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100342-H Scorbase-USB-v56

1. m Messages Date Time z mm 153 03 Y mm 0 00 Zimm 504 33 53 55 R deg 0 00 2 Digital Outputs TERRI ECT EI ERI 263 EG l Digital Inputs EE IER Insert Version 5 6 and higher for SCORBOT ER 4u SCORBOT ER 2u 8 Message Off Line ER 400 AGV Mobile Robot User Manual Catalog 100342 Rev H March 2014 intelitek Copyright 2014 Intelitek Inc SCORBASE USER MANUAL Catalog 100342 Rev H March 2014 Every effort has been made to make this book as complete and accurate as possible However no watranty of suitability purpose or fitness is made or implied Intelitek 1s not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 East Industrial Park Drive Manchester NH 03109 5317 Tel 603 625 8600 Fax 603 625 2137 Web site www intelitek com Table of Contents Chapter 1 Introducing 5 cccsssecsesseecesseceesseecnssesenseesenssesensees 1 Chapter 2 Starting SCORBAS Eeicccssiccsic
2. 44 Match Popup W INdOW s ad 44 Postion Data 45 Encoder Counts Dialogs 45 AYZ DUOS E 45 Jom Dalo ode odes dde cubi det en dau 46 Using a Teach Pendant with SCORBASE sese 46 Chapter 6 Program 47 Opening and Closing a Prostam bee e eoe Dor letra ice eds 47 Prosram Editne o et eta oy sles es wp cee apace allo cmd oe ys neue we cht eem dad 49 Adding and Editing Command ini 51 AX cune ted de 22 Propram Plow Commands xe soni oben Ea Eo Du cai Gu Do Sau id 64 Inpu t Output Commands 3 o exhi beta 76 JV ANCE GC COMMNANG bodie 83 VISION COMINANGS iate co 85 Chapter 7 Variable Programming 87 Nionitoniis Variable EMI a a eb 89 Chapter 8 Program Execullon u 06 91 Isuritie d PrOSPOID 91 Halting Program EXecULOTYiiiieon oo ae aieo 92 Inputs and Outputs Dialog 93 Digital Inputs amp Outputs D
3. 5 Cancel Hardware Robot r Figure 3 6 Open Project Dialog Box To set the resolution of the chart for the Encoder Errors and PWM e Click the Advanced button in the Chart Options dialog box The Range column opens Chart Options 5 how Range Encoders Error PWM Encoders Error C 215000 r C 18000 fall C 25000 fall C 15000 n C 1000000 fall Anis BOO 3n 10000000 1000000 10000000 1000000 IS S B History Record History OF Cancel Figure 3 7 Chart Options Dialog Box User Manual 2 SCORBASE Menus Overview History Opens the History Files Window Select the desired history his file from the list or browse to locate it Fi History Files Look in Ji ER4u Ji RMH2 File name Files of type History Files his Cancel Figure 3 8 History Files Window Note To open a history file you must first stop drawing the chart Displays the colors used in the charts for Encoder Error and PWM Encoders Blue Error Red PWM Green User Manual 23 SCORBASE Menus Overview User Manual 24 SCORBASE Menus Overview 4 Homing and Control General The robot and peripheral axes location 15 monitored and controlled using encoders To initialize the encoders and to obtain repeatable performance the axes must first reach a predefined position known as hard home All recorded posit
4. AND PLACE 0 1 3 15 2 0 3 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 4 Set Variable TASK ID 110000 5 Set Variable PART ID 0 6 Set Variable SOURCE_DEVICE_ID 1 Task History 7 Set Variable SOURCE_DEVICE_INDEX 3 8 Set Variable TARGET_DEVICE_ID 15 9 Set Variable TARGET DEVICE INDEX 2 10 Set Variable PICK AND PLACE NOTE 0 11 Call Subroutine GET001 12 Call Subroutine PUT015 13 from Subroutine 14 Remark 5 End of the automatically generated code 15 Remark Intelitek Open CIM robot device driver demonstration 16 Remark The ER 4u robot serves the Conveyor CNV1 17 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine 15 19 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 20 to Position 21 Speed 50 21 Open Gripper 22 Set Variable ABOVE TEMPLATE POSITION SOURCE DEVICE INDEX 110 Complete from Pick and Place File 23 Go to Position ABOVE TEMPLATE POSITION Speed 80 24 Set Variable AT TEMPLATE POSITION ABOVE TEMPLATE POSITION 100 25 Go Linear to Position AT TEMPLATE POSITION Speed 20 27 Go Linear to Position ABOVE TEMPLATE POSITION Speed 20 28 Go to Position 21 Speed 50 29 Go to Position 20 Speed 50 Message 30 Go Linear to Position 2 Speed 20 31 Open Gripper 32 to Position 20 Speed 50 33 Send Message Start to MANAGER ID TASK ID 34 Retum from Subroutine 35 Set Subroutine PUTO15 36 Print to Screen PUT TEMPLATE ON MINI ASRS
5. Enter an input number a variable or the word ALL E nable Disable Select Disable in order to modify the command E ON Turn On 1 2 Pro Sets the state of the specified digital output On The Output command opens this dialog box Turn Output Output Number f Digital t Analog Figure 6 45 Turn On Output Dialog Box Output Select a number or type a variable name Number The default settings of Digital and On can be changed User Manual SO SCORBASE Program Editing OF Turn Off 1 2 Pro Sets the state of the specified digital output Off The Output command opens this dialog box Output Number On f Digital Off t Analog Figure 6 46 Turn Off Output Dialog Box Output Select a number or type a variable name Number The default settings of Digital and Off can be changed AO Set Analog Pro Sets the state of the specified analog output The command Output opens this dialog box Set Analog Output Output Number C Digital Value Range D 255 Analog Figure 6 47 Set Analog Output Dialog Box Output Enter a number 1 or 2 or a variable Number Value Range Enter a number between and 255 which corresponds to the output voltage The range of the output voltage is 0 10 Volts The Analog default setting can be changed User Manual 81 SCORBASE Program Editing Al Set Variable Pro Sets the value of the specified analog inp
6. SCORBASE for SCORBOT ER 4u Er4cell4 File Edit Run Options View Window Help D BGBl Aye Ly L2 Prg EJ Program Er4cell4 Workspace HS NN O Project Commands SCORBASE 78 79 Go Linear to Position ABOVE PART Fast 80 Retum from Subroutine 81 Remark 82 Set Subroutine CYLINDER ORDER 83 Input 4 Off Call Subroutine TAKE PUT MILL 84 Set Variable GRIPPER_TASK 0 85 Set Variable PART POS GRFEEDER POS 86 Subroutine TAKE PUT PART 87 Set Variable GRIPPER_TASK 1 88 Set Variable PART POS RACK1 POS 89 Call Subroutine TAKE PUT PART 90 Set Variable RACK1 POS RACK1 POS 1 91 Retum from Subroutine 92 Remark Set Subroutine TAKE PUT MILL 94 if CHUCK OPEN 1 Jump to PUT 95 TAKE 96 Call Subroutine TAKE PART FROM MILL 97 PUT 98 Input 1 Off Jump to END 99 Call Subroutine PUT PART IN MILL 100 END 101 Retum from Subroutine 102 Remark 103 Manual Movement Joints C XYZ Speed 50 18 Teach Positions Simple Position Number Include Axes 1 v M Robot Peripherals Speed 15 S A 3 Absolute C Duration alwlE n rT v Expand Relative to 50 AXIS CONTROL PROGRAM FLOW INPUTS amp OUTPUTS ADVANCED COMMANDS VISION COMMANDS Robot Movement Ed
7. Save User Screen Whenever you desire to use that layout again select Window User Screen Other Options Options Menu Hardware Setup SCORBASE allows you to define the devices that are connected and operated by the controller as Axes 7 and 8 The following peripherals can be connected to the USB Controller User Manual 107 SCORBASE System Configuration View Window Help On Line v Off Line Control On F5 Control Off Hardware Setup Set Parameters v Line Number Reload Last Project at Startup Level 1 Level 2 v Pro Advanced Options Figure 10 8 Options Menu Hardware Setup 1009 Rotary Table 24V 1010 Conveyor Belt gray 24V 1020 1 0m Linear Slidebase belt drive 24V 1021 1 8m Linear Slidebase belt drive 24V 1013 Linear Table 0 3m 24V 1014 XY Table 24V 1234 Motor Kit 24V Note The following peripherals are not supported 1 0m Linear Slidebase belt drive 24V Catalog 1018 e 1 8m Linear Slidebase belt drive 24V Catalog 1019 Contact your local distributor for further information Do not change the hardware setup unless you are authorized to do so To define the devices select Options Hardware Setup The Hardware Setup dialog box opens Click on the arrow to open the list of available devices and then click on the desired device User Manual 108 SCORBASE System Configuration Hardware Setup Axis Mot Connected Cancel Hardware Setup Peripherals
8. sends the robot s TCP in a circular path to the target position via the position Circular to specified in the Via Position field The circular motion applies only to the robot Position Note The Circular command follows the circle defined by the three positions 4 current TCP position target position and the intermediate position specified in opeed the Via position field Via Position The position via which the destination of the movement is reached Enter a number or a variable in this field User Manual 54 SCORBASE Program Editing JA Jaw 2 Pro Moves the gripper s jaw to the specified span The command opens this dialog Jaw mm Range 70 Figure 6 8 Jaw Dialog Box Enter a number or a variable in the Jaw field Note Accuracy cannot be guaranteed if the width is less than 5 mm or greater than 65 mm Jaw activates Servo Control for the gripper motor whereas Open Gripper and Close Gripper commands do not use the gripper axis Servo Control Unless you need the Jaw command for a specific application the Open Gripper and Close Gripper commands are recommended Note This command is not available for SCORBOT ER 2u IL If Limit 2 Pro The IL 1s a conditional jump command It causes program execution to jump to Switch lt gt on jump to lt Label gt the line that contains the specified Label if the selected axis micro switch 1s pressed On The command opens a dialog box If Limit S
9. 115 User Manual lii SCORBASE User Manual iv SCORBASE 1 User Manual Introducing SCORBASE SCORBASE for SCORBOT ER 4u is a robotics control software package for robot programming and operation SCORBASE for SCORBOT ER 4u provides numerous capabilities Communication with the robot controller over USB channel Control and real time status display of five robot axes gripper and two peripheral axes Full support and real time status display of eight digital inputs eight digital outputs four analog inputs and two analog outputs Position definition and display as well as manual robot movement in reference to Joint Coordinate System encoder units The Cartesian Coordinate System X Y Z Pitch and Roll is also used Robot movement definition as Go to Position Go Linear or Go Circular with active speed settings in percentages Availability depends on Experience Level setting Default setting of 1000 positions and 10000 active program lines Interrupt programming for handling responses to changes in digital input Status Variable Programming in three levels of complexity to moderate the learning curve This makes it possible for beginners to start at a lower level and advance through the levels as they become more skilled 1n robotics programming Saving and loading projects SCORBASE can be installed as part of RoboCell an interactive graphic software package which provides simulation of the robot and
10. Enables setting a value for an input in Off Line mode for program debugging See page 94 Shows the values of the eight encoders See page 45 Each of these options adds a dialog bar to the bottom of the screen overlapping whatever windows are displayed The user can retile the screen by reselecting the desired Window Layout Options from the Window menu User Manual 114 SCORBASE System Configuration Appendix A Command Line Options The following table describes the command line options that enable the integration of user applications with SCORBASE Before operating SCORBASE with these command line options follow and obey all warnings and cautions provided in the user application manuals to prevent for example hazards from moving parts The SCORBASE command line format that 1s required when using the options described in the table is provided as follows SCORBASE EXE Optional INI File Optional Switches Loads SCORBASE in online mode For example SCORBASE EXE SCBS INI O Loads SCORBASE in simulation mode For example SCORBASE EXE SCBS INI S H Performs auto homing from online mode For example SCORBASE EXE SCBS INI H L Loads a specific workspace in simulation mode For example SCORBASE EXE SCBS INI L C PROGRAMES INTELITEK ROBOCELL PROJECTS ER4u Er4Cell1 WS Loads a specific workspace and runs SCORBASE For example SCORBASE EXE SCBS INI R C PROGRAM FILES NTELITEK ROBOCELL PROJECTS
11. Joint Humber Basez1 ShaulderzZ Elbawz3 Fitchz24 Fiallz5 Figure 6 19 Set Variable to Joint Position Dialog Box Enter the name of the variable in the Variable Name field and select the position number from the Position Number drop down list Enter an integer between 1 and 5 for the Joint number as follows Base Shoulder 2 Elbow 3 Pitch 4 Roll 5 You may also insert a variable which contains one of these values User Manual 62 SCORBASE Program Editing SX Set Allows you to set a variable to the value of a specified Cartesian coordinate at a Variable specified position number to Cartesian Position Set Variable Functian Cartesian Coordinate at Position 17100 of deg or mm Variable M ame Position Mumber Cartesian Coordinate Number 421 723 PiEchz4 Rall 5 Figure 6 20 Set Variable to CartesianPosition Relative XYZ Dialog Box Enter the name of the variable in the Variable Name field and select the position number from the Position Number drop down list Enter an integer between 1 and 5 for the Cartesian coordinate number as follows X 1 2 Z 3 Pitch 4 Roll 5 You may also insert a variable which contains one of these values User Manual 63 SCORBASE Program Editing Program Flow Commands Workspace Workspace Project Commands Project Commands E AXIS CONTROL B a INPUTS amp OUTPUTS Reset Timer Jum BENZ Set Variable TaComputation a SetVariableTo Time
12. Peripherals to record a position for the peripheral axes Pro level only c The user can select both To record the current position click the Record Position icon Record Relative Position Pro Level To record a relative position l 2 3 4 5 Make sure you have first defined a reference position Move the robot to the position whose coordinates you want to record as relative to another position In the Position Number field in the Teach Positions Simple dialog box enter a new position number Select Relative to and enter a number or select Current for the reference position in the Relative to field Click Record You have now recorded a relative position A position that is Relative to Current means the specified offset will be computed from the location at which the robot is positioned at the time it is sent to the relative position If the reference position changes the relative position also moves User Manual 41 SCORBASE Position Definition Teaching Positions XYZ Coordinates In order to teach a position in XYZ coordinates click Expand See page 33 Teach Absolute XYZ Position Levels 2 amp Pro To teach an absolute X YZ position 1 Click Expand 2 Enter XYZ Pitch and Roll values 3 Click Teach To use existing position coordinates to define a new position or modify that position s coordinates do the following 1 In the Position Number field in the Teach Positions
