Operation References

Special Functions & PlugIns

EASY-ROB™ V8.3

November 2021

Version 3.3

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Subject to change or improve without prior notice 2/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™
Table of contents
Table of contents ............................................................................................................................................... 3
PlugIn Dlls ......................................................................................................................................................... 4
AVI - Recorder ............................................................................................................................................... 4
VRML Export with Animation ......................................................................................................................... 6
Path planning with AutoPathTM ...................................................................................................................... 7
CAD Import ...................................................................................................................................................... 13
Import VRML with Animation ....................................................................................................................... 13
CAD2ER - Converting STEP- and VRML II 97-files to IGP ......................................................................... 16
CAD Export...................................................................................................................................................... 17
CAD-file Export ............................................................................................................................................ 17
Project Manager .............................................................................................................................................. 19
Administrate Projects ................................................................................................................................... 19
History Diagram ............................................................................................................................................... 21
Visual analyses of the simulation................................................................................................................. 21
ERC Command Searcher ................................................................................................................................ 23
Search ERC Commands ............................................................................................................................. 23
3D-PDF-Export ................................................................................................................................................ 24
Saving simulation process in 3D-PDF document ........................................................................................ 24
Space Mouse................................................................................................................................................... 28
Space Mouse Connection ............................................................................................................................ 28
Appendix.......................................................................................................................................................... 29
Inverse / forward Kinematics ID’s ................................................................................................................ 29
Contact ............................................................................................................................................................ 32
Notes ............................................................................................................................................................... 33

Subject to change or improve without prior notice 3/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

PlugIn Dlls
AVI - Recorder

In the current version of EASY-ROB™ you can directly create AVI video files. There's no external software
needed for video capturing.

1. Load the cell (*.cel)

2. Open the panel either by using the menu
View | EASY-ROB PlugIn Dlls | AVI Recorder or use the button:

Alternative: Push the “F6” Button

Select window-size Show Recording

Select a path where to save the file Select: Number of frames

Pause Recording Start Simulation

Stop Recording Abort Simulation

First you have to select if you want to capture the

recording with or without the toolbar and status line.

Subject to change or improve without prior notice 4/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
AVI Recorder

With a click on “Setting” you can select a window

size
.

With a click on„Initialize“ you can set the name of the

file and a place where to save it
.

After that you can set the Framerate (fps) and the
Simulation-Stepsize (ms)

Selecting the compressing factor is the last step

before you can start a recording.

With a click on „Rec“ you can start the recording

A click on “RUN” starts the simulation.

After the recording you can show the recorded AVI

by using the „Show“ button

Subject to change or improve without prior notice 5/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

PlugIn Dlls
VRML Export with Animation

If you want to exchange the work cell (static) or the result of the simulation (with animation) you can use the
VRML 97 Export to store the whole work cell including the animations sequence into a file with extension
(*.wrl).

1. Load the work cell „three_robots.cel“

2. Open the panel by menu:
View | EASY-ROB PlugIn Dlls | VRML 97 Export
Alternative: Push the “F7”-Button

Export static:

To export a static workcell click on „Export“ and save

the VRML-file.

To see the workcell in the explorer just click „Show“.

Export dynamic: To export a workcell including the animation click on

„Start“ to record and start the simulation.
At the end of the simulation Stop the recording with
„Stop“ and save the VRML-file.

To see the animation in the explorer just click „Show

Remark: Prerequisite for an animation is a loaded

and running program.

Subject to change or improve without prior notice 6/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

PlugIn Dlls
Path planning with AutoPathTM

To engineer a workpiece into the fixture or to move around an interfering geometry is a time-consuming
task.

The EASY-ROB™ option AutoPath™ will support the user to plan and create collision free paths.

The example below will show the capability and the functionality of AutoPath™.

1.
Load the workcell

AutoPath_Example_01.cel
Start Device Manager
with the button Load from Library Shortcut: „Ctrl+Shift+O“
from the directory:

../EASY-ROB / ApplicationLib /

Annotation:

The example demonstrates a typical initial situation and the result of a collision free path planning done by
AutoPath™.

