.4 Making and control group setting of job . . . . . . . . . . . . . . . . 494
12.8.5 Setting of simulation of electric gun . . . . . . . . . . . . . . . . . . . 494
12.9 Setting of Conveyor Synchronization . . . . . . . . . 495
12.9.1 Overview Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
12.9.2 System Construction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Controller Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Setting of the option board (DX200, DX100, NX100) . . . . 496
Setting of the I/O module (FS100) . . . . . . . . . . . . . . . . . . 497
Setting of the file of the conveyor . . . . . . . . . . . . . . . . . . . 499
Conveyor registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
Setting of the conveyor synchronization . . . . . . . . . . . . . . 500
Location of the conveyor. . . . . . . . . . . . . . . . . . . . . . . . . . 501
Creating and locating the works. . . . . . . . . . . . . . . . . . . . . 501
12.9.3 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
Operating the conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . 502
Teaching the conveyor synchronized move instructions
(SYSTART, SYEND, SYMOV*). . . . . . . . . . . . . . . . . . . . . . 502
12.9.4 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
Playback of the job with conveyor synchronization. . . . . . 503
12.10 High-Speed Picking Simulation Function . . . . . 504
12.10.1 Overview Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
Creating a new cell from the template . . . . . . . . . . . . . . . . 504
Location of the conveyors . . . . . . . . . . . . . . . . . . . . . . . . . 504
Setting the size and speed of the conveyors . . . . . . . . . . . 507
Location of the works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Location of the pallets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
12.10.2 Advanced Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Location of the works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Location of the pallets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Changing the timing of stream . . . . . . . . . . . . . . . . . . . . . . 515
Hand control signal setting. . . . . . . . . . . . . . . . . . . . . . . . . 516
12.10.3 High-Speed Picking Simulation for Multiple Controllers . . . 517
Sample. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
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Creating a new cell from the template . . . . . . . . . . . . . . . . 518
Adding the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Setting the conveyor synchronization . . . . . . . . . . . . . . . . 519
Distributing the work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Setting the I/O Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
12.10.4 Advanced Setting for Multiple Controllers . . . . . . . . . . . . . 521
Distributing the work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Changing the position of the limit switch . . . . . . . . . . . . . . 522
12.10.5 Specifications of template cell "MPP3S_PICKING" . . . . . . 524
Job for high-speed picking simulation . . . . . . . . . . . . . . . . 524
Variable allocation list . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
IO allocation list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
12.11 Converting a MotoSim EG cell to MotoSim EG-VRC
527
12.12 Spot High Speed Spec Function . . . . . . . . . . . 530
12.13 Setting of Paint workpiece supplying system
"MOTOFEEDER". . . . . . . . . . . . . . . . . . . . . . . . . . 533
12.13.1 Controller Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
12.13.2 MOTOFEEDER model setting . . . . . . . . . . . . . . . . . . . . . . 537
12.13.3 Relocation of robot and MOTOFEEDER . . . . . . . . . . . . . . 538
With Manipulator Specification . . . . . . . . . . . 538
Without Manipulator Specification . . . . . . . . . . 538
12.13.4 Master job Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
12.13.5 Paint job creating and registering. . . . . . . . . . . . . . . . . . . . 539
Without Spindle Unit Specification . . . . . . . . . . . . . . . . . . . 539
With Spindle Unit Specification . . . . . . . . . . . . . . . . . . . . . 540
12.13.6 Playback the paint job . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
12.14 3DPDF Output Function . . . . . . . . . . . . . . . . . . 541
RESTRICTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
12.14.1 Output Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
12.14.2 Outputting 3DPDF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
12.14.3 Display and Operation of 3DPDF . . . . . . . . . . . . . . . . . . . . 545
NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
12.15 AVI Output Function . . . . . . . . . . . . . . . . . . . . . 549
12.15.1 Output Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
12.15.2 Outputting AVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
12.16 Working Trace Function . . . . . . . . . . . . . . . . . . 553
12.16.1 Changing Trace Object . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
13 Options
13.1 Motor Load Estimate . . . . . . . . . . . . . . . . . . . . . 556
Duty calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Step Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562
Torque Threshold Setting . . . . . . . . . . . . . . . . . . . . . . . . . 564
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Graph Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
Target robots for Moter Load Estimate . . . . . . . . . . . . . . . 565
13.2 Life Estimate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568
Target robots of Life Estimate. . . . . . . . . . . . . . . . . . . . . . 570
14 Appendix
14.1 Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Model File (*.mdl). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Cell File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
14.2 Reading the CAD Data with MotoSim EG-VRC . 583
14.3 Storage Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
14.3.1 Folder Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
14.3.2 Save controller data created with MotoSim EG-VRC . . . . . . 585
14.3.3 Load controller data to MotoSim EG-VRC . . . . . . . . . . . . . . 586
14.4 Standard function about DX200 . . . . . . . . . . . . . 588
14.5 Standard function about DX100 . . . . . . . . . . . . . 594
14.6 List of Function depending on the system version of
controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
DX200 . . . . . . . . . . . . . . . . . . . . . . 600
DX100 . . . . . . . . . . . . . . . . . . . . . . 601
FS100 . . . . . . . . . . . . . . . . . . . . . . 602
NX100 . . . . . . . . . . . . . . . . . . . . . . 603
14.7 List of Manipulator Models and Offset Values
Supported by MotoSim EG-VRC . . . . . . . . . 604
DX200 . . . . . . . . . . . . . . . . . . . . . . 604
DX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
FS100 . . . . . . . . . . . . . . . . . . . . . . 608
NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
MOTOPOS . . . . . . . . . . . . . . . . . . . . 612
MOTOFEEDER . . . . . . . . . . . . . . . . . . 613
14.8 Frequently-Asked Questions. . . . . . . . . . . . . . . . 614
When the driver has been installed with USB type key
connected to a personal computer . . . . . . . . . . . . . . . . . . . 614
When a older version key driver has been installed over a newer
key driver version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Cell file containing HSF files don't display properly . . . . . . 614
MotoSim EG Cell file compatibility . . . . . . . . . . . . . . . . . . . 614
MotoSim EG-VRC - CadPack Cell file compatibility . . . . . 614
Graphic Driver Concerns . . . . . . . . . . . . . . . . . . . . . . . . . . 615
Backup VRC.BIN file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
Recovery method when an alarm occurs during the creation of
a new controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
Trouble shooting when virtual pendant doesn't accept operation
after newly making controller (Nothing is displayed on the
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screen). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
Caution on setting up two or more 4-axis robots (ex. MPL300)
to the one controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
Way to make the display speed faster . . . . . . . . . . . . . . . . 622
Solution in case characters is missing from the screen of
MotoSimEG-VRC in Windows7. . . . . . . . . . . . . . . . . . . . . . 623
Docking Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
Quick Access Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
Comparison Table with the New Menu from the Old Menu and
the Old Tool Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
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1.1 Overview of MotoSim EG-VRC
1 Introduction
MotoSim EG-VRC is a software which has been developed as an offline teaching system for
YASKAWA industrial robot MOTOMAN series.
MotoSim EG-VRC reduces teaching time requiring an actual robot, supports improvement of
productivity and insures operator’s safety by enabling robot teaching on a personal computer.
MotoSim EG-VRC is an application software for MS-Windows having excellent operability and
many advantages such as running multiple applications at once.
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1.2 Notice and Restriction about MotoSim EG-VRC
Relative Job
TCP
Macro Instruction
I/F Panel
External Reference Point
Parallel Start Instruction
Coordinated Instruction
Extended Control Group
Station Angle Display ―
Softlimits Customization ― ―
Variable Allocation ―
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1.2 Notice and Restriction about MotoSim EG-VRC
NOTE In regard to the FS100 controller, the "CMOS.BIN" file saved from a real controller can not
be used with MotoSim EG-VRC to create the environment.
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1.2 Notice and Restriction about MotoSim EG-VRC
1.2.6 Accuracy
• Positional Accuracy
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1.2 Notice and Restriction about MotoSim EG-VRC
When the job made in MotoSim EG-VRC is executed on the real robot, teaching points
may be misaligned by the strain and placement error of work, and the deflection of robot.
So, check the teaching points by NEXT/BACK, and modify them.
• Trajectory Accuracy
The simulated trajectory range is different from the real robot. When the job made in
MotoSim EG-VRC is executed on the real robot, check the teaching points by NEXT/
BACK, and do test running. After sufficient operation check, execute playback.
• Cycle time Accuracy
The simulated cycle time is different from the real robot. If robot job contain the position
level "PL=0" in move command, the resulting cycle time simulation may not provide suffi-
cient accuracy compared to the actual robot.
• Robot model Accuracy
Robot model is only external form, bolt hole and anchor bolt may be left out. Movable
parts other than robot (ex. cable) can not be simulated.
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1.3 Environment Required for MotoSim EG-VRC
To run MotoSim EG-VRC, the following hardware and software are required:
Memory 2 GB or more
Supported by MS-Windows
Monitor
(256 colors or more)
NOTE MotoSim EG-VRC may not execute correctly, because of PC model, Graphic Board, other
connected peripherals, and installed software, etc.
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1.4 Hardware Key
For proper operation, connect provided hardware lock key (USB type) to the personal
computer before using this software.
Check and execute <Checking the computing environment> <Installing the driver>
before connecting the key to USB port.
NOTE Please install the driver after detaching the all sentinel hardware key from the personal
computer.
Refer to " 14.7 List of Manipulator Models and Offset Values Supported by MotoSim EG-VRC
" for other countermeasures concerning hardware key.
