Alter view in 4D Display

K-Sky · January 24, 2017 at 3:25 PM

I am working on a project with an M10 inverted. The customer is rather new to robots and would prefer that the robot would look more realistic in the 4D Display. I have looked in the manual and have found some info about it, but have some questions. It shows using the variable $CELL_GRP[1].$CELL_FRAME to manipulate the robot position in the 4D Display. I want to flip over and played around with it in RoboGuide and it will in fact let you flip over the robot. My question is does just flipping the robot affect anything else? There are a lot of settings in there and that is why I am hesitant to make changes. Besides just having the X, Y, Z, W, P, R values, there is the config values like NDB, 0, 0, 0 and options for CFG_FLIP, CFG_LEFT, CFG_UP, CFG_FRONT that need to be set to TRUE/FALSE. I cant find any documentation on how to set these or what might be affected by my flipping the robot. Does anyone having any experience doing this, or know where I can find any documentation about setting this up.

It also looks like there is a way to have more than just the robot displayed in the 4D Display. In one of the images in the HandlingTool manual, in the 4D Display section it shows a welding robot, but there is also other items in the image. Also in the image is a frame of some sort that is getting welded and it is mounted on one of those moving platforms that moves simultaneously with the robot. Somehow these images were imported, any idea how this is done?

Nation · January 24, 2017 at 7:54 PM

Only the XYZWPR values are used for the robot positioning in the $CELL_FRAME var. Everything else is ignored. You can also edit those values from the Frames area under setup.

As far as 4D import to the robot, you have to create a 4D view in your cell browser tree in RoboGuide, once you made one, double click on it to open it and then just click on the help button in the 4D edit window and follow the guide. Its pretty easy. One thing I recommend is to keep the geometry you import as simple as possible if you want the 4D view on the real robot controller to run above 1 FPS.

K-Sky · January 24, 2017 at 9:09 PM

Thanks. I got that to work, but how do I then save and load that onto the actual robot?

Nation · January 25, 2017 at 5:28 PM

That's also in the help file.

Quote from Fanuc Help File

Transfer 4D Graphics data from ROBOGUIDE to a real robot
A view and its defined object are exported to a fileset that can then be loaded to a robot controller. To view the resulting objects on the Teach Pendant the 4D Graphics option is required.
1. Select the desired View from the cell browser 4D Edit views
2. Define the controllers for synchronization generation on the Property Page General Tab for the view. Open the property page by right mouse clicking on the desired view and select Properties.
3. Generate a controller file set by pressing the synchronize with controllers toolbar button ().
4. Browse to the directory that contains the generated files set: press the Explore TPGL Foler toolbar button () to quickly open the desired directory. If generation of a fileset for multiple robots is executed, you may select the desired controller.
4a. Within this directory there are multiple files. A fileset contains the graphics files, a configuration XML file, and a command file.
5. Copy the controller fileset to a memory device that can be used to load onto a robot controller.
6. Load the fileset onto a robot controller.
6a. Open the Teach Pendant file menu
6b. Use the Dir function to see the directory contents for the desired files
6c. Cursor to the LOADTPGL.CM file. Execute the file by pressing the Enter key

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Alter view in 4D Display

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