Basic Functions

Preparation: K-ROSET Concept

Layout View Task Panel Main Screen

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Preparation: Coordinate System
A coordinate converted value is a coordinate value obtained by setting a
certain coordinate system as a base.
The coordinate value is shown with three values indicating positions and
three values indicating directions (X, Y, Z, O, A, and T).
World Coordinate
A coordinate obtained by setting a world
origin as a base.
The coordinate system is used when Coordinate Axis
operation is carried out in a layout.

The center of the view is a world

origin.

-3-
Preparation: Coordinate System

Local Coordinate
Model Origin (0,0,0)

World Origin
The coordinate obtained by setting the center of
gravity of the object as an origin.
Tool Coordinate, Base Coordinate

Tool Converted Value The coordinates obtained by setting the tool converted
value or base converted value as an origin.

Base Converted Value

Model Origin -4-
Preparation: Configuration of K-ROSET
Version Information
Information to check the versions of
K-ROSET and Plug-Ins.
Menu Bar [Help]-[Version Information]

Library Configuration
KHIlibraries (Installation Folder)
Sample projects and models are
saved in this folder.

MyKHIlibraries (My Documents)

The files created by user is saved in
this folder.
-5-
* Data format of 3D is STL.
Menu (Plug-In Setting)
1. Select [Settings] from menu bar.
2. Place a check mark in necessary functions.

Extended application is displayed on [Plug-Ins] of menu bar and a task panel.

Normal Display

When Floating is checked, the screen

separates from the task panel.
Floating Display

*Restart of the K-ROSET is necessary

for setting unload and floating.
-6-
Basic Operation

1. Start

2. Create a project

Robot
3. Layout objects
Tool
Object
4. Create a program

5. Export a program
Teaching Point

6. Simulate Work

7. Finish -7-
Layout: Creation of Project

1. Right-click the icon of the project [ ] in tree

pane.
2. Menu of the project is displayed. Select
[Project]-[Create New].
3. Enter a project name to save.
(Remarks can be entered in a comment column.)
4. Select [OK].

*My Documents¥MyKHIlibraries¥Projects folder is created automatically.

Project File
*.krprj is a structured file for K-ROSET.
This file is linked when installed.
Model Folder
STL file used in the project is stored in this folder. -8-
Layout: Tree Pane
Physical Items
The operation to add objects of
models is carried out in tree pane.

World Coordinate System

Logical Items

Local Coordinate System

(Robot Base) Options

Local Coordinate System

(Work 1 Origin Base)

-9-
Layout: Robot

The operation to add a robot is carried out.

1. Right-click the icon of the project [ ] in

tree pane, and select [Add]-[Robot] from menu.
2. Robot selecting dialog is displayed.
Select Apply/Controller/Series/Library/Model,
and then press [OK] button.

Thumb Nail
Type is displayed on the
lower right.
P: Project
R: Robot
T: Tool
E: Environmental Object
-10-
Layout: Configuration of Robot axis
Immediately after the robot is added, group view is applied.
Switching of Tree View of Robot
1.Right-click Robot icon [ ] in tree pane, and select
[Show Axis on Group Status] from menu.

Group view Tree view

* Switching of the view is only for robot object.
About Tree
・Position is set from the coordinate system of the parent object. (ex:World is set
when the parent is Project.)
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・When a parent moves, the child also moves. (Save of relative position)
Layout :Change installation position
Change the installing position in the base coordinate.
Input Box

Procedure to display the installing position change dialog.

(1) Double-click an object to change in tree pane.
(2) Select [Position]-[Change] from the right-click menu of
the object.
(3) Double-click the model in the view.
Change Position
Slide Bar 1. Set the value of coordinates by inputting a value or with
a slide bar.
2. Press [Apply] button.
Return to the original position.
1.Restore to the value before change with [Undo] button.
RPY:Rx, Ry, Rz Rotation *The value cannot be restored after pressing Apply button.
Magnification: Increase/decrease of -12-
slide bar
View Manager
Initially Registered Viewpoint
Base viewpoint centering on the world origin.
Click the icon to change a viewpoint.