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1.5 Installing MotoSim EG-VRC
1. It is strongly recommended that you exit all applications before running the setup pro-
gram..
NOTE Be sure to login in administrator mode when installing the MotoSim EG-VRC in Windows
7, or else the system related DLL files in Windows might not be updated.
2. When the install CD is inserted into the CD-ROM drive, the [MotoSim EG-VRC -
InstallShield Wizard] window appears automatically.
If you are using Windows 7, the [User Account Control] dialog appears, so click [OK] in
the dialog.
3. Follow the on-screen instructions.
4. When the setup is completed, MotoSim EG-VRC is registered under the
{MotoSim EG-VRC} folder that appears by clicking the [Start] button in the task bar and
selecting {Program} and then {Motoman}.
5. Connect the hardware key to the printer port or USB port.
For details, refer to " 1.4 Hardware Key " in this chapter.
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1.6 Definition of Terms
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1.7 Folder Configuration
Public
Documents
MOTOMAN
MotoSimEG-VRC
Simulation environment used for the cell
CELLS
“TEST” is constructed in this directory.
TEST
Stores model files of floor, tool,
workpiece, etc.
MODELS
Stores the controller related
data files.
DX100
Stores the robot data: robot
model files, etc.
RB1
Stores the robot data: robot
RB2 model files, etc.
The above diagram is based on the assumption that the cell "TEST" is the file in which the
simulation environmental data is stored, and that there is one controller named "NX100" with
2 robots defined under the folders “RB1” and “RB2”.
The model files other than the robot model files are stored in the folder "TEST\MODELS".
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2.1 Overview
This chapter describes the basic operation of MotoSim EG-VRC by giving practical examples
to first time users of this system.
Read this chapter thoroughly in order to quickly take advantage of the excellent operability
and various functions of MotoSim EG-VRC.
2.1 Overview
This chapter describes the procedures from cell construction to job creation. An arc welding
application is used as an example to illustrate the creation of workpieces for fillet-welding and
a welding torch for tool, and then to teach a welding path.
The following sections aim to create a robot, a workpiece and a stand like the ones prepared
in "Arc_samp_NX" sample cell shown in the figure below.
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2.2 Cell Construction
1. Click on [START] in the task bar menu, then click {PROGRAM} - {Motoman} - {Moto-
Sim EG-VRC} - {MotoSim EG-VRC} to run MotoSim EG-VRC.
2. When the main window appears, Click the MotoSim EG-VRC button ( ), and
select the [New] - [New] menu.
Select here
3. When the New Cel dialog box appears, enter any cell name: a folder where cells,
parameter data, model data, job data, etc. are stored can also be set. (The new folder
name is the same as the cell name.) In this example, the "TestCell" cell is created in
the "CELLS" folder in the "Cells" folder.
Enter "CelTest" in the File name edit box and click the [OK] button.
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2.2 Cell Construction
Select here
6. Select the controller system version, then press the [OK] button.
7. Controller Initialization.
The virtual controller will boot with the selected sytem version. This may take a few
moments. Once the boot up is completed, the virtual pendant will display in mainte-
nance mode along with the “Controller Maintenance Mode Instructions” guide.
When adding a controller with “No CMOS.BIN”, the controller needs to be initialized.
Follow the steps displayed by the intstruction guide dialog to initialize the controller.
When asked for the “Control Group”, select the robot “HP6-A0*” for the R1 group
(press the spacebar to display the list of available robots.)
When all the initialization steps are completed, press the [Complet] button of the
instruction guide dialog to reboot the controller in normal operation mode.
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2.2 Cell Construction
8. Once the virtual controller has rebooted, the virtual programming pendant will display
in normal mode.
In the “Robot Settings” dialog that will also appear, enter a name for the robot (for this
example, the default name “NX100-RB1” is used.) Select the model file corresponding
to the robot type (for the HP6-A0* select the “HP6-a00.mdl” file).
Press the [OK] button.
9. When the controller registration has been completed normally, the robot model
appears in the cell screen as shown in the figure below.
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2.2 Cell Construction
However, as shown in the following figure, the robot may be displayed as if it is sank in
the floor. This is because the offset value of the robot operational origin and the floor
center coordinate has been set to 0 (initial value). In this case, correct the robot posi-
tion by following steps 10 and 11.
10. On the [Home] tab, in the [Model] group, click the [CadTree] button, display the Cad
Tree selection box.
Select “NX100-RB1” and click on [Pos] button.
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2.2 Cell Construction
11. In the Position dialog box below, the robot model can be moved to any arbitrary place.
In the case of NX100-RB1, the height from the floor to the robot operational origin is
450 mm, enter "450" for "Z" and click the [OK] button.
The height from the floor to the robot operational origin (here the height is 450 mm) can be
NOTE obtained by measuring the distance between the floor and the robot bottom by clicking the
on the [Home] tab, in the [Mesurement] group, click the [Distance] button. Refer to " 5.1
MotoSim EG-VRC Display " for the details of measuring tools, and " 14.7 List of Manipula-
tor Models and Offset Values Supported by MotoSim EG-VRC " for each robot offset val-
ues.
When initialized the robot controller, MotoSim EG-VRC set the absolute data auto-
NOTE matically. So absolute setting is not needed in MotoSim EG-VRC.
Refer to " 7.1.4 Initializing the Controller (FS100) " for details.
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2.3 Creation of Models
This section explains how to create workpiece models and tool models using the CAD func-
tions.
Start
End
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2.3 Creation of Models
1. The dimensions of the workpiece model and workpiece stand model are shown in the
following figure:
600
600
400
500
25
200
200
30
Units: mm
Workpiece Model
2. On the [Home] tab, in the [Model] group, click the [CadTree] button, the [CadTree] dia-
log appears.
3. When the Cad Tree appears, select "world" from the model tree; select {New Model} in
the right-click menu, or click the [Add] button.
NOTE To create a new model in the model selection screen, verify that the cursor is pointed to
"world" so that it will be the parent model.
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2.3 Creation of Models
4. Enter "STAND" (a word for “stand” in Japanese) in the Add Model Dialog box and click
the [OK] button.
A confirmation dialog box appears, to create the new model: click on [OK].
5. The "STAND" model appears in the Cad Tree: point the cursor to "STAND" and dou-
ble-click it.
6. The model editing dialog box appears: select “BOX” from the "Add Parts" combo box,
and click [Add].
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2.3 Creation of Models
7. The BOX Edit dialog box appears: input the dimensions of the workpiece stand.
When a part is added with the [Add] button, the parts editing dialog box appears automati-
NOTE cally. However, to reedit a part that has already been added, use the [Edit] button to dis-
play the part editing dialog box after selecting the subject part name.
Select 400 for width, 600 for depth and 400 for height by using the spin button at
the side of the edit box or by entering the values directly. The incremental values of
the spin box can be changed from 0.1 to 100 in the incremental value list box. Select
desired colors, and check if the stand is displayed properly.
When satisfied, click the [OK] button to return to the file data editing box. Click the
[Close] button in the file data editing dialog box to complete the creation of workpiece
stand model.
8. The workpiece stand model is located at the center of the floor under the current condi-
tions: therefore, click the [Pos] button in the Cad Tree to display the position dialog
box, and input 800 for X, 0 for Y and 200 for Z to modify the model location.
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2.3 Creation of Models
9. To create a workpiece, set "STAND" as the parent model by pointing the cursor to
"STAND" in the Cad Tree. Create a new model named "WORK" as shown in the fig-
ures below.
10. Display the BOX Edit dialog box by selecting "BOX" from the "Add Parts" combo box in
the model editing dialog box, then click [Add].
11. Set the workpiece size and position as shown in the table below in the BOX Edit dialog
box: this model will be the bottom part of the fillet-welding workpiece.
Width (W) 200 Depth (D) 500 Height (H) 30
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2.3 Creation of Models
12. The model is currently displayed in the center of STAND model: to modify its position,
first close the BOX Edit dialog box by clicking [OK] and the file data editing dialog box
by clicking [Close]; after closing those dialog boxes, click the [Pos] button in Cad Tree
to display the Position dialog box, and enter 0 for X, 0 for Y, and 215 for Z to display
WORK model on top of STAND model.
13. Create the upper part of the workpiece: the upper workpiece is composed of a second
BOX part. Double-click "WORK" in Cad Tree to call up the file data editing dialog box,
and add another BOX model (note that this operation should not be done by clicking
the [Add] button in the Cad Tree).
14. Set the workpiece size and position as shown in the table below in the BOX Edit dialog
box.
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2.3 Creation of Models
15. Check if the workpiece model has been created according to the dimensions specified
in the step 1.
If the model has different dimensions or to change the color of the model, proceed to
the step 16 and 17 to make modifications.
16. Display the BOX Edit dialog box by pointing the cursor to BOX model to be edited
among the models added to the Cad Tree, then double-click it.
17. Reedit the workpiece size, etc. in the BOX Edit dialog box. To modify the color of the
model, click on the [Color...] button.
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2.3 Creation of Models
1. On the Virtual Programming Pendant, select from the main menu {ROBOT} - {TOOL}.
2. The TOOL settings appear. Move the cursor with the arrow keys to the Z field. Press
the [Spacebar] to select the Z field for edition and enter the value “395”. Press [Enter]
to register the entered value. Repeat the same procedure for the Ry field and enter a
value of -35. (In this example, the tool end curves by “Ry = -35” relative to the flange
axis.
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2.3 Creation of Models
First, method (1) is used to explain the creation of a tool model with the MotoSim EG-VRC
CAD function.
