7.

Load Robot and Tool

The set tool data can be utilized as follows.

① When you are jogging the tool coordinate using the mechanism jog window, it is based on the
currently selected tool coordinate.

② When recording the step with the record button of T/P, you can create the step on the location
of the currently selected tool coordinate.

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 8.Jog and Teach Pendant

8. Jog and Teach Pendant

8
Jog and
Teach
Pendant

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 HRSpace3

8.1. Robot jog

You can move the robot with the jog window.
Right click on the robot of the tree window and open the pop up menu.

When you select the mechanism jog, the following jog window appears.

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 8.Jog and Teach Pendant

 Scroll bar
There’re 6 scroll bars for 6 axes in a robot and additional scroll bars whose number is the
same as the total number of additional axes if there’re any. The degree of each axis is
displayed in the center of the scroll bar. It also displays the minimum and maximum values
that each axis can move.

When you put the mouse cursor on specific scroll bar, the bar gets activated as green. By
operating the activated scroll bar, you can move each axis of the robot independently. You
may also rotate mouse wheel or use the left/right arrow key on the keyboard. For a parallel
robot, the maximum/minimum value of V axis is dependent on the H axis.

When you press [ENTER] key, it displays a dialog box that you can edit the value of selected
axes. Type numeric values by using a keyboard and press [ENTER] key to complete the
editing.

You can also edit Softlimit if you double click the minimum and maximum values of each axis.

 TCP
The location and direction of the TCP(Tool Center Point; Robot tool end) is shown on the right
side of the TCP window. You can move the TCP in grid coordinate method by pressing the
spin button of each item of X, Y, Z, RX, RY and RZ. Or you can move the up/down arrow key
on the keyboard or rotate the mouse wheel up/down after left clicking the edit box of each
item.

(It is increased by the value that is specified in delta slider.)

Also you can directly enter the value of each axis with the keyboard and hit Enter or select
other edit box to reflect the value.

 delta
When you manipulate each axis scroll bar with the mouse wheel or left/right arrow key, or
manipulate TCP with the mouse wheel or up/down arrow key, you can control the
increasing/decreasing unit with length/angle delta. You can drop and select the value or you
can input the value with the keyboard.

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 HOME button
By clicking the HOME button, the robot will be positioned in HOME location (Default position).

 Cartesian / Tool / Stationary

① When operating each axis of X, Y, Z, RX, RY and RZ of TCP, you can select which
coordinate to be based on.
Select the ”Cartesian” and operate the TCP to shift the tool end based on the robot
coordinate.
② When you select the “Tool” and operate the TCP, the tool end will shift based on the
coordinate of the currently selected tool.
③ When you select the “Stationary” and operate the TCP, the work piece held by the robot
will shift based on the coordinate of the currently selected stationary tool.

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 8.Jog and Teach Pendant

8.2. mini TeachPendant

Open popup menu to a robot in tree window.

Select mini TeachPendant. TeachPendant is a dialog box with key functions that are needed to teach
and playback robots.

A picture above explains the structure and function of mini T/P. Names and functions of the most
buttons are the same as those of an actual Hi5 Teachpandant.

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JOBList It displays the list of all work files that are saved in the controller and
displays current work as selected during play. If you click one of the
work programs while teaching, the work program is selected as the
current program and the contents of the program are displayed at
the bottom.
It displays popup menu that lets you delete, edit or save work when
you click the work with the right mouse button.

It displays the contents of the current program and the current

program counter. You can move the program counter by clicking a
Current job program
certain command and edit relevant commands by double clicking
the commands.

This is an area where the history of Hi5 controller is displayed. In

History other words, it displays commands that were executed or error
messages.

Open JOG dialog box

This is a button that lets you to open JOG dialog box promptly.

Open virtual T/P

This is a button that lets you open virtual TeachPendant promptly.
TeachPendant is explained in the next section.

Click New Job button, enter JOB number, and press ‘OK’ button to create JOB.

Now you can create steps by pressing ‘Record’ button while you move a robot with JOG dialog box. In
this case, record coordinate system and step parameter depend on the settings in ribbon menu’s Teach
tab – Step group.

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 8.Jog and Teach Pendant

Open Step Properties dialog box by double

clicking a step if you want to edit the step
parameters. You can edit it freely with values,
variables/expressions and others.

