Page 1 Programming Support Tool WINCAPSIII GUIDE...
Page 2 Copyright © DENSO WAVE INCORPORATED, 2008-2010 All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher. Specifications are subject to change without prior notice. All products and company names mentioned are trademarks or registered trademarks of their respective holders.
Page 3 Before using WINCAPS III, read this manual carefully to safely get the maximum benefit from your WINCAPS III system. After you have finished reading this manual, keep it handy for speedy reference.
Page 4 PC. Chapter 8 Logging Describes the log functions of WINCAPS III. Describes error logs, operation logs, control logs and other types and log acquisition timing using such devices as error triggers.
Page 5: Safety Precautions
The maximum distance that the robot, end-effector, and workpiece can travel after the software motion limits are set defines the boundaries of the motion space of the robot. (The "motion space" is DENSO WAVE-proprietary terminology.) Operating space: Refers to the portion of the restricted space that is actually used while performing all motions commanded by the task program.
Page 6 This section provides safety precautions to be observed for the 1. Introduction robot system. The installation shall be made by qualified personal and should confirm to all national and local codes. 2. Warning Labels The robot unit and controller have warning labels. These labels alert the user to the danger of the areas on which they are pasted.
Page 7 SAFETY PRECAUTIONS 3. Installation Precautions 3.1 Insuring the proper installation environment The standard and cleanroom types have not been designed to For standard type and withstand explosions, dust-proof, nor is it splash-proof. cleanroom type Therefore, it should not be installed in any environment where: (1) there are flammable gases or liquids, (2) there are any shavings from metal processing or other conductive material flying about,...
Page 8 The robot controller, teach pendant and mini-pendant should be 3.3 Control devices installed outside the robot's restricted space and in a place outside the robot's where you can observe all of the robot’s movements and operate restricted space the robot easily. Pressure gauges, oil pressure gauges and other gauges should 3.4 Positioning of gauges be installed in an easy-to-check location.
Page 9 SAFETY PRECAUTIONS A safety fence should be set up so that no one can easily enter 3.9 Setting-up a safety the robot's restricted space. fence (1) The fence should be constructed so that it cannot be easily moved or removed. (2) The fence should be constructed so that it cannot be easily damaged or deformed through external force.
Page 10 Never modify the robot unit, robot controller, teach pendant or 3.11 No robot modification other devices. allowed If your robot uses welding guns, paint spray nozzles, or other 3.12 Cleaning of tools end-effectors requiring cleaning, it is recommended that the cleaning process be carried out automatically.
Page 11 SAFETY PRECAUTIONS 4. Precautions Touching the robot while it is in while Robot is operation can lead to serious Warning Running injury. Please ensure the fol- lowing conditions maintained that cautions listed from Section 4.1 and onwards are followed when any work is being performed.
Page 12 4) Implementation of measures for noise prevention 5) Signaling methods for workers of related equipment 6) Types of malfunctions and how to distinguish them Please ensure "working regulations" are appropriate to the robot type, the place of installation and to the content of the work. Be sure to consult the opinions of related workers, engineers at the equipment manufacturer and that of a labor safety consultant when creating these "working regulations".
Page 13 SAFETY PRECAUTIONS Before disassembling or replacing pneumatic parts, first release 4.5 Release of residual air any residual air pressure in the drive cylinder. pressure 4.6 Precautions for test Whenever possible, have the worker stay outside of the robot's restricted space when performing test runs. runs (1) At start-up 4.7 Precautions for...
Page 14 Industrial Robots and Robot Systems--General Safety Requirements ISO10218-1: 2006 Robots for industrial environments--Safety requirements--Part 1: Robot NFPA 79: 2002 Electrical Standard for Industrial Machinery 8. Battery Recycling DENSO Robot uses lithium batteries. Discard batteries according to your local and national recycling law.
Page 15: Table Of Contents
1.3.1 Product components..................... 2 1.3.2 Operating environment ....................2 1.3.3 License certificate and user registration ............... 2 1.3.4 WINCAPS III trial and light versions ................3 1.3.5 Note on languages ....................... 3 Installing WINCAPS III ..................4 1.4.1 Before you begin ......................4 1.4.2 Installing WINCAPS III....................
Page 16 7.2.6 Validate the controller function extension..............110 Using Debugging ....................111 7.3.1 Initiating debugging ....................111 7.3.2 Launch the program from WINCAPS III..............114 7.3.3 Controller settings..................... 115 7.3.4 Input signal dummy operation .................. 116 Chapter 8 Logging ................120 Log record timing....................
Page 17 CONTENTS 8.3.2 Operation log ......................127 8.3.3 Control log ........................ 128 8.3.4 Trace logging (single / multi) ..................132 8.3.5 Variable log....................... 135 8.3.6 I/O log ........................136 8.3.7 Joint servo log for particular joint................137 Chapter 9 Vision Manager .............. 138 Overview ......................
Page 18 CONTENTS...
Page 19: Chapter 1 Overview
• If the version of the robot controller software is more recent than that of WINCAPS III In such cases it is necessary to update WINCAPS III with the WINCAPS III trial version that comes with the robot set. The license is unchanged.
Page 20: Product Components And Operating Environment
Software WINCAPS III Installer Product CD-ROM License certificate The WINCAPS III license is written on this. The reverse is a user registration card. Instruction manual (printed versions optional) WINCAPS III Guide (this document) The software Help function contains the WINCAPS III Guide (this manual).
Page 21: Wincaps Iii Trial And Light Versions
Chapter 1 Overview 1.3.4 WINCAPS III trial and light versions WINCAPS III is available in the trial and light versions in addition to the product version. Trial and Light Versions Difference from Product Version WINCAPS III Light version • This comes with the optional mini-pendant purchased.
Page 22: Installing Wincaps Iii
Installing WINCAPS III 1.4.1 Before you begin Always uninstall any existing WINCAPS III versions before installing a new version on your computer. For the procedure, refer to 1.4.4 "Uninstalling" (P. 7). Note Be sure to shut down all other applications before installing or uninstalling this software.
Page 23 Restart the computer if the installation process ends with a message advising you to do so. If the required modules are not installed, these will be installed prior to WINCAPS III. Some modules may require you to restart the computer; return to WINCAPS III installation after having done so.
Page 24: Registering License
If the user ID appears under License Key, press the Close button. Note • Skipping over this license registration process loads WINCAPS III in test drive mode with limited functionality. • To register at a later date, choose Help|License... to display the above dialog box.
Page 25: Uninstalling
Operating procedure From the Start menu, choose Settings|Control panel and then Add or Remove programs. Choose WINCAPS III and then press the Change/Remove button to display a confirmation dialog box. Press the OK button to proceed with the uninstall operation.
Page 26: Connecting To Robot Controller
Chapter 1 Overview Connecting to Robot Controller There are two ways to connect the computer to a robot controller. Ethernet connection This method uses an LAN interface (CN4) to connect the computer to the robot controller. Direct connection Robot controller Ethernet Crossover cable Connection via a hub...