[Fit View to Extents]…Fit a model to the view.

User Views
Press the registration button at the viewpoint to register.
The viewpoint is registered. Press a button of 1 to 10 to change
the view to the registered view.

[Load]…Deletes the currently registered user view, and read

the viewpoint setting file (*.xml) to set.
[Save]…Saves the currently registered user view in the viewpoint
setting file (*.xml).
[Clear]… Deletes the currently registered user view .

1. Change to the viewpoint of the view to fix.

2. Click the registration button of the view number to set.
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Operation of View
Rotation Drag a view with a right button of a mouse.
Pan Drag a view with Shift+right button of a mouse.
Zoom Three methods are available:
(a). Drag a view with Ctrl+ right button of a mouse.
(b). Zoom with a mouse wheel.
(c). Drag a central button of a mouse and draw a rectangle to zoom
into the rectangle.
Move of Click an object with a central button of a mouse to move a fixation
Fixation point to the position.
Point This operation can control the center of the rotation of the view.
Note that the fixation point (center of the rotation) is set at the top of
the zoom in the zoom operation (c).

Fit to the screen Shading

Prev / Next Wire Frame
Clip plane(Sectional display) Shading + Wireframe

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Layout: Transformation Value

Change of Tool Transformation Value

1. Right-click the tool icon [ ] in tree pane to display a menu.

2. Select [Tool Trans]-[Change…].

3. A dialog box of the Transformation value is displayed. Enter a value.

4. Press [Apply] button to close.

The coordinate of the tool arrow indicates the tool transformation value.
* Changing a position of the tool model changes the position of the parent
object of the arrow. As the result, the transformation value also changes.
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Layout: Transformation Value

Change of Base Transformation Value

1. Right-click the robot icon [ ] in tree pane to display a menu.

2. Select [Base Trans]-[Change].

3. A dialog box of the converted value is displayed. Enter a value.

4. Press [Apply] button to close.

*The base converted value equals the sum of the coordinate of Robot
Installation Posture and the coordinate of base transformation value.

Switching of Hide/Show of Base/Tool transformation Value

1. Display a menu for setting the Transformation value described above.
2. Select [Show]. (Repeat Hide/Show.)
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Layout: Tool
Reading of Tool
Add a tool to the robot.
1. Right-click the robot icon [ ] in tree pane. Select [Tool]-[Load].
2. Select a target file from a selecting dialog, and then click [Open] button.

Structured File （*.krprj）

Thumb nail is displayed.
A type is displayed on the
lower right.

Attachment of Tool
Attach a tool read in a robot.
1. Right-click the robot icon [ ] in tree pane. Select [Tool]-[Attach].
2. A selecting dialog appears. A tool during reading in the robot is displayed in the list.

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3. Select a tool to attach from the list box, and press [OK] button.
Layout: Arm Setting

1. Right-click the robot icon [ ]

2. Select [Arm Settings...].

Basic Item
- Product Code
A model name of the arm is displayed.
- Number of Axes
The number of axis forming a robot is displayed.
- Number of External Axes
The number of movable axes used other than
robots is displayed.
- Posture of Installation
Depending on a point to install a robot, “Floor”,
“Ceiling” “Wall” “Wall(reverse)” “Angle Display the synchronization check with
specification” the PC-AS to change the setting.

Expand Item Setting

Robot controllers data can be set. -18-
Layout: Display of Properties

In the properties at the lower part of the layout tab,

the settings described above can be changed.

Enter the values by item with the tree opened.

[True] [False] are changed by double-click or drop-down.

Changeable points are displayed in black, and

unchangeable points are displayed in gray. -19-
Layout: Track Line
Display the track line of the end of the robot hand.
[Color…] Changes a color of a trace line.

[Type…] Selects a point and line.

[Size] Changes a size of a trace line.

( Large or Medium or Small or any input)

[Clear Data]……Deletes data of a trace line.

[Delete]……When several items of a trace line is

available, deletes a selected teaching point.

