WINCAPS III

Operation Guidance
*** For VE026A ***

www.densorobotics.com

DENSO WAVE INCORPORATED

Content

< Chapter > < Content > < Pages >

Chapter1 Launch WINCAPS III

1.1 Launch WINCAPS III …………………………………………………………………. 3
1.2 Tool Bars ………………………………………………………………………………. 4
Chapter2 Creating New Project
2.1 Creating New Project ………………………………………………………………… 5
2.2 Project Wizard ………………………………………………………………………… 6
2.3 Default Screen Layout ……………………………………………………………….. 8
Chapter3 Arm View
3.1 Screen Operation …………………………………………………………………….. 9
3.1.1 Arm View (Tool Bar) ……………………………………………………………… 10
3.1.2 Changing Viewpoint to X,Y,Z Direction ………………………………………… 10
3.1.3 Rotation on Z-axis ………………………………………………………………… 11
3.1.4 Horizontal / Vertical axis Rotation ……………………………………………….. 12
3.1.5 Free Rotation ……………………………………………………………………… 13
3.2 Arm Operation ………………………………………………………………………… 14
3.3 Arm Modeling …………………………………………………………………………. 15
3.4 Detecting Collisions ………………………………………………………………….. 16
3.5 Teaching by Arm Operation …………………………………………………………. 17
3.6 Teaching by 3D View ………………………………………………………………… 18
Chapter4 Program
4.1 Creating New Program ………………………………………………………………. 19
4.2 Creating Program Flow ………………………………………………………………. 20
4.3 Program List …………………………………………………………………………... 21
Chapter5 Program Bank
5.1 Program Bank ………………………………………………………………………… 22
Chapter6 Communication
6.1 Communication Setting ………………………………………………………………. 23
Chapter7 Simulation
7.1 Online Mode Operation
7.1.1 Launching and Tool Bar ………………………………………………………….. 24
7.1.2 Teaching by Manual Operation ………………………………………………….. 25
7.1.3 Direct Teaching …………………………………………………………………… 26
7.2 Simulation Function
7.2.1 Tool Bar and Operation Procedure ……………………………………………... 27
7.2.2 Variable, IO Monitoring and Inserting …………………………………………… 28
7.2.3 Stop the amount of Global Variable / Tool / Work / Area …………………….. 28
7.2.4 Program Run-Time ……………………………………………………………….. 29
7.2.5 Option Setting ……………………………………………………………………… 29
Chapter8 WINCAPS III Shutdown
8.1 Saving Project and WINCAPS III Shutdown ……………………………………….. 30
Appendix
Project Outline ……………………………………………………………………………….. 31
Arm View Setting …………………………………………………………………………….. 32
Arm Modeling (Copy Object to Other Project) …………………………………………… 33
Reset Window Layout ………………………………………………………………………. 34
Movie Saving Function ……………………………………………………………………… 35
List of supported commands ……………………………………………………………….. 36

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1.1 Launch WINCAPS III

WINCAPS III offline programming software enables users to conveniently program a robot from a
remote PC without operating the robot. Robot motion, variables and I/Os can be monitored from a
remote PC connected with a robot controller. Launch WINCAPS III.

(2) Click WINCAPS III

(1) From the Start menu,

choose ALL programs / DENSO FACTORY WARE
/ WINCAPS III / WINCAPS III

Login Box

(3) Specify user level and password.

The user level choices are 0-operator and 1-programmer.
The latter requires a password

(4) Click Login.

*User Level
0-Operator : Unable to change important parameters (ex. I/O setting)
1-Programmer : all operation available

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1.2 Tool Bars

Explanation of function buttons indicated on tool bars.

Tool bar View tool bar

[New Project] [Make Executables]

Create new project Compile program

[Open Project]
Open existing project file

[Close Project]
Save & close project
[Save] [Program List]
Save program Open program window

[Delete] [Arm view]

Delete chosen area Open Arm 3D view

[Add Program] [Arm Modeling]

Add new program Open Arm modeling

[Check Syntax] [Arm operation]

Check syntax of program Open Arm operation

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2.1 Creating New Project

With WINCAPS III several robot programs can be managed by a project.