Page 27: Chapter 2 Basic Functions And Operational Flow
Online debugging WINCAPS III shifts control from the robot controller, allowing the operator to run robot programs held in the robot controller from the computer running WINCAPS III. Breakpoints, Step check, and other debugging facilities allow checking variables and I/O during operation.
Page 28: Steps In Writing Robot Programs
Chapter 2 Basic Functions and Operational Flow Steps in Writing Robot Programs The following shows the WINCAPS III work flow for writing a program and validating its operation. Step 1 Load WINCAPS III. Step 2 Create a project. Step 3 Write robot program.
Page 29 For further details, refer to 4.7 "Link with Robot Controller" (P. 59). Step 7: Test program operation (debug). Use WINCAPS III online functions to examine program flow, determine the robot's operation range, and detect collisions with surrounding equipment. Modify the program to eliminate any problems detected. Repeat the compile-debug cycle until no such problems remain.
Page 30: User Levels And Access Rights
Chapter 2 Basic Functions and Operational Flow User Levels and Access Rights WINCAPS III's two user access levels, operator and programmer, ensure data security by limiting access to ad- vanced functionality and sensitive data. The user specifies which on the log-in screen when WINCAPS III first starts.
Page 31: Chapter 3 Starting Up/Shutting Down
Chapter 3 Starting Up/Shutting Down Loading WINCAPS III Operating procedure On the Start menu, choose All Programs|DENSO FACTORY WARE|WINCAPS III|WINCAPS III to display the dialog box for logging in. Specify user level and password. The user level choices are 0-operator and 1-programmer.
Page 32: Wincaps Iii Basic Settings
* Note that large logs can take considerable time to display. D: Debug function Selecting this check box enables debugging. Note • Leaving it deselected disables all debugging functions, so selecting one during online operation triggers an error message. • WINCAPS III always starts with debugging disabled.
Page 33 Chapter 3 Starting Up/Shutting Down Editor tab A: Font This area specifies the font type and size for Program edit windows. B: Code color This area specifies the colors for highlighting text in the Program edit window. Select the text type, then choose text color with Front color and surrounding color as Back color.
Page 34 Chapter 3 Starting Up/Shutting Down Arm tab A: Moving tracks Sets the point numbers for the robot operation trajectory displayed in the Arm 3D view window. B: BackColor This sets the Arm 3D View window background color. C: Show message when collision is detected Select to display the Collision dialog box when a collision is detected.
Page 35: Programmer Password
Chapter 3 Starting Up/Shutting Down 3.1.2 Programmer password Using WINCAPS III at the programmer level requires logging in with a password. Register one with your first login. Note Passwords are case sensitive. 3.1.2.1 Registering a password Operating procedure In the Login WINCAPSIII dialog box, choose 1-programmer as the user level to enable pass- word input.
Page 36 Chapter 3 Starting Up/Shutting Down 3.1.2.2 Changing the password Operating procedure Choose Tool|Re-Login to display the dialog box for logging in. Press the Chg. PW button to display the dialog box for changing the password. Enter three passwords: the current password in the first field and the new one in the other two.
Page 37: Wincaps Iii Screen Descriptions
Screen components WINCAPS III uses the following general screen layout. Note WINCAPS III offers the user considerable flexibility in rearranging screen elements to match the needs at hand. For further details on screen customization, refer to 3.2.6 "Screen operations" (P. 41).
Page 38 Chapter 3 Starting Up/Shutting Down B: Toolbars This area displays the following six toolbars that provide user alternate access to most menu items with button icons. • Standard toolbar • Edit toolbar • View toolbar • Link Mode toolbar • Debug toolbar •...
Page 39: Menu Items
Chapter 3 Starting Up/Shutting Down 3.2.2 Menu items The following describes each WINCAPS III menu item. 3.2.2.1 File menu New Project This is for creating a new project. Open Project... This is for opening an existing project. Close Project This closes the currently open project. If the project has program edits or other unsaved modifications, a dialog box asks whether you wish to save them.
Page 40 Chapter 3 Starting Up/Shutting Down 3.2.2.2 Edit menu Undo This cancels the last operation, returning edits to the preceding state. Redo This repeats the operation canceled with Undo. This moves to the Windows clipboard and deletes the contents selected in the Program edit window.
Page 41 Chapter 3 Starting Up/Shutting Down Insert Command This is for inserting a command selected from the command input list at the cursor position in the predetermined syntax. 3.2.2.3 View menu Project View This displays the Project view window. Program List This displays the Program list window.
Page 42 This submenu is for displaying the Command builder dialog box to support PAC commands input. Program Bank This displays a dialog box with programs covering handy DENSO robot functionality. Developers can also add their own work to this open-ended library.
Page 43 WINCAPS III operates alone, without connecting to the robot control- ler. • Monitoring: WINCAPS III connects to the robot controller and displays its internal data. Specify the data update intervals with Tool|Option. • Debugging: WINCAPS III controls automatic program operation from the comput- er, debugging programs by modifying their variables and I/ O values as they run.
Page 44 Chapter 3 Starting Up/Shutting Down 3.2.2.6 Debug menu Note The Debug menu is available in WINCAPS III connected with the robot controller version 2.7 or later. Start all supervisor tasks This starts all supervisory tasks. Stop all supervisor tasks This stops all supervisory tasks.
Page 45 Chapter 3 Starting Up/Shutting Down Set line to start/stop log One way to specify a logging range is to select it in the Program edit win- dow. Another is to specify starting or stopping for the current line in the Program edit window.
Page 46 Reads/writes arm parameters needed for controller settings. Re-Login This returns to the dialog box for logging in, the only way to changing user levels while WINCAPS III is running Option This displays the dialog box for configuring such software options as the...
Page 47 Use this to maximize the Arm 3D view window or Pro- gram edit window. Reset window layout This returns windows to the default layout. 3.2.2.10 Help menu WINCAPS III guide This shows the WINCAPS III help. License... This shows the license information. Version This shows the version of WINCAPS III.
Page 48: Toolbars
Chapter 3 Starting Up/Shutting Down 3.2.3 Toolbars The toolbars provide user alternate access to most menu items with button icons. Alternatively, you can save screen real estate by turning them off, all or individually. There are six of these toolbars. The following lists map their buttons to the corresponding menu items. Standard toolbar F G H New Project...
Page 49 Chapter 3 Starting Up/Shutting Down View toolbar C D E Project View Program list Arm view Arm Modeling Arm operation Communication mode toolbar Transfer Data Monitor Communication Debug toolbar D E F Start a Task Step In Continue All Tasks Halt Step-stop Cycle-stop...
Page 50: Docking View
Chapter 3 Starting Up/Shutting Down 3.2.4 Docking view The Docking view area provides tab interfaces for switching between members of windows that the user has "docked" (grouped together). For further details on docking procedures, refer to 3.2.6 "Screen operations" (P. 41). Docking is available for the following window types.
Page 51 Chapter 3 Starting Up/Shutting Down button These buttons are for moving files and folders up and down the file hierarchy. : Move the selected item up one position. : Move the selected item down one position. D: Display files This button opens a folder, displaying the files inside. E: List hierarchy This button lists all files and folders in the project hierarchy.
