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User Panel 4

User Panel provides an easy way for interacting withEASY-ROB™. It contains functions for manipulating with Robot,Tool, Bodies, program for simulation etc. All functions in EASY-ROB™ are grouped in 8 menus. You may activate somefunctions from toolbars, as well as through the program forrobot simulation. Generally, you can activate one command infour ways via Menu, Toolbar, Ctrl + Key and ERCL. ThisChapter will also introduce you about the Mouse Mode(changing world view with mouse, jogging robot and itscomponents with mouse etc.), Online output data, CADPreview, variety of ON/OFF functions, predefined views, TCPTrace etc.For more information about ERCL (Easy-Rob Command Line)see “Easy-Rob Command Line ERCL”. The Chapter 10 showsyou all available toolbars in EASY-ROB™.

Overview of menus

1. Menu File

EASY-ROB contains menus with specific functions. Menu Filecontains commands for loading, saving, editing, unloadingEASY-ROB™ files, as well as command for quitting andselecting preferred directory. Choosing command from Load orSave of the menu File, File Dialog box appears. With it, you canload or save a file. The picture below shows menu file and Filedialog box.

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For more information about loading, saving, editing or deletingEASY-ROB™ Files, see Chapter 3 “ EASY-ROB™ Files”.

Choosing Select Preferred Directories command you can seta directory for Working and 3D CAD directory. When youactivate the command for working directory, Selection DialogBox appears.

If you activate the command for 3D CAD directory you will havethe same situation.Choosing Exit from File menu or Close from the System menucloses the application. The System menu can be activated by

clicking with the left mouse button on the main Icon (TopLeft corner of the Application), or clicking on the Icon (TopRight corner of the Application).

This dialog prompts the user to load a workcell file

Double click on the path in theList control of Dialog box.Next time when you load orsave a file the List of FileDialog Box contains contentsof selected preferred directory.

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2. Menu Robotics

With Robotics menu you can manipulate with the Robot data.The picture below shows Robotics menu.

The first command of Robotics menu is for setting position andorientation of TCP (Tool Center Point) Coordinate system. TCPis a point of the last coordinate system of Robot-Tool coordinateframe. When the Robot needs to reach a position of the Space,Inverse kinematics problem is calculated with transformation ofTool frame to Base coordinate frame. This way you get theposition and orientation for each joint coordinate frame of theRobot. The picture below shows Tool Data Dialog Box, andTCP Coordinate System for Robot Amtec.

The Dialog Box contains six variables: three translations andthree rotations around X, Y and Z-axis.

Robotics menu groupscommands for Kinematics,Dynamics of Robot, as well asMotion planner. With Roboticsmenu you can easily make robotprogram (Teach Window) orcreate a new Robot.

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If you want to change the position and/or orientation of TCPCoordinates system, double click on axes or rotation you wantto change for getting the Focus. Enter the value and choose theOk button.

Robot Kinematics submenu contains functions for settingkinematics components of a loaded Robot. The picture belowshows Kinemics Data Dialog Box.

If you want to change the length of a link, double click on theaxis for getting the focus, enter the value and click OK button.

Note: If you are changing the length of desired Links, enter avalue in the specified range. Enable the yellow colored robotjoint coorsys from the On-Off Toolbar to see where each joint islocated. The robot 3D geometries are always with respect to thejoint axis, represented by these yellow coorsys. Green coloredcoorsys denote passive joints.

With Robot Kinematics submenuyou are setting all kinematicsparameters of Robot and itscomponents-joints or baseposition.

The first line of Dialog showskinematics type of Robot TypeRRR:RRR with 6 revolute joints.

The List box containsvalues for current lengthof robot Links.Notation: Vector ’l1’ =[l1x,l1y,l1z] is thedistance from the 1st

joint to the 2nd joint. TheRRR:RRR type oscompletely parameter-ized, thus the inversekinematics solution isalways available.

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The picture below shows Robot Attributes Dialog Box. Withthe Dialog Box you can specify following kinematics anddynamics attributes:

� Robot name� Robot zero position (Home position)� Robot SW – travel range� Robot SW + travel range� Robot joint signs� Offset of Robot Joints� Singularity Tool� Speeds of the Robot joints� Accelerations of the Robot joints� Torques of the Robot joints

By double-clicking on each attribute a new Dialog Box appears,used for entering values for the specified attribute.