It is convenient to manage several program per robot or per operation process as one project. Several
setting need to be determined when creating new project.

(1) Click [ New Project ]

(2) Choose [Select robottype manually for

creating a new project]

(3) Click [ Next ]

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2.2 Project Wizard (1)

How to set each conditions

(1) Click [Next ]

(2) Type in the project name

You can use any character except for special characters
(¥ : ; ? / * < > | . )
You cannot use existing file name. Ex. Sample

(3) Specify a folder to save in

( A default is set in my document )

(4) Click [ Next ]

(5) Choose robot type from "HSW"-"PCS-VE"(PacScript type)

or "HSW"-"PAC-VE"(PAC type)

(6) Choose [ VE026A ] robot type

(7) Confirm the setting and click [ Next ]

(8) Choose extra axis [ Use ]

(9) Confirm the setting and click [ Next ]

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2.2 Project Wizard (2)

(10) Click [ Next ] because this menu is no need for Academic

robot

(11) Set max numbers of each variables

Each variables can be used from 1 up to 32766

(12) Confirm the setting and click [ Next ]

(13) Choose [ Mini IO ] device

(14) Choose [Mini IO ] mode

(15) Confirm the setting and click [ Next ]

(16) Confirm the content and Click [ Finish ]

New project will be displayed

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2.3 Default Screen Layout

[Program view]
The Program view area displays source code, 3D window for robot operation, etc.

Project
Window

Program list
Window Variable
I/O Window
Window

[Docking view]
The Docking view area displays various types of information windows showing the results of a
project- wide search, compile
error messages, variables and I/O values, etc.

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3.1 Screen Operation (1)

The Arm view window displays, in three dimensions, the robot's current position and attitude.
Simulation allows the efficient and safe development of robot control programs without having to
connect an actual robot.

(1) Window will be displayed by clicking [ Arm view ] button

(2) Click [ Full-size ]

Explaining in the larger screen.

Help to the operation

procedure.

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3.1 Screen Operation (2)

3.1.1 Arm View (Tool bar)

Explanation of tool bar buttons

[Free rotation]
This is for freely rotating the display using a mouse.
[Rotation on Z-axis]
This rotates the screen on Z-axis(Default)
[Horizontal / vertical axis rotation]
This rotates the screen on the horizontal / vertical axis.
[Move origin]
This moves the origin of the base coordinates to the center of the screen.
[X,Y,Z]
This changes viewpoint to each direction

[Help]
This shows the operating procedure at the right corner of the screen.

3.1.2 Changing Viewpoint to X,Y,Z Direction

Shows the display viewed from each direction chosen centered from the selected object.
(Example here is +X direction with robot arm selected)

Click Change view (+X)

Displayed view will show +X view

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3.1 Screen Operation (3)

3.1.3 Rotation on Z-axis

“Rotation on Z-axis” changes the viewpoint, Z-axis of selected object as center, rotating up-down
or left-right.
(Example here is Rotation on Z-axis with robot arm selected)

Click Rotate RZ

Left click and drag mouse down

Left click and drag mouse up and down. Viewpoint

will rotate around Z-axis of robot arm

Left click and drag mouse left and right.Viewpoint

will rotate around Z-axis of robot arm

Left click and drag mouse to right.

Rotation: Left click and drag mouse left, right, up

and down.Viewpoint will rotate to the left, right, up
and down around Z-axis of robot arm

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3.1 Screen Operation (4)

3.1.4 Horizontal / Vertical axis Rotation

“Horizontal/vertical axis rotation” changes the viewpoint, selected object’s Z-axis as center,
rotating Horizontally/vertically
(Example here is Horizontal/vertical axis rotation with robot arm selected)

Click Rotate: horizontal or vertical

Left click and drag down

Left click and drag mouse up and down. Viewpoint

will rotate vertically.