Page 52: Arm Operation
Chapter 3 Starting Up/Shutting Down 3.2.4.3 Arm modeling This window is for arranging objects in the Arm 3D view window. For further details on modeling in the Arm 3D view window and Arm modeling, please refer to Chapter 6 "Arm 3D View Window"...
Page 53 Chapter 3 Starting Up/Shutting Down 3.2.4.5 I/O window This window type is for monitoring I/O and editing. For further details on monitoring I/O, please refer to Chapter 7 "Online Functions" (P. 103). 3.2.4.6 Variables window This window type is for displaying global variables. Listing or editing is possible. For further details on monitoring global variables, please refer to Chapter 7 "Online Functions"...
Page 54 Chapter 3 Starting Up/Shutting Down 3.2.4.9 Watch window This window type is for monitoring the values of variables on the watch list. For further details on watch lists, please refer to Chapter 7 "Online Functions" (P. 103). 3.2.4.10 Output window This window type displays progress and error messages from the syntax check and compiler.
Page 55 Chapter 3 Starting Up/Shutting Down 3.2.4.12 Vision tool window This window type is for configuring visual functions. For further details on this window, please refer to Chapter 9 "Vision Manager" (P. 138).
Page 56: Program View
Chapter 3 Starting Up/Shutting Down 3.2.5 Program view This displays the following window types: Arm 3D view, Vision monitor, and Program edit. If there is a robot con- troller on line, the list expands to include Task and Log windows. This area provides a tab interface for switching windows.
Page 57 Chapter 3 Starting Up/Shutting Down 3.2.5.2 Arm 3D View This 3D window is for checking robot operation. Adding other equipment and devices allows for collision detection. 3.2.5.3 Vision monitor window This window displays the image from a camera. For further details on this window, please refer to Chapter 9 "Vision Manager" (P. 138).
Page 58 Chapter 3 Starting Up/Shutting Down 3.2.5.4 Log window If there is a robot controller on line, this displays log data. For further details on such logs, please refer to Chapter 8 "Logging" (P. 120).
Page 59: Screen Operations
Chapter 3 Starting Up/Shutting Down 3.2.6 Screen operations WINCAPS III allows flexible customization of menus, toolbars, and windows on the screen. 3.2.6.1 Moving toolbars Toolbars can be dragged anywhere on the screen. Inside the toolbar display area, they clump together to conserve space.
Page 60 Chapter 3 Starting Up/Shutting Down 3.2.6.2 Changing window layout WINCAPS III's flexible layout allows you to freely move its windows anywhere within its application window and to snap them vertically or horizontally to an edge within the application window or just the selected area.
Page 61 Chapter 3 Starting Up/Shutting Down Snapping windows This operation moves the selected window up against the specified edge. The first step is grabbing the window's title bar to display the snap arrow icons. These offer two choices: snap with- in the application window or just within the current area. Snapping within application window Your first choice is to move windows to an edge of the application window.
Page 62 Chapter 3 Starting Up/Shutting Down Drop the blue window silhouette on an icon in the outer set to move the window against the corresponding edge of the application window.
Page 63 Chapter 3 Starting Up/Shutting Down Snapping within current area Alternatively, you can snap within the Program view, Docking view, or other area. Operating procedure Start dragging the window's title bar to display the snap icons. Drop the blue window silhouette on an icon in the inner set to move the window against the corresponding edge of the current area.
Page 64 Chapter 3 Starting Up/Shutting Down...
Page 65 Chapter 3 Starting Up/Shutting Down Minimizing Docking view area This operation minimizes the Docking view area to maximize the Program view area. Operating procedure Click the icon on the right end of the Docking view title bar. The operation minimizes the Docking view area, showing the tab instead as shown below.
Page 66 Chapter 3 Starting Up/Shutting Down To temporarily display the minimized window in the Docking view area so that it overlaps the Program view area as shown below, click the tab shown in step 1. Note • To minimize all windows in the Docking view area, select Window|Hide all. •...
Page 67: Quitting Wincaps Iii
The edited changes can be selected and saved by pressing Show extra information. Save button Overwrites the project. Don't Save button This button deletes the edited changes. Cancel button Cancels the quitting procedure and reverts to the previous WINCAPS III screen.
Page 68: Chapter 4 Creating A Project
Chapter 4 Creating a Project Overview WINCAPS III manages the programs, parameters, variables, and other data for each robot as a separate project. 4.1.1 Folders A project uses the following file hierarchy. Project folder Project file Project data folder Backup folder...
Page 69: Creating A New Project
Using this method does not require newly configuring the robot type and other various settings, but requires that the robot controller and PC (WINCAPS III) be connected with each other for data exchange. When im- porting a project from the robot controller, it is possible to search for robots connected.
Page 70 • Robot type • Robot controller options • There is a basic setting that specifies where WINCAPS III saves new projects. For further details on these settings, please refer to 3.1.1 "WINCAPS III basic settings" (P. 14). • Do not check the Customer specifications check box displayed by Robot controller options for standard robots.
Page 71: Opening An Existing Project
Note • The following two types of files can be opened. WINCAPS III project data (File extension: .wpj) WINCAPS II project data (File extension: .spj) • If an existing project is currently edited, the confirmation dialog appears, asking whether or not to save unsaved modifications.
Page 72: Configuring A Project
Chapter 4 Creating a Project Configuring a Project Operating procedure Choose Project|Properties to display the property sheets for the project. Click the tab containing the desired configuration option for the settings. When configuration is complete, press the OK button. Pressing the Cancel button instead discards all changes. Note Moving to another tab does not save changes.
Page 73 Chapter 4 Creating a Project Communication setting tab This specifies the communications link to the robot controller plus communications options. Ethernet Enter the robot controller's IP address. • IP address Enter the robot controller's IP address. • Specify the IP address of the local machine. If your PC has several network cards, you can specify the one to use when linking.
Page 74 Chapter 4 Creating a Project Output code Sets the software version of the robot controller. Depending upon the version, the output codes of the exe- cution program will differ. If the version specified here is different from the actual software version of the connected controller, an error will occur at the time of communication.
Page 75 Chapter 4 Creating a Project Variable tab This specifies the number of variables used. Set it to match the number of project variables used by the robot controller. I/O tab This specifies I/O assignments and I/O options. For further details on I/O specifications / settings for each device, refer to the Option Equipment Manual.
Page 76: Configuring Parameters
Chapter 4 Creating a Project Configuring Parameters Operating procedure Choose Project|Parameters to display the parameter configuration sheets. Click the tab containing the desired configuration option. The dialog box has the following nine tabs. • Communication tab • Program tab • Interpreter tab •...
Page 77: Link With Robot Controller
Chapter 4 Creating a Project Link with Robot Controller WINCAPS III supports two types of links for communicating with a robot controller: • Ethernet connection • Serial (RS-232C) connection For further details, please refer to 1.5 "Connecting to Robot Controller" (P. 8) and the robot controller documen- tation.
