VPSS 3i ARBEND

Users Guide
Ver. 2.07
 Introduction

Thank you very much for introducing VPSS 3i ARBEND (hereinafter referred to as ARBEND).
This manual explains how to operate ARBEND.
Please read it before and while using ARBEND

Caution
Please do not reproduce this manual without permission.
The content and structure of this manual are subject to change without notice.

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VPSS 3i ARBEND Users Guide
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Third party copyrights are property of their respective owners

About This Manual

This manual describes how to operate ARBEND.

It is intended to learn the basic outline of ARBEND and how to operate it.

Manual Structure

This manual consists of three chapters, each of which contains the following information:

 Chapter 1 Basic Operation

This chapter explains the basic operations required to start ProductionDesigner
(PD) and to create bending data by ARBEND from Data Explorer to Part data. It
also explains the basic operations required to save the data to Data Explorer and
the basic operations required for batch processing by ABE Planner (Bend).
 Chapter 2 Function and Editing
Describes the basic Function for manually setting/editing bending data such as
Bend Sequence, Tool, and Gage in ARBEND.

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(C)2020 AMADA CO.,LTD. All Rights Reserved.

 CONTENTS
Chapter 1 Basic Operation
Section 1 Bending Data Creation by PD starting ....... 1-1
Creating and saving bending data using Bend Auto 1-2
Creation and save of bending data by manual
operation ·························································· 1-8
Section 2 Create Bending Data by ABE Planner ...... 1-21
Starting ABE Planner ········································· 1-22
Result and Error Details ····································· 1-24
Section 3 Editing Bending Data Caused by Warning or
Collision ....................................................................... 1-27
Acceptance of minor warning ····························· 1-28
Editing the Operation that has collision ··············· 1-30
Unloading ························································ 1-46
Chapter 2 Function and Editing
Section 1 Manually Adding/Editing Function ................ 2-1
Loading ·························································· 2-2
Bend process ··················································· 2-14
Approach Function ··········································· 2-23
Bending Function ············································· 2-26
Pull out movement ············································ 2-31
Editing Tool layout ············································ 2-34
Regripping ······················································· 2-42
Unloading ························································ 2-55
Special Bend ···················································· 2-71
Air blow Function (HG-Rm/ARm)························· 2-76
Section 2 Fnction of Auto program creation ............... 2-77
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 Auto ························································· 2-78
Bend Auto ························································ 2-81
Section 3 Other Function ............................................. 2-83
How to output the Report···································· 2-84
Teaching ························································· 2-85
Robot Trajectory and Velocity ····························· 2-90
Import ······················································· 2-124

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Chapter 1 - Basic Operation

Chapter 1
Basic Operation

VPSS 3i ARBEND Users Guide

(C)2020 AMADA CO.,LTD. All Rights Reserved.
 Section 1 - Bending Data Creation by PD starting

Section 1 Bending Data Creation

by PD starting

This section describes the basic operation flow from starting ProductionDesigner (PD) to
creating bending data from SEM to ARBEND and saving it to Data Explorer.

Tool setting is required to automatically generate the parts used in this chapter.
How to set the tool is in the Others folder
(Default: C: ¥ Program Files ¥ AMADA3i ¥ UsersGuide ¥ [language] ¥ Others)
Please refer to "VPSS3i ARBEND ToolSettings.pdf”.

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Chapter 1 - Basic Operation

Creating and saving bending data using Bend Auto

This section describes the basic operation from SEM file of VSDD to creating and saving
bending data using Bend Auto. This example uses B-BOX1-A in Sample.

Starting ARBEND
1 Click [ Application menu] and select [Open].
The dialog box is displayed.
2 In the folder field, select [B-BOX1-A] in the [SAMPLE] folder of [VSDD Server], and then
click [Open].

3 Select [Move to Method] in the ribbon control menu.

4 Click [Bend CAM] on the ribbon control menu. The [Machine List] dialog box appears.

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 Section 1 - Bending Data Creation by PD starting

5 Select [HGARS] and click [New]. The main view of ARBEND is displayed.
(ARBEND window)

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Chapter 1 - Basic Operation

Running Auto

1 Click the [ Auto] button on the ribbon control menu.

Auto is executed and a progress bar is displayed.

2 Click [Close] when [Successful evaluation] is displayed. Auto generation of the

program is finished and the process of the generated program is displayed in the
process tree.

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 Section 1 - Bending Data Creation by PD starting

Tip 1:
Depending on Assembly shape, Auto generation may fail.

If Auto generation fails, bending must be manually edited. For editing

bending data, refer to [Editing bending data by manual operation] in the
next section.

Tip 2:
Depending on assembly shape and your versions, a minor warning may
still occur after successful Auto.

If warning occurs, you must either edit the programme or accept warning.
For acceptance of warning, see [Acceptance of Minor Warning] in the next
section.

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Chapter 1 - Basic Operation

Running a Simulation
1 Make sure that the [ Cycle Generation] tab at the top of the process tree is
selected.

2 Click the [ Start/Pause Simulation] button displayed in the simulation view. The simulation
is played.

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 Section 1 - Bending Data Creation by PD starting

Save
1 Click the [Save] button on the ribbon control menu. Message bar displays "The file has been
saved to vSDD."

Tip :
If the background of message bar is yellow, the NC-file to operate the
actual machine will not be saved because of a problematic program. Click
the [More...] button to confirm detail and refer to the next section to correct
the program or accept warning.

Exit ARBEND
To exit ARBEND, you must return to PD's Process window.
1 Click the [Move to Method] button on the ribbon control menu. Process window of PD is
displayed.

2 To exit PD, click [ Application menu], and then select [Exit Application].

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Chapter 1 - Basic Operation

Creation and save of bending data by manual operation

This section explains how to create bending data by manual operation.

Starting ARBEND
1 Click ( Application menu) and select [Open].
The dialog box is displayed.
2 In the folder field, select [B-BOX1-A] in the [SAMPLE] folder of [VSDD Server], and then
click [Open].

3 Select [Move to Method] in the ribbon control menu.

4 Click [Bend CAM] on the ribbon control menu. The [Machine List] dialog box appears.

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 Section 1 - Bending Data Creation by PD starting

5 Select [HGARS] and click [New]. The main view of ARBEND is displayed.
(ARBEND window)

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Chapter 1 - Basic Operation

Creating a Tool layout

1 Click the [Tool layout] tab.

2 Select [ Tools] in the ribbon menu.

3 In unfold diagram view in the upper right corner of the dialog, click bend line on the long side
lower.

4 Click [ Punch] for Tool filters.

5 Click [ Standard Punch] button for Tool subtype filter.

6 Select Tool number [201662] by clicking it.

7 Click [ Add] button.

8 Click [ Die] for Tool filters.

9 Click [ Sash 1V Die] for Tool subtype filter.

10 Select Tool number [898069] by clicking it.

11 Click [ Add] button.

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 Section 1 - Bending Data Creation by PD starting

12 Click the [ Close] button. The selected tool is displayed.

13 Click [ Process Tree] tab.

14 This displays the dialogue message, "Do you want to save all the changes that you
made?" and then click [Yes].

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Chapter 1 - Basic Operation

Adding loading
1 Double-click [Loading] in the process tree.
2 Click [Gripper] accordion to expand and select [IG0734U352SCB].
3 Click [Part Position] accordion < [Vertical Flip], and set Rotation to 180°.
4 Click [Gripping Position] accordion to set X position to 300mm, Y position to 230mm,
and Rotate to 180°.

5 When the above sets are completed. Click [ Next].

6 Click the [ Next] button. Bend line selection window is displayed.

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 Section 1 - Bending Data Creation by PD starting

Add Bending Sequence

1 Click Bend Line on the right side of the short side.

2 Click the [ Next] button. The bend setting screen is displayed. In addition, error
occurs because following cannot be performed when using suctioning with the
vacuum side of the combination gripper.

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Chapter 1 - Basic Operation

Adding pinching repositioning

1 Click [Rigripping] accordion and [ Add/Remove Regripping at Pinching Point]

button.
2 Change the [Gripping Type] selection in the [Gripping Position] accordion from
Vacuum to Clamp.

3 Click the [ Select Clamping Edge] button.

4 Click the edge surrounded by the red frame in the figure below.

5 Click [Start/Pause the simulation] to confirm that there is no collision in repositioning

operation.

6 Click the [ Next] button.

7 If you receive a warning saying "The safety distance is not maintained…", click
[Confirm] in this example.

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 Section 1 - Bending Data Creation by PD starting

8 Click bend line on the left side of the short side.

9 Click the [ Next] button.

10 Click the [ Next] button.

11 Click bend line on lower end of the long side.

12 Click the [ Next] button.

13 Click the [ Next] button.

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Chapter 1 - Basic Operation

14 Click bend line above the long side.

15 Click the [ Next] button. In this case, bend line selected by the present gripping
position cannot bend. So an error occurs.

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 Section 1 - Bending Data Creation by PD starting

Adding repositioning Equipment repositioning

1 In [Regripping] accordion, click [ Add/Remove Regripping on Device] button.

Repositioning is added to the process tree.

2 Click [ Rotate 90° Anti-clockwise] button on the Gripping Position accordion twice.

3 Click [ Flip] .
4 Change the X Position of the Gripping Position to 300mm and the Y Position to
50mm.

5 Return to repositioning sequence by clicking the [ Previous] button.

6 Check that repositioning operation is correct by clicking [Start/Pause the simulation]
button.

7 Click the [ Next] button.

8 Click the [ Next] button.

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Chapter 1 - Basic Operation

9 Click the last Bend Line.

10 Click the [ Next] button.

11 Click the [Pull Out] button.

12 Click the [ Enable/Disable Tracking] button of Robot Trajectory accordion. (If it is

ON by default, proceed to the next operation.)
13 Click the [Next] button. Then go to unloading sets window. To perform unloading by
vacuum side, regripping after bend is needed.

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 Section 1 - Bending Data Creation by PD starting

Adding Regripping after Bend

1 Click [ Add/Remove Regripping after Bend] button on Regripping accordion.

2 Change the gripping type of the Gripping Position accordion from Clamper to Vacuum.

3 On the Part Position accordion, click [ Select Placing Face] and click bottom face
(face with large hole).

4 Click the [ Previous] button. The screen returns to the setting screen of bend
process 5.

5 Click the [ Regripping end bend] button.

6 Click the [ 90° Rotate Clockwise] button on the Gripping Position accordion.
7 Change the X Position of the grip position to 350mm and the Y Position to 187mm.

