When it comes time to connect TED to MotoSIM for visualization purposes, the following will guide you though the required steps of making the initial connection between the TED hardware and MotoSIM software.
Required Cable:
- CAT5/6 Ethernet cable with RJ45 Connectors (non-crossover)
Connect one end of the Ethernet cable to your PC/Laptop’s LAN port:
Connect the other end of the cable to TED units PP3E400 port:
You’ll need to know the IP-address of the TED unit in order to establish the connection to MotoSIM. To obtain the IP-address of the TED unit log into “Management Mode” and look under “SYSTEM” à “NETWORK INFORMATION”: If your PC/Laptop isn’t already, it need to be on the same IP-address range as the TED unit. The methods for setting your machine’s IP-address will vary depending on operating system but the following shows where the settings are located on Windows 11:
Launch MotoSIM:
Choose “New” à “New” and assign your simulated cell a name:
To establish the connection and download the configuration of the TED unit switch to the “Controller” tab and choose “New” then “VRC Controller(Network)”
You’ll now be prompted to select the controller generation, assign it a name, and provide the IP-address of the TED unit. Once you press OK below, the configuration from the TED unit is loaded within MotoSIM. This data transfer and configuration can take several minutes.
Once the data transfer is complete, the following will pop-up and ask you to confirm the software version being implemented. Simply choose OK:
If your TED configured robot is a dual-application robot, MotoSIM will next ask you to confirm what application you wish to use. In this case we’ll choose AR1440:
Once all the files have been loaded, the last prompt before you’ll see the robot appears is a prompt asking you to confirm the robot model that will be displayed. Choose OK and the robot will appear (notice all the JBIs from the TED unit are already appearing within MotoSIM!):
If the TED unit has any calibration data for robot to various axes, MotoSIM will ask you if you want to apply the calibration within the MotoSIM environment typically you would want to choose “Yes”:
To go “Online” with your TED unit and allow movement of the robot in MotoSIM from the teach pendant connected to TED you’ll want to choose the “Online Function” tab within MotoSIM and then “Network” where you’ll see the TED controller you set-up and the IP address for it. You can then simple say “Connect”:
Now you can use the TED’s teach pendant to move the robot in MotoSIM and choose JBIs to execute:
It goes without saying that much work is needed to setup the MotoSIM environment to match the actual work cell. Importing 3D-CAD models, adding end-effectors, and safety zones/barriers will make the MotoSIM more realistic and powerful use with TED.