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100055-d ER-Simulation ERIII

1. 4 30 ER SIMULATION User s Manual for SCORBOT ER III 9311 CA SCORBASE When the robot reaches its home position a message is displayed HOMING COMPLETED To stop the homing while the operation is in progress press any key For an immediate break press B CAlibrate Robot Arm The calibration procedure for the robot arm should be performed prior to using SCORBASE for the first time and after prolonged use of the robot During calibration SCORBASE moves the axes at each of the ten speeds measures the exact rate of movement and calculates the true speed ratios between axes To perform the calibration press CA The robot first searches for its hard home and then begins the calibration process The procedure can take up to 10 minutes The calibration data is stored in the ZERO file on your disk ette When you copy SCORBASE to another diskette be sure to copy the ZERO file as well Peripheral Equipment Setup The homing of axes 6 and 7 depends upon the peripheral equipment you have connected To define the peripheral equipment press P You are then prompted MOTOR 6 7 Type the number of the axis motor you want to define The system now displays MOTOR 7 IS CONNECTED TO Slidebase Rotary table Conveyor Not connected Press S R C or N according to the connected equipment The homing procedure for the peripheral equipment is as follows Slidebase The slidebase is moved to one side until it canno
2. 3 20 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION Main view Top Gripper view Speed 10 oS ee ZN Aza n e 2 Select cube Fi Restore setup F2 Save setup F3 TALS 4 Move view point CShiftt gt F7 F8 Rotate F9 F10 Zoom FS F6 Speed cube Tab View Manipulating the View The Setup screen provides three different viewpoints Main View The large frame in the Run screen contains the Main View of the robot Top View Shows a bird s eye view of the robot This view is useful for seeing the placement of the cubes Gripper View Aligns with and follows the movement of the gripper The green and yellow lines at the bottom of the Setup screen show the keys for adjusting your view LE Ta d Move view point CShift F7 FS Rotate FS Fi0 Zoon FS F6 Speed lt cube Tab View View lt Tab gt Toggles the Top and Gripper Views Note that even when the work surface is rotated in the Main View it remains fixed in the Top View User s Manual ER SIMULATION 3 2 9311 for SCORBOT ER III SIMULATION Rotate F7 F8 lt Shift gt Zoom F9 F10 Speed F5 F6 Rotate Left The work surface in the Main View rotates to the left Rotate Right The work surface in the Main View rotates to the right Hold down the lt Shift gt key while pressing F7 or F8 to rotate in larger increments thus speeding up the rotation Zoom In The view is enlarged You can see the cu
3. Main view Now when you move the bottom pink cube at speed 8 or less the top brown cube will move along with 1t When you move a cube at speed 9 or 10 any cubes stacked on top of it will fall off Cube Position The position setting in the Setup screen indicates the current location of the active cube 3 24 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION Setup File Management From the Setup screen you can save the location of the cubes The setup is Restore setup F2 saved in a file whose extension is SIM Save setup F3 Save Setup F1 Press F1 to save the setup of the cubes When activated this option line is highlighted and a prompt for a setup file name is displayed Name of file Cwithout extension pin Type and lt Enter gt the desired setup file name The ER SIMULATION software contains a default setup file P1 SIM Take care not to use this file name when saving a different simulation setup If you will want the setup to be loaded with a specific application it is recommended that you give the setup file the same name as the application file the extensions will be different Load Setup F2 Press F2 to load the setup of the cubes When activated this option line is highlighted and a prompt for a setup file name is displayed Type and lt Enter gt the setup file name The file PI SIM contains the default cube positions Load this file when you want t
4. Run Options To move from one option line to another use the up lt T gt and down lt gt arrow keys Use the left lt gt and right lt gt arrow keys to highlight the field you want to activate and press lt Enter gt Leaving the option line without pressing lt Enter gt will accept the selection last recorded for that option DISPLAY PROGRAM KOJ ON PRINTER This option lets you select the mode of display during program execution User s Manual ER SIMULATION 4 33 9311 for SCORBOT ER III SCORBASE OFF Program lines will not be displayed on screen This is the default ON Program lines will be displayed on screen PRINTER Program lines will be displayed on screen and printed on a connected printer This option is very useful for studying the program flow LINE OFF LINE KONER ANID This option allows you to choose whether your programs will run in the on line or off line mode ON LINE When the program runs on line the robot peripherals and I Os execute all program commands This is the default OFF LINE When the program runs off line all the commands for executing actions are suppressed The robot arm is not moved and the outputs are not switched The robot can even be disconnected when this mode is active When the program is running off line it will halt at the commands which test the state of the inputs or limit switches and will prompt you for a simulated status Example When the
5. List Delete Position Screen This screen allows you to display delete and print the positions To activate this screen select the L option in the Teach Positions screen LIST DELETE POSITION LP List Position Delete Position LF List From position Delete From pos to pos PP Print Position to printer Delete ALL Change Coordinate system Ee v lt CYLINDRICAL lt SPHERICAL AR 1 AK 2 AX 3 AR 4 AR 5 AR B AR T Es Se ee n LP LF Note that the listing operations display the position table stored in the controller This requires extensive communication with the controller and may result in a delay in response time The following operations are available in this screen List Position Displays the coordinates of the specified position using the currently active coordinate display system List From position Displays a list of the positions starting from the specified position using the currently active coordinate display system If there are more positions listed than can be displayed in one screen the system will pause and prompt you PRESS lt ESC gt TO EXIT LIS H NG ANY OTHER KEY TO CONTINUE User s Manual 9311 ER SIMULATION 4 13 for SCORBOT ER III SCORBASE PP CC DP DF DA Pressing any other key moves the display down one screen Pressing lt PgUp gt moves the display up one screen Pressing lt Enter gt moves the display down one p
6. Working Directory C NAME The default is the directory from which SCORBASE was activated To alter the directory simply type the new directory and press lt Enter gt The directory definition may include a drive specification A B This entry is written to disk Therefore the new directory remains the default even if you have exited to DOS or shut off power Use this option to assign a name to a program you have created You can then use this file name when performing save load or delete operations When you type in the file name do not use more than 8 characters and do not use an extension The first character of the file name may not be a number All files saved by SCORBASE Level 5 for are automatically assigned the file name extension L5 LINES REPLACE IANO This option line will appear if you have selected the LINES mode The selection you now make will affect only the loading operation REPLACE The program lines you are loading will replace the lines currently residing in memory User s Manual 9311 ER SIMULATION 4 27 for SCORBOT ER III SCORBASE PROGRAM HANDLING MODE LINES aapi eS BOTH Working Directory A NAME POSITIONS SSI Sse ADD INSERT The program lines you are loading will be inserted into the program currently residing in memory If you select INSERT an additional option line will appear INSERT AT LINE Your response deter