8 Check repositioning operation by clicking [Start/Pause the simulation] on the

simulator.

9 Click the [ Next] button.

10 Click the [ Next] button.

Tip :
Unloading can be loaded in several ways. Refer to next section for each
unloading method and detailed settings.
This completes the setting of all processes..

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Chapter 1 - Basic Operation

Running a Simulation
1 Click the [Go to Cycle Simulation] button. This calculates all robot trajectories.

2 Click the Simulation [Start/Pause the simulation] button. All Sequence will be
simulated.
3 Click the [Save] button.
4 If it is displayed on message bar as shown in the figure below, programming by
manual is finished.

Tip :
Depending on the version you are using, you may experience minor
warning even if you perform the above steps. If so, the meessage will be
displayed in yellow when you save.

This means program has the warning. You must either edit the program or
accept warning. For acceptance of warning, see [Acceptance of Minor
Warning] in Section 3.

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 Section 2 - Create Bending Data by ABE Planner

Section 2 Create Bending Data

by ABE Planner

This section describes the basic operation flow from starting ABE Planner to creating
bending data from SEM to ARBEND and saving it to Data Explorer.

Tool setting is required to automatically generate the parts used in this chapter.
How to set the tool is in the Others folder
(Default: C: ¥ Program Files ¥ AMADA3i ¥ UsersGuide ¥ [language] ¥ Others)
Please refer to "VPSS3i ARBEND ToolSettings.pdf”.

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Chapter 1 - Basic Operation

Starting ABE Planner

1 Double-click ABE Planner shortcut to launch ABE Planner.

ABE Planner Window
ABE Planner window is organized as shown below.

Production plan Part List

Result indicator
3-D/Flat view Part Diagram

2 Select Machine Name created in before chapter.

3 Click the [ Production/Part] button.

4 Uncheck the [Specify Quantity] checkbox in the right lower of the dialogue box.
5 Select [B-BOX-A] and [PART002] of sample folderd and click [Register].
6 Click the [Open] button. Parts registered in Part List will be displayed.
7 Select [B-BOX-A] and [PART002] in Part List and Click [Auto]. Auto programming
starts. When the calculation is complete, the result is displayed.

8
Tip:
If you want to run [Auto] on more than one Part, select more than one Part
by clicking [Shift] + clicking. If you right-click status with the mouse-cursor
on Part List and select [Select all] from the sub-menu, all Part displayed on
Part List.

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 Section 2 - Create Bending Data by ABE Planner

Starting ARBEND
1 Select [B-BOX-A] and click [Manual]. ARBEND starts.

Running a Simulation

1 Click the [ Go to Cycle Generation] button.

2 Click the [Start/Pause the simulation] button in the simulation.
3 Click the [Save] button.

Exiting ARBEND
Click the [Close] button. ARBEND is completed and ABE Planner window reappears. When
you return to ABE Planner, you will see a checkmark that has been manually edited.

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Chapter 1 - Basic Operation

Result and Error Details

1 In [Part List], click part for which you want to check result.

2 In the [Information of Result] field, Result (Tool layout, used Tool info, NG/ Warning
content Edit, Planning time, bending expected duration) of the selected Part is
displayed.

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 Section 2 - Create Bending Data by ABE Planner

Tips1:
To execute [Auto] for multiple parts, select multiple parts by clicking [Shift]
+ click. Also, if you right-click on the parts list and select [Select All] from
the submenu, all the parts displayed in the parts list will be selected.
When multiple parts are selected in [Parts list], the focus of [Parts list] is
automatically switched, the automatic process generation process is
executed for all the selected parts, and the result is displayed in [Parts list].

The result and mark of automatic process generation are displayed as

follows.
OK :
Displayed when program generation is completed without any problem.
OK (with warning) :
Displayed when the program is generated until the final process and there
is a problem other than interference.
OK (modification required) :
Displayed when the program is generated until the final process and one or
more interferences occur.
NG (finished halfway) :
Displayed when the program could not be generated until the final process.
NG (Cancel) :
Displayed when canceled by the user during program generation.
NG :
Displayed when a timeout or no process is generated.

Tips 2:
The following operations are required according to the displayed results.
OK :
Even if OK is displayed, be sure to check the simulation according to the
above procedure.
OK (with warning), OK (correction required) :
Problems such as interference remain in the created program. Therefore,
the robot NC program is not saved.
After starting ARBEND by the above procedure, solve the problem
manually and save the program.
NG (end in the middle), NG (cancel), NG :
You need to create the program manually.

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 Section 3 - Editing Bending Data Caused by Warning or collision

Section 3 Editing Bending Data Caused by

Warning or Collision

The following manual operations may be required depending on part shape when Auto is
executed or when cycle generation is executed in manual programming.

This section explains how to edit the following examples.

・ Accept warning that occurred

・ Editing the Operation when program has the collision

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Chapter 1 - Basic Operation

Acceptance of minor warning

If warning is occurring after Auto or cycle generation, a yellow circle is displayed next to sequence
where [Programming] and warning are occurring in the process tree. If this happens, you must either
edit the program or accept it. This section explains how to accept warning, taking the case where
warning occurs in the transport in the loading sequence as an example.

1 Click [Transport] with a yellow mark in the process tree.

2 Click [More...] on the yellow message bar. Warning content is displayed. Confirm the entry.

3 Although warning is indicated for the distance between the material and the pallet to
be closer than 50mm, it is acceptable here because there is a distance of 49.2mm.
4 Right-click [Transport] with a yellow mark in the process tree.

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 Section 3 - Editing Bending Data Caused by Warning or collision

5 Click [Accept warnings].

6 When warning is accepted, the yellow mark will be a green mark. If the process tree
[Programming] yellow icon turns green, all warning are accepted. If marked yellow, accept
any remaining warning.

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Chapter 1 - Basic Operation

Editing the Operation that has collision

Regripping on the Device
If a red or yellow Error symbol is displayed in [Regripping] in the process tree, Collision may
have occurred in repositioning operation of repositioning unit.

1 Double-click the [Regripping] process where Collision is occurring. Repositioning

editing window opens.
2 Click the [Start/Pause Simulation] button in the Simulation View. Starts simulating
repositioning operation.

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 Section 3 - Editing Bending Data Caused by Warning or collision

3 Simulating pauses when collision occurs. After checking the operation to be collision, click
[ Stop Simulation] on the simulation.
4 Click the [Robot Trajectory] accordion to expand it.

5 From [Approach Offset], [Release Offset], [Pick Offset], and [Leave offset], click the entry
box for the operation that collision has occurred and enter the value of the new Offset.

6 Click the [ Start/Pause Simulation] button in the simulation again to execute the simulation.
7 When the simulation is finished without collision, Message bar displays Message shown in the
figure below, and the red circle in the process tree disappears.

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Chapter 1 - Basic Operation

8 Click [ Close] to finish editing repositioning operation. The following Message is

displayed:

9 Click [Yes].
10 Click the [Go to Cycle Generation] tab at the top of the process tree.

11 Click the [ Start/Pause Simulation] button displayed in the Simulation View. The
simulation is played back.
12 Click the [Save] button on the ribbon control menu.

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 Section 3 - Editing Bending Data Caused by Warning or collision

Pinching point repositioning

1 Double-click on [Regripping at Pinching Point] in the process tree where Error is displayed.

2 Confirm the error message by clicking [ More...] on Message.

3 Click the [ Start/Pause Simulation] button in the simulation to execute the simulation and
check Collision operation.
4 Simulating pauses when collision occurs. After checking the operation to be Collision, click
[ Stop Simulation] on the simulation.

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Chapter 1 - Basic Operation

5 Click the [Robot Trajectory] accordion to expand it.

6 From [Release offset] or [Pick offset], click the entry box for the operation where Collision is
occurring and enter a new Offset value or drag the arrow displayed in the Simulation View.

7 Click the [ Start/Pause Simulation] button in the simulation again to execute the simulation.
8 When the simulation is finished without Collision, Message bar displays Message shown in the
figure below, and the red mark in the process tree disappears, but the yellow mark remains.

9 Click the [ Next] button to finish editing the current bending process and proceed to the
editing screen for the next bending process.

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 Section 3 - Editing Bending Data Caused by Warning or collision

10 When the process tree no longer shows a yellow symbol, click the [ Close] button to finish
editing repositioning operation. The following Message is displayed:

11 Click [Yes].
12 Click the [Go to Cycle Generation] tab at the top of the process tree.

13 Click the [ Start/Pause Simulation] button displayed in the Simulation View. The
simulation is played back.
14 Click the [Save] button on the ribbon control menu.

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Chapter 1 - Basic Operation

Regripping after Bend

1 Double-click [Regripping after Bend] in the process tree where Error is displayed.

2 Click [ More...] on Message bar to check for error messages.

3 Click the [ Start/Pause Simulation] button in the simulation to execute the

simulation and check Collision operation.

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 Section 3 - Editing Bending Data Caused by Warning or collision

4 Since the grip Position is Collision here, click the [Gripping Position] accordion to
expand it.

5 Click the gripping position entry box and edit the gripping position by entering a value
or by dragging the arrow in the Simulation View.

6 When the simulation is finished without collision, message bar displays message
shown in the figure below, and the red mark in the process tree disappears, but the
yellow mark remains.

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Chapter 1 - Basic Operation

7 Click the [ Next] button to finish editing the current bending process and proceed to
the editing screen for the next bending process.
8 If you edited the gripping of Bend repositioning, you may turn it Collision under the
following bend process: In such cases, Warning is displayed as shown in the figure
below. If this happens, Bend repositioning gripping Position must be adjusted again or
a repositioning must be added. In the following, we will add repositioning.
9 Expand the [Regripping] accordion in the Command-Panel.

10 Click the [ Add/Remove Regripping on Device] buttons on repositioning units.

11 Click the [ Previous] button. At this time, Warning symbol is displayed.

12 Click the [Gripping Position] accordion on the Command Panel to expand it.

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 Section 3 - Editing Bending Data Caused by Warning or collision

13 Select the Grip Position entry box and enter a value or drag the arrow in the
Simulation View.

14 Click the [ Next] button to finish editing the current bending process and proceed to
the editing screen for the next bending process.