In method (2), an HSF format model is used; this is explained in " Reading the HSF Format
Model " later on.
Part A
Start
End
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2.3 Creation of Models
1. Display the Cad Tree to create a new model names "TOOL". In this case, point the
cursor to "NX100-RB1_flange" and create a new model so that the parent model of the
tool model is the flange of the robot.
Select the
NX100-RB1_flange
model and click [Add]
If the parent model is not set correctly, change the parent model by selecting
{Model Attribute} - {Set Parent } as shown in the following figure.
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2.3 Creation of Models
2. The dimensions of the tool model are shown in the following figure:
150 70
70
X Y
80
Z Z
20
170
145
35°
30
Units: mm
Y
3. Double-click "TOOL" in the Cad Tree to display the file data editing dialog box, and add
parts in the file data editing dialog box.
The tool model is composed of two BOX models and two CYLINDER models. Assume
these four parts as parts A, B, C and D, respectively: edit parts A and B in the BOX edit
dialog box and parts C and D in the CYLINDER Edit dialog box.
The following tables show the size and layout of each parts A, B, C and D.
• Part A (BOX)
Width (W) 70 Depth (D) 70 Height (H) 80
• Part B (BOX)
Width (W) 150 Depth (D) 70 Height (H) 20
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2.3 Creation of Models
• Part C (CYLINDER)
Lower Dia. 30 Height (mm) 170 Division 16 Upper Dia. 30
• Part D (CYLINDER)
Lower Dia. 30 Height (mm) 145 Division 16 Upper Dia. 30
4. When the parts are all added, check the tool model on the screen, then click on the
[Close] button to exit the file data editing dialog box.
5. Verify that the size and layout of the tool model, STAND model and WORK model are
properly set, and click the [Close] button in the Cad Tree to complete creation of the
models.
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2.3 Creation of Models
1. Select "NX100-RB1_tcp" in Cad Tree and click [Add] to display the Add Model Dialog
dialog box, then enter "TOOL2" in the Name edit box.
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2.3 Creation of Models
2. Click the [...] button of the file name and select "Torch.hsf" file in the folder "Mod-
els\Torch"; click the [OK] button.
The HSF model files can be added by drag and drop from the Explorer. (Refer to" 10.11
NOTE Reading a Model " for details.) In this case, answer "Yes" when prompt "Select the parent
model? and then select "NX100-RB1_tcp" as the parent.
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2.4 Setting of Target Points (AXIS6 Model)
This section explains on how to add an AXIS6 model before starting to teach. This procedure
is not necessarily required, however, it makes future teaching easier.
AXIS6 is a model composed of only X, Y and Z-axis frames. Set AXIS6 as target points for
the following two steps which will be teach later.
• Step 3: welding start position
• Step 4: welding end position
1. On the [Home] tab, in the [Teaching] group, click the [OLP] button to display OLP dia-
log box as shown below. Select the [Teacher] radio button in the “Operation Obj” sec-
tion, check the [OLP Pick] check box.
Select “Teacher”
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2.4 Setting of Target Points (AXIS6 Model)
2. Set the Teacher to the welding start position of Step 3: click the welding start position
with [Enable] checked.
Click here.
3. Set the Teacher to optimum angle for the tool welding position: in the following exam-
ple, welding is performed at an angle of 45° to the welding position. Press the [Display
Position] button from the OLP panel and set Rx, Ry and Rz as shown below.
Rx (degree) 180 Ry (degree) 45 Rz (degree) 0
4. Double-click the "WORK" model in the Cad Tree and add AXIS6 in the file editing dia-
log box.
5. Click on [Add] and verify that the number “1” has been added to the Index list box.
Then, check the [Pose] check box in the Teacher group and click the [Goto] button.
With this operation, the teacher frame color in the cell window changes, which means
that AXIS6 has been set to the teacher coordinate and orientation and now overlaps it.
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2.4 Setting of Target Points (AXIS6 Model)
6. Set AXIS6 to the welding end point by performing steps 1 and 2 again, however, since
the welding end point is to be set this time, be sure to click the part shown below in the
OLP function. (Since the teacher angle has already been modified in the 3rd step, the
angle modification is not necessary here.)
Click here.
7. Add frame number 2 by clicking the [Insert] button in Frame Edit dialog box for AXIS6
which has been previously set; verify that the [Pose] check box is checked and click on
[Goto].
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2.5 Teaching
2.5 Teaching
Start
Select a job.
End
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2.5 Teaching
2. With the cursor in the “JOB NAME” field, press the [Spacebar] to select the “JOB
NAME” field and display the alphanumeric input window. Enter a name for the job.
For this example, enter "GUIDE" in the “Result” field and then press [ENTER]. To
enter a name for the job, the keyboard is also available. For details, please refer to the
section " 5.2.5 Input with keyboard ".
3. Click the [EXECUTE] button or press [ENTER], to create the new job.
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2.5 Teaching
To display or hide the pendant keypad, press the [/] key or click on the icon.
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2.5 Teaching
2. In the input line, select the motion type using the [MOTION TYPE] key of the pendant
keypad.
For this example, select joint motion (MOVJ)
4. Press [Enter] to register the motion instruction to the robot current position.
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2.5 Teaching
2. Select the [OLP Pick] check box and [Vertex] check box in the “Pick type” section, and
click an arbitrary point; the TCP moves to overlap the vertex near the clicked point.
To make the most of the AXIS6 which has been set to the welding start point in the pre-
vious section, the OLP settings should be made as follows:
• OLP Active: Checked
• Move Mode: Position, Orientation
• Pick Mode: Vertex
• Pick Object: Frames
• Operation Object: Robot Name (NX100-RB1)
•
3. Click on AXIS6 displayed on the screen with the mouse as shown in the figure below:
the tool angle is adjusted to the angle of the AXIS6.
If the tool collides with the workpiece due to an improper tool angle, avoid the collision
by manually repositioning the robot with the programming pendant dialog box.
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2.5 Teaching
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2.5 Teaching
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2.5 Teaching
3. Move the job cursor back to Step 5 (before the END command).
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2.5 Teaching
Adding Steps
1) Move the cursor to the step preceding the insertion point.
2) Move the robot to the desired position using the virtual pendant or MotoSim EG-
VRC functions (OLP, Position panel...)
3) Set the motion type and motion speed.
4) Press the [ADD] key of the pendant keypad and then the [ENTER] key
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2.6 Playback
2.6 Playback
1. On the virtual pendant, move the job cursor to the top of the job.
2. In MotoSim EG-VRC, click the job execution button [Start] to perform playback and
check the movement.
3. When the playback is completed, the play time can be displayed by clicking [Trace] to
show the Trace Manager dialog.
• To modify the job after playback the virtual pendant next to be change back to teach
NOTE mode by pressing the [TEACH] button.
• During the execution of job, please do not sleep or hibernate the PC.
The display of cell window may not recover.
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3.1 Operation Flow
This chapter describes the procedure for offline teaching and examination of robot application
with MotoSim EG-VRC, and other related software.
The following flowchart shows the general flow of the offline teaching using MotoSim EG.
Start
Registration of controller and Register created controller and layout the robots
arrangement of robots in the cell.
Saving of jobs, parameters and From the virtual pendant menu, select {FD/CF} -
tool data. {SAVE} ans save the job and data.
Solid lines indicate operation by MotoSim EG-VRC and dotted lines indicate operations by
other software.
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4.1 Creating a New Cell
This chapter explains on how to create and edit a cell. Before starting to program robot
motion with MotoSim EG-VRC, first create a cell and then register the controllers with the type
and number of the robots to be used.
For controller and robot registration, refer to " 7.1 Adding a New Controller ".
Procedure
1. Click the MotoSim EG-VRC button ( ), and select the [New] - [New] menu.
2. Enter a file name in the File name edit box, and click on [Open] to create a basic cell.
Registration of Template
The cell are currently open is registered as the template. When many cells with same robot
configuration are created, creating the cell can be easily through the use of the template.
Procedure
1. Open the cell to register as template.
2. Click the MotoSim EG-VRC button ( ), and select the [New] - [Template] menu.
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4.1 Creating a New Cell
3. Select the [Template] radio button, and click the [Add] button.
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4.1 Creating a New Cell
Procedure
1. Click the MotoSim EG-VRC button ( ), and select the [New] - [Template] menu.
2. Select the name of template to rename in the template list.
3. Select the [Template] radio button, and click the [Rename] button.
4. Set the new name of template, and click the [OK] button.
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4.1 Creating a New Cell
Procedure
1. Click the MotoSim EG-VRC button ( ), and select the [New] - [Template] menu.
2. Select the name of template to delete in the template list.
3. Select the [Template] radio button, and click the [Delete] button.
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4.1 Creating a New Cell
Procedure
1. Click the MotoSim EG-VRC button ( ), and select the [New] - [Template] menu.
2. Select the name of template to delete in the template list.
3. Select the [Create cell from template] radio button, and set the name of new cell.
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4.1 Creating a New Cell
5. The new cell is created. If the [Open the created cell] is checked, the new cell is
opened.
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4.2 Opening a Cell
Procedure
1. Click the MotoSim EG-VRC button ( ), and select the [Open] - [Open] menu.
When the sample cell is opened, click the MotoSim EG-VRC button ( ), and select
the [Open] - [Open Sample Cell] menu.
When opening a cell with LINE data (wire frame), it is recommended to use LINE data in
NOTE the HMF format: opening a cell with LINE data in other format may take some time.
