INDUSTRIAL ROBOT TRAINING

V7 Training System

Table of Contents

Volume 1 | Introduction to Robotmaster V7
          1. Introduction to Robotmaster V7 General Demo and Process Description 
          2. Contouring Demonstration
          3. Welding Demonstration

Volume 2 | Screen, CAD & Stitching
          1. Files & Configuration
                    Files
                    Export
                    Configuration
          2. Screen Modes
                    Device Mode? Task Mode? Why?
                    Task Mode Screen
                    Device Mode Screen
          3. CAD Basic Selection
                    Importing CAD Files
                    Exporting CAD Files
                    CAD Elements/Entities
                    3D Navigation
                    Windows Select
                    Selecting Part Pop-up Menus
                    Selecting Part Pop-up in Parts Manager
                    Selecting Faces & Parts
          4. CAD Advanced Selection
                    Advanced Selection – Select
                    Advanced Selection – CAD
                    Selectable / Not Selectables
          5. CAD Hierarchy Simple
                    CAD Hierarchy
                    Importing STEP File & CAD Management
                    Creating & Manipulating Parts
                    Creating & Manipulating Fixtures
                    Creating & Manipulating Groups
           6. CAD Hierarchy Complex
                    CAD Hierarchy
                    Creating & Naming the Part Weld
                    Creating & Naming the Part Seat Frame
                    Creating & Naming the Groups
           7. CAD Stitching
                    Stitching      

Volume 3 | Frames, Gnomons & Transform
          1. Frames Introduction
                    Planes & Frames
                    World Frame
                    User Frame
                    Tool Frame & TCP Frame
          2. Gnomon
                    Gnomon
                    Gnomon Snapping
                    Gnomon Attaching
                    Gnomon Details
          3. Transform Example (Part1)
                    Transform Along Axes
                    Transform Along a Plane
                    Transform 3D Move & 2D Rotation
          4. Transform Examples (Part 2)
                    Transform 3D Move & 3D Rotation
                    3D/2D Rotation, Along Axis & Manual Frame entry

Volume 4 | Path Manager
          1. Path Manager
                    Quick Path Creation
                    Undo/Redo
                    Reordering
                    MultiOp

Volume 5 | Contouring Parameters
          1. Contouring Edges
                    Edge Contouring Selection
                    Edge Selection Controls
                    Edge Selection Process
          2. Contouring Auto

                    Auto Path Contouring Selection
                    Auto Path Normal
                    Auto Path Swarf
          3. Contouring Swarf
                    Swarf Contouring Selection
                    Swarf path
          4. Contouring Curve
                    Curve Contouring Selection
                    Curve path 
          5. Contouring Manual

                    Manual Contouring
                    Linear Extension Mode
                    Bezier Extension Mode
                    Snap-To & Follow Edges
                    Project Path on part
                    Max Projection Distance
                    Extend at End
                    Hot-Keys
          6. Tools-Speeds
                    Tools & Speeds
          7. Path Parameters
                    Maximum Deviation
                    Minimum Segment Length
                    Maximum Angle
                    Compensation
                    Lead/lag Angle
                    Side Tilt
                    Arc Moves
                    Motion Optimization
                    Arc Filter
          8. Retract/Approach
                    General Operation
                    Basic Concepts
                    Motion Types
                    Absolute & Incremental
                    Depth
                    Feed Height
                    Approach/Retract Height
                    Clearance Height
                    Use only at path Start & End
                    Clearance Methods
                    Method – Along Tool Vector
                    Method – To a specified Point
                    Method – Along Selected Vector
          9. Entry/Exit

                    Entry/Exit Methods
                    Entry/Exit Midpoint
                    Use Entry parameters for Exit
                    Arc Entry/Exit
                    Line and Arc Entry/Exit
                    Tangent Line Entry/Exit
                    Closed Loop Overlap
                    Height Ramp Variable
                    Extend/Shorten Path
          10. Presets
                    Presets
                    Preset Create
                    Preset Manage

Volume 6 | Cycles
          1. Cycles
                    Geometry Prerequisites
                    Matching Tolerance
                    Single Point/Vector pair selection
                    Add ALL point+vector pairs
                    Hole Selection without Point/Vector pair
                    Window Selection of holes without Point/Vector pair
                    Drill/Cycle path optimization

Volume 7 | Welding
          1. Welding Example
         
2. Welding Controls
                    Selection Filter Controls
                    Tool/Wire Orientation
                    Chain Tangent Edges
                    Flip Vectors
                    Obstacle Detection
                    Rolling Ball (new for 7.2)
                    Body Contact
                    Bisector
                    Tangential
                    Contact Distance & Contact Angle
                    Everything can be changed!
         
