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Merge from Robotmaster V6 to Robotmaster 2023

Merge from Robotmaster V6 to Robotmaster 2023

Merging from RMV6 to RM2023

General Information

Robotmaster V6 post processors are not compatible with Robotmaster 2023.
Any V6 customized processor or process has to be redone, for this, c# knowledge is required. This tutorial will not show how to migrate a V6 post processor to RM2023. For further information contact your local reseller.

 

To begin the merging process, you must have access to the prerequisite files listed below:

  • Pack to Send:

    • Robot cell

    • Tooling

    • V6 Post processor

    • Customized process

  • TCP frame and User frame data

  • Sample generated codes

This article contains information of how to merge from RMV6 to RM2023 using all the existing RMV6 files.

Getting Ready

In this example we will migrate a Robotmaster v6 session called DOME_WEBINAR_SESSION to Robotmaster 2023. We have a Pack to Send called Rm_DOME_WEBINAR_SESSION which contains all the required files in order to complete the migration.

  1. Unzip the contents of the Rm_DOME_WEBINAR_SESSION Pack to Send to a handy location.

    • The Pack to Send will contain various elements as shown in the picture below.

    • We will focus on the Robotmaster_V6 folder, which contains the tooling, cell and post processor.

      Figure 1: Unzipped Pack to Send of a Robotmaster V6 session.

       

  2. Open the “Robotmaster V6” folder:

    Figure 2: Robotmaster V6 shared folder included in the Pack to Send.

     

  3. Open the Robotmaster 2023 shared folder: C:\Users\Public\Documents\Robotmaster 2023

    Figure 3: Robotmaster 2023 shared folder.

     

Prior to moving the contents from RMV6 folder, we will need to do minor modifications to guarantee their functionality in RM2023.

Merging the Tooling

Moving the Tooling

  1. Open the Rm_DOME_WEBINAR_SESSION\RobotmasterV6\Tools folder:

    Figure 4: “Tools” subfolder in the Rm_DOME_WEBINAR_SESSION Pack to Send.

     

  2. Create a Subfolder in C:\Users\Public\Documents\Robotmaster 2023\catalogue\tooling with the same name as the V6 Tooling, in this case, GS_SPINDLE60_SMALL, as shown below:

    Figure 5: Toolings subfolder for RM2023.

     

  3. Copy the contents from the Rm_DOME_WEBINAR_SESSION\RobotmasterV6\Tools into,
    C:\Users\Public\Documents\Robotmaster 2023\catalogue\tooling\GS_SPINDLE60_SMALL as shown below:

    Figure 6: GS_SPINDLE60_SMALL in RM2023’s shared folder.

     

Preparing the tooling

Creating a Thumbnail

  1. Your tooling will be added to the tooling libraries in RM2023, however it will not have a thumbnail as shown below.

    Figure 7: New tooling without thumbnail.

     

  2. To create the thumbnail, open a Robotmaster session with an operation on a device, load your tooling and press on the update tooling thumbnail function as shown below.

Note: it is important that you have an assigned operation, otherwise the thumbnail will not be created.

Figure 8: How to create a Tooling thumbnail.

The resulting thumbnail will look like this:

Figure 9: Thumbnail created for GS_SPINDLE_SMALL.

Congratulations, your tooling is ready for use in RM2023.

Merging the Cell

Moving the Cell

  1. Open the Rm_DOME_WEBINAR_SESSION\RobotmasterV6\FANUC\Robot_Setups folder:

    Figure 10: Robot cell subfolder in the Pack to Send.

  2. Copy the cell folder into C:\Users\Public\Documents\Robotmaster 2023\device\Fanuc as shown below:

    Figure 11: Cell added to the RM 2023 shared folder.

     

This example shows he merging procedure for a Fanuc cell, for other robot brands follow the same procedure but select the respective brand’s subfolder.

For ABB: C:\Users\Public\Documents\Robotmaster 2023\device\ABB

If the brand’s subfolder does not exist in the shared folder, you can create it as you would create any folder, call it the brand’s name and then copy the cell there.