13. Rabat Ax r Mot Connected Connected Rotary T able 244 Conveyor Belt 24V Slidebase 1 0m Belt drive Slidebase 1 8m Belt drive Linear T able 0 Figure 10 10 Hardware Setup Peripherals Dialog Box showing default settings The Hardware Setup option also enables you to work with a different robot from the one you selected during installation See page 4 To do so click the Robot radio button Hardware Setup C Peripherals Robot SCORBDT ER du SCORBUT ER zu SCORBOT ER 4u ASRS ASAS 2 3bu F Figure 10 11 Hardware Setup Robot Dialog Box Select the desired robot and click OK SCORBASE User Manual 109 System Configuration Parameter Set Window E Parameter Set SDEFAULT B Ey E tH hu 8 Robot Axis 1 Axis 2 Axis 3 Axis Axis 5 Axis 6 Axis 7 Axis 8 Description Lower limit of axis motion in angles degrees from horizontal reference position for axis Upper limit of axis motion in angles degrees from horizontal reference position for asis Lower limit of axis motion in angles degrees from horizontal reference position for axis Upper limit of mation in angles degrees from horizontal reference position for axis Lower limit of axi motion in angles degrees from horizontal reference position Far axis Upper limit of axis motion in angles degrees from horizontal reference position for axis Lower limit of axis motion in angles d
14. By default SCORBASE displays program line numbers in the Program Window If you wish to hide them uncheck the toggle under Options Line Number Reload Last Project at Startup Options View Window Help On Line Off Line Control On F5 Control Off F2 Hardware Setup Set Parameters v Line Number v Reload Last Project at Startup v Leveli Level 2 Pro Advanced Options Figure 10 16 Options Menu Reload Last Project Selection When SCORBASE is initiated the program can be set up to automatically open the last project To toggle this option select or deselect Options Reload Last Project at Startup A checkmark appearing next to this option indicates that the option 1s on Experience Level SCORBASE offers three experience levels e Introductory Level 1 e Advanced Level 2 Professional Pro Level User Manual 112 SCORBASE System Configuration A higher level offers more commands and tools Levels can be selected from the Tool bar or from the Options menu Level 1 Displays list of commands and options at introductory level Commands related to Level 2 and Pro are disabled Displays list of commands and options at advanced level Commands related to Pro are disabled E Displays list of all commands and options Display of the Advanced Commands and the Vision Commands is activated by selecting Options Advanced Options View Menu The following display o
15. Call Subroutine GETOOI Bun Subroutine Figure 6 42 On Input Interrupt Call Dialog Box This inserts the following line of code On Input Interrupt 1 On Call Subroutine GETOOL When Input 1 is turned on the program immediately calls subroutine GET001 If any axes are moving when the interrupt occurs they will immediately stop When the subroutine is completed Return from Subroutine command is reached the axes will reassume the position and status that were interrupted and the program will continue from that point DI Disable Causes the specified input interrupt to become inactive Interrupt When an interrupt is inactive it is disregarded until the El Enable Interrupt command reactivates it The command opens this dialog box Disable Enable Interrupt f Enable Input Number MUT Disable Figure 6 43 Disable Interrupt Dialog Box Input Number Enter an input numter a variable or the word ALL Enable Disable Select Enable in order to modify the command User Manual 79 SCORBASE Program Editing Enable Causes the specified input interrupt to become active The Interrupt command opens this dialog box Disable Enable Interrupt f Enable Input Number Disable Figure 6 44 Enable Interrupt Dialog Box When an interrupt is active it is waiting for an interrupt status defined using the Ol On Interrupt command described above Input Number
16. Choose Destination Location window User Manual 6 SCORBASE Starting SCORBASE Figure 2 5 Choose Destination Location Window e The default destination folder for the files 1s Intelitek SCORBASE Click Next to accept the default or click Browse to select another folder and then click Next to open the Select Program Folder window e Click Next to complete the installation procedure Uninstalling the Software To uninstall SCORBASE 1 From the SCORBASE program group select Uninstall 2 Follow the instructions which appear on the screen Starting SCORBASE To start SCORBASE 1 Make sure that all the components to be used are installed and connected according to the installation procedures detailed in the User Manuals supplied with the robot and controller 2 Turn on the computer and the controller 3 Select Start Programs SCORBASE User Manual Z SCORBASE Starting SCORBASE 4 Select the SCORBASE command After initialization the following screen appears SCORBASE Figure 2 6 SCORBASE Opening Screen If SCORBASE opens in Off Line mode or the controller is not detected the program will load and operate in Off Line mode Only one instance of SCORBASE can be active at a time Quitting the Software Stop the SCORBASE program if running If you have unsaved changes in the project SCORBASE prompts you to save the changes before closing To close SCORBASE or its components do an
17. ER4u Er4Cell1 WS Open CIM Robot Device Driver configuration file For example SCORBASE EXE I USBVD1 INI Open CIM Robot Device Driver number Displays the SCORBASE application on top of the desktop at all times User Manual 115 SCORBASE System Configuration Prevents the SCORBASE application from staying on top of the desktop This command can be activated only when SCORBASE is open Minimizes the SCORBASE application This command can be activated only when SCORBASE is open E IC Restores the SCORBASE application This command can be activated only when SCORBASE is open CIMDD ONLINE Open CIM SCORBASE device driver mode Online CIMDD SIMUL AUTO Open CIM SCORBASE device driver mode Simulation CIMDD STANDALONE ONLY Open CIM SCORBASE device driver mode Standalone Examples of SCORBASE command line procedures are provided as follows Closes the SCORBASE application This command can be activated only when SCORBASE is open Loading a workspace in simulation mode e Atthe prompt type the following SCORBASE EXE S L C PROGRAM FILES INTELITEK ROBOCELL PROJECTS ER9u Act3 WS The workspace will be loaded in simulation mode Loading the software in online mode and homing the robot e At the prompt type the following SCORBASE EXE O H R C PROGRAM FILES INTELITEK ROBOCELL PROJECTS ER4u Er4Celll WS The workspace will be loaded in online mode and the robot will be homed Us
18. GoToPostion Speed E GoToPosition _Speed I enl MNT E PROGRAM FLOW Po ii GL SpeedPercent l GP GoToPosition _Speed GI GolinearToPositiont GL GolLinearToPosition _SpeedPercent m INPUTS amp OUTPUTS Y G d nd H GL GoLinearToPosition _SpeedMetric LimitSwitchi _ 7 f GC GoCircularToPosition _Speed PO Set xisH oisi Po BRE Jaw a PROGRAM FLOW ED fLimitSwitch t_ H E INPUTS amp OUTPUTS RP RecordPosition _ 18 SA ToZero SC StartConveyor ST StopConveyor 5G SetVarable WR Witte CM ControlOn CF ControlOff t TJ TeachPositionByJoints RJ TeachPositionByJointsHelative IX TeachPositionByXTZ 1 TeachPositionBy XY ZRelativeTo 1 SJ SetVarable ToJointPositian P0 m SX SetVanableToCartesianPosition B PROGRAM FLOW H E INPUTS amp OUTPUTS Level 1 Introductory Level 2 Advanced Pro Professional Figure 6 5 Command Tree Axis Control OG Open 1 2 Pro Fully opens the gripper Gripper CG Close 1 2 Pro Fully closes the gripper on itself or on a grasped Gripper User Manual 52 SCORBASE Program Editing GP Go to 1 2 Pro Opens the Go to Position Dialog Box The Go to Position Position command sends the robot to a recorded position in the shortest time using Poi
19. To modify any of the parameters of the above vendor supplied sets you must save the set under a different name Click the Save As icon to open the dialog box Enter the name of the new Parameter Set and click OK to save it Parameter Set SDEFAULT Bs En tE O iz Figure 10 14 Parameter Set Window toolbar Use the Parameter Set Window toolbar to select one of the following options Open Displays the Open Parameter Set window Select the desired Parameter Set from the list save Saves the Parameter Set after changes have been effected A Parameter Set marked with the symbol cannot be changed and saved The set must first be saved under a new name using the Save As icon save As Opens the Save Parameters Set As dialog box Enter the name of the new Parameter Set and click OK to save it Default Displays the Default Parameter Set Apply Loads the selected Parameter Set to the controller View Opens the selected Parameter Set Window which lists all the parameter keys with description and value included in the Parameter Set The keys are listed by sections See page 110 User Manual 111 SCORBASE System Configuration Line Number View Window Help On Line v Off Line Control On F5 Control Off F2 o 0 Hardware Setup Set Parameters v Line Number Reload Last Project at Startup v Levell Level 2 Pro Advanced Options Figure 10 15 Options Menu Line Number Selection
20. commands cannot be executed The Control state On or Off is displayed in the lower right corner of the status bar To enable control of the axes do one of the following e Select Options Control On e Click the Control On icon e Press the F5 key To disable control do one of the following e Select Options Control Off e Click the Control Off icon If you have disabled control and SCORBASE opens in On Line mode or On Line mode is selected after detection of the controller this prompt appears SCORBASE Control is off Do you want to execute Control On Cancel Figure 4 5 Control On Confirmation Dialog Box User Manual 28 SCORBASE Homing and Control Press OK to enable control or press Cancel to remain in the Control Off state The controller automatically disables control if an impact condition trajectory error or thermic overload error occurs during execution of a movement command If you attempt to move the axes when control is disabled this error message appears SCORBASE error A 903 Control disabled Figure 4 4 Axis Move Error When SCORBASE is in Off Line mode the Control state cannot be altered User Manual 29 SCORBASE Homing and Control User Manual 30 SCORBASE Homing and Control Position Definition Every SCORBASE project includes a set of pre defined positions and a program that sends the robot from one position to the other Prior to running a program all the po
21. instead of If User Manual 69 SCORBASE Program Editing oo Set Creates a subroutine You can program up to 64 Subroutine subroutines in one program The command opens this dialog box Set Subroutine Enter a name Far the subroutine Figure 6 30 Set Subroutine Dialog Box In the Name field enter a name or number for the subroutine Note Create subroutines only at the end of the main program Every subroutine must end with a Return from Subroutine command RS Return Marks the end of a subroutine At run time this command from terminates the execution of the subroutine and the program Subroutine resumes execution at the line that follows the Call Subroutine command Note Every subroutine must end with a Return from Subroutine command User Manual 70 SCORBASE Program Editing CS Call Activates the specified subroutine The command opens Subroutine this dialog box Call Subroutine Mate can call a script subroutine For example SCRIPT My_SUBROUTINE 2 4 5 Figure 6 31 Call Subroutine Dialog Box In the Name field enter the name of the subroutine Notes Use the Call Subroutine command either from the main program or from another subroutine command You can call the same subroutine repeatedly in the same program You can call a subroutine from a Visual Basic script that is loaded Append the prefix SCRIPT to the beginning of the Visual Basic subroutine name If more than one VB script i
22. 15 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 Go to Position 21 Speed 50 Call Subroutine PUTO15 Return from Subroutine _ 14 Remark End of the automatically generated code Remark Intelitek Open CIM robot device driver demonstration Remark The ER 4u robot serves the Conveyor CNV1 Remark The ER 4u robot serves the MINI ASRS M6AS2 21 Open Gripper Set Variable ABOVE TEMPLATE POSITION SOURCE DEVICE INDEX 110 Go to Position ABOVE TEMPLATE POSITION Speed 80 Set Variable AT TEMPLATE POSITION ABOVE TEMPLATE POSITION 100 Go Linear to Position AT TEMPLATE POSITION Speed 20 Close Gripper Go Linear to Position ABOVE TEMPLATE POSITION Speed 20 to Position 21 Speed 50 to Position 20 Speed 50 Go linear to Position 2 Sneed 20 Manual Movement 83 Teach Positions Simple Joins IC xyz Speed 50 71 Position Number Include Axes 1 Robot Peripherals Absolute Expand Relative to fn Workspace m AXIS CONTROL H PROGRAM FLOW INPUTS amp OUTPUTS ADVANCED COMMANDS VISION COMMANDS Speed C Duration 50 v Insert Off Line Figure 10 3 Teach amp Edit Screen When a SCORBASE project is opened the screen is set for the Teach amp Edit display mode by default In this mode these windows and dialog boxes are displayed e Program Windo
23. 15 automatically opened when a project 15 opened or when the Window Teach amp Edit display setting is selected To open the Manual Movement dialog box when there is no open project select View Manual Movement Manual Movernent Joints CO Ye Figure 5 3 Manual Movement Dialog Box Joints Note Axis 6 is not applicable for SCORBOT ER 2u Axes 7 and 8 are only applicable when defined using the Options Hardware Setup dialog box The following chart explains how clicking the buttons in the Manual Movement dialog box or pressing the corresponding keys on the keyboard controls the robot and peripheral movements Joints When Joints is selected clicking the buttons or pressing the corresponding keys on the keyboard moves one robot axis at a time as described below 2w E Ua 3 E SIT DM User Manual 35 SCORBASE Position Definition User Manual Manual Movernent Figure 5 4 Manual Movement Dialog Box XYZ XYZ When XYZ is selected clicking the buttons or pressing the corresponding keys on the keyboard moves the TCP as described below Movements in X YZ mode are sometimes a combination of simultaneous movements of a few axes 1 Q TCP moves along X axis back and forth W TCP moves along Y axis right and left 3 E TCP moves along Z axis up and down Axes move in order to change the gripper s pitch angle the TCP position does not change 5 T The gri
24. 4 analog inputs and two 2 analog outputs The Analog Inputs amp Outputs dialog bars show the values of the controller Analog Inputs and Outputs These dialog bars may also be opened or closed using the View Show All Dialog Bars or View Close All Dialog Bars commands Analog Inputs 1 0 2 4 0 Figure 6 4 Analog Input Dialog Bar X Analog Output i o 27 0 Figure 6 5 Analog Output Dialog Bar The Analog Inputs and Output resolution 15 8 bit The Analog Input Output range is from minimum to 255 maximum Output values can only be manipulated when SCORBASE 15 operating On Line To change the value of an Analog Output do one of the following e Click Output the color turn from light yellow to white and type a number e Use the AO Set Analog Output command and run this line When the controller receives an Analog Input signal from an external device the value 0 255 of the signal is reflected in the Input Value field 94 SCORBASE Program Execution SCORBASE Log File The SCORBASE log file records the messages printed using the PS Print to Screen Log command To print to a message to the log file click either Log File or Screen and Log File Print to f Screen t Log File t Screen and Lag File Figure 8 6 Print to Screen Command The Log file is initialized cleared each time SCORBASE is loaded To see the file content open the file SCBS LOG using a text edito
