Denso WINCAPS III Spécifications

Programming Support ToolWINCAPSIII GUIDE

2Chapter 1 Overview1.3 Product Components and Operating Environment1.3.1 Product componentsYour WINCAPS III package should contain the following items

92Chapter 6 Arm 3D View WindowThe Arm 3D view window displays, in three dimensions, the robot's current position and attitude. Simulation allows

Chapter 6 Arm 3D View Window93D: Arm 3D view tool barD-1: RotateThis rotates the view on the screen using a mouse.D-2: Fixed viewThis fixes the curren

94Chapter 6 Arm 3D View WindowMoused-based viewing operations• Rotate: Left button + drag• Pan: Left / right button hold + drag• Zoom: Right button +

Chapter 6 Arm 3D View Window956.1.2 Arm modelingThis window is for adding tools, work pieces, obstacles, and other objects to the equipment layout in

96Chapter 6 Arm 3D View WindowB: Add buttonsThese add an object of the shape indicated on the button. There are six shapes available.C: Node buttonThi

Chapter 6 Arm 3D View Window976.1.3 Arm operationThis window is for moving the simulated robot in the Arm 3D view window.A: Ope. modeSelect movement m

98Chapter 6 Arm 3D View Window6.2 Simple ModelingThe built-in tool is for quick and dirty modeling of the pallet bench, pallet, work, and other object

Chapter 6 Arm 3D View Window99Adding nodesA node may be added anywhere in the object hierarchy.Select a node on the object tree, right-click, and choo

100Chapter 6 Arm 3D View WindowAs our example, let's start with the pallet bench.Operating procedure1. Choose View|Arm View to display the modeli

Chapter 6 Arm 3D View Window1015. Change the object's position and size.6. Add two more boxes to complete the pallet bench.NoteHere, it is faster

Chapter 1 Overview31.3.4 WINCAPS III trial and light versionsWINCAPS III is available in the trial and light versions in addition to the product versi

102Chapter 6 Arm 3D View WindowNoteThe way the object is displayed can be altered with the Model tree Property button.Pressing the Property button dis

Chapter 6 Arm 3D View Window1036.2.2 Saving objectsSaving objects as modeling data files allows immediate reuse in other projects.Operating procedure1

104Chapter 6 Arm 3D View Window6.2.3 Importing objectsThe following is the procedure for reading in modeling data exported from another project.Operat

Chapter 6 Arm 3D View Window1056.3 Importing 3D DataThe following is the procedure for adding an object using 3D data from an external source.The foll

106Chapter 6 Arm 3D View Window3. Select a file and press the OK button.The default format is DirectX. For VRML data, switch the file type to VRML (*.

107Chapter 7 Online Functions7.1 OverviewThese functions are for monitoring robot controller variables, I/O, and other aspects of operation and for ch

108Chapter 7 Online Functions7.2 MonitoringFor further details on connecting to a robot controller, refer to 1.5 "Connecting to Robot Controller&

Chapter 7 Online Functions1097.2.2 Monitoring variablesThere are three window types for monitoring variables.7.2.2.1 Adding variables to the watch lis

110Chapter 7 Online Functions7.2.2.2 Confirm the registered watch items.This window displays variables from a user configurable list.Operating procedu

Chapter 7 Online Functions111No.Displays the variable numbers.ValueDisplays the value.ApplicationThe user can enter the application. When the Add comm

4Chapter 1 Overview1.4 Installing WINCAPS III1.4.1 Before you beginAlways uninstall any existing WINCAPS III versions before installing a new version

112Chapter 7 Online Functions7.2.3 Monitoring I/OThe I/O window shows the current I/O states.Operating procedure1. Choose View|I/O Window to display t

Chapter 7 Online Functions113SmartPress the Smart view button to display only I/O with a check.OscilloscopeDisplays whether the I/O is on/off in oscil

114Chapter 7 Online Functions7.2.6 Validate the controller function extensionThis enables validation/invalidation of controller function extensions fr