Page 78: Data Transfers
Chapter 4 Creating a Project Configure the options: timeout and number of retries. Press the OK button to save the new settings. 4.7.2 Data transfers This link is for exchanging data with the robot controller. The following data is exchanged. Program Data concerning programs.
Page 79 Configuration All configuration data (calset values, etc.) Note Some items will not appear in the list of transferable data due to WINCAPS III settings or robot con- troller specifications. Operating procedure Choose Connect|Transfer data... to display the bidirectional transfer dialog box.
Page 80 Press the Send or Receive button to display a confirmation dialog box. Press the Yes button to start transferring data and display a progress screen. Note Receiving data from the robot controller updates the WINCAPS III project data, nullifying any program updates in the interim. Caution When transferring data to the robot controller, close the Program List window or the Select Variable Type window (if opened) on the teach pendant beforehand;...
Page 81: Arm Parameter Data Transfer
Arm parameter data transfer The arm parameters contain a CALSET value deciding the robot's particular position data. CALSET values are included when transferring arm parameters from the robot controller to WINCAPS III, but not vice versa in order to prevent overwriting.
Page 82: Usb Tool
Chapter 4 Creating a Project USB Tool Instead of direct data transfer between a computer running WINCAPS III and the robot controller, a USB memory is available as a media for data exchange between them. 4.8.1 Reading data from USB memory Follow the FDTool wizard to read data from a USB memory.
Page 83 Chapter 4 Creating a Project Click the Next button. Select a target folder This area specifies folders in the USB memory to read data from them. Click the Next button. Select target data Selecting these check boxes specify data to read from the USB memory. To read all data, click the Select All button.
Page 84 Chapter 4 Creating a Project Click the Next button to read the specified data from the USB memory. Upon completion of reading, the following dialog appears.
Page 85: Writing Data Into Usb Memory
Chapter 4 Creating a Project 4.8.2 Writing data into USB memory Follow the FDTool wizard to write data into a USB memory. Operating procedure Select Tool|USB|Write to start the FDTool wizard. Write data into drive This field specifies a drive for writing into a USB memory. ROBOTPRJ (Root) This radio button is for writing the entire project file into a USB memory.
Page 86 Chapter 4 Creating a Project Click the Next button. Select target data Selecting these check boxes specify data to write into the USB memory. To write all data, click the Se- lect All button. Click the Next button to write the specified data into the USB memory. Upon completion of writing, the following dialog appears.
Page 87: Print
Chapter 4 Creating a Project Print Project data of various types can be printed out. Operating procedure Choose File|Print to display the Print dialog box. Select the data you wish to print and press the Preview button. Check the preview and then make your print out. Note Printing out log data can result in vast amounts of printout pages, hence be sure to check the number of pages using the preview function first before printing.
Page 88: Chapter 5 Writing Programs
Chapter 5 Writing Programs Creating a New Program Operating procedure Choose Project|Add Program... to display the dialog box for creating a new program, head- er file, or teach pendant (TP) panel. Specify the type. There are three choices. • Program (*.pac) •...
Page 89: Leveraging Existing Files
Chapter 5 Writing Programs Leveraging Existing Files In practice, a key technique is to recycle files from other projects. There are three file types. • Program file (*.pac) • Header file (*.h) • Teach pendant panel (*.pnl) Operating procedure Choose Project|Import... to display an Open dialog box. Select the file to add and press the Open button to add it to the Project and Program list windows.
Page 90: Saving A Program
Chapter 5 Writing Programs Saving a Program The following procedure saves edits to the current program. The File menu offers two ways to save modifications to the file in the selected Program edit window. • Save updates the original file. •...
Page 91: Editing A Program
The Program edit window text editor gives the user control over the font, size, and colors for displaying text. Syntax highlighting assigns different colors to distinguish between, for example, operators and comments. For further details on Program edit window display options, refer to 3.1.1 "WINCAPS III basic settings" (P. 14). Finding and replacing strings Find and replace strings in headers and programs.
Page 92: Finding And Replacing Strings
Chapter 5 Writing Programs 5.4.1 Finding and replacing strings You can specify the range and method to search and replace the character string. Target items This field specifies the range of the target to be searched/replaced. Choose Project to specify the file type. Option You can specify various search methods.
Page 93: Other Editing Functions
Chapter 5 Writing Programs 5.4.2 Other editing functions 5.4.2.1 Jump to... This is for moving the cursor to a line, specified by number, in the Program edit window. Operating procedure Choose Edit|Jump to... to display the eponymous dialog box. Enter the line number. Press the OK button to move the cursor to that line.
Page 94 Chapter 5 Writing Programs 5.4.2.3 Indent This submenu command indents the lines selected in the Program edit window into comments. Operating procedure Select the lines to indent. Choose Edit|Indent|Indent to indent them. Note To reverse this operation, select lines and choose Edit|Indent|Unindent. 5.4.2.4 Bookmark This submenu command is for setting a bookmark on the line under the cursor, or moving the cursor to a bookmark.
Page 95 Chapter 5 Writing Programs Clearing bookmarks There is a menu command for clearing all bookmarks. Operating procedure Choose Edit|Bookmark|Clear Bookmarks. 5.4.2.5 Command candidate function As you type a command, a command list will appear. (Ctrl + Space key will also display the command list) The command list will automatically scrolls to the first match.
Page 96 Chapter 5 Writing Programs 5.4.2.6 Insert command function The Insert command submenu lists commands by function. Selecting a command on this list inserts it into the program being edited. Operating procedure Move the cursor to the insertion position. Choose Edit|Command Input to list the commands by function. Note Choosing a command inserts it with default values for any command parameters.
Page 97 Chapter 5 Writing Programs 5.4.2.7 Command builder function This is for command input through Command builder at the cursor point in the program being edited. Necessary parameters can also be input, allowing correct parameter statements. You can also select from command searches or past commands entered. Help can be referred to for the commands shown, enabling quick command input.
Page 98 Chapter 5 Writing Programs 5.4.2.8 Insert registered character string Allows registration of character strings commonly used in program editing for fast insertion. Register character string Operating procedure Press the desired key to which the selected string should be assigned. Choose Edit|Register string. Press the desired key to which the selected string should be assigned.
Page 99 Chapter 5 Writing Programs 5.4.2.9 Add comment function Automatically adds comments to explain the applications of the variables and I/O during program editing. Comments are added with "'//" placed after them. If a further comment is added after changing the application description of the I/O and variables, the content from "'//"...
Page 100: Program Bank
Chapter 5 Writing Programs Program Bank The program bank allows robot applications to share library programs/functions originally written for one specific robot or application. Note Program samples are already preset in the program bank. For further details on program samples, please refer to Programming Manual II.
Page 101: Adding A Program To The Program Bank
Chapter 5 Writing Programs Press the Add program button to add the program to the folder selected in the Project win- dow. Other programs within the project can then access this program with CALL state- ments. 5.5.2 Adding a program to the program bank The following procedure adds a user program to the bank register.
Page 102: Adding A Category
Chapter 5 Writing Programs Enter a title for the program and press the OK button. Fill out the two tabs. For the Source tab, copying the contents of the corresponding Program edit window is much faster than re- typing the program. Press the Update button.