25. 47 Copy Ctrl C Places a copy of selected text or lines from the program lines on the Windows and SCORBASE clipboards See page 47 Paste Ctrl V Inserts the contents of the SCORBASE clipboard into the program lines See page 47 Find Ctrl F Opens a dialog box that allows you to search for a particular text string SCORBASE command or command argument See page 4T Find Next F3 Repeats the last Find operation for the next Occurrence See page 47 Command Remark Inserts deletes asterisk at beginning of a SCORBASE program command line This action toggles the command line between a remark and an executable command See page 4T Go to Line Opens a dialog box that displays the total number of lines in the program and prompts you for a line number The program editor jumps to the line you specify See page 47 Go to Selected Display the line selected Useful for long Line programs See page 47 User Manual I2 SCORBASE Menus Overview Run Menu Run Options View Window Help Search Home AR Axes The Run menu contains SCORBASE commands for homing the robot and peripheral axes see Chapter 4 page 25 and executing programs Note If the software is operating Off Line only the Run program options are available i this menu search home Homes both the robot and any configured all axes peripheral axes See page 26 Search home Homes the robot robot Run Single Line Run Single Cycle R
26. 52 Start new session Standalone Open CIM path H IntelitekSSCORBASE OpenCIM MICROCIM DEMO WS1 IP address 192 168 1 69 Ready Insert amp 9 Off Line Figure 10 6 Open CIM Screen The Open CIM Screen option displays the following e Program Window that holds the SCORBASE program e Open CIM Device Driver Window which provides e Toolbar with button for Manual Stop e Operation Mode selector e Online e Simulation LJ e Standalone When this option is selected you may press the icon on the toolbar to open the TCP IP dialog box for establishing communications with other Open CIM applications SCORBASE User Manual 106 System Configuration e Task History panel e Percentage Complete from Pick amp Place File e CIM Messages panel e Messages Window To use the Open CIM Screen layout select Window Open CIM Screen User Screen Save User Screen Simulation amp Teach Teach amp Edit 5 Project Screen Open CIM Screen User Screen Save User Screen v lProgram Erdcelll Figure 10 7 Window Menu Select User Screen By default the User Screen displays the same windows as the Teach amp Edit Screen However the user can customize the layout of the windows to the needs of the project This 1s useful when you have specified one or more dialog bars under the View menu See page 114 To save the layout for future use select Window
27. 81 Roll 0 00 Figure 5 13 Joints Dialog Bar To display the Dialog bar select View Dialog Bar Joints The values shown in the above example are the X YZ values after the Search Home command is executed Using a Teach Pendant with SCORBASE User Manual The Teach Pendant is a hand held terminal that gives the operator direct control of the robot and peripheral axes In addition to controlling movement of the axes the Teach Pendant may be used for recording positions sending the axes to recorded positions and other functions To control the axes from the Teach Pendant SCORBASE must be operating in the On Line mode and the Teach Manual switch on the Teach Pendant must be switched to Teach This disables control of the axes from SCORBASE dialog boxes All Teach Pendant operations are reflected in the SCORBASE dialog boxes For example positions recorded by the Teach Pendant will appear in the Position Number list in the Teach Positions dialog box and encoder and XYZ values will change in the Encoder Counts and XYZ dialog boxes The Teach Pendant operation is described fully in the Teach Pendant for Controller User Manual 46 SCORBASE Position Definition 6 Program Editing A SCORBASE program is a set of instructions written by the user to control the robot peripheral equipment and to communicate with external I O devices This chapter explains how to create and edit a SCORBASE program The following tools are u
28. AND ACCEPT AND AGREE TO BE BOUND BY ALL THE TERMS OF THIS AGREEMENT IN SUCH EVENT YOU WILL BE PERMITTED TO ACCESS THE SOFTWARE IF YOU DO NOT ACCEPT AND AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT YOU MUST IMMEDIATELY CEASE INSTALLATION OF THE SOFTWARE AND YOU WILL NOT BE PERMITTED TO ACCESS THE SOFTWARE Grant of License Subject to the terms and conditions set out in this License Agreement Intelitek grants Youa Figure 2 2 License Agreement Window Review the Intelitek software license agreement You must accept the terms of this agreement in order to proceed with the installation To accept choose Yes The Software Selection Window opens Setup Type elect the setup type that best suits your needs RoboCell m ER du SCORBASE for ASRS 236 SCORBASE for ASRS 36u SCORBASE for ER 2u SCORBASE for ER 4u SCORBASE for Mobile Robot Figure 2 3 Software Selection Window interactive 3D simulation SCORBASE Starting SCORBASE e Select SCORBASE for ASRS 2X36u SCORBASE for ASRS 36u SCORBASE for ER 2u SCORBASE for ER 4u or SCORBASE for Mobile Robot The robot that you select becomes the default robot while you are working in SCORBASE although you can choose to open a new project and work with a different robot See the Hardware Setup option in the Options Menu Click Next to open the Setup Type window Vietnamese Figure 2 4 Setup Type Window e Select the desired language and click Next to open the
29. E INDEX 2 Set Variable PICK AND PLACE NOTE 0 Call Subroutine GET001 Call Subroutine 15 Return from Subroutine Remark End of the automatically generated code Remark Intelitek Open CIM robot device driver demonstration Remark The ER 4u robot serves the Conveyor CNV1 Remark The ER 4u robot serves the MINI ASRS M6AS2 Set Subroutine GET015 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 Go to Position 21 Speed 50 oU ppp ipa Y mm Pitch deg deg o E E ame SESESHRERE amp Coor Axis 1 Axis 2 E Axis 4 Axis 5 Axis7 Axis8 Type Insert amp 9 Off Line Figure 10 5 Project Screen The Project Screen option displays the following e Program Window that holds the SCORBASE program e Workspace Window that shows e Project tab e Commands tab e Positions Window When the program is running the currently executed line is highlighted and information on the currently executed command is displayed in the status bar To open the Project Screen layout select Window Project Screen User Manual 105 SCORBASE System Configuration Open CIM Screen AICROCIM DEWN SCORBASE for SCORBOT ER 4u 1 4 File Edit Run Options View Window Help D D i 3 2 LH UD Program MICROCIM DEMO ANNO A 1 Remark Beginning of the automatically generated code 2 Call Subroutine
30. In addition use the keyboard for the following functions Ins Toggles between Insert Mode and Overwrite Mode The currently active mode is shown in the Status bar at the very bottom of the SCORBASE window In Insert Mode a new command 15 inserted into the program above the line currently marked by the cursor Deletes the line or lines currently marked by the cursor Ctrl Home Brings the cursor to the first line of the program Ctrl End Brings the cursor to the last line of the program User Manual 50 SCORBASE Program Editing PgUp Displays the previous page of program lines PgDn Displays the next page of program lines Adding and Editing Commands SCORBASE commands are organized in a Command Tree which 15 displayed in the Workspace Window SCORBASE only displays the commands which are available in the currently set Experience Level e Atthe Introductory level Level 1 only basic commands appear in the Command Tree Atthe Advanced level Level 2 the number of commands 15 increased e the Professional level Pro Level all commands are accessible To see the Command Tree click the Command tab in the Workspace Window SCORBASE commands are grouped into these categories e Axis amp Control e Program Flow e Inputs amp Outputs e Advanced By default this category is hidden Select Options Advanced Options Advanced Commands to display these commands e Vision By default this ca
31. L fflnput _OnJump Wn p JE tH i un 01 Onlnputintzt On Sub ac OF TumOROutput amp _ mOfOutpu El EnablelntemuptE HIR DI Disablelntemuptz OM TumOnOutputh_ X OF TumOffOutputit SetAnalogOutputZE t Al SetVarable ToAnaloginput _ WM WaitForDigitallnput _ On t WF WaitForDigitallnput Off Level 1 Introductory Level 2 Advanced Pro Professional Figure 6 39 Command Tree Inputs amp Outputs Branch User Manual 6 SCORBASE Program Editing ll If Input 1 2 Pro Causes the program to jump to a label or call a subroutine if On Off Jump the state of the tested digital input matches the status specified On or Off The command opens this dialog box Input Number Jump ta Label t Call Subroutine Figure 6 40 If Input Dialog Box In the Input Number field enter the number of digital input 1 8 or a variable Select either On or Off for the state of the input Select either Jump or Call Subroutine then complete the active field In the Jump to Label field enter the name of a Label In the Call Subroutine field enter the name of a subroutine or a variable Ol On Input Sets the condition for an input interrupt service The service Interrupt Call Subroutine or Run Subroutine will be performed On Off whenever the condition input status is satisfied regardless of the current program pointer position The command opens this d
32. TARGET DEVICE INDEX 2 10 Set Variable PICK AND PLACE NOTE 0 11 Call Subroutine 12 Call Subroutine PUTO15 Manual Movement Teach Positions Simple Jants IC NT 52508 E Position Number Include Axes fi v Robot Peripherals NE Speed 1 a 0 5 Expand Relative to 50 amp Simulation Figure 10 2 Simulation and Teach Screen Available only if RoboCell is installed This layout option displays the following windows e Program Window that holds the SCORBASE program e 3D Image e Manual Movement Dialog Box e Teach Positions Dialog Box e Workspace Window that shows e Project tab e Commands tab For further information see the RoboCell User Manual User Manual 102 SCORBASE System Configuration SCORBASE for SCORBOT ER 4u File Edit Run Options View Teach amp Edit ROCIM DEN Window Help 7 1 1 on Call Subroutine _ AND PLACE 0 1 3 15 2 0 Set Subroutine _ AND PLACE 0 1 3 15 2 0 Set Variable TASK ID 110000 Set Variable PART ID 0 5 Set Variable SOURCE DEVICE ID 1 7 Set Variable SOURCE DEVICE INDEX Set Variable TARGET DEVICE ID 15 _ 9 Set Variable TARGET DEVICE INDEX 2 Set Variable PICK AND PLACE NOTE 0 Call Subroutine 1 _18 Set Subroutine
33. X Deletes selected text or lines from the program and places it on the Windows and SCORBASE clipboards Copy Ctrl C Places a copy of selected text or lines from the program on the Windows and SCORBASE clipboard Paste Ctrl V Inserts the contents of the SCORBASE clipboard into the program Find Ctrl F Opens a dialog box that allows you to search for any string such as a command or text Find in Program Er cell3 Find what Direction Cancel Match case Up Down Figure 6 3 Find Dialog Box User Manual 49 SCORBASE Program Editing Find Next F3 Repeats the last Find operation for the next occurrence Accessible also from the Find dialog window Command Inserts deletes asterisk at beginning of a command Remark line SCORBASE ignores command lines that start with an asterisk This feature is useful for debugging Go to Line Opens a dialog box that displays the total number of lines in the program and prompts you for a line number Type in the number The program editor will jump to the line you specify Go To Line Total number of lines 58 Figure 6 4 Go To Line Dialog Box Go to Selected Automatically scrolls the Program Window to Line display the line which you have selected This is useful for long programs when you have selected a particular line and then scrolled away from it In very short programs which fit within a single window this function has no visible effect
34. able to the result of a computation enter a string that consists of two arguments and an operator An argument can be either an integer or a variable e g fun 2 Click on the arrow to see a list of operators or use the following list Arithmetic Addition Multiplication Subtraction Division Floating Point Division Mihi Operators Power raises the first argument to the power of the second argument MOD Modulus returns the remainder of the first Figure 6 27 Operators argument divided by the second M CTF logical Boolean Operators _ _ _ _ Dialog Box Logical Boolean Operators Exclusive or Equivalent Null or Boolean values only Implication Null or Boolean values only The result of a logical operation is 1 True or 0 False Any operand with a non zero value is considered true while a zero value 1s considered false User Manual 67 SCORBASE Program Editing A value assigned using the SV command can be used for conditional jumping using the IF lt Condition gt Jump command Actions can then be generated according to the variable value The following example jumps the program cursor to a label if more than three seconds elapse after timer reset Reset Timer Set Variable TIME to timer IF TIME gt 30 jump to PICKUP For more information on variables See page 87 VT Set Allows you to assign the current value of SCORBASE timer to a Variable to variable Timer The SCORBASE timer starts opera
35. alog box as the SM command except that the default device is the CNC Device Driver and the default message is a command rather than a string Send Message send ENC Device Driver MC Send Command Device ID t String Cancel Figure 6 37 Send Command CNC Device Dialog Box Enter the device ID and the command in the boxes LS Load Pro Loads a Visual Basic script by means of the following Script dialog box Load Script File name Figure 6 38 Load Script Code Box The script must be located in the same subdirectory as the SCORBASE project file You must be sure that the LS command 15 actually executed before you attempt to call any of the affected subroutines or variables You may load more than one script into a single SCORBASE project However it is the programmer s responsibility to ensure that there are no name conflicts User Manual 5 SCORBASE Program Editing EN End Pro This command simply enters the command End on the Program selected line of the program It signifies the end of the program It may be used in more than one subroutine such as subroutines which respond to various error conditions Input Output Commands Workspace Workspace 8 Workspace Project Commands Project Commands Project Commands AXIS CONTROL AXIS CONTROL FI AXIS CONTROL H E PROGRAM FLOW H E PROGRAM FLOW H E PROGRAM FLOW E al INPUTS amp OUTPUTS 1m 1 3 U
36. am execution only after the current command has been after the PauSe command is issued User Manual 92 SCORBASE Program Execution Inputs and Outputs Dialog Bars Digital Inputs amp Outputs Dialog Bars The Digital Inputs amp Outputs dialog bars show the status of the controller digital inputs and outputs The display is available in all modes of operation X Digital Inputs ERES Figure 8 2 Digital Input Dialog Bar X Digital Outputs EHI EI Figure 8 3 Digital Output Dialog Bar In both dialog bars when the status 15 Off false the matching I O number is dark green When the I O status 1s On true the matching I O number is light green If control is On the sixteen Output Input LEDs on the front panel reflect the I O status If control is On clicking on an output number in the Digital Output dialog bar toggles the status of the controller s digital outputs In Off Line the Digital Output dialog bar can also be used to simulate the status of controller s digital inputs This option is useful for checking the If Input onJump command In On Line mode to test the program response for the If Input onJump command short the designated input terminal to the digital input ground User Manual 95 SCORBASE Program Execution Analog Inputs amp Outputs Dialog Bars User Manual SCORBASE can monitor and control four