15 When the process tree no longer shows a yellow symbol, click the [ Close] button
to finish editing repositioning operation. The following Message is displayed:

16 Click [Yes].

17 Make sure that the [ Go to Cycle Simulation] tab at the top of the process
tree is selected.

18 Click the [ Start/Pause Simulation] button displayed in the Simulation View. The
simulation is played back.
19 Click the [Save] button on the ribbon control menu.

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Chapter 1 - Basic Operation

Bending approach operation

If collision is occurring in the bending approach, repositioning must be added to the previous
sequence. Here, we will perform the steps to add Regripping after bend of the previous
sequence.

1 Double-click [Approach] in the process tree.

2 Click [More...] on Message bar to check for error messages.

3 Click the [ Start/Pause Simulation] button in the simulation to execute the simulation and
check Collision operation.

4 Click the [ Bending Operation] button on the command panel.

5 Expand the [Regripping] accordion and click the [ Add/ Delete Regripping after
Bend] button.

6 Click the [ Previous] button. Opens the front Sequence bending window.

7 Click the [ Regripping after Bend] button. Displays a window for editing Bend
gripping Position. In this case, Bend Line of the following bend process is displayed in

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 Section 3 - Editing Bending Data Caused by Warning or collision

red in the simulated view:

8 Click the entry box for the grip Position.

9 Either enter a value or drag the arrow in the Simulation View to edit Position.

10 Click the [ Next] button to finish editing the current bending process and proceed to the
editing screen for the next bending process.

11 Click the [ Start/Pause Simulation] button in the simulation again to execute the simulation.
12 When the simulation is finished without Collision, Message bar displays Message shown in the
figure below, and the red mark in the process tree disappears, but the yellow mark in Go to the
Next remains.

13 Click the [ Next] button to finish editing the current bending process and proceed to the
editing screen for the next bending process.

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14 When the process tree no longer shows a yellow symbol, click the [ Close] button to finish
editing repositioning operation. The following Message is displayed:

15 Click [Yes].

16 Click the [ Go to Cycle simulation] tab at the top of the process tree.

17 Click the [ Start/Pause Simulation] button displayed in the Simulation View. The
simulation is played back.
18 Click the [Save] button on the ribbon control menu.

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 Section 3 - Editing Bending Data Caused by Warning or collision

Bending take-out movement (Tracking)

1 Double-click the Undo process in the process tree where Error is occurring.
2 Click [More...] on Message bar to check for error messages.

3 To edit take-out movement trajectory of Tracking, perform teaching. Click the

[Teaching] accordion to expand it.

4 Expand the combo box to select what behavior is Collision.

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5 Enter a value directly in TCP Position or drag the arrow in 3D view to move the target
Position in Robot.

6 Click the [ Start/Pause Simulation] button displayed in the Simulation View. When
Collision is avoided, Message in the figure below is displayed and the red symbol in the
process tree disappears.

7 Click the [ Next] button to finish editing the current bending process and proceed to the
editing screen for the next bending process.

8 When the process tree no longer shows a yellow symbol, click the [ Close] button to finish
editing repositioning operation. The following Message is displayed:

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 Section 3 - Editing Bending Data Caused by Warning or collision

9 Click [Yes].

10 Click the [ Go to Cycle Simulation] tab at the top of the process tree.

11 Click the [ Start/Pause Simulation] button displayed in the Simulation View. The
simulation is played back.
12 Click the [Save] button on the ribbon control menu.

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Unloading

1 Double-click [Unloading] in the process tree.

2 Click [More...] on Message bar to check for error messages. In this case, Collision occurs in
the relief operation after Part is transported to the unloading Table.

3 Click the [ Start/Pause Simulation] button in the simulation to execute the simulation and
check Collision operation.

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 Section 3 - Editing Bending Data Caused by Warning or collision

4 Click the accordion in [Part position] to expand it.

5 The orientation of the eject Position and Part is edited according to Collision
operation. Here, change the orientation of Robot by changing the orientation of Part.

Click Angle entry box in [ Rotate].

6 Enter a value directly, drag the blue Rotate axis in the Simulation View, or click the

[ Rotate 90° Anti-clockwise] button or the [ Rotate 90° clockwise] button to

Rotate Robot.

7 Click the [ Start/Pause Simulation] button displayed in the Simulation View. When
Collision is avoided, Message in the figure below is displayed and the red symbol in the
process tree disappears.

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8 When the process tree no longer shows a yellow symbol, click the [ Close] button to finish
editing repositioning operation. The following Message is displayed:

9 Click [Yes].

10 Click the [ Go to Cycle Generation] tab at the top of the process tree.

11 Click the [ Start/Pause Simulation] button displayed in the Simulation View. The
simulation is played back.
12 Click the [Save] button on the ribbon control menu.

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Chapter 2 Function and Editing

Chapter 2
Function and Editing

VPSS 3i ARBEND Users Guide

(C)2020 AMADA CO.,LTD. All Rights Reserved.
 Section 1 - Manually Adding/Editing Function

Section 1 Manually Adding/Editing Function

This section describes Function and manual editing procedures for ARBEND.

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Loading
Pallet Loading
Adding Pallet Loading

1 Click the [ Pallet Loading] button displayed in the Simulation View.

2 Click the [ Add] button. The edit Palette Loading screen opens. At this time, it is selected
by Auto based on Priority of Gripper.

Tip :
Clicking [Pallet Loading] display button which add the palette loading
process by Auto calculation.
3 Click the [Gripper] accordion to expand it.
4 Click the combo box. The registered Gripper is displayed.

5 Select Gripper you want to use. Select [TG1530U557SCB] here.

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6 Change the Gripping Position of Gripper as needed. Click the [Gripping Position] accordion to
expand it.

7 Click the input box or gripper in the simulation view. An arrow appears in position of gripper
TCPs in the simulation View.

8 Enter the value directly or drag the arrow to change Gripper grab Position.

9 Click the [ Next] button. If the detector is enabled in layout, the editing window for the
detection Position is displayed. If this happens, click the [ Next] button again.

This is how to add pallet loading.

The ddd Bend screen will continue to appear.

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Pallet Separator (HG-ARS)

HG-ARS pallet loading allows you to use pallet separator as option function.

1 On the pallet loading settings screen, click the [Devices Configuration] accordion to expand it.

2 Click the [ Add/Remove Separator] button. 3D view displays pallet separator bar.

3 The part position and the gripping position are set at the positions shown in the above
figure as in the case without pallet separator.
4 Click [Next] to complete the loading setting.
5 Set the bending and unloading settings and proceed to the simulated display.
6 Simulates each part that is at pallet separator. Select [Part 11] in the [Part] combo box
in the ribbon menu. Part on the pallet is displayed on the left side of pallet separator
bar.

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 Section 1 - Manually Adding/Editing Function

7 Click simulation [Start/Pause the simulation] button to run a simulation.

8 Click the [Save] button.

Programming using pallet separator is now completion.

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Vertical loading

Adding vertical loading

1 Click the [ Vertical loading] button displayed in the simulation view.

2 Click the [ Add] button. The vertical loading setting screen is displayed.

3 Select the desired Gripper from the combo box.

4 Click the [Part Position] accordion to expand it.

5 Edits the orientation of the part by clicking on Rotate buttons or invert button

. Alternatively, click the [ Select Edge in contact with Slot] button.

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 Section 1 - Manually Adding/Editing Function

6 The edge of part outline is displayed in orange.

7 Click the edge that is assigned to the slot. Here, select the right edge of the figure
above. The selected edge corresponds to the slot.

Continue to set how Part should be loaded into the vertical loading device.

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Configuration and settings of vertical loading

As shown in the figure below, the loading unit has A to E stages in slots No. 1 to 6. It is
necessary to set how part is loaded in each slot and each stage.

The settings are set in Position accordion combo box.

Select Column: Select the columns you want to set.

Select Start Slot: Select the start slot. For example, if you select the A colum and 3
start slots, the 1 and 2 slots of A colum do not have a Part.

Slot spacing: Select the slot spacing. For example, if you select 1, part will be spaced
one slot at a time.

Part Count: Select how many Part are placed in the selected column.

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 Section 1 - Manually Adding/Editing Function

To load part into all stages and slots, follow the steps below.
1 In Select Column, select Column E.

2 In Select Start Slot, select 1.

3 Select 0 for Slot Spacing.

4 Set 6 in part count.

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5 If you repeat the above steps by selecting from A to D column, parts will be loaded in all
stages and slots.

6 Unfold the Gripping Position accordion by clicking it.

7 Set Position by clicking in the entry box and entering a number or by dragging the arrow in 3D
view.

8 Click the [Device Configuration] accordion to select it.

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 Section 1 - Manually Adding/Editing Function

9 Edit the front and rear Position of the instrument. Click [ Front Wall Position] and input
the value directory or drag the arrow in 3D view.

10 Click [ Back Wall Position] and input the value directory or drag the arrow in 3D view.

11 When performing a simulation on the vertical loading setting view, you can select the part to
be simulated or switch the display/non-display of other parts. Select a step in the combo box in
the middle of the [Part Position] accordion. Here, select B.
12 Select a slot. Select 3 here.

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13 Click the Simulation play button. The selected B stage 3 slot is simulated.

14 You can also hide part other than the selected part by clicking [ Show/hide other Parts].

15 Click the [ Verify All] button. Verifies the loading operation of all assembly. If there
are no issues such as collision, Message below will be displayed.

16 Click the [ Next] button to finish editing. The add bend screen will continue to
appear.

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 Section 1 - Manually Adding/Editing Function

Referene Loading (HG-Rm/ARm)

Add of Referene Loading
1 Double-click Loading.
2 Open the [Device Configuration] accordion in Grasping of Loading.
3 Click the [Referene Loading] button to enable it.

4 Referene Loading is Add in the tree at the left of the screen.

Programming

Loading

Grasping

Measuring

Referene Loading

Bend

Unloading

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Chapter 2 - Function and Editing

Bend process
Changing Backgauge Position
This section explains how to change backgauge position of bend process. Backgauge
position can be changed using backgauge accordion in bend process settings window.