Page 103: Editing A Teach Pendant (Tp) Panel
Chapter 5 Writing Programs Editing a Teach Pendant (TP) Panel A TP panel represents the interactive image displayed on the screen of the teach pendant attached to the robot con- troller. 5.6.1 Editing a TP panel To edit a TP panel (*.pnl), double-click it in the Project or Program list window to open it in the Panel Designer window.
Page 104: Folder Functions
Chapter 5 Writing Programs Folder Functions Folders hold the key to hierarchical management of the program files in a project. Grouping program files into folders by function or type adds structure that makes overall operation easier to un- derstand and encourages compartmentalization, enhancing program portability to other projects. 5.7.1 Creating a folder Operating procedure...
Page 105: Importing An Entire Folder
Chapter 5 Writing Programs 5.7.2 Importing an entire folder Importing a folder is much faster than importing the files one at a time. Operating procedure Select a folder in the Project window. Choose Project|Folder|Import to display the Browse folders dialog box and specify the folder to import.
Page 106: Making Executables
Chapter 5 Writing Programs Making Executables 5.8.1 Checking syntax The following procedure runs a syntax check on the selected program. Note The target is the file in the currently active Program edit window. Operating procedure Select the program to check. Choose Project|Check Syntax to run the check and display the results in an Output win- dow.
Page 107: Making Executables
Chapter 5 Writing Programs 5.8.2 Making executables This batch operation applies to all files in the project. Note The update is conducted for all programs registered in the project. Operating procedure Choose Project|Compile to update the executables for the project. An Output window in the Docking View window tracks progress and error messages from the compiler.
Page 108: Chapter 6 Arm 3D View Window
Chapter 6 Arm 3D View Window The Arm 3D view window displays, in three dimensions, the robot's current position and attitude. Simulation allows the efficient and safe development of robot control programs without having to connect an ac- tual robot. During remote debugging, the robot arm on the screen responds to program commands.
Page 109 Chapter 6 Arm 3D View Window D: Arm 3D view tool bar D-1: Rotate This rotates the view on the screen using a mouse. D-2: Fixed view This fixes the current view on the current position. D-3: Rotation on Z-axis This rotates the view on Z-axis using a mouse.
Page 110: Arm Modeling
Chapter 6 Arm 3D View Window 6.1.2 Arm modeling This window is for adding tools, work pieces, obstacles, and other objects to the equipment layout in the Arm 3D view window using 3D data from either the built-in simple modeling software or external sources. A: Object tree This shows the object hierarchy behind the Arm 3D view.
Page 111 Chapter 6 Arm 3D View Window Children nodes... All objects below the selected node can be expanded/collapsed, displayed / not displayed, interference checked / not checked. Property This displays the property sheets for the selected object. B: Add buttons These add an object of the shape indicated on the button. There are six shapes available. C: Node button This adds a node.
Page 112: Arm Operation
Chapter 6 Arm 3D View Window 6.1.3 Arm operation This window is for moving the simulated robot in the Arm 3D view window. A: Ope. mode Select movement mode. • Axes: operates all axes. • XY-bisection: moves according to the selected work coordinates. RX/RY/RZ rotate around the work co- ordinates centered on the tool origin point.
Page 113: Simple Modeling
Chapter 6 Arm 3D View Window Simple Modeling The built-in tool is for quick and dirty modeling of the pallet bench, pallet, work, and other objects. The Model tree window presents a hierarchical display of the objects in the Arm 3D view. The top node is Root, which starts out with the following predefined nodes.
Page 114: Adding Objects
Chapter 6 Arm 3D View Window Adding nodes A node may be added anywhere in the object hierarchy. Select a node on the object tree, right-click, and choose Add node from the context menu that appears to add a new node as a child of the selected one. Note Grouping the pallet, pallet bench, and other objects under a common node, for example, enables copying and pasting them together as a single group.
Page 115 Chapter 6 Arm 3D View Window As our example, let's start with the pallet bench. Operating procedure Choose View|Arm View to display the modeling window. Specify where to add to the model by selecting a node to be the parent. Press the (Box) button in the Model tree window to add a box to the Arm view window.
Page 116 Chapter 6 Arm 3D View Window Change the object's position and size. Add two more boxes to complete the pallet bench. Note Here, it is faster to copy and paste the above box as the second leg and then again as the starting point for the top.
Page 117 Chapter 6 Arm 3D View Window Note The way the object is displayed can be altered with the Model tree Property button. Pressing the Property button displays the dialog box below. Display setting Sets object display properties. Related axis Settings for objects moving in relation to the added axes in the case of projects with added axes or SMT7 controller.
Page 118: Saving Objects
Chapter 6 Arm 3D View Window 6.2.2 Saving objects Saving objects as modeling data files allows immediate reuse in other projects. Operating procedure Select the object or node to export. Right-click and choose Export data from the context menu that appears to display the Browse folders dialog box.
Page 119: Importing Objects
Chapter 6 Arm 3D View Window 6.2.3 Importing objects The following is the procedure for reading in modeling data exported from another project. Operating procedure Select the parent node for the data. Right-click on the object tree and choose Read shape data from the context menu that ap- pears to display the dialog box for selecting a file to import.
Page 120: Importing 3D Data
The following formats are supported. • Directx file (*.x) • VRML 2.0 file (*.wrl) Note WINCAPS III does not support the VRML 1.0 format. Use VRML 2.0 (or VRML 97) format data. Operating procedure Select the parent node for adding the object.
Page 121: Chapter 7 Online Functions
Overview These functions are for monitoring robot controller variables, I/O, and other aspects of operation and for checking robot controller program operation under WINCAPS III control. They cover all phases of robot application development. Preliminary investigation with no actual equipment •...
Page 122: Monitoring
A status bar appears to display the current monitoring status. Note When connection for online operation is complete, WINCAPS III windows automatically display robot controller internal data. Returning online brings you back to the project in the PC. (The received log...
Page 123: Monitoring Variables
Chapter 7 Online Functions 7.2.2 Monitoring variables There are three window types for monitoring variables. 7.2.2.1 Adding variables to the watch list There are two ways to monitor variable's contents: directly selecting it to temporarily display its value as pop-up tip text and adding it to the Watch list.
Page 124 Chapter 7 Online Functions 7.2.2.2 Confirm the registered watch items. This window displays variables from a user configurable list. Operating procedure Choose View|Watch to display this window in the Docking view area. Task This displays the program name. Variable name This displays the registered variable names.
Page 125 Chapter 7 Online Functions Displays the variable numbers. Value Displays the value. Application The user can enter the application. When the Add comment function is in use, text input for the Appli- cation is added to the program as a comment. Macro name Enter the name of macros usable in the project.
Page 126: Monitoring I/O
Chapter 7 Online Functions 7.2.3 Monitoring I/O The I/O window shows the current I/O states. Operating procedure Choose View|I/O Window to display this window in the Docking view area. Jump Displays the I/O of the specified number. Smart View Displays only I/O with a check in the Smart column. Oscilloscope display button Turns on/off the Oscilloscope display.