Also you can edit the value of a hidden pose

and when you select other coordinate system,
the coordinate system transformation is
automatically done on the pose value. (This is
similar to the function of Quick Open Screen in
Hi5 TeachPendant.)

For a hidden pose of an encoder type, axis

degrees, pose expression, or hidden pose +
shift variables, the cartesian coordinate’s value
to this can be identified in Result pose.

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Edit Command Statement dialog box is displayed when you click Command Input button.

When you select a function type with a tab on the top, relevant commands are displayed on the left list.
Help and a default statement are displayed when you select one command. Copy a default statement
to the edit box by clicking ‘Input’ button, edit Command Statement by referring to Help, and click “OK’
button.
(You may type commands directly into the Command Statement edit box from the beginning.)

Open this dialog box by double clicking commands in mini TeachPendant if you want to modify
functions that are entered or steps without hidden poses.

Popup menu is displayed when you click the right mouse

button on History. Logs can be deleted or turned on/off
when there’re too many contents to be displayed.

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 8.Jog and Teach Pendant

8.3. VTP (Virtual Teach Pendant)

Open popup menu to a robot model in tree window to execute Virtual TeachPendant.

(Or press button on mini TeachPendant.)

You can run the basic operation with mini TeachPendant mentioned in the previous section but you
need Virtual TeachPendant to do a detailed system setting or monitoring.
The structure and operation functions of Virtual TeachPendant are almost the same as the ones in
actual Hi5 TeachPendant. However unlike the actual one, Motor ON/OFF, Start, and Stop buttons and
mode switch are located on both sides of a keypad to utilize space more efficiently. Click the [adjust
keypad size] button if the width of TeachPendant is too big to be fit on a screen due to the low resolution
of a monitor.
(Vertical resolution of the monitor should be at least 730 pixels. If you use a monitor that is smaller than
this, you may not run it even though you reduce the size of the keypad.)

Drag dark borders on the left, right, or bottom of a keypad if you want to move the window.

Keypad that is reduced with [adjust keypad

size] button

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 HRSpace3

Operations of Virtual TeachPendant and actual Hi5’s TeachPendant are the same.

Sometimes, buttons on TeachPendant don’t work after you operate other windows. If it
happens, click TeachPendant screen and retry the buttons.

There’re 2 tabs in ‘Config’ dialog box, ‘Ethernet’, and “Folder Path’. Use the default setting(127.0.0.1) in
Ethernet.

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 8.Jog and Teach Pendant

Folder Path is the location of various setting files that is managed internally when virtual T/P is operated.
And when the File Manager of VTP is executed, in tree structure, TP and USB are mapped to this path.

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 HRSpace3

8.4. RTP; Real Teach Pendant

Though, Virtual Teach Pendant is almost same as real, its drawbacks are inconvenience of clicking
keypad with mouse, and being less realistic. Moreover, it occupies a lot of PC screen, so disturbs the
use of HRSpace3.
Using Teach Pendant Sharing function of Hi5 controller, you can connect real teach pendant to PC with
Ethernet. It doesn’t occupy the PC screen, and if you are skillful at real teach pendant, you can
manipulate HRSpace3 faster. And it provides with realistic sense, so useful in training users. In case
that several robot models exist in HRSpace3, you can connect to any robot you want.

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 8.Jog and Teach Pendant

8.4.1. Hardware connection between PC and Teach Pendant

Connect 1:1 with crossed CAT5 standard Ethernet cable between PC and teach pendant. (You may
connect the teach pendant into the office network hub which your PC is connected. But it is not
recommended, because the teach pendant’s communication traffic is heavy)
You have to supply DC24V (no less than 1A) power. For purchasing Hi5 teach pendant for PC
connecting, contact a Hyundai Robot sales agent.

8.4.2. Setting of HRSpace3

HRSpace3 have to be v3.22 build2 or later.

Load the robot models you want. In below example, 2 robots are loaded, the ID is automatically
assigned in the order they are loaded. In the tree window (left side), you can see the HS165-02 has ID
[0], and the HP160-00 has ID [1].

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 HRSpace3

Now you have to set the IP address, in order to make teach pendant and PC communicate each other.
Open the robot property for each robot. The controller connection has to be set as VRC.