7. e Simply press the corresponding function key or e Use the up lt T gt and down lt J gt arrow keys to highlight the desired option and press lt Enter gt e Press lt Esc gt to exit the SCORBASE Module Teach Positions F1 From the Teach Positions screen you can control the robot movements directly and teach the robot positions Note that movements and the recording and storing of positions are performed in the PC RAM Edit Program F2 The Edit Program screen lets you write and edit your robot programs The programs are created by SCORBASE and maintained in the PC RAM Program Handling F3 The Program Handling screen enables you to save and load programs and positions tables to and from disk ette It also lets you merge programs and position tables Run Program F4 The Run Program screen lets you run your SCORBASE program Since the current program is maintained only in the PC the commands which control robot movement and I O status are translated into the ACL format and sent sequentially to the controller 4 4 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE Home F5 The Home screen enables you to home the robot and configure and home the peripheral equipment Since the SCORBOT should be homed each time the controller is turned on begin each working session by first activating the Home screen and performing the necessary operations Run Cell Control F6 The Run Cell Control scr
8. 4 2 4 3 4 3 4 3 4 4 4 5 vi ER SIMULATION SCORBOT ER III User s Manual 9903 CHAPTER 4 3 CHAPTER 4 4 CHAPTER 4 5 CHAPTER 4 6 CHAPTER 4 7 CHAPTER 4 8 CHAPTER 4 9 Part V APPENDIX A APPENDIX B APPENDIX C Teaching Positions User Interface Coordinates Display Manual Control Additional Direct Mode Commands Teaching Positions List Delete Position Screen Program Editing User Interface Program Commands Program Editing Commands List Delete Edit Screen Program Handling Homing and Configuration Program Execution Run Options Run Actions Program Status Reports Input Output Setup Cell Control Appendices Commmand Line Options Size Options Device Options Automatic Run Options SCORBOT ER III Coordinate Systems Robot Joints XYZ Cartesian Coordinates Cylindrical Coordinates Spherical Coordinates Variable Programming 4 6 4 13 4 15 4 15 4 16 4 23 4 24 4 26 4 30 4 33 4 33 4 35 4 35 4 37 4 39 5 2 5 2 5 3 5 3 5 4 5 4 5 5 5 5 5 6 5 7 User s Manual 9903 ER SIMULATION SCORBOT ER III vii Part Introduction INTRODUCTION CHAPTER 1 1 What is ER SIMULATION Eshed Robotec s ER SIMULATION is a software package for three dimensional graphic simulation and tracking of the SCORBOT ER III robot ER SIMULATION enables off line robot simulation of the SCORBOT ER III robot for position teaching programming and program execution ER SIMULATION
9. DEMO 3 Graphic Simulation SCORBASE The Graphic Simulation Module Introduction to The Graphic Simulation Module Starting the Simulation Activating the Simulation Module 1 3 1 3 1 4 1 5 1 5 1 5 1 6 1 7 1 7 1 7 1 7 1 8 1 9 2 2 oR 2 4 2 6 2 9 2 9 2 9 Jii 3 2 3 3 3 3 User s Manual 9903 ER SIMULATION SCORBOT ER III CHAPTER 3 3 CHAPTER 3 4 CHAPTER 3 5 Part IV CHAPTER 4 1 CHAPTER 4 2 Graphic Simulation Main Menu Graphic Simulation Module Overview Simulated Robot Manipulation Activating the MANIPULATE Screen The MANIPULATE Screen Viewing Options Manipulating the View Robot Manipulation Programming Commands Additional Notes Exercise Simulated Program Execution Activating the RUN Screen The RUN Screen Viewing Options Manipulating the View Program Execution Run Program Options Graphic Tracking Inputs Outputs Off Line Mode On Line Mode Exercise Simulating the Environment Activating the SETUP Screen The SETUP Screen Manipulating the View Cube Manipulation Selecting the Cube Setup File Management Exercise The SCORBASE Module Introduction to SCORBASE Level 5 Starting SCORBASE Level 5 Activating SCORBASE SCORBASE Module Main Menu SCORBASE Module Overview User Interface 3 3 3 3 3 5 3 5 3 5 3 6 3 7 3 8 3 11 3 12 3 12 3 13 3 13 3 13 3 14 3 14 3 16 3 17 3 18 3 18 3 18 3 19 3 19 3 20 3 20 3 20 3 21 3 23 3 23 3 25 3 25
10. Robot Manipulation Position ER SIMULATION lets you move the simulated robot and record the location of the positions it reaches by means of the computer keyboard The current location of the simulated robot is displayed in Cartesian coordinates The XYZ values are updated continually as the robot moves In addition the pitch and roll of the gripper are displayed in degrees The location of the gripper is the distance in millimeters from the robot s point of origin a point at the bottom center of its base to a point midway between the gripper s jaws as illustrated here 3 8 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION Main view Speed 10 x 171 Y 0 z 504 Pitch 63 Roll 0 Speed The current speed setting is the speed of the robot s movements in the Manipulation screen both when moved manually and when instructed to Go to Position As in SCORBASE the robot s speed can be defined by values from 1 slow to 10 fast The default speed is 10 F6 Decreases the speed of the robot s movements during manipulation Ctrl F6 Increases the speed of the robot s movements during manipulation S As in SCORBASE pressing the S key causes a command line to appear on the screen prompting you for a speed setting Enter speed 1 10 Enter a value from 1 to 10 and press lt Enter gt The displayed speed setting change accordingly The slower the speed setting the more precisely you
11. e Programming The keys needed for moving the robot and altering the views are all displayed on the screen Complete explanations of their use are given in the following sections User s Manual ER SIMULATION 3 5 9311 for SCORBOT ER III SIMULATION Main view Top Gripper view Speed 10 171 Y 0 Z 504 Pitch 63 Roll 0 Record position Fi Record relative F2 Go position joint F3 1 Q Base 2 W Shoulder 3 E Elbow 4 R Pitch 5 T Roll 0O C Open Close Shift F7 F8 Rotate F9 F10 Zoom _ CtrlF6 F6 Speed 1T 1 7 Move Tab View Viewing Options The Manipulate screen has one large frame containing the Main View of the robot The smaller frame displays either the Top or Gripper View Main View The Main View shows a full view of the robot The angle and perspective change according to the user s manipulation Top and Gripper View The Top View and Gripper View toggle by means of the lt Tab gt key as explained later in this chapter Top View Shows a bird s eye view of the robot Top Gripper view 3 6 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION 7 k Top Gripper view Top Gripper view Gripper View A ANE T TTT Aligns with and follows the movement of the gripper This view is very useful for guiding the gripper while picking up or placing an object Manipulating the View The green line at the bottom of the Manipulate screen shows the keys for adjusting your vi
12. lt gt jump to line This command is used to compare the values of variables and to activate other commands depending on the result of that comparison At the prompt enter the variable name Then enter the comparison operator Pressing lt Enter gt without a comparison operator enters the gt greater than sign Then enter the second variable name or a number Then enter the line number to jump to if the comparison condition is true The comparison operators used for this command are the same as those used for the Set Variable command IF VARIABLE CO lt 0 JUMP TO LINE 7 Set Subroutine The command marks the beginning of the specified subroutine You can program up to 64 subroutines At the prompt enter any number from 1 though 64 During normal program flow the program will skip over without executing the lines containing a subroutine definition The only way to execute a subroutine is to use the Call Subroutine command Return from Subroutine This command marks the end of a subroutine At run time it terminates the execution of the subroutine and the program resumes execution at the line which follows the Call Subroutine command Call Subroutine This command activates calls the specified subroutine At the prompt enter any number from 1 though 64 On Motor error jump c s o This command allows you to receive information about motor errors and to respond with
