This document describes the inital step of defining a robot task, here creating a setup, in which the the task to be automated can be defined and the process resuls simulated.

The following options exist:

• creating a (new!) setup
• duplicating an existing setup
• importing an existing setup that can be modified later
  

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What really matters at the end is the processes, thus the tool-paths and their parameters. The robots are “only” means to execute them. Under normal circumstances the robots execute the tool-paths as desired, if AUTOMAPPPS takes care for singularity-avoidance and collision avoidance , consideration of reachabilty, speed and accerlation limits cables etc.. Common robot stuff. Also it should be noted that while you define the tool-paths, the robot which finally executes the path, or the orientation of the 2-axis positioner or the timing does not need to be known yet and can be optimized later.

In AUTOMAPPPS, we partially uncouple the process (as defined by robot tool-paths in the setup editor) and the execution of those paths by the robots and rotation tables etc. This simplifies the programming and optimization: Firstly it is the process result you are interested in – and the robots motions are “only” means to achieve it . Secondly the robot to execute a path, or the axis setting, or the timing (esopecially in conveyor-tracking) is not decided yet. Gently uncoupling those 2 steps reduces the complexity.

Therefore we uncouple editing the “setup” from editing the “workflow”. In the setup, tool-paths are defined more easy – and can be checked for reachabilty etc. In the workflow, the paths are assigned to robots in an order and planned collision-free etc.

The topic of defining or importing tool paths -in the setup editor – is structured as follows

• importing tool paths – and automatic modification to make them reachable by the robot(s)
• definining arbitrary tool paths: for patch-based processes (such as pattern projectors) or pathes that include linear or other motions (grinding, painting)
• easy cad-to-path (cad2path) based definition
• high-level patterns, susch as different meanders
• even higher level patterns

The elements of the GUI are shown in the next video and described in more detail below

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Static inspection or 3D measurement processes or drilling processes are examples for “point-based-processes”. The tool is not moving during the process with respect to the surface. In case of drilling it can be moving into the surface. The tool is not scanning the surface or moving in lines or curves or meanders on the surfaces. The position of the tool and robot during the process is static, except a possible approach/depart motion. Also called “landing-departing” motion. Grasping and releasing for pick and place applications are similarily also point-based-processes, but are dealt extra in a special simple way.

Consequently, a tool-path of such a process is a single point. It may be extended with an additional landing-departing motion. Of course several of those points can be connected with air-motions inbetween. Such as several drillings are executed in a program. Or several inspection points (patches) are included in a robot program to cover/see the entire part.

Define tool-paths

How to define such a tool-paths from scratch – for the case of point based processes is shown next:

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Simplified you click on “Add Toolpath” and click on the surface of the part (with CTRL). Each time you clock a new tool-path with 1 control-point is created. For selecting a “single-point” tool path,

Import tool-paths

Process-points, such as measurement or inspection points are frequently defined externally. You can importr those defined points instead of defining them again.

In the next video, we show how to import a set of tool-paths (in this case several view-points) from a file. The video also shows how to adjust view-points that can not be executed by the robot automatically that planning is now possible.

For the adjustment (or optimization) of one or several tool-paths or points, you can select individual robots (cells can include multiple robots) and tools (each robot can carry several tools) and workpieces (each cell can include several parts). Also you can define in which time segment within the cycle time the tool-path shall be executeable.

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Robotic deburring, welding, sealing, etc. are also line or spline-based processes, but since they are tied to a feature, such as an seam or weld, other simple methods are provided in AUTOMAPPPS and will be described individually.

The video gives and overview how robot tool-paths can be created easily by “clicking on the surface” of the part.

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The following video shows how to apply a meander to paint a section of a commercial vehicle.

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For this software functionality, a CAD description which possesses CAD features (edges etc.) is required. That is e.g. STEP or IGES. STL and other formats do not include CAD-features.

The following videos show use-cases how to define such a path for the case of welding

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The following video shows more details for a more simple case:

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At first, select the process model for the simulation in the Tool-editor. Then define the process-parameter. E.g. for painting, one tool (spray-gun) can show different process settings (brushes). Therfore, you can define different sets per tool e.g. for painting. Select the point from which the simulation origins. Note: e.g. for painting, the painting-simulation starts at nozzle of the spray-gun, while the TCP commonly is 180-250mm (or more) in front of the nozzle.

It is most easy if you define the point where the process-simulation origins in the as reference-point in the CAD editor. Then you select this reference-point in the Tool-editor als simulation point.

The video does show how you can model a simple painting process for paint-thickness simulation.

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