If the LINE data is in the format other than HMF, convert the LINE data with “MDL2HMF.EXE”
(located in a folder where MotoSim EG has been installed).
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4.3 Storing a Cell
A cell file can be stored either under it current name “Save” or under a new name “Save As”.
Newer cell files containing HSF files may not display properly on older MotoSim EG-VRC
NOTE versions. If a cell file need to be used with an older MotoSim EG-VRC version, it is recom-
mended to save it in the corresponding version with the "Save As" dialog box.
4.3.1 Save
To store a file under its current name, click the MotoSim EG-VRC button ( ), and select
the [Save] menu.
If the cell file was loaded from an older MotoSim EG-VRC version, the following message will
display to confirm if the cell should be saved in the cell original format or in the MotoSim EG-
VRC current version.
Click [Yes] to save the file in MotoSim EG-VRC current version. Click [No] to save the file in
its original version. Click [Cancel] to abort saving the cell file.
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4.4 Exiting a Cell and MotoSim EG-VRC
4.3.2 Save As
To store a file under a new name, click the MotoSim EG-VRC button ( ), and select the
[Save As] menu. Then store the file with the desired cell name. By changing the "Save as
type" selection, the cell file may also be saved in a previous MotoSim EG-VRC format.
To exit MotoSim EG-VRC, click the MotoSim EG-VRC button ( ), and select the [Exit]
menu.
They can also be terminated by clicking button in the control menu box on each window.
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5.1 MotoSim EG-VRC Display
5 Displays
MotoSim EG-VRC has various displays. The main MotoSim EG-VRC display shows the cell
layout and the robot motion in a 3D environment. Also, for every VRC controller in the cell
there is a Virtual Pendant that allows to operate the VRC controller in the same manner than
the real controller.
For improvement of operability, the basic operations of MotoSim EG-VRC are common with
those of other Windows applications.
The following figure shows the MotoSim EG-VRC main window.
Group
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5.1 MotoSim EG-VRC Display
5.1.1 Ribbon
The ribbon is a command bar that organizes the features of an application into a series of tabs
at the top of the main window. The ribbon replaces the traditional menu bar and toolbars.
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5.1 MotoSim EG-VRC Display
Home
Edit
• Undo and Redo function supports the robot position change, model edition, Cad Tree
NOTE operations and camera viewpoint operations. Any operation generated by the virtual
pendant or the playback of a JOB is not supported by the Undo and Redo function.
• Undo and Redo function may generate temporary files (mseg????.tmp) located in the
Temp folder under the MotoSimEG installation folder. Deleting these files while Moto-
SimEG-VRC is running may prevent undoing some operations. Normal termination of
the MotoSimEG-VRC application will automatically remove all temporary files in this
folder.
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5.1 MotoSim EG-VRC Display
Teaching
Displays OLP dialog box and enables OLP function. Moves the end of the
robot tool or a model to a target point with one-click operation.
For details, refer to section " 8.9 Teaching ".
For detail on the CAM function please refer to CAM help (click and
select [CAM Help] menu).
View
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5.1 MotoSim EG-VRC Display
Model
Selects a model: click any point of the desired model for selection.
Displays the model “Cad Tree” (tree structure organization of the models),
indicating models display status and relationship. Can be used to add and
edit models.
For details, refer to section " 10.1.1 Outline of the Cad Tree ".
Pick
The Pick Mode sets conditions determining the selected point in the clicked
area.
For details, refer to section " Pick Mode Setting ".
Pick object set filters on the type of objects that can be selected by the mouse
pick.
For details, refer to section " Pick Object Setting ".
Screen
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5.1 MotoSim EG-VRC Display
Mesurement
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5.1 MotoSim EG-VRC Display
Tools
Settings
Operation Handle For details, refer to section " 8.9.2 Operation Handle ".
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5.1 MotoSim EG-VRC Display
Controller
Setup
Boot
VPP
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5.1 MotoSim EG-VRC Display
Job
File Settings
Robot
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5.1 MotoSim EG-VRC Display
External Device
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5.1 MotoSim EG-VRC Display
Simulation
Playback
Moves the cursor in the job to the first step on the virtual pendant, and
sets the robot position to the position of starting the job.
Executes the job currently selected of all the controllers in the cell.
Use the virtual pendant to change the selected job.
Monitor
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5.1 MotoSim EG-VRC Display
Collision
I/O Settings
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5.1 MotoSim EG-VRC Display
Model Simulation
Settings
OutPut
Option Function
Estimate
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5.1 MotoSim EG-VRC Display
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5.1 MotoSim EG-VRC Display
Zoom in and out the image by dragging the mouse upward (to zoom
in) or downward (to zoom out) over the screen; rotate the image cen-
tering on the Z-axis of "world" coordinates by dragging the mouse
from side to side.
For vertical rotation, drag the mouse up and down; for horizontal rota-
tion, drag the mouse from side to side.
Drag the mouse from side to side and up and down to synchronize the
viewpoint with the mouse motion.
Zoom in and out the image by dragging the mouse upward (to zoom
in) or downward (to zoom out) over the screen; rotate the image hori-
zontally by dragging the mouse from side to side.
Zoom in and out the image by dragging the mouse upward (to zoom
in) or downward (to zoom out) over the screen.
Click any desirable point so that the image is displayed with the
clicked point located in the center of the screen.
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5.2 Virtual Pendant
When a Virtual Robot Controller (VRC) is registered in a cell, the associated Virtual Pendant is
displayed. The Virtual Pendant can be use to operate the VRC controller is the same manner
as with the programming pendant of each controller. The Virtual Pendant is composed of two
separed windows: the pendant screen and the prendant keypad. The display of the pendant
keypad can be toggled from the pendant screen by pressing the [/] key or by clicking on the
icon.
When the mouse right button is clicked on the pendant keypad, "Fit" menu is displayed. When
"Fit" menu is clicked, the pendant keypad moves to the center of the bottom of the pendant
screen window.
When the icon is clicked with the [Ctrl] key of the keyboard, the pendant keypad moves
similarly.
• For operation on the Virtual Pendant, please refer to each controller “Operator Manual”.
NOTE • When two keys are to be pressed simultaneously, the keys are shown with a “+” sign
between them, such as [SHIFT]+[COORD]. Press and hold the first key and then press
the 2nd key.
• Multiple axis keys cannot be used simultaneously.
• When resizing the pendant screen, if necessary, the display font size can be adjusted by
selecting {DISPLAY SETUP} - {CHANGE FONT} from the Virtual Pendant main menu.
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5.2 Virtual Pendant
Pendant
Screen
Pendant
Keypad
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5.2 Virtual Pendant
Keyboard
Button Description
Equivalent
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5.2 Virtual Pendant
NOTE When resizing the pendant screen to a smaller size, the displayed text maybe shorten to
fit in the smaller size buttons.
Keyboard
Keypad key Description
Equivalent
MAIN F1 MAIN
MENU MAIN MENU key MENU + UP
Increases the brightness of the screen.
MAIN
MAIN MENU key MENU + DOWN
Decreases the brightness of the screen.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[ASSIST]
• SHIFT key SHIFT
+ ASSIST key ASSIST
!?
ASSIST F3
!? The function list of key combinations with SHIFT key SHIFT
appears.
INTER
• INTERLOCK key LOCK
+ ASSIST key ASSIST
!?
INTER
The function list of key combinations with INTERLOCK key LOCK
appears.
Cancels the current status.
• Deletes the sub menu in the main menu area and the pull-down
[CANCEL] menu area.
Esc • Cancels the input data or the input status in the general-purpose
CANCEL
display area.
• Cancels the multiple views in the message area.
• Cancels the occurred error.
Works for the multi mode.
[MULTI] If this button is pressed when the multi mode is ON, the active window
switches.
MULTI
LAYOUT F5 MULTI
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
TOOL SEL
Cursor to the next line and press DIRECT OPEN key DIRECT
OPEN . The
[DIRECT OPEN]
file will be displayed for the selected line. Display content will
DIRECT
L vary depending on the type of instruction used in the job.
OPEN
Example:
For a CALL instruction, the content of the called job will be displayed.
For a work instruction, the content of the condition file will be displayed.
For Input/output instructions, the input/output condition will be displayed.
• The lamp on this button is lit while the direct open is ON. Press
this button while the lamp is lit to return to the previous window.
[SHIFT] Changes the functions of other keys by pressing this key together.
TOOL SEL
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[INFORM LIST] Displays instruction lists of commands available for job editing.
INFORM O
LIST
I
ROBOT SHIFT key SHIFT + [ROBOT]
The robot under axis operation can be switched to a robot axis which is
not registered to the currently selected job.
INTER
INTERLOCK key LOCK + [ROBOT]
Switchs the application when several applications are set to a robot.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[BWD] Moves the manipulator through the taught steps in the reverse
direction while this key is pressed.
BWD M • Only move instructions are executed (no weld commands).
The manipulator operates at the selected manual speed. Make sure that
the selected manual speed is the desired one before starting operation.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Sets the speed for manual operation. This speed is also valid for
MANUAL SPEED operations with [FWD] and [BWD].
keys • There are four speed levels (slow, medium, fast, and inching).
The speed changes as described below. The selected speed is
D
FAST displayed on the status area.
Each time [FAST] is pressed, manual speed changes in the following
MANUAL SPEED C order:
SLOW "INCH"" SLOW""MED""FST".
Each time [SLOW] is pressed, manual speed changes in the following
order:
"FST""MED""SLOW""INCH"
[HIGH SPEED] Makes the manipulator move at high speed while this button and
one of the axis keys are pressed simultaneously during manual
operation. No need to change the setting of speed.