Other
Change of Name
Change of an installing position of a track line (double-
click)
1. Right-click the item of [Track Line] to select
[Show.].
2. Set the type to [Line]. -20-
3. Change a axis value of a robot (J1) in properties.
Layout: Environmental Object
(Work, Obstacle)
Shortcuts of [MyKHIlibraries] and
Add a work. [KHIlibraries] are displayed in the
dedicated dialog.

1. Right-click the icon of the project [ ]

in tree pane.
2. Menu of the project is displayed. Select
[Add]-[Environment]-[Work..].
3. A file selecting dialog is displayed. Select
the target file to read, and then press [Open]
button.

Thumb nail is displayed for the structured file, and

Difference between Work and Obstacle the type is displayed on the lower right.

・A work is grasped (moved to the lower of the robot tool

model) by clamp signal.

・A work can be a conveyor work by attaching the work to the

lower of the conveyor object. (Move work) -21-
Layout: Simple Shape Generator
・Target Shape

Box form Square rod Pyramid CylinderCircular Cone Box form 2 Cylinder 2

Work
Creates a work in the size of selected shape
Obstacle
Creates an obstacle in the size of selected shape
File..
Creates a model of the parameter entered in any
name
Color
Sets a color of a model
Transparency-Opaque 1. Select [Plug-Ins]-[Create Simplified Shape].
Transparency is set with a slide bar 2. Select a work shape, and enter a size.
(Set a color and transparency.)
3. Click [Work] to add.
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Layout: Teaching Point

1. Right-click the icon of the project [ ] in

tree pane.
2. Menu of the project is displayed. Select
[Add]-[Point]-[Assigned Position].
3. Change a position with an position change
dialog.

・Current Position (Top of Tool)

A menu of the project is displayed. Select [Add]-[Point]-[Current Position].
* Note that when a robot is not added, the menu cannot be selected.

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Layout: Group

A component to group objects in a hierarchical structure.

1. Select [Add]-[Group] from menu.

Drag and drop in tree pane.

A parenting relationship can be created by drag and drop of objects in tree
pane. * Note that a world coordinate is taken over.

1. Drag an object.
2. When the object for a parent reverse its color, drop it.
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Layout: Common Function
Example: Work

Hide/Show
A procedure to switch Hide/Show is described.
The state of Hide is shown as [ ].
1. Right-click the icon of the object [ ] in tree pane.
2. A menu is displayed. Click [Show].

Hide/Show of Origin (Tool is a converted value)

1. Right-click the icon of the object [ ] in tree pane.
2. A menu is displayed. Click [Show Origin].

Highlight
A procedure to highlight in a view is described.
Left-click the icon of the work [ ] in tree pane.
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Layout: Common Function

Change of Name
1. Select the icon of the object [ ] in tree pane.
2. Then, left-click again or press F2 key.

Delete (except Tool)

A procedure to delete is described.
1. Right-click the object [ ] to delete.
2. A menu is displayed. Select Delete.

Lock/Unlock
A procedure to lock/unlock so that the installed position is not
changed.
The locked state is shown as [ ].
1. Right-click the icon of the work [ ] in tree pane.
2. A menu is displayed. Click [Lock]. -26-
Layout: Common Function

Record of Installing Position

A procedure to record a installing position is described.
1. Right-click the icon of the object [ ] to record a position in tree pane.
2. A menu of a work is displayed. Select [Position]-[Record].
A position of the work is recorded.

Reset of Installing Position of Work

A procedure to reset the installing position of a work is described.
1. Right-click the icon of the work [ ] to reset in tree pane.
2. A menu of a work is displayed. Select [Position]-[Restore].
The position is reset to the position before change (a recorded position).

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Layout: Common Function

Save (Work, Obstacle only)

An object can be saved with maintaining a tree structure of the object.
1. Right-click the icon of the object [ ] in tree pane.
2. A menu of an object is displayed. Select [Save].
3. A selecting dialog of saving destination is displayed. Select the name
of the object to save and a saving destination folder, and then press
[Save] button.

Save Read as an
obstacle

・Create by combining simplified shapes.