13. 10ths OF SECONDS SET VARIABLE I I 1 7 IF VARIABLE I lt 8 JUMP TO 8 During off line execution of the program the Run Cell screen provides a textual display of the program lines and input output status The output status display is determined by the actual program command lines As the outputs are turned on and off by DEMO3 the corresponding fields indicate their status Press lt Esc gt to stop the program execution Press lt Esc gt twice to recall the Main Menu Press lt F9 gt to exit the ER SIMULATION software 2 12 ER SIMULATION User s Manual for SCORBOT ER III 9311 Part Ill The Graphic Simulation Module ER SIMULA OT SIMULATION CHAPTER 3 1 Introduction to The Graphic Simulation Module ER SIMULATION s Graphic Simulation Module allows you to prepare the positions and paths to be used in SCORBOT ER III robot programs to execute programs in simulation off line and to execute programs on line with realistic graphic tracking of the robot s movements and I O status If you are already familiar with the SCORBASE robotics control software you can see that the Robot Simulation Software utilizes the same programming functions and options as SCORBASE The Robot Simulation Software includes the following features Control and graphic display of the five robot axes and the gripper Display of program lines during program execution Status display of 8 inputs and 8 outputs X Y
14. CATALOG F9 Displays a list catalog of all the SCORBASE program files lt Esc gt Exits the Program Handling screen User s Manual ER SIMULATION 4 29 9311 for SCORBOT ER III SCORBASE CHAPTER 4 6 Homing and Configuration The Home Menu screen is used for configuring and homing the robot and peripheral equipment MENU base right left shoulder up down elbow up down wrist pitch up down wrist roll right left axis 6 4 not connected axis T 4 not connected Close Gripper meee Speed 10 movement turn Output oN oF f set present position as Home set gripper to Zero Define gripper sensor gee Peripheral equipment setup CAlibrate Robot arm SS G KEY TO HOME THE ROBOT ANY OTHER KEY WILL STOP THE ROBOT lt ESC gt RETURN TO MAIN MENU Many of the commands in the Home screen are identical to those found on the left side of the Teach Positions screen Additional SCORBASE features found in the Home screen are G PRESS G KEY TO HOME THE ROBOT The SCORBOT should be homed each time the controller is turned on To perform the fixed home search press G During the homing procedure SCORBASE displays messages stating whether each of the joints has reached its fixed home position If a joint has not found its home location the homing program automatically runs once more If the homing is not fully successful the following message is displayed ROBOT IS NOT AT HOME
15. ER SIMULATION e The color of the work surface will turn black if the robot reaches a Z position that is a position below the work surface e A beep will sound when the robot reaches its physical limit e A beep will sound when the close gripper command is executed e Whenever the gripper opens any cube within its grasp will fall to the work surface e When you place a cube on top of another cube the top cube will automatically align itself with the cube below it Exercise 1 If you have not yet tried the Tutorials in Part II it is recommended that you now turn to Tutorial 2 and practice manipulating the views and the robot 2 Repeat Tutorial 2 with the following additions e Define positions as you manipulate the robot Especially define the position when you reach the point at which the gripper can grasp the green cube e Instruct the robot to go to these positions 3 12 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION CHAPTER 3 4 Simulated Program Execution Activating the RUN Screen To activate the Run screen select F2 from the Graphic Simulation menu GRAPHIC SINULATION Manipulate Setup F3 Press lt Esc gt to return to the ER SIMULATION Main Menu The RUN Screen The Run Screen has the combined capabilities of SCORBASE s Run Program and Cell Control screens The Run screen lets you simulate the execution of your SCORBASE programs off line or track the pr
16. ER SIMULATION The simulation definition file extension SIM will also be loaded if it exists If you add this option the SCORBASE program will automatically run one cycle as soon as it is loaded When execution of the program is completed ER SIMULATION will return control to the operating system RS TEST R The SCORBASE Level 5 program named TEST will automatically be loaded and executed When execution of TEST is completed ER SIMULATION will return control to the operating system Normally the robot is considered to be at the Home position at the start of the program This option allows you to specify a different position for the robot when SCORBASE is loaded RS3 PROGRAM S20 Instructs the system to run the HOME program before activating ER SIMULATION User s Manual 9311 ER SIMULATION 5 3 for SCORBOT ER III APPENDIX B APPENDIX B SCORBOT ER Ill Coordinate Systems SCORBASE Level 5 for the SCORBOT ER III robot supports work in four different coordinate systems which reflect the different robot mechanical structures e Robot Joints e Cartesian XYZ coordinates e Cylindrical coordinates e Spherical coordinates Robot Joints Robot coordinates specify the location of each joint in terms of encoder pulses When the robot moves the optical encoders generate alternating high and low electrical signals The number of pulses generated is proportional to the amount that the joint turns or slides By co
17. Slow down the speed of the robot either press F6 repeatedly until a low speed is displayed or press S and enter a low value such as 2 or 3 at the prompt for a speed As in SCORBASE a slower speed enables more precise movements of the robot 8 Using the R and 4 keys adjust the Main view pitch of the gripper When the gripper is within reach of the cube the display on your monitor should appear similar to the one shown here If the robot s position is below the work surface the work surface will turn black User s Manual ER SIMULATION 2 7 9311 for SCORBOT ER III TUTORIALS 10 11 12 13 Note the XYZ position values displayed beneath the Top Gripper View A negative Z value indicates the gripper has reached a position below the work surface To help you see the spacial relationship of the gripper and the cube try using the up and down arrow keys to adjust the angle of the work surface Or press the lt Tab gt key to see the Side View Press C to close the gripper You will hear a short beep as the Main view gripper closes If the gripper successfully grasps the cube you will see the cube lifted up slightly into the gripper Using the keys for the shoulder and elbow lift up the cube and bring the robot to a position similar to the one shown here Using the T and 5 keys manipulate the gripper s roll You may want to zoom in to see the results more clearly Attemp
18. a jump to another command line for sounding an alarm or stopping the robot for example At the prompt enter a number Or press lt Enter gt to accept any motor error Note that the command line will show Motor ALL Error At the jump prompt enter a line number If you simply press lt Enter gt without specifying a line number the following will be displayed ON MOTOR 1 ERROR JUMP TO NEXT Continuously Single Off This defines a jump to the next line of the program Should a motor error occur on the specified motor during its execution of any movement the movement will be aborted The program will jump to the next line and continue running 4 22 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE At the c s o prompt you have the following options e Press C For example ON MOTOR 1 ERROR JUMP TO 37 CONT Any motor error on axis 1 which occurs subsequent to this command cause the program to jump to line 37 This jump occurs in the form of an interrupt e Press S For example ON MOTOR 1 ERROR JUMP TO 37 SING Only the first occurence of a motor error on axis 1 subsequent to this command causes a jump to line 37 The second occurrence will cause the program to halt and display a motor error message e Press O For example ON MOTOR 1 ERROR JUMP TO 37 OFF This command cancels the effect of any preceding motor error instructions in the program relating to motor 1 Program Ed
