4 COSIMIR Professional

Like COSIMIR Educational, this software enables one to write control programs for the Mitsubishi robot and the computer testing programs. The difference between COSIMIR Professional and COSIMIR Educational is that in addition to programming Mitsubishi robots program, the robots KUKA, ABB, Fanuc and other firms, the former allows one to download the control program into the robot control device and control the real robot via computer. COSIMIR Professinoal allows one to create new applications for the robot by using some robot simultaneously. Devices/details, used to build models for 3D model applications of a new robot must not necessarily be those of COSIMIR Professional, but models created in other CAD programs can be used. Modeling Extensions for COSIMIR Professional support the composition of robot-based workcells. Efficient modeling is provided by using component libraries, machinery contained, robots, tools, conveyor, belts, part feeders, etc. Free 3D modeling and import from CAD systems are also possible. The number of important filters has considerably increased.

4.1 Start-up
Starting the program COSIMIR Professional consists of the following steps: START Programs COSIMIR Professional COSIMIR Professional (Fig. 4.1).

Fig. 4.1. COSIMIR Professional start-up

After that the window shown in Fig. 4.2 is opening. In Fig. 4.3 in the COSIMIR Professional window the project of a robotized cell is shown. It contains the following: A. 3D-show window where simulation of the program is displayed B. program writing window C. window for choosing the control device for the robotized cell D. window of the inputs of the robotized cell control device E. window of the outputs of the robotized cell control device F. window of the robot position list. 45

Fig. 4.2 General view of COSIMIR Professional

Joonis 4.3. COSIMIR Professional project of the robotized cell

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4.2 Window RCI Explorer

RCI Explorer gives a review of the status of a real robot. The RCI explorer enables you to upand download programs, simply by drag-and-drop. You can start programs in any slot you want and keep track of the actual state of your robot parameters, fault messages, system variables, etc. The window RCI Explorer (Fig. 4.4) contains two main folders. The first folder is the robot folder the designation of which is the name of the robot (in Fig. 4.4 it is RV-2AJ). This folder opens access to information in a robot control device. The second folder is the Workplace which contains information about the COSIMIR Professional project.

Fig. 4.4. RCI Explorer window

From the robot folder you can find information about data communication between the robot and the computer, information about robot type, lists of programs in the control device and positions, information about program slots, system variable data, information about the status and parameters and, fault messages of the robot. The Workplace folder finds the robot control program from COSIMIR Professional, the robot position list and other data. When the RCI Explorer window is closed, choose the command RCI Explorerfrom Execute menu and the window is opening.

4.3 Data communication between the computer and the robot control device
To create data communication the COM port of the computer must be connected to the RS-232 port of the robot control device. The switch MODE of the control device must be on position AUTO (Ext.). As it follows, the software COSIMIR Professional must be operating in the computer where the project of the robot control program is open. The type of the virtual robot is the same as the type of the real robot. When the types of the robots are different, choose another application or create a new. To create data communication between the computer and the robot control device, choose the command Init Connection from COSIMIR Professional menu Execute. When data communication is created, the RCI Explorer shows different data about the real robot. For example, by clicking on Programs folder which is located in RV-2AJ folder (in some other 47

project, the designation of this folder may be different) the designations of all control programs are shown (Fig. 4.5). When clicking on the Programs folder the first time, for renewing the contents of the folder occurs. During the renewing all the programs are searched and information about these programs is given in the folder Programs. Second clicking on the Programs folder does not renew the contents of the folder, as the user does not require this.

Fig. 4.5. The program list of a robot

In the case of failure data communication will be adjusted COSIMIR Professional communication interface. For that purpose choose the command Communication Portfrom menu Extras Settings. Make sure that the Serial Interface in the open window shown in Fig. 4.6 a under the Common panel is chosen and near the Serial Interface panel (Fig. 4.6 b) the right COM ports is chosen. After these changes, create data communication between the COSIMIR Professional and the robot control device again.

a) Fig. 4.6. Communication Port view Common (a) and Serial Interface (b) panel

b)

Data communication between the computer and the robot is possible via Ethernet. For that purpose the robot control device must have the Ethernet card, make sure you know IP aadress of the card and the computer and control device must be connected to the same net. Before creation of data communication it is necessary to make adjustment of the Ethernet connection on the TCP/IP panel in the Communication Port window.