When entering values, you must be careful with the valuesrange, which is predefined. Instead of the values, you can alsoenter a math expression, and EASY-ROB™ will calculate avalue for you.

The format of such an expression may be:

=0.01*asin(sin(45*rad()))*deg()

For more information about algebraic function see“EASY-ROB Command Language ERCL”.

Math expression cancontain any standardmath function(Trigonometry,Logarithms etc.), andstart always with anequal '=' sign.

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Robot Base Pose submenu is used for setting Base Position ofRobot with respect to World coordinate system. The picturebelow shows Base Pose Dialog Box.

Robot Dynamics submenu contains functions for settingdynamics components of loaded Robot.

Robot Ctrl Data submenu allows you to specify Control Datafor each loaded Robots Joint - Position Controller. The picturebelow shows the Control Data Dialog Box.

Double click on the axisyou want to change oron the rotation aroundaxis. Enter a value andpress the button Ok, andthe robot will move in aspecified position andorientation.

With Robot Dynamicssubmenu you are settingdynamics parameters of Robotand its components-joints.Attributes, Control Data, ModelData, and Load Used definedcontrol data and model.

Double click on an Item,to specify values for eachJoint, or double click onquit to back in RenderScene. For moreinformation seeChapter 1”INTRODUCTION”.

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Robot Model Data allows you to specify values for dynamicsmodel of loaded Robot.

These parameters are very important if you want to makedynamics model. After every modifying value, the Message boxappears for confirmation. By enabling Dynamics while runninganimation, you get the dynamics and kinematics simulation of arobot.

With Robot Ctrl Code Data API-DYN, and Robot Ctrl CodeModel API-DYN, user can develop his own function written in Cprogramming language for dynamic model of Robot, or motioncontroller. For more information see Chapter 9 “Applicationprogramming Interface API”.

Transfer functions in s- and z-planeG(s) = (1/D) / (Ts+1) in s-planeG(z) = (vz1_v/N) * (1-vz1_a)*z /(1-vz1_a*z) = v(z) / u(z) in z-planeu(z) control signal uc[]v(z) joint speed v_dyn[]

Dynamics Model dataincludes for each jointrespectively: Gear RatioN, time constant T_Basefor a simplified time-lagdevice of first order,mass Inertia, FiscousFriction 'D-Damping'.Values vz1_v and vz1_aare model parameter inthe z-plane independence on theSystem Step of themodel.

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Robot Motion Planner submenu contains functions for settingmotion planner components of loaded Robot, such as joint andcartesian speed and accelaration, lead and lag time, override,etc.

Ipo Data function allows you to specify variety values for robotmotion. The picture below shows you the Ipo Data Dialog Box.

The submenu allows you todevelop your own motion types.Function 2,3,4 allows you to loadbuilt-in EASY-ROB™ motionmodules as well as user-definedfunction.

In Ipo Data Dialog Boxyou can specify thefollowing values:Ipo step time, Jointspeed, Joint end speed,Cartesian speed, Jointacceleration, Cartesianacceleration, Override,Lead-time and

Lag time. You must take care of the range for each item.

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Robot Program submenu contains functions for settingprogram for simulation. You can load, or edit loaded program,run the program as well as open Teach Window, and programoutput.

Create New Robot submenu allows you to create a new robotin different ways. You can create standard Robot structureRRR-RRR (six revolute joints), RRR-RRR Back Link, TTT-RRReach with 6 DOF (Degrees Of Freedom), as well as two nonstandard robot types, which is described with UniversalCoordinates and with Denavit Hartenberg Notation, up to 12DOF.For more information about Creating new Robots see Chapter 8”Robots Kinematics”. The picture below shows Create newRobot submenu.

Robot Application is for visualization mechanical systems,such as the NC machines. This menu is designated forindividual customer solutions.

The submenu Mimic fileallows you to manipulate(Load, Save and Unload)with mimic file. For moreinformation about Robotprogram see Chapter 5“Robot Programming andSimulation”.

You can also create theDefault Robot bodies

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3. Menu Simulate

Menu Simulate allows you to handle with simulation of loadedRobot. Wit this menu you can handle with moving the Robot tovariety position (Home, Joint, Cartesian position), program ofthe Robot, set the type of animation, save or reset all robotposition. You can also increase or decrease step for simulationetc.

