How to simulate extra axis movement in WinCAPS III

Modified on Wed, 10 Apr 2024 at 09:32 AM


It is possible to simulate extra axis movement in WinCAPS III

Tools and Parts Needed

WinCAPS III Software

If you are not sure which part number you need or the Robot Arm you own please stop and contact your DENSO Robotics sales representative.

Step-by-Step Guide

Step 1

Create/load an RC8/RC8A Project.  After selecting your robot type, select Use in the Extra Joints section.  After this selection, you can proceed with the rest of the project creation

An existing project can have Extra Joints enabled after the fact.  Go to Project > Property, and select Change beside the Ex-Joint option.

Step 2

Use the Model Tree tab to create the objects in the 3D Arm View window that you need; including the extra axis and other associated objects. 

 In this example, we are simulating a robot arm on an extended axis.  Three model objects have been created:

  • Extended Axis
    • Transit Plate
    • Motor Block

Note that the Transit Plate and Motor Block are located (nested) under the Extended Axis.

Also note where the Extended Axis is located in the Model tree, as its own element nested in the main Robot Node.

Step 3

Next, go to the Project menu, and select Joint Setting Table...

Under the Joint Setting tab, scroll to the J7column, and fill in values (at minimum) for the following fields:
  • Motor model number
    • This is the DENSO motor or DENSO encoder model that will be used.*
  • Infinite Rotation
    • Does this axis have a set discrete travel distance, or infinite travel (rotation)?
  • Linear/Rotation
    • Is the axis travel linearly or circularly?
  • Positive Motion Limit
    • If not infinite rotation, what is the positive travel distance (in mm)?
  • Negative Motion Limit
    • If not infinite rotation, what is the lower end of the travel distance (in mm)?  This value can be negative.
  • RANG
    • What value will be the calibration value for this axis?  Equivalent to the difference between the robot software motion limit and its RANG value.  Therefore this should be a greater value than the positive or negative (lesser) motion limits.
  • Joint Motion
    • This parameter formally enables the extra joint.  This must be set to 1 or 2 for the settings to be applied, and the extended axis to be enabled.

*If just intending to show simulation motion, any selection will suffice.

Step 4

After clicking OK on the completed Joint Setting screen, return to the Joint Setting screen, and click on the ArmGroup Setting Tab. Here you will see a list of Arm Groups. Note that the J7 column will remain grayed out until the Joint Motion parameter is set to 1 or 2 from the previous step.

In the ArmGroup Setting tab, select ArmGroup 1, and double-click on J7. This should put a 1 in the J7 column, and the rest of the joints should remain 0.

Next select ArmGroup 2, double-click on J1 (this will put a 1 value in all joints J1 through J6), and doubleclick on J7. When complete, all joints in ArmGroup 2 should have a 1 value showing. Then click OK.double-click

For an explanation of Arm Groups, please see the manual link below regarding Registering Arm Groups.

Step 5

Now that the extra axis is fully enabled, it needs to be assigned to an object.  On the Model Tree tab, select the object that will be moving as the extra axis.  Then click on the Property tab.

Once in the Property tab, under the Related Axis section, select the Extended axis just enabled (J7 or J8), and select the World coordinate axis (Robot Axis) that it will be moving along.  In this example, J7 is on the Y axis.  Then click OK.

Step 6

Now that the extended axis has been assigned and mapped to an object, it can be moved via the Arm Operation tab.

Step 7

In this example, to 'mount' the robot arm onto the Transit plate, the order of items needs rearranged in the Model tree.
  • Move the Extended Axis node directly under the Root node
  • Move the Robot node so it's under the Transit Plate

This should move the Robot arm origin, to the origin (center) of the Transit Plate.  

The robot arm and RobotNode can't be moved directly (i.e. via the Relative position), however, they can be moved by changing the relative position of the Transit Plate. This will move everything nested under the Transit Plate node. 

Now in the Arm Operation tab, if J7 is moved, the Arm can be seen traveling with the Transit plate, along the J7 Axis.

Step 8

To simulate movement with a program, use the Arm Operation screen and the Position Variable table to jog the robot and teach the desired points. In this case, 3 positions have been taught to represent a Home, Pick, and Place position.

Step 9

In the associated program, the ExA command is used as a motion option for the Target Position.

Note that TakeArm 2 is used to assume control of ArmGroup 2, which includes both the arm and extra axis.

With each move command, the desired Extended Axis and the position along that axis is stated in conjunction with the Position variable

Step 10

Running Simulation

Next Steps:

Owner's Manual Reference

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