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Writing a Program
After creating a project in WINCAPS a new program can be added. Do this by using the drop down menu
under "Project" on the menu bar and select "Add Program". A "Create New Program Prompt" will appear.
The robot operates using *.PAC files, so choose to save the program in this format. It is best practice to
give the program the same name as the project to prevent confusion later.
After the program is created the program will
have a commented title, the program name
declaration, and an end statement. Remember
to use the TAKEARM command before writing
anything else in the program. It is also useful
to use a MOTOR on command so this does not
need to be done manually. Writing a program
using WINCAPS can be done exactly how it is
done using the Pendant.
3D Simulation
WINCAPS has the capability of 3D simulation within the program. This can be used to teach the robot
new points and to check existing programs for any possible issues before testing them in the actual
workcell. In order to use 3D simulation a project must be active, to engage the robot arm view click the
arm view icon
in the command bar.
In the 3D view use the left mouse button to rotate the screen, the scroll wheel or the right mouse button
to zoom and the center button to pan.
IMPORTING 3D DATA
Although WINCAPS can model simple objects within its 3D simulation window, sometimes it may be
useful to include parts with more complex geometry. The best way to do this is by using SolidWorks
parts.
Open the SolidWorks file and select which face will be used as the front of the object. When prompted
to save the file select the VMRL format (*.wrl) with Version: 97 and whichever unit system will work best
for the specified project. Select a node to insert the image into WINCAPS and import the 3D data, then
scale accordingly.
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