・The file name at the time of reading
is used for a name of a parent object.
Replace (Work, Obstacle, Tool)
A model is replaced with other model.
1. Right-click the icon of the object [ ] in tree pane.
2. A menu of an object is displayed. Select [Replace].
3. A file selecting dialog is displayed. Select a file of the model to
replace, and press [Open]. -28-
Layout: Common Function
Operation of Edit of Object (except Robot, Tool)

Copy
Used for a duplication of an object.
1. Right-click the icon of the object [ ] in tree pane.
2. A menu of the object is displayed. Select [Edit]-[Copy].

Cut
Used to move an object to the lower of other tree.
1. Right-click the icon of the object [ ] in tree pane.
2. A menu of the object is displayed. Select [Edit]-[Cut].

Paste
Paste a copied/cut object.
1. Copy/cut.
2. Right-click the icon of the object [ ] to place lower.
3. A menu is displayed. Select [Edit]-[Paste].
* Note that a local coordinate is taken over.
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Layout: Batch Operation

Regarding the items of Record/Restoration of Installing Position,

Hide/Show of Origin, and Hide/Show, several objects are operated in
batch operation.
1. Right-click the icon of the project [ ] in tree pane.
2. A menu is displayed. Select [Batch Operation]-[Position].

Record of Position
Select [Record].
Select an item for the batch operation.
Restoration of Position
Select [Restore].
Select an item for the batch operation.
Hide/Show of Origin
Select [Show Origin].
Select an item for the batch operation.
Hide/Show of Model
Select [Show].
Select an item for the batch operation.
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Layout: Settings
Right-click the icon of the object [ ] in tree pane, and then
select [Setting] from menu.

Operation Mode
Switching Standard and Editor mode. * Details of Editor mode will be described
separately.
Show Position Dialog
When a model is added, a dialog for changing installing position is displayed
automatically.
Show origin of model when loaded
When a model is added, a model origin is displayed.
Animate robot when pushed key
A posture of a robot is changed when switching with top and bottom key
An object is expanded when added to a layout. -31-
Layout: Save Project

1. Right-click the icon of the project [ ] in tree pane.

・ Save ・ Overwrite
Enter a project name to create the folder. Overwrite the current project and
save.

2. A menu of the project is displayed. Select 2. A menu of the project is displayed.

[Project]-[Save]. Select [Project]-[Overwrite].
3. Enter a project name to save, and enter
remarks in a comment column if necessary.

A folder is created for each added robot.

・LOG Save folder of history file of terminal
・PG Work folder (Program Tab, Terminal)
・TRAJ Save folder of trace file
-32-
Layout: Load Project
1. Right-click the icon of the project [ ] in tree pane.
2. A menu of the project is displayed. Select [Project]-[Load].

* A confirmation message is displayed when

a project is being created.

・Reading ・Specify a file to read

Select a project saved in MyKHIlibraries to Refer to a directory other than
read. MyKHIlibraries to read.

3. Select [Read]. 3. Select [Open Project file..].

4. Select a project file in a file selecting
dialog, and then click Open button.
-33-
Teach Panel
Display the panel with an icon [ ] on the task panel on the
right of the K-ROSET.
• Add point
• Teaching point is added to the end of the robot hand.
• Gauge
• Switching of hide/show of a gauge of axis values
• Click Teach
• An environment object is selected in the view and a
teaching point is added.
• Home
• Setting/move of robot home position

• Move Settings
• Rotate
• Definition of moving distance of axis motions
• Linear
• Definition of moving distance of straight motion
• Speed
• Magnification of displacement is set to 1/2/3 times.

-34-
Teach Panel
After selecting each axis/base coordinate/tool coordinate/world
coordinate/ work coordinate, change a posture by [ ] click
operation.
Click a bar to move by axis.
* Color shows motion margin.
* Indicates Current (target robot for operation)
Current is changed by clicking a robot icon in the tree.

Input Value

1.Change a posture of a robot.

2.Click [Add Point].
•A teaching point is displayed in the view. A teaching object is added
under the robot object in the layout.
* A robot posture can be changed by clicking a teaching point. -35-
Teach Panel: Home Setting

Two of the current postures of a robot can be recorded at

maximum, and the robot can be restored to the recorded posture
later.