37. and opens this dialog box E Print to t Screen t Log File Figure 6 34 Print Dialog Box Enter text and spaces To print a value of a variable place the variable name single quote marks For example VARX X will prin VARX 50 when the value of X is 50 in tas To print a value of a Visual Basic Script variable include SCRIPT followed by the variable name in single quote marks For example VARY SCRIPT Y will print as VARY 100 when the value of SCRIPT Y 15 100 Se the desired print destination 73 Prog lect SCORBASE ram Editing SM Send Sends a message to MANAGER Robot Device Driver Message CNC Device Driver or Device Driver Send Message send WAKAGER MANAGER Toz Robot Device Driver a CNC Device Driver Device Driver Task ID TASE ID Figure 6 35 Send Message Device Dialog Box For a message to the MANAGER select the type of message from the list of available types Type a Task ID and select a message from the drop down menu Consult the Open CIM user manual for more details Send Message send To MANAGER Type 5 tart F irish Task ID E nd TOC Result Figure 6 36 Send Message Manager Dialog Box For other device drivers type the ID of the Device you wish to receive the message and enter the string to be sent User Manual 74 SCORBASE Program Editing Sends a command to the CNC Device Driver This is the same di
38. cteeiicstiesstesdiceiiceticetietivdiientiestiestiiersieudives 3 SV Ste RCO UM SIMS IS 222 euet dents ads ptio bete aia du pu intend aui du debite dus UU ATE 3 the SOLD Abe dedico 4 Umnstal no he Ale 7 SCORBASE a UD Ga du eui cope tue 7 QUITTING The Ale edt eas Domin Lov ufa Mob e pe Dori eub edo 8 Chapter 3 Menus Overview 9 The SCORBASE Widow eese oec ies os a tuae bote etui 9 Igi mo M 10 Edit MU e i otio oto evt poetice cial chro pue 12 Run MIU ecc usi ba tocum tae beh 13 ODUODS Me Ell cisco nte 14 baro e C UNE 16 VY MAT v VEO DID E edt tue canta o 18 les RIO T c 19 Ene 19 Chapter 4 Homing and mnnn 25 Gene betonte sx S care aces 25 Ino m 26 Hore 26 Search Home RODO 2 search Home Peripherals eI rte dim o ese eiu o ete aon 27 COO mie C OTmiotid 21 Go Home All Axes Robot 15 2 On Line Mode Mode 27 Contro
39. des the Workspace Window Through this window the user can access the project files and the SCORBASE commands tree See page 47 Manual Shows hides the Manual Movement Dialog Box Movement This box enables manual control over the movements of the robot the gripper and peripheral axes 16 SCORBASE Menus Overview User Manual Teach Positions Shows hides the Teach Positions Dialog Box This box enables recording teaching and deleting positions It also enables the user to send the robot and or peripherals to a previously defined position The functions available depend on the current Experience Level setting Robot Movements Opens the Robot Movement Dialog Box Pressing on a selected axis moves it in the selected direction Positions The Positions Window displays the positions of the currently open project The list 1s presented in tabular format Dialog Bars Toggles the display of seven dialog bars that enable the following e Joints Displays the robot s joints angle five joints XYZ Displays the robot tool center point TCP position and orientation The coordinate system origin is at the center of the robot base at table level Digital outputs Displays the status of digital outputs 1 8 dark green off light green on Click on an output to show hide its status Digital inputs Displays the status of digital inputs 1 8 dark green off light green on In Off Line clicking on input toggl
40. dialog box select an absolute position number 2 Click Get Position The XYZPR values of the position now appear in the XYZ Pitch and Roll fields Note If the position is relative only the offset values will be displayed 3 In the Position Number field enter a different number or leave the position number if you want to modify that position 4 To record a position for the robot axes click Robot To record a position for the peripheral axes click Peripherals To record positions for both click Robot and Peripherals 5 In one or more of the coordinate fields enter a new value in millimeters or degrees 6 Click Teach Warning If you click Record the current TCP coordinates will be written to the selected position Teach Relative XYZ Position Levels 2 amp Pro To teach a relative X YZ position Make sure you have first recorded the reference position 1 In the Position Number field in the Teach Positions dialog box enter the new position number 2 Select Relative to and enter the number of the reference position in the Relative to field All XYZ coordinate fields are blank or show 3 n one or more of the coordinate fields enter a new value in millimeters or degrees 4 Click Teach A position that 1s relative to current means the specified offset will be computed from wherever the robot is located at the time it 1s sent to the relative position If the reference position changes the relative p
41. egrees from horizontal reference position for asis Upper limit of axis motion in angles degrees from horizontal reference position for axis 4 Lower limit of axis motion in angles degrees from horizontal reference position for asis 5 Upper limit of axis motion in angles degrees from horizontal reference position Far axis 5 Lower limit of working envelope radius in meters Upper limit of working envelope radius in meters Lower limit of z coordinate in meters Upper limit of coordinate in meters Minimum elbow angle in degrees Z coordinate of the rotation axis of arm link 2 when robot at home position in meters amp coordinate of the rotation axis of arm link 2 when the rabat at home position in meters Length of arm link 2 from the first articulated joint in meters Y coordinate offset from center along the Y axis of the when robot at home position in meters Length of arm link 3 from the second articulated joint in meters Distance from pitch axis to tip of gripper in meters First robot axis for homing Second robot axis for haming Third robot axis for haming Fourth robot axis for homing Fifth robot axis Far homing Sixth robot axis for homing Figure 10 12 Parameter Set Window for Robot E3 ParameterSet SDEFAULT a 9 Es Robot Axis 1 Axis2 Axis 3 Axis 4 Axis 5 Axis Axis 7 Axis Description Axis type bitmap bit mask 12linear 2 gripper 4 unlimited axis I asimunm posi
42. er Manual 116 SCORBASE System Configuration
43. es its status Analog outputs Displays the value of analog output 1 amp 2 0 255 0 10 volt Analog inputs Displays the value of analog input 1 4 0 255 In Off Line you may set the analog input value Encoders Displays the encoder counts of axes 1 8 Encoders are zeroed after homing the system See pages 45 and 93 Show All Dialog Displays all seven dialog bars Bars Close All Dialog Closes all seven dialog bars Bars 17 SCORBASE Menus Overview Movement Displays the following data Information e Position error of eight axes in encoder counts e Home switch status of all eight axes PWM for one selected axis The PWM Pulse Width Modulation is the controller output for the selected axis motor Messages Opens the Messages Window The data displayed in the Messages window is printed using the PS Print to Screen amp Log commanding SCORBASE Shows hides the programming toolbar default on Status Bar Shows hides the lower status bar default on Window Menu EL m The Window menu enables you to select the desired window layout Teach amp Edit options Run Screen Project Screen Open CIM Screen User Screen Save User Screen v 1 AGV SETUP C Simulation amp Sets the screen to display the RoboCell window Teach and dialog bars required to define positions This 1s disabled in SCORBASE Teach amp Edit Opens Program Window Workspace Window Manual Movement W
44. essional Figure 6 51 Command Tree Advanced Commands User Manual 83 SCORBASE Program Editing UP Use Specifies the Parameter Set to be used The command Parameter Set opens this dialog box Use Parameter Set Parameter set name Cancel Figure 6 52 Use Parameter Set Dialog Box Open the drop down list to select the desired Parameter Set and click OK See page 110 for further information PV Set Sets the value for a selected device parameter by Parameter name The command opens this dialog box Value Set Parameter Value ls MH ame Value Robot Base amp nglel hi 1 74 Section Limits Kew Base amp ngle Description Lower limit of axis motion in angles degrees from horizontal reference position For axis 1 Cancel Figure 6 53 Set Parameter Value Dialog Box Open the drop down list to select the axis for which you need to change the parameter Open the drop down list to select the parameter whose value needs to be changed Value Enter the new value The details of the selected parameter are automatically displayed User Manual 84 SCORBASE Program Editing Vision Commands Vision Commands are displayed in the Command Tree when you select Options Advanced Options ViewFlex Commands See the ViewFlex User Manual for full details Workspace Project Commands Fl AXIS CONTROL PROGRAM FLOW H E INPUTS amp OUTPUTS E1 3 VISION COMMANDS JE SN Snap F
45. gram Editing RB Ring Bell 2 Pro When executed this command produces a beep using the computer s internal loudspeaker RT Reset Pro SCORBASE uses a timer that measures time in units of tenths of a Timer second The timer starts operating when SCORBASE is opened The Reset Timer command resets the value of the SCORBASE timer to To use the timer the timer value must be assigned to a variable using the Set Variable command See page 66 for more details oV Set 1 2 Pro Allows you to assign a value or an expression result of a specific Variable to Computation computation to a variable The command opens the Set Variable dialog box Computation is selected by default Set Variable Function Computation Varable Mame Value or Expression gt Mate You can use script functions and variables For example SCRIPT My FUNCTIDNI 1 3 2 4 SCRIPT VARIABLE Figure 6 26 Set Variable Default Dialog Box In level 2 the Set Variable value can only be a result of computation In the Pro level variable values can be derived from other sources For further information see pages 58 62 63 68 and 82 Variable Name Enter the name of the variable The first character must be a letter User Manual 66 SCORBASE Program Editing Value or Enter a value or a formula Expression To set the variable to a fixed value enter a number in the range of 1000000 To set the vari
46. harts for axes and 2 are shown in Figure 3 4 Pew BY Figure 3 4 Chart for Two Axes To open the Charts window do one of the following uw e Click the Charts icon the toolbar e Select View Charts The following options are available in the Charts window toolbar Start chart Starts drawing the chart Stop chart Stops drawing the chart User Manual 20 SCORBASE Menus Overview Options Opens the Chart Options dialog box where you can select the data to be displayed in the chart s Chart Options Assn Encoders O O B ISI IS IS S History Record History Cancel Advanced gt gt Figure 3 5 Chart Options Dialog Box Click the data that you want displayed in the charts The example shown in Figure 3 5 results in the display of the Encoder Error and PWM of axis 1 as well as the display of the Encoder and Error for axes 2 through 6 Since each axis 1s shown in a different chart six charts will be displayed Any chart can be saved to a history his file To do so Check the Record History box Click the Browse button which becomes available to open the window Select the folder and enter the name of the file to be saved User Manual 21 SCORBASE Menus Overview Load Project Look in Ji RMH2 CIM C SETUP TEST FE Buttloint TILT 1 Project name Files of type Project
47. ialog Bars esses 93 Analog Inputs amp Outputs Dialog Bars 94 SCORBASE LOS 95 Chapter 9 Project Files Management 97 Project NTand P CIN secos oe aoi 97 Chapter 10 System Configuration 101 Window Layout OO edicto 101 User Manual li SCORBASE Window Menu ccccccececoececcececcccecaccececsececsscecsecsccccscecsecececncecs 101 Simulation T6306 ice ne 102 Teach 103 RUM S CPOO DE 104 Project DS ClO O sorta sicco ep MEE 105 Open IMS Ci CCM b RES NC 106 User Screen Save User Screen 107 Other aia be e b on oi mee M DOR 107 ODON c 107 Hardy are Sep ish coronis Salus etos 107 Parameter Set 110 Line 112 Reload Last Project at 112 Expone elevo hasepad ie adipem cde 112 VIEW MNU recan een T 113 Dialog Bar Display 114 115 Command Ene ota prp
48. ialog box On Input Interrupt Input Number Call Subroutine Bun Subroutine Figure 6 41 On Input Interrupt Dialog Box User Manual 77 SCORBASE Program Editing Input Number Enter the number of a digital input a variable or the word ANY Use of the word ANY causes any input 1 8 to evoke the interrupt state On Off Select the state of the input Call Enter the name of a subroutine that will be Subroutine executed in case of interrupt Execution of the main program is suspended until completion of the subroutine Run Enter the name of a subroutine that will be Subroutine executed in case of interrupt Execution of the main program continues and the subroutine is spawned as a concurrent process An interrupt command causes the program to halt the command it is currently executing which can also be a movement or a delay and to immediately execute the command specified for this interrupt If the specified command is a Call Subroutine the program will resume from the point where it was suspended as soon as the subroutine completes its execution If the specified command is a Run Subroutine the main program resumes immediately after the concurrent process is started User Manual 78 SCORBASE Program Editing An interrupt command can be disabled and enabled by means of the El Enable Interrupt and DI Disable Interrupt commands described below Example On Input Interrupt Input Number f
49. ield appears Select either an existing position or Current A position that is Relative to Current means that the reference position is the robot position at the time it is sent to that position Relative to is only available to Level 2 and Pro Expand Advanced and Pro Levels Click Expand to open the Teach Positions Expanded dialog box Teach Positions Expand emm 0 Yim f0 zimm Pitch deu 0 Roll ded 0 f Via Position Get Position Clear Teach Position Number n x a t Absolute Relative to Figure 5 8 Teach Positions Expand Dialog Box for Level 2 Advanced User X mm Y mm Fields for displaying or changing the Cartesian Z mm Pitch deg coordinates of the selected position See page 33 Roll deg Get Position Displays the Cartesian coordinates of the selected position See page 33 Clear Clears all position coordinate fields The position data does not change Teach Teaches position using the Cartesian Coordinate System User Manual 39 SCORBASE Position Definition Go Circular Executes the Go Circular to Position command This command sends the robot in a circular path to the target position in the position number field via the position specified in the Via position field The circular motion applies only to the robot Via position Selects the intermediate position through which the Go Circular movement passes Go Linear to Execute