19. call On input Interrupt on off call sub jump to line This command sets the condition for an input interrupt service The service Call Subroutine or Jump to Line will be performed whenever the condition input status is satisfied regardless of the current program flow At the prompt enter a specific input number or a variable Or press lt Enter gt to accept any input interrupt At the oN oFf prompt press lt Enter gt or N for the on state or F for off ON causes an interrupt when the input switches on while OFF causes an interrupt when the input switches off At the Call Jump prompt you can do either of the following e Press lt Enter gt or C to call a subroutine Then enter the subroutine number or variable If you enter a variable the subroutine selected is determined by the value of the variable at the time the interrupt command is initially processed and not when the actual interrupt is executed e Press J to jump to a specific line Then press lt Enter gt to jump to the next line or enter a specific line number An interrupt command causes the program to abandon interrupt 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 ON INPUT
20. can therefore serve as a desk top simulator for users without access to a SCORBOT ER III robot ER SIMULATION also provides on line robot tracking The software graphically duplicates and reports the robotic system s functions in real time while an actual SCORBOT ER III is in operation When ER SIMULATION is connected to a SCORBOT ER III robot you can create and execute a robotic program in the following manner e Write a robotic program using the software s SCORBASE Module e Teach the robot positions using the Graphic Simulation Module e Run and debug the SCORBASE program using the simulator e Execute the SCORBASE program using the actual SCORBOT ER III robot without graphic tracking 1 2 ER SIMULATION User s Manual for SCORBOT ER III 9903 INTRODUCTION CHAPTER 1 2 About this User s Manual This User s Manual serves as both a tutorial for you to learn how to use ER SIMULATION and as a reference guide for use after you have become familiar with the software Manual Organization This manual is organized into the following sections e Introduction Instructions for configuring the system installing the software and getting started e Tutorials Three lessons which guide you through a number of procedures to help you become familiar with the software e The Graphic Simulation Module A complete description of the simulation module e The SCORBASE Module A complete description of SCO
21. continuous loop Watch the I O Frame during program execution The DEMO3 program turns on the outputs in sequence and then turns them off Press lt Esc gt to stop program execution DEMOS includes a variable input interrupt jump commands When an input is turned on the robot will go to the position defined for the specific input interrupt Restart program execution by pressing F3 or F5 To see how the interrupt Main view handler works press a number key from 1 through 8 while the program is being executed For example press the number 4 key The robot will immediately swing to position number 4 and then return to its original position as illustrated here Program I O You may press other number 5 WAIT 1 10ths OF SECO 12345678 29 GO POSITION 4 FAST Input keys and observe the result 30 RETURN FROM SUBROUTI loutput ERIE The DEMO3 program reacts only to input ON signals You may toggle off the inputs at any time during program execution Press lt Esc gt to stop the program execution 2 10 ER SIMULATION User s Manual for SCORBOT ER III 9311 TUTORIALS SCORBASE 12 13 14 Continuation of Tutorial 3 From the Run screen press lt Esc gt twice to exit to the ER SIMULATION Main Menu From the ER SIMULATION Main Menu select SCORBASE F1 From the SCORBASE menu select I O Setup F7 S SE am z Program Home Run Cell Control The I O Setup screen will now be display
22. enter a new X coordinate or press lt Enter gt to accept the default which is 168 99 Teach Relative position xyz This command allows you to teach a position which is relative to another position by an XYZ offset You are prompted to complete the command as follows TEACH RELATIVE POSITION x y z X MM 0 00 Y MM 0 00 Z MM 0 00 PITCH DEG 0 00 ROLL DEG 0 00 RECORD POSITION 1 100 RELATIVE TO 4 10 ER SIMULATION User s Manual for SCORBOT ER III 9311 TC RC SCORBASE Pressing lt Enter gt for a coordinate accepts the offset default value which in all the instances above is 0 Pressing lt Enter gt without specifying a reference position creates a position which is relative to the current position A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position Teach Cylindrical position R o H This command allows you to teach a position according to its cylindrical coordinates You are prompted to completed the command as follows CURRENT POSITION TEACH CYLINDRICAL POSITION R Q H RADIUS 168 99 ALPHA 0 00 HEIGHT 504 29 PITCH DEG 63 56 ROLL DEG 0 00 RECORD POSITION 1 100 Pressing lt Enter gt for a coordinate accepts the default value The
23. on another drive specify the drive for example A gt INSTALL D The installation procedure creates a directory on your hard disk named ROBSIM and a subdirectory called TUTOR All files are then copied from the diskette to their proper locations If a number of different users will be using the ER SIMULATION you may now also create other directories or subdirectories which will serve as the working directory for your ER SIMULATION applications You are now ready to begin working with the software 1 6 ER SIMULATION User s Manual for SCORBOT ER III 9903 INTRODUCTION CHAPTER 1 4 Getting Started Activating ER SIMULATION To load the ER SIMULATION software type RS3 at the DOS prompt C ROBSIM gt RS lt Enter gt Once the software has loaded the Robot Simulation Software Main Menu will be displayed Command Line Activation When activating ER SIMULATION from the DOS command you can include the parameters which will determine the specific options used by the software when it is loaded Refer to Appendix A Command Line Options for altering start up options Robot Simulation Software Main Menu The Robot Simulation Software Main Menu allows direct access and activation of the ER SIMULATION modules User Interface The Main Menu options can be selected in either one of the following ways e Simply press the corresponding function key or e Use the up lt T gt and down lt J gt arrow keys to
24. screen shows the keys for adjusting your view of the simulated robot CShift F7 F8 Rotate FS9 Fi0 Zoonm 1 _ 8 Toggle input T 1 7 Move Tab Vie 3 14 ER SIMULATION User s Manual for SCORBOT ER III 9309 View lt Tab gt Move L Rotate F7 F8 lt Shift gt Zoom F9 F10 SIMULATION Toggles the Top and Gripper Views The position of the work surface remains fixed in the Top View even when the viewpoint changes in the Main View The arrow keys adjust the position of the work surface in the Main View Left The work surface moves to the left of the screen Right The work surface moves to the right of the screen Up The work surface tilts up If you continue tilting it you will see the underside of the work surface distinguished by a different color Down The work surface tilts down Rotate Left The work surface in the Main View rotates to the left Rotate Right The work surface in the Main View rotates to the right Hold down the lt Shift gt key while pressing F7 or F8 to rotate in larger increments thus speeding up the rotation Zoom In The view of the robot is enlarged The robot appears closer Zooming in allows you to more clearly see the movement and position of the gripper as illustrated here Zoom Out The view of the robot is reduced The robot appears farther away Zooming out gives you a better overall view of the robot s location and movements User s Manual 93