Chapter 7 Online Functions1157.3 Using Debugging For further details on connecting to a robot controller, refer to 1.5 "Connecting to Robot Contr

116Chapter 7 Online FunctionsCaution• The WINCAPS III debugging functions are for running robot programs and controlling operationfrom the computer.To

Chapter 7 Online Functions117Stop buttonThe teach pendant or mini-pendant also display a Debugging status screen.Automatic aborting of debuggingWINCAP

118Chapter 7 Online Functions7.3.2 Launch the program from WINCAPS III.In addition to monitoring, WINCAPS III runs and debugs programs stored inside t

Chapter 7 Online Functions119CautionThe WINCAPS III buttons are useless if the computer crashes or the communications link is lost. Toensure safety, a

120Chapter 7 Online Functions7.3.4 Input signal dummy operationOperation of the program can be checked even without peripheral devices linked by dummy

Chapter 7 Online Functions121If several input signals are set, specify the range by dragging and combine them by selecting Enter dummycheck or Remove

Chapter 1 Overview53. Press the install WINCAPS III button to display the WINCAPS III - InstallShield Wizard dia-log box.Follow the screen instruction

122Chapter 7 Online Functions7.3.4.2 Input signal on/off operationPress the Status lamp of the input signal to be turned on/off. When lit green it is

Chapter 7 Online Functions1232. Select desired items from the pull down lists for Command field and Data field 1, and inputappropriate values in Data

124Chapter 8 LoggingVarious types of logs can be recorded for robot operations and viewed or saved.This data can be put to use to search out the cause

Chapter 8 Logging1258.1 Log record timingLogs are recorded at four different times as follows.• Regular recordingError logs and operational logs are r

126Chapter 8 Logging8.1.1 Recording by program commandsThe timing when logs are recorded can be controlled by program commands, the teach pendant, and

Chapter 8 Logging1278.1.2 Error trigger logA record log is saved in flash memory when a specified error occurs. Error logs, operational logs, control

128Chapter 8 Logging8.2 Acquisition of log dataLog data retained in the controller can be retrieved by the following methods.• Data transfer in WINCAP

Chapter 8 Logging1298.2.1 Log acquisition settingsSome logs contain multiple fields for saving log data. You can specify from which field you will acq

130Chapter 8 Logging8.3 Detailed description of log types8.3.1 Error logRecords errors occurring in the controller. The most recent 1,000 errors are r

Chapter 8 Logging1318.3.2 Operation logThis is a record of controller operations. The most recent 1,000 items are recorded. The data is saved in SRAM.

6Chapter 1 Overview1.4.3 Registering licenseDuring installation a License Information dialog box will appear.Enter the user ID printed on the license

132Chapter 8 Logging8.3.3 Control logA record of the robot's control, including movement of axes, current values, load ratios, etc.This is useful

Chapter 8 Logging133D: Clear control log buttonThis button clears the currently retained control log. CLEARLOG is executed.E: Jump to source code butt

134Chapter 8 LoggingR: StatusDisplays the cursor position coordinates and the cursor position values of log data displayed in the graph.The following

Chapter 8 Logging1358.3.3.2 Setting the control log recording interval and numberYou can configure the sampling interval and number of logs (control l

136Chapter 8 Logging8.3.4 Trace logging (single / multi)Trace logging records the program execution flow and timing.There are two types: single trace

Chapter 8 Logging1378.3.4.2 Single-trace LogThis records the command flow for a single program.The time required to execute each command is recorded,

138Chapter 8 Logging8.3.4.3 Trace logging (multi)Trace logging (multi) records the command line sequence executed for multiple programs running simult

Chapter 8 Logging1398.3.5 Variable logThis records changes (overwriting) of variables.Variables registered in Watch are recorded. You can set whether

140Chapter 8 Logging• PRO name, line numberThe name of the altered program and line number• Time since log record start [ms]• Time since controller bo