Then click the […] button to open the VRC interface dialog box. Select the ‘Real TP’. One or several (In
case that more than two network interface cards are installed on PC) Ethernet IP addresses are
enumerated on list box. Amongst these, select the IP address to which the teach pendant is connected,
click the [input] button of ‘IP address between TP - main’, then the IP address is input automatically.
Click OK button.

Set the VRC interface of robot properties for other robots.

 ‘General purpose IP address’ is virtual controller’s address to which HRView or HRLadder access, so
it is not relevant to this function.

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 8.Jog and Teach Pendant

8.4.3. Setting of real teach pendant

The version of teach pendant software should be TV32.08-00 or later.

When you turn on the teach pendant, because it is disconnected to Hi5 controller cabinet, the initial
screen is displayed like below.

Select [F1: Service] – 12: Teach pendant sharing.

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 HRSpace3

With select VRC (PC) with [SHIFT]+[] button, the user interfaces like upper figure appears. You have
to match the IP address with the one you selected in HRSpace3’s VRC interface dialog box. In the
example of section 2.2, we have selected the 192.168.1.172.
In VRC(PC)’s IP address, input the same values with HRSpace3’s (In this example, 192.168.1.172). In
TP’s IP address, input the same subnet, and input different value only for the last host address. The
192.168.1.22 has been selected in below example.

Now, you have to scan the robot ID’s in remote HRSpace3 through Ethernet. If you press [F3: rescan],
the application itself restarts in order to reset the IP address of itself. (The input values are stored. The
restarting of application occurs when you change the mote from OFF or RRC to VRC, or reverse case,
or you changed the TP’s IP address value.)

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 8.Jog and Teach Pendant

When restarted, if you enter into the setting screen, the ID 0 and ID 1 are lit up with green color in
‘Conn.States and current ID selection ([F4] - [F5])’.

You can change the current ID (green frame) with [F4: Prev] and [F5: Next] button. The currently
selected ID is displayed as a small number on right side of icon of TitleBar.

Check if ID [0] is selected, and close with [F7: Complete]. If the teach pendant is connected, do the
Motor On, and try operating like robot jog and [REC].

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 HRSpace3

Now, let’s operate ID [1] robot. Enter into the TPSharing setting, select ID [1] with [F4: Next] and close
with [F7: Complete]. Do the Motor On, and try robot jog and other operatings.

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 9.Create Job

9. Create Job

9
Create Job

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 HRSpace3

9.1. Step creation / modification dialog box

When you utilize the step creation/modification dialog box, you can generate accurate steps on the
surface of the model quickly.

9.1.1. The basic way to create steps

Let’s assume that there is data for the following robot and chassis floor, and create some steps at a part
of edge.

Click Teach tab – General group – Step Create/Modify button in Ribbon menu.

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 9.Create Job

The following “step creation/ modification” dialog box appears.

You must set at which job you want to create the step through the edit window on the right side of the
“jop/step” button. You can either directly enter the T path through the keyboard or press the “jop/step”
button and click on the job from the tree window.

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 HRSpace3

Click on the surface location of the chassis floor data to create the step. When the job is set in the “Step
Creation/ Modification” window, the coordinate appears on the clicked surface. This coordinate is only
to show the location and it has not created the step yet.

When the location is incorrect, click again and to adjust the direction, enter the rotation angle in the edit
window of RX, RY and RZ.
(When you turn the mouse wheel after clicking on the wanted edit window, it increases/decreases by 10
degrees.)
(Location value, that is the value of X, Y and Z in the edit window can be directly edited with the
keyboard or mouse wheel.)

If you want to create a step so that the specific axis is vertical to the surface automatically, select the
use check box of surface normal and select X, Y or Z.
When you click on the surface in this condition, you can see the step indicated with the selected axis
vertical to the surface.
If you want to change the direction of the vertical axis by 180 degrees, press the Inverse button.
(If you want to continuously apply the inverse direction, check the Inverse check box.)

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 9.Create Job

Set the parameter of the step to create in the Teach tab – Step group.

Now, click on the ‘Make’ button to create a new step below currently selected position of the specified
job.