FAST E • The speed for [HIGH SPEED] is specified in advance.
MANUAL SPEED
It is possible to allocate any external axes to [E-] + [E+], [8-] + [8+] keys
to operate them.
Numeric Key Enters the number or symbol when the ">" prompt appears on the
input line.
7SYNCRO 8 9 • “.” is the decimal point. “-” is a minus sign or hyphen.
SINGLE
4SMOV 5 6
0-9 The Numeric keys are also used as function keys. Refer to the
- explanation of each function for details.
1 2 3
TOOL ON TOOL ON
.
JOB
0 TOOL OF TOOL OF
JOB
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5.2 Virtual Pendant
Keyboard Layout
The Virtual Pendant keypad key all have a corresponding key on the computer keyboard.
When the Virtual Pendant Screen has the input focus, the those keyboard key can be pressed
instead of clicking the keys on the pendant keypad.
ESC F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12
MAIN SIMPLE MOTION APPLIC
CANCEL
MENU MENU
ASSIST PAGE MULTI MODIFY
TYPE
INSERT DELETE
ATION
EX.AXIS FWD
Page
` 1 2 3 4 5 6 7 8 9 0 - = Backspace Insert Home
Up
CapsLock A S D F G H J K L ; ‘ Enter
Y- Y+ Y- Y+ DIRECT
FAST 8- 8+ COORD ENTER
L- L+ B- B+ OPEN
Shift Z X C V B N M , . / Shift ↑
Z- Z+ Z- Z+ TEST Keypad
SHIFT SLOW BWD . SHIFT ↑
U- U+ T- T+ START Display
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5.2 Virtual Pendant
Pendant
Screen
Pendant
Keypad
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[SHIFT] + [COORD]
The coordinate number can be changed when the "TOOL" or
"USER" coordinate system is selected.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Numeric Key Enters the number or symbol when the ">" prompt
appears on the input line.
0-9 • "." is the decimal point. "-" is a minus sign or hyphen. The
-
Numeric keys are also used as function keys. Refer to the
.
explanation of each function for details.
Keyboard Layout
The Virtual Pendant keypad key all have a corresponding key on the computer keyboard.
When the Virtual Pendant Screen has the input focus, the those keyboard key can be pressed
instead of clicking the keys on the pendant keypad.
ESC F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12
MAIN SIMPLE MOTION APPLIC
CANCEL
MENU MENU
ASSIST PAGE MULTI MODIFY
TYPE
INSERT DELETE
ATION
EX.AXIS FWD
Page
` 1 2 3 4 5 6 7 8 9 0 - = Backspace Insert Home
Up
CapsLock A S D F G H J K L ; ‘ Enter
Y- Y+ Y- Y+ DIRECT
FAST 8- 8+ COORD ENTER
L- L+ B- B+ OPEN
Shift Z X C V B N M , . / Shift ↑
Z- Z+ Z- Z+ TEST Keypad
SHIFT SLOW BWD . SHIFT ↑
U- U+ T- T+ START Display
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5.2 Virtual Pendant
Pendant
Screen
Pendant
Keypad
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
MAIN F1 MAIN
MENU MAIN MENU key MENU + UP
Increases the brightness of the screen.
MAIN
MAIN MENU key MENU + DOWN
Decreases the brightness of the screen.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[ASSIST]
• SHIFT key SHIFT
+ ASSIST key ASSIST
!?
ASSIST F3
!? The function list of key combinations with SHIFT key SHIFT
appears.
INTER
• INTERLOCK key LOCK
+ ASSIST key ASSIST
!?
INTER
The function list of key combinations with INTERLOCK key LOCK
appears.
Cancels the current status.
• Deletes the sub menu in the main menu area and the pull-down
[CANCEL] menu area.
Esc • Cancels the input data or the input status in the general-purpose
CANCEL
display area.
• Cancels the multiple views in the message area.
• Cancels the occurred error.
Works for the multi mode.
[MULTI] If this button is pressed when the multi mode is ON, the active window
switches.
MULTI
LAYOUT F5 MULTI
TOOL SEL
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Cursor to the next line and press DIRECT OPEN key DIRECT
OPEN . The
[DIRECT OPEN]
file will be displayed for the selected line. Display content will
DIRECT
L vary depending on the type of instruction used in the job.
OPEN
Example:
For a CALL instruction, the content of the called job will be displayed.
For a work instruction, the content of the condition file will be displayed.
For Input/output instructions, the input/output condition will be displayed.
• The lamp on this button is lit while the direct open is ON. Press
this button while the lamp is lit to return to the previous window.
[SHIFT] Changes the functions of other keys by pressing this key together.
TOOL SEL
[INFORM LIST] Displays instruction lists of commands available for job editing.
INFORM O
LIST
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
I
ROBOT SHIFT key SHIFT + [ROBOT]
The robot under axis operation can be switched to a robot axis which is
not registered to the currently selected job.
INTER
INTERLOCK key LOCK + [ROBOT]
Switchs the application when several applications are set to a robot.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Moves the manipulator through the taught steps while this key is
pressed.
• Only move instructions are executed (one instruction at a time,
[FWD] no welding instructions).
[BWD] Moves the manipulator through the taught steps in the reverse
direction while this key is pressed.
BWD M • Only move instructions are executed (no weld commands).
The manipulator operates at the selected manual speed. Make sure that
the selected manual speed is the desired one before starting operation.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[HIGH SPEED] Makes the manipulator move at high speed while this button and
one of the axis keys are pressed simultaneously during manual
operation. No need to change the setting of speed.
FAST E • The speed for [HIGH SPEED] is specified in advance.
MANUAL SPEED
It is possible to allocate any external axes to [E-] + [E+], [8-] + [8+] keys
to operate them.
Numeric Key Enters the number or symbol when the ">" prompt appears on the
input line.
7SYNCRO 8 9 • “.” is the decimal point. “-” is a minus sign or hyphen.
SINGLE
4SMOV 5 6
0-9 The Numeric keys are also used as function keys. Refer to the
- explanation of each function for details.
1 2 3
TOOL ON TOOL ON
.
JOB
0 TOOL OF TOOL OF
JOB
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5.2 Virtual Pendant
Keyboard Layout
The Virtual Pendant keypad key all have a corresponding key on the computer keyboard.
When the Virtual Pendant Screen has the input focus, the those keyboard key can be pressed
instead of clicking the keys on the pendant keypad.
ESC F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12
MAIN SIMPLE MOTION APPLIC
CANCEL
MENU MENU
ASSIST PAGE MULTI MODIFY
TYPE
INSERT DELETE
ATION
EX.AXIS FWD
Page
` 1 2 3 4 5 6 7 8 9 0 - = Backspace Insert Home
Up
CapsLock A S D F G H J K L ; ‘ Enter
Y- Y+ Y- Y+ DIRECT
FAST 8- 8+ COORD ENTER
L- L+ B- B+ OPEN
Shift Z X C V B N M , . / Shift ↑
Z- Z+ Z- Z+ TEST Keypad
SHIFT SLOW BWD . SHIFT ↑
U- U+ T- T+ START Display
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5.2 Virtual Pendant
Pendant
Screen
Pendant
Keypad
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Cursor ↑ • [SHIFT] + UP
←→ Goes back to the previous page.
↓ • [SHIFT] + DOWN
Goes to the next page.
• [SHIFT] + RIGHT
Scrolls the instruction area of the job content or play back dis-
play to the right.
• [SHIFT] + LEFT
Scrolls the instruction area of the job content or playback dis-
play to the left.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
• [SHIFT] + [AREA]
[AREA] The language can be switched when the bilingual function is
valid. (Bilingual function is optional.)
Ctrl
• DOWN cursor button + [AREA]
Moves the cursor to the operation button on the screen if dis-
played.
• UP cursor button + [AREA]
Moves the cursor to the general-purpose display area when the
cursor is on the operation button.
[SHIFT] + [COORD]
The coordinate number can be changed when the "TOOL" or
"USER" coordinate system is selected.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
[INTERLOCK] + [FWD]
[FWD] All instructions except move instructions are executed.
U
[SHIFT] + [FWD]
Move instructions are executed in succession.
Esc
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Numeric Key Enters the number or symbol when the ">" prompt
0-9 appears on the input line.
- “.” is the decimal point. “-” is a minus sign or hyphen.
. The Numeric keys are also used as function keys. Refer to the
explanation of each function for details.
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5.2 Virtual Pendant
Keyboard
Keypad key Description
Equivalent
Keyboard Layout
The Virtual Pendant keypad key all have a corresponding key on the computer keyboard.
When the Virtual Pendant Screen has the input focus, the those keyboard key can be pressed
instead of clicking the keys on the pendant keypad.
Page
` 1 2 3 4 5 6 7 8 9 0 - = Backspace Insert Home Up
Shift Z X C V B N M , . / Shift ↑
Z- Z+ Z- Z+ Test Keypad
Shift U- U+ SLOW T- T+ Modify Start
. Display
Shift ↑
Area Select ← ↓ →
Procedure
1. Click the [KB] button in the software keypad.
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5.2 Virtual Pendant
2. Enter the string, and click the [OK] button, the inputted string is fixed and the previous
screen appears. Press the [Cancel button, the inputted string is canceled and the pre-
vious screen appears.
• The inputted string is not checked. Please make sure not to use the character which can
NOTE not be inputted by the software keyboard.