50. indObject Find Blobs Set Position ExtemalFunction et Value Pro Professional Figure 6 54 Command Tree Vision Commands User Manual 85 SCORBASE Program Editing User Manual 86 SCORBASE Program Editing 7 Variable Programming The SCORBASE language allows variable programming Variables allow you to write commands that change as the state of the robot or its environment changes during program execution Therefore they are useful for creating loops and subroutines in robot programs To use a variable it must first be defined using the Set Variable to Computation command See pages 47 and 66 Variable names can be up to 22 characters long It is recommended however that you use meaningful names that are as short as possible The first character of the name must be alphabetic SCORBASE has full access to variables in Visual Basic scripts that are loaded in memory The variable name must begin with SCRIPT for example SCRIPT A Values can be transferred both to and from variables in external Visual Basic scripts In most editing commands a variable can be specified instead of a numeric value A variable cannot be used to specify a Label or a Subroutine If at run time the program encounters a variable whose value is not defined or is out of range an error message 1s displayed SCORBASE variabke Figure 7 1 Undefined Variable Error Message Using a Variable Instead
51. indow and Teach Position Window Run Screen Displays the Program Window together with its toolbar Project Screen Displays the Program Window and Positions Window Open CIM Screen Displays Program Window Open CIM Device Driver Window and CIM Messages Window User Screen This allows the user to customize the screen layout according to personal preference User Manual 16 SCORBASE Menus Overview Save User Screen This saves the User Screen layout for later recall with the User Screen command Project Name Displays the file name of the open project Help Menu The Help menu options SCORBASE Help Scripting Help _ About ES SCORBASE Help Opens SCORBASE On Line help WM Scripting Help Help Opens help files for Visual Basic scripting Shows the SCORBASE software version Charts SCORBASE charts can be configured to display the following data Y axis vs time X axis e Encoder counts axis position represent the actual axis position The encoder counts are shown in a blue line e Position error is the difference between the required axis position and the actual axis position The error is expressed in encoder counts and shown in a red line e The PWM value represents the controller output The error and the axis control parameters determine the PWM value shown in a green line User Manual 19 SCORBASE Menus Overview The data for each axis 1 8 is shown in a different chart Sample c
52. indow and the dialog bars described in this chapter are used for activating and monitoring program execution Select Window Run Screen to display only the Program window which shows the section of the program currently executed e Status Bar indicates the currently executed line or current value of a variable e Inputs and Outputs Dialog Bars show the Analog Input Analog Output Digital Input Digital Output values To activate the dialog bars that are most useful for program execution select View Dialog Bars and then the desired dialog bar from the pop up menu e Log file records data during program execution Running a Program SCORBASE offers three modes of running a program To select the running mode do one of the following e Click the appropriate Run icon in the toolbar e Select one of the Run options in the Run Menu e Press the function key Single line F6 Runs the currently selected highlighted line single cycle F7 Runs the program from the currently selected highlighted line Running stops after the last line is executed Continuous F8 Runs the program from the currently selected highlighted line After the last line is executed program execution continues from the first line User Manual 9 SCORBASE Program Execution The Run key on the Teach pendant cannot be used to start execution of SCORBASE programs Note Always restart execution of a program from the first line after
53. input is On the program turns on the corresponding output If the tested input is Off the program turns the corresponding output off Monitoring Variable Value To monitor a variable value SCORBASE offers the following tools l When SCORBASE is running and a Set Variable command is executed the current value of the variable is displayed in the status line at the bottom of the screen When the program is not running click on the Set Variable command in which the value is assigned to the variable and then execute this line using the Run Single Line command The variable value is displayed in the status line at the bottom of the screen The Print to Screen amp Log PS command can also be used to print the actual value of a variable by placing the variable name within single quote marks in the text to be printed Example Set Variable 7 5 Set Variable x 9 Set Variable Z Print to screen z z x x When the program is running the following messages appear in the status bar l 2 3 4 User Manual When the first line 15 executed the message 15 z 5 When the second line is executed the message is x 9 When the third line 1s executed the message is y 4 When the fourth line is executed this window opens Messages Date Time Message 027440 16 22 00 z h 4 Figure 7 2 Variable Status Dialog Window 89 SCORBASE Variable Programming Program Execution The Program W
54. ions and movements refer to the hard home position The homing procedure finds the hard home for the selected axes SCORBASE offers two commands relating to the home position e Search Home is the procedure for homing During Search Home each axis is homed separately The controller activates the currently homed motor axis until its micro switch 1s pressed Then the controller initializes the axis encoder counter and turns to home the next axis After all configured axes are homed the homing procedure ends Go Home sends the selected axes to a position where the encoders value is zero Note This command does not home the axes The two commands are available in three levels e Search Go home all applies for all active axes e Search Go home robot applies for the robot e Search Go home peripherals applies for axes 7 amp 8 User Manual 22 SCORBASE Homing and Control Homing Search Home All Axes User Manual To start the homing procedure do one of the following e Select Run Search home all axes st e Click the Search Home icon A window opens displaying the number of the axis currently being homed Each time an axis is successfully homed a checkmark appears next to the axis number After the five axes and the gripper have been homed a checkmark appears next to Robot Homing Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 C Gripper Robot Figure 4 1 Ho
55. is 2 Upper limit of axis motion in angles degrees from horizontal reference position for axis 2 Lower limit of axis motion in angles degrees from horizontal reference position for axis 3 Upper limit of axis motion in angles degrees from horizontal reference position for axis Lower limit of axis motion in angles degrees from horizontal reference position for axis 4 Upper limit of axis motion in angles degrees from horizontal reference position for axis 4 Lower limit of axis motion in angles degrees from horizontal reference position for axis 5 Upper limit of axis motion in angles degrees from horizontal reference position for axis 5 Lower limit of working envelope radius in meters Upper limit of working envelope radius in meters Lower limit of 2 coordinate in meters Upper limit of 2 coordinate in meters Minimum elbow angle in degrees Z coordinate of the rotation axis of arm link 2 when robot at home position in meters X coordinate of the rotation axis of arm link 2 when the robot at home position in meters Length of arm link 2 from the first articulated joint in meters Y coordinate offset from center along the Y axis of the TCP when robot at home position in meters Length of arm link 3 from the second articulated joint in meters Distance from pitch axis to tip of gripper in meters Figure 3 2 Parameter Set Window Parameters can be set for the robot and for each one of the eight axes Select the appropria
56. it is recommended that you back up any existing user created files before you begin the installation It is also recommended that you remove the previous SCORBASE version for Windows installation using the software s Uninstall utility To install SCORBASE e Insert the CD into the CD ROM drive to start the installation procedure e If the procedure does not start either e From the Windows task bar click Start Run and type D Setup where D is your CD drive or e Using Windows Explorer explore the CD drive and click Setup e Wait until the Welcome window is displayed Welcome to the InstallShield Wizard for Software for Controller USB The InstallShield Wizard will install Software for Controller USB on your computer To contin click Next Figure 2 1 Welcome Window e Click Next to open the License Agreement window User Manual 4 SCORBASE Starting SCORBASE User Manual License Agreement Please read the following license agreement carefully LICENSE AGREEMENT IMPORTANT THE SOFTWARE IS LICENSED ONLY ON THE CONDITION THAT THE LICENSEE REFERRED TO IN THIS AGREEMENT 5 YOU AGREES WITH THE LICENSOR INTELITEK INC REFERRED IN THIS AGREEMENT AS INTELITEK TO THE TERMS AND CONDITIONS SET FORTH IN THE FOLLOWING LEGAL AGREEMENT THIS AGREEMENT 15 AN ELECTRONIC AGREEMENT AND IS LEGALLY BINDING CONTRACT BY CLICKING ON THE ACCEPT BUTTON BELOW YOU CONSENT TO ENTER INTO THIS AGREEMENT
57. ition ABOVE TEMPLATE POSITION Speed 20 Go to Position 21 Speed 50 Go to Position 20 Speed 50 Go Linear to Position 2 Speed 20 Open Gripper Go to Position 20 Speed 50 Send Message Start to MANAGER ID TASK ID Return from Subroutine Set Subroutine 15 Print to Screen PUT TEMPLATE ON MINI ASRS M6AS2 Open Gripper 1 2 3 4 5 _7 10 11 12 4 _15 16 7 18 19 20 _21 2 23 24 25 2 2 28 29 Insert amp Off Line Figure 10 4 Run Screen The Run Screen display option opens only the Program Window When the program is running the currently executed line 1s highlighted and information on the currently executed command 15 displayed in the status bar To open the Run Screen layout select Window Run Screen User Manual 104 SCORBASE System Configuration Project Screen File Edit Run Options View Window Help Q Bw gz on o p A L2j 5 Program MICROCIM DEMO ARUN KD DE ES E m AXIS CONTROL 11 Remark Beginning of the automatically generated code m PROGRAM FLOW Call Subroutine PICK AND PLACE 0 1 3 15 2 0 H INPUTS amp OUTPUTS Set Subroutine PICK AND PLACE 0 1 3 15 2 0 8 ADVANCED COMMANDS 3 VISION COMMANDS Set Variable PART ID 0 Set Variable SOURCE DEVICE ID 1 Set Variable SOURCE DEVICE INDEX 3 Set Variable TARGET DEVICE ID 15 Set Variable TARGET DEVIC
58. l On Control Off 28 Chapter 5 Position Definition ee cere eere creen nennen nnns 31 Joint and Cartesian Coordinate 5 32 Jont Coordinate 32 Cartesian Coordinate System Dai 33 Absolute and Relative Positions 34 R cord and aa 34 Manual Moyement Dialog didi eds 35 Movement DIalos 37 Teac Posrtons Dialog 37 User Manual i SCORBASE SPELE CUM acies 38 Smmple CAdVvanced revel sistere tea E 38 Expand Advanced and Pro 1 30 vire Fro CV ce 40 Recording Positions Joint Coordinates cccccccccccccceesseseeecceeeeeeaeeeseeeeeees 4 Record Absolute Position Levels 1 2 amp Pro een 4 Record Relative Position Pro Level eene 4 Teaching Positions XYZ 42 Teach Absolute XYZ Position Levels 2 amp Pro 42 Teach Relative XYZ Position Levels 2 amp 42 Positions WINDOW 43 POSITIONS 43 Positton Popup
59. lbow Pitch and Roll ENCODER MOTOR GRIPPER ELBOW PITCH SHOULDER BASE MOTORS ENCODERS Figure 5 1 Robot Joints User Manual 32 SCORBASE Position Definition For example after homing the robot position in Joints coordinates 1s Axis 1 Base 0 Axis 2 Shoulder 120 Axis 3 Elbow 95 Axis 4 Pitch 88 Axis 5 Roll 0 Cartesian Coordinate System XYZ A robot position in Cartesian or X YZ coordinates is defined by these parameters e The distance of the robot s Tool Center Point TCP from the point of origin the center bottom of the robot base along the three axes that describe three dimensional space X Y Z e The Pitch P and Roll R angles of the gripper specified in angular units Tool Center Point T C P 7 X Y Figure 5 2 Tool Center Point in Cartesian XYZ Coordinates User Manual 33 SCORBASE Position Definition For example after homing the robot position in Cartesian coordinates 1s defined as X 169 mm Y 0 mm Z 503 mm Pitch 63 Roll 0 A position recorded in one coordinate system can be converted by SCORBASE to another coordinate system Absolute and Relative Positions SCORBASE offers two methods of defining a robot or peripheral position Absolute and Relative The two methods are applicable in Cartesian and in Joint coordinates An absolute position is defined using all five robot position pa
60. mage Print Charts f rint Preview Charts Import 3D Model Edit 3D Model View File Exit User Manual E A SCORBASE project contains program SBP file user defined positions PNT file and a project data file WS file If RoboCell is also being used the project includes the cell image 3DC file Throughout this manual the term project refers to the program positions and image files saved by the user as one entity The File menu contains the usual Windows functions that allow you to open new or previously saved projects save and close projects You can print files containing robot programs and positions and exit the software The File menu options are New Project Opens a new untitled project See page 97 Open Project Opens the Load Project window which lists Ctrl O SCORBASE files without a virtual cell Save Project Saves the currently active project program Ctrl S positions and graphics Save Project As Saves the currently active project under a new project name New Script Opens Notepad for writing a new Visual Basic script Save the file with a VBS extension in the same directory as the SCORBASE project file The best practice for naming the file 1s lt SCORBASE project name gt VBS 10 SCORBASE Menus Overview Open Script Opens File Selector box for opening an existing Visual Basic script file Print Program Prints the program Prog
61. ming Status Window To abort homing while the procedure 15 still in progress do one of the following e Press F9 Stop command e Press the red EMERGENCY button on the controller e Press the EMERGENCY key on the Teach Pendant If the homing procedure fails a message appears The Search Home All Axes command executes the robot s homing procedure as well as that of any peripheral devices that have been configured in the Options Peripherals Setup menu This command can only be performed when SCORBASE is On Line 26 SCORBASE Homing and Control If the system has already been homed and you change SCORBASE to Off Line mode there 1s no need to home the system again when you return to On Line mode When SCORBASE 15 in Off Line Mode or when RoboCell 15 installed and 15 in Simulation Mode the homing procedure is not required The homing procedure initializes Joint and X YZ values according to a software definition All encoders are set to while the robot Cartesian coordinates are set according to a software model Search Home Robot This command runs the homing procedure for the robot Homing of the peripherals is enabled only after the system has been homed once Search Home Peripherals This command runs the homing procedure for the configured peripherals Homing of the robot is enabled only after the system has been homed once Go Home Command Go Home All Axes Robot Peripherals After the axes have bee
