EASY-ROB™ is available in several versions for different requirements.
All versions can be extended by adding libraries and options. Overview of the basic packages:
Multi Program Version
The EASY-ROB™ Multi Program Version provides the full range of functionality for layout planning of robot work cells including checks for reachability, collision and travel ranges and cycle time estimation. The number of robots or kinematics in the workcell is not limited. (
Multi-Kin)
EASY-ROB™ Multi-Program enables to run and simulate several robots and kinematics synchronized.
The programs can "communicate" by IO-variables (
Multi-Program).
EASY-ROB™ Multi-Program contains the following functions:
- ERPL Easy-Rob™ Program Language
- ERCL Easy-Rob™ Command Language
- ROB Standard Robot Library
- LIB Library for the project administration
- ROBMOD modelling robots and kinematics chains
- NUMSOL Numerical solution for inverse kinematics
- COLL Hierarchical collision detection
- AVI Create AVI movies
- VRML Import / Export VRML I + II,97
- CAD Import IGP-Format, STL ascii and binary
- Multi-Kin Unlimited robots per workcell
- Multi-Program Synchronized movement of all robots with an own program
Multi Robot Version
The EASY-ROB™ Multi Robot Version provides the same full range of functionality like the EASY-ROB™ Multi Program Version.
The number of robots or kinematics in the workcell is not limited. (
Multi-Kin)
One program can be loaded per workcell. The program will control all robots in the workcell and will let them move one after the other.
The option “EASY-ROB™
Multi-Program“ enables the user to load for every single kinematic or for every robot a separate program and run them all synchronized.
Single Robot Version
The EASY-ROB™ Single Robot Version provides the same full range of functionality like the EASY-ROB™ Multi Robot Version, but the number of robots* in the workcell is limited to one robot per workcell.
The option
Multi-Kin extends the EASY-ROB™ Single Robot Version to the EASY-ROB™ Multi Robot Version.
The option “EASY-ROB™
Multi-Program“ enables the user to load for every single kinematic or for every robot a separate program and run them all synchronized.
*) a robot has got at least 4axis and is able to move to a cartesian target point (Tag). The number of kinematics like gripper, positioner and/or conveyer is unlimited in the workcell.
topEducation Version
The EASY-ROB™ Education Version is reserved for the use in Universities, Schools and organisations with education purposes.
The version contains the functions ERPL, ERCL, ROB, LIB, ROBMOD, NUMSOL, COLL, AVI, VRML, and CAD including the options
API-DYN, API-INV and API-IPO.
EASY-ROB™ Education is available as Single- and Multi-Robot Version.
topDLL Version
The purpose of the EASY-ROB™ DLL Version is to integrate the EASY-ROB™ in an own application and enables the user to “communicate” with EASY-ROB™ by 600 API-functions.
The EASY-ROB™ DLL will start as an OpenGL window without a title, a menu, toolbars and without status bar and can be placed by using Window-handles anywhere in application. Existing workcells, kinematics and tools can be loaded, connected and controlled by API.
All robotics functionality is available.
If a collision or a limit exceeding is detected while a simulation, EASY-ROB™ will report the events to the user application.
For the use of EASY-ROB™ DLL we recommend Microsoft® Visual Studio 2005 C++. (use of Borland C++ Builder with reservations)
We also offer the integration of the EASY-ROB™ DLL Version into your application as a service.topSimulation Kernel
The purpose of the EASY-ROB™ Simulations Kernel is the same like the EASY-ROB™ DLL Version: to be integrated in another (own) application. The version only provides API-functions/services for robotics functionality. The other (own) application is in charge for the 3D visualisation and the administration of all geometries and handles of all kinematics. The EASY-ROB™ Simulations Kernel will deliver one handle back for every loaded kinematics.
Robot-KinematicLoad EASY-ROB™ robots (*.rob files)All standard and optional robots are availableForward transformationTransformation of coordinates to the inverseAccess to the coordinate systems of the robot axesMotion planning and executiontool-leading motionworkpiece-leading motionMotion trackingConveyor trackingTracking WindowsExternal positionersWaitAutomatic reduction of the speedcycle-time estimation The available API-functions or services comply with the
RRS-Interface (realistic robot simulation) that was developed in collaboration with
carat robotic innovation GmbH as a response to meet the requirements/challenges posed by offline programming systems for example
FAMOS robotic®.
EASY-ROB™ Simulation Kernel only exports ANSI C-functions. We recommend Microsoft® Visual Studio 2005 C++ with the EASY-ROB™ Simulation Kernel. Borland C++ Builder and Borland Delphi 2005 will work as well.
We also provide the integration of the EASY-ROB™ Simulation Kernel into your application as a service.top