The workpiece has to go through the frame and has to be placed on the other side of the frame.

The first cycle shows the shortest way from start to the target – of course including collision.

The path in the second cycle was planed by AutoPath™ and is collision free. While planning a path,
AutoPath™ is taken the axis limits of the robot into consideration.

An additional geometry on the way through the frame requires a further optimization of the path.

In the last cycle the workpiece is moving along the optimized path.

2.
Start the simulation with the button
Run Program

Shortcut: „Ctrl+R“

Subject to change or improve without prior notice 7/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Introduction of the AutoPath™ example

Commentary of the single steps of the program:

3.
Open the Teach Window by mouse
click on the button Open Program
Teach Window to see the current
program

4.
After the declaration of the variables
and the settings for the collision
detection the robot will move by PTP-
commands (line 26) from the start
position to the target position.

5.
The second cycle was planed by
AutoPath™. The collision free
positions are placed for a better
overview into a sub function (fct
ComputedMotion(), line 59).

The base for path planning is a

collision free start and target position
(2 tagpoints).
The calculated collision free positions
in between will be stored as axis
values
(including start and target position)

The determined positions for the

move forward can be used in reverse
order for the way back.

6.
After the second cycle geometry will
be set to visible.
(line 48)

Subject to change or improve without prior notice 8/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Introduction of the AutoPath™ example

7.
The path is not collision free anymore
and requires a further optimization.

8.
By using AutoPath™ the path was
optimized and stored in the function
„call
ComputedMotion_with_Disturbance
()“.

Subject to change or improve without prior notice 9/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

PlugIn Dlls
Path planning with AutoPathTM – Dialog and Operation

1.
Start the AutoPath™ dialog from the menu

View | EASY-ROB PlugIn Dlls | AutoPath

Motion Planner

2.
The dialog AutoPath™ and the most
important elements:

1. Set start pose

(to set the collision free start
position, without exceeding
the axis limits of the robot) 1

2. Set end pose 2

(to set the collision free end
position, without exceeding
the axis limits of the robot) 3

3. Find path
(search a collision free path
from start to the target
position)

The calculation can take

several minutes – depending
on the complexity of the
situation and the computer
performance.

Subject to change or improve without prior notice 10/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
AutoPath™ Dialog and Operation

3.
Open the Tag Window by double click on the
button Sel Tag

(workcell AutoPath_Example_01.cel)

4.
Select with „sel Pth“ the path „Rob“ and move
the robot to tagpoint R_1 (double click the
tagpoint in the list of the TagWindow )

5.
Click the button „Set start pose“ in the motion
planner to set the tagpoint R_1 as start
position.

6.
Select with „sel Pth“ the path „Frame“ and
move the robot to tagpoint F_1 (double click
the tagpoint in the list of the TagWindow )

7.
Click the button „Set end pose“ in the motion
planner to set the tagpoint F_1 as end
position.

Subject to change or improve without prior notice 11/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
AutoPath™ Dialog and Operation

8.
Leave all settings to default and click „Find
path“ in the AutoPath™ dialog to calculate a
collision free path.

Important Note:
The process to calculate a collision free path can take up to several minutes – please don’t lose the
patience and don’t start any other EASY-ROB™ functions while the calculation.

9.
After the search the collision free path will be
displayed as single positions.

Move along the positions by clicking on

“Run”.

Subject to change or improve without prior notice 12/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

CAD Import
Import VRML with Animation

All common 3D-CAD systems such as Catia, ProEngineer, Solid Works, Solid Edge, etc are able to export
VRML 1.0 and VRML 2.0.
EASY-ROB™ can import VRML files and save them as IGP-Files (*.igp). The Import does not include
kinematics or animations in the VRML-file.

Additionally to the *.igp-file the importer will create automatically a *.rob-file.

Even when the files from different systems are all VRML-files, with regard to the inner structure (number of
objects and number of polygons) they are all different.
Solid Edge, UGS e.g. is using. „Shapes“ to set colors and objects.