Chapter 8 Logging141• StatusAltered status• Time since log record start• Time since controller boot• Initial valueINITIAL is entered in the value when

Chapter 1 Overview71.4.4 UninstallingThe following is the procedure for uninstalling this software.Operating procedure1. From the Start menu, choose S

142Chapter 9 Vision Manager9.1 OverviewThe Vision Manager is for writing robot vision programs in the PAC programming language. Working interactive-ly

Chapter 9 Vision Manager143Vision tool windowThis window is for configuring the Vision Manager. Choose View|Vision Tool to display it in the Docking v

144Chapter 9 Vision ManagerI: Area/Center of gravity/Principal axisThis window is for determining three object features: area, center of gravity, and

Chapter 9 Vision Manager1459.2 Configuring Vision Manager9.2.1 Configuring lookup tablesLookup tables specify the camera's input characteristics

146Chapter 9 Vision Manager9.2.2 Editing a macro nameThis is for editing macro names and application for windows and search models.Defining macros all

Chapter 9 Vision Manager1479.2.3 CalibratingThe Calibration settings screen manages thirty two sets of calibration data numbered 0 to 31. A calibratio

148Chapter 9 Vision ManagerH: ReadThis button copies the robot coordinates from the specified P variable.I: ResultsThis area displays the results of t

Chapter 9 Vision Manager1499.2.3.2 Entering the Vision monitor coordinatesThere are the following three ways to enter the Vision monitor coordinates.•

150Chapter 9 Vision Manager(3) Measurement inputFind the center of gravity with image analysis and enter the results as the coordinates.Operating proc

Chapter 9 Vision Manager1519.2.3.3 Specifying robot coordinatesThere are the following two ways to enter robot coordinates.• Direct entry: Directly en

8Chapter 1 Overview1.5 Connecting to Robot ControllerThere are two ways to connect the computer to a robot controller.Ethernet connectionThis method u

152Chapter 9 Vision Manager9.2.4 Configuring camera inputThe following is the procedure for copying the camera image to an image processing screen.The

Chapter 9 Vision Manager1539.2.4.1 Reading in an imageOperating procedure1. Specify the source camera by number.2. Specify the lookup table for adjust

154Chapter 9 Vision Manager9.2.5 Switching display screensThe Vision monitor window switches between three types of images: camera, processing, and dr

Chapter 9 Vision Manager1559.2.6 Editing a windowTo edit robot controller window settings, WINCAPS III must first read in their current values.Edit wi

156Chapter 9 Vision ManagerNoteWhat is a window?9.2.6.1 Creating a new search modelOperating procedure1. Enter a number for the window in the Target w

Chapter 9 Vision Manager157NoteProjection window9.2.6.2 Editing a windowThe following is the procedure for editing a window.Operating procedure1. Ente

158Chapter 9 Vision Manager9.2.7 Editing a search modelTo edit a robot controller search model, WINCAPS III must first read it in.Search model setting

Chapter 9 Vision Manager1599.2.7.1 Creating a new search modelOperating procedure1. Enter a number for the new search model in the Target field.2. Adj

160Chapter 9 Vision Manager9.2.7.2 Modifying a search modelThe following is the procedure for editing a search model.Operating procedure1. Choose the

Chapter 9 Vision Manager1619.2.8 Registering digitizationThe following give the procedures for specifying or determining digitization thresholds.The R

9Chapter 2 Basic Functions and Opera-tional Flow2.1 WINCAPS III Basic FunctionsThe following describes the product's basic functions.Communicatio

162Chapter 9 Vision ManagerDigitization/Histogram settings screenA: DigitizationThis radio button displays the Digitization settings screen.B: Process

Chapter 9 Vision Manager163NoteWhat is digitization?What is a histogram?This graph gives the brightness frequency distribution for pixels within the s

164Chapter 9 Vision Manager9.2.8.1 Manually specifying boundariesOperating procedure1. Choose the Histogram radio button to display the Histogram sett