The picture below shows the Simulate menu and Move Tosubmenu.

Activating the Homeposition function, Robot is moved in "zero"position. This causes that each joint moves to its homepositionin synchronized PTP motion type. The Homeposition can bedefined from the Robotics Menu:

• Robot Kinematics-> Robot Attributes

The Move to submenu allows youto move the Robot to varietydestination.

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Moving the Robot to Tag position a Dialog Box like on thepicture below appears.

Choosing any of options, first you have to specify type of motion(PTP – Point to Point, LIN Linear motion, CIRC Circularmotion), which is provided with new Dialog Box. For moreinformation about Tags, see Chapter 7 “Tag Points”.

You can move the Robot by specifying the Joint position (DirectKinematics problem). Choosing the Joint position option, dialogbox like on the picture below appears.

With the Dialog Box you canchoose which Tag the Robotneeds to reach. Before therobot motion starts, you willasked wether the move isinterpolated in PTP (Point toPoint) or LIN (Linear/Straightline) mode.Note: Open the TagWindowDialog for a more detailledoverview about all availableTags in the Workcell.

1 - Move to current Tagis to move the Robot to thecurrent Tag point.

2 - Move Along all Tagsis for moving the Robot to allTags, starting from the firstuntil the last one.

3 - Move to one Tag #Moving the Robot to Tag,which you can choose byDialog Box for selectingdesired Tag.

4 - Move from Tag # to Tag #is for moving the robot from astarting tag number to anending tag number.

Double click on the Jointyou want to specify andenter the values. Press Okbutton. The loaded Robot isreaching specified jointposition.

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On the similar way you can move Robot to Cartesian position.Circ. Pose allows you to move the Robot Circularly in targetposition with respect to Cartesian coordinate system. The sameprocedure is for Delta Circular Position.

Submenu Program’s contains functions, which handle withprogram of the Robot. Run, Stop, Continue and Abort programare functions for animation. Program output shows executedprograms command during animation. With Teach Window youcan make new program or modifying loaded program file. Formore information about Teach Window see Chapter 5 “RobotProgramming and Simulation”. The picture below shows thesubmenu Program’s.

With Run Settings submenu, you can set type of Simulation.The picture below shows contents of Run Settings submenu.

Activating Online Output Data you can view various Robotoutput parameters. The picture below shows the WindowOnline output Data.

As you can see, you canfind these commands inthe Run AnimationToolbar. For moreinformation see Chapter10 “Toolbars”.

With Stop on function you can set,when simulation needs to stop.With Dialog Box Stop on, you canenable that simulation stop withLimit Switch, Speed andacceleration exceeded or collision.The last option of submenu isReset all positions in the program.

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Reset and Save submenu allow you to reset or save variousdata, such as robot joint and -base position, robot tool, etc..The rest of functions in the in the Simulate Menu allow you toset step size of animation, enabling or disabling Collision,Dynamics and/or Robot Trace.

The Picture below shows the Simulation Data Dialog Box. Withthis Dialog you can specify the values for Simulation step size,Ipo step size, Control step, System step Delta Step in meters orradians.

Button Nxt and New helps you tonavigate with values. Button Newcreates the new output Window.Combo Box allows you to choosethe appropriate group of values.

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4. Menu 3D CAD

3D CAD menu is used for modeling with EASY-ROB™. With ityou can create, select, change attributes of 3D bodies. Eachbody you create has an unique identification name. With thename you can select 3D body in space. You can also cloning(copying) a 3D body, as well as manipulate with 3D CADCoordinate system. The picture bellow shows the 3D CADmenu and Attributes submenu.

Submenu Attributes gives you ability to render 3D body in allavailable model (Points-Vertices, Wire frame, Bounded BoxesFLAT and WIRE, Invisible and FLAT and WIRE), invertpolygon, Checking body for collision and Information aboutCAD in EASY-ROB™.

Double click on the item toget the focus for enteringthe value. Be careful onvalue range.

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For more information about 3D CAD see Chapter 6 “3D CAD"

The picture below shows detailled Information about the currentselected 3D CAD Geometry (short key: Ctrl+I). For detailledInformation about the geometry loaded in the CAD Preview usethe short key Ctrl+Shift+I.