EASY-ROB™ is taking this into consideration while import by using a presetting and the functionality to
“merge” the polygons.
The „merger“ will reduce the number of objects and will increase the number of polygons per object.
And even when the file that the merger is creating will be bigger as the „not-merged“ file, you will have a
better performance .

In the „VRML-Examples“-folder you will find examples from different systems with some remarks about the
presetting.

TIP: Always use the „Merger“, so you will have a better performance while rendering.

VRML files are ASCII-files. You can open and read them in every editor.
Most times you will find additional information in the header of the file.

TIP: Before the import always save your work and start a new session of EASY-ROB.

To load a VRML file you can either

1. select the file by menu File | Load | Import / Convert | Convert VRML1.0 /2.0 into CAD Preview
or
2. use „Drag’n Drop“ from Explorer

Beside the Message Window you will get the dialog

for the Converter Settings

Subject to change or improve without prior notice 13/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
CAD Import - VRML

By the CAD Presetting you can configure the

exporting system.

This is important because depending on the

export system EASY-ROB has to use different
options for the import

TIP:

Always use the presetting.

Changing the presetting can cause bad system
performance.

With the Warning level you decide how much

information you will get while the
import.
Silent = Standard messages
Warning = only warnings
Verbose = detailed

With Start Conversion

you can start the converter

In the Message Window you can follow all

messages and by using the „Save“-button you can
store the protocol of the import

TIP:

Double click onto a line with bracket will open

the file in the editor
Double click onto any other line will delete the
whole Message Windows

Subject to change or improve without prior notice 14/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
CAD Import- VRML

EXTRA for the import from Pro Engineer

While reading parts from Pro Engineer you are able

to reduce the data by using the LOD (Level of Detail)

By using this option you can reduce the data-volume

and increase the system performance.

Subject to change or improve without prior notice 15/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

CAD Import
CAD2ER - Converting STEP- and VRML II 97-files to IGP
EASY-ROB™ - CAD2ER allows to convert STEP- and VRML II,97 files to IGP.
You can find the application as standalone program in subfolder ./cad2er/ of the EASY-ROB™ -Application.
Loaded Rob- und IGP- files will be loaded in a new EASY-ROB™ Session.

Start CAD2ER with the shortcut „Ctrl+Shift+C“ or by Menu: Load > Start CAD2ER Converter

CAD2ER was developed in collaboration with machineering GmbH & Co. KG (www.machineering.de).

Handling

• Select the file you want to convert by clicking on .

• Change the name of the file into „Output File“
• Place a checkmark on „User Color“ to configure the colour.

• Click on the begin the conversion of the file.

• Double-click on the generated file-name in „[]“ brackets to open the file in a new EASY-ROB-
session.
• Quit CAD2ER by clicking on

TIP: Native CAD-files, like CATIA V4/V5 or Pro/Engineer can be converted to STEP by using the
software „3D-Tool”.

Subject to change or improve without prior notice 16/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

CAD Export
CAD-file Export

Single robots or devices or even the complete workcells can be exported as binary STL-files. STL binary is
a neutral format and can be imported in all common CAD-Systems. Furthermore the results of the planer
can be analyzed by the user.

Optional: the exported STL-file can also include colours, though it is not supported by every CAD-system.

To export a robot select a robot by click on

Menu: File > Save > Export > STL binary,
to open the CAD Export Window

Workcell: arcweld_L_01.cel Selecting „cDevice with childs“ exports the robot

with the Welding-Torch as coloured STL-file e.g..
„cDeviceChilds_stl“.

To export the rotary tabel „POSITIONER_01“ with

the component „WORKPIECE_02 „ to a IGP
binary-file, the rotary table has to be selected first.

Robot as STL binary file Rotary table als IGP binary file

Subject to change or improve without prior notice 17/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
CAD-file Export

IGP binary-file decreases file-size to nearly 50%.

Import will happen 20% more faster. All
geometries will be saved in world-coordinates.

