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The Offline-range is roughly devided in two sectors:

• Tests of reachability
  Here the applicationpoints of a line are tested for their collisionfree reachability. The following Offlineprograming (OLP) is based on this step. We pay attention to make the line be able to work with as less guntypes as possible, to minimize the cost of the sparepartstock. In this early state of propramming the programmers and the contructors are in continuous connection to each other. For example necessary changes in the construction are forwarded or the programmer tries to get unassigned point into the cell.



• OLP / SOP
  This is the secound sector of OLP. It makes real robotprograms out of the previousness examinations. If only the applicationpoints existed in the previousness examinations, so called spacepoints are inserted into the process to get from one point to the other. Moduls are used in the simulationssystems, that simulate the movement of the real robots. This assures that the movementprograms are collisionfree in the real line. Because of this the programmer is able to make ruther exact prediction on the ticktime.
  In a SOP (Sequence of process) several robots and existant periphery (i.e. roller shutter or turntable) are included in the simulation and moved simultaneous on the screen. This kind of simulation needs a lot of calculatingpower and in most cases it is only committed for presentations.

How Gräff Robotics GmbH does the OLP itemized, you'll see here.

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We use three systems for Offlineprogramming:

• RobotStudio:
  This software is developed by ABB and bases on a VirtualController. This is a digital copy of the real ABB S4 C robotcontroller. This copy uses the real robotprograms and configfiles and realizes a real simulation. This software runs under Windows NT 4.0 on normal PCs. RobotStudio's userinterface is very similar to the Microsoft standards and so RobotStudio is easy to learn and handle for everybody who knows Office-Products. We use RobotStudio fullversion since june 2000 and the "Lite" version since beginning of 1999.



• RobCAD:
  Tecnomatix' simulationssystem has another philosophy than RobotStudio or KR-SIM. RobCAD (in the new version it is called "eM Power") can handle robots from several manufactors. So called "RCS Module" are used, which are produced by the robotmanufactors. The hardwarerequirements of this software are very much higher than these of the ofter mentioned products. RobCAD suggestively runs on an "SGI OCTANE" with "R 12000" CPU and a powerful "OPEN GL" Graphicscard (SE / SSE). We use RobCAD since middle 1999.



• KR-SIM:
  This is formerly developed by the company AnySim in teamwork with the robotmanufactor KUKA. It is actually run on two PCs.
  One mashine simulates the original robotcontroller (without manipulator). The KUKA KR-C1 (and accordingly KR-C2) is based on a standard Windows 95 PC with a so called MFC-Card (Multi function card) in it, that does the whoe axiscontrol. This Card is used for simulation to generate and guarantee the real movement of the robot in the simulation.
  The secound PC does the graphical illustration of the simulation. On this PC the actual "KR-SIM" Software is installed. It has to possess a powerful "OPEN GL" GraphicsCard and runs under Windows NT. The two PCs are linked over the normal ethernet. This is very compfortable. Gräff Robotics uses KR-SIM for middle 1998.