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 HRSpace3

Try creating other steps on the surface of the chassis floor with the same method.

Steps that are displayed in red mean the robot can’t do this pose. In order to modify this, press iob/step
button, click the steps in red on 3-D space, to enter T path in the dialog box.
(Or you can directly enter with the keyboard.)

Now, click on a new location and click Modify button. Or if you adjust the spin control of a location edit
box (it’s convenient if you use a wheel on a mouse) after checking Auto Mod. check box, then you can
easily find the location that is changed to white because the step location is immediately changed.

(The edit only affects location/direction. The set parameter value of the current step of the Teach tab is
not applied.)

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 9.Create Job

9.1.2. Average function

For sealing or arc welding, it is common to create steps on V type seam not the flat surface. When you
use the surface vertical function, the direction of the step may be improper as shown below.

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 HRSpace3

Select the average checkbox and click on surface, it will get the surface vertical directions of the clicked
location and the locations apart, and make average direction of step with these 5 directions. (When you
use the average function, the response to the surface click becomes slower.)

Sometimes when the direction is inappropriate even by using the average function, manually modify it.

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 9.Create Job

9.1.3. How to Insert another Step in Between Steps

For example, let’s assume that you need to insert several steps between two steps S15 and S16 as
shown below.

First open the “Step Creation/ Modification” dialog box as shown below and click on job/step button.
Then click on S15 from the tree window to enter the T path in the edit box.

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 HRSpace3

Now, click on the desired chassis as you did before and click on the create button. You can see that a
new step named S16 is created/inserted after S15. The existing step S16 now became S17.

Another thing to note is that the T path in edit box is automatically converted from S15 to S16. That is, it
prepares for S17 to be inserted next.
Now create 3 more steps in the same method. Insert the steps in the following order. The T path of the
edit box now points to S19.

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 9.Create Job

9.1.4. Add triggers in the ‘WorkSpace’

This is a method of creating a JOB and adding a trigger on the WorkSpace with the mouse while the
STEP path is created.

Select the STEP on which you want to add the command on the WorkSpace, and select Add Trigger.

When the Add Trigger pop-up dialog box is created, select the type and add the trigger.

Trigger is added as below.

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 HRSpace3

9.2. Import teach point and location group

You can set up the direction to be vertical to the surface of an object by importing mass teach location
data from CAD data. (It’s only available for data exported from CATIA V5.)
And steps also can be distributed properly by using a mouse when the work should be done by several
robots.

First, below is how to extract welding points in CATIA V5.

Hide parts except welding points.

Select Measure Inertia/Customize...

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 9.Create Job

Drag the whole welding point area, click Export button, and select a file name.

It generates a text file as below. (Only X, Y, and Z teach locations are extracted.)

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 HRSpace3

Suppose there’re work space that has a robot and a body shape comes from CATIA.

Click the right mouse button on the body and create a new location group.

Assign a name to the created group, open popup menu, and click Location Group Properties…

Location Group Properties dialog box is open as below.

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 9.Create Job

First, click [File import] button, select CATIA file type, and specify teach location data that are prepared.

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 HRSpace3

Teach locations are created on the body as below. The teach location model that is created with this
method is called Location and its set is called Location group. Locations and Step look very similar but
Location only has location/direction/order and doesn’t include various parameters and functions.

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 9.Create Job

Data exported from CATIA only has teach location and doesn’t have direction. If you want to make
locations be vertical to the surface of parents’ body, select locations that you want to modify and click
[Surface normal] button. (You can click step # from Step # in the left box of the dialog box or select it
from a 3-D screen. Use [SHIFT] key or [CTRL] key together to select several locations at a time.) You
can adjust the axis to be verticalized if you select a radio button for X, Y, or Z in advance.

Below is the result after verticalizing. Since the parents of location grp0 are a body, surface of the body
is used as a base. If directions of some locations are inversed, you can inverse them by selecting them
and clicking [Inverse] button.

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 HRSpace3

You can also display path and step # if you check the check boxes for them of Display group in Location
Group dialog box.

In the picture as above, the locations are widely distributed and the order is very complicated for one
robot to do the work. Let’s distribute the work to 3 robots and make the order better to do the work.

Add 2 location groups as children to the body and open Location Properties dialog box for each group.