Workcell as VRML II,97 file

Subject to change or improve without prior notice 18/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

Project Manager
Administrate Projects

The Project Manager provides different functionalities to administrate EASY-ROB™ workcells and project
related information. The search functions are supporting the user to find the desired data straight away.
The project data can be stored either by using the input mask in the Project Manager or by the Visual File
Interface out of EASY-ROB™ (see chapter „Visual File Interface“)
Further on the Project Manager is able to run and show videos of the workcells and is able to load the
workcell straight into the EASY-ROB™.

Start the Project Manager by double click onto the executable „/EASY-ROB/easyrob-project-manager.exe“
or from EASY-ROB™ by shortcut „Ctrl+Shift+P“ . Or use the menu :File Menu: Load -> Start Project
Manager.

search function

project overview

project modification

screenshot /
video screen

video controls

detailed information of project start EASY-ROB™ and load

workcell

Subject to change or improve without prior notice 19/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Project Manager

Add a new projects

Modify an existing projects

Delete a projects

Quick Search

Options for Quick Search:

- Enter a complete word
- Enter a part of a word
- Enter numbers

Tip:
Using an empty field and „Refresh“ will show all
items of the database.

Extended Search with filter

Export all projects into an EXCEL file

Controls for the video

(if the buttons are disabled there is no video)

Start EASY-ROB™ and load the selected

workcell

(if the button is disabled there is now workcell)

Subject to change or improve without prior notice 20/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

History Diagram
Visual analyses of the simulation

The functionality „History Diagram“ enables the user to analyze the simulation visual by a graphic.

History Diagram can record the state of every device into the workcell. The state like e.g. „waiting for signal“
or an „axis limit exceeding“ will be stored while every simulation step and be displayed and analyzed in a
diagram.
Because all possible states will be shown in different colors, an occurring error can be identified
immediately.

Start the History Diagram by double click onto the executable „/EASY-ROB/easyrob-history-diagram.exe“ or
from EASY-ROB™ by shortcut „Ctrl+Shift+H“. To start from the menu use “File Menu: Load -> Start History
Diagram.”

Graphic of the simulation

Data Zoom Time Detail settings Show,

handling function scale Save data

Subject to change or improve without prior notice 21/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
History Diagram

Load, reload and unload history file

Zoom in and out the view and reset to start

conditions

(zoom is only related to the lenght of the

diagram, not to hight)

Show time scale

- every second
- 10 seconds
- every minute
- switch scale off

Reset time to start conditions

Start and end time of the displayed area

Rough display :all errors in one color

detailed display: every error in its own color

Selection of the displayed Device

(all or one Device)

Show:
Show the diagram (with the selected settings)

Save:
Save the diagram as JPG-picture in the same
directory of the history file

Subject to change or improve without prior notice 22/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

ERC Command Searcher

Search ERC Commands

The example library contains for each ERPL-/ERCL- command a workcell with program.
The ERC Command Searcher will support the user to search for a specific ERC commands in the example
library “Proj_example_erpl”, which is normally installed in the directory:
“.\EASY-ROB\Tutorial\Proj_example_erpl”

The library contains many short example programs with different ERC commands to give an impression
how the commands are working

Start the ERC Command Searcher by double click onto the executable „/EASY-ROB/ easyrob-erc-
command-searcher.exe“ or from EASY-ROB™ by shortcut „Ctrl+Shift+S“. From the menu use „File Menu:
Load -> Start ERC Searcher“.

instruction manual

change paths

start search

enter search word / pre-select

results of the search

start simulation straight

after loading

load workcell

open program

Subject to change or improve without prior notice 23/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

3D-PDF-Export
Saving simulation process in 3D-PDF document

The new EASY-ROB™ 3D-PDF Export option allows to save entire simulation process of a work cell in one
3D-PDF document. Afterwards it can be opened, using the free Adobe® Reader XI and the whole simulation
can be started.

3D-PDF Export

To ensure a proper operation, we recommend using at least version XI (11.0.10) of Adobe® Reader.

The 3D-PDF Export can be found under View > EASY-ROB PlugIn Dlls > 3D-PDF Export.

