ROBOGUIDE V6.40 (Rev.E) ReadMe 01-Nov-2006 Contents of this ReadMe file: 1. 2. 3. 4. 5. 6. 7. What's new in (Rev.

E) System Requirements Pre-Installation Notes ROBOGUIDE V6.40 Features Supported Virtual Robot Controllers Supported Robot Models Reporting ROBOGUIDE Issues

1. What's new in (Rev.E): * Object Transparency: property page for objects in the workcell have a transparency slider bar. * View individual objects in wireframe: property page for objects in the workcell have a checkbox to enable/ disable wireframe view for the object. * Copy/ paste location data: support to copy/ paste location data for all 6 items on property pages. * Coordinated Pair property pages: for systems that use coordinated motion, cell browser entries are now available to edit CD pair information. Support is provided for multi arm coordinated pairs, but not for robot to positioner type systems. For more information see topic "Using the Coordinate Frames (CD_Pair) Property Page". * Support handling coordinated motion program generation: CAD to Path supports the generation of programs between multiple group robots. Specifically, the case where there is a combination of robots coordinating holding a part using handling coordinated motion and robots processing features on the part that the handling robots are processing. * Support coordinated motion program generation for linear positioners: when a system includes a robot and a positioner that is a linear device, you can use CAD to path to coordinate the motion between the two devices. Previous to the Rev E. release, you could only do CAD to Path on rotary type positioner axes. * Coord motion jogtype in jog panel: when coordinate motion is present, a button and dropdown box is available for selecting the coord motion jog frame. For information see "About the teach pendant jog panel". * EOAT and Part in EOAT calibration: you can now calibrate the location of the EOAT cad on the End of the robot arm. Parts in the EOAT can also be calibrated. For more information on this topic see "Using the Calibration Tab".

 2. System Requirements Recommended Minimum ----------------------------------Windows XP Professional AMD Athlon 64 3200+ or Pentium IV 2.4 Ghz 2.4 Ghz 1 GB 128MB 1280x1024 24-bit color OpenGL Hardware Support 1GB Ethernet, CD-ROM 32x Administrator Privileges to install product and register full version of software

Operating System Processor Type Processor Speed System Memory Video Card: RAM Resolution Color Depth Hardware Features Free Hard disk space Additional Hardware: OS Requirements

3. Pre-Installation Notes Administration Rights --------------------FANUC uses InstallShield technology which requires the software installer to have Administrator privileges on the machine where the software is being installed. Please contact your Information Systems Department for assistance if you do not have Administrator privileges or are unsure if you have Administrator privileges. Using ROBOGUIDE with an Internet Firewall --------------------Most PC systems make use of a firewall to prevent unauthorized internet users from accessing your private PC network. Windows XP SP-2 has a built-in firewall, or your PC may use a firewall provided by a 3rd party such as Symantec or McAfee. ROBOGUIDE uses a FANUC Robotics virtual robot which communicates with other programs via a network protocol. Therefore, some programs that ROBOGUIDE installs, must be added to the firewall in order for ROBOGUIDE to work properly. The ROBOGUIDE installation automatically adds these programs to the Windows XP firewall. If your PC is using a third party firewall program, you must add these programs manually. You should contact your IT Administrator, or consult the 3rd party software documentation regarding allowing programs access to the firewall. The following programs must be allowed network access: C:\Program C:\Program C:\Program C:\Program Files\FANUC\PRO\SimPRO\SimPRO.exe Files\FANUC\Shared\Robot Server\frrobot.exe Files\FANUC\Shared\Off Line\FRVRC\frvirtual.exe Files\FANUC\Shared\Robot Server\frrobotneighborhood.exe

"C:\Program Files\FANUC" is the default installation directory. Please use the path you specified if you changed the default setting. Workcell Compatibility ---------------------New enhancements and capabilities are continually being added with each release of ROBOGUIDE and to support these changes its workcell data structure is changing, which makes the newer workcells incompatible with prior versions of ROBOGUIDE. Therefore, FANUC recommends you always make backups of existing workcells prior to installing any newer version of ROBOGUIDE. OpenGL Compatibility -------------------FANUC has identified problems with specific video cards. ROBOGUIDE uses OpenGL as the basis for graphics operations so depending on how well your video card supports OpenGL you may need to update its software driver or possible reduce or disable its hardware acceleration for proper operation of ROBOGUIDE AVI captures and in extreme cases for basic operations. Following is a list of video cards that have required driver updates and/or they had to have their hardware acceleration downgraded during AVI creations * * * * ATI Rage Mobility ATI Radeon 32 MB DDR Intel 82810E Graphics Controller ELSA Gloria Synergy

ROBOGUIDE Cycle Time Accuracy ----------------------------ROBOGUIDE reports accurate motion cycle time and cannot accurately predict cycle time results for programs containing instructions other than motion and wait instructions. Purchasing ROBOGUIDE -------------------ROBOGUIDE Process Plug-Ins (HandlingPRO, PalletPRO, PaintPRO, WeldPRO, and OlpcPRO) may all be installed and evaluated free for 30-days. Please contact your local FANUC Representative about purchasing one the Process Plug-Ins. 4. ROBOGUIDE V6.40 Features * A fully integrated environment with graphical UIF components to simplify the robot cell teaching process * Process Navigator. * Extensive workcell tutorials * Extensive Help for procedures of how to operate the software * Sample workcells * A full 3D world environment: with zooming, panning, and rotation.

