Narrator: In this video, (happy music)
we will see how to do
a complete CNC Machine Tending application
using D:PLOY.
The powerful D:PLOY platform allows you to reduce
the deployment time of a CNC application by up to 90%
compared to the conventional solutions available until now.
This CNC application cell layout
consists of blank cylindrical work pieces
presented in an inclined infeed system
where gravity ensures that the parts
are placed in their correct position,
a tray outfeed system to place the machined parts,
a CNC Lathe machine with automatic chuck and door,
a robot with two 3FG15 Grippers to optimize cycle time
and minimize the machine's idle time,
a blow nozzle for cleaning the machined work pieces
before unloading them from the machine,
and finally, the all-in-one OR base module
to connect the robot tools and all other components
for this application and to log into D:PLOY.
The OR machine module is also used for its relays
to control the machine and its isolated inputs
to get feedback from it.
Let's log into D:PLOY to build the application.
Keep in mind that D:PLOY is not limited
to this application only.
You can always select and build other applications
available in the D:PLOY platform.
D:PLOY automatically detects and configures
most of the connected hardware and gives us
a very simple overview of the components
required for the application.
D:PLOY works with many of the leading robot brands.
Watch the robot configuration videos
to see how to connect and use your robot
from the D:PLOY interface.
After connecting the robot,
start by setting the robot's home position.
It is recommended to define this position at a high place
where the robot can be switched on and off safely
and does not block the operator's access
to the inside of the machine.
Let's add the remaining devices to this application.
It is possible to run a CNC application without sensors
in the infeed or outfeed systems.
For this to work, the operator must fill the infeed
and empty the outfeed trays before running the program.
The other option is to add sensors
so that the program automatically detects
if there is a part available to pick up
or space to place it after machining.
Just select if you are detecting a single part
or a container of parts.
In this cell, we will not use any sensors.
Now we will add the CNC machine.
D:PLOY eases the connection
between the robot and CNC machine
and it can be connected via ethernet based protocols
such as ethernet IP, or digital signals, as in this case.
First, we need to select
if it is a Lathe or milling machine.
D:PLOY is compatible with both types of machines,
and will automatically adjust its graphical interface
and application parameters accordingly.
To avoid collisions when the robot moves inside the machine,
let's define the size of the chuck's jaw.
Now we will set the position where the robot will wait
for the machine to finish.
This position must be in front of the door,
considering that the robot must be able to reach it
from the infeed and then move from here to the out feed.
Next, we'll configure the machine functions
that we want D:PLOY to control and monitor.
These will depend on the configuration
and program of your CNC.
We'll start by mapping the correct pin assignments
for the cycle start, program end,
open and close chuck functions.
If no feedback signal is used,
we can disable it and the robot will wait
the set time before continuing.
D:PLOY gives you the flexibility
to configure the machine device according to your needs.
For example, the CNC program could control
the opening and closing of the door
and the robot will only wait for the program end signal
to enter the machine.
Or D:PLOY could open the door after the machine sends
the program end signal.
Both options are valid.
Just enable or disable the functions as needed.
Lastly, we will add and configure
the output signal needed to activate
the cleaning nozzle attached to the robot.
Once we completed the cell setup,
we are ready to move on to defining the workspace.
The D:PLOY will create the robot motion
required for the application.
Here in the workspace, we can easily add any obstacles
or sell boundaries to ensure collision free robot movement.
To add a boundary, simply add an obstacle, resize it,
and position it following the direction
of the robot or world access.
Not all physical objects need to be added.
Just those that look in the way of the robot
when moving from one position to another.
We don't have to worry about how the robot
will get around the obstacles.
That will be handled automatically by D:PLOY.
For this CNC sample application,
we just added the front sides
and the interior of the machine.
After setting up the hardware and workspace,
we are now ready to build
our CNC machine tending application.
With D:PLOY, there is no longer a need
to spend time programming the robot or the program logic.
We just have to follow these guided steps
which correspond to the configured hardware
and D:PLOY will build everything for us.
The first step is to define our infeed.
Just select the type of infeed, the number of parts,
and set the pattern location
by teaching the three corners of the pattern.
The robot can be easily moved
using the control panel of D:PLOY.
Keep in mind that depending on the infeed type selection,
D:PLOY will ask for the number of positions
that need to be taught.
It is important to teach these positions
following the order of the colored parts
shown in the diagram.
Now, let's set the dimensions and weight of the part
by following the diagram.
D:PLOY has an expert mode feature
that gives you additional configuration options
that change based on the application step.
Here, for example, we could edit the center of gravity,
acceleration, the default approach, and exit positions,
or the grip parameters used while running the application.
On this next step, we will teach the machine
load and approach positions while still holding the part.
Since we want to clean the machine work pieces
before unloading it, let's add a cleaning step.
As before, just teach the necessary cleaning positions.
Keep in mind that from now on the finished part
is loaded into the machine.
Now let's teach the machine unload and approach positions,
but this time with the other gripper.
We will also set the new dimensions and weight
of the machined part.
The final step is to set the outfeed type,
the number of parts, and the pattern location
by teaching the three corners of the pattern.
That is all!
We have finished building our CNC application.
D:PLOY creates all the program logic,
signals exchange, event handling, and robot movement
for the entire application,
making it a thing of the past
to spend time correcting or optimizing your program.
Finally, we are now ready to run our application.