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Fig. 4.7. Communication Port view when the TCP/IP panel is chosen

4.4 Robot control via computer

To control the real robot Jog Operation the window (Fig. 4.8) which is opening when choosing the command Jog Operation from Execute menu is used. Under the same procedure this window is opening by the help of the RCI Explorer window when from Workplace Tools by double click, the Jog Operation (Fig. 4.9) is chosen.

Fig. 4.8. Window for controlling the real robot

Fig. 4.9. Opening Jog Operation window by using RCI Explorer

The Jog Operation window (window with the same designation but it is opening by the command Teach Box from Extras menu) moves the robot in the coordinate system XYZ, JOINT and TOOL, closes oand opens the robot gripper (Close Hand and Open Hand buttons), changing the speed of the manual by controlled robot (Jog Speed) and records the instant coordinates into the position list (Current Position Pos. List).

4.5 Program downloading into the robot control device and back to the computer
Before downloading a control program into the robot control device, check that the designation of the program has not exceeded four signs. Also, the designations of the program file and a position list file must be the same. It is possible to rename the files during uploading the files into the robot control device.

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To load the program, choose the program with the position list in RCI Explorer window from Workplace Programs folder and drag these on RV-2AJ Programs folder (Fig. 4.10). Releasing the mouse button, the Up- and Download window is opening, click on OK button to begin the control program loading into the robot control device (Fig. 4.11 a). In the Up- and Download window in column Name your can specify the short designation of the program for downloading this program into the control device. After downloading the program the Up- and Download window is opening (Fig. 4.11 b) for downloading the position list. It is meaningful to write into the column Name the designation of the program used for downloading but with the other letter combination. Downloading begins when OK button is pressed.

Fig. 4.10. COSIMIR Professional program uploading into the robot control device by using RCI Explorer window

a) Fig. 4.11. The control program (a) and the position list (b) windows

b)

There are some other ways to download the control program into the robot control device but then the program and the position list must be downloaded separately. To load the program, you must sign the program writing window or the robot position list widow in COSIMIR Professional (only one at a time). Next choose Download PC Robot from Execute menu. Thereupon the window Up- and Download is opening (Fig. 4.11 a and b). By pressing OK button downloads the control program or the robot position list into the robot control device. It makes downloading the programs and the position list into the robot control device possible which are not signed in the RCI Explorer window in Workplace Programs folder. During downloading the control program and the position list into the robot control device, the messages may appear. The reasons are: 50

1. A designation of the downloading program is confirmed with the designation of the program in the robot control device. 2. An empty program or the position list is downloaded into the control device. 3. Deleting the old program in the control device has failed. In the case of the first fault, the program and the position list must be renamed or overwritten and in the case of the second, fault downloading must be aborted. When the third fault appears, then the program in the control device must be deleted manually. For that purpose choose the designation of the program which you want to delete in RCI Explorer window from RV-2AJ Programs folder by the help of the right button of the mouse. Then choose Delete (Fig. 4.12) from drop-down menu.

Fig. 4.12. Deleting the program and the position list in the robot control device

Remember that during downloading a program and the position list from COSIMIR Professional, the whole program written in the computer is overwritten when the designations are confirmed with the designations of the program and the position list is recorded into the control device. It is very simple to download (upload) the program with the position list when choosing the corresponding file in RCI Explorer window from RV-2AJ Programs folder and dragging it above Workplace Programs folder (Fig. 4.13). By releasing the mouse button, the Up- and Downolad window is opening, where the program and the position list are downloaded into the COSIMIR Professional by pressing OK button.