62. mouse button The user can define 1 000 positions A higher computer CPU and memory can hold more positions User Manual 37 SCORBASE Position Definition Simple Level 1 Teach Positions Simple Position Number Figure 5 6 Teach Positions Dialog Box Simple Level 1 The Teach Positions Simple dialog box offers the following options Record 1 2 amp Pro Records the current robot position in joint coordinates to the position displayed in the a position number field Delete 1 2 amp Pro Deletes from memory the position in the position number field Goto 1 2 amp Pro Executes the Go to Position command which Position sends the robot s TCP Tool Center Point from its current position to the selected position Speed 1 2 amp Pro Selects the speed for all movement commands 10 fastest 1 slowest 5 default Simple Advanced Level Teach Positions Simple Position Number v n Bic Absolute Expand Figure 5 7 Teach Positions Dialog Box Simple for the Level 2 Advanced User User Manual 38 SCORBASE Position Definition At the Advanced level the Teach Positions dialog box offers all the commands available at Level 1 and also all of the following Expand 2 amp Pro Opens the Teach Positions Expanded Simple dialog box Absolute Defines positions either as absolute or relative to Relative to another position When Relative to is selected a Relative to f
63. n homed select Run Go Home All Axes to send the axes back to their home position at any time This command sends the robot and peripherals to a position where the axes encoders value equals zero The Go Home command does not run the homing procedure Selecting the Go Home Robot or Go Home Peripherals command sends the selected axis to its home position On Line Mode Off Line Mode User Manual SCORBASE can run either in On Line or in Off Line mode In On Line mode SCORBASE communicates with the controller over the USB channel If the Control On state is selected SCORBASE controls the robot peripherals and I O device In Off Line mode SCORBASE can be used only in the Control Off state useful for programming and debugging The active mode is displayed in the status bar To change to On Line select Options On Line To change to Off Line select Options Off Line 27 SCORBASE Homing and Control If SCORBASE 15 opened in On Line or On Line is selected from the Options menu this message appears as SCORBASE searches for the controller Initializing please wait Figure 4 2 Controller Search Status Window If the controller 1s detected On Line mode 1s activated If the controller is not detected Off Line remains the active mode Control On Control Off CON COFF The Control On state enables servo control of the axes This state 1s available only in On Line mode In the Control Off state axis movement
64. nt to Point P to P control In Point to Point control all axes move independently and there 15 no control over the TCP trajectory Go to Position Target Positions f nint t Linear t Circular t Fast 100 Speed 1 99 50 t Duration 1 10 sec Figure 6 6 Go To Position Dialog Box Movement Control Target Position The destination of the movement Enter a number or a variable in this field Speed Duration Fast Executes the movement at the fastest speed possible opeed Executes the movement at a slower speed Enter a number from 1 through 99 or a variable in the Speed field Default 50 average speed Duration Executes the movement in a specific amount of time Enter the time in tenths of a second or a variable Available only in Pro Level Via Position The position via which the destination of the movement is reached Enter a number or a variable in this field User Manual 53 SCORBASE Program Editing GL Go 2 Pro Sends the robot s TCP tool center point from its current position to the target Linear to position along a linear path straight line The linear motion applies only to the Position robot axes For linear motion speed can also be defined in mm s Speed Go to Position Target Position f Joint lg f Linear t Circular t Fast 100 f Speed 1 33X f Speed mm sec t Duration 1 10 sec Figure 6 7 Go To Position Linear Dialog Box
65. nual 98 SCORBASE Project Files Management View File Opens the View File window to display the program or position of any selected project Exit Quits SCORBASE If changes to a program or position file have been made but not yet saved a warming message will be displayed User Manual 99 SCORBASE Project Files Management 10 System Configuration SCORBASE offers the following options for system configuration e Window Layout options e Experience level e Hardware setup Window Layout Options Window Menu Help Simulation amp Teach Teach amp Edit Run Screen Project Screen Open CIM Screen User Screen Save User Screen v 1 Program MICROCIM DEMO Figure 10 1 Window Menu The display options enable optimal usage of the screen area SCORBASE offers five basic display options and a wide range of dialog bars and windows through which the user can see and change system data User Manual 101 SCORBASE System Configuration Simulation amp Teach File Edit Run View 3DImage Window Help Q Bu Ei io LY oA NDB ce A WWE LS a Gm Remark Beginning of the automatically ger P Call Subroutine PICK_AND_PLACE_0 1 3 1 3 Set Subroutine AND PLACE 0 1 3 1 _ Set Variable TASK 10 110000 1 Set Variable PART ID 0 amp Set Variable SOURCE DEVICE ID 1 Set Variable SOURCE DEVICE INDEX 3 8 Set Variable TARGET DEVICE ID 15 95 Variable
66. of a Numeric Value User Manual 87 SCORBASE Variable Programming User Manual Example 1 Set Variable stationl 5 Set Variable lamp 1 GO Eo Position sStatrsonl Tast Turm Om Our pues tamne In this example one of the robot stations named station is recorded as position 5 and a lamp is connected to output 1 When the program initiates the value 5 is assigned to the variable named station and the value 1 is assigned to the variable lamp The following program lines send the robot to position station and turn on a lamp Using a meaningful name for the variable makes the programming debugging and maintenance easier Example 2 Set variable pos 0 Set variable pos pos 1 Go to position pos fast Wait 50 10ths of seconds Le pos 3 jump EO Start In this example the robot moves to Positions 1 2 3 4 and 5 At each position the robot waits 50 seconds After waiting at position 5 the program terminates Example 3 ELSE Set variable tested 0 LO011 Set variable tested tested 1 If input tested off call sub off If input tested on call sub on If tested 8 jump to loop Jump Starr Set Subroutine off Turn off output tested Return from subroutine Set Subroutine on Turn on output tested Return from Subroutine In this example the program sequentially scans digital inputs through 8 in an endless loop 88 SCORBASE Variable Programming If the tested
67. opup window User Manul sss SCORBASE Position Definition Position Popup Window Position Displays the number of the position Delete Delete Deletes the selected position Delete All Delete All Deletes all listed positions from the Position Add Watch Inventory Panel and the SCORBASE memory Add Watch Copies the position data to the watch list visible a in the Watch Panel v Show Both Show Joint Shows only Joint values of all positions See page 32 Show XYZ Shows only the XYZPR of all positions See page 33 Show Both Shows both Joint and XYZPR values of all positions Note The peripheral positions are always displayed using encoder counts Watch Popup Window Position 3 Position No Displays the number of the position Delete Delete Removes the selected position from the watch list Delete All but does not affect its presence in the overall list Show Joint Delete All Removes all listed positions from the watch list Show XYZ but does not affect their presence in the overall v Show Both list Show Joint Shows only Joint values of all positions This can be set to a value different from the Position Inventory Panel See page 32 Show XYZ Shows only the XYZPR of all positions This can be set to a value different from the Position Inventory Panel See page 33 Show Both Shows both Joint and XYZPR values of all positions User Manual 44 SCORBASE Position Definition Position Da
68. or specifying the project name opens All project related files are saved including Program Positions and Graphics Save As Opens the Save Project dialog box for saving the currently active project under a new name All project related files are saved under that new name As default all projects are saved in a Projects folder Close Project Closes the currently open project New Script Opens Notepad The user can then begin to write a new Visual Basic script file Open Script Opens File Selector box for opening an existing Visual Basic script file Print Program Prints the program The Program window must be active to select this option Print Positions Prints the position table The Position window must be open and active to select this option You can open the Position window by selecting View Positions Print 3D image Prints the 3D image if RoboCell program is installed Print Preview Opens a dialog window that shows how the 3D Image printed cell will appear on paper Print Charts Opens a dialog box to select the specific axis chart for display or printout Only one axis can be selected at a time Print Preview Opens a screen which displays the selected Charts axis chart before printout showing how the printed cell will appear on paper Import 3D Model Opens the Import 3D Image dialog window showing the graphic module files 3DC files Edit 3D Model Opens the Graphic Module in CellSetup User Ma
69. osition moves accordingly User Manual 42 SCORBASE Position Definition Positions Window Positions The Positions window displays a list of the positions of the currently open project The list is presented in tabular format As default the table presents position information in both the Joint Coordinate System and the Cartesian Coordinate System When fully open the window 15 divided horizontally into two panels By dragging the bottom edge of the window you can reveal the bottom panel The top panel displays all positions in the project Position Inventory Panel The bottom panel Watch Panel displays the positions which have been selected for watching Positions Er4cell3 Jm H Coar Axis Avis Axis 3 Axis 4 Axis 5 Axis 7 Axis 8 gt Y mm 2 mm Pitch deg Roll deg mm deg mm deg i 1 Joint 0 56 i 42 9 bs Joi 3 ATZ 302 00 lE 90 0 i 3 Joint 43 54 2766 96 04 20 81 0 00 AY 21042 19996 100 00 90 00 0 00 Abs 3 Jair 5045 21 88 31 39 30 00 44 70 Abs Joint AYZ 21140 25568 9497 90 00 44 70 5 Joint 8220 D37 4833 41 54 0 00 Abs Joint XYZ 5202 380 00 40 00 90 00 0 00 E Figure 5 10 Positions Window fully opened to display both the Position Inventory Panel and the Watch Panel Each row 1n the top portion of the table represents a single position To manipulate the list e Select a position row e Right click to display the p
70. other devices in the workcell This manual describes all the features and operations for all Experience Levels of SCORBASE When necessary illustrations show the differences in the levels and descriptions note the availability of options and commands 1 SCORBASE Introducing SCORBASE User Manual 2 SCORBASE Introducing SCORBASE 2 Starting SCORBASE The instructions in this chapter are for SCORBASE only If you intend to install SCORBASE as part of the RoboCell software package follow the instructions in Chapter 2 Starting RoboCell in the RoboCell User Manual System Requirements SCORBASE for ER 4u computer requirements are e Pentium 4 Dual Core with 3 GHz processor or higher equipped with CD drive e Atleast 512 MB RAM 1 GB for Vista 7 e A hard drive with at least 100 MB of free disk space e Windows XP Vista 7 e Super VGA or better graphics display minimum 256 colors e A Mouse or other pointing device e USB port Minimum requirements are e Pentium 4 Dual Core with 2 GHz processor 512 Note Your operating system might have additional hardware requirements User Manual 3 SCORBASE Starting SCORBASE Installing the Software The SCORBASE software is supplied on a CD which also contains RoboCell Close any open applications before proceeding with the installation procedures If you are about to reinstall the software or install a newer version to an existing SCORBASE directory
71. pper rolls the TCP position does not change Open Gripper Completely opens the gripper Close Gripper Completely closes the gripper The robot can be manipulated from the Manual Movement dialog box before it has been homed in Joint mode only In fact it is often necessary to bring the robot into a more suitable position before initiating the homing routine However an axis limit error message may appear during manipulation of a robot that has not been homed Movement of an axis continues as long as the button or key is pressed or until a software or hardware limit is reached 36 SCORBASE Position Definition Robot Movement Dialog Box The Robot Movement dialog box enables control over the robot in XYZ and Joint modes ENEEE dup Figure 5 5 Robot Movement Dialog Box Clicking on an axis image or the XYZPR buttons moves the robot as described above at Manual Movement Dialog Box To open the Robot Movement dialog box select View Robot Movement Teach Positions Dialog Box The Simple Expanded Teach Positions dialog box enables the following e Teaching positions in Cartesian coordinates e Recording positions in Joint coordinates e Sending the axes to the recorded positions when program is not running e Goto Position e Go Linear e Go Circular To display the description of the function of each icon in the Teach Position dialog box simply place the mouse on the desired icon without clicking a
72. programming toolbar The toolbar contains a drop down list of all subroutines available for quick navigation Program Er cell3 e ee wee OD Bue X WEE 52 Close Gripper 53 Go Linear to Position 11 Fast 54 Tum On Output 1 Tum Output 1 56 Retum from Subroutine 57 Remark 58 Set Subroutine TAKE FR RED 59 Open Gripper Set Variable COUNT 1 1 Go Linear to Position 15 Fast 2 Linear to Position 5 Fast 63 Close Gripper Go Linear to Position 15 Fast Tum Off Output 2 amp 7 Retum from Subroutine 68 Remark Set Subroutine PUT ON CNV Go Linear to Position 12 Fast 1 Linear to Position 2 Fast Figure 6 1 Program Window The Workspace Window contains two tabs to switch between the project files and the commands currently available User Manual 48 SCORBASE Program Editing Er4cell3 00 Positions Erdcell3 Figure 6 2 Workspace Window Project Tab The Commands tab displays the Command Tree which in turn displays all of the commands available for the currently set Experience Level Program Editing Tools SCORBASE is a text based programming language in which every command is a single text line SCORBASE programs are edited by means of the usual Windows text editing options which can be accessed e Via the Edit menu e By pressing the designated keys e Byright clicking the mouse in the Program Window to open a pop up menu Cut Ctrl
73. ptions are available from the View menu Movement Displays the following information Position error for all eight axes Home switch status for all eight axes The number 1 indicates the switch 1s on pressed while O indicates the switch 1s off released Selected axis 1 8 PWM value The PWM value indicates the power sent to the axis motor Movement Information a Avis th 1 Sop eo Position Error f 5 to rm Amis H Home Switches D Value 0 Displays the content of PS Print To Screen commands Message Figure 10 18 Messages Window User Manual 113 SCORBASE System Configuration These two commands produce a window which overlaps the existing windows The user should readjust the positions and sizes of these windows according to personal preference Dialog Bar Display Options All Dialog bars are accessible from the View menu Select View Dialog Bars Shows angle of the robot joints See page 46 Shows position coordinates of the TCP See page 45 Digital output Shows digital output status and enables toggling an output status See page 93 Digital input Shows the digital input status Enables toggling an input status in Off Line mode for program debugging See page 93 Analog output Displays the value 0 255 of Analog output and 2 These values can also be modified through this dialog bar See page 94 Analog input Displays the value 0 255 of Analog inputs 1 4