1 Click the [ Bend Operation] button.

2 Click the [Back Gauge] accordion to expand it.

3 Selects backgauge mode.

Normal: the left and right Backgauge to the same edges.

LShift : the left and right backgauge to separate edges

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 Section 1 - Manually Adding/Editing Function

Normal Backgauge

1 Click the [ Normal] backgauge button. The edges that can be backgauge are
displayed in orange color.

2 Click on the orange edge that you want to hit.

3 Correct position of backgauge as needed. Clicking on a backgauge model displays an

arrow. Pan backgauge position by dragging the arrows.

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LShift

1 Click [ LShift] button. Displays the edges that can be backgauge.

2 Select the first edge. The orange highlight disappears on the selected edges.

3 Select the second edge. Left and right backgauge hit separate edges.

4 Correct position of backgauge as needed. Clicking on a backgauge model displays an

arrow. Pan backgauge position by dragging the arrows.

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 Section 1 - Manually Adding/Editing Function

Adding X gauging
To add X-Gauging to bend process, make settings using the X-Gauge accordion in the
bending operations in bend process settings window.

1 Click [ Bend Operation] on bend process editing window.

2 Click the [X-Gauge] accordion to expand it.

3 Click the [ Enable/Disable X gauge usage] button. The X-gauge appears in 3D

view.

4 Select the edge to gauge by the X gauge. Click the [ Select Gauging Edge] button.
The edges that can be gauge are displayed in orange color.

5 Click the edge to be hit. The X gauge hits the selected edge.

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6 Adjust the X-Gauge position. Clicking the input field of the [ Part Y Position]
displays an arrow in 3D view. Adjust position by dragging the arrows.

7 Select Option Function.

Enable/Disable Guide Use: ON/OFF material supports.

Enable/Disable Early Preparation: ON/OFF Early preparation. When this is set

to ON, the X-gauge turns Pan to measurement position immediately after the normal
backgauge operation completion.

Enable/Disable BG pullback: After the first normal backgauge completion,

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 Section 1 - Manually Adding/Editing Function

backgauge retracts to the backward end.

8 Editing [ Approach Distance (X)] and [ Approach Distance (Z)] as needed.

The editing of the X-gauge is now completion.

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Chapter 2 - Function and Editing

Adding BI
To add a BI-S to bend process, use the BI accordion in the bend operation in bend process
editing window.

1 In bend process editing window, click [ Bend Operation].

2 Click the [BI] accordion to expand it.

3 Selects the BI behavior type.

Pinching: Measurement Position and Waiting Position are the same Position.

Temporary Bend D Value (Pre&Post) : Wait with waiting Position before and
after bending.

Temporary Bend D Value (Only Pot) : Only Bend waits at waiting position.

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 Section 1 - Manually Adding/Editing Function

4 Select [Temporary Bend D Value (Pre&Post)] here.

5 Select measurement method for BI.
Both : measure the front/rear both sides.
One Side (Front) : measure only front side.
One Side (Rear) : measure only back side.
6 Select [Both] here.

7 You can change the [ Measuring Position] or [ Waiting Position] by directly

entering the coordinate values or by clicking the BI device in 3D view and dragging
the arrows that appear.

8 Check that there is no collision by clicking [Play] on the simulation bar.

9 The setting of the BI-equipment is now completion.

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Tip :
When [One Side(Front)] or [One Side(Rear)] is selected in Measurement
Method, the following Message is displayed.

For single-sided measurement, springback quantity must be entered

manually in the actual AMNC window.

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 Section 1 - Manually Adding/Editing Function

Approach Function
You can use Function below on the bend setting screen of the [ Approach].

Enable/Disable Stop at Mute: Robot stops at the mute point (Position before backgauge
position), and the upper table descends before gauging. This is used to avoid collision
between side bend flange and Punch.

Reverse Posture: Change the bucket Position of Robot when approaching. Used to
avoid collision or change posture.

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Avoiding collision with side bend flange by stopping the mute point

If the punch collision with the side bend flange when the upper table descends at the
approach gauging position (bending position) as shown below, the mute point stop function
is effective.

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 Section 1 - Manually Adding/Editing Function

1 Click [ Approach] on bend process editing window.

2 Click [Robot Trajectory] accordion to expand it.

3 Click [ Enable/Disable Stop at Mute] button.

4 Click [Play] button in the simulation. Prior to the gauging operation, Upper Table can
be turned lowering to avoid collision with side bend flange.

5 Click [Next] to finish bend process setting.

Now the mute point stop function is set to completion.

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Bending Function
Following Function
Function and follow-up methods described below are available for Robot to perform bending
operations.
・ Base Axis motion
・ New following
・ Open following
・ Close following
・ Without following

Base Axis Motion

Move the base axis (J7 axes) at the same time when performing the following operation.
Robot Trajectory accordion of bend process can be used for ON/OFF. (When Base Axis
Motion is available, it is set to ON by default.)

1 Click [ Bend] on bend process editing window.

2 Click [Robot Trajectory] accordion.

3 Clicking the [Enable/Disable Base Axis Motion] button turns on Base Axis Motion.
Then New Following buttons and Base Axis value are displayed. Following operation
move to this base axis position.

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New following
When the new follow-up function is set to ON, the bucket Position and bending speed are
calculated to the optimum values for the conditions and bending can be performed. (may
not be enabled depending on the conditions)

1 Click the [ New Following] button. The traveling bucket Position and bending
velocity are calculated and optimized.

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Open following
The open following is followed by status where gripper is open or the vacuum is released
during the following operation. Half-open or full-open can be selected when using clamp.

The open following [ part release] can be selected with [Robot Trajectory] accordion of

[ Bend] process. Normally, open following is enable by default.

Enable/Disable Part Release: Open clamp or follow with vacuum open status.

Clamp Z Offset: allows you to edit Offset volume to remove Clamp from Part during
follow-up.

Half Open: half open clamp when following. (Normally Half Open is enable by default)

Full Open: full open Clamp when following.

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Close following

Clicking the [ Enable/Disable Part Release] button to turn it disable will close the
following.

Without following
When collision occurs in the following operation, it can be bent without following.

1 Click [ Bend] on bend process editing window.

2 Click [Robot Trajectory] accordion.

3 Click the [ Enable/Disable Following] button to turn off the following.

4 Enter [ Part Release Offset] value.

5 Next, specify the gripping position of bend after. If you select without following, the
[Regripping end bend] button is displayed at the top of the command panel.

6 Click the [Regripping end bend] button.

7 To change the grip Position, change the grip Position.

8 Click the [ Bending Operation] button.

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9 Click the simulation [Play] button. The following figure shows the operation without
following when using clamp.

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 Section 1 - Manually Adding/Editing Function

Pull out movement

Add a Tracking
This section describes how to add Tracking and how it works.

1 Click [ Pull Out] on bend process setting window.

2 Click the [Robot Trajectory] accordion to expand it.

3 Click the [ Tracking] button. The combo box is displayed.

4 Select Tracking type from the combo box. The following types are available.
Default
TCP Rotate - before
TCP Rotate - after
X Transl - before
X Transl - after

Defualt
Selecting a default generates pull out movement in Auto computation.

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TCP Rotate - before

Used to avoid U-shaped bending of side bend flange.

TCP Rotate - after

Used to avoid U-shaped bending of side bend flange.

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 Section 1 - Manually Adding/Editing Function

X Transl - before
Pan horizontally to eject part from Punch.

X Transl - after
Pan horizontally to flange forward to eject.

Tip :
In a complex assembly shape of pull out movement, you may need to
manually edit pull out movement trajectory. To manually edit pull out
movement trajectory, use the teaching function. For the teaching function,
refer to the teaching in Other Function in Section 3.

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Editing Tool layout

Add Tool Stage
1 Double-click the first bend (bend 1) in the process tree to open the editing screen.

2 In Tool Layout View, double-click Tool to change tool length or click [ Tools] on
Tool tab.
3 Select Tool type in Tool type filter.

4 Select Tool subtype in Tool subtype filter.

5 Select the attach type option for Tool to be used.

6 Select Tool you want to use.

7 Enter Tool length. or select bend line

8 Click the [ Add/Replace] button.

9 Repeat steps 3 through 8 to add Punch and Die and click [ Close].
10 Tool Stage is added.

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 Section 1 - Manually Adding/Editing Function

Positioning Tool in Coordinates

1 Select Tool in Tool Layout View.
2 Click the [Attribution] tab in the right panel. [Tool Stage Properties] accordion contains
the input for Tool Position.

3 Position Selects Tool Position to be specified.

Left edge: Left edge Position of Tool Stage can be specified.

Center: You can specify the center Position of Tool's Stage.

Right edge: You can specify the right edge Position of Tool's Stage.

4 Click the [ Center] button here.

5 Enter 0 in Position. Tool Stage is centered.

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Changing Tool
1 Double-click the first bend (Bend 1) in the process tree to open the editing screen.

2 In Tool Layout View, double-click Tool you want to change, or click the [
Replace] button in Tooling tab.

3 Click to select the subtype of Tool you want to use.

4 Select attach type option for Tool to be used.

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 Section 1 - Manually Adding/Editing Function

5 Select Tool you want to use.

6 Click the [ Add/Replace] button. Return to the bend sets window and change Tool
displayed in the simulation view.

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Changing Tool Length

1 Double-click the first bend (Bend 1) in the process tree to open the
editing screen.
2 In Tool Layout View, double-click Tool to change Tool length or click
[ Replace] on Tool tab.

3 Change the Desired Length.

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 Section 1 - Manually Adding/Editing Function

4 Click the [ Add/Replace] button. Return to the bend sets window and
change Tool length displayed in the Simulation View.

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Changing Tool layout Between Sequence

You can change Tool layout between Sequence by adding Setup.

1 Double-click the bend you want to change in the process tree to open the edit screen.
Bend 2 is selected here to change Tool layout between Sequence of Bend 1 and
Bend 2.

2 Click the [ Add] button on Tool tab. The Add Setup dialogue is displayed.

3 Enter an setup name in the setup name field.

4 Select Copy from or check “Don’t copy data”, and then click the [OK] button.
5 Select Setup you added in Setup in Tool tab.