▪ Open the 3D-PDF Export dialogue

▪ Click on Start to begin recording.
▪ Start the simulation. The simulation run will be
recorded. The number of recorded frames will be
displayed.
▪ Click on Stop to finish the recording. You will be
asked to enter the destination directory and the
name of the 3D-PDF document.
3D-PDF Export dialogue
▪ The 3D-PDF document will be created.

The Adobe® Reader allows to rotate and zoom the recorded scene.

Subject to change or improve without prior notice 24/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
3D-PDF-Export

Use the navigation bar to start, pause or stop the recorded simulation process. Fast forward and rewind
(x1/64 – x64x speed) are also possible. The displayed time shows you the real process time.

The 3D-PDF Export functionality can alternatively be controlled via ERCL commands. The user then has
the following ERCL commands. Find more detailed information in document "EASY-ROB-
ShortKeys_ENG.pdf"

ERC _3D_PDF_EXPORT SCREENSHOT [flnname]

ERC _3D_PDF_EXPORT ON / OFF [flnname]
ERC _3D_PDF_EXPORT SET_FILE flnname
ERC _3D_PDF_EXPORT SET_LABEL labelname
ERC _3D_PDF_EXPORT SET_PASSWORD passwordname
ERC _3D_PDF_EXPORT PAUSE
ERC _3D_PDF_EXPORT DEACTIVATE

Additional ERCL- commands allow to load a layout from a 3D-PDf Layout file ".3pl" or to determine the
layout dynamically while running a program.

! ------------------------------------------
! Date: 2016/09/14 Time: 10:43
! 3D-PDF Version v7004
! 3D-PDF Layout File "3D-PDF-Layout.3pl"
! ------------------------------------------
!
!(0,0)--> x <-- width -->
! | |
! v height
! y |
!
! Important Notes:
! - Viewport-, Control-Area and all Images should be inside the Page-Area
! - Images cannot be on top of the ViewPort- or the Control-Area,
! but can be used as background, if their size is less or equal to the Page-Area.
! - The number of possible loaded images is limited by 12
! - The "image path" and "image file" must be saved within quotes
! ------------------------------------------
!
! Page Area: width height
PAGE_AREA 400.000 300.000
!
! View Port Area: left(x) upper(y) width height
VIEWPORT_AREA 0.000 50.000 400.000 225.000
!
! Control Area: left(x) upper(y) width height
CONTROL_AREA 0.000 275.000 400.000 25.000
!
! Label Font Size: Default = 10, valid values are between 1 and 50
LABELFONTSIZE 10
!
! Path where the images stored
! If no path is defined, the current working directory is valid
IMAGE_PATH ""
!
! Images specifications for 3 images
! Parameter 1: "Image file name"

Subject to change or improve without prior notice 25/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 ! Parameter 2-5: left(x) upper(y) width height
! Parameter 6: Scaling is one of ISO_Stretch = 0 or ISO_CenterFit = 1
ADD_IMAGE "3D-Pdf-Image-Logo.jpg" 0.000 0.000 87.920 50.000 1
ADD_IMAGE "3D-PDF-IMAGE-TEXT.JPG" 87.920 0.000 312.080 50.000 1
!

ERC _3D_PDF_EXPORT RESET_LAYOUT

ERC _3D_PDF_EXPORT LOAD_LAYOUT filename.3pl
ERC _3D_PDF_EXPORT SAVE_LAYOUT filename.3pl
ERC _3D_PDF_EXPORT PAGE_AREA width height
ERC _3D_PDF_EXPORT VIEWPORT_AREA left(x) upper(y) width height
ERC _3D_PDF_EXPORT CONTROL_AREA left(x) upper(y) width height
ERC _3D_PDF_EXPORT LABEL_FONT_SIZE valid values are between 1 and 50

ERC _3D_PDF_EXPORT IMAGE_PATH path

ERC _3D_PDF_EXPORT IMAGE_PATH USERPROFILE
ERC _3D_PDF_EXPORT IMAGE_PATH WORKING_DIRECTORY
ERC _3D_PDF_EXPORT IMAGE_PATH 3PL_FILE_FOLDER
ERC _3D_PDF_EXPORT IMAGE_PATH ""
ERC _3D_PDF_EXPORT ADD_IMAGE "filename.jpg" left(x) upper(y) width height scaling

A detailed description of the commands can be found in the chapter “New ERCL-commands“ or in the
corresponding document for the ERPL- / ERCL- Program language „EASY-ROB-ERPL_ENG.pdf“.