5. Menu Tags

Tag menu manipulates with Tags. With it you can create,delete, modify, translate, rotate the tags, change the tagattributes etc. The picture bellow shows Tag menu and TagWindow. Tag Window allows you to manipulate with tags in avery easy way. For more information about Tag Window seeChapter 7 “Tag Points”. ('cTag' is the current selected Tag)

3D CAD InfoWindow.

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On the similar way such in3D CAD, the Tag menu allows you toclone (copy) tag. Move to Tag Pose moves the loaded Robotto a Tag. Move to current Tag Pose moves the Robot to thecurrent selected Tag point.

For more information about Tags see Chapter 7 “Tag Points”

6. Menu View

Menu View allows you to manipulate with the Render SceneView. The picture below shows the Menu View.

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Floor submenu handles with the view of the floor.The TCP Trace manipulates with Trace of Robot. You canchange color, type, length and size of a trace. You can alsoenable or disable visibility of the Trace.Coorsys allows you to enable visibility of the various coordinatesystem (Tag, Robot TCP, Robot Joint Coorsys).Display submenu shows or hides Robot, Tool and/or bodies inthe Render scene.

The picture below shows the Dialog Box for setting theGraphics View Data.

The Message Window shows miscellaneous messages, whileloading a new workcell for example. All message are also

The first submenu Set 3D Viewsallows you to set the predefinedstandard views (Top, Rear,Bottom, Front, Left, Right),orthographic view (Views inOrtho), Simulation View or 3DCAD Preview. Render submenuallows you to enable or disablethe Light for the Render Sceneand Robots view in differentmodels (Wire frame, points(vertices), bounded boxes) andbackface culling.

By editing the Environmentfile (*.env) you can modifythese values. Double clickon an Item for entering newvalue.

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saved in the monitoring file moni_msg.txt. The picture belowshows the Message window after loading a workcell.

Button Clear clears the contents of the MessageWindow.Button Close destroys the window.

7. Menu Aux

With this menu you can easily manipulate with mouse mode,view the current settings or lunch command prompt (MS DOS©mode). The picture below shows the contents of Aux menu andMouse Mode submenu.

For more information about Mouse Mode see Topic “MouseMode” in this Chapter.

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Submenu Show current Settings shows you Dialog Box,which contains general settings in which you are working. Thepicture below shows the Current Settings Dialog Box. TheDialog shows you quick overview about your EASY-ROB™selected environment. The picture below shows mentionedDialog Box.

With Cmd Prompt submenu you can lunch directly MS DOS©mode from EASY-ROB™, without to choose standard Windowscommand from Start->Programs option.

8. Menu Help

Menu Help allows you to find help information as well asinformation about Application and License. You can also findinformation about Credits. The picture below shows thecontents of the Help Menu.

License Info will show you the actual EASY-ROB™ Version, aswell as enabled and disabled options and the HardwareNumber, which should correspond to your unique License Key.

Each Item you canmodify by choosingappropriate command.

Choosing Basic Helpsubmenu you can get quickoverview about EASY-ROB™3D Simulation Tool.

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The Hardware Number is also saved in fileHardwareNumber.dat

Online Output Data

While simulation EASY-ROB™ can gives you all necessarilyrun time information. The informations are placed in the RobotInput-Output (IO) Window. In each time segment, Robot IOgives you information about the following:

• Desired Joint Values in meters or degrees.• Desired Cartesian Position in meters or degrees.• Current Motion data• Actual Joint Values in degrees or meters.• Actual Cartesian position in meters or degrees.• Joint Errors in meters or degrees.• Cartesian position Errors in meters or degrees.• Desired Joint Speed in degrees or meters per second.• Actual Joint Speed in degrees or meters per second.• Desired Joint Acceleration in deg or m/s2.• Actual Joint Acceleration in deg or m/s2.• Joint Speed Errors in degrees or meters per second.• Control signal uc as out from the cascade

PPI - position controller• Control Integrated uic, signal from the integral part

from the cascade PPI - position controller• Desired Cartesian Coordinates from 4x4

homogeneous transformation matrix.• User defined Vector, for the API, allows the user to

display own calculated data.