Left click and drag mouse left and right. Viewpoint

will rotate horizontally.

Left click and drag right

Rotation: Left click and drag mouse up, down, left

and right. View point will rotate to horizontally and
vertically around Z-axis of robot arm

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3.1 Screen Operation (5)

3.1.5 Free Rotation

“Free rotation” changes the viewpoint rotating in all direction

(Example here is Free rotation with robot arm selected)

Click Rotate

Left click and drag lower left

Left click and drag mouse upper right and lower left.
Viewpoint will rotate upper right and lower left.

Left click and drag mouse upper left and lower right.
Viewpoint will rotate upper left and lower right.

Left click and drag upper left

With Free rotation, viewpoint will rotate towards the

direction of mouse motion around robot arm.

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3.2 Arm Operation

This window is for moving the simulated robot in the Arm view window.
Moves robot arm virtually.
There are 3 operation modes: ”Joint”,”XY”,”Tool”

To display Arm operation, click icon or click on the

tab.

Operation modes:
Joint, XY, Tool

Distance specifies a multiplier

for the Move joint sliders

Robot position sliders move the robot joints displayed in

the Arm view window.

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3.3 Arm Modeling

“Arm modeling” window is for modeling the pallet bench, pallet, work, and other objects.
The equipment layout in the Arm view window using 3D data from either the built-in simple
modeling function or external sources. (DirectX File: *.x, VRML File： *.wrl)

To display Arm operation, click icon or click on the

tab.

(1) Specify where to add to the model by selecting a

node to be the parent.
(6) Right-click on the object and choose Rename
from the context menu to rename.

(2) Press the object button to add an object to the

Arm view

(5) Specify the color of the object. Click [ ! ] button.

(3) Specify the relative position of the object

(4) Specify the dimensions of the object.

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3.4 Detecting Collisions

“Collision detection” function informs you when robot approaches into an object

(2) Open Arm menu

(3) Select Collision detection to enable the function

(1) Choose object that you want to use the function for.
ex.: Collision detection of chuck 1 and 2 are selected here

No change can be seen yet. The chuck and the pallet

hasn’t contacted yet

The function tells you the contact by color change

when the object approaches into the other. Color of
the pallet changes when the chuck makes contact
with the pallet.

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3.5 Teaching by Arm Operation

With Arm operation, Variables (Type P,J) of virtually moved robot arms’ position data can be saved

(1) Move robot arm to the position

(2) Click on the [ Type P ] tab and display Variable

type P list.

(3) Choose variable No. you want to save the

position data in.

(4) Click [ Get Position ] and the position data will

be installed.

(5) Click [ OK ] if you see the message box.

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3.6 Teaching by 3D View

Using Teaching by 3D View, the position of the Robot unit is specified. Gathering the position is
easy worked by this function.

Using Teaching by 3D View, click icon or the

check in the box.

Click worked model, move to the

position you clicked to the edge of
the Robot immediately.

When the model is cube, the robot moves When the model is sphere, the robot
parallel the surface and the flung side. moves the edge of the robot around the
core of the sphere in alignment

Model

Model Model

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4.1 Creating New Program

Creating the new program by WINCAPS III

(1) Click Add program

The dialog box for creating a new program

(2) Select type of program

(3) Enter a program name

(4) Enter a file name

Input the same as the program name

(5) Click [ OK ]

Program edit window will be displayed

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4.2 Creating Program Flow

Introduction of flow though creating a program to transferring data.

(1) Create a new program

Click Add program to create new program

(2) Save
When program is done, click Save and save.

(3) Check Syntax

After saving program, click Check syntax and check
if the syntax of program is right.

After compiling,
No. of lines
confirmation dialog pops
out. If “Error” and
Each letters are color-coded by
“Warning” are both 0, the
functions.
program is normal.

(4) Make Executables

After checking the syntax, click Make executables to
compile program

<Note>
After writing a program, by clicking Make executables, it automatically Save and Check syntax and compile
the program.