Chapter 9 Vision Manager1659.2.9 Calculating area, center of gravity, and principal axisThe following is the procedure for determining three object fe

166Chapter 9 Vision ManagerNoteWhat is the brightness integral?What is the area?What is the center of gravity?What is the principal axis angle?The bri

Chapter 9 Vision Manager1679.2.9.1 Extracting featuresOperating procedure1. Choose a target window range to measure.2. Choose the feature: area, cente

168Chapter 9 Vision Manager9.2.10 LabelingThis function labels objects within the specified window.This procedure uses the thresholds specified with t

Chapter 9 Vision Manager169NoteWhat is labeling?CautionOnly rectangular processing windows (angle = 0) can be selected for image processing.Labeling d

170Chapter 9 Vision Manager9.2.10.1 Labeling objectsOperating procedure1. Choose a target window range to measure.2. Choose the sorting order: numeric

Chapter 9 Vision Manager1719.2.11 Edge detectionThis function detects edges within the specified window.This measurement uses a projection window (Par

10Chapter 2 Basic Functions and Operational Flow2.2 Steps in Writing Robot ProgramsThe following shows the WINCAPS III work flow for writing a program

172Chapter 9 Vision ManagerNoteWhat is an edge?CautionHere the Target window range can have the following shapes.• Straight line (scan = 0 or 1)• Rect

Chapter 9 Vision Manager1739.2.11.1 Specifying measurement conditionsLevelSpecify the edge detection level. The range is 0 to 255 for detection using

174Chapter 9 Vision Manager9.2.11.2 Detecting edgesOperating procedure1. Choose a target window range to measure.2. Choose the edge detection method:

Chapter 9 Vision Manager1759.2.11.3 Displaying distribution and graphThe Edge settings screen displays the measurement results as either a distributio

176Chapter 9 Vision Manager9.2.12 Model searchThis function runs pattern matching in the specified window using the specified search model. The search

Chapter 9 Vision Manager177NoteWhat is a model search?Caution• Only rectangular windows (angle = 0) qualify as targets.• The two angle fields are not

178Chapter 9 Vision Manager9.2.12.2 Running a model searchOperating procedure1. Choose a target window range to measure.2. Choose a search model.3. Sp

Chapter 9 Vision Manager1799.2.13 Reading a QR Code symbolThis function reads in a QR Code symbol from the specified window..Code reading settings scr

180Chapter 9 Vision Manager9.2.13.1 Specifying measurement conditionsAutomatic digitizationEnable or disable automatic digitization. Choosing True spe

181Chapter 10 Appendices10.1 List of Prohibited CharactersUse of the following characters is prohibited in file names (e.g., program names and project

Chapter 2 Basic Functions and Operational Flow11Step 5: Compile executables.The compiler converts project programs to executables for execution by the

182Chapter 10 Appendices

DENSO ROBOT First EditionSixth EditionSeventh EditionJune 2008April 2011October 2011DENSO WAVE INCORPORATED 10N**CProgramming Support Tool WINCAP

Copyright © DENSO WAVE INCORPORATED, 2008-2011All rights reserved. No part of this publication may be reproduced in any form or by any means without p

12Chapter 2 Basic Functions and Operational Flow2.3 User Levels and Access RightsWINCAPS III's two user access levels, operator and programmer, e

13Chapter 3 Starting Up/Shutting Down3.1 Loading WINCAPS IIIOperating procedure1. On the Start menu, choose All Programs|DENSO FACTORY WARE|WINCAPS II

14Chapter 3 Starting Up/Shutting Down3.1.1 WINCAPS III basic settingsOperating procedure1. Choose Tool|Option to display the dialog box for configurin

Chapter 3 Starting Up/Shutting Down15Editor tabA: FontThis area specifies the font type and size for Program edit windows.B: Code colorThis area speci

16Chapter 3 Starting Up/Shutting DownArm tabA: Moving tracksSets the point numbers for the robot operation trajectory displayed in the Arm 3D view win

Chapter 3 Starting Up/Shutting Down173.1.2 Programmer passwordUsing WINCAPS III at the programmer level requires logging in with a password.Register o

18Chapter 3 Starting Up/Shutting Down3.1.2.2 Changing the passwordOperating procedure1. Choose Tool|Re-Login to display the dialog box for logging in.

