Off-Line Programming with No Touchup

Off-line Programming (OLP) Applications refers to the ability to transfer Robot Programs, created through Simulation to the Actual Robot Cell (referred to as “Downloading”), or transfer Robot Programs created on the Actual Plant Floor to the Robot Cell in the Simulation Model (referred to as “Uploading”). 

 

If all Robot Cell Components were manufactured perfectly, all Robot Programs could then be downloaded to the Actual Robot Cell but, because of the Manufacturing Tolerances of the Actual Robot, End-Effector, and Fixture in the Actual Robot Cell compared to the Model or Nominal Simulation Robot Cell, the downloaded Robot Programs will not follow the intended path.  This may result not only in incorrect positioning of the Robot’s Tool Center Point (TCP), but also in potential collisions between the Robot, End-Effector, and the Fixture. 

 

A Robot Model Cell is accurate enough if the positioning accuracy of its resulting Robot Programs is within the acceptable limits for that particular Application.  For example a Model Robot Cell that is good enough for a paint job might not be good enough for an engine component assembly application.  To eliminate this problem, the Robot Programs need to be corrected (i.e. “Filtered”) in order to take into consideration the Identified Actual Calibration Parameters.  Robot Cell Calibration is the process of first determining the Actual Dimensions of a Robot Cell.  That information can then be used to correct the downloaded Robot Programs accordingly. Whether the Robot Cell performs waterjet cutting, spot welding, sealing, arc welding, assembly or other tasks, programming a Robot Cell “off-line” minimizes production interruption and helps meet Flexible Automation goals.