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 9.Create Job

Use different colors to distinguish the two groups.

Click [Import Location] button from grp1 dialog box and drag target locations on a 3-D screen by
keeping pressing the left mouse button. Locations in white have been changed to red and a path is
created according to the order that is dragged. You can see target locations in grp0 list box are moved
to grp1 list box.

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 HRSpace3

If you select one location from the list box or on the 3-D screen and drag it, it is inserted to the next
location that you select. By applying this, locations that are already moved to grp1 can be reordered by
dragging them again.

Parts of grp0 locations are moved to grp2 also in the same way.

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 9.Create Job

If you click [Export (Select Job)] from the dialog box and select an empty JOB program from tree
window, locations are created by JOB steps that are selected.

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 HRSpace3

9.3. Import onsite robot process

Do the procedure as below if you want to observe/modify robot processes that are already installed on
production sites by making HRSpace3 simulation.

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 9.Create Job

9.4. Connect HRView and HRLadder

HRView and HRLadder can be connected to HRSpace virtual controller in the same PC. (It can also be
done in different PCs. In this case, the 2 PCs should be connected via Ethernet.)
Communication between support software and the virtual controller is only done via Ethernet device
and doesn’t support RS-232C.

A picture as below is an example that HRView and a virtual controller are connected in one PC. It
shows all back up controller files from onsite copied to a virtual controller via HRView.

“IP address for external” of virtual TeachPendant should be the default value, “127.0.0.1”. (127.0.0.1 is
the standard IP address that represents local host (i.e. this computer).
For HRView, don’t change the exiting IP address of PC and let “127.0.0.1” be IP address of a robot
controller.

A picture as below is an example that do download and monitoring by connecting HRLadder to the
virtual controller of HRSpace3.

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 HRSpace3

For HRLadder, don’t change the exiting IP address of PC and let “127.0.0.1” be IP address of a robot
controller.

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 10.Simulation

10. Simulation

10
Simulation

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 HRSpace3

10.1. Simulation
You can simulate 1 or multiple robots by using the Home tab - Simulation group.

For example, if the 2 robots below were taught respectively, let’s try to playback the robots
simultaneously.

The simulation option must be check in the model properties of each robot.

First, click on the reset button of the Simulation group to initialize the robot.

When you click on the playback button, the timer will operate and the two robots will playback
simultaneously.

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 10.Simulation

When you click on the stop button, the robot stops playing. When you click on the playback button
again, the robot continues to playback.
Simulation stops when all robots’ work is completed and you can check the total cycle time on the
Simulation group.

When you want to start the simulation from the start, click on the reset button and initialize the robots.

If you want to repeat the simulation cycle, click on the repeat button and then click on the playback
button. This button is a toggle button.

Increase the number of Time Speed if you want to play simulation fast. (The virtual time and actual time
is the same if you use the default value, 1. If Time Speed that you enter exceeds the performance of a
PC, it plays the simulation with the highest available speed.)

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10.2. I/O signal

In HR-BASIC, there are commands to output or wait digital / analog signal. The operation of this
command can be simulated.

Let’s assume the following for each of the robots for the 2 robots.

 Robot1 outputs the DO25 signal in 1 when it reaches step 3.

 DO25 signal of robot1 is connected to the DI32 signal of robot2.
 Robot2 wait for the DI32 signal to change to 1 in step 1.

 Robot2 outputs A02 signal in 3.5 when it reaches step 3

 AO2 signal of robot2 is connected to AI1 signal of robot2.
 Robot1 wait for the AI1 signal to be 3.0 or above in step 4.

The taught results are as follows. (The arrows indicating signal connections are drawn to help your
understanding.)

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 10.Simulation

To connect the 2 signals, you need to create an I/O connection model for the workspace model as
shown below.

When a new I/O connection model is created, the I/O connection properties window appears.

When you click on the button, a new row will be added to the list. Enter the T path and the I/O
signal name of each robot separated by the '/' as follows. (Type in after double clicking on the row. Or
you can click on the T path button and select the robot from the tree window, and add the signal name.)

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Click on the button again and enter the second connection in the same method. The results are
as follows.

Click on the button (or close button) to close the window.

Open the individual pop up menu of the two robots and select I/O status.

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