Chapter 3 Starting Up/Shutting Down193.2 WINCAPS III Screen Descriptions3.2.1 Screen componentsWINCAPS III uses the following general screen layout.No

20Chapter 3 Starting Up/Shutting DownB: ToolbarsThis area displays the following six toolbars that provide user alternate access to most menu items wi

Chapter 3 Starting Up/Shutting Down213.2.2 Menu itemsThe following describes each WINCAPS III menu item.3.2.2.1 File menu New ProjectThis is for creat

PrefaceThank you for purchasing our programming support tool, WINCAPS III.WINCAPS III is a package for efficiently developing and validating robot ope

22Chapter 3 Starting Up/Shutting Down3.2.2.2 Edit menu UndoThis cancels the last operation, returning edits to the preceding state. RedoThis repeats t

Chapter 3 Starting Up/Shutting Down233.2.2.3 View menu Command ListSelecting this automatically displays a scrolling list of commands available with a

24Chapter 3 Starting Up/Shutting Down3.2.2.4 Project menu Add Program...This is for creating a new program and adding it to the current project. Add E

Chapter 3 Starting Up/Shutting Down253.2.2.5 Connect menu Transfer Data...This is for exchanging data with the robot controller. Connect SettingThis o

26Chapter 3 Starting Up/Shutting Down3.2.2.6 Debug menuNoteThe Debug menu is available in WINCAPS III connected with the robot controller version 2.7

Chapter 3 Starting Up/Shutting Down273.2.2.7 Arm menu Set line to start/stop logOne way to specify a logging range is to select it in the Program edit

28Chapter 3 Starting Up/Shutting Down3.2.2.8 Tool menu DIO Command ViewerThis displays the DIO command viewer dialog box for displaying standard comma

Chapter 3 Starting Up/Shutting Down293.2.2.9 Window menu3.2.2.10 Help menu Close WindowThis closes the program or header file selected in the Program

30Chapter 3 Starting Up/Shutting Down3.2.3 ToolbarsThe toolbars provide user alternate access to most menu items with button icons.Alternatively, you

Chapter 3 Starting Up/Shutting Down31View toolbarCommunication mode toolbarDebug toolbarLog toolbarA: Project ViewB: Program listC: Arm viewD: Arm

How this book is organizedThis book consists of the following.Chapter 1 OverviewDescribes the WINCAPS III features, product components, operating envi

32Chapter 3 Starting Up/Shutting Down3.2.4 Docking viewThe Docking view area provides tab interfaces for switching between members of windows that the

Chapter 3 Starting Up/Shutting Down33C: buttonThese buttons are for moving files and folders up and down the file hierarchy.D: Display filesThis butt

34Chapter 3 Starting Up/Shutting Down3.2.4.3 Arm modelingThis window is for arranging objects in the Arm 3D view window.For further details on modelin

Chapter 3 Starting Up/Shutting Down353.2.4.5 I/O windowThis window type is for monitoring I/O and editing.For further details on monitoring I/O, pleas

36Chapter 3 Starting Up/Shutting Down3.2.4.9 Watch windowThis window type is for monitoring the values of variables on the watch list.For further deta

Chapter 3 Starting Up/Shutting Down373.2.4.12 Vision tool windowThis window type is for configuring visual functions.For further details on this windo

38Chapter 3 Starting Up/Shutting Down3.2.5 Program viewThis displays the following window types: Arm 3D view, Vision monitor, and Program edit. If the

Chapter 3 Starting Up/Shutting Down393.2.5.2 Arm 3D ViewThis 3D window is for checking robot operation.Adding other equipment and devices allows for c

40Chapter 3 Starting Up/Shutting Down3.2.5.4 Log windowIf there is a robot controller on line, this displays log data.For further details on such logs

Chapter 3 Starting Up/Shutting Down413.2.6 Screen operationsWINCAPS III allows flexible customization of menus, toolbars, and windows on the screen.3.