Subject to change or improve without prior notice 26/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Subject to change or improve without prior notice 27/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

Space Mouse
Space Mouse Connection

Navigation through 3D-Scene with a 3D-Mouse (Space Mouse) from 3DConexion:

The 3-dimensional navigation through the robot-complex is very intuitive and accurate

Picture: 3DConnexion

Assignment of keys in your Space Explorer.

1 Toggles -> PanZoom - Reduces Sensitivity

-> Rotate
-> Pan+Rotate + Increases Sensitivity

2 Toggles -> Cruise World

-> Jog cTcp T Top View
-> Jog cRobot Joints L Left View
2D ohne Funktion
Shift as Keyboard R Right View
Esc as Keyboard F Front View
Ctrl as Keyboard
Alt as Keyboard

Panel Open Menu

Fit Zoom World, cRobot, cTag, ..

TIP: Further settings can be made in the Environment-file „easy-rob.env“.

! Activates/Deactivates Space Mouse Menu

S3DM_MENU 1
! Scales Space Mouse sensitivity
S3DM_SPEED 1.000000
! Scales Space Mouse threshold
S3DM_THRESHOLD 1.000000

Subject to change or improve without prior notice 28/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™ Operation References

Appendix
Inverse / forward Kinematics ID’s

The Inverse Kinematics ID defines the inverse kinematics and forward solution for each robot. EASY-ROB
provides you with a couple of solutions for common robots like 3- or 5-axis, portalrobots, scaras, etc.

For every Kin-ID exists a Sub-ID.

You can edit the KIN-IDs and Sub-IDs in over Robotics Menu:
cRobot Kinematics -> Kinematics Data -> Inverse Kinematics ID -> Special Inverse Kinematics

Kin-ID Name Sub ID Kin_Type Kommentar

0 no inverse Kinematics available
1 DLL #1 User-definied Kinematics in „er_kinx64.dll“ #1
2 DLL #2 User-definied Kinematics in „er_kinx64.dll“ #2
3 DLL #3 User-definied Kinematics in „er_kinx64.dll“ #3
4 DLL #4 User-definied Kinematics in „er_kinx64.dll“ #4
5 DLL #5 User-definied Kinematics in „er_kinx64.dll“ #5
6 DLL #6 User-definied Kinematics in „er_kinx64.dll“ #6
7 DLL #7 User-definied Kinematics in „er_kinx64.dll“ #7
8 DLL #8 User-definied Kinematics in „er_kinx64.dll“ #8
9 DLL #9 User-definied Kinematics in „er_kinx64.dll“ #9
10 DLL #10 User-definied Kinematics in „er_kinx64.dll“ #10
11 DLL #11 User-definied Kinematics in „er_kinx64.dll“ #11
12 DLL #12 User-definied Kinematics in „er_kinx64.dll“ #12
13-99 User Inverse User-definied Kinematics in „er_kinx64.dll“ #13-99
Kinematics
100 NumSol 0 any serial Numerical Solution Kinematic >= 6 axis
Further parameters: tolerances, joint weight, mask vector
100 NumSol 1 any serial Numerical Solution Kinematic with less than 6 axis
(in compliance with Approach-axis)
140 NumSol-Ref any serial Numerical Solution using reference kinematic
110 articulated RzRyy:Rxyx , and Tracking-Axis
RzRyy:Rzyz „Standard RRR:RRR on Y-Track“
111 articulated RzRyy:Rxyx , as 110, with „Backlink“ /. „A2A3 linking“
RzRyy:Rzyz „Back Link RRR:RRR on Y-Track“
116 articulated as 110, solution w.r.t Robot Base
117 articulated as 111, solution w.r.t Robot Base
122 Güdel 0, RoboFlex (Jet Roboter)
10, xyz- Gantry
11, xyz:Rz Gantry
12, xz or yz Gantry
13 xyz:Rz, yxz:Rz Gantry