• The other operation can not used on the input mode. When use the other operation,
Press the [OK] button or the [Cancel] button to close the input window.
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6.1 Viewpoint Operation Tools
6 Display Operation
The display tool functions help to achieve better visualization enabling text input on the cell
window, sectional display of models, display mode change, etc.
Parallel Press-and-hold the scroll Drag the mouse from side to side
wheel and drag and up and down to synchronize
the viewpoint with the mouse
motion.
Zoom Rotate the scroll wheel Zoom in and out the image by
dragging the mouse upward (to
zoom in) or downward (to zoom
out) over the screen.
Zoom And Rotate Press-and-hold the right Zoom in and out the image by
button and drag dragging the mouse upward (to
zoom in) or downward (to zoom
out) over the screen; rotate the
image centering on the Z-axis of
"world" coordinates by dragging
the mouse from side to side.
Change the viewpoint Press the scroll wheel Click any desirable point so that
the image is displayed with the
clicked point located in the center
of the screen.
Free Zoom Press [CTRL] key + Press- Drag the mouse over the desired
and-hold the right button range to be enlarged.
and drag
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6.1 Viewpoint Operation Tools
The most communly used viewpoint are available by clicking on the [Home] tab, in the [View]
group .
For detail on the preset viewpoint choices please refer to section " 5.1.1 Ribbon ".
Further preset viewpoint choices are available with the View Manager.
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6.1 Viewpoint Operation Tools
Standard View
buttons
Enables/disables the
zoom to extents function
when a standard view +90 deg. or -90
button is pressed deg. rotation
button
User Views
listbox
View Manager
Item Description
[Standard View] buttons Changes the viewpoint to display associated the standard view.
+90 deg. or -90 deg. rota- Rotates the viewpoint + 90 degree or -90 degree from the current
tion button viewpoint.
[Fit view to extends] button Displays all the models in the cell to fit in the view.
Double clicking one of the views will display the associated user
[User View] listbox defined view.Clicking the selected view name will enable the edition
mode to allow renaming the selected view.
Saves the current viewpoint displayed on the screen to the user view
[Save] button
selected in the "User View" listbox.
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6.1 Viewpoint Operation Tools
NOTE User views definitions are only saved to the file when the cell is saved.
Using Shortcuts
Each view has an associated shortcut key that can be used to recall one of the defined views
when the input focus is on either the cell display or on the View Manager panel. Pressing one
of the numeric keys (1... 9, 0) will load the corresponding user view; the "0" key is used for the
10th user view. The first letter of the standard view name is used (.e.i. "T" for the Top view, "F"
for the Front view...), the letters are indicated on the buttons of the View Manager panel. The
keys "I", "O", "J" and "K" are used for the four isometric views.
Smooth Transition
The viewpoint can be changed with or without smooth transition function by setting the display
as follows:
• For the duration setting, click the MotoSim EG-VRC button ( ), and select the
[Options] menu.
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6.2 Light Manager Operation
The Light Manager panel allows to add or remove lights and to modify the settings or each
light. In addition to the default light, up to 4 additional lights can be added.
On the [Home] tab, in the [Screen] group, click the [Light Manager] button, the [Light Manager]
dialog appears.
Light Manager
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6.2 Light Manager Operation
Light Manager
Pick Light Position with When checked, clicking on the main view will move the position of the
Mouse light to the clicked position. (When unchecked, clicking the main view
doesn't change the light position and allows view point change opera-
tion.)
Pressing the [Shift] key toggles the Pick Light Position with Mouse
check mark.
Cancel Cancels the light setting modifications and closes the Light Manager
panel.
The light markers in the main view will be deleted.
• To preserve the light settings for next time the cell is opened, the cell needs to be saved
NOTE after the light settings are changed.
• When exporting files (i.e. html format), changing the light settings don't affect the result-
ing exported file.
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6.2 Light Manager Operation
2. Click on the main view to position the light. The light will be created and a light marker will
be displayed to indicate the location of the light.
The light location and type can be confirmed by looking at the light marker in the main
view.
Light Marker
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6.2 Light Manager Operation
The lighting of the cell will change to reflect the new light influence.
As long as the [Pick Light Position with Mouse] is checked, clicking on the main view will move the
light to the clicked position. Other items can be changed in the Light Property section.
Note that a maximum of 4 lights can be added to the cell.
3. To modify existing light, first select the "Light No." and then change the settings in the
"Light Property" section.
NOTE To preserve the light settings for next time the cell is opened, the cell needs to be saved
after the light settings are changed.
Deleting Lights
Select the light number. Press the [Remove] button to remove the light.
Note that the "Default" light cannot be deleted.
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6.2 Light Manager Operation
Light Sources
Default
Directional light constantly attached to the viewpoint. The initial light color is white.
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6.2 Light Manager Operation
The light reflection and intensity of the whole scene can be modified by adjusting the "Inten-
sity" value.
Intensity: 100 75 50
Distant Light
Light is emitted from a infinite distance so that all
the rays are parallel.Light type for general use.
The light direction is from the clicked position
toward the viewpoint center.
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6.2 Light Manager Operation
Local Light
Light is emitted in all direction from the light position.
Useful for generating light from a given point.
Spot Light
Light is emitted in a specific direction forming a cone from the light position in
a cone shape. Useful to illuminate a specific face of a part.
The light direction is from the clicked position toward the viewpoint center.
For proper illumination of a model or a face, it may be necessary to relocate
the viewpoint center on the intended target before setting the light position.
Viewpoint center can be moved with click on the mouse wheel.
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6.3 Displaying Shadows
The Pick settings influence the selection of objects when picking object in the cell view with
the mouse.
Procedure
On the [Home] tab, in the [Pick] group, click the [Pick Mode] button, and select one of the fol-
lowing items.
• Free: Selects the point of the model corresponding to the clicked position.
• Center: Selects the face or edge center nearest to the clicked position. Note that
in order to select the center of the cylindrical model, select the model using
[Vertex] instead of [Center].
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6.4 Pick Settings
NOTE That these settings are also linked to the same settings available in the OLP dialog.
Procedure
On the [Home] tab, in the [Pick] group, click the [Selectable Object] button, and select one of
the following items.
• Frames: Model frame or AXIS6 models. (Note: The model frame needs to be visible
to be selected.)
• Lines & Lines such as LINE part, WORK line and wireframe model, and intersec-
lnters: tion lines generated by the intersection of parts or models.
(Note the intersection lines are displayed during the pick operation when
the left mouse button is pressed down. In cells with many detailed models,
the intersection generation may slow down the pick function response. In
such case, you may uncheck this item to improve performance.)
• Floor: FLOOR parts. (Note: FLOOR parts tend to interfere selection depending
on the viewpoint, therefore their selection is managed independently from
other models.)
NOTE That these settings are also linked to the same settings available in the OLP dialog.
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6.4 Pick Settings
Picked point
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6.5 Markup
6.5 Markup
Graphic forms (such as circles, rectangles) and text can be temporarily drawn on the cell win-
dow.
6.5.1 Freehand
This section explains on how to draw a free-form line.
NOTE The line drawn on the cell is deleted by changing the viewpoint of the window.
Procedure
1. Set the viewpoint of the window. (This step must be done first since the line will be
deleted when the viewpoint is changed.)
2. On the [Home] tab, in the [Screen] group, click the [Make-up] button, and select [Free
Hand].
Position the mouse pointer at a desired point, and drag the mouse freely so that the
mouse pointer on screen draws a line with the mouse movement.
Click the MotoSim EG-VRC button ( ), and select the [Options] menu to set the
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6.5 Markup
color and thickness of the line. Refer to " 11.2 Markup Settings " for details.
6.5.2 Circle
This section explains on how to draw a circle.
NOTE The circle drawn on the cell is deleted by changing the viewpoint of the window.
Procedure
1. Set the viewpoint of the window. (This step must be done first since the circle will be
deleted when the viewpoint is changed.)
2. On the [Home] tab, in the [Screen] group, click the [Make-up] button, and select [Cir-
cle].
Position the mouse pointer at a desired point, and drag the mouse: a circle is drawn
centering around the point where the mouse started dragging.
Click the MotoSim EG-VRC button ( ), and select the [Options] menu to set the
color and line thickness of the circle. Refer to " 11.2 Markup Settings " for details.
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6.5 Markup
6.5.3 Rectangle
This section explains on how to draw a rectangle.
NOTE The rectangle drawn on the cell is deleted by changing the viewpoint of the window.
Procedure
1. Set the viewpoint of the window. (This step must be done first since the rectangle will
be deleted when the viewpoint is changed.)
2. On the [Home] tab, in the [Screen] group, click the [Make-up] button, and select [Rect-
angle].
Position the mouse pointer at a desired point, and drag the mouse: a rectangle is
drawn from the point where the mouse started dragging.
Click the MotoSim EG-VRC button ( ), and select the [Options] menu to set the
color and line thickness of the rectangle. Refer to " 11.2 Markup Settings " for details.
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6.5 Markup
6.5.4 Notes
This section explains on how to add a note.
NOTE The note added on the cell is deleted by changing the viewpoint of the window.
Adding a Note
Procedure
1. Set the viewpoint of the window. (This step must be done first since the note will be
deleted when the viewpoint is changed.)
2. On the [Home] tab, in the [Screen] group, click the [Make-up] button, and select
[Notes].
Click any point on the window where to add notes; a "Note" indication appears at the
clicked point. Right-click the “Note” to open a pop-up menu, and select {Edit} to enter
texts.