For Hyundai: C:\Users\Public\Documents\Robotmaster 2023\device\Hyundai

 

Your cell will be added to Robotmaster 2023 after following step 2, however, there are a few more steps that need to be followed before the cell is fully functional.

Preparing the Cell

Renaming the Robot Brand

In Robotmaster V6, less common brands, such as Kawasaki, or Nachi, used more common brands such as Fanuc a “main brand”. Thus, using the main brand as a “blue print” for the sub-brand. This has been largely re-structured in Robotmaster 2023, where nearly every brand is its own and does not depend on a “main brand”.

Some exceptions apply. For more information contact your local reseller.

If your cell is ABB, Fanuc, Kuka, Motoman or Staubli, you can skip this section

In other cases, a small modification has to be done to the cell’s files:

Our cell from our tutorial does not require this modification as it is a Fanuc cell, however, we will still explain how to do such modification in case we had a Kawasaki cell.

  1. In a text editor, such as Notepad ++, open the file C:\Users\Public\Documents\Robotmaster 2023\device\Fanuc\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER.ROBX

  2. Edit the manufacturer name from Fanuc to Kawasaki as shown in the picture below:

    Figure #: Modification to .ROBX to Kawasaki brand.

Renaming External Axes

The naming convention for external axes has changed in Robotmaster 2023. Now, the naming convention for each individual brand has to be followed. Whereas, before, “E#” and “R#” were sufficient for rails and rotaries respectively, it is no longer the case.

If your cell does not have external axes, you can skip this section.

If your cell contains external axes, do not skip this step. You will not be able to generate code! see picture below:

Figure #: Posting not possible.

This tutorial explains how to change the external axes naming convention for a Fanuc cell with two rotary axes:

  1. In a text editor, such as Notepad ++, open the file C:\Users\Public\Documents\Robotmaster 2023\device\Fanuc\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER.ROBX

  2. Edit the External axis information as follows:

    Figure #: Modification of .ROBX for Fanuc external axis convention.

  3. In a text editor, such as Notepad ++, open the file C:\Users\Public\Documents\Robotmaster 2023\device\Fanuc\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER.XML

  4. Edit the External axes information as follows:

    Figure #: Modification of .XML for Fanuc external axis convention.

Each brand will have its own convention, it is important that depending on the brand, you name the external axes accordingly.

Some brands also require different names for rails vs. rotaries.

To learn more about external axes naming conventions follow this link:

https://robotmaster.atlassian.net/l/c/86k9eapk

Creating the Extension File

The creation of the extension file is not mandatory, however, it is strongly recommended.

If you do not wish to create the extension file, you can skip this section.

Remember, it is strongly recommended to create it.

What is the Extension File?

  • The extension file, also referred to as *.V7 file is a xml format file that will complete a V6 cell setup in order to add whatever is necessary for the Robotmaster 2023 workflow.

  • The extension file allows users to customize their cell so that they can automatically load:

    • Toolings

    • Post Processors

    • Processes

    • User Frames / Tooling Mounting Frames

    • Etc.

How to Create the Extension File?

  1. In a text editor, create a new file and save it under C:\Users\Public\Documents\Robotmaster 2023\device\Fanuc\RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER as shown below:

    Figure : Extension file in Cell’s subfolder.

     

  2. To edit and manage the extension file to your requirements, follow the steps in this link:
    https://robotmaster.atlassian.net/l/c/16TbYqtm

The file is loaded once. Updating the file won't affect the session where the cell is already loaded. If you wish the changes to be reflected in your Robotmaster session, you will have to unassign the robot and assign it again.

Creating a Thumbnail

  1. Your robot cell will be added to the device libraries in RM2023, however it will not have a thumbnail as shown below.

    Figure #: Cell without Thumbnail.

     

  2. To create the thumbnail, open a Robotmaster session with an operation loaded on your desired device, load your tooling and press on the update cell thumbnail function as shown below.

Note: it is important that you have an assigned operation, otherwise the thumbnail will not be created.

Figure #: How to create a cell thumbnail.

The resulting thumbnail will look like this:

Figure #: Thumbnail created for RMCELL_M710IC50_2-AXIS_SERVO_POSITIONER.

 

Congratulations, your cell is ready for use in RM2023.

 

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