CONTENTSiCONTENTSChapter 1 Overview ... 11.1 WINCAPS III Features ...

42Chapter 3 Starting Up/Shutting Down3.2.6.2 Changing window layoutWINCAPS III's flexible layout allows you to freely move its windows anywhere w

Chapter 3 Starting Up/Shutting Down43(2) Snapping windowsThis operation moves the selected window up against the specified edge.The first step is grab

44Chapter 3 Starting Up/Shutting Down2. Drop the blue window silhouette on an icon in the outer set to move the window againstthe corresponding edge o

Chapter 3 Starting Up/Shutting Down45Snapping within current areaAlternatively, you can snap within the Program view, Docking view, or other area.Oper

46Chapter 3 Starting Up/Shutting Down

Chapter 3 Starting Up/Shutting Down47(3) Minimizing Docking view areaThis operation minimizes the Docking view area to maximize the Program view area.

48Chapter 3 Starting Up/Shutting Down2. To temporarily display the minimized window in the Docking view area so that it overlapsthe Program view area

Chapter 3 Starting Up/Shutting Down493.3 Quitting WINCAPS IIIOperating procedure1. Choose File|Exit to quit the program.NoteIf a project is already be

50Chapter 4 Creating a Project4.1 OverviewWINCAPS III manages the programs, parameters, variables, and other data for each robot as a separate project

Chapter 4 Creating a Project514.2 Creating a New ProjectWINCAPS III provides a wizard for creating a new project.New projects are created using the fo

iiCONTENTSChapter 5 Writing Programs ... 705.1 Creating a New Program...

52Chapter 4 Creating a Project2. Follow the wizard's instructions to configure the project.There are six items to specify in the case of manual r

Chapter 4 Creating a Project534.3 Opening an Existing ProjectOperating procedure1. Choose File|Open project to display the Open dialog box.Note• The f

54Chapter 4 Creating a Project4.5 Configuring a ProjectOperating procedure1. Choose Project|Properties to display the property sheets for the project.

Chapter 4 Creating a Project55Communication setting tabThis specifies the communications link to the robot controller plus communications options.Ethe

56Chapter 4 Creating a ProjectOutput codeSets the software version of the robot controller. Depending upon the version, the output codes of the exe-cu

Chapter 4 Creating a Project57Variable tabThis specifies the number of variables used.Set it to match the number of project variables used by the robo

58Chapter 4 Creating a Project4.6 Configuring ParametersOperating procedure1. Choose Project|Parameters to display the parameter configuration sheets.

Chapter 4 Creating a Project594.7 Link with Robot ControllerWINCAPS III supports two types of links for communicating with a robot controller:• Ethern

60Chapter 4 Creating a Project3. Configure the options: timeout and number of retries.4. Press the OK button to save the new settings.4.7.2 Data trans

Chapter 4 Creating a Project61VisionParameters concerning visual functions.• Vision tabVisionAll visual tools data.Select Screen data settings on the

CONTENTSiii8.1.2 Error trigger log... 1278.2 Acq

62Chapter 4 Creating a Project3. Press the Send or Receive button to display a confirmation dialog box.4. Press the Yes button to start transferring d

Chapter 4 Creating a Project634.7.3 Arm parameter data transferThe arm parameters contain a CALSET value deciding the robot's particular position

64Chapter 4 Creating a Project4.8 USB ToolInstead of direct data transfer between a computer running WINCAPS III and the robot controller, a USB memor