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Fig. 4.13. Downloading the program and the position list into the computer

On the other hand, it is possible to download the program and the position list by using the command Upload Robot PC which is placed in Execut menu. For that purpose choose the robot program writing window or the robot position list window from the COSIMIR Professional software. After pressing Upload Robot PC, the window Up- and Download is opening where the downloadable program or the position list file designation (Fig. 4.14 a and b) appear in the column Name. By pressing OK button the control program or the position list is downloaded.

a)

b)

Fig. 4.14. The control program (a) or the position list (b) windows during downloading

4.6 Program testing on the real robot

It is very important to test the control program before commissioning it on the real robot to find all programming errors. During the control program testing make sure that no one has been near the robot (robot operating area). It must be ensured that the programmed coordinates of the robot position are out of the real robot operating area. It means that the robot may move to a wrong position and injure the personnel. To start program testing, choose the designation of the program in RCI Explorer window from RV-2AJ Programs folder by the help of the right button of the mouse. Choose the command 52

Debug from drop-down menu (Fig. 4.15) and then Debugger window with the chosen program text is opening (Fig. 4.16).

Fig. 4.15. Start-up of program testing

A. B. C. D. E. F. G. H. I. J. K. L. M. N.

Load program icon. Start breakpoint debugging icon. Start icon. Stop icon. Single step icon. Single step backward icon. Set/Reset breakpoint icon. Clear all breakpoints icon. Set active line icon. Close icon. Help icon. The row chosen by help of a mouse. The sign of the test stop-point. The sign of the active row.

Fig. 4.16. Debugger window

On program testing always determine the row wherefrom the program testing starts or continues. For that purpose choose the required program row in the Debugger window and click on the Set active line icon. The green arrow marks the active row. There are different methods for program testing. The first method is program testing by a row. By clicking on Single step icon the command on the active row is executed and then the next row is changing active. To execute the command on the new active row, click on Single step icon once again. By using Single step backward icon the command on the active row is executed but after execution this command the previous row will turn active. In another program testing method, the stop-points which are stopping the test are used. These stop-points are determined by the help of the double click on the row where the program must be stopped. To start the test, click on the Start breakpoint debugging icon where the execution of every program row is shown. When the testing reaches the row where the stop-points are located, 53

testing is aborted. It is possible to delete superfluous stop-points by the help of double click on the row where stop-points are. To delete all stop-points Clear all breakpoints icon is established. The third program testing method is the whole program testing without stops. For that purpose click on the Start icon. Click on the Stop icon to stop program testing. It makes it possible to stop the program test started by using Start breakpoint debugging icon until the program test does not arrive to the row signed with stop-points. To follow the program test, the text near the button ON of Online section must be grey. When the text is not grey, click on this text to look at the program execution. By clicking on the Close icon the Debugger window is closing. It is reasonable to close the window at the end of program testing.

4.7 Start-up and stopping the program in the robot control device
To start the robot control program in the robot control device choose the designation of the program in the RCI Explorer window from RV-2AJ Programs folder by the help of the right button of the mouse. You may choose two starting commands from drop-down menu (Fig. 4.17). The first command is Start (CYC), which starts the program and executes it at once. The second command is Start (REP), which starts the program and executes it from the beginning to the end until the program is stopped by the user.

Fig. 4.17. Start-up of the program in the robot control device

To stop the program, choose in the RCI Explorer window from Programs folder placed below the robot designation by the help of the right button of the mouse the designation of the program which you want to stop. Choose the command Stop from drop-down menu which stops the given program. To stop all the running programs in the robot control device, choose the command Program Stop from Execute menu. It is possible to follow the execution of the control program in the robot control device by using the computer. For that purpose choose the program slot from RV-2AJ Slots folder by the help of the right button of the mouse the running control program is downloaded. Choose the command Monitor Program from drop-down menu (Fig. 4.18). In the open Program Monitor window (Fig. 4.19), the text of the program and the signed row actually executed by the robot are shown. By clicking on the Close button the program monitoring is aborted.

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Fig. 4.18. Program execution view

Fig. 4.19. Window for viewing the program execution

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