25. will be able to position the robot The yellow line at the bottom of the Manipulate screen shows the keys for controlling the simulated robot s movements These are the same keys used by SCORBASE to control the movements of the robot s axes 4 Q Base 2 W Shoulder 3 E Elbow 4 R Pitch S T Roll O C Open Close User s Manual ER SIMULATION 3 9 9311 for SCORBOT ER III SIMULATION Move Base 1 Base moves right Q Base moves left Move Shoulder 2 Shoulder moves up W Shoulder moves down Move Elbow 3 Elbow moves up E Elbow moves down Pitch 4 Wrist moves up R Wrist moves down Roll 5 Wrist rotates to the right T Wrist rotates to the left Gripper O Gripper opens C Gripper closes A slight beep will be heard when the gripper closes In addition a beep will be heard if you attempt to move the robot to a position which is not within its working range 3 10 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION Programming Commands ER SIMULATION can be used as a tool for defining the positions to be Record EE ll SE used later in a robotic application Record relative F2 To save the recorded positions use the Go_position joint F3 SCORBASE File Manager Record Position F1 This command instructs the system to record the current location of the robot Press F1 to record the current position The option line turns yellow and a command line appears in the c
26. 11 ER SIMULATION for SCORBOT ER III SIMULATION Program Execution Speed Position The speed setting in the Run screen indicates the speed defined for the movement when the command was programmed During program execution the speed setting changes to show the speed definition of the program line currently being executed During program execution the position setting is continually updated to show the robot s current location The position is displayed in Cartesian coordinates and indicates the distance from the robot s point of origin to the gripper The pitch and roll of the gripper are also displayed in degree values Display Lines F4 By default this option is active and program lines are displayed in the Program Frame Program 54 GO POSITION 100 SPEE 58 TURN ON OUTPUT 1 59 GO POSITION 99 xFAST If a program has not been loaded the Program Frame will display the following message Program PROGRAM IS EMPTY Press F4 to toggle the display of the program lines off and on When active the Display Lines option line is red The display of lines during program execution or simulation allows you to study the program flow The command line currently being executed is displayed in bolded text 3 16 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION Run Program Options The Run screen offers the same functions available in SCORBASE for the execution of complete or part
27. A display adapter and monitor The software is compatible with most EGA adapters and monitors DOS version 3 0 or later You may also wish to prepare the following accessory A set of 3 different colored cubes each measuring 20x20x20 mm Hardware Installation The very nature of ER SIMULATION is such that you do not need to connect a robot in order to utilize the software If you plan however to use the software for graphic tracking install your SCORBOT ER III robot according to the instructions in the SCORBOT ER III User s Manual No additional cabling or setup is required User s Manual 9903 ER SIMULATION 1 5 for SCORBOT ER III INTRODUCTION Installing ER SIMULATION The ER SIMULATION software is supplied on a 3 5 1 44 MB diskette This diskette contains all the software including SCORBASE Level 5 needed for using ER SIMULATION with the SCORBOT ER III robot It is recommended that you use DISKCOPY or a similar program to make a backup copy of the ER SIMULATION diskette Store both the original and backup in a safe place after you have installed the software The software should be installed on your computer s hard disk To install ER SIMULATION on your hard disk do the following Insert the ER SIMULATION diskette into one of your computer s floppy disk drives and make that the default drive for example A To install the software on drive C default type A gt INSTALL To install
28. ELATIVE TO CURRENT AXIS AXI AXI AXI AXI AXI AXI 1 2 3 4 5 6 7 oOo OO OO OO OO NNNnNnNN NN User s Manual 9311 ER SIMULATION 4 9 for SCORBOT ER III SCORBASE TP TR Pressing lt Enter gt without specifying a value for a particular axis accepts the offset default value which in all the instances above is 0 A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position Be sure to enter a value of 0 0 for axes 6 and or 7 if peripheral equipment is not connected to these axes Teach Position xyz This command enables you to record teach a position according to its XYZ location When defining a position using the Cartesian coordinate system you specify the location of the tip of the robot s gripper in XYZ distance from the point of origin To complete the definition you must also specify the pitch and roll of the gripper in degrees You are prompted to complete the command as follows CURRENT POSITION TEACH POSITION x y z X MM 168 99 Y MM 0 00 Z MM 504 29 PITCH DEG 63 56 ROLL DEG 0 00 RECORD POSITION 1 100 Pressing lt Enter gt for a coordinate accepts the default value The default is always the current value of the coordinate as displayed For example X mm 168 99 You may now
29. From line PP Print Program to printer Delete All ctrl I ctr1 R Insert Replace line lt ESC gt return to edit program menu LL List Line Displays the command line specified LF List From Line Displays the command lines starting from the line specified If there are more positions listed than can be displayed in one screen the system will pause and prompt you PRESS lt ESC gt TO EXIT LISTING ANY OTHER KEY TO CONTINUE Pressing any other key moves the display down one screen Pressing lt PgUp gt moves the display up one screen Pressing lt Enter gt moves the display down one line PP Print Program to printer Prints the program on a connected printer 4 24 ER SIMULATION User s Manual for SCORBOT ER III 9311 DL DF DA SCORBASE Delete Line Deletes the command line specified Delete From line to line Deletes the command lines specified Delete All lines Deletes from memory all the recorded lines Before executing any of the deletion commands the system will display all lines specified and prompt you for confirmation ARE YOU SURE Y N N Press Y to delete Any other key will be regarded as no User s Manual 9311 ER SIMULATION 4 25 for SCORBOT ER III SCORBASE CHAPTER 4 5 Program Handling The Program Handling screen enables you to load restore and save backup program lines and position tables Program lines and positions can be
30. G 0 00 RECORD POSITION 1 100 Pressing lt Enter gt for a coordinate accepts the default value The default is always the current value of this coordinate as displayed Refer to Appendix B Coordinate Systems Teach Relative Spherical Position R a B This command allows you to teach a position which is relative to another position by an offset in spherical coordinates You are prompted to completed the command as follows TEACH RELATIVE SPHERICAL POSITION R RADIUS MM 0 00 ALPHA DEG 0 00 BETA MM 0 00 PITCH DEG 0 00 ROLL DEG 0 00 RECORD POSITION 1 100 RELATIVE TO Pressing lt Enter gt for a coordinate accepts the offset default value which in all the instances above is 0 Pressing lt Enter gt without specifying a reference position creates a position which is relative to the current position 4 12 ER SIMULATION User s Manual for SCORBOT ER III 9311 GP GH SCORBASE A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position Refer to Appendix B Coordinate Systems Go to Position Go Home The GP command sends the robot to the position specified At the prompt enter a specific position number The GH command sends the robot to its Home position
