Robot Motion Creation with TP App/WINCAPSIII

The following section describes how to create a robot motion with TP App/WINCAPSIII.

Types of Application Software

For other DENSO robots, a teaching pendant, which is an input and operation device, is used for robot motion creation; however, this device cannot connect with a COBOTTA. Therefore, to create a robot motion for a COBOTTA, run teach pendant simulation software on a COBOTTA-connected tablet or computer. This simulation software is called TP App.

The following table shows application software for robot motion creation.

For about how to install and operate TP App, please refer to "TP App Operation Guide".

For about how to install and operate WINCAPSIII, please refer to "WINCAPSIII Guide".

COBOTTA Parameter Tool

Along with TP App/WINCAPSIII, use COBOTTA parameter tool.

COBOTTA parameter tool is software that configures COBOTTA's speed limit. This software runs on an Android-supported tablet and a Windows computer.

For about how to install, please refer to "Software Installation" of "Installation and Wiring of COBOTTA and software installation".
For about how to operate, please refer to "COBOTTA parameter tool user's guide"(PDF:2,639KB). You will find the user's guide from the [User's guide] from the Help menu.

Recommended Specifications for Android-supported Tablet

Use a tablet that supports the COBOTTA operation environment.

*1 : A tablet that the supported version is not written works normally for any COBOTTA software version.

*2 : If the version of COBOTTA software is older than supported version, it corresponds to "Precautions when start-up of COBOTTA takes longer" described below.

Knowledge and Information Requirements for Robot Motion Creation

The following shows knowledge requirements and necessary information to create a robot motion with TP App/WINCAPSIII Please refer to the linked manuals.

Basic Knowledge of Robots

This manual describes knowledge about coordinates, position data formats, and figures of the shoulder, elbow, and wrist. This is fundamental knowledge for robot motion setting.
For details, please refer to "Basic Knowledge Of Robots".

Knowledge of Functions

To satisfy operation condition requirements, COBOTTA has features to control arm motion and to use peripheral devices. Also, programming support functions are equipped.
For details, please refer to "Function Guide".

Knowledge of Program Syntax and Command

Just like other DENSO robots, COBOTTA runs in DENSO robot program language "PacScript". Also, variety of commands are providers are available.
For a certain operation, a parameter change is required.
For details, please refer to "PROGRAMMER'S MANUAL", "Provider Guide", and "Parameter List".

Knowledge of Error Codes

If an abnormal condition occurs during COBOTTA operation, an error is displayed. You may easy to clear errors if you know what such errors stand for.
For details, please refer to Error Code.

Precautions for Robot Motion Creation

• After the power-on of COBOTTA, the status display LED blinks dark green until the start-up process completes. While the status display LED blinks, COBOTTA cannot accept any access from TP App, WINCAPSIII, nor COBOTTA parameter tool. Access COBOTTA after the status display LED is changed into other than the dark green blink.

• After COBOTTA is powered on, the following item must be executed.

  Item	Description
  Motion Preparation	Makes ready to start a robot program.

  For the item indicated above, refer to "Motion Preparation at Startup".

Precautions when start-up of COBOTTA takes longer

When you use Remote TP and COBOTTA parameter tool (for Android), please pay attention to the following point.

Under the following preconditions, the start-up of COBOTTA may take 4 minutes longer than the normal start-up.

Preconditions (either of the following is met)
A tablet used is other than operation-checked tablets.
The version of COBOTTA software is not supported for the version of the tablet in use even though the operation-checked tablet is used.

If you turn off the power during start-up process, data you have created could be damaged. Do not turn off the power during start-up process even if start-up of COBOTTA takes longer (The status display LED blinks dark green during start-up process).

In actual operation, if you perform the following operation, start-up will take longer.

Operation (either of the following is performed)
When a tablet which has not connected to any COBOTTA before is connected to a COBOTTA with USB cable, the COBOTTA is turned on.
The operation is performed in the following procedure. 1. COBOTTA is turned on while the COBOTTA is connecting with a tablet (including a tablet which has been connected to COBOTTA) with USB cable. 2. One of the following setting window is displayed on the tablet (or not displayed at times). A window to specify USB communication method for "USB tethering" or other methods. A window to specify the usage of USB for "charge", "file transfer (MTP)", "picture transfer (PTP")". 3. On above setting window, USB is configured while COBOTTA performs start-up process (the status display LED blinks dark green).

Because the start-up takes longer, errors of watch dog timer or other errors may occur. In that case, turn off the power of COBOTTA once, and then turn on the power of COBOTTA so as not to take longer for start-up. After COBOTTA starts, if those errors do not occur, there is no problem.

• While COBOTTA is connected to Cobotta World, if a communication error occurs between COBOTTA and Cobotta World for any reason (for example, a USB cable is removed), COBOTTA experiences a communication error. At the same time, due to the error, the error "0x8440550* : J*:Bus voltage failure" may occur.

  In this case, clear the error and eliminate the cause of the communication error (for example, reinsert the USB cable), and then continue the operation.