You can also open more than one Window of Robot IO bypressing the New button. After that, move the Window withmouse in desired corner of the Render Scene. On this way youare able for monitoring more than one desired value of theSimulation. The Picture on the next page shows the Robot IOWindow, and contents of Combo Box, which is placed thenames of the IO Values. Combo Box allows you to choose theappropriate IO group.

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Nxt button helps you to go on the next Item in the group. CheckBox No Function allows you to disable some IO values, andQuaternion groups for variables in the selected group.

The Picture above shows Robot IO with selected current Motiondata group. This group contains all available motion data, whichis determined in loaded Program. On this way, you can viewwhich parameters loaded Robot program contains. The state ofthis parameter you can also change in run-time.

CAD Preview

EASY-ROB™ is powerful application giving you also ability forworking in Simulation View and CAD preview simultaneously.This means that you can model and simulate in the same time.Switch between Modeling and Simulation is via button orpressing Ctrl+Tab, or via View->Set 3D View menu.

Load the Cell file by choosing File-Load->Cell file. TheFile Dialog Box appears. Select Amtec.cel file and choose Okbutton.After that Load the CAD files for example IGRIP Part file bychoosing File-Load->Igrip Part file, or grag and dropa CAD file from the explorer.

If you want to switch in Simulation view press , press againthe same button and you will be in CAD preview. If you choosea command, which belongs to simulation, EASY-ROB™ isautomatically switching in Simulation View. For example, if youare in CAD Preview press Run for animation and EASY-ROB™

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will be switch in Simulation Preview. For more information aboutmodeling see Chapter 7 “3D CAD”.

Graphic View Data

With graphic view data you can specify the Viewing Volume andtype of Floor. The picture bellow shows the Graphic view dataDialog Box.

Floor length and delta floor length determine dimension of therobot floor. Change the dimensions attributes of the floor if yourdimension of the Robot is non-proportional with the dimensionsof the floor. By specifying the dimensions of the floor you getthe realistic simulation.

The picture bellow shows the graphical interpretation of theHither and Yonder.

As you can see, you canspecify View steps, Hither,Yonder, floor length and floordelta length.

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As you can see, the Hither represents distance betweenViewing Point (eye) and the near plane. The Yonder representsthe distance between Viewing Point and the far plane.

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TCP Trace

While running simulation of the Robot you can enablecommand for defining trajectory of the Robot Tool – TCP Trace.By choosing View -> TCP Trace you can activate thefollowing commands and subcommands:

• Show Robot Trace – Shows or hides the Trace.• Track Type – Specifies type of trace

o Line – Line traceo Point – point traceo Line + Z direction – line trace with parallel

lines in Z directiono Z Direction – Trace with lines in Z direction.o X Direction – Trace with lines in X direction.o Y Direction – Trace with lines in Y direction.

• Track Coloro Color – specifies the color of trace.o Color for Dynamics – Specifies the color of

dynamics trace.• Track length and Size – Specifies length and size of

the trace.o Trace Line Thickness – specifies the

thickness of the trace.o Approach length – Specifies approach length

of the trace.o Trace point size – defines the size of trace

points.

The picture bellow shows submenu TCP with Track type,Tracklength and Size options.

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On / Off

On / Off is syntax for EASY-ROB™ commands which have twostates: ON and OFF. These commands have also 0 and 1 value(for example in the environment file Floor ON=1 and OFF=0).On / Off commands are placed in the On / Off Toolbar. The On /Off commands include:

• Robot• Tool• Body• Robot Coordinate system• TCP Coordinate system• Tag Coordinate system• Dynamics• Trace• Stop On• Collision

While simulation you can enable or disable these variables.Robot, Tool and Body variables hide or show Robot body,Robot Tool and Body (Environment) respectively. Thesecommands allow you to see simulation without a Robot body,Tool and/or bodies of environment. The next three commandsshow or hide Coordinate Systems of Robot, Tool and/or Bodiesof environment.While simulation you can enable Dynamics parameters. Then,in the Render scene you can see two Traces, trace forkinematics and dynamics. By setting a different color for thesetraces you will have a high quality of simulation. You can alsoenable the Collision, and Robot will detect any touch with itselfor environment bodies. You can set the collision by Stop On.Stop on allows you that Robot stops on Limit Switch, Speed andacceleration exceeded or collision. By enabling or disabling On /OFF commands, you can make the simulation just you need.Any On / Off commands you can set in the Robot Program, byentering directly in file or by Teach Window. Teach Windowprovides easy way for automatically entering commands viadialog box.