[Current Joint]……A robot posture in the combo box is entered.

[Clear]…… The entered value is cleared.
[Apply] ……The posture of the entered value is applied to a root.

1.Click a teaching point set as a home position in a layout.

2.Click the Current Value button.
3.Click Apply.
-36-
Program Tab
A program is created on the K-ROSET to add/edit program instructions.

Addition of Program

1.Right-click a menu of controller names

(shown by right-clicking [C01] in the figure
below). Select [Add]-[Program].

-37-
Program Tab

Change Name of Program

Click a program name. The name is displayed as follows, and can be
changed.

Copy/Cut of Program
Select [Edit]-[Copy] or [Cut] from a menu of a program name.

Paste of Program
Copy/Cut a program, and then select [Edit]-[Paste] from a menu of a
program.

Delete of Program
Select [Delete] from a menu of program names.

-38-
Program Tab
Select [Set] from a root menu of program table.

Setting of Tree Pane

Change a language displayed in tree.

For language setting per controller, change

[Common] to [Individual] of [Setting of Tree
Display].

Drag and Drop Setting

Motion instruction/teaching point converted by drag and drop is changed.
Setting of Pasting Procedure
A procedure for copying and pasting several program steps is changed.
Program Step Highlight Setting

-39-
Program Tab
Drag and drop a teaching point to add an instruction.
Motion Instruction: Move of Axis Interpolation, Move of Linear
Interpolation
Teaching Point: Joint Values, Transformation Values

Switching of Types to Add

1. Select [D&D Setting]-[Teaching Point]-[Transformation Value] on
[Program Table Setting] screen.
2.Drag and drop a teaching point in the layout to the controller of the
program tab.

-40-
Program Tab

Addition of Program Instruction

Program instruction is added.
1. Select [Add]-[Program Step] from a menu of program names.
2. Select [Move]-[JMOVE].

Edit/Delete of Program Instructions

Contents of program instructions can be edited directly on the program table.

-Instructions can be deleted/copied/cut/pasted.

-Program instructions can be moved by selecting line numbers. -41-
Program Tab
Save of Program
A program currently being created is saved.
1. Select [Save File]-[Program (*.pg)] from a program menu.
2. Enter a program file name to save in a dialog, and then press [Save] button.

Loading of Program
Read a created program file.
1. Select [Load File]-[Program (*.pg)] from a controller menu.
2. A dialog is displayed. Select a program file.

Execution of Program
All Steps
Simulate using PC-AS.

Only Motion Steps(Simple Mode)

Move a robot by motion steps to understand rough motions.

Create Track Line

Track lines executed in a program is drawn. -42-
Controller Settings
A procedure to set a controller is described.
1. Display a controller menu of a program tab.
2. Select [Controller Settings].

- AS Version
PC-AS version supported by a controller is displayed.
- Controller Type
Type of a controller is displayed.
- Application
Application supported by a controller is displayed.
- Number of Arms
Number of robots operated by a controller.
- AS Cycle
Control period of a robot controller [msec]
- Language
Language setting of a virtual teaching pendant is
changed.
When a setting is changed, display the Menu of Controller Name of Tree
synchronization check with the PC-AS. - Support AS Bridge
Start/stop of the PC-AS is carried out. -43-
Virtual Robot Controller (PC-AS)

A virtual robot controller executes the actual AS on the software to simulate.

The virtual robot controller is configured of a virtual controller module,

and starts per robot.

Example of module:
(asproc.exe,Panel.exe,PcAs.exe,user_as.exe,user_tp.exe)

* Note that check by Firewall is displayed in the initial start. Select [Reset
Block].

-44-
Clamp Settings
1. Select [Plug-In]-[Handling Clamp].
2. Define a clamp signal (Clamp 1 to Clamp 8).

• During clamping, transfer the closest work at the time

of clamp in the same way as a robot motion.

• When unclamping, the work does not move even when

a robot works.

-45-
Controller Tab
Simulation is set and operated.

