MCX-Robotmaster 2020 – User manual
1
Summary
MasterCam introduction 3
Interface 3
3D movements 4
Template use 5
Open a template 5
Insert a 3D object 6
Move a 3D object 7
Create a tool trajectory - Hard foam 8
Create a tool trajectory - Soft foam 10
Simulate a trajectory 19
RobotMaster introduction 20
Interface 20
3D movements 21
RobotMaster use 22
Generate a program 22
Collisions 23
2
MasterCam introduction
Interface
The MasterCam interface is divided in 3 parts :
- 1 : The toolbar, containing the RobotMaster access, the file opener tool, the dynamic movement tool and the
merge tool.
- 2 : The toolpath indicating the path the tool will follow during simulation and each step’s parameter.
- 3 : The 3D visualisation which permits observation of the applied trajectories on the model.
3
3D movements
The model’s movements on the 3D window can be done in different ways :
- Maintaining the mouse wheel allows for rotary XYZ frame movement in 3 dimensions around the clicked
position.
- Maintaining the CTRL key and the mouse wheel allows for rotary XYZ frame movement in 2 dimensions
around the window’s center.
- Maintaining the SHIFT key and the mouse wheel allows for movement in 2 dimensions.
- A right click allows for viewing angle selection. This option is also present at the top right of the toolbar.
- The mouse wheel allows for zooming in and out.
4
Template use
Open a template
A template folder is available on the desktop screen. Open the folder and select the block size you wish to use.
Warning : The template depends on the dimensions of the foam block to machine.
It is also possible to open a template by clicking on the tool or CTRL + O and following the following path : :
C:\Users\Public\Documents\Shared Mastercam 2020\mcx
When the robot is equipped with multiple tables, the templates of each are separated into different folders (P1 and
P2 for example).
5
Insert a 3D object
Click on the tool then find the “STL patient” folder on the desktop.
This folder contains all the necessary 3D objects in the STL format.
Select “All Files (*.*)” as file type to be able to find them.
Once the model is loaded, it will be visible on the 3D visualisation window.
Confirm the model’s insertion by clicking on the buton.
6
Move a 3D object
Click on the object to move then go back to the “VICTOR robot” header. Select the “Dynamic” tool then the center of
gravity indicated by the small blue and white circle.
If the XYZ vectors are different from the ones on the preceding image, make sure to be in 3D construction mode.
Move the object with a left click to select the axis or angle to modify, click again at the wanted position ( a ruler
appears, if the mouse is on it the movement will be done by increment, if it is not, the movement is free). All
commands must be confirmed by clicking on the button.
7
Create a tool trajectory - Hard foam
Once the model is correctly positioned, click on the “Geometry” header (4 or 2 depending on the template). For each
“Geometry” header, click on the mouse icon in the “Drive” part of the window, select the 3D model on the 3D
visualisation window, press ENTER and confirm by pressing .
Click on “Regenerate all dirty operations” on the toolpath header. The program will collide the model with the tool’s
path. This operation can take a few minutes.
The result must look like the inserted model, wrapped in the tool’s path (blue line).
Example :
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9
Create a tool trajectory - Soft foam
Set the Z value as the height of the foam block minus the tools length (150).
(The block’s height can be found in “Stock setup”)
All supports will be made at this altitude.
Create a rectangle on the internal limit of the 3D model.
(The lines will pass through the
model).
To erase or modify a rectangle, all of
its sides can be selected at once by
clicking on one side while
maintaining SHIFT.
Each construction or movement must be confirmed by clicking the button otherwise it will not be registered.
10
Select the “Offset (Chains)” tool and click on one of the rectangle’s
sides.
Confirm the selection by pressing the button and click
outside of the rectangle to indicate the direction of the offset.
Indicate a distance of at least 30.
Uncheck the “Modify Fillet Corners” option to have right angles.
Confirm by pressing .
11
This rectangle will be the external limit of the security structure.
To create the security structure, select the “Extrude” tool and click
on both rectangles previously created.
Confirm by pressing .
12
When the structure appears, modify it’s height to make it
correspond with the block’s base by clicking on the blue arrow
attributed to the structure and sliding the mouse on the ruler. Click
again to confirm the new height.
Confirm by pressing .
Warning : There must not be any holes between the 3D model and
the security structure.
Select the “Draft” tool.
Click on the external rectangle created previously with the “Offset”
tool.
Confirm by pressing .
Input a height of 150 and make sure the direction is correct.
(The surface must reach the top of the block).
13
This surface contributes to vibration reduction.
Click on the first “Geometry”.
14
On the new window, head to the “Model
geometry” subpart and click on the
mouse icon in the “Machining Geometry”
area.
Select everything then press ENTER.
15
Open the “Toolpath Control” subpart and
click on the “Boundary chains” mouse
icon.
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Select the chain by clicking on the external rectangle.
Confirm by pressing .
Select the “Approximate start point” mouse
icon.
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Switch to the top view and select the middle of the model.
Close the window by pressing .
Click on the second “Geometry”.
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Click on the “Machining surfaces” mouse
icon.
Select the model and the security structure.
(To select a solid, triple click it)
Confirm the selection by pressing ENTER.
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Click on the “Containment” mouse icon.
Select the internal rectangle.
Confirm by pressing .
Close the window by pressing .
Click on “Regenerate all dirty operations” in the Toolpaths header. The program will collide the model and the
security structure with the tool’s path. This operation can take a few minutes.
20
Simulate a trajectory
Click on “Select all operations” then “Verify selected operations”. A new window will appear.
Press or R to start the simulation.
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RobotMaster introduction
Interface
The RobotMaster interface is divided in 5 parts :
- 1 : The toolbar.
- 2 : The operation list and their status.
- 3 : The 3D simulator.
- 4 : The path point list.
- 5 : The rotation of the robot’s axes.
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3D movements
The movement in RobotMaster controls the same as on MasterCam with the exception of the CTRL command that
does nothing.
23
RobotMaster use
Generate a program
Click on Program → Generate program.
Make sure “Ask” is checked..
Confirm and save the trajectory in the “Traj
storage” folder on the desktop.
24
Collisions
Next to each operation in the operation list should be a green check.
If any other indicator is shown, contact IT support.
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