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Mouse Mode

The Picture bellow shows the contents of Mouse Modesubmenu of the Aux menu.

The second Mouse mode is TCP Tool. With it you can navigatethe robot and its joint in respect with the Tool coordinate frame.You can translate the Robot when the Rot | Trans of the MouseMode submenu is unchecked. Otherwise you rotate the Robotaround X or Y or Z axis. While the left mouse button is down,you rotate around the X axis. With the Right mouse button yourotate around Y axis, and by pressing the both the left and theright button you rotate the Robot around Z axis. Use the TCPWorld Mouse mode and you will have the same situation, nowwith respect to the TCP World coordinate system. The axes ofthe World Tool coordinate frame are parallel with the Basecoordinate frame, since the Tool coordinate frame depends ofthe current position and orientation of the Robot Tool. Thepicture bellow shows the Robot with Tool coordinate frame and

By default mouse mode isin World View. Thiscommand provides you tonavigate through theRender scene. Whilemoving the Mouse andholding the Left mousebutton down, you canrotate the Render scene.The same situation is whenit is down the Right mousebutton. Then you arezooming the Renderscene. Pressing the boththe Left and the Rightmouse button down youare translating the Renderscene.

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World coordinate frame. As picture shows the World coordinateframe is congruent with the Base coordinate frame.

By double click on the TCP Tool or TCP World, you’ll get thesame Dialog Box for specifying manually position and rotation ofthe coordinate frame. The picture bellow shows that Dialog Box.

Joint mouse mode allows you to move the robot with respectto selected joint coordinate frame. Double click on an Icon andyou’ll get the dialog box for selected joint coordinate frame. Youcan also select the Tool TCP coordinate frame or TCP Worldcoordinate frame. The dialog box allows you to enter thecommand of ERPL (EASY-ROB™ Programming Language), orERCL (EASY-ROB™ Command Line). You can also enablecollision. Check The Rotate radio button if you want to rotatethe robot, otherwise you will translate the Robot. Dialog Box

TCP Tool Coordinate frame TCP World Coordinate frame

When you specify the deltaposition and/or orientation,the Robot moves with respectto the coordinate frame indetermined position and /ororientation.

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allows you to select the group of three joints: 1-3, 4-6,7-9 and10-12. If you selected the 4-6 joint and enabled Rotation withthe Left mouse button you rotate the Robot around 4th joint, withthe right around 5th joint, and with the both the Left and theRight you rotate the Robot around the 6th joint.

Trans/Rot Robot Base allows you to translate or rotate theRobot Base position with mouse. Double click and you’ll get theDialog Box for entering manually the new position andorientation for the Robot Base position. The picture bellowshows the mentioned Dialog Box.

You can also enter a commandfor jogging the Robot. Enter thecommand and press the RunButton to execute the command.+ and – allow you to enter ordelete the commandrespectively. SWE stops theRobot on the SWE (Software/Limit End switch).

Double click on anItem and enter thenew value.

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Trans/Rot current Selected Body allows translating androtating the current selected body on the same way as previouscommand.

Trans/Rot current selected Tag and Trans/Rot PathWorkObject allow manipulation with Tags on the similar waylike previous mouse modes. With double click, Tag Windowappears. For more information about Tag Window see Chapter7 “ Tag Point”.

Trans/Rot Tool data allows to manipulate with the Tool withmouse. By choosing twice the option Dialog Box appears forspecifying manually position and orientation. The picture bellowshows the Dialog Box.

Rot | Trans and Abs | Rel are working in combination withprevious modes.

With mouse you are able to specify the new background coloras well as the Floor color. Choose the Background color bypressing the Left mouse button you change the intensity of thered color. On the same way with the Right mouse button andboth the Left and the Right you can change the intensity of theBlue and Green color respectively.

Double click on anItem and enter thenew value.

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Note:All previous modes are explained with 2-mouse button. You canchoose the two-mouse button with:

Aux->Mouse Mode-> 2 Mouse button

If you unchecked the: Aux->Mouse Mode-> 2 Mousebutton, middle button replaces the Left and Right mousebutton together.