Page 127: Monitoring Robot
The Arm 3D View window shows the robot's current attitude. The trajectory of the robot's hand movements can be displayed. This trajectory display can be operated by choosing Arm|Movement history. 7.2.5 Errors during monitoring A robot controller error displays a WINCAPS III error message.
Page 128: Validate The Controller Function Extension
Chapter 7 Online Functions 7.2.6 Validate the controller function extension This enables validation/invalidation of controller function extensions from WINCAPS III. Select Tool|Controller function extension in online (monitor) mode to open the Controller function extension dia- log box. Enter the password number for the function to be extended and press on the Add button to validate it.
Page 129: Using Debugging
Chapter 7 Online Functions Using Debugging For further details on connecting to a robot controller, refer to 1.5 "Connecting to Robot Controller" (P. 8) and 4.7 "Link with Robot Controller" (P. 59). 7.3.1 Initiating debugging First the robot controller must satisfy the following conditions. •...
Page 130 Chapter 7 Online Functions Caution • The WINCAPS III debugging functions are for running robot programs and controlling operation from the computer. To ensure safety, always stay within reach of an Emergency stop button on the teach pendant, the mini-pendant, or the equipment.
Page 131 The teach pendant or mini-pendant also display a Debugging status screen. Automatic aborting of debugging WINCAPS III and the robot controller automatically switch to offline operation if any of the following situations arises. • Someone switches the pendant's mode selector switch away from its AUTO position.
Page 132: Launch The Program From Wincaps Iii
7.3.2 Launch the program from WINCAPS III. In addition to monitoring, WINCAPS III runs and debugs programs stored inside the robot controller. Operating procedure Double-click the program to execute in the Project or Program list window to display it in the Program view area.
Page 133: Controller Settings
Chapter 7 Online Functions Caution The WINCAPS III buttons are useless if the computer crashes or the communications link is lost. To ensure safety, always stay within reach of an Emergency stop button on the teach pendant, the mini- pendant, or the equipment.
Page 134: Input Signal Dummy Operation
Chapter 7 Online Functions 7.3.4 Input signal dummy operation Operation of the program can be checked even without peripheral devices linked by dummy alteration of the I/O input signal. 7.3.4.1 Configuring dummy I/O Dummy operation of the I/O requires selection of the input signal to be operated. Operating procedure Choose View|I/O Window to display this window in the Docking view area.
Page 135 Chapter 7 Online Functions If several input signals are set, specify the range by dragging and combine them by selecting Enter dummy check or Remove Dummy check using the mouse right-button menu. Press the Dummy input button to reflect the dummy I/O settings in the robot controller. Press the Dummy input button again to remove the robot controller dummy I/O settings.
Page 136 Chapter 7 Online Functions 7.3.4.2 Input signal on/off operation Press the Status lamp of the input signal to be turned on/off. When lit green it is on, when gray it is off. 7.3.4.3 Exclusive input signal on/off operation (DIO command viewer) In debugging exclusive input signals can also be dummy operated.
Page 137 Chapter 7 Online Functions Select desired items from the pull down lists for Command field and Data field 1, and input appropriate values in Data field 2. Odd parity is automatically set. Press the Command set button The on/off status of the Command field, Data field 1, Data field 2 and Odd parity are reflected in the robot controller.
Page 138: Chapter 8 Logging
• Flash memory Data is retained even when the power of the controller is switched off (even if the memory backup battery fades) The types of logs usable in WINCAPS III are as follows. Acquisition inter- Data record Error trigger...
Page 139: Log Record Timing
The three commands used are STARTLOG, STOPLOG and CLEARLOG. It is also possible to determine the range of logging by specifying program lines in WINCAPS III. • Error trigger log A record log is saved in flash memory when a specified error occurs. Error logs, operational logs, control logs and trace logs (multi) are available.
Page 140: Recording By Program Commands
Chapter 8 Logging 8.1.1 Recording by program commands The timing when logs are recorded can be controlled by program commands, the teach pendant, and WINCAPS III for control / trace / single trace / variable / servo single axis data logs. These logs use a memory field called a ring buffer.
Page 141: Error Trigger Log
Chapter 8 Logging 8.1.2 Error trigger log A record log is saved in flash memory when a specified error occurs. Error logs, operational logs, control logs and trace logs (multi) are available. This is used when searching for the causes of errors. Errors specifiable by the error trigger are of two types: those specified by error level and those of a particular error code.
Page 142: Acquisition Of Log Data
Log data retained in the controller can be retrieved by the following methods. • Data transfer in WINCAPS III Log data checked in the robot controller is retrieved into WINCAPS III in the data transfer screen. • Transfer using the WINCAPS III log screen Log data is received and displayed by pressing the Receive button in the log screens displayed by WINCAPS III.
Page 143: Log Acquisition Settings
Some logs contain multiple fields for saving log data. You can specify from which field you will acquire log data with WINCAPS III. Under default (standard) settings the error and operation logs are acquired from SRAM, and other logs from DRAM.
Page 144: Detailed Description Of Log Types
Chapter 8 Logging Detailed description of log types 8.3.1 Error log Records errors occurring in the controller. The most recent 1,000 errors are recorded. The data is saved in SRAM. The error log is regularly updated. If you wish to secure particular log data, use error trigger logs or suchlike. Two or more types of errors may occur simultaneously, but what appears as an error message is only one of those errors.
Page 145: Operation Log
The following items are recorded for the data. • Date / time • Client The device that was operated is recorded. (TP: Teach pendant. PC: WINCAPS III, etc. PC. I/O: I/O. SYS:Sys- tem) • Operation • Time since controller boot...
Page 146: Control Log
• Approximating the minimal load on the motor by predicting load ratios. The control log recording time can be set by specifying the recording interval and number of records. Recording can be made manually from the teach pendant or WINCAPS III or through program operations and error triggers.
Page 147 Chapter 8 Logging D: Clear control log button This button clears the currently retained control log. CLEARLOG is executed. E: Jump to source code button This displays the source code for the selected log program. F: Reverse step in button This reproduction button plays back the control log, producing step-by-step robot motion in the reverse direc- tion in the Arm 3D view.
Page 148 Chapter 8 Logging R: Status Displays the cursor position coordinates and the cursor position values of log data displayed in the graph. The following items are recorded for the log data. • Axis command values Axis angles commanded by the controller in the specified recording interval •...
Page 149 Configuring with teach pendant Press F2 (Arm)|F6 (Auxiliary function)|F7 (Usage conditions) and enter values for No.22 and No.23. WINCAPS III settings Choose Debug|Controller Settings / Control log acquisition times in online (debugging) mode. Note The most recent 1,250 error trigger logs are secured regardless of the number setting.
Page 150: Trace Logging (Single / Multi)
Chapter 8 Logging 8.3.4 Trace logging (single / multi) Trace logging records the program execution flow and timing. There are two types: single trace logs for recording single program flows and trace logging (multi) for recording multiple program flows. 8.3.4.1 Trace log recording operations There is no distinction in these operations between single and multi trace logging.