[Teach/Repeat Switch]……Switches Teach mode/Repeat mode

[Motor]……Switches Motor Power ON/OFF
[Cycle]……Lights ON at the time of Repeat operation.
[Error]……Lights ON when an error (abnormality) occurs.
[Reset]……When an error occurs, resets the error.
[Emergency Stop]……When an emergency occurs, a motor power is cut off to stop a
robot.
[Load]……Transfers a program to PC-AS.
Repeat button……Executes a program.
-46-
Controller Tab
[Show Monitor…]……Displays a state monitor showing axis values.

[Synchronize…]……Synchronizes and delete

parameters of PC-AS and K-ROSET.

Layout <- Controller

Synchronizes from PC-AS to a project controller.
Layout -> Controller
Synchronizes from a project controller to PC-AS.

1. Place a check mark in Setting of Controller, Program,

and Variables.
2. Click Layout -> Controller. -47-
Controller Tab

In [Quick Settings] tab, the settings for screen drawing in simulation are set.

Enable Collision Detection……Display setting of interfered points in simulation.

Show Colliding Planes……Display setting of graphics when an interference occurs
Stop robot when Collision is Detected……Setting to stop a robot when an interference occurs.
Output track Line file……Output setting of trace file after simulation finishes.
Animate Robot in Teach Mode……Setting to move a robot when a robot is operated with a teach
pendant of PC-AS
Enable Pprogram step HighLight……Setting to specify an execution step of program tab during
simulation

-48-
Controller Tab

Repeat a program

A procedure to repeat a program is described.

1. Select a controller panel tab.
2. Switch to Repeat mode [ ] (right side of switch).
3. Turn Motor ON [ ] (a lamp lights ON).
4. Select a tab of a robot name. Press [Transfer] button.
5. A file selecting dialog is opened. Select a program file to execute.
6. Programs in the program file are listed.Select a program to execute.
7. Press [ ] button.

-49-
Setting of Virtual Teach Pendant

The virtual teaching pendant allows the advanced setting

or the monitoring of motions similar to the actual
teaching pendant.

Controller
ティーチモード操作
Functions similar to controller tab

1. Display Quick setting of the controller tab.

2. Place a check mark in “Animate Robot in Teach Mode.”
3. Click Apply.
4. Click to switch to Teach mode.
5. Turn Motor Power ON.
6. Click the button on the panel.
7. Ensure that the robot works.
-50-
Setting of Virtual Teach Pendant

A size of a panel can be changed.

Hiding of Pendant
・ Click [Minimize] button on the virtual teach pendant.
(Show tool bar)
・ Click [Hide Pendant] on the control tab.（Hide tool bar)

Change of Panel Position

A position of a panel can be changed by selecting [Position] from a menu of the
panel displayed by right-clicking.

-51-
Terminal Tab
AS language command can be executed on a terminal tab.
* Refer to AS language manual for details of AS language.

・ Setting of Current Folder

[Folder Name] ……Sets a pass used in terminal.
[Open Explore…] ……Displays Explorer of the set pass.
・ Setting of Log
[Output Log file] ……Outputs data entered in terminal.
[File and Folder Name] ……Sets a target pass and file name for outputting a terminal log.
[Open Explore..] …… Displays Explorer.

1. Type id and press Enter key.

-52-
2. Ensure that Robot information is displayed.
I/O Monitor Tab
IO Monitor Tab can show and control input/output signals of robots.

・ Switching of Display
Input signal [1-256], output signal [1001-10256], and internal signal [2001-2512] are
switched in spin.
・ Signal Control
ON/OFF of signal are switched by clicking signal boxes.
* Note that the signals in different colors are already used as dedicated
signals.
GREEN: Signals depending on application and changed by robot controller.
BLUE: Dedicated I/O signal

1. Click a signal box of non-dedicated item.

-53-
2. Ensure that a display of O (ON) and X (OFF) switches.
Log Tab
In Log output window, details of operation and logs of occurred errors are output.

The output logs are saved in (Install Directory)¥logs.