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6 Follow the steps above to edit Tool layout.

7 Click the [ Next] button to exit the bend setting screen.

8 As a result, Bend 1 is Tool layout of Setup setup0, Bend 2 is Tool layout of setup
Setup01, allowing Tool layout changes between sequence.

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Regripping
There are three regripping types:
・ Regripping on Device
・ Regripping at Pinching Point
・ Regripping after bend
・ Regripping on Panel Regripping Device
・ Regripping on Revolving Table
Regripping can be selected within [Regripping] accordion of the respective sequence.

Regripping on device
Regripping on device is added prior to the selected bend process. For
example, if you are adding a regrippin on device between bend process 2
and bend process 3, add and Delete in bend process 3 setting window.

1 Click the [Regripping] accordion to expand it.

2 Click the [ Regripping on device] button. The [Gripping Position] accordion opens.
3 To change the gripping position, manually change the XY Position or Rotate Angle, or
use function below.

Select Clamping Edge: Select the edge (outline line) you want to grip.

Select Gripping Face: Select face you want to grip. Used to change face to be
gripped, such as Bottom View → bending flange.

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4 Here, click the [ Select Clamping Edge]. The outline of Part in 3D view is displayed
in orange color.

5 Click to select the edge to grip. The gripping position changes.

6 When the gripping position is determined, check regripping operation. Click [

Previous] to open regripping on device editing window.

7 Click the simulation [Play] button in the lower left to check the operation.

8 Click the [ Next] button to exit regripping on device editing screen and return to the
bend editing screen.

9 Click the [ Next] button or the [ Close] button. Clicking [Next] will continue to go
to the next sets window. You can exit the editing screen by clicking the [Close] button.

10 To turn delete the regripping on device, click [ Add/Remove Regripping on Device]

button on [Regripping] accordion again.

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: Regripping on Device ON

: Regripping on Device OFF

Function of Regripping on Device(HG-ARS)

HG-ARS's Regripping has the following function in addition to part position and gripping
position.
・ Gripper change between seaquence
・ Device Rotation
・ Supporter

Gripper change between seaquence

HG-ARS's Regripping on Device allows to replace gripper.

1 Click the [Gripper] accordion in Regripping on Device sets window to expand it.
IG0734U352SCB is selected in this step.

Before: After:

2 Select another gripper. Here, TG1530U557SCB is changed. Only gripper after

regripping is changed to the selected gripper.

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3 Click Simulate [Play] to check regripping operation.

4 Click [Next] to finish editing regripping on device sequence.

Device Rotation
Used to grip the opposite side of before regripping.

Before: After:

1 Click [Device Configuration] accordion in regripping on device setting window.

2 Click the [ Device Rotation] button.

3 Correct the grip position with the [Gripping Position] accordion.
4 Click the Simulation [Play] button. Regripping including device rotation is simulated.
5 Click [Next] to finish editing regripping sequence.

Supporter
Use a supporter to turn repositioning a thin Assembly of size Assembly or Thickness.
1 Click the machine setting accordion in repositioning machine setting window.

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2 Click the [ Supporter] button.

3 Select height for the supporter. Select 600mm here. 3D view displays the supporters.

4 Click [Next] to finish editing regripping on device sequence.

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Regripping at Pinching Point

Regripping at Pinching Point is added to after approach before bend in the bend process.
Add or delete in the bending setting screen of the process you want to add.

1 Click the [Regripping] accordion to expand it.

2 Click the [ Add/Remove Regriping at Pinching Point] button to expand. Regripping

at pinching point is displayed at the top of the command panel. [Position] accordion
opens.

3 Click the [ Select Gripping Edge] button. The outline of Part in 3D view is displayed
in amber.

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4 Click the edge to grip.

5 Click [Play] to activate the regripping.

The basic setting of the regripping at pinching point is now completion.

Supporter (HG-Rm/ARm)
HG-Rm/ARm allows you to use a supporter when Regripping at Pinching Point.

1 Open the [Regripping] accordion in bend process.

2 Turn Add Regripping at Pinching Point.
3 Turn Pick [Regripping at Pinching Point] from Top Right icon on the display.

4 [Device Configuration] Open the accordion.

5 Click the [Supporter Enable/Disable] button.
: Supporter enable/disable button
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6 When the supporter is enabled by clicking the [Enable/Disable Supporter] button, Text
for adjusting the left and right arm Position is Show.

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Regripping after Bend

Bend repositioning is added to bend process prior to the selected bend process. For
example, if you want to add regrippinf after bend between "bend process 1" and "bend
process 2", add and Delete in the "bend process 2" set window.

1 Click the [Regripping] accordion to expand it.

2 Click the [ Add/Remove Regripping after Bend] button. The [Gripping Position]
accordion opens.

3 Here, click [ Select Clamping Edge] button. The outline of part in 3D view is
displayed in orange color.

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4 Click the edge to grip.

5 Click the [ Previous] button. The screen returns to the previous bend process
setting screen. When regripping after bend is added, regripping after bend button is
added to the Command Panel.

6 Click the [ Regripping after bend] button.

7 Click simulate [Play] to check the operation of regripping after bend.

8 Click [ Next] to exit Bend repositioning editing screen, and return to the original
bend process editing screen to Completion adding Bend repositioning.

9 To delete regripping after bend, click [ Add/Remove Regripping after Bend]

button.

: Regripping after Bend ON

: Regripping after Bend OFF

Tip:
If regripping on device is added after regripping after bend, regripping on
device must be turned delete first for deleted regripping after bend

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Regripping on Panel Regripping Device (HG-Rm, ARm)

Regripping on Panel Regripping Device can be used as Option for HG-Rm, HG-ARm.
Regripping on Panel Regripping Device is turned bend process 2 Add to turn Add Regripping
on Panel Regripping Device between [bend process 1] and [bend process 2].
Regripping on Panel Regripping Device is turned Add prior to Pick of Sequence in the
same way as Regripping Device Regripping.

Add/Delete
1 Open bend process 2.
2 Open Regripping Accordion.
3 Click [Regripping on Panel Regripping Device Add/Delete].
4 Regripping on Panel Regripping Device is turned Add between [bend process 1] and
[bend process 2].

Function of Regripping on Panel Regripping Device

The following items can be edited as required.
[Device Configuration] Accordion:
Allows you to adjust the left/right arm Position of Regripping on Panel Regripping Device
Device and enable/disable Central Support.

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When Central Support is activated, the supporter grasps Material as shown in the figure
below.

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Regripping on Revolving Table (HG-Rm, ARm)

Regripping on Revolving Table can be used as Option for HG-Rm, HG-ARm.
Regripping on Revolving Table is turned bend process 2 Add to turn Add Regripping on
Revolving Table between [bend process 1] and [bend process 2].
Regripping on Revolving Table is turned Add prior to Pick of Sequence in the same way as
Regripping Device Regripping.

Add/Delete
1 Open bend process 2.
2 Open Regripping Accordion.
3 Click [Regripping on Revolving Table Add/Delete].
4 Regripping on Revolving Table is turned Add between [bend process 1] and [bend
process 2].

Function of Regripping on Revolving Table

[Device Configuration] Accordion:
Left and right arm Position can be turned Settings respectively.

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 Section 1 - Manually Adding/Editing Function

Unloading
Unloading type
This section describes unloading type and procedure
・ Piece At Once
・ One Stack
・ Shift Multi Stack
・ Multi Stack
・ Plane-Jointed (HG-ARS only)
・ Plane-Cross (HG-ARS only)

Piece At Once
Use this function when placing one assembly at a time without stack them, and then pouring
them on a conveyor or the like.

1 Click the [ Add unloading] button and [ add] button.

2 Select the unloading type from the combo box. Here, select [Piece At Once].

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3 Click the entry box for each coordinate in the [Part Position] accordion.

4 Edit Part Position by typing the values directly, or by clicking part in 3D view and dragging
the arrows that appear.

5 When the settings are completion, click the [ Next] button or the [ Close] button.
The dialog shown below is displayed.

6 Click [Yes].

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One Stack
Used to unload assembly at 1 stack.

1 Click the [ Add unloading] button. Then click .

2 Select the unloading type from the combo box. Select [One Stack] here.
3 Click the entry box for each coordinate in the [Part Position] accordion.
4 Edit position by typing the values directly or by dragging the arrows that appear in 3D view.

5 Click the [Stack] accordion to expand it.

6 Change the number of unloaded sheets as necessary.

7 Click the [ Next] button to finish editing.

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Shift Multi Stack

Used to unload part such as shape L angles or place them side by side on conveyors.

1 Click the [ Add unloading] button. Then click .

2 Select the unloading type from the combo boxes. Select [Shift Multi Stack] here.
3 Click the entry box for each coordinate in the [Part Position] accordion.
4 Edit position by directly entering the coordinates of the first part position or by
dragging the arrows that appear in 3D view.

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5 Directly enter the offset amount of the part position of the second and subsequent
sheets, or drag the arrow displayed in the 3D view to edit the position.

6 Click the [Stack] accordion to expand it.

7 Change the number of loaded sheets as necessary.

8 If 6 is entered, 6 parts will be unloaded on one stack.

9 Next, edit the unloading spacing to align the stack.

10 Click the [ Nesting X and Y direction] button to edit the uloading direction.

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11 Click the [ Nesting] button. unoading stack is added in the specified nesting
direction.

180mm

12 Click the [ Verify All] button. Verifies robot trajectory of all parts. If there is no
problem such as collision, Message below is displayed.

13 Click the [ Next] button to finish editing.

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Multi Stack
Used to line up several unloading stacks.

1 Click the [ Add unloading] button. Then click .

2 Select the unloading type from the combo box. Select [Multi Stack] here.
3 Click the entry box for each coordinate in the [Part Position] accordion.
4 Edit position by typing the values directly or by dragging the arrows that appear in 3D view.

5 Click the [ Even Part] button. In multi stack, the placement of part can be changed for odd
plane and even plane. Here, even plane part are unloaded rotate.
6 Increase rotate angle of position accordion by 8° from the odd angle.

7 Click the [Stack] accordion to expand it.

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8 Change the number of unloaded sheets as necessary.