* Robot jogging: with an end of arm drag and drop teach tool and traditional teach pendant style jogging. * Single robot workcells: many robots supported - Work envelope view * Workcell Modeling: support: - IGES CAD import - Primitive shapes: spheres, rectangles, and cylinders * Workcell Library - CAD Library of basic CAD models - Ability to add your own images to the library * Create multi group and multi axis machines - Easily create machines that are driven by robot controller motors. Motors can be extended axes or multi group defined controller configurations * Program Teaching - Create basic TPP Programs - Teach TPP positions by jogging the robot, manual entry, or by clicking on objects in the cell - Supports automatic teaching of MH PICK and PLACE positions - Motion statement, wait statement support - Single running program support. Multiple running program support later. - Open / Close Hand view setup - Open / Close Hand instructions that enable animation of workcell pick and place applications. * Program generation from CAD: find entities in CAD files and use these entities to automatically generate robot programs. This capability can drastically reduce programming time * Support for UTOOLS - Attach tooling graphics to the robot for open and close imaging - Define UTOOL values * Support for UFRAMES - Associate UFRAMES with workcell objects - Teach relative to UFRAMES. Allows moving of taught positions with parts / fixtures to check reach. - Quickly change taught reference frame from World coordinates to a UFRAME coordinate system * Quick reach check functionality * Program execution: programs can be run within Roboguide and cycle time information can be generated. - Run, hold, abort programs - Alarm logs for program errors - Animation / simulation in the 3D CHUIWorld - TP Profiler

- TP Line segment times - TP Program times - Actual TP Trace display of actual robot motion vs. taught path - TP Trace by speed, orientation,\ acceleration - Cycle time information is generated by FANUC Virtual Robot and has accuracy of FANUC Robotics RRS modules - Robot payload is automatically adjusted as the program is executed and the part is picked and placed * AVI Movie file creation - Create AVI s of your running workcell in multiple screen resolutions * Integration of Virtual robot interfaces just like the robot. - Virtual Teach Pendant. Allows you to program just like a robot. - KCL window for accessing KCL commands - Web Server window * Full access to HandlingTool TPP instructions through the virtual TP. Program robot programs just like the robot. * UFRAMES operate just like the real robot * Create Virtual Robot allows you to configure your virtual robot with robot options. * Support for simulation programs and .TP programs. Simulation programs use the Roboguide simple TP editor which allow you to quickly create simulation programs which animate the workcell. TP Programs are fully functional robot programs that can be directly downloaded to a robot. - Simulation programs can be quickly converted to TP Programs * Simple editor supports the Call instruction * Quickly move to points on a surface by holding the CTRL-SHIFT keys and clicking on a surface. * Full support for Calibration of your Roboguide workcell to the actual workcell. 5. Supported Virtual Robot Controllers ROBOGUIDE supports the following Virtual Robot Controller Platforms and Versions: * R-J3 Robots - V5.30 * R-J3iB Robots - V6.20, V6.21, V6.22, V6.31, V6.40 * R-J3iC Robots - V7.20 6. Supported Robot Models

* Robot models supported in this version of ROBOGUIDE are listed in the serialize wizard during robot creation. 7. Reporting ROBOGUIDE Issues Procedure for handling all PRO product issues Send an email to: * In North America: ROBOGUIDESupport@fanucrobotics.com * In Europe, send support issues to the appropriate country support email a ddress: roboguide@fanucrobotics.be roboguide@fanucrobotics.it roboguide@fanucrobotics.es roboguide@fanucrobotics.de roboguide@fanucrobotics.fr roboguide@fanucrobotics.uk roboguide@fanucrobotics.cz roboguide@fanucrobotics.lu * Include the following information when reporting PRO product issues: 1. Basic Information a. Customer Profile i. Name ii. Company iii. Position iv. Department v. Address vi. E-mail vii. Phone viii. Fax b. Computer Profile i. Hardware 1. 2. 3. 4. 5. 6. Machine Type Machine Speed Hard disk size Amount of RAM Video Card Manufacture Video Card Memory

ii. Software 1. OS Type and Version 2. Service Packs installed 3. IE Version

c. Roboguide usage details i. Version or PRO. Please include which process plugin you have. ie. PalletPRO ii. Revision of PRO. Please include which process plugin you have. ie. PalletPRO 2. Additional Details a. b. c. d. e. Other FANUC software installed on machine Roboguide Version and Revision Robot model being used Information on what their trying to simulate Copy of workcell directory, if possible

3. Issue information a. Description of problem or concern b. What function were you trying to perform c. If possible, describe what you were doing before problem occurred