I'm a brand-new user of Motosim having never before seen the program in operation. I have studied the manual (but like a lot of Motoman manuals, I'd conclude the documentation leaves a lot to be desired).
We only have a few robots in our enterprise so this software is a fairly large investment and I want to be sure we get the most out of it. This brings me to my present question...
Our first targeted use of the software will be on doing various off-line changes to an XRC cell with UP-20 manipulator in a welding application. The cell is already up-and-running; Motosim will be used for re sequencing tasks and the like. I assume we can import our job(s) into Motosim and begin virtualization fairly quickly? Any pointers would be very helpful...
My major concern is the horizontal table positioner (external axis). The workpiece is presented to the robot and welding occurs (synchronized movement in some cases) on both sides of the fixture. This works well... but how do I get the external axis implemented in MotoSim?
The major problem is that I have no CAD data for this cell or the positioner. It was built by Tennesse-Rand in 2003 and has since been re-purposed for a new product. The manipulator has been moved from its original position as well.
It occurred to me that the controller is already aware of the external axis and is calibrated correctly. In other words it knows one of the dimensions I need to properly model the relationship(s) between the external axis/table and the manipulator. My question is... how do I develop a proper model of an already-built cell without as-built data? Is there a way to derive some of it using the controller's calibrations? is there a methodology for creating the proper measurements to model the positioner properly (ie its relationship to the manipulator)?
Any and all help is greatly appreciated! Thanks...
John