Page 151 Chapter 8 Logging 8.3.4.2 Single-trace Log This records the command flow for a single program. The time required to execute each command is recorded, giving useful data for shortening cycle time and optimiz- ing operations. Receive log data by specifying a program. The data recorded is as follows.
Page 152 Chapter 8 Logging 8.3.4.3 Trace logging (multi) Trace logging (multi) records the command line sequence executed for multiple programs running simultaneously. A B C D E A: Receive button Trace log (multi) data is received from the controller. B: Start trace log button This begins trace logging.
Page 153: Variable Log
Variables registered in Watch are recorded. You can set whether to record variable log in the Log column of the WINCAPS III Watch screen. Recording of variable logs can be operated through setting the log recording range in the WINCAPS III program screen.
Page 154: I/O Log
This records the I/O status at the start of logging and subsequent I/O changes. It is mostly used for checking the I/O status / safety circuits / drive preparations when activating equipment. Operating the recording timing can be performed manually (using WINCAPS III start buttons, etc.) and records taken from controller power on.
Page 155: Joint Servo Log For Particular Joint
Chapter 8 Logging • Status Altered status • Time since log record start • Time since controller boot • Initial value INITIAL is entered in the value when logging begins. 8.3.7 Joint servo log for particular joint More detailed recording of motor control. The recording interval can be set from 1-8 ms.
Page 156: Chapter 9 Vision Manager
Overview The Vision Manager is for writing robot vision programs in the PAC programming language. Working interactive- ly in the WINCAPS III environment, the programmer defines processing windows, writes search models, and cre- ates lookup tables. WINCAPS III saves image data in .bmp format and search models in a special data format.
Page 157 Chapter 9 Vision Manager Vision tool window This window is for configuring the Vision Manager. Choose View|Vision Tool to display it in the Docking view area. The following buttons switch the configuration area of this window. A: Lookup table This button is for specifying lookup tables. B: Edit macro name This button is for editing window and search model macro names.
Page 158 Chapter 9 Vision Manager I: Area/Center of gravity/Principal axis This window is for determining three object features: area, center of gravity, and principal axis. J: Labeling This button is for finding and labeling objects in the window. K: Edge This button is for detecting edges. L: Model search This button is for pattern matching using a search model.
Page 159: Configuring Vision Manager
Chapter 9 Vision Manager Configuring Vision Manager 9.2.1 Configuring lookup tables Lookup tables specify the camera's input characteristics as well as the display characteristics for the camera image and processing screens. Tables 0 to 4 are reserved for system use; 5 to 15 are user modifiable. Lookup table screen A: Lookup table This area contains the tables specifying characteristics.
Page 160: Editing A Macro Name
Chapter 9 Vision Manager 9.2.2 Editing a macro name This is for editing macro names and application for windows and search models. Defining macros allows programs to use substitute the macro name for its content. A macro name must be in single-byte characters. Using other characters renders that portion of the macro definition file unavailable to programs.
Page 161: Calibrating
Chapter 9 Vision Manager 9.2.3 Calibrating The Calibration settings screen manages thirty two sets of calibration data numbered 0 to 31. A calibration opera- tion calculates conversion coefficients by comparing monitor coordinates with their robot counterparts for three image features and saves both the source data and the coefficients under the specified number. Calibration settings screen A: Number to edit This field specifies the set of calibration data to update.
Page 162: Calibration Procedure
Chapter 9 Vision Manager H: Read This button copies the robot coordinates from the specified P variable. I: Results This area displays the results of the calibration operation. 9.2.3.1 Calibration procedure The following is the calibration procedure. Operating procedure Select three distinct points. Specify the dataset number.
Page 163 Chapter 9 Vision Manager 9.2.3.2 Entering the Vision monitor coordinates There are the following three ways to enter the Vision monitor coordinates. • Direct entry: Directly entering numerical values • Cursor input: Marking the corresponding point in the Vision monitor window with the cursor •...
Page 164 Chapter 9 Vision Manager Measurement input Find the center of gravity with image analysis and enter the results as the coordinates. Operating procedure Display an image in the Vision monitor window. Specify the point to edit. Choose the Measurement input radio button to display a selection window in the Vision monitor window Move the cursor to the target coordinates with dragging or with arrow keys.
Page 165 9.2.3.4 Calibrating A calibration operation calculates conversion coefficients by comparing monitor coordinates with their robot coun- terparts for three image features. Although WINCAPS III must send calibration data to the robot controller, the robot controller stores only the conversion coefficients.
Page 166: Configuring Camera Input
Chapter 9 Vision Manager 9.2.4 Configuring camera input The following is the procedure for copying the camera image to an image processing screen. The following screen controls data transfers from the camera to an image processing screen. A: Camera number This field specifies the image source.
Page 167 Chapter 9 Vision Manager 9.2.4.1 Reading in an image Operating procedure Specify the source camera by number. Specify the lookup table for adjusting the image. Specify the Input screen. Press the Apply button to copy the camera image to an image processing screen.
Page 168: Switching Display Screens
Chapter 9 Vision Manager 9.2.5 Switching display screens The Vision monitor window switches between three types of images: camera, processing, and draw. Screen display settings screen A: Draw screen This field specifies the draw image to display. B: Camera & processing This field specifies the camera image or processing image to display.
Page 169: Editing A Window
Chapter 9 Vision Manager 9.2.6 Editing a window To edit robot controller window settings, WINCAPS III must first read in their current values. Edit window settings screen A: Target window This field specifies the window to edit. B: Shape This field specifies the window shape.
Page 170 Chapter 9 Vision Manager Note What is a window? Here a window means the portion of the image that the µVision board is to process. The board remembers the sizes for each window. There are two ways to edit windows: with Vision Manager and with user programs.
Page 171 Chapter 9 Vision Manager Note Projection window Rectangular and sector window shapes add an edge detection direction setting. This parameter specifies the scan direction for edge detection. Set this to 2 (none) if edge detection is not used. This is the default setting when a window is first created and after a shape change. Change this setting to match the measurement method.
Page 172: Editing A Search Model
Chapter 9 Vision Manager 9.2.7 Editing a search model To edit a robot controller search model, WINCAPS III must first read it in. Search model settings screen A: Target model This field specifies the search model. B: Model settings This area displays information on the current search model for editing.
Page 173 Chapter 9 Vision Manager 9.2.7.1 Creating a new search model Operating procedure Enter a number for the new search model in the Target field. Adjust the search model shape and offsets. Moving the window Changing the size Drag the window outline to move the window. Drag a window corner to resize the window.
Page 174 Chapter 9 Vision Manager 9.2.7.2 Modifying a search model The following is the procedure for editing a search model. Operating procedure Choose the search model to edit from the list box to display its data on the Model settings screen and display it in the Vision monitor window. Adjust the search model shape and offsets.
Page 175: Registering Digitization
Chapter 9 Vision Manager 9.2.8 Registering digitization The following give the procedures for specifying or determining digitization thresholds. The Register digitization settings screen offers four choices for determining the optimal thresholds: manual spec- ification, calculation with mode method, discriminant analysis, and p-tile threshold calculation. Radio buttons switch this screen between Histogram settings and Digitization settings.
