FAMOS Demonstration
Corresponding to my description of the "toolboxes" here are a few videos showing how FAMOS can be used. The videos have no sound, after all Famos speaks for itself. A couple of times I drag modal windows "from below" into the frame, that's just because they opened on the primary screen and doesn't imply the use of magic.
I'm doing a "nonsense project" here, sometimes doing things wrong on purpose, and I want to share with you the possibilities that the tools offer me.
This section is far from "complete" yet, but I'd like to start uploading the stuff in the meantime.
| What happens? | What is shown here? | Link to video (click on thumbnail) |
| Fresh start: We start with an empty project and look for a suitable robot. | selection from a huge amount of robot devices |  |
| A tool must be on the flange! Well, here. Construction gave us one, and we load the CAD to the project. | Load a CAD model, link its coordinate system to the flange, groupings of CAD |  |
| Now a workpiece. Why... a horse? Well, a 3d-CAD of a winged walrus wasn't available so far. | load a CAD model |  |
| We can move the horse, until it's in a suitable position. Better: if we _think_ it's in a suitable position now. | rough shifting of a model |  |
| Let's have a look, if the robot moves at all. Uh... yes. | axial movement |  |
| Shouldn't we place the horse upon something? Maybe, an euro palette? | load models by drag 'n drop |  |
| The beast is too large. We need two pallets. No problem! | duplicate and rearrange models |  |
| Now we got it. Now we have to place the horse exactly on the pallets surface, so it looks like the real thing. | CAD calibration with 6 reference points |  |
| Not only it has to look good, it also has to work. We link the coordinate systems meaningful together, so we might move all at once. Also, this is a useful base, too. | linking of systems |  |
| We just added a model of the curry comb, but now it's time to place a tool coordinate system. | snap coordinate systems on model features |  |
| Maybe it's a bit tilted. (Okay, I did this on purpose.) But we can adjust it effortlessly. | Adjust coordinate systems |  |
| Task description: brush the horse! | snap a robot path to a model |  |
| Okay, this has to be arranged differently. This can be clearly seen now. Let's move it around a bit, maybe we can find a better position. | Move coordinate systems along with the components, so it will turn in a functioning machine. |  |
| To get a satisfied horse more brush paths are required | make trajectories |  |
| Now we have three paths, but an accessibility problem. | check accessibility |  |
|
Could possibly work this way. But the paths are somehow irregular, some points seems missing on one. Additionally we missed to check the orientation of the added points. So, that's a separate short. |
Extend path, delete points |
|
| As the robot is placed now, the "world" isn't anymore the whole plants origin. That's just a beauty issue, but who knows what will happen next. So we correct it. | robot position |  |
| For simulation (just for simulation) it would be nice to have a home position. The real robot won't know about this. Also, we have a place to display simulation errors. What? | Axis window: simulation home and error indicator |  |
| These paths are ugly. They are somehow wobbly and lack of smoothness. | simulation: use step by step placement |  |
| And anyway, the last point of the third path is out of reach. Also, the brush crosses through the horses butt. | observation of continuous simulation |  |
| Okay, let's have a serious conversation with the creator of the brush. This needs to be revised. With the angled thing it's nothing but problems. | replace CAD, adjust tool system on the new model |  |
| Nice! But now we need to rearrange all the stuff. But that's easy! | rearrange components and workpieces with their underlying origins |  |
| Boss wants to see something, but does he understand why the robot seems hovering? We better create a pedestal | a pascal script crates a real open-scad part inside the project |  |
| Is there something to create lead-in and lead-out points? Sure. | Lead-In, Lead-Out |  |
| And now convert them to PTP and the one there needs some turn. | special select mode, change movement, PTP simulation |  |
| Did someone notice we brush the horse across the grain? That needs to be fixed now! | change point order |  |
|
Now let's fiddle around with the trajectories. At first, let's try to align the orientation. In the end the orientation around the blue axis doesn't matter. From the horses POV, I mean. |
align path orientation |  |
| And the vertical position is not that important either. We average that out a bit in places to drive the robotic arm a little more evenly. | rectify orientation |  |
|
Now, some freestyle point arrangement. Noone ordered us to stay on the mesh with this big curry comb. |
circ mode, manual point shift |  |
|
Speed? What about speed? The horsie loves it slowly on the butt. Well, that will work with a functional distribution of speed data on its rear end. |
speed parameter, functional distribution of parameters |  |
| Lets focus on this one path and hide the other two. In the simulation too. | hide paths |  |
| So, if we want to brush harder or less hard, we could shift the pathpoints along its blue axes now? Exactly. | simple shift operation, undo button |  |
|
But we might just as well use a temporary tool modification. Famos can teach the robot to do exactly that, so it can be done in the simulation too. |
manage parameters, new parameter "TCP-Offset" |  |
| Why is the horse blue at all? | modify model attributes |  |
| Now we have a home point in the simulation, but not yet in the program. This should be done. At last we let the simulation run a few times. |
add path with one point, teach this point with the help of the simulation, copy path, rearrange path order, PTP axis mode, |
 |
| Let's configure the post processor and try to make a robot program file. | post processor settings, generate program |  |
