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Access common commands such as New, Open, Save, Export, set global Options, and so on.
Device tab and Task tabThe pane on the left is divided into two tabs: tabs
As you work in Robotmaster, you will use these tabs to switch between Device and Task sides in Robotmaster. The Device tab side is used for robot cell programming. When the Device tab is active, the viewport, controls, and panels in the Robotmaster window are device-specific.
The Task tab side is used for adding parts and creating paths and operations. As you add one or more tasks in a Robotmaster session, the Task side will become active, with a task-specific viewport, controls, and panels.
Scheduler and simulation
The time-based scheduler is used to simulate and schedule operations for the part program in Robotmaster.
Viewport and Viewport menutoolbar
The viewport is the main work area in Robotmaster where you will view and interact with 3D models of cells, robots, and workpieces.
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On the Task 1 tab, select Operations > [+] > Contouring.
In Contouring mode, in the Paths panel, select [+] > Auto Path.
Select the surface on the part that contains the three holes that need contouring.
The selected surface will be light blue. Note that paths can be automatically applied to all edges on this selected surface.
Click Refresh from selected surfaces.
Potential paths will be added on the edges (shown in orange). There are paths on the edges of the holes and a large path added around the perimeter of the surface. Next, let’s exclude some of the paths we don’t need using the path slider.
Drag the path slider one unit from the right.
The largest potential path will be removed. Dragging from the right will remove paths, starting with the largest path.
Drag the path slider from the right again until the orange path for the next largest hole disappears.
Drag the path slider from the left to eliminate the paths for the four smallest holes.
With paths remaining on only the three medium-sized holes, select Add to path list.
Edge Paths will be added to the Paths list.
Click OK.
At this point, the paths are added to the Contouring operation. At this stage, you can view and edit path length, sequence, entry / exit points, direction, and more. You can also set various parameters for the operation.
For this walkthrough, we will use the default values for the entire operation.
ClickApply.
The Apply
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button generates a preliminary tool path that is visible in the viewport. The “Contouring 1” operation is added in the simulation at the bottom of the window and the Point list now shows points for it.
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Next, we will run the simulation for the task.
Simulate the tool path
At the bottom of the window, click the Play button (▶) to run the simulation for the task.
As the simulation plays, review the tool path created by Robotmaster. At this stage, if you make changes to the tool path (such as reordering path sequence), you can click Apply to see those changes in the simulation.
When you are finished editing and reviewing the tool path, click OK.
The operation is fully created in the task. Next, we will load a robot device and program it with the operation.
Simulate the tool path
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Load a device
In Robotmaster, an entire robot cell is considered a “device.” Robotmaster comes pre-loaded with several default devices, which include robots and cell components like tables, rails, and fences. For this walkthrough, we will use a simple device.
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With the robot device loaded and the Device tab active, a model of the robot cell will appear in the viewport.
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In On the Device modeside, device-specific panels appear on the left:
Operations: Shows the currently loaded device (cell), setup, and program. Assigned operations appear here as well.
Unassigned operations: Any operations that are not yet assigned to a program are listed here.
Frames: Reference frames appear here.
When in the Device modetab is active, the viewport menu toolbar contains many of the same options as Task mode. There are several additional device-related options as well.
For example, you can visualize the reach limits of the robot:
In On the viewport menutoolbar, select the Workspace settings button > Display workspace.
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At this point, we have a device loaded. A task is created with a contouring operation. This operation now needs to be assigned.
If a device is already loaded before a task is added, the operations for the task will automatically be assigned to the device.
Assign an operation to a program
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Robotmaster will fully calculate the points needed for the operation. Note that the Point List If you select the robot in the pane on the right shows , a full list of points for the program will be displayed.
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Simulate the program
Once a program is calculated, the scheduler at the bottom of the window can be used to simulate robot motion for the entire program.
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