31. INTERRUPT 1 ON JUMP TO LINE 1 When input is turned ON the program is suspended and reactivated from line 1 ON INPUT INTERRUPT 5 ON CALL SUBROUTINE 5 When input 5 is turned on the program immediates calls subroutine 5 If any axes are moving when the interrupt occurs they will 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 the point where it was interrupted User s Manual 9311 ER SIMULATION 4 17 for SCORBOT ER III SCORBASE Example ON INPUT INTERRUPT ANY OFF CALL SUBROUTINE 60 Whenever any of the inputs is turned off an immediate call to subroutine 60 will occur DI EI Disable Enable input Interrupt The Disable Interrupt command causes the specified input interrupt to become inactive When an interrupt is inactive it is disregarded until the Enable Interrupt command reactives it At the prompt enter an input number or variable or press lt Enter gt to accept all input interrupts Example If subroutine 5 is an interrupt servicing subroutine and you do not want another interrupt command to interfere with the execution of the subroutine structure your program as follows SET SUBROUTINE 5 DISABLE INPUT INTERRUPT ALL ENABLE INPUT INTERRUPT ALL RETURN FROM SUBROUTINE ON OF turn Ou
32. If you press S you must also include a speed value Type in a number from 1 slowest to 9 or a variable and lt Enter gt Wait 10 ths of seconds This command halts program execution for the specified time WAIT 4 10TH OF SECONDS Delay of 0 4 seconds WAIT 600 10THS OF SECONDS Delay of one minute At the Wait prompt type a number or a variable and press lt Enter gt Jump to line This command causes the program to jump to the specified line If Limit switch jump to This command causes the program to jump to the specified line if the specified limit switch is depressed on At the Limit switch prompt enter a number from 1 through 7 or a variable 1 5 are located on the robot arm 6 and 7 are on the peripherals Then type the line number to jump to and press lt Enter gt If Input on off jump call This command causes the program to jump to the specified line or to call a subroutine if the state of the tested input matches the status requested on or off At the Input prompt type a number or a variable Then press lt Enter gt or N for on or F for off 4 16 ER SIMULATION User s Manual for SCORBOT ER III 9311 OI Example Example SCORBASE At the jump call prompt press lt Enter gt or J for the program to jump to another line or press C for the program to call a subroutine At the next prompt enter the line number to jump to or the number of the subroutine to
33. LE A BB Enter an integer or a variable name and press lt Enter gt SET VARIABLE A BB 2 4 20 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE The following operators can be used with the Set Variable command Arithmetic Operators Addition Multiplication Subtraction Division Modulus returns the remainder of the first argument divided by the second displayed as MOD Power raises the first argument to the power of the second argument displayed as POWER Comparison Operators Equal to Less than Greater than Less than or equal to Greater than or equal to Not equal The result of a comparison operation is 1 true if the relation is correct Otherwise the value is 0 false Logical Boolean Operators A O X Examples And Or Exclusive or displayed as XOR 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 is considered false SET VARIABLE Z1 Z 15 SET VARIABLE D1 E Z SET VARIABLE DD DD 1 SET VARIABLE DS A MOD 3 SET VARIABLE T MM XOR NN SET VARIABLE M M XOR 1 M NOT M SET VARIABLE QK Q gt 15 SET VARIABLE V1 V lt SET VARIABLE R 3 POWER Vv User s Manual 9311 ER SIMULATION 4 21 for SCORBOT ER III SCORBASE IF Example SS RS CS OM IF Variable
34. RBASE Level 5 for the SCORBOT ER IM robotic system e Practical and Theoretical supplementary information in the Appendices User s Manual ER SIMULATION 1 3 9903 for SCORBOT ER III INTRODUCTION Typographical Conventions Throughout this manual text appears in several typefaces Important notes and warnings appear in italics e Bulleted lists are used for itemized information 3 Numbered lists are procedural steps for you to follow This represents text displayed on the computer monitor Bolded characters or CAPS indicate user entries and file names The software does not distinguish between uppercase or lowercase You may use either to enter data It is recommended that you have basic computer skills and know how to enter commands from the computer keyboard However all instructions contained within this manual are as explicit as possible so that even novices can operate ER SIMULATION Specific details about user interface within the various modules are described and explained wherever necessary throughout this manual 1 4 ER SIMULATION User s Manual for SCORBOT ER III 9903 INTRODUCTION CHAPTER 1 3 Setting Up ER SIMULATION System Requirements You need the following hardware and software to load and use ER SIMULATION IBM PC AT or an 80386 or 80436 based computer or a fully compatible computer An 80386 or higher is recommended 640K bytes of RAM Hard disk drive VGA or SuperVG
35. S OUT OF RANGE Examples GO POSITION A FAST Whenever this command is executed the robot is sent to position A recorded in the Positions Table The value of A is determined at run time TURN ON OUTPUT PP This command will turn on output number PP according to the value of PP at run time Examples of Short Programs The following program moves the gripper consecutively from one position to the next waits 5 seconds at each position and continues until it reaches the one hundredth position in the Positions Table Oe WN FP 6 SET VARIABLE CP 1 SET VARIABLE W 50 GO POSIT ON WAIT W 10TH CP FAST S OF SECONDS SET VARIABLE CP CP 1 IF VARIABLE CP lt 100 JUMP TO 3 The following program sequentially scans all 8 inputs and sends the robot to the positions which correspond to the ON inputs SET VAR ABLE TO 1 SET VARIABLE L TO 8 OMAHA UAABWN TE F INPUT I ON CALL SUB 1 SET VARIABLE 1 IF VARIABLE lt L JUMP TO 3 JUMP TO LINE 1 SET SUBROUTINE 1 GO POSITION SPEED 8 RETURN FROM SUBROUTINE 5 8 ER SIMULATION User s Manual for SCORBOT ER III 9311
36. SIMULATION 4 35 9311 for SCORBOT ER III SCORBASE ROBOT Indicates movement of the robot or the peripherals VO Indicates commands related to the inputs outputs and limit switches The window at the bottom of the screen displays the program lines and various messages The program is displayed if the Display mode is active or if the program is executed in Run Single Line mode When the program is stopped STOP is highlighted the next command to be executed is displayed 4 36 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE CHAPTER 4 8 Input Output Setup The I O Setup screen lets you define the text or names you want associated with the input and output ports and their states The SCORBOT ER III controller has 8 input and 8 output ports You can assign different names or text to the ON and OFF status of each port INPUTS OUTPUTS L lt Home gt lt End gt lt Tab gt lt Tab gt To move from one text field to another use the following keys Moves to the next field Moves to the previous field Moves to the first field in the screen Moves to the last field in the screen Toggles between the input and output fields To insert text bring the cursor to the desired field type in the text and press User s Manual 9311 ER SIMULATION 4 37 for SCORBOT ER III SCORBASE Example lt Enter gt If you leave the field without pressing lt Enter gt the text will n
