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Introduction to Robot External Axis and Cable Demonstration Functions

➤ Robot external axis and coordinated motion

In real-world working environments, robots do not work independently; they typically coordinate their movements with external axes such as positioners, linear tracks, and turntables. Just like in a real environment, the Roboguide simulation environment requires creating and adding additional axes and setting external axis motor parameters.

In a real-world environment, external axes require cables to connect to motors, brakes, and power supplies. In the Roboguide simulation environment, however, these cables are not required, but the software installation and parameter settings are the same as in a real-world environment.

FANUC offers standard 500kg single-axis and two-axis positioners, 1000kg single-axis positioners, standard linear tracks, and other equipment. It also provides individual motors and control systems, allowing customers to design their own peripheral equipment. The Roboguide simulation environment provides 3D models of these standard components, while also enabling the creation of peripheral equipment through custom modeling or the import of external models.

When adding an auxiliary robot axis in Roboguide, the software installation and motor parameter configuration mirror those of the actual physical environment. When using standard FANUC positioners, rotary tables, or linear tracks, the motor parameters are automatically generated upon software installation, eliminating the need for manual configuration; however, when using non-standard peripheral equipment—such as positioners, rotary tables, or linear tracks with unknown parameters—manual configuration of the motor and motor control components is required. Servo amplifiers should be selected based on motor current, and brake assignments should be appropriately allocated according to the type of auxiliary axis.

When the external axis is a positioner, software for coordinated motion between the robot and the positioner must also be installed. Coordinated motion ensures that the robot and the positioner maintain a constant relative speed throughout the process and automatically plans the synchronized movement paths for the workpiece and the welding torch; furthermore, the positioner automatically adjusts the workpiece's orientation based on the weld seam's shape, allowing the robot to consistently maintain an optimal welding posture. Unlike traditional synchronous motion, coordinated motion maintains a constant relative speed between the robot and the positioner throughout the entire movement process, rather than synchronizing them only at the start and end points; this eliminates the need for tedious programming and recording, thereby enhancing the robot's operational efficiency. Furthermore, coordinated motion can harness the force of gravity to facilitate the penetration of molten droplets into the weld pool, resulting in improved weld quality. The turntable is used for servo-driven rotary positioning but does not operate in coordinated motion with the robot; consequently, the coordinated motion software is not installed when the turntable is added. Similarly, the linear track motor is grouped with the robot's six axes, and the coordinated motion software is not installed for it either.

Adding an external axis in Roboguide enables the simulation of a real-world environment, replicating actual on-site conditions through the movement of peripheral equipment. By transforming the positions of the robot unit, the tool it carries, and the workpiece, the robot's operating space is modified, thereby enhancing its reachability and precision.

➤ Cable pipeline demonstration function

The Cable demonstration feature in Roboguide allows cables to be added to the robot's base and arm axes, as well as to other equipment such as fixtures, machines, machine links, and parts; they can also be suspended using springs to simulate real-world conditions more realistically.

1. Robot Arm Cabling Functions

Cable models can be added to the robot's arm; the menu allows for configuring the cable's length and radius, as well as its start and end positions.

Cable parameters can be configured under "Physical Parameters".

a. Spring Constant can define the spring constant of a pipeline.

b. The larger the value of the Damping constant, the greater the vibration of the pipeline during movement.

c. The larger the Gravity Effect value, the greater the influence of gravity on the pipeline.

d. The "Set Robot Position for Initial Cable Posture" button places the cable assembly in its most natural state.

e. Cylinders and Spheres that repel the cable: By adding cylinders or spheres to the robot and positioning them to cover specific arm segments, you ensure that cables do not become embedded within these covered areas during movement. The "Repulsion" setting allows you to adjust the strength of the repulsive force exerted by these cylinders and spheres on the cables.

f. Detect Breaks of Robot Cable: Detects potential cable breakage during program execution.

g. Extension Limit: Defines the extension limit for the cable.

h. Reset Posture of Broken Cable: Restores the initial state in the event of a cable break.

2. Workpiece pipeline function

In addition to adding pipelines to the robotic arm, Roboguide also allows you to add pipelines to workpieces or other equipment. The operation method is similar to adding robot pipelines.

First, add a cable model to the workpiece and specify the cable's length, radius, and starting position. Then, switch to the "Physical Parameters" menu to configure the remaining parameters; the setup method is similar to that used for robot cabling.

3. Suspension spring function

In Roboguide, added cable assemblies can also be suspended using springs; a typical application is suspending the lines connecting the welding torch and the wire feeder.

First, add the cable model, then set the start point, suspension point, and end point of the cable assembly—corresponding to the welding torch connection, the wire feeder rack's suspension loop, and the wire feeder connection, respectively. Arrange the hook location appropriately to prevent the pipeline from breaking during movement.

a. The "Suspended With Spring" option needs to be checked when adding the suspension spring function.

b. "Suspended Location On Cable" allows you to specify the suspension point along the cable/line; the position is defined as a ratio relative to the cable's starting point.

c. Spring Length represents the total length of the pipeline.

d. Hook Location represents the location where the pipeline is suspended.

After adding the pipelines, you also need to adjust the various parameters via the Physical Parameters menu.

Roboguide's pipeline function can simulate the movement of pipelines during robot operation, making the movement of pipelines more intuitive. Secondly, the pipeline function can not only check for pipeline interference, but also determine whether the pipeline will break, reducing the risk of pipeline design defects.

Disclaimer: All content is for learning and communication purposes only. If unpredictable problems arise due to your own operation, please bear the risks and consequences of the test yourself.

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