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6.5 Markup
Click the MotoSim EG-VRC button ( ), and select the [Options] menu to set the
font and color of the text. Refer to " 11.2 Markup Settings " for details.
NOTE • The note added on the cell is deleted by changing the viewpoint of the window.
• When adding two-byte characters, use a font that properly displays two-byte characters.
Deleting a Note
Select the note to be deleted, and right-click it. Select {Delete} from the pop-up menu to
delete the text.
Relocating a Note
Drag a note to a different location with on the [Home] tab, in the [Screen] group, click the
[Make-up] button, and selected [Notes].
Note that the arrow remains at the same point.
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6.6 Memo
6.6 Memo
Memo
Creating a Memo
Procedure
1. On the [Home] tab, in the [Screen] group, click the [Memo] button.
Click the desired model and drag the mouse to the desired memo location; a "Memo"
indication with an arrowed line appears at the position where the mouse button is
released after dragging.
Non-displayed model or the point where there is no model cannot be selected as a subject
NOTE for the memo indication whereas any point of the model displayed on the window can be
selected for the memo indication.
2. Right-click “Memo” to open a pop-up menu, and select {Edit} to enter texts.
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6.6 Memo
font and color of the texts. Refer to " 11.2 Markup Settings " for details.
NOTE When adding two-byte characters, use a font that properly displays two-byte characters.
Deleting a Memo
Select a memo to be deleted, and right-click it. Select {Delete} from the pop-up menu to
delete the memo with the arrowed line.
Relocating a Memo
Drag a note to a different location with on the [Home] tab, in the [Screen] group, click the
[Make-up] button, and selected [Memo].
Note that the arrow remains at the same point.
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6.7 Cutting Planes
This section explains on how to display cross sections that are perpendicular to the X-, Y-, Z-
axes directions in the cell window.
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6.7 Cutting Planes
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6.7 Cutting Planes
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6.7 Cutting Planes
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6.8 Measure Distance
st
Coordinate of the 1 point
nd
Coordinate of the 2 point
Difference between
the 2 points
Procedure
1. On the [Home] tab, in the [Mesurement] group, click the [Distance] button.
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6.8 Measure Distance
2. Click with the mouse any 2 points on models. (Blue dots on the clicked positions and a
blue line joining the points will appear.) The Measure Distance dialog will display with the
measurement results.
NOTE When clicking in an area the selected point depends on the current "Pick Mode" and "Pick
Object" settings. Please refer to " 6.4 Pick Settings " for details.
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6.9 Measure Angle
Procedure
1. On the [Home] tab, in the [Mesurement] group, click the [Angle] button.
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6.9 Measure Angle
2. Click with the mouse any 3 points on models. (Blue dots on the clicked positions and blue
lines joining the points will appear.) The Measure Angle dialog will display with the mea-
surement results.
NOTE When clicking in an area the selected point depends on the current "Pick Mode" and "Pick
Object" settings. Please refer to " 6.4 Pick Settings " for details.
This angle.
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6.10 Measure Line
With this command, a dimension line can be created as shown in the figure below.
Procedure
1. On the [Home] tab, in the [Mesurement] group, click the [Measure Line] button.
2. Click a model and drag; a dimension line with two-headed arrow appears where the
mouse is dragged across, displaying the dimension between the both ends.
• Non-displayed model or the point where there is no model cannot be selected as a sub-
NOTE ject for the dimension line indication whereas any point of the model displayed on the
window can be selected for the dimension indication.
• When clicking in an area the selected point depends on the current "Pick Mode" and
"Pick Object" settings. Please refer to " 6.4 Pick Settings " for details.
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6.11 Changing the Rendering Mode
On the [Home] tab, in the [Screen] group, click the [Rendering Mode] button, the display mode
can be change..
SUPPLE
• The cell is displayed in "GourandShading" mode when it is opened.
-MENT • For edition, select desired mode from "FlatShading", "GourandShading", or "Wireframe".
Flat Shading
The image displayed in flat shaded rendering mode:
Gourand Shading
The image displayed in Gourand shaded rendering mode:
Wire Frame
The image displayed in wire frame:
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6.12 Other Display Operations
Procedure
On the [Home] tab, in the [Screen] group, click the [Line Size] button,and select the frame
width from {Small}, {Medium}, or {Large}.
Procedure
Display the cell to be copied. On the [Home] tab, in the [Tools] group, click the [Copy] button,
or hold down the Ctrl key and press the C key.
Drag here.
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6.12 Other Display Operations
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7.1 Adding a New Controller
MotoSim EG-VRC allows many robot and controller operations, such as adding, deleting, etc.
This chapter describes operation related to setting controllers and robots
A single controller may have one or more control group representing robot, base station or
external stations. Then, there are 2 ways to create the environment. One is to recreate the
system configuration in the MotoSim EG-VRC with the "CMOS.BIN" file saved from a real
controller. The "CMOS.BIN" file contains all the information defining a controller and its robots.
The other is to create the "CMOS.BIN" file in the MotoSim EG-VRC.
On the [Controller] tab, in the [Setup] group, click the [New] button, the new controller can be
created.
There are 2 ways to proceed depending on the presence or absence of the "CMOS.BIN" file.
• If there is not the "CMOS.BIN" file (the "CMOS.BIN" file is created in the MotoSim EG-
VRC), proceed to section " 7.1.1 Create a New VRC Controller (no file) ".
• If there is the "CMOS.BIN" file (the "CMOS.BIN" file is taken from a real controller), pro-
ceed to section " 7.1.2 Create VRC Controller (using CMOS.BIN file or ALL.PRM file) ".
NOTE In regard to the FS100 controller, the "CMOS.BIN" file saved from a real controller can not
be used with MotoSim EG-VRC to create the environment.
Note that a controller that has already been created by MotoSim EG-VRC cell can be simply
copied into the cell. To do so, please refer to section " 7.2 Copying a Controller from another
Cell ".
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7.1 Adding a New Controller
Procedure
1. On the [Controller] tab, in the [Setup] group, click the [New] button. To display the
“Create Controller” dialog. Select “New VRC Controller (no file)” and press the [OK]
button.
2. The "New Controller" dialog box appears. Select the controller type and then the sys-
tem version from the list below. If desired you may change the default name for the
controller. Click the "OK" button.
• When ECD80D-A00 (NX100) is registered, select the following controller certainly. That
NOTE robot model is only used with the following controller system version.
[Controller Type] NX100
[System Version] NS 4.69-A5
• The expanded memory option is not supported for the FS100 controller.
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7.1 Adding a New Controller
4. The controller will launch with the selected system version and display the Virtual Pen-
dant in maintenance mode. (This may take a few moments.) At the same time, the
“Controller Maintenance Mode” Instruction Guide will appear.
Since there is no CMOS.BIN file, it is necessary to initialize the controller with the Vir-
tual Pendant in order to define the system (language, robot, application...).
To do so:
• Initialize the controller
• Once the controller initialization is completed, click on the “Finish” button of the
Instruction Guide to reboot.
For details how to proceed to set initialize the controller, follow the procedure described
in the “Instruction Guide” or refer to the " 7.1.3 Initializing the Controller (DX200,
DX100, NX100) " sections that follow later in this chapter.
5. The Virtual Pendant will close and reboot in normal mode. (This may take a few
moments.) The “Robot Setting” dialog will display. A default robot name and model file
should be pre-entered. If required, enter a name for the robot and select a robot model
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7.1 Adding a New Controller
file corresponding to the robot type. (In the example below, the robot model is
“VA01400-A00” the corresponding model is “VA01400-A00.mdl”.) Robot models are
found in the “Robot” folder under MotoSimEG-VRC install folder. Click the [OK] button.
When initialized the robot controller, MotoSim EG-VRC set the absolute data auto-
NOTE matically. So absolute setting is not needed in MotoSim EG-VRC.
Refer to " 7.1.4 Initializing the Controller (FS100) " for details.
• In regard to the FS100 controller, the "CMOS.BIN" file saved from a real controller can
NOTE not be used with MotoSim EG-VRC to create the environment.
• In regard to the NX100 controller, the "ALL.PRM" file saved from a real controller cannot
be used with MotoSim EG-VRC to create the environment.
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7.1 Adding a New Controller
Procedure
1. On the [Controller] tab, in the [Setup] group, click the [New] button. To display the
“Create Controller” dialog. Select “VRC Controller (using file)” and press the [OK] but-
ton.
2. The “Open” dialog box appears. Select the CMOS.BIN file or “ALL.PRM” file to be
used to create the controller, and click [Open].
3. The "New Controller" dialog box appears. If desired you may change the default name
for the controller. Select the system version from the list below that corresponds to the
version of system from which came the "CMOS.BIN" or “ALL.PRM” selected in step 2,
and click the "OK" button. When the kind of controller corresponding to "CMOS.BIN" or
“ALL.PRM” cannot be detected automatically, the controller type can be selected.
Please select the controller type.
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7.1 Adding a New Controller
4. The Virtual Pendant will close and reboot in normal mode. (This may take a few
moments.) The “Robot Setting” dialog will display. A default robot name and model file
should be pre-entered. If required, enter a name for the robot and select a robot model
file corresponding to the robot type. (In the example below, the robot model is
“VA01400-A00” the corresponding model is “VA01400-A00.mdl”.) Robot models are
found in the “Robot” folder under MotoSimEG-VRC install folder. Click the [OK] button.
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7.1 Adding a New Controller
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7.1.3 Initializing the Controller (DX200, DX100, NX100)
Using the virtual pendant in maintenance mode, the system of controller (language, robot,
application…) can be set.