74. r Retum Subroutine IF Jump CS CallSubroutine Set Subroutine Print oScreenl ag CallSubroutine f g INPUTS amp OUTPUTS RunSubroutine Label Print ToScreenLog Send Message SendCommand Load Script EndProgram WT Wait 10ths of second 1 10 of a second Figure 6 22 Wait Dialog Box Enter a number or a variable in the 1 10 of second field User Manual 64 SCORBASE Program Editing WC Wait 2 Pro Halts program execution until the defined condition is fulfilled For The command opens this dialog box Condition Wait For Condition Logical Expression Figure 6 23 Wait For Condition Dialog Box JU Jump to L 2 Pro This unconditional jump command causes the program pointer to jump to the line that contains the specified Label The command opens this dialog box Jump to LABEL Jump to Figure 6 24 Jump To Dialog Box Enter the Label name in the Jump to field Be sure to include a line with this Label in your program When the Jump command is used Jump is checked in the dialog box You can modify the Jump command to an IF jump command conditional jumping only in Levels 2 and Pro RE Remark 2 Allows insertion of a comment line for explanation and documentation into the program The command opens this dialog box Figure 6 25 Remark Dialog Box Enter up to 47 characters of text including spaces User Manual 65 SCORBASE Pro
75. r such as WordPad The file is located in the SCORBASE subdirectory named BIN SCORBASE generates an SCBS BAK backup file of the SCBS LOG file each time the program is closed User Manual 95 SCORBASE Program Execution 9 Project Files Management A SCORBASE project includes the following files SCORBASE program file extension SBP Recorded Position files file extension PNT Project data file extension WS Graphic image if RoboCell is installed file extension 3DC All commands except for Open relate only to the SBP PNT and WS files Opening or saving a project from the File menu opens or saves all project files three or four files As default all files are located in the Projects directory folder in the ER 2u or ER 4u directory depending on which robot is being used for the project Project Management SCORBASE project files are managed by means of the usual Windows file tools which can be accessed by icons or via the File menu New Ctrl N Opens a new untitled project named Untitled All project related files are created Open Ctrl O Opens a Load Project File dialog box for opening a previously saved project All project related files are opened Only one project may be open at a time User Manual 97 SCORBASE Project Files Management Save Ctrl S Saves the currently active project If the project has not previously been saved 1 is untitled a dialog box f
76. ram window must be active Print Positions Prints the user defined positions Positions Window must be active Print 3D Image Reserved for RoboCell program option Print Preview Reserved for RoboCell program option 3D Image Print Charts Opens a dialog box to select the specific axis chart for display or printout Only one axis can be selected at a time See page 19 Print Preview Displays the selected axis chart before printout Charts Import 3D Model Reserved for RoboCell program option Edit 3D Model Reserved for RoboCell program option View File Enables you to view a file from those listed e SCORBASE programs sbp e Position data pnt When you select a file a window opens displaying that file This 1s useful for copying lines from another existing SCORBASE program into a program being written Exit Closes SCORBASE If changes to a program or position file have been made but not yet saved a message appears giving you the opportunity to save the file before you exit SCORBASE User Manual 11 SCORBASE Menus Overview Edit Menu ER n Options View Window Help The Edit menu contains the usual Windows functions that allow you ut Ctrl X Copy to edit program files Find Ctrl F Find Next F3 Command Remark Go to Line Go to Selected Line Cut Ctrl X Deletes selected text or lines from the program lines and places it on the Windows and SCORBASE clipboards See page
77. rameters If the Joint coordinate system is used the robot position 1s defined using the Base Shoulder Elbow Pitch and Roll angles In the XYZ coordinate system a position is defined using the X Y Z values in millimeters and the Pitch and Roll angles in degrees An absolute position 15 usually a fixed position in world space A relative position is a position whose coordinates are defined as an offset from a reference position coordinates If the coordinates of the reference position change the relative position moves along with it maintaining the same offset A relative position can be defined in either Cartesian or Joint coordinate values A position can also be defined as relative to current In this case the relative position 1s calculated as an offset from the coordinates of the current robot position Record and Teach User Manual Although the terms teach and record are often used interchangeably SCORBASE makes the following distinction Record position defines a robot position in a Joint coordinates system Teach position defines a robot position in a Cartesian coordinates system 34 SCORBASE Position Definition Manual Movement Dialog Box Recording a robot position in Joint coordinates 1s done by manipulating the robot to the required position and then recording it The Manual Movement dialog box allows direct control and manipulation of the robot and peripheral axes The Manual Movement dialog box
78. rolOff TJ Teach Pro Teaches the position as defined by the absolute positions of the joints Position Joints Teach Position Command Base deg 100 0 Fitch 9 100 n Shoulder deg 100 0 Hall 0 Ebow deg l o f Joints Position Number E f Absolute Relative to Get Position Clear Cancel Figure 6 15 Teach Position Absolute Joints Dialog Box Enter a new unique number in the Position Number box Enter the values for Base Shoulder Elbow Pitch and Roll in 1 100ths of a degree Get Position Copies the values of the robot s current position into the appropriate boxes Clear Clears the values from all the boxes User Manual 59 SCORBASE Program Editing RJ Teach Pro Teaches the position as defined by the positions of the joints relative to another Position defined position By Joints Relative Teach Position Command to E Base 0 i Position Fitch deg1 0 Shoulder deg 100 0 Hall 0 Elbow o E NE t Joints Position Number t Absolute Relative te Get Position Clear Cancel Figure 6 16 Teach Position Relative Joints Dialog Box Enter a new unique number in the Position Number box Enter the values for Base Shoulder Elbow Pitch and Roll in 1 100ths of a degree and choose which point this new one 15 to be calculated from TX Teach Pro Teaches the position a
79. s defined by the absolute Cartesian coordinate of the TCP Position Tool Center Point by XYZ y Teach Position Command rome 100 0 Pitch deg 100 Y mor 100 0 Roll deg 1 00 0 Zim t Joints Position Number f Absolute Relative to Get Position Clear Cancel Figure 6 17 Teach Position Absolute XYZ Dialog Box Enter a new unique number in the Position Number box Enter the values for X Y and Z in 1 100 mm and Pitch and Roll in 1 100ths of a degree User Manual 60 SCORBASE Program Editing RX Teach Pro Position by XYZ Relative to Position User Manual Teaches the position as defined by the Cartesian coordinate of the TCP Tool Center Point relative to another defined position Teach Position Command amp mim 00 0 Pitch deg 100 0 Y mm1 00 0 Hall 0 2 aye t Joints Position Number t Absolute Relative te Get Position Clear Cancel Figure 6 18 Teach Position Relative XYZ Dialog Box Enter a new unique number in the Position Number box Enter the values for X Y and Z in 1 100 mm and Pitch and Roll in 1 100ths of a degree tp 61 SCORBASE Program Editing oJ Set Allows you to set a variable to the value of a specified joint at a specified position Variable number to Joint Position iin Functian Joint Value at Position 1 700 of deg mm Variable M ame Position Mumber
80. s loaded it is the responsibility of the programmer to ensure that there is no conflict of names After the subroutine is executed the program resumes execution from the line that follows the Call Subroutine command User Manual 71 SCORBASE Program Editing RU Run Activates the selected subroutine The command opens this Subroutine dialog box Run Subroutine Subroutine name E Execute Cancel Figure 6 32 Run Subroutine Dialog Box Either write a subroutine name or select one from the drop down menu To include the subroutine in the SCORBASE program press the Program button To run the subroutine press the Execute button When the command 15 initiated execution of the main program continues and the subroutine runs concurrently SCORBASE facilitates the operation of up to 100 concurrent programs The Call subroutine command suspends the main program until the completion of the subroutine LA Label 1 2 Pro Marks a line in the program that is referenced by a Jump command The command opens this dialog box Figure 6 33 Label Dialog Box In the Label field enter a name Do not include blank spaces use an underscore Do not use the same label name more than once User Manual 72 SCORBASE Program Editing PS Print to Screen amp Log User Manual Instructs SCORBASE to print data containing strings messages and variable values to a log file or to the message window or to both The comm
81. s the Go Linear to Position command Position Sends the axes in a straight line to the selected position Teach Positions Simple Position Number relude axes Robot Peripherals f Speed Absolute t Duration Relative bo 50 m Figure 5 9 Teach Positions Simple Dialog Box Pro Level At the Pro level the Simple Teach Positions dialog box offers the following additional commands Include Axes Instructs the controller to define coordinates for axes for Robot Peripheral or both A peripheral position can be recorded only in the Pro level Duration Defines the time it takes to complete a movement command The time 1s defined in tenths of a second For further information See page 53 These commands remain available when the Teach Positions dialog box 1s expanded User Manual 40 SCORBASE Position Definition Recording Positions Joint Coordinates Record Absolute Position Levels 1 2 amp Pro To record an absolute position l 2 3 6 Use either the Manual Movement dialog box or the Robot Movement dialog box to move the robot to the position you want to record Click on the Teach Position dialog box Type a position number in the Position Number field or select an existing position number if you want to modify overwrite a previously defined position Select Absolute Select Include Axes Robot or Peripherals a Robot to record a position for the robot axes b
82. sed for program editing e Program commands editor e Command tree that lists all SCORBASE commands Opening and Closing a Program Every SCORBASE program is part of aSCORBASE project A project also includes the user defined positions project data and if RoboCell is installed a virtual cell 3dc file Only one project can be opened at a time To open a saved program open the project containing the desired program by doing one of the following e Select File Open Project e Click on the Open an Existing Project icon e Press Ctrl In all cases the Load Project window will open prompting you to select the project that contains the program you want to edit The program 15 displayed in the Program Window To create a new project do one of the following e Select File New Project e Click on the Create a New Project B icon e Press Ctrl N User Manual 47 SCORBASE Program Editing By default the new project is opened with the Teach amp Edit layout This layout displays four windows e Program Window that holds the SCORBASE program e Manual Movement Dialog Box e Teach Positions Dialog Box e Workspace Window that shows e Project data 1 e positions user program and graphical display af installed SCORBASE Command Tree The Program Window contains the text of the SCORBASE program currently loaded Its title bar displays the name of the project Also shown by default 15 the
83. sitions used in that program should be defined SCORBASE offers various tools to define and store positions that will be used in the programs The following SCORBASE tools are used in the position definition process e Manual Movement Dialog Box e Teach Positions Dialog Box e Robot Movement Dialog Box e Position Data Dialog Bars e Positions Window To activate the dialog boxes which are most useful for position definition select Window Teach amp Edit Any of the following four methods can be used for position definition Absolute position Joint coordinates Relative position Joint coordinates Absolute position Cartesian coordinates Relative position Cartesian coordinates Note Peripheral position definition can only be performed in the Pro level User Manual 31 SCORBASE Position Definition Joint and Cartesian Coordinate Systems Defining a position in SCORBASE can be done by using either the Joint or Cartesian coordinate systems In both systems a robot position is defined using five parameters derived from the data supplied by the five axes encoders An encoder is an angular movement sensor attached to the axes motor A Peripheral position is always defined using one variable that stores the sensor output encoder value of that position Joint Coordinate System A robot position in Joint coordinates is defined by five angle values representing each angle of the joints The joint names are Base Shoulder E
84. t Options Menu Options View Window Help On Line vV Off Line ontrol Off Hardware Setup Set Parameter v Line Number Reload Last Project at Startup Level 1 Level 2 v Pro Advanced Options User Manual The Options menu allows you to define your preferences for operating the software Establishes communication with the controller See page 27 Off Line SCORBASE does not communicate with the controller even though it may be connected Off Line mode is useful for checking and debugging programs See page 27 Control On Enables servo control of the axes See page 28 Control Off Disables servo control of the axes See page 28 Hardware Opens the Hardware Setup dialog box where you can define Setup the peripheral devices which are connected and operated by the controller as axes 7 and 8 14 SCORBASE Menus Overview Opens the Parameter Set Window see Figure 10 12 and Parameters Figure 10 13 Advanced Commands must be activated in order to utilize Set Parameters See page 16 2 Parameter Set SDEFAULT E 15 52 9255 8s Robot Axis 1 Axis 2 Axis 3 Axis 4 Axis Axis Axis 7 Axis 8 Description Lower limit of axis motion in angles degrees from horizontal reference position for axis 1 Upper limit of axis motion in angles degrees from horizontal reference position for axis 1 Lower limit of axis motion in angles degrees from horizontal reference position for ax
