HOW TO GUIDE Updated: Tuesday, September 21st 2021

Robot Programming Deployment Guide

Contents

Overview

Custom Applications for FANUC(CRX10iA/L & CRX10iA)

Setting up

Playing the program

Machine Tending Applicationsusing FANUC (CRX10iA/L &CRX10iA)

Setting up

Custom Applications forUniversal Robots

Setting up

Playing the program

Overview

To enable more applications to be served in MachineLogic, you will now be able to program your robot through our code-free programming tool. Thisdocument will cover the steps needed to deploy your offline robot program (for Universal Robots, Fanuc, Doosan) accurately onto your real-life assembly.

Custom Applications for FANUC (CRX10iA/L & CRX10iA)

It is important to note that you will need to have the ASCII upload option on your FANUC controller in order to load the LS files directly. After you havefinished programming your FANUC cobot, and have downloaded the post-processed program (LS program) from MachineLogic, follow the steps below toupload the program onto the FANUC teach pendant:

Setting up

1. Assemble your design.

2. Fasten the Robot Calibration Flange (ST-RB-020-0003 & ST-RB-020-0005) onto the cobot, along with any accompanying end-of-arm-tooling.

3. Install the digital Robot Calibration Interface (ST-RB-020-0002) at the same location as where you have placed it on the CAD. Ensure the calibrationinterface is flush against a part that is repeatable with respect to the robot sequence (typically the part presenter is the ideal choice for this).

4. Move the robot where the Robot Calibration Flange (ST-RB-020-0003 & ST-RB-020-0005) can lock into the Robot Calibration Interface (ST-RB-020-0002).To calibrate, simply affix the flange to the interface by lining up the dowel pins with the accompanying holes. Once the two pieces are flush, use the M8knob to fully fasten them together.

5. Set the Uframes on the robot pendant. The Uframes need to match the digital calibration tool names written in the CAD . This step will calibrate the restof the robot program to reference the positions of the digital calibration tool.

Figure 1: Setting Uframes on Fanuc

Playing the program

1. Upload the LS program from MachineLogic onto a USB drive

2. Plug the USB drive onto the FANUC teach pendant

3. Select Utilities➔ Set device ➔ USB

4. Select DIR

5. Select the LS program file from the USB drive

6. Select the program in the FR memory and select LOAD

Machine Tending Applications using FANUC (CRX10iA/L & CRX10iA)

For high precision Machine Tending applications, implementing a Robot Calibration Tool into your design (ST-RB-020-0002 & ST-RB-020-0005) will allow youto calibrate several locations quickly and seamlessly on your machine tending cart. This will reduce robot downtime and help reduce operator programmingtime greatly. The steps outlined below will assume that you have used the Machine tending application inside MachineLogic to build your program.

Figure 2: Machine tending application with Fanuc

Setting up

1. Attach Robot Calibration Interface(s) (ST-RB-020-0002) to your machine tending cart in your desired location(s), you can easily calibrate them with theuse of your Robot Calibration Flange (ST-RB-020-0005).

When choosing calibration locations, it is best to select positions where the calibration interface will rest flush against the part-presenter.

Figure 3: Setting up robot calibration

2. To calibrate, simply affix the flange to the interface by lining up the dowel pins with the accompanying holes. Once the two pieces are flush, use the M8knob to fully fasten them together.

Figure 4: Locking female and male robot calibration

3. Set the Uframes on the robot pendant. The Uframes need to match the digital calibration interface names written in the CAD . This step will calibratethe rest of the robot program to reference the positions of the digital calibration tool.

Figure 5: Setting Uframes on Fanuc

4. Repeat this process until all the frames are calibrated.

5. To teach the drop-off position for your raw material for machine tending, configure your position register.

Figure 6: Position register

6. Play the program

Custom Applications for Universal Robots

Setting up

1. Assemble your design.

2. Assemble the Robot Calibration Flange (ST-RB-020-0003) onto the cobot, along with any accompanying end-of-arm-tooling.

3. Install the digital Robot Calibration Interface (ST-RB-020-0002) at the same location as where you have placed it on the CAD. Ensure the calibrationinterface is flush against a part that is repeatable with respect to the robot sequence (ideally directly against the part presenter).

4. Move the robot where the Robot Calibration Flange (ST-RB-020-0003 & ST-RB-020-0005) can lock into the Robot Calibration Interface (ST-RB-020-0002).To calibrate, simply affix the flange to the interface by lining up the dowel pins with the accompanying holes. Once the two pieces are flush, use the M8knob to fully fasten them together.

5. Once the calibration tool is locked in place, go to the “Installation tab > Features > Point > Teach this point”. The point names need to match the digitalcalibration tool names specified in the CAD:

Figure 7: Teaching calibration points for UR

Playing the program

1. Click into the “Program” tab on the UR teach pendant

2. Click “Open” and select your URP file

Figure 8: Opening URP program

3. Press play

Figure 9: Playing URP program