Procedure
1. Select {SYSTEM} - {INITIALIZE} from the main menu.
To change a field, move the cursor over that field with the arrow keys and then
NOTE select it by pressing the [Space] key on the keyboard or by clicking the [Select]
button on the pendant keypad. Depending on the field, either select a value from
the list of choices; or enter the required value and press [ENTER] to register the
value.
The Virtual Pendant interface can change between the set languages by pressing
NOTE the [SHIFT] key on the keyboard and clicking the [AREA] key on the pendant key-
pad.
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3. In the “CONTROL GROUP” screen, define the control groups by selecting the manipu-
lator connecter to the each group. “R” groups are for robot, “B” groups are for robot
base station and “S” groups are for external axis devices. When the selection is com-
plet, press [ENTER] to go to the next screen.
• The robot models supported by MotoSim EG-VRC are those displayed on the virtual
NOTE pendant for the controller version selected at the time of creation. Please refer to section
" 14.7 List of Manipulator Models and Offset Values Supported by MotoSim EG-VRC "
for the list of available model. However, for similar robot model that only have differences
in the details of their shape, it maybe possible to do simulation using the standard robot
model (model ending with A0*).
• When ECD80D-A00 (NX100) is registered, select the following controller certainly. That
robot model is only used with the following controller system version.
[Controller Type] NX100
[System Version] NS 4.69-A5
4. The “CONNECT” screen doesn’t need any change. Press [ENTER] to go to the next
screen.
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5. In the “APPLICATION” screen, select the application that correspond best to what the
robot will be doing.
6. The “OPTION BOARD” screen doesn’t need any change. Press [ENTER] to go to the
next screen.
7. The “I/O MODULE” screen is only for confirmation and I/O modules selection cannot
be changed at this step. Press [ENTER] twice to go to the next screen. To add I/O
modules please refer to section " 12.4 Adding I/O Board Module ".
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8. The “CMOS MEMORY” screen cannot be modified. Press [ENTER] to go to the next
screen.
9. The “DATE/TIME SET” screen cannot be modified. Press [ENTER] to go to the next
screen.
10. A confirmation dialog box will appear, select [YES] to start initializing the CMOS data.
Then, the message "Initializing system data. Don't turn the power off." is displayed at
the bottom of the virtual pendant. Don't operate anything while that message is dis-
played. If the initialization is finished, the message is changed to "Maintenance Mode".
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7.1.4 Initializing the Controller (FS100)
Using the virtual pendant in maintenance mode, the system of controller (language, robot,
application…) can be set.
Procedure
1. Select {SYSTEM} - {INITIALIZE} from the main menu.
To change a field, move the cursor over that field with the arrow keys and then
NOTE select it by pressing the [Space] key on the keyboard or by clicking the [Select]
button on the pendant keypad. Depending on the field, either select a value from
the list of choices; or enter the required value and press [ENTER] to register the
value.
The Virtual Pendant interface can change between the set languages by pressing
NOTE the [SHIFT] key on the keyboard and clicking the [AREA] key on the pendant key-
pad.
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3. In the "CONTROL GROUP" screen, define the control groups by selecting the manipu-
lator connecter to the each group. "R" groups are for robot, "B" groups are for robot
base station and "S" groups are for external axis devices. When the selection is com-
pleted, press [ENTER] to go to the next screen.
The robot models supported by MotoSim EG-VRC are those displayed on the virtual pen-
NOTE dant for the controller version selected at the time of creation. Please refer to section "
14.7 List of Manipulator Models and Offset Values Supported by MotoSim EG-VRC " for
the list of available model. However, for similar robot model that only have differences in
the details of their shape, it maybe possible to do simulation using the standard robot
model (model ending with A0*).
4. The "CONNECT" screen doesn't need any change. Press [ENTER] to go to the next
screen.
5. The "IO MODULE" screen doesn't need any change. Press [ENTER] to go to the next
screen.
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6. The "SENSOR FUNCTION ALLOCATION" screen doesn't need any change. Press
[ENTER] to go to the next screen.
9. The "CMOS MEMORY" screen doesn't need any change. Press [ENTER] to go to the
next screen.
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10. The "DATE/TIME SET" screen doesn't need any change. Press [ENTER] to go to the
next screen.
11. A confirmation dialog box will appear, select [YES] to start initializing the CMOS data.
Then, the message "Initializing system data. Don't turn the power off." is displayed at
the bottom of the virtual pendant. Don't operate anything while that message is dis-
played. If the initialization is finished, the message is changed to "Maintenance Mode"
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7.2 Copying a Controller from another Cell
A controller already define in a MotoSimEG-VRC cell can be copied over to another cell.
Procedure
1. On the [Controller] tab, in the [Setup] group, click the [Copy] button.
2. The “Open” dialog box appears. Select the VRC.BIN file located in the controller folder
(folder bearing the name of the controller) of a MotoSimEG-VRC cell, and click [Open].
3. The “Add Controller” dialog box appears. Enter a name for the controller. The “File
Name” field already contains the path to the VRC.BIN selected in step 2 above. Click
[OK]. The controller and robot files will be copied over to the current cell folder and the
controller will boot in normal mode. This may take a few moments.
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7.2 Copying a Controller from another Cell
4. When the controller has completed its boot up, the “Robot Setting” dialog will display.
Default robot name and model file should be pre-entered. If required, they may be
modified. Click the [OK] button.
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7.3 Deleting a Controller
To delete the controller and its associated robots from a cell, follow the procedure below.
Procedure
1. On the [Controller] tab, in the [Setup] group, click the [Delete] button.
2. The “Select Controller/Robot” dialog box appears. Select the controller to be deleted,
then click on [OK].
3. The confirmation message below will appear. Select [Yes] to remove the controller
from the cell.
The controller is removed from the cell but its corresponding folder and files are
NOTE not deleted from the cell folder.
A delete controller may be added later on by using the “Copy Controller...” menu.
(For details refer to section " 7.2 Copying a Controller from another Cell ")
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7.4 Select Controller
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7.5 Controller Setting
Select the tool number, and then, if required, modify the tool data by using the spin button
at the side of each edit box or entering a value directly. The tool data can also be changed by
checking the [Pick Enable] check box and clicking in the cell window.
• In a cell with multiple controllers, it is necessary to select the controller to edit with the
NOTE
ribbon before opening the Tool Editor dialog box.
• In order to change the Tool No., the controller must be set to operate with multiple tools.
Use the following parameter to activate the multiple tool function on the controller:
DX200, DX100, FS100
S2C431: Tool number change (0: Single tool, 1: Multiple tool)
NX100 S2C333: Tool number change (0: Single tool, 1: Multiple tool)
For more detail please refer to the "Tool Coordinates" section of the controller "Opera-
tor's Manual".
• To change the tool selection and tool data using the virtual pendant, please refer to the
"Tool Coordinates" section of the controller "Operator's Manual".
Tool Number
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7.5 Controller Setting
Item Description
[OK] button Closes the dialog box after modifying the tool data.
[Cancel] button Closes the dialog box without modifying the data to the new values.
[Apply] button Modifies the tool data; does not close the dialog box.
Enables mouse picking operation to move the tool center point to the
clicked position.
[Pick Enable] When clicking in an area the selected point depends on the current
check box "Pick Mode" and "Pick Object" settings. Please refer to " 6.4 Pick Set-
tings " for details.
Pressing the [Shift] key enables or disables the [Active] checkbox.
[Exp >>] button Displays tool load information, enabling data setting.
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7.5 Controller Setting
• In a cell with multiple controllers, it is necessary to select the controller to edit with the
NOTE
ribbon before opening the Set User Frame dialog box.
• To change the user coordinate selection and the coordinate system definition using the
virtual pendant, please refer to the "User Coordinates" section of the controller "Opera-
tor's Manual".
• Master tool user coordinate can be edited the values only. New master tool user coordi-
nate can not be created in this dialog. When select the existing master tool user coordi-
nate, robot name is gray out.
Item Description
[Add] button Create a coordinate system for the selected user frame number.
[Delete] button Delete the coordinate system of the selected user frame number.
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7.5 Controller Setting
Item Description
[OK] button Closes the dialog box after confirming the overwrite of user frame.
[Cancel] button Closes the dialog box without modifying the data to the new values.
Procedure
1. Select the user frame number to be edited with the top left combobox.
2. If the selected UF#2 doesn't already exist, press to the [Add] button.
3. Check the [Pick Enable] or [Pick 3 points] check box, and then left-click with the mouse
on the cell window to move the user frame.
• [Pick Enable]
Check the [Pick Enable] checkbox, and then left-click with the mouse on the cell
window to move the user frame to the clicked position.
• [Pick 3 points]
Check the [Pick 3 points] checkbox, and then left-click with the mouse on the cell
window to move the user frame to the clicked position. Next, left-click with the
mouse on the cell window to define the X-axis direction. Finally, left-click with the
mouse on the cell window to define the XY-plane. Then the user frame is shown.
4. If necessary, set the axis values to move the user frame.
5. Press [OK] to save the user frame settings.
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7.5 Controller Setting
20 milliseconds). For animation purpose, the screen doesn’t need to be refreshed so quickly.
The refresh interval can be adjusted to optimize the playback visualization according to a spe-
cific computer capability.
• The high-speed playback function is a function sped up by omitting the segment data.
NOTE The effect might not become visible according to a set value at drawing intervals and
computers that use it.
• Please do not use this function when you want to check the movement of every one seg-
ment on the pulse record.
Item Description
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