安川机器人模拟软件MotoSimEG操作手册

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"MOTOSINEG机器人模拟文档是YASKAWA ELECTRIC CORPORATION推出的MotoSim EG Ver3.65操作手册，适用于Windows操作系统。这份手册详细介绍了如何进行机器人教学、回放、文件编辑以及MotoSim EG的操作管理，旨在帮助用户在实际操作前充分理解和学习。" MotoSim EG是由安川电机开发的一款机器人模拟软件，它允许用户在实际操作机器人之前进行模拟教学、编程和测试。这款软件对于安川机器人的使用者来说是非常有价值的，因为它能有效提高工作效率，降低出错风险，并且相对易学。手册中的内容主要分为几个部分： 1. **教学操作**：指导用户如何通过软件教授机器人执行特定任务，包括设置工作坐标、定义动作路径以及配置机器人参数等。 2. **回放功能**：用户可以模拟机器人按照预设程序运行，检查动作是否准确无误，有助于优化程序和调试。 3. **文件编辑**：详细阐述了如何创建、修改和管理机器人作业（jobs）和文件，确保用户能够灵活地调整和保存他们的工作。 4. **操作管理**：涵盖了软件的日常使用，如启动、停止、故障排除等，帮助用户更好地控制和监控软件的运行状态。 5. **安全注意事项**：强调了在使用机器人和软件时的安全规定，提醒用户在操作前务必阅读相关的安全手册，确保所有保护罩和防护屏在操作前已安装到位。 6. **图形与实物差异**：手册中的示意图可能为了清晰展示而省略了某些保护装置，用户应理解这并不意味着实际产品也是如此，实物可能有所不同。 7. **产品更新**：YASKAWA可能会根据产品改进、修改或规格变化不定期更新模型，手册编号也会相应更新，用户应及时关注最新的版本信息。 MOTOESIG机器人模拟文档是一份全面的指南，对于任何打算使用或已经使用安川机器人的人来说，它是不可或缺的学习和参考资料。通过深入学习这份手册，用户不仅能掌握软件的基本操作，还能提高对机器人系统的理解和安全性，从而更高效、安全地使用安川机器人。

1.2 Notice and Restriction about MotoSim EG

• MotoSim EG can not simulate the coasting range when the robot stops while playback.

• Collision Detection is not supported.

• There is a limit to simulate the instruction. Please refer to section " 13.1 List of Instruc-

tions Supported by MotoSim EG (FS100, DX100, NX100, XRC, MRC, MRC II) ".

• Arrangement variable is not supported. MotoSim EG can not modify and play back the

move command that contain the "p[*]" position data.

• Alias function is not supported. MotoSim EG can not modify and play back the job with

alias.

1.2.4 Accuracy

• Positional Accuracy

When the job made in MotoSim EG-VRC is executed on the real robot, teaching points

may be misaligned by the strain and placement error of work, and the deflection of robot.

So, check the teaching points by NEXT/BACK, and modify them.

• Trajectory Accuracy

The simulated trajectory range is different from the real robot. When the job made in

MotoSim EG-VRC is executed on the real robot, check the teaching points by NEXT/

BACK, and do test running. After sufficient operation check, execute playback.

• Cycle time Accuracy

The simulated cycle time is different from the real robot. If robot job contain the position

level "PL=0" in move command, the resulting cycle time simulation may not provide suffi-

cient accuracy compared to the actual robot.

• Robot model Accuracy

Robot model is only external form, bolt hole and anchor bolt may be left out. Movable

parts other than robot (ex. cable) can not be simulated.

1.2.5 Hardware Requirements

When simulate follow situation, PC with high-end CPU or graphic board may need.

• Many robots are used.

• High-capacity CAD data is used.

• Collision check is used.

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1.4 Hardware Key

For proper operation, connect provided hardware lock key (USB type) to the personal

computer before using this software.

Check and execute <Checking the computing environment> <Installing the driver>

before connecting the key to USB port.

Multi-connection of USB type key is not available for one USB port because of hardware

structure. Therefore, only one key can be connected to one USB port. When installing multi-

ple offline software into one personal computer and multi-connectiong USB keys, use the per-

sonal computer which is provided same numbers of USB ports as the number of software to

be installed.

Execute "\SentinelDriver\Sentinel System Driver Installer 7.5.7.exe" of installation CD-ROM.

Refer to"\SentinelDriver\Manual\SafeNet_Sentinel_EndUser_Guide.pdf" for the details of

installation..

Refer to " 13.4 Frequently-Asked Questions " for other countermeasures concerning hard-

ware key.

Please install the driver after detaching the all sentinel hardware key from the personal

computer.

• Be sure to install the driver.

• When installing the driver, be sure to login in administrator mode in order to add files to

system folder and input information in registry.

• If a key is connected to personal computer before installing the driver,the message con-

cerning the driver is displayed. In this case, and detach the key from personal computer

and then install the driver.

If a key is connected to personal computer before installing the driver under Windows

95/98/NT4.0/2000/XP environment, Windows wizard ([Add New Hardware] Wizard)

starts up. In this case, push [cancel], and detach the key from personal computer and

then install the driver.

• When installing the driver under Windows NT4.0, 2000 environment, please install the

driver located in the folder "\SentinelDriver\SSD5411\SSD5411-32bit.EXE" of installa-

tion CD-ROM.

For the driver installation procedure, please consult the installation manuarl "\Sentinel-

Driver\SSD5411\Manual\us\Readme.pdf".

NOTE

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1.5 Installing MotoSim EG

1. It is strongly recommended that you exit all applications before running the setup pro-

gram.

2. When the install CD is inserted into the CD-ROM drive, the [MotoSim EG - InstallShield

Wizard] window appears automatically.

If you are using Windows 7, the [User Account Control] dialog appears, so click [OK] in

the dialog.

3. Follow the on-screen instructions.

4. When the setup is completed, {MotoSim EG} is registered under the {MotoSim EG}

folder that appears by clicking the [Start] button in the task bar and selecting {Program}

and then {Motoman}.

5. Connect the hardware key to the printer port.

For details, refer to " 1.4 Hardware Key " in this chapter.

1.6 Definition of Terms

• Be sure to login in administrator mode when installing the MotoSim EG in Windows

2000/XP/7, or else the system related DLL files in Windows might not be updated.

• It is necessary to install Windows 2000 Service Pack 4 and Windows Installer 3.1 for

Microsoft Windows 2000.

Cell (*.cel)

A file in which MotoSim EG simulation environmental data are

recorded.

Folder information to store the operation contents, model file

information such as robots, workpieces or tools, data of opera-

tional environment layout, etc. is recorded.

Model file (*.mdl)

A file in which geometric data of robots, workpieces or tools are

recorded.

Parameter data, tool data

Information necessary to run a simulation.

It is preferable to use the actual robot data. However, if unavail-

able, the default data provided by MotoSim EG may be used.

Parent model

Each model requires a coordinate that refers to something in the

layout. Model to which the coordinate of a model refers to is

called "parent model".

The most basic reference model in the MotoSim EG is "world".

Normally, world becomes parent for workpiece models or robot

models.

However, since tool models or positioners move along with exter-

nal axis or robot axes, they refer to different parent models than

fixed model. Since tool models must move with the robot, the

robot model flange is normally set as the parent model of the tool

model.

NOTE

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