Subject to change or improve without prior notice 29/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Inverse Kinematics ID

Kin-ID Name Sub ID Kin_Type Kommentar

120 b+m T1 Paintingrobot
123 Denso 0, different types Standard RRR:RRR on Y-Track
1 Scara 4 axis RzRzTzRz
124 Mitsubishi 0, different types Standard RRR:RRR on Y-Track
1 Scara 4 axis RzRzTzRz
125 Eisenmann 0,1,2, different types vrbh6,vrbc6,vrbl5,
10 E-Shuttle
126 Adept 0, different types Standard RRR:RRR on Y-Track
1 Scara 4 axis RzRzTzRz
127 Jet Robot TyRyy:Rxyx, without „A2A3 coupling“
TyRyy:Rzyz
128 Jet Robot TyRyy:Rxyx, same as ID 127, but with „Backlink“/„A2A3 coupling“
TyRyy:Rzyz
129 Palletizer 0 RzRyyRz without Backlink
1 with Backlink
131 SCARA4 0 RzRzTzRz 4 Axis Scara
1 RzTzRzRz
2 TzRzRzRz
3 RzRzRzTz
139 SCARA6 0 RzRzTzRxzx 6 Axis Scara
1 RzTzRzRxzx
2 TzRzRzRxzx

133 Gantry 13,23 Txz,Tyz, Tzx, 2 Axis Portal

2 Achsen Tzy, Txy, Tyx
Gantry 123,0 Txyz,Tyxz,Tz 3 Axis Portal
3 Achsen xy,Tzyx,Txzy,
Tyzx
Gantry 1,2,3 Tx, Ty, Tz 1 Axis Portal, Conveyor
1 Achse
134 Gantry 13, 23 Txz,Tyz, Tzx, 2 Axis Portal + Rz Rotary-Axis
2+1 Achsen Tzy, Txy, Tyx,
Rz
Gantry 123, 0 Txyz,Tyxz,Tz 3 Axis Portal + Rz Rotary-Axis
3+1 Achsen xy,Tzyx,Txzy,
Tyzx, Rz
135 Gantry, Txyz,Tyxz,Tz 5-Axis Portal with C- und A-axis
3+2 Achsen xy,Tzyx,Txzy,
Tyzx,
CA=Rzx
136 Gantry Txyz,Tyxz,Tz 6-Axis Portal with Rzxz oder Rzyz Joint
6 Achsen xy,Tzyx,Txzy,
Tyzx,
Rzxz,Rzyz
138 Comau different types
119 Reis different types

Subject to change or improve without prior notice 30/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
Inverse Kinematics ID

Optional Robot Libraries

114 Abb different types Option required

118 Motoman different types Option required
115 Staubli different types Option required
112 Kuka different types Option required
113 Fanuc different types Option required
132 Tricept Parallel kin Option required
137 PKM Parallel kin Option required, Delta-Kinematics, FlexPicker

Subject to change or improve without prior notice 31/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™

Contact

EASY-ROB Software GmbH

Address: Hauptstr. 42
65719 Hofheim am Taunus
Germany

Contact: Mr. Stefan Anton

Phone: +49 6192 921 70 77

FAX: +49 6192 921 70 66

Email: [email protected]
[email protected]

Url: www.easy-rob.com

Online Shop: http://www.easy-rob.com/en/product/shop.html/

EASY-ROB customer area

Content: Program updates and robot libraries

Web: www.easy-rob.com/en/downloads-2/client-area/

Log in data:
User name: customer
Password: **********

Subject to change or improve without prior notice 32/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com
 EASY-ROB™

Notes

Subject to change or improve without prior notice 33/33

EASY-ROB Software GmbH Hauptstr.42 65719 Hofheim am Taunus Germany Phone: +49 6192 921 70-77 FAX: +49 6192 921 70-66 [email protected] www.easy-rob.com