Chapter 4 Creating a Project652. Click the Next button.Select a target folderThis area specifies folders in the USB memory to read data from them.3. C

66Chapter 4 Creating a Project4. Click the Next button to read the specified data from the USB memory.Upon completion of reading, the following dialog

Chapter 4 Creating a Project674.8.2 Writing data into USB memoryFollow the FDTool wizard to write data into a USB memory.Operating procedure1. Select

68Chapter 4 Creating a Project2. Click the Next button.Select target dataSelecting these check boxes specify data to write into the USB memory. To wri

Chapter 4 Creating a Project694.9 PrintProject data of various types can be printed out. Operating procedure1. Choose File|Print to display the Print

70Chapter 5 Writing Programs5.1 Creating a New ProgramOperating procedure1. Choose Project|Add Program... to display the dialog box for creating a new

Chapter 5 Writing Programs715.2 Leveraging Existing FilesIn practice, a key technique is to recycle files from other projects.There are three file typ

ivCONTENTS

72Chapter 5 Writing Programs5.3 Saving a ProgramThe following procedure saves edits to the current program.The File menu offers two ways to save modif

Chapter 5 Writing Programs735.4 Editing a ProgramDouble-clicking a program or header file in the Project or Program list window opens it for editing i

74Chapter 5 Writing Programs5.4.1 Finding and replacing stringsYou can specify the range and method to search and replace the character string.Target

Chapter 5 Writing Programs755.4.2 Other editing functions5.4.2.1 Jump to...This is for moving the cursor to a line, specified by number, in the Progra

76Chapter 5 Writing Programs5.4.2.3 IndentThis submenu command indents the lines selected in the Program edit window into comments.Operating procedure

Chapter 5 Writing Programs77(3) Clearing bookmarksThere is a menu command for clearing all bookmarks.Operating procedure1. Choose Edit|Bookmark|Clear

78Chapter 5 Writing Programs5.4.2.6 Insert command functionThe Insert command submenu lists commands by function.Selecting a command on this list inse

Chapter 5 Writing Programs795.4.2.7 Command builder functionThis is for command input through Command builder at the cursor point in the program being

80Chapter 5 Writing Programs5.4.2.8 Insert registered character stringAllows registration of character strings commonly used in program editing for fa

Chapter 5 Writing Programs815.4.2.9 Add comment functionAutomatically adds comments to explain the applications of the variables and I/O during progra

1Chapter 1 Overview1.1 WINCAPS III FeaturesWINCAPS III is a package for efficiently developing and validating Denso robot operation programs (PACs). I

82Chapter 5 Writing Programs5.5 Program BankThe program bank allows robot applications to share library programs/functions originally written for one

Chapter 5 Writing Programs833. Press the Add program button to add the program to the folder selected in the Project win-dow. Other programs within th

84Chapter 5 Writing Programs4. Enter a title for the program and press the OK button.5. Fill out the two tabs.For the Source tab, copying the contents

Chapter 5 Writing Programs855.6 Editing a Teach Pendant (TP) PanelA TP panel represents the interactive image displayed on the screen of the teach pen

86Chapter 5 Writing Programs5.7 Folder FunctionsFolders hold the key to hierarchical management of the program files in a project.Grouping program fil

Chapter 5 Writing Programs875.7.2 Importing an entire folderImporting a folder is much faster than importing the files one at a time.Operating procedu

88Chapter 5 Writing Programs5.8 Making Executables5.8.1 Checking syntaxThe following procedure runs a syntax check on the selected program.NoteThe tar

Chapter 5 Writing Programs895.8.2 Making executablesThis batch operation applies to all files in the project.NoteThe update is conducted for all progr

90Chapter 5 Writing Programs5.9 Simulation functionCycle time, trajectory, posture, and so on can be checked by running a created program on the PC. I

Chapter 5 Writing Programs915.9.4 List of supported commandsRobot control statementMove, Approach, Depart, Draw, Drive, DriveA, Speed, Accel, Decel, C