85. t Minus Figure 6 12 Start Conveyor Dialog Box Enter the Axis number in the Axis field Enter a number or a variable in the Speed field Select a movement direction Plus or Minus Note When operating a speed controlled conveyor by means of the Start Stop Conveyor commands do not record positions and or use the Set Axis to Zero command for the conveyor in the same program ST Stop Stops the continuous motion of a conveyor that was initiated by a Start Conveyor Conveyor SC command User Manual 57 SCORBASE Program Editing SG Set Assigns the value of the gripper opening in mm to a variable This command is Variable useful when there is a need to measure the object in the gripper or to check the to Gripper gripper status open closed or gripping an object Sensor Set Variable Function Gripper Sensor mm Varable Mame T Figure 6 13 Set Variable Gripper Sensor Dialog Box In the Name field enter the name of the variable For more information on variables see page 87 Note This command is not available for SCORBOT ER 2 WH Write Commands the gripper to convert the letters specified into lettering on the workpiece The size is controlled by the Scale setting 1 10 Figure 6 14 Write Dialog Box CN Enables axis control by the controller See page 28 ControlOn User Manual 58 SCORBASE Program Editing CF Disables axis control by the controller See page 28 Cont
86. ta Dialog Bars SCORBASE offers three dialog bars that display all axes encoder counts and the robot position in reference to both the Cartesian Coordinate System X YZ and the Joint Coordinate System All dialog bars are accessible at all levels via the View menu They may also be opened or closed using the View Show Dialog Bars or View Close All Dialog Bars commands Encoder Counts Dialog Bar The Encoder Counts dialog bar displays the current values of the encoders for each of the eight axes Xl Encoder Counts 1 20 30 40 8 0 Figure 5 11 Encoder Counts Dialog To display the Encoder Counts dialog bar select View Dialog Bar Encoders The encoder values change whenever the axes are moved These values are set to or close to zero after the Search Home Axes command is executed XYZ Dialog Bar The X YZ dialog bar displays the current Cartesian Coordinate System X YZ PR values of the TCP x XYZ 169 03 0 00 Zimm 150433 6355 deg 000 Figure 5 12 XYZ Dialog Bar To display the XYZ dialog bar select View Dialog Bar XYZ The values shown in the above example are the Joint values after the Search Home command is executed User Manual 45 SCORBASE Position Definition Joints Dialog Bar The Joints dialog bar displays the angles between the two links of the joint in degrees X Joints Base 0 00 Shoulder 120 27 Elbow 95 03 Pitch 88
87. te tab and set the desired parameters Shows hides program line numbers in the program window Reload Last When checked opens the last project saved when Project at SCORBASE is started Startup Level 1 Displays list of commands and options at introductory level Commands related to Level 2 and Pro are disabled See page 112 Level 2 Displays list of commands and options at advanced level Commands related to Pro are disabled See page 112 Displays list of all commands and options See page 112 User Manual 15 SCORBASE Menus Overview Advanced Opens a dialog box in which these options are available Options Advanced Commands See page 47 e ViewFlex Commands see the ViewFlex User Manual Advanced Options Advanced Commands View Flex Commands Figure 3 3 Advanced Options Dialog Box When one or both options are checked the corresponding commands Advanced Commands and Vision Commands are listed under the Command tab of the Workspace Window Parameters should only be modified by skilled operators View Menu View Window Help v Workspace v Manual Movement w Teach Positions Robot Movement Positions Charts Dialog Bars Show All Dialog Bars Close All Dialog Bars Movement Information Messages v Toolbar v Status Bar F User Manual The options in the View menu allow you to show hide SCORBASE dialog bars and windows ES Workspace Shows hi
88. tegory is hidden Select Options Advanced Options ViewFlex Commands to display these commands Clicking on a category opens closes the list of commands To add commands to a program do one of the following e Double click on the desired command in the Command Tree e Type the two letters written next to the command e Click on the command icons in the Program Window applicable only for selected commands If you are working in Insert Mode the new command line is added above the currently selected highlighted line If you are working in Overwrite Mode the new command replaces the selected line Toggle between the two modes using the Ins key Many commands open dialog boxes for completing the command line parameters To change a command parameter click on the command to re open the command dialog box Change the required parameter and click OK to close the dialog box Note For safety reasons certain parameters are not accessible by the user i e they appear grayed and can be changed only by Intelitek support personnel User Manual 51 SCORBASE Program Editing To delete cut copy and paste a line use the usual Windows tools Axis Control Commands Workspace Workspace ea Workspace mE ect Commands Project Commands Project Comm ands ir SH SearchHome 5H SearchHome MEZ OG OpenGripper 3 V OG OpenGripper t CG CloseGripper P E X fiat CG CloseGripper f
89. ting when SCORBASE is opened Set Variable Function Timer 1 10 sec Variable Mame Cancel Figure 6 28 Set Variable Dialog Box Timer To initialize the SCORBASE timer in a program use the Reset Timer RT command User Manual 66 SCORBASE Program Editing IF If Jump to 2 Pro A conditional branch command which is used to determine the program flow in relation to the value of the variables The command opens this dialog box If CONDITION Jump to LABEL f Jump zl Jump to Figure 6 29 If Jump Dialog Box If the condition in the IF field is true program execution jumps to the line specified by the label in the Jump to field If the condition in the IF field is false program execution skips to the following line Enter the condition The condition includes a variable name a comparison operator and another variable name or a number Enter the name of a Label Be sure to include a line with this Label in your program Example If COUNTER 0 jump to START LOOP Go to Position 1 speed 5 START LOOP Go to Position 2 speed 5 If the value of Counter is greater than zero the robot will go to Position 1 If the value of Counter is equal to or less than zero the robot will go to Position 2 Use two equal signs for equal operators For example If COUNTER 0 jump to END The IF jump command can be converted to an unconditional jump command by selecting Jump
90. tion error for impact detection in encoder counts Lower limit of axis motion in encoder counts 2 5000 Upper limit of axis motion in encoder counts 20000 speed setting in units of encoder counts second 6500 Maximum accelerationdeceleration allowed for each axis during movement in units of encoder cauntz zecand z 11000 Speed setting For manual movement in one direction 160 Speed setting for manual movement in opposite direction 160 Number of encoder counts for 90 degrees when axis is linear value is number of encoder counts For 30 mm 10216 Encoder count at horizontal reference position 10786 Proportional feedback constant 120000 Differential feedback constant 1200000 Integral feedback constant 12000 Velocity feed Forward constant 0 offset bias 0 Homing Velocity Maximum encoder counts for impact detection during homing Number of ticks 24 me for impact detection during homing asimum time for homing in milliseconds hd asimum movement during homing in encoder counts Offset after home switch found in encoder counts Figure 10 13 Parameter Set Window for Axes User Manual 110 SCORBASE System Configuration SCORBASE contains the following parameter sets 2KG Moves objects that weigh about 2 kg 3KG Moves objects that weigh about 3 kg Current Current parameter set loaded to the controller Default Default set when parameters are optimized Maxspeed Activates the robot at maximum speed
91. un Continuously Stop This command is available only if the system has been homed once after opening SCORBASE See page 27 Search home Homes the peripheral peripherals This command 15 available only if the system has been homed once after opening SCORBASE See page 27 Go home all Sends the robot and peripherals to their home axes positions See pages 26 and 27 Go home robot Sends the robot to its home position This command does not home the robot See pages 26 and 27 Go home Sends the peripherals to their home position peripherals This command does not home the peripherals See pages 26 and 27 Run single line Executes the selected highlighted program F6 line See page 91 Run single cycle Executes the program from the selected F7 highlighted program line to the end of the program 91 User Manual 13 SCORBASE Menus Overview Run Executes the program from the selected continuously 8 highlighted program line When the last program line is reached the program starts again from the first line See page 91 Stop F9 Immediately stops program execution and movement of all axes See page 92 Pause F10 Stops program execution after the current line is executed See page 92 Note Pause and Stop are software methods for halting program execution In an actual emergency situation you should use the EMERGENCY button on the controller or the ABORT key on the Teach Pendan
92. ut to a variable The command opens this dialog box to Analog Input Set Variable Function Analog Input Variable Analog Input Number o Figure 6 48 Set Variable Analog Dialog Box Variable Name Enter the name of the variable The first character of the name must be a letter Analog Input Enter an input number 1 4 or a variable Number where the variable value is an integer in the range of 0 255 corresponding to a controller input voltage of 0 10 volts See also the description of the Set Variable commands in the preceding sections of this chapter WN Wait For Digital Input On Halts program execution until the selected input is switched on The command opens this dialog box Wait For Digital Input Input Number On t Dff Figure 6 49 Wait For Digital Input On Dialog Box User Manual 52 SCORBASE Program Editing WN Wait For Halts program execution until the selected input is switched Digital Input off The command opens this dialog box Off Wait For Digital Input Input Number Figure 6 50 Wait For Digital Input Off Dialog Box Advanced Commands Advanced Commands are displayed in the Command Tree when you select Options Advanced Options Advanced Commands Workspace Project Commands H E PROGRAM FLOW H E INPUTS amp OUTPUTS Ely ADVANCED COMMANDS UP UseParameterSet 18 PV SetParameterValue Pro Prof
93. w that holds the SCORBASE program e Manual Movement Dialog Box e Teach Positions Dialog Box e Workspace Window that shows e Project tab e Commands tab To open the Teach amp Edit layout select Window Teach amp Edit User Manual 103 SCORBASE System Configuration Run Screen File Edit Run Options View Window Help ool 5 Remark Beginning of the automatically generated code Call Subroutine PICK AND PLACE 0 1 3 15 2 0 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 Set Variable TASK ID 110000 Set Variable PART ID 0 Set Variable SOURCE DEVICE ID 1 Set Variable SOURCE DEVICE INDEX 3 Set Variable TARGET DEVICE ID 15 Set Variable TARGET DEVICE INDEX 2 Set Variable PICK AND PLACE NOTE 0 Call Subroutine GET001 Call Subroutine 15 Return from Subroutine Remark End of the automatically generated code Remark Intelitek Open CIM robot device driver demonstration Remark The ER 4u robot serves the Conveyor CNV1 Remark The ER 4u robot serves the MINI ASRS M6AS2 Set Subroutine GET015 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 Go to Position 21 Speed 50 Open Gripper Set Variable ABOVE TEMPLATE POSITION SOURCE DEVICE INDEX 110 Go to Position ABOVE TEMPLATE POSITION Speed 80 Set Variable AT TEMPLATE POSITION ABOVE TEMPLATE POSITION 100 Go Linear to Position AT TEMPLATE POSITION Speed 20 Close Gripper Go Linear to Pos
94. witch lt gt ON Jump to lt LABEL Lirit Switch Jump to Cancel Figure 6 9 If Dialog Box Enter the Axis number or a variable in the Limit Switch field Enter the name of a Label in the Jump to field User Manual 55 SCORBASE Program Editing RP Record Position _ SA Set Axis t to Zero User Manual When the Record Position command is executed during program execution the controller records the current position data to the specified position The command opens this dialog box Record Position Record present position as position n Cancel Figure 6 10 Record Position Dialog Box Enter a position number or a variable in the Record Present Position as Position field The Record Position command is useful when a position and all relative positions that refer to that position must be relocated during program execution This command updates the position data Initializes sets to 0 the encoder count of the selected axis The command opens this dialog box Set Ax to era Cancel Figure 6 11 Set Axis Dialog Box Enter a number or a variable in the Axis field 56 SCORBASE Program Editing SC Start Starts the conveyor as a speed controlled conveyor Movement of the conveyor Conveyor will continue until a Stop Conveyor ST command is encountered The command opens this dialog box Start Conveyor Axis F Speed 50 Direction f Plus
95. y of the following e From the Menu Bar select File Exit e Click the Close box in the SCORBASE Title Bar e Press AIt F 4 See page 11 User Manual 8 SCORBASE Starting SCORBASE 3 Menus Overview The SCORBASE Window User Manual Figure 3 1 shows the SCORBASE opening screen which comprises e A Title Bar containing the screen name and the usual Windows controls for sizing and closing the application screen e A Menu Bar containing all SCORBASE command menus and options e A Toolbar containing icons for the most commonly used options e A Status Bar displaying information regarding the SCORBASE software modes of operation current activity etc When you position the mouse over an icon a description of the icon appears in the status bar Note The System menu displayed by right clicking the Title Bar contains the Always on Top menu item enabling you to display the application on top at all times Title Bar f SCO IBASE for 5 ORBOT ER 4u Menu Bar 4 File Edit Run Options View Window Help Toolbar Q B JE gz 558 on or A u A SCORBASE Insert amp Off Line Figure 3 1 SCORBASE Window 9 SCORBASE Menus Overview File Menu File Edit Run Options View Window New Project Open Project Save Project Save Project As lose Project New Script Open Script rint Program rint Positions rint 3D Image f f Print Preview 3D I
96. you have changed program data e g recorded new coordinates for a position edited a program line etc Halting Program Execution Stop and Pause are the two methods of halting program execution from SCORBASE To stop or pause programs from SCORBASE do one of the following e Click the appropriate icon in the toolbar e Select Run Stop or Run Pause e Press F9 F10 Make sure the SCORBASE application is the currently active window before you press F9 STOP or F10 PAUSE To STOP the program you can also press the red EMERGENCY button on the controller or press the ABORT key on the Teach Pendant if installed Program execution is stopped immediately Use this command only in emergencies If the workstation is connected only to a stationary robot such as an ER 4u the STOP command is sent directly to the device However other devices such as the ER 400 AGV Mobile Robot require the user to define a subroutine with the name ON STOP When the STOP button or F9 is pushed the ON STOP subroutine is called The subroutine might contain a line such as Turn Off Output 1 Here is an example for use with the ER 400 AGV Mobile Robot Program Untitled o a KERRO 4 MEE 1 Set Subroutine STOP 2 Send Message STOP to Device Driver ID 2 3 Retum from Subroutine s Figure 6 1 Program Window ON STOP subroutine executed Thus axes may continue moving to complete their motion Stops progr

100342-H Scorbase-USB-v56

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