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4.3 Program List

Program List can manage programs (ex. display and delete programs)

When you see the program list, click button or tab to

display program list.

Delete button

Display a program
Double click the program
name.

Delete a program
When you no longer need a
program, select the program
and click delete button.

Program List

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5.1 Program Bank

The program bank allows robot applications to share library programs/functions originally written
for one specific robot or application. It ships with sample programs illustrating such general-
purpose functionality.

(1) Choose Program bank

Category window

(3) Press the Add program button to add the

program to the folder selected in the window.

(2) Select one

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6.1 Communication Setting

Due to consolidating the communications for the PC and the robot controller,
the communicating is set.

[ PC serial port confirmation ]

Check the serial port Number

(1) Check the USB Serial port COM number

[ WINCAPS III Operation ]

(2) Open Property

(3) Choose [ Slave robot ]

(4) Choose the USB serial port COM number

( Choose the confirmed USB serial port COM
number )

(5) Click [ OK ]

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7.1 Online Mode Operation (1)

7.1.1 Launching and Tool Bar

(1) Click [ Simulation mode ]

(2) Choose [ Connect robot and make operation ]

and Click [ OK ]

[Mode Auto / Auto] [External Speed]

OR Display External speed setting and change
Click ON/OFF
Speed,
Acceleration
and
[Motor ON / OFF] Deceleration
OR
Click motor Power ON/OFF

[Emergency Stop]
[Machine lock ON / OFF] Click Emergency Stop
OR
Click Machine Lock ON/OFF

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7.1 Online Mode Operation (2)

7.1.2 Teaching by Manual Operation

(1) Click mode Change icon

(2) Click [ OK ]

(3) Click [ Lock ] button

Keep the robot in available position and click [ Motor ]

(4) Press right and left direction key, move to the only
calculated amount in the movement speed

(5) Click [ Position gathering ]

( Please refer 3.5 Arm operation by Teaching )

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7.1 Online Mode Operation (3)

7.1.3 Direct Teaching

(1) Click mode Change icon

(2) Click [ OK ]

(3) Click [ LOCK ]

(4) Move robot arm to the position you want and keep the
status

(5) Click Position gathering

( Please refer 3.5 Arm operation by Teaching )

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7.2 Simulation Function (1)

7.2.1 Tool Bar and operation procedure

[Simulation Mode] [Instant Stop]

Start-up simulation ON/OFF Instant Stop the program

[Start-up] [Step Stop]

Start-up the chosen program Click the step Stop

[Step feed] [Cycle stop]

Click the one step program Click the cycle stop

Simulation Operation Procedure

1. Program creation / Teaching

2. Start-up Simulation Mode
3. Speed Setting Setting the speed

4. Chosen Program Start-up

( Step feed , 1 cycle start-up , Duration Start-up )
Default is the amount speed of
5. Stop
the Arm Operation
(Instant Stop , Step Stop , Cycle Stop )

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7.2 Simulation Function (2)

7.2.2 Variable, IO Monitoring and inserting

Variable monitoring and inserting

・Program activating I [1] 1…2…3…4 … You can confirm the green color when
・Change Speed I [3] you wait for IO [8] on the line 10

7.2.3 Stop the amount of Global Variable / Tool / Work / Area

Display the message [ Return the amount

Global variable / Tool / Work /Area ]
after stopping simulation mode

Choose [ Yes ] or [ No ] , before start-up the simulation or

end the simulation
Ex. Yes: I [1] 0 , No: I [1] 4

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7.2 Simulation Function (3)

7.2.4 Program Run-Time

Display the run-time(sec.) between Program Start and END

( Includes waiting time and Step stop time )

7.2.5 Option Setting

Display option setting [ Tool ] – [ Option ]

・Choose [ Return ] [ Inquiry ] [ Stay ] about Global variable / Tool / Work / Area
・Choose [ Display ] or [ not Display ]

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8.1 Saving Project and WINCAPS III Shutdown

You need to save the project before WINCAPSIII shutdown.