Page 176 Chapter 9 Vision Manager Digitization/Histogram settings screen A: Digitization This radio button displays the Digitization settings screen. B: Processing window This field specifies the processing window range. C: Digitization lower boundary D: Digitization upper threshold These two fields display/specify the digitization thresholds for image analysis. E: Apply This button saves window modifications.
Page 177 Chapter 9 Vision Manager Note What is digitization? The DENSO µVision board accepts as camera input gray scale images with 256 possible values for each pixel brightness. Digitization uses brightness thresholds (boundaries) to make each pixel either pure white or jet black. There are two digitization thresholds. Pixels between the two thresholds become white (1);...
Page 178 Chapter 9 Vision Manager 9.2.8.1 Manually specifying boundaries Operating procedure Choose the Histogram radio button to display the Histogram settings screen. Select the Processing window to display the histogram calculation window. Press the Calculate button to display the histogram. Select the Digitization radio button to display the Digitization settings screen. Specify the two digitization thresholds and check the lines on the histogram.
Page 179: Calculating Area, Center Of Gravity, And Principal Axis
Chapter 9 Vision Manager 9.2.9 Calculating area, center of gravity, and principal axis The following is the procedure for determining three object features: area, center of gravity, and principal axis. This procedure uses the thresholds specified with the Register digitization settings screen. Feature (SA/CG/PA) settings screen A: Target window This field specifies the window range to measure.
Page 180 Major axis have its major axis (length) rotated relative to the viewing plane. The minor axis (width) is perpendicular to this axis. The DENSO µVision board defines the angle (θ) from the plane's x-axis to the subject's major axis as the principal axis angle. The DENSO µVi-...
Page 181 Chapter 9 Vision Manager 9.2.9.1 Extracting features Operating procedure Choose a target window range to measure. Choose the feature: area, center of gravity, or principal axis. Choose the color: 0-White or 1-Black. Press the Measure button to display the resulting boundaries on the histogram and save them in the two boundary fields of the Digitization settings screen and display them in the Vision monitor window.
Page 182: 9.2.10 Labeling
Chapter 9 Vision Manager 9.2.10 Labeling This function labels objects within the specified window. This procedure uses the thresholds specified with the Register digitization settings screen. Labeling settings screen A: Target window This field specifies the window range to measure. B: Sorting order This field specifies the display order for the results.
Page 183 Chapter 9 Vision Manager Note What is labeling? Labeling digitizes the camera image and then sequentially numbers contiguous areas of black (0) or white (1) pixels. (See Figure 1.) The result is a list of individual objects within the specified range in the window.
Page 184 Chapter 9 Vision Manager 9.2.10.1 Labeling objects Operating procedure Choose a target window range to measure. Choose the sorting order: numerical, descending area, or ascending area. Enter the area cutoff, a boundary specifying the minimum size. Objects smaller than this setting are ignored.
Page 185: 9.2.11 Edge Detection
Chapter 9 Vision Manager 9.2.11 Edge detection This function detects edges within the specified window. This measurement uses a projection window (Parameter = 0 or 1). Edge settings screen A: Target window This field specifies the window range to measure. B: Method This field specifies the edge detection method.
Page 186 Window Edge the specified window, a boundary between dark grays and light ones. The DENSO µVision board offers edge detection based on brightness levels or on areas. For brightness levels, there is also a choice of ab- solute and relative levels for detect- Position ing transitions.
Page 187 Chapter 9 Vision Manager 9.2.11.1 Specifying measurement conditions Level Specify the edge detection level. The range is 0 to 255 for detection using a brightness level (absolute or rela- tive) and 0 to 512 for detection using an area (absolute or relative). Digitization thresholds Detection using areas requires specifying the digitization thresholds.
Page 188 Chapter 9 Vision Manager 9.2.11.2 Detecting edges Operating procedure Choose a target window range to measure. Choose the edge detection method: absolute, relative, area relative, or area relative. Choose the Transition(s): 0-Black-to-White, 1-White-to-Black, or 2-Both. Specify the level. Choose the scan direction for scanning in the projection window: Positive or Negative. Press the Measure button to display the resulting boundaries on the histogram, save them in the two boundary fields of the Digitization settings screen, and display the results in the Vision monitor window.
Page 189 Chapter 9 Vision Manager 9.2.11.3 Displaying distribution and graph The Edge settings screen displays the measurement results as either a distribution or a graph. These displays are for checking brightness and area changes in the window. The graph display also permits checking of the brightness and area distribution for the specified location. Distribution data Selecting the Distribution radio button switches to the following display.
Page 190: 9.2.12 Model Search
Chapter 9 Vision Manager 9.2.12 Model search This function runs pattern matching in the specified window using the specified search model. The search model used must be defined previously. Model search settings screen A: Target window This field specifies the window range to measure. B: Search model This field specifies the model for the operation.
Page 191 Chapter 9 Vision Manager Note What is a model search? A search moves standard image data, the search model, over the specified range looking for matches. (See Figure 1.) A search model consists of image data and reference coordinates (OX, OY).
Page 192 Chapter 9 Vision Manager 9.2.12.2 Running a model search Operating procedure Choose a target window range to measure. Choose a search model. Specify the match judgment criterion. Choose the detection unit: pixel or subpixel. Specify the detection count. Specify the starting and end angles. Press the Measure button to display the resulting boundaries on the histogram, save them in the two boundary fields of the Digitization settings screen, and display the results in the Vision monitor window.
Page 193: 9.2.13 Reading A Qr Code Symbol
Chapter 9 Vision Manager 9.2.13 Reading a QR Code symbol This function reads in a QR Code symbol from the specified window.. Code reading settings screen A: Target window This field specifies the window range to measure. B: Automatic digitization Choosing True specifies automatic digitization.
Page 194 Chapter 9 Vision Manager 9.2.13.1 Specifying measurement conditions Automatic digitization Enable or disable automatic digitization. Choosing True specifies automatic digitization. Digitization thresholds If automatic digitization has been disabled, these two fields specify the two boundaries used in digitization. 9.2.13.2 Reading in a QR Code symbol Operating procedure Choose a target window range to measure.
Page 195: Chapter 10 Appendices
Use of the following characters is prohibited in file names (e.g., program names and project names). Using any of those characters results in an error during file transfer between WINCAPS III and the robot controller or during loading or compilation in the robot controller.
Page 196 Chapter 10 Appendices...
Page 197 Please feel free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual. In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual.

Denso WINCAPS III Manual

Chapter 1 Overview

Chapter 2 Basic Functions and Operational Flow

Chapter 3 Starting Up/Shutting down

Chapter 4 Creating a Project

Chapter 5 Writing Programs

Chapter 6 Arm 3D View Window

Chapter 7 Online Functions

Chapter 8 Logging

Chapter 9 Vision Manager

Chapter 10 Appendices

Quick Links

Summary of Contents for Denso WINCAPS III

Table of Contents