3. Techniques/Methods
                   Welding Methods
                   Push/Pull
                   Auto Join
                   Corner Stop
                   Extend/Shorten
                   Start/End Conditions
                   Tacking
                   Multipass
                   Selectable/Non-selectable

          4. Nozzle/Wire Speed
                   Nozzle/Wire & Speeds
          5. Path Parameters
                   Maximum Deviation
                   Minimum Segment Length
                   Maximum Angle
                   Compensation
                   Lead/lag Angle
                   Side Tilt
                   Arc Moves
                   Motion Optimization
                   Arc Filter
          6. Retract/Approach
                   General Operation
                   Basic Concepts
                   Motion Types
                   Absolute & Incremental
                   Depth
                   Feed Height
                   Approach/Retract Height
                   Clearance Height
                   Use only at path Start & End
                   Clearance Methods
                   Method – Along Tool Vector
                   Method – To a specified Point
                   Method – Along Selected Vector
          7. Entry/Exit

                    Entry/Exit (You normally do not used Entries/Exits in Welding. If for some reason you
                    do, please refer to the 5_9_Contouring Parameters Exit)

          8. Presets
                    Presets
                    Creating/Saving Presets
                    Using Presets
                    Modifying Presets
                    Reordering/Deleting Presets
          9. Touch Sensing Example (new for 7.2)
                    Touch Sensing General Principles
                    Creating a Touch Sensing Routine
                    Creating a Weld
          10. Touch Sensing Details (new for 7.2)
                   Touch Sensing Selection
                   Path Type
                   Constrain to Plane
                   Gun Orientation – Same as Touch Direction
                   Gun Orientation – Average
                   Gun Orientation – Perpendicular
                   Gun Orientation – Manual
                   Gun Orientation – Fast Select & Shift
                   Gun Orientation – Same as Previous Touch General Principles
                   Creating a Touch Sensing Routine
                   Creating a Weld
          11. Copying Welds & Associated Touch Sensing (new for 7.2)
                   Copying Touch Sensing & Welds
          12. Welding with Touch Sensing (7.1 legacy version).
          13. Advanced Touch Sensing (new for 7.2)

Volume 8 | Path & Cycle Editing         
          1. Graphics Screen Edit – Part 1

                   Path Length Editing
                  
Path Tilt & Lead/Lag
                  
Path Tilt Editing Between Vectors
                  
Path Tilt Editing of Separate Vectors
                  
Path Tilt Vectors to Reference Point         
          2. Graphics Screen Edit – Part 2

                   Vector 
                   Vector Point
                   Vector Line/Edge 
                  
Vector Interpolation         
          3. Graphics Screen Edit – Part 3
                  
Invert Path Direction – Single Path
                  
Invert Path Direction – Multiple Paths
                  
Path Splits
                  
Path Close
                  
Manipulating Start/End Points
                  
Remove History         
          4. Graphics Screen Edit – Part 4
                  
Push/Pull Path Sections
         
5. Path Manager Edit – Part 1 
                   Transform Move

                   Transform Offset
                   Path Ordering Manual
                   Join Paths
          6. Path Manager Edit – Part 2

                   Transform Scale
                   Extract Paths
                   Order Paths
          7. Path Manager Edit – Part 3
                   Edit Path Extremities
          8. Editing Paths from Bad Geometry – Part 1
                   Correcting paths from Bad Geometry
          9. Editing Paths from Bad Geometry – Part 2
                   Correcting paths from Bad Geometry