Keyword
Details of logs can be searched with keyword.
Clear
Clears the current display.

1. Click Clear.
2. Click a view with a mouse and check if a log is displayed. -54-
Save an Image
Display of a view is saved in a file.

1. Select the icon [ ] on a menu bar.

2. A dialog is displayed. Select a saving destination.

* Save format should be png or jpg. -55-

Save a Moving Image
Display of view is recorded and moving image is created.
1. Select [Plug-In]-[Record Video].

2. Press [ ] button.

3. Set a recording type.

Simulation : Save during simulation only.
Operation : Save all operations on K-ROSET

4. A dialog is displayed. Specify the file saving destination.

5. Set the save format.

6. Simulate a robot.

7. Press [ ] button.

-56-
Practice (Basic)
・Creation of Project
・Layout ・Creation of Program
・Simulation ・Project Saving Creation of Project
Create as a name of “TestProject”
Object File Name Image
Robot ZD130S-E001

Add a robot and tool model and layout with

↓ parameter.
Object X Y Z O A T

Object File Name Image Robot 0 0 500 0 0 0

Tool G9AX21000A Tool 0 0 0 0 0 0

Converted X Y Z O A T
Value
Base 0 0 0 0 0 0
Tool 0 0 550 0 0 0

※KHIlibraries¥Tools * Robot: World coordinate system

Tool: Robot flange
Base: Robot origin
Practice (Basic)
Limit a working range of a robot by arm setting.
Valuable J1 J2 J3 J4 J5 J6
s
Before After Before After
change change change change

UP-LIM 180 10 90 15 360 180 0 0

LO-LIM -180 -110 -50 -120 -360 -180 0 0

Limit of working
range of J1
-110 deg to 10 deg
Practice (Basic)

Type X Y Z Create a work with simplified shape creation.

Box 500 400 200 Add a work and layout with <- parameter.

Object X Y Z O A T
Work 1 -2000 0 0 90 0 0
Work 2 -2600 -810 80 0 0 0

Object File Name Image Object X Y Z O A T

Obstacle 1 Pedestal_5 Obstacle 1 0 0 0 0 0 0
00_500_50
0.stl
※KHILibs¥KHIlibraries¥Envs¥Equipment¥Pedestals

Object File Name Image Object X Y Z O A T

Obstacle 2
Safetyfence Obstacle 2 -2000 -1500 0 0 0 0
_2440_156
Obstacle 3 Obstacle 3 800 1300 0 90 0 0
5 -59-
※KHILibs¥KHIlibraries¥Envs¥Equipment¥Fences * World Coordinate
Practice (Basic)
Add a teaching point.

Name of X Y Z O A T
Teaching
Point

HomeP -1417.749 1417.749 1340.000 -135 180 0

Val01 -2000 0 680.000 90 180 0
Val02 -2000 0 0 90 180 0
Val03 0 2000 420 -90 180 0
Val04 0 2000 0 -90 180 0

Register at Home as a posture of HomeP. * World Coordinate

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Practice (Basic)
Create a program from a teaching point and save as “TestProgram.pg”.
.PROGRAM Pg001()
HOME ; ← Move Instruction
LMOVE Val01 ← Move Instruction (Edit Trans and followings.)
SPEED 100 ; ← Velocity/Accuracy Control Instruction
ACCURACY 1 ; ← Velocity/Accuracy Control Instruction
LMOVE Val02
DELAY 1 ; ← Accuracy/Time Control Instruction
CLOSEI ; Hand Control Instruction
LMOVE Val01
JMOVE Val03
SPEED 30 ; ← Velocity/Accuracy Control Instruction
ACCURACY 2 ; ← Velocity/Accuracy Control Instruction
LMOVE Val04
DELAY 0.5 ; ← Accuracy/Time Control Instruction
OPENI ;Hand Control Instruction
LMOVE Val03
HOME ← Move Instruction
.END

Overwrite and save the project.

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Practice (Basic)
1. Transfer a file in a controller tab to simulate.

2. Create a moving image.

Save as “Test.avi” in MyKHIlibraries¥Projects¥TestProject.

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