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Access common commands such as New, Open, Save, Export, set global Options, and so onopen About to view license and version information.
Device tab and Task tabs
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The Task side is used for adding parts and creating paths and operations. As you add one or more select tasks in a Robotmaster session, the Task side will become active, with a task-specific viewport, controls, and panels.
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Point list, Joint list, and Frame editor
Use this area to view and In the Point list, you can view points, edit points, and add non-motion events. The Joint list displays robot joint positions, and coordinate frames. The Frame editor is used to transform frame position and orientation.
Add a new task
At this point in the walkthrough, let’s add a new task.
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When a task tab is active in Robotmaster, several task-specific panels appear on the left:
Parts: This is where CAD parts in the task are listed. You can import, manipulate, and manipulate export parts in this area.
Operations: Operations added in the task are listed here. You can create operations and tool paths for parts in this area.
Custom frames: One or more reference frames for the CAD part task are listed here.
For now, we’ve created a task. Next, let’s add a part to the task.
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In the Parts panel, click the expand button next to the part to view CAD model detailscontents.
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You can explore the CAD for any part in this tree view. Depending on the source CAD file format and how the part was drawn in the CAD file, it might consist of wires, mesh, points, surfaces, and solids.
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In Robotmaster Options (Main Menu > Options), you can choose different 3D navigation styles. For example, if you are more comfortable with SOLIDWORKS mouse controls in the 3D space, you can use that style instead of the default.
The Viewport menu taskbar contains task-specific viewport controls, including:
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Next, we will add a simple contouring operation and define tool paths for a few holes on the part. Contouring is a general operation that can be used for profile following tasks such as cutting or deburring.
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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, three paths are added to the Contouring operation.
Click Apply.
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The operation is fully created in the task.
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Next, we will load a robot device and program it with the operation.
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ROBOTMASTER_2.7 is a fictional 6-axis robot that is used only for demonstration purposes. Your installation of Robotmaster will likely contain one or more real-world devices that correspond to the physical robot(s) you will be programming.
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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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 for the device appear here.
When the Device tab is active, the viewport toolbar contains many of the same options as Task mode. There are several additional device-related options as well.
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This can help when positioning the workpiece relative to the robot and when resolving Out of reach issues. Note that the reach of the robot wrist (Joint 5) is used as the limit of the workspace.
Let’s turn off this option before we continue:
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Click the Play button (▶) to run the simulation.
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Notice the green markers next to the Home and Contouring 1 operations. These markers indicate that there are no kinematic issues encountered by the robot in the course of this program.
At this point, Program 1 will be ready to output as robot code. This step requires a valid post processor package to be loaded. Creating machine-readable code is beyond the scope of this guide.
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