37. Z pitch and roll position display and speed display Manipulation of the simulated view in all operational modes Recording of robot positions 3 2 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION CHAPTER 3 2 Starting the Simulation Activating the Simulation Module To activate the Graphic Simulation Module select F2 from the ER SIMULATION Main Menu MAIN MENU Scorbase Fi Simulation F2 Exit F9 When activating ER SIMULATION from the DOS command you can include the parameters which will determine the specific options used by the Graphic Simulation when it is loaded Refer to Appendix A Command Line Options for altering the start up options Graphic Simulation Main Menu Once you have activated the Graphic Simulation Module the Graphic Simulation menu is displayed Graphic Simulation Module Overview User Interface The options in the Graphic Simulation menu can be selected in either one of the following ways e Simply press the corresponding function key or e Use the up lt gt and down lt J gt arrow keys to highlight the desired option and press lt Enter gt User s Manual ER SIMULATION 3 3 9311 for SCORBOT ER III SIMULATION ROBOT SIMULATION SOFTWARE SCORBOT ER III Version 1 64 Copyright C 1993 Eshed Robotec GRAPHIC SIMULATION Manipulate Run Setup 4 t Pick option Enter Activate option Press lt Esc gt to exit the Graphic Simulation M
38. are now displayed on the screen Press F1 again and the option line turns pink The pink cube can now be manipulated Press F1 again and the option line turns green The green cube can now be manipulated Press F1 again and the option line will revert back to the Select Cube option The cubes cannot be manipulated now Move Current Cube When the Select Cube option has been activated and the Change Cube option line appears the arrow keys take on a different function as shown in the yellow line at the bottom of the screen tT 1 7 PgUp Move current cube The Current Cube is the cube whose color is indicated by the Change Cube option line pink brown or green Left The current cube moves to the left of the screen Right The current cube moves to the right of the screen Up The cube moves to the top of the screen gy ake T Down The cube moves to the bottom of the screen User s Manual ER SIMULATION 3 23 9311 for SCORBOT ER III SIMULATION Main view The arrow keys move the cubes on the screen in the same direction seen by the user regardless of the work surface s orientation as illustrated here PgUp Stack The cube will be moved on top of another cube In order to stack a cube for example the brown cube move it until it is superimposed on another cube for example the pink cube Then press lt PgUp gt The active brown cube will now appear on top of the static pink cube
39. bes on the work surface more closely Zoom Out The view is reduced The work surface appears distant The speed setting is the speed at which the cubes are moved Decreases the speed of the cube s movements during the setup Increases the speed of the cube s movements during the setup The fastest speed is 10 The slowest speed is 1 The slower the speed setting the more precisely you will be able to position the cubes Move View Point The viewpoint can be altered when the Select Cube option is not active As in the other Graphic Simulation screens the arrow keys adjust the position of the work surface Left The work surface moves to the left of the screen Right The work surface moves to the right of the screen Up The work surface tilts up If you continue tilting it you will see the underside of the work surface distinguished by a different color Down The work surface tilts down 3 22 ER SIMULATION for SCORBOT ER III User s Manual 9309 SIMULATION Cube Manipulation Selecting the Cube The Select Cube option line allows you to identify the cube you want to Select cube Fi manipulate Select Cube F1 Press F1 to activate the cube selection option Change cube Fi The Select Cube option line turns brown and now displays the option Change Cube This indicates that the brown cube can now be moved In addition the X Y and Z coordinates of the center point of the active cube
40. bow up down the servo axes and the outputs wreist pitch up down wreist roll right left axis 6 fo oS axis T f Close Gripper meee Speed 10 movement ON OF turn Output oN oF f Movement 1 Q 2 W 3 E 4 R 5 T 6 Y 7 U OG CG E S ON OF Robot base moves right and left Shoulder moves up and down Elbow moves up and down Wrist pitches up and down Wrist rolls right and left Axis no 6 moves forward and backwards Axis no 7 moves forward and backwards The robot will move as long as the activating key is depressed itional Direct Mode Commands Open Close Gripper These commands open and close the gripper Fast Speed 10 movement These commands set the speed for manual robot movement Type F to set the fastest speed 10 This is the default speed Type S and then enter any speed from 1 the slowest to 9 turn Output oN oF f These commands switch the specific output port on and off Type ON or OF to activate the command and type in a specific output number at the prompt 4 8 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE Teaching Positions CC RP RR The right side of the menu 4 4 ACTIVE 4 contains the commands for Change Coordinate display s Record Position teaching and reaching the desired gear ule lative poeri positions Teach Position xyz Teach Relative position xuz 5 Teach Cylindrical pos R a H C
41. default is always the current value of this coordinate as displayed Refer to Appendix B Coordinate Systems Teach Relative Cylindrical Position R a H This command allows you to teach a position which is relative to another position by an offset in cylindrical coordinates You are prompted to completed the command as follows TEACH RELATIVE CYLINDRICAL POSITION R Q H RADIUS MM 0 00 ALPHA DEG 0 00 HEIGHT MM 0 00 PITCH DEG 0 00 ROLL DEG 0 00 RECORD POSITION 1 100 RELATIVE TO Pressing lt Enter gt for a coordinate accepts the offset default value which in all the instances above is 0 Pressing lt Enter gt without specifying a reference position creates a position which is relative to the current position A position which is relative to current means the specified offset will be User s Manual 9311 ER SIMULATION 4 11 for SCORBOT ER III SCORBASE TS RS computed from wherever the robot is located at the time it is sent to the relative position Refer to Appendix B Coordinate Systems Teach Spherical position R o B This command allows you to teach a position according to its cylindrical coordinates You are prompted to completed the command as follows CURRENT POSITION TEACH SPHERICAL POSITION R 4Q B RADIUS MM 168 99 ALPHA DEG 0 00 BETA DEG 504 29 PITCH DEG 63 56 ROLL DE
42. dow 10 Press F3 to Run Single Cycle One complete cycle of the DEMO1 program will be executed While the program is running the command line which is highlighted is the command currently being executed In this demonstration program the robot picks up the cubes and places them in new positions DEMO 2 11 Repeat Steps 1 8 to load the application named DEMO2 Press F3 or F5 to execute the program This demonstration program is a continuous loop program in which the robot picks up and stacks the cubes in a tower and then removes them one and a time and places them in a line on the work surface 12 This programincludes an input interrupt jump command When the status of input 1 is changed the robot will abandon its current task and swing away to position 99 2 4 ER SIMULATION User s Manual for SCORBOT ER III 9311 TUTORIALS To see how the interrupt handler works press the number 1 key during the program execution to change the current status of Input 1 Note that Output 1 is switched on and off during the interrupt 13 Press lt Esc gt to stop the Main view program execution Press lt Esc gt again to exit the Run Screen User s Manual ER SIMULATION 2 5 9311 for SCORBOT ER III TUTORIALS CHAPTER 2 2 Tutorial 2 Manipulating the Simulated Robot In this tutorial you will practice moving the simulated robot and adjusting the views 1 Activate ER SIMULATION by typing TUTOR at th