[ Save the project ]

Open File menu then click [ Save Project ]

[ WICAPS III Shutdown ]

Open File menu then click Close Project

<Note>
When the project is displayed, a confirmation dialogue appears.If the project’s being edited, a notice for
saving dialogue appears.
If the edited project should be saved, click [ Yes ].
If the edited project should be deleted, click [ No ].
If the shutdown should be cancelled, click [ Cancel ].

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Project Outline

WINCAPS III manages several program, parameter, variables per robot as a project.
Project is managed by the following folder structure.

Project Folder

Project File
Project Data Folder

Backup

Model Data

Remote files

Source Files

A: Project Folder
Files related to the project are saved
Folder’s name is the same name as project name.

B: Project File
Various information related to the project are saved.
Select the file when opening the existing project. (extension: wpj)

C: Project Data Folder

Various data used in the project are saved
The folder’s name is the same name as project name.

D: Backup Folder
Various information derived from controller are saved (e.g. controller operating time)
Folder’s is created when receiving data from the controller.

E: Model Data Folder

Three-dimensional data used in the Project are saved.
Folder’s name is always set as “Model Data”.

F: Remote Files Folder

Data from robot controller are temporally saved when using
on-line function. Folder’s name is always set as “Remote files”.

G: Source Files Folder

Program, header files and console panel data used in the project are saved.
These folders are displayed in the “project window.”
Folder’s name is always set as “Source Files.”

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Arm View Setting

You can change monitor sampling time, moving tracks and background color of 3D arm view in the
option setting window.

Click [ Option ]

Each monitor sampling time can be

set in the Communication tab.

Moving track points and background

color can be set in the Arm tab.

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Arm Modeling （Copy Object to Other Project ）

You can copy Object to other project.

[ How to export object ]

(1) Right click the object and click

[ Export shape data ] at Model tree
window.

(2) Specify folder to save the object in

and click [ OK ].

[ How to import object into the project ]

(1) Right click the tree and click [ Import

modeling data ] at Model tree window.

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Reset Window Layout

With WINCASPS III you can change the layout of windows.

Below is an introduction of how to reset window layout to the default layout.

Open Window menu then click

[ Reset window layout ].

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Movie Saving Function

Moving image save function can easily save the moving image by displayed arm view and replay the
soft Media Player.

[ Recording Setting ]

Click Recording Setting button

Set the moving compression at the
recording

[ Recording Save ]

Moving Image save procedure

1. Choose Recording Setting button

2. Choose Compressed program
Click Recording start (stop) button 3. Choose OK
Recording begins, and it stops
4. Choose Recording start button
(Recording)
5. Start program
6. After stop robot action, choose Recording stop
button
7. Specify the destination to save

Display Recording

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List of supported commands

For list of supported commands, please refer to the following.

[ Robot control statement ]

MOVE, APPROACH, DEPART, DRAW, DRIVE, DRIVEA, SPEED, ACCEL, DECEL, CHANGETOOL,
CHANGEWORK, WAIT, DELAY

[ Multitasking control statement ]

TAKEARM, GIVEARM

[ Flow control statement ]

For-Next, Do-loop, If-Then-End If, Select Case-End Select

[ Input output control statement ]

SET, RESET

[ Others ]
Four arithmetic operations, Arithmetic Function, Trigonometric functions, Coordinate conversion,
Character string operations

<Note>
・Free curve function of "MOVE" command (MOVE S) is not supported.
・Simulation function does not check arm semaphore (axis control right).
・Simulation function interprets "true" as "-1". When using "SET" and "RESET" commands, write programs
using "ON"/"OFF".
・Vector operation is not supported.

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 WINCAPS III Operation Guidance ( For VE026A )

First Edition June 2011

Second Edition December 2012

DENSO WAVE INCORPORATED

The purpose of this manual is to provide accurate information in the handling and operating of
the robot. Please feel free to send your comments regarding any errors or omissions you may
have found, or any suggestions you may have for generally improving the manual.
In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages
resulting from the application of the information in this manual.

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