Volume 9 | Importing CAD & NC
          1. Importing STP, NC & APT

Volume 10 | Device Operation Manager
          1. Device Manager – Assigning Robot Operations
                    Device Mode
                    Assigning a Robot
                    The Icons above
                    Creating a Setup
                    Assigning Operations
                    Cell Management
                    Cell Settings
          2. Device Manager – Setups
                    Setup Definitions
                    Adding a Program
                    Changing Names
          3. Device Manager – Manipulators (Robot & External Axes)
                    Manipulators

Volume 11 | Optimization & Axis Configuration
          1. Axis Configuration
                    Axis Configuration Explanation
                    Axis Configuration Functions
                    Spherical Interpolation
                    Profile Tracking
                    Tool orientation
                    Rotation/No Rotation
                    Profile Tracking
                    Zig-Zag Control
                    Zig/Zag Control Technical Detail
          2. Optimization
                    Optimization Description
                    Optimization Maps
                    Modifying the Optimization Contour
                    Simulation of Optimization
          3. Path Planning
                    Optimization Paths – Robots are dynamic
                    Optimization Path Planning
          4.
Optimization using Advanced Maps
                    Advanced Maps
                    Accessing Advanced Maps
          5. Optimization using Advanced Layers
          6. Optimization using Criteria

Volume 12 | Transitions
          1. Robot Motion Types
                    Robot Motion Commands
                    Joint Move
                    Joint Move in Joint Space
                    Joint move in Cartesian Space
                    Linear Cartesian Move
                    3D Arc Cartesian
          2. Manual Transitions
                    Manual Transition
                    Design & Simulation Mode
                    Transition Point Icons
                    Editing a Manual Transition
                    Manual  Transition Points are fixed!
          3. Graphical Transitions
                    Graphical Transitions
                    Transition Motion Types
                    Creating a Graphical Transition
                    Editing a Graphical Transition
                    The “Shape Shifter” Vector
                    Home Transitions

Volume 13 | Recipe
                    Why recipes
                    Create a Recipe
                    Import a Recipe

Volume 14 | Device Operation Icons
                    References
                              User Frame Manager
                              TCP Manager
                    Transitions
                              Transition Point List
                              Macro manager
                    Processor
                              Load Processor package
                              Update Processor package menus mapping
                    Generate Robot Code
                    Calculate

Volume 15 | Point List
          1. Point List Task Mode
          2. Point List Device Mode

Volume 16 | Joint List
                    Joint List

Volume 17 | TCP & TCP Manager
          1. TCP manager
          2. TCP Calculation – Automatic
          3. TCP Calculation – Manual

Volume 18 | Tools & Tool Manager
          1. Tool Manager
                   Accessing the Tool Manager
                   Selecting a Tool
                   Creating a New Tool
                   Load/Save Tool Libraries
          2. Creating a Milling Tool & Holder
                   Creating a Milling Tool
          3. Creating a Welding Tool
                   Creating a Welding Tool
                   Creating a Welding Nozzle
                   Manually Adjusting the TCP
          4. Creating a Cutting Tool
                   Creating a Cutting Tool
                   Creating a Cutting Nozzle
                   Manually Adjusting the TCP

Volume 19 | Collision Control
                   General Description of Collision Control
                   Creating a Collision Group
                   Creating a Second Collision Group

Volume 20 | Rotaries
          1. Rotary Positioner – Indexing mode
                    Rotary Positioners
                    Manipulator Defaults
                    Manipulator Overrides
                    Index Only
          2. Rotary Positioner – Full Rotary and Combine mode
                    Rotary Positioners
                    Full Rotary
                    Combined Rotary

Volume 21 | Linear Axes – Rails
          1. Linear Axes
                    Fixed Position
                    Fixed Middle Position
                    Variable
                    Fixed Start Position
                    Variable with Optimization

Volume 22 | Surface Paths
          1. Surface Paths Quick Start
                    Creating a Surface Path
          2. Surface Paths Functions (Sanding example)
                   Surface Path Parameters
                   Tool Placement
                   Tool Limits
          3. Surface Paths Functions (Polishing & Grinding example)                   
                   Surface Path Parameters Polishing & Grinding

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