43. e C ROBSIM gt prompt C ROBSIM gt TUTOR lt Enter gt From the ER SIMULATION Main Menu select Simulation F2 MAIN MENU Scorbase GRAPHIC SIMULATION Manipulate Fi Run Setup 2 Press the F8 key to rotate the work surface in the Main View Press the F7 key to rotate in the other direction You may use the lt Shift gt F7 and lt Shift gt F8 key combinations to speed up the rotation 3 Press the F9 key to zoom in the view Press the F10 key to zoom out 4 Press the left arrow key to move the work surface to the left Press the right arrow key to move the surface to the right 5 Repeat Steps 2 4 until the robot in both the Main View and the Top View face the same direction The three cubes in both views will be be in a straight line on the right 2 6 ER SIMULATION User s Manual for SCORBOT ER III 9311 TUTORIALS The display on your monitor will appear similar to the one shown here Main view Top Gripper view a a em MTT Th Speed 10 Panis eae X 171 Y 0 z 504 A O 2 Pitch 63 Roll 0 a a Record position Fi Record relative F2 Go position joint F3 1 Q Base 2 W Shoulder 3 E Elbow 4 R Pitch S T Roll 0O C Open Close Shift oF7 F8 Rotate FS9 F10 Zoonm _CtrlF6 F6 Speed T 1 Move Tab View 6 Using the W and 2 keys and the E and 3 keys manipulate the robot s shoulder and elbow so that the gripper moves toward the green cube the cube farthest from the robot 7
44. eSi ici gt nosorec ER SIMULATION Robotic Simulation Software for SCORBOT ER IlI USER S MANUAL Copyright 1993 1999 by Eshed Robotec 1982 Limited Catalog 100055 Rev D March 1999 PDF version Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Eshed Robotec is 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 Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice Part I CHAPTER 1 1 CHAPTER 1 2 CHAPTER 1 3 CHAPTER 1 4 Part Il CHAPTER 2 1 CHAPTER 2 2 CHAPTER 2 3 Part Ill CHAPTER 3 1 CHAPTER 3 2 Table of Contents Introduction What is ER SIMULATION About this User s Manual Manual Organization Typographical Conventions Setting Up ER SIMULATION System Requirements Hardware Installation Installing ER SIMULATION Getting Started Activating ER SIMULATION Command Line Activation Robot Simulation Software Main Menu User Interface Module Overview Going On From Here Tutorials Tutorial 1 Loading and Running an Application DEMO 1 DEMO 2 Tutorial 2 Manipulating the Simulated Robot Tutorial 3 Inputs and Outputs
45. ed OUTPUTS Ok Ok OFF Moo sup 1 ELAn on lamp off Boo sup 2 BBBvUz2 on buzz off Epo SUB 3 EBOooRopen doorclos Boo sup 4 PRVICEopen viceclos Boo sue 5 BBNOTOR on motoroff Epo sup 6 GRSPRAY on sprayoff Whoo sup 7 HAIR on air off Epo sup s EBRING on ring off This screen lets you define the text you want associated with the inputs and outputs in both the ON and OFF states The screen shown here displays the data contained in the file SETUP IO in the TUTOR subdirectory Note When you exit the I O Setup screen the data on the screen is automatically saved in the file SETUP IO which SCORBASE generates Simply delete this file in order to restore the blanks on the screen For additional details on the I O Setup screen refer to Part IV of this manual the SCORBASE module User s Manual 9311 ER SIMULATION 2 11 for SCORBOT ER III TUTORIALS 15 16 co A m a W ro e o o o o o o o o gt gt gt gt gt gt gt 17 Press lt Esc gt to exit the I O Setup screen From the SCORBASE menu select Run Cell Control F6 The Run Cell Control screen will now be displayed Press F3 or F5 to begin program execution The DEMO3 program will be executed in a continuous loop RUN CELL CONTROL OUTPUTS RUN LINE f1 JUMP TO f2 ROBOT BRAKE lt B gt TURN ON OUTPUT 1 WAIT 1 10ths OF SECONDS SET VARIABLE I I 1 6 IF VARIABLE I lt 8 JUMP TO 8 TURN ON OUTPUT I WAIT 1
46. een lets you run your SCORBASE program together with a complete runtime screen display reporting the status of inputs and outputs The report includes the names you assigned to the various I O ports I O Setup F7 The Input Output Setup screen is used to assign names or text for both the on and off states of each input and output port User Interface Throughout SCORBASE the following keys are used to activate screens and enter commands and options lt PgUp gt Recalls the screen previously displayed or lt Esc gt lt Esc gt Cancels a command line which has been activated lt Enter gt Accepts commands options and field entries lt Backspace gt Frases field entries which have been typed but not yet accepted User s Manual ER SIMULATION 4 5 9311 for SCORBOT ER III SCORBASE CHAPTER 4 3 Teaching Positions The Teach Positions screen allows you to move the robot and to teach and define the various types of positions and movements ACTIVE 4 move base right left Change Coordinate display move shoulder up down Record Position move elbow up down Record Relative position move wrist pitch up down Teach Position xuz move wrist roll right left Teach Relative position xyz move axis 6 Poe E Teach Cylindrical pos CA amp H move axis T OF teach Rel Cylindrical pos R a H Open Close Gripper Teach Spherical pos CA amp B meee Speed 10 movement teach Re
47. enter of the screen prompting you for the position number Record position 1 100 The software s default setting allows 100 positions to be recorded Type any number from 1 to 100 and press lt Enter gt Record Relative Position F2 This command instructs the system to record the current location of the robot relative to another position Press F2 to record a relative position The option lines turns yellow and a command line appears at the left of the screen prompting you for the position number Record position 1 100 Type a number from 1 to 100 and press lt Enter gt You are then prompted for the relative position number relative to position 1 100 Type the number of a previously recorded position and press lt Enter gt Note that if the location of the first position changes the location of the relative position will also change User s Manual 9311 ER SIMULATION 3 11 for SCORBOT ER III SIMULATION Go Position F3 This command sends the robot to a previously recorded position at the currently defined speed setting Press F3 to activate the Go Position command The option line turns yellow and a command line appears at the center of the screen prompting you for the position number Go to position 1 100 Type the number of a previously recorded position and press lt Enter gt Press lt Esc gt to abort the movement Additional Notes Note the following characteristics of
48. escription of the function keys and options refer to the SCORBASE chapter Program Execution On the left and right sides of the screen you will find the Cell Control I O report fields The fields on the left report the status of input ports while those on the right report output status The text appearing in the I O report fields is determined by the definitions you recorded in the I O Setup screen When an I O port is on its corresponding field is highlighted in reverse video and the assigned text is displayed When an I O port is off the field simply displays the assigned text for this status The report fields are constantly updated as long as the PC is connected to the controller Even when you are not running a program the I O report is active User s Manual 9311 ER SIMULATION 4 39 for SCORBOT ER III SCORBASE This page intentionally left blank 4 40 ER SIMULATION User s Manual for SCORBOT ER III 9311 APPENDIX A Part V Appendices User s Manual ER SIMULATION 5 1 9311 for SCORBOT ER III APPENDIX A APPENDIX A Commmand Line Options When loading ER SIMULATION you can add switches to the command line to activate specific options The complete syntax for loading the software is RS L P T C O applname R S H The options within brackets are strictly optional and can be omitted During normal operation the default values are used Once you have entered an
49. ew of the simulated robot Shift F7 F8 Rotate F9 F10 Zoom S Ctr1F6 F6 Speed t 4 gt Move Tab View Rotate F7 F8 lt Shift gt Zoom F9 F10 Rotate Left The work surface in the Main View rotates to the left Rotate Right The work surface in the Main View rotates to the right Hold down the lt Shift gt key while pressing F7 or F8 to rotate in larger increments thus speeding up the rotation Zoom In The view of the robot is enlarged The robot appears closer Zooming in allows you to more clearly see the movement and position of the gripper for example Main view Zoom Out The view of the robot is reduced The robot appears father away Zooming out gives you a better overall view of the robot s location and movements User s Manual 9311 ER SIMULATION 3 7 for SCORBOT ER III SIMULATION Move View lt Tab gt