9 Edits the unloading interval.

10 Click the [ Nesting XY direction] button to edit the unloading direction.

11 Click the [ Nesting] button. Unloading is added in the specified nesting direction.

When the XY nesting direction is the direction , it is nested as shown in the

figure below.

12 Click the [ Verify All] button. Verifies robot trajectory of all part. If there is no
problem such as collision, Message below is displayed.

13 Click the [ Next] button to finish editing.

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Plane-Jointed (HG-ARS)
Used to engage and unload bending flange. This section explains how to unload the U-
shaped part by engaging them as shown in the figure below.

1 Click the [ Add unloading] button. Then click .

2 Select the unloading type from the combo box. Select [Plane-Jointed] here.
3 In [Plane-Jointed], position and grip position of part are specified separately for the odd part
and even part. First, click the [ odd part] button. (Odd part are usually selected by
default.)
4 Click the entry box for each coordinate in the [Part Position] accordion.
5 Edit Position by directly entering the coordinates of the first part position or by dragging the
arrows that appear in 3D view.

6 Click the [ Vertical Flip] button. Turn the bending flange upward.

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7 Adds regripping only for odd part. On regripping accordion, click the [Add/Remove
Regripping on Device] button. The grip position accordion opens.
8 Select clamp for the gripper type.

9 Click [ Select Grip Face].

10 Click face to clamp on 3D view. Here you can select it by clicking on the bend flange.

11 Click [ Previous] to check regripping sequence.

12 Click [Next] to return to unloading sequence. This causes regripping to occur only before the
odd part unloading. Only the tree of [Part 1] is displayed in the process tree [Regripping].

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Tip :
Separate regripping cannot be added for each of the odd part and even
part stages. After adding regripping on device to the odd part, Message
below is added to attempt to add it to the even part as well. This results in a
common regripping and the same regripping for both.

13 Click the [ Even Part] button.

14 Click the [Vertical Flip] button. The even part is inverted.

15 Move the Part position by dragging the arrows in 3D view. Set so that the even part
engages with the odd part as shown in the figure below.

16 Edits the uloading interval.

17 Click the [ Nesting XY direction] button to edit the uloading direction.

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18 Click the [ Nesting] button. Unloading is added in the specified nesting direction.

19 Change the loading Part count of the loaded Front accordion as required.

20 Click the [ Verify All] button. Verifies robot trajectory of all part. If there is no
problem such as Collision, Message below is displayed.

21 Click the [ Next] button to finish editing.

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 Section 1 - Manually Adding/Editing Function

Plane-Cross (HG-ARS)
Used to unload a long part in a parallele cross.

1 Click the [ Add unloading] button. Then click .

2 Select the loading type from the combo box. In this case, select [Plane-Cross].
3 In Plane-Cross, position and orientation of part are specified separately for the odd
part and the even part. First, click the [ odd part] button. (Odd part are usually
selected by default.)
4 Click the entry box for each coordinate in the [Part Position] accordion.
5 Edit part position by directly entering the coordinates of the first part position or by
dragging the arrows that appear in 3D view.

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6 Enter the distance between Part.

7 Click the [ Nesting Direction] button to specify the nesting direction.

8 Click the [ Nesting] button to nest. When nested in the direction , it is nested in
the direction shown in the figure below.

9 Next, the even part position and gripping position are edited. Click the [ Even Part]
button.
10 Change part position and gripping position as well as the odd part.

11 Enter the distance between part.

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12 Click the [ Nesting Direction] button to specify the nesting direction.

13 Click the [ Nesting] button to nest. If the direction is specified , it is nested in the
direction shown in the figure below.

14 Click and unfold the [Stack] accordion.

15 Specify the number of stages for one stack as required.

16 Enter the uloading interval.

17 Click the [ XY direction nesting] button to edit the unloading direction.

18 Click the [ Nesting] button. The stack is added in the specified nesting direction.

When the XY nesting direction is the direction , it is nested as shown in the

figure below.

50

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19 Click the [ Verify All] button. Verifies robot trajectory of all part. If there is no
problem such as collision, Message below is displayed.

20 Click the [ Next] button to finish editing.

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 Section 1 - Manually Adding/Editing Function

Special Bend
Hemming Bend
This section describes the procedure for adding hemming bend using PART012 in the
SAMPLE folder.

1 Select Bend Line for [ Hemming Bend].

2 For hemming bending, the [Hemming Acute Angle] can be set in the bending
operation accordion at the bottom right of the screen on the bending line selection
screen.
You can also edit the [Hemming Acute Angle] in the hemming process later.
3 Set the [Hemming Acute Angle] and click [Next].

4 Acute bends are added.

Set in the same way as V-Bend and click [Next].

5 A[ Hemming Process] is created in the process tree.

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6 Open the Hemming Accordion and edit the parameters.

Hemming Acute Angle:

The acute angle before the flattering process can be changed. You can also edit on
the bending line selection screen described above. If you edit the Hemming Acute
Angle, you need to check the previous process by going back.

Hemming Repeat Number:

You can set the number of crushes from 1 to 3 times.

Mute-point Distance:
You can set the mute-point distance.
Please refer to the Chapter 2-Section 1, [Approach Function] for [mute points].

Open Distance:
You can set the amount of press brake opening after the Hemming flattering process.

Bending Speed:
You can set the bending speed.

Ex.) If you set [2] in the Hemming Repeat Number, Press Brake will behave as follow.

(Hemming Acute Angle) (Open Distance) (Open Distance)

Approach Flattering#1 Flattering#2 Pull Out

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 Section 1 - Manually Adding/Editing Function

Z Bend
This section, we will explain [Z Bend].
Bending line setting
If you launch ARBEND and the bend line is displayed as [Z?], you can add a bend as a [Z
Bend].

If [V?] Is displayed on the bend line for which you want to set [Z Bend], you need to change
the attributes on the ARNBEND or PD.
tip:
[How to edit using ARBEND]

: [Group/Ungroup Z bend]
Click the [V?] Bend line, click the [Group/Ungroup Z bend] from the
bending operation accordion, select the other bend line, and then click
[Confirm].
You can also ungroup the Z-bends in the same way.

[How to edit using PD]

Open the [Method tab] in PD and select multiple bend lines you want to set
as [Z Bends] from the [Production Tree]. After that, right-click and click [set
Z-Bend] as shown below.

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Tool Settings
The only [Z Bend] tool that ARBEND supports is [Following type], not [Flat type]. Please
read below for [Following Type] and [Flat Type].

[Following Type]

[Flat Type (not support)]

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 Section 1 - Manually Adding/Editing Function

RR Bend
ARBEND can set the [RR Bend] using R Punch.

In order to recognize the bending line as RR bend, the inner R must follow the PD setting.
PD Options> Method Settings> Bend Settings> R Bend Settings>Inner Radius Range

When the inner R is [RR / Step Bend Criterion value] ≧ [IR] ≧ [R Bend Criterion Value],
it becomes the bending line of RR bending.
If [IR] > [RR / Step Bend Criterion Value], it will be FR bending.
Tip:
ARBEND doesn’t support [FR Bend (=Step Bend)] which is performed by
repeating obtuse angle bend.

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Air blow Function (HG-Rm/ARm)

Air blow Function can be used on HG-Rm/ARm.

The air blower can be turned Settings when Part of Sequence is turned Release.
This section describes Regripping on Panel Regripping Device as an example.
1 Open Regripping on Panel Regripping Device.
2 [Robot Trajectory] Open the accordion.
3 Click the [Air Blow Enable/Disable] button.

Air blow enable/disable button

4 When the [Air Blow Enable/Disable] button is enabled, the air blow Leave Offset and
the air blow standby time can be turned Settings.

Air blow Leave Offset:

Air blow Leave Offset

Air blow standby time:

Settings the time to wait at Point specified by the air blow Leave Offset.

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 Section 2 - Fnction of Auto program creation

Section 2 Fnction of Auto program creation

This section describes how to create the program run by Auto/Semi-Auto/Bend-Auto.

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Auto

Auto
When you click [Auto], ARBEND create the all sequences from Loading to unloading.
This function also generate the robot trajectory.
Also, some options do not support semi-automatic. See the table below for details.
〇:Available,-: Not available
Auto Semi-Auto
Tool Currently Use Currently
Tool layout bending selected loading
specification specification sequence gripper phase

V Bend 〇 〇 〇 〇 〇 〇

Hemming 〇 - - 〇 〇 〇

Z-Bend 〇 - - - 〇 〇

RR-Bend 〇 - 〇 〇 〇 〇
Note: In case of IR>0, Hemming can’t execute.
Note: Hem double deck does not support [Auto]/[Semi Auto].

Semi-Auto
If you click [Auto < Semi-Auto], you can create the program automatically with the specify
specification.
This function also generate the robot trajectory.

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 Section 2 - Fnction of Auto program creation

Use currently defined bending sequence:

This function will enable with the program which is already defined bending
sequence. You can create the program with the currently bending sequence if you
run Semi-Auto with enabling this checkbox.
If you want to use the bending sequence created by another machine, you can do it
following steps.

1 Click [Bend sequence].

2 Click the machine name you want to use.
3 Click [Auto < Semi Auto]
4 Enable to [Use currently defined bending sequence] and click [Start].

Use currently defined press brake tooling:

This function will enable with the program which is already defined press brake
tooling. You can create the program with the currently press brake tooling if you run
Semi-Auto with enabling this checkbox.
If you want to use the press brake tooling by created exported files, you can do it
following steps.

1 Click [Tool Layout] in [Home] panel.

2 Select the exported .bts file.
3 Click [Auto < Semi Auto].
4 Enable to [Use currently press brake tooling].
Enable to the following radio button / checkbox if you need.
a) Tool layout specification:
Create the program without change the currently tool layout specification.
b) Tool specification:
Create the program with the furthermost to the left tooling in the tool stage.
This function only specify the tool ID, so the tool stages currently defined are
recalculated.
c) Add a new tool stage:
If you enable to the [Tool layout specification], you can select this.
ARBEND add a new tool stage if it needs.
d) Add a new tool setup:
If you enable to the [Tool layout specification], you can select this.
ARBEND add a new tool setup if it needs.

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Auto Gripper selection:

Create the program with the Auto Gripper selection.

