In this part, we will go through how to prepare a ROBOGUIDE (RG) cell and setup the connection to the Simumatik system. First, we’ll create a new cell in RG adapted for this tutorial. After the cell is created, we’ll go through what needs to be prepared in the RG cell to enable a I/O connection between RG and the Simumatik app. Finally, we connect the two softwares and makes some tests to confirm that everything works as intended.
Roboguide cell creation
To prepare our RG integration system. let us first open the RG software and select New Cell.
When Selecting New Cell, the FANUC Workcell Creation Wizard will open. Here, you’ll be able to customize and create the robot cell you want, including robot model, software version and robot options (such as vision).
The first step is Workcell Name where you type a suitable name for your workcell. For the integration with the Simumatik app, the cell does not need any special name, so type any name you want and then select Next>.
The second step is Robot Creation Method. Here, you select the method of how to create your cell. If, for example, you would have a backup of a real FANUC robot, the Workcell Creation Wizard would be able to create a workcell with a virtual copy of the robot in it.
For the purpose of this tutorial, we keep Create a new robot with the default HandlingPRO config selected and press Next>.
In the third step, Robot Software Version, you select which software version you want your robot to have. This is an important step if you work on a real robot that has an older version, since in that case it is recommended that you select the version that match your real robot.
For the purpose of this tutorial, we can use the latest version. Select Next> to continue.
Next up is the fourth step, Robot Application/Tool. Here, if you want, you can have a tool with a Tool Center Point (TCP) installed for you on your robot at creation. However, since we will use a tool on the virtual robot in Simumatik, this will not be necessary and thus we can select Set Eoat later and then Next>.
In the fifth step, Group 1 Robot Model, we select the robot we want to have in our workcell. For the purpose of this tutorial, search for the LR Mate 200iD robot model. This robot is used in our Simumatik tutorial system and thus we must match the model. Select the model and then press Next>.
In the sixth step, Additional Motion Groups, you’ll be able to add additonal servo positioners and etc. However, for the purpose of this tutorial, we can skip this step and select Next>.
Next up is the seventh step, Robot Options. In this step you can add additional options for your workcell and robot, such as vision, dual check safety, continous rotation and more. For the purpose of this tutorial, however, we’re not required to add any additional options.
Finally we reach the eighth and last step, the Summary. Here you’ll be shown a summary of the workcell that is going to be created. If everything looks good, go ahead and select Finish.
RG will initialize the virtual robot workcell creation and after a short while the virtual workcell will open and you’ll find your virtual robot.
Setting up Roboguide
When the RG workcell has been created and opened, you can technically connect it to the Simumatik app right away. However, to enable the use of I/O signals from RG to the Simumatik app and vice versa, we have to prep a few things in the RG cell.
In the RG workcell, open the virtual teach pendant (TP) by selecting the TP icon.
A virtual teach pendant will open. The virtual TP is a virtual representation of a real TP and everything you do with the virtual one, works the same on a real TP. The virtual TP will be used to do all of our setup, programming and can be used to jog/move our robot.
To integrate the I/O signals with Simumatik, we first have to create two new I/O Groups. First select MENU and then 5 I/O > 5 Group.
You’ll be taken to the I/O Group screen. To create a new I/O Group, select CONFIG.
For GO (Group Output), add the numbers in GO #1 as shown in the picture below.
To change from GO to GI (Group Input), you can select IN/OUT.
Add the numbers in GI #1 as shown in the picture below.
Before the I/O Groups can be used, they need to be activated.
Select the Robot tab in RG and then Restart Controller > Cold Start.
If everything went as planned, values should be displayed under SIM and VALUE instead of *.
Finally we have to make a small change in the Digital Input signals. Select TYPE > Digital.
In order to enable RG to receive input signals from the Simumatik system, we have to Simulate the first eight digital inputs. Move the cursor (the black highlight) to the line you want to change and select SIMULATE, repeat for each input.
Testing the connection
Now we’re finally ready to try out the integration between RG and the Simumatik system.
Open the Simumatik app and load the system called Tutorial: Fanuc Roboguide.
To enable the connection, have both the RG workcell and the Simumatik system open and select the Connect Gateway icon.
If the connection worked, the virtual robot in Simumatik should start mimicking the virtual robot in RG when you press the Play button in the Simumatik app.
While running the Simumatik app, you can try out the I/O signals. Open the Digital Output monitor screen in the virtual TP in RG and try changing the statuses of DO [1-4] to ON and see what happens in the virtual station in the Simumatik app.
In the Tutorial: Fanuc Roboguide system, you can download an IO list in Assets with description of all IO connections used.