Use currently defined loading phase:

This function will enable with the program which is already defined loading phase.
You can create the program with the currently loading phase if you run Semi-Auto
with enabling this.
If you want to set the loading phase manually with the “New” program, you can do it
following steps.

1 Click the [Loading].

2 Edit the [Part Position], [Gripping Position] and [Gripper], click next.
3 Edit the [Measuring].
4 Click [Close] and save the all changes.
5 Click [Auto < Semi Auto].
6 Select the [Use currently loading phase] and click [Start].

Use selected gripper:

Create the program with the selected gripper.

Perform AGC if necessary:

ARBEND use the AGC option if it is needed to create the program.

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 Section 2 - Fnction of Auto program creation

Bend Auto

Bend Auto
If you click [Bend Auto], ARBEND will calculate the Bend sequence and the press brake
tooling.
The bending sequence and the press brake tooling are currently set will overwrite by Bend
Auto.
In addition, Bend Auto will only create the Bend sequence and the press brake tooling, it
won’t create the Robot Trajectory and any phase (Loading, Bending, Unloading)
〇:Available,-: Not available
Bend Auto Bend Semi-Auto
Tool Currently
Tool layout Bending
specification specification sequence

V Bend 〇 〇 〇 〇

Hemming 〇 - - 〇

Z-Bend 〇 - - -

RR-Bend 〇 - 〇 〇
Note: Hem double deck does not support [Bend Auto]/[Bend Semi Auto].

Bend Semi Auto

If you click [Bend Auto < Bend Semi Auto], you can create the Bend sequence and press
brake tooling with the specified specific conditions.
In addition, Bend Auto will only create the Bend sequence and the press brake tooling, it
won’t create the Robot Trajectory and any phase (Loading, Bending, Unloading)

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Use currently defined bending sequence:

This function will enable with the program which is already defined bending
sequence. You can create the program with the currently bending sequence if you
run Bend Semi-Auto with enabling this checkbox.
If you want to use the bending sequence created by another machine, you can do it
following steps.

1 Click [Bend sequence].

2 Click the machine name you want to use.
3 Click [Bend Auto < Bend Semi Auto]
4 Enable to [Use currently defined bending sequence] and click [Start].

Use currently defined press brake tooling:

This function will enable with the program which is already defined press brake
tooling. You can create the program with the currently press brake tooling if you run
Bend Semi-Auto with enabling this checkbox.
If you want to use the press brake tooling by created exported files, you can do it
following steps.

1 Click [Tool Layout] in [Home] panel.

2 Select the exported .bts file.
3 Click [Bend Auto < Bend Semi Auto].
4 Enable to [Use currently press brake tooling].
Enable to the following radio button / checkbox if you need.
a) Tool layout specification:
Create the program without change the currently tool layout specification.
b) Tool specification:
Create the program with the furthermost to the left tooling in the tool stage.
This function only specify the tool ID, so the tool stages currently defined are
recalculated.
c) Add a new tool stage:
If you enable to the [Tool layout specification], you can select this.
ARBEND add a new tool stage if it needs.
d) Add a new tool setup:
If you enable to the [Tool layout specification], you can select this.
ARBEND add a new tool setup if it needs.

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 Section 3 Other Function

Section 3 Other Function

This section describes Other Function of ARBEND.

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How to output the Report

This section explains the basic operation of Setup Instruction Output with ARBEND.
Print is a function that prints process created by ARBEND.

1 Click the [ Report] button in the ribbon control menu.

Tip :
Printing is done using Windows Standard printer instructions.
Use a status that can print printers from Windows.
2 Scan the printed Report with AMNC 3i.

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 Section 3 Other Function

Teaching
This section describes the basic operations of teaching with ARBEND.
Teaching can be performed by editing, adding, and Delete Robot operation trajectory
created by ARBEND.
Teaching can be performed on the simulation screen or on the setting screen of each
sequence.

Simulation screen
Editing Robot Position
1 In the simulation window, select the operation ([MoveJ] or [MovL]) you want to edit in
the process tree. An arrow appears in 3D view at the yellow line of the trajectory and
at the end of gripper.

2 You can modify the motion position by dragging the arrows.

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3 You can also Rotate the arc by dragging it.

4 You can also edit the TCP-coordinate of the XYZ using TCP position teaching in the
right side command-panel. (The J7 axes are the axes of the base. To edit position of
the base, edit the values of the J7 axes.)

5 You can edit the values of robot axes by teaching the axis values in the right side
command panel.

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 Section 3 Other Function

Adding Robot Trajectory point

To add an operational position, you can add one of its position by right-clicking on the yellow
line displayed in 3D view.
1 Right-click position for which you want to add the yellow line in 3D view. The menu
shown in the figure below appears.

2 Clicking the [ add] button adds the operation position to position you right-clicked
and adds move to the process tree.

3 Clicking [ Copy] also adds a Move of exactly the same Position as the currently
selected move.

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Delete of Robot Trajectory point

1 To turn delete Robot operation position, right-click move you want to delete in the
process tree.

2 Clicking delete on the context menu will delete move.

3 You can also right-click on a point in 3D view and click Delete.

4 However, some operations cannot be turned delete, such as saving position, which is
required for operation. If so, delete button is disabled.

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 Section 3 Other Function

Setting window for each process

The teaching function can be used in sequence where the [Teaching] accordion is located
in the setting windows such as approach, pull out, and regripping. You can use the combo
box to select move to be edited. When selected, arrows and operation trajectories that can
be pan by dragging are displayed in 3D view.

Editing add delete is the same as the method on the simulation screen, so please refer to
the procedure on the simulation screen above.

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Chapter 2 - Function and Editing

Robot Trajectory and Velocity

ARBEND allows you to change robot trajectory and motion velocity of the individual
sequence. This section describes advanced of robot trajectory of the respective sequence
and the range of the velocity to be changed.

Pallet loading
The operation trajectory of pallet loading is as shown in the figure below.
(Approach)

Approach
Height
Sensing
Height

Approach Sensing start position Grasping position

(Escape (magnet floater escape ON))

Escape X and Y
(X is depth direction)
Approach
Height

Escape Z

Grasping position Magnet floater escape Escape

(Escape (magnet floater escape OFF))

Approach
Height

Grasping position Escape

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 Section 3 Other Function

[Robot Trajectory] accordion for pallet loading allows you to edit the operation Position above.

Approach Height: Sets Height that initiates the approach to the material.

Sensing Height : Sets Height at which sensing of the material starts.

Enable/Disable Escape motion: Magnet floater escape motion is performed in

retraction operation after part is sucked.

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In addition, [Robot Speeds] accordion can be used to set the speed of each operation.

Each speed can be set from left to three levels: low speed, medium speed, and high speed.

Approach: From approach position to gripping position

Arrive: Current this speed is not used. The operation of the actual device does not
change even if it is changed.

Contact: Speed of the magnetic floater escape. It is not used when the magnet floater
escape is OFF.

Leave: The speed to the escape position. When the magnet floater escape is OFF, this
speed is applied from gripping position to escape position.

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 Section 3 Other Function

Vertical loading
The operation trajectory of vertical loading is often as shown in the figure below.

Approach
Height(Z)

Approach
Distance(Y)

[Robot Trajectory] accordion, which is often loaded, allows the above approached quantities
to be set.

Approach Height (Z): Set the upper figure Approach Height (Z).

Approach Distance (Y): Set the Approach Distance (Y) in the figure above.

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It is also possible to set the speed of the above operation with [Robot Speeds] accordion.

Approach: Sets the speed during Z-direction approach operation.

Arrive : Set the speed in Y-direction approach operation.

Contact: escape speed after turning clamp the workpiece

Leave: Not currently used. The speed of the escape operation operates at the speed
set by Contact.

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 Section 3 Other Function

Detector (HG-ARS)
The operation trajectory of the detector is as shown in the figure below.
(Approach)

Approach (Z)
Approach (Y)

Approach Position Measuring position

(Escape)

Measuring position Escape position

The above operation Position can be edited with [Robot Trajectory] accordion of two sheets.

Approach Height (Z): Sets the Z-direction (Height direction) approach amount.

Approach Distance (Y): Sets the amount of approach in Y direction (depth direction).

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In addition, [Robot Speeds] accordion can be used to set the speed of each operation.

[Approach]: The operating speed up to the first approach position. The last MOVJ of
Transport trajectory and the first MOVL of the approach are output at the same position
(Robot Posture). The difference in velocity can be checked on the actual machine only when
the attitude of MOVJ and MOVL differs by teaching, etc.

Approach: Operation speed of Z and Y direction approach operation.

Contact: The operation speed from measuring position to escape position.

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 Section 3 Other Function

Detector (EG-AR)
For the operation trajectory of EG-AR detector, Offset is used as shown in the figure below.

(Part approach and gripper escape)

Release Release
Approach Leave
Offset (Z) Offset (Z)

Pick Approach Offset(Y)

(Gripper Approach)
Release Approach Offset (Y)

Pick
Approach
Offset (Z)

(Part Escape)
Pick
Escape
Offset (Y)

Pick
Escape
Offset (Z)

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The above operation position can be edited with [Robot Trajectory] accordion of two sheets.

Release - Approach Offset (Z):

Sets Offset content of the Z-direction approach prior to part release

Release - Approach Offset (Y):

Sets Offset content of the Y-direction approach prior to part release.

Release - Leave Offset (Z):

Sets gripper escape offset quantity in the Z-direction after part release.

Pick - Approach Offset (Y):

Sets the amount of Y-direction approach Offset to the new grip Position after Part is opened.

Pick Approach Offset (Z):

Sets the amount of Z-direction approach Offset to the new grip Position after Part is opened.

Pick Leave Offset (Z):

Sets Offset quantity to be retracted in the Z-direction after Part is gripped.

Pick Leave Offset (Y):

Sets the amount of Offset to be retracted in the Y direction after Part is gripped.

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 Section 3 Other Function

In addition, [Robot Speeds] accordion can be used to set the speed of each operation.

Approach:
Sets robot speed when operating the Release Approach Offset (Z) and (Y).

Arrive:
Sets robot speed when operating from the Release Approach Offset (Y) Position to the Part
Position (Measuring Position).

Contact:
Sets robot speed when the actuator operates to the Release Offset (Z) Position after Part is
released.

Transition: Currently not using this speed.

Leave:
Sets the operation of approaches (Y) and (Z) to the new grippping position and the speed
of the escape operation after part grip.

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Regripping at Pinching Point and Regripping after Bend

The operation trajectory of the pinching regripping and regripping after bend is offset Position as
shown in the figure below.

Release Offset

Pick Offset

Release Offset Clamper

Pick Offset

Clamper
Release Offset

Pick Offset

The above operation Position can be edited with Robot operation trajectory accordion of the pinching
repositioning.

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 Section 3 Other Function

Release Offset : Set the open position (offset quantity) in the figure above.

Clamper Release Offset：Set the amount of clamp release offset shown above. By
default, the part is set to be centered on the opening amount.

Pick Offset : Set the gripping Position (Offset quantity) in the figure above.

Clamper Pick Offset：Set the amount of clamp release offset shown above. By default,
the part is set to be centered on the opening amount.

In addition, [Robot Speeds] accordion can be used to set the speed of each operation.

Release: Sets the speed at which the actuator operates to the Release Offset.

Transition: Sets the speed of the posture change operation (MOVJ) from the Release
Offset to Pick Offset.

Pick : Sets the speed at which the actuator moves from the Pick Offset to the gripping
position

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Regripping on Device (HG-ARS)

The operation trajectory of regripping on device (HG-ARS) is Offset Position as shown in the figure
below.
[Vacuum]
Release Offset

Approach Offset

Release
Offset (Y)
Pick Offset

Leave
Offset

Pick Offset (Y)

[Clamper]
Clamper
Release Offset
Approach Offset
Release
Offset

Leave
Offset
(Gripping
position) Clamper
Pick Offset

Pick Offset

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 Section 3 Other Function

The above operation position can be edited with [Robot Trajectory] accordion of regripping on device.
[Before Regripping]
(Vacuum)

Approach Offset：
Set the approach position of the movement to put the part in the re-grabbing device before
re-grabbing.

Release Offset：
After grabbing the parts and placing them on the re-device, set the position where the gripper
retracts.

Release Y Offset：
Set the offset amount in the Y direction from the open position.

(Clamper)

Approach Offset：
Set the approach position of the movement to put the part in the re-grabbing device before
re-grabbing.

Release Offset：
After grabbing the parts and placing them on the re-device, set the position where the gripper
retracts.

Clamper Release Offset：

Set the amount of clamp offset when open.

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[After Regripping]
(Vacuum)

Pick Y Offset：
Set the offset amount in the Y direction from the grip position.

Pick Offset：
Set the approach position in front of the gripping position after re-grabbing.

Leave Offset：
After sucking the parts, set the position to retract.

(Clamper)

Pick Offset：
Set the approach position in front of the gripping position after re-grabbing.

Clamper Pick Offset：

Set the offset amount when gripping the clamp.

Leave Offset：
After sucking the parts, set the position to retract.

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 Section 3 Other Function

In addition, [Robot Speeds] accordion can be used to set the speed of each operation.

Release: Sets the speed at which part is left on regripping on device from the
previous approach position of regripping to the release offset.

Transition: Sets the speed at which from release offset to pick offset.

Pick : Sets the speed from gripping position to leave offset.

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Regripping on device (EG-AR)

The operation trajectory of regripping on device (EG-AR) is offset position as shown in the
figure below.
※ Clamp open Offset and Clamp grip Offset are not available when using vacuum.

(Part Approach)

Approach Offset Y Approach Position Z

Part Position

Approach Position X

(Gripper Escape)
Clamper Release Offset

Release Offset

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 Section 3 Other Function

(Gripper Approach)

Clamper Pick Offset

Pick Offset

(Part Escape)

Escape Offset (Y)

Escape Offset (Z)

Escape Offset (X)

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The above operation position can be edited with [Robot Trajectory] accordion of regripping
on device (EG-AR).

(Before Regripping)

Entry X Offset :
Sets the X-direction approaching position when part is placed on the equipment.

Entry Y Offset :
Sets the Y-direction approaching position when part is placed on the equipment. Normally it
is set to 0 by default.

Entry Z Offset :
Sets the Z-direction approaching position when Part is placed on the equipment.

Release Offset :
Sets position at which gripper escapes after part is released.

Clamper Release Offset :

Sets position at which clamp escapes after part is released. ※ This is not displayed when
vacuum suction is used.

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 Section 3 Other Function

(After Regripping)

Pick Offset:
Sets the approach position when part is grabbed to the gripping Position.

Clamper Pick Offset:

Sets position that turns offset clamp from the gripping position. ※ Not displayed when
vacuum is used for suction.

Exit Z Offset :
Sets the Z-direction Offset Position when holding Part and retracting from the equipment.

Exit X Offset :
Sets the X-direction Offset Position when holding Part and retracting from the equipment.

Exit Y Offset :
Sets the Y-direction Offset Position when holding Part and retracting from the equipment.
Normally, it is set to 0 by default.

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In addition, the following speed can be set with [Robot Speeds] accordion.

Release:
Sets the speed at which part moves from approach position to regripping on device to
escape.

Transition:
Sets the operating speed at which the position is changed to the holding Offset Position after
part is placed and evacuated.

Regripping :
Sets the operating velocity from gripping Offset Position to Part gripping and retracting.

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 Section 3 Other Function

Regripping on Panel Regripping Device

Parameter of Regripping on Panel Regripping Device can be turned Settings within Robot
Trajectory accordion.

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Robot Trajectory

Release Approach Z Offset:

Release Approach Z Offset

Release Leave Z Offset:

Release Leave Z Offset

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 Section 3 Other Function

Pick Approach Offset:

Pick Approach Offset

Pick Leave Z Offset:

Pick Leave Z Offset

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Robot Speed
Robot Speed Accordion allows you to turn Settings Speed below.

Approach:
Turns Settings Speed when depositing Material on Device.

Contact:
Turn Settings Speed until the air blow Leave Offset after placing Material on Device. This
Speed turns Function when air blow is enabled.

Regripping Speed:
Turn Settings Regripping Speed from when Material is turned Release until it is grasped.

Leave:
Turn Settings Speed from when Material is held until it retracts.

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 Section 3 Other Function

Regripping on Revolving Table

Parameter of Regripping on Panel Regripping Device can be turned Settings within Robot
Trajectory accordion.

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Robot Trajectory

Release Approach Y Offset:

Release Approach Z Offset:

Release Approach Y Offset

Release Approach Z Offset

Release Leave Z Offset:

Release Leave Z Offset

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 Section 3 Other Function

Pick Approach Offset:

Pick Approach Offset

Pick Leave Y Offset:

Pick Leave Z Offset:

Pick Leave Y Offset

Pick Leave Z Offset

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Robot Speed
Robot Speed Accordion allows you to turn Settings Speed below.

Approach:
Turns Settings Speed when depositing Material on Device.

Contact:
Turn Settings Speed until the air blow Leave Offset after placing Material on Device. This
Speed turns Function when air blow is enabled.

Regripping Speed:
Turn Settings Regripping Speed from when Material is turned Release until it is grasped.

Leave:
Turn Settings Speed from when Material is held until it retracts.

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 Section 3 Other Function

Approach
The approach is to turn pan part from the approach position to the gauging position as shown
in the operation below. You can set robot speed for this operation with [Robot Speeds]
accordion.

Approach: Sets the speed of the above approach operation.

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Pull Out
This is the basic operation of extracting part from Tool to Bend as shown in the figure below.
You can set robot speed for this operation with [Robot Speeds] accordion.

Leave: Set the speed of the above pull out movement. It also operates at this speed
even when tracking operation is set.

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 Section 3 Other Function

Unloading
The operation trajectory of unloading is as shown in the figure below.
(Approach)

Approach Height

Sensing Height

Release Offset

(Escape)

Escape Offset

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The above operation position can be edited with unloading's [Robot Trajectory] accordion.

Approach Height: Sets the approach Height.

Release Position : Sets Position to open Part. At 0, Part is placed on the pallet. If a
value greater than 0 is entered, Part is dropped from that Height.

Escape Offset : Set the amount to be retracted to release after placing part on the
pallet.
※ The sensing height is height position 50mm from the release position.

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 Section 3 Other Function

In addition, [Robot Speeds] accordion can be used to set the speed of each operation.

Approach: Sets the operating speed from the operation to the approach height to the
sensing height.

Arrive: Sets the operation speed from sensing Height to release position. However, it
is not used if the release position is greater than 0, and it operates up to release position at
the approach speed.

Contact: Sets the speed when operating to escape offset.

Leave : Sets the speed when returning from escape offset to approach height.

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Import
Import CAM Program
In ARBEND, you can Import a programme created in the same Layout with the same
machine type and the same Device configuration. (Check data is also taken over.)
In addition, you cannot Import a program if the program you want to Import contains a gripper
that is not owned by the program.
1 From the ribbon menu, select [CAM Import] from Import.

2 On Show screen, Pick Machine of the program you want to Import from Machine List
and click [OK].
3 Check the program to generate and save cycles.

Import between Bend Sequence and Tool

ARBEND allows you to Import Bend Sequence and Tool Layout of programmes made of
Machine with identical machine type and differing Device configurations.

: Turns Import Bend Sequence only.

: Turns Import Tool Layout only.

: Turns Import only Bend Sequence and Tool Layout.

Tool Layout must turn Pick [.bts] File.

Import steps for [Bend Sequence] or [Bend Sequence and Tool Layout] are described
below.

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 Section 3 Other Function

1 Click the [Bend Sequence and Tool Layout] buttons. Machine name with a
programmed Part that is Pick is turned Show to Machines list.

2 Pick by clicking Machine name that you want to Import. In this example, Pick HGARS-
04.
3 Click the [OK] button. Bend Sequence and Tool are turned Import. To check Bend
Sequence, check Figure on View Bottom Left.

4 Bend Line is Show to V1 and V2. V stands for V Bend and the number indicates Bend
Sequence. Bend Line that is Show with V1 is the first Bend.

5 To check Tool Layout, click Tool Layout tab.

Turning Import Bend Sequence activates the [Clear Bend Seq] button. This is used when
you want to Settings Bend Sequence from 1 instead of Bend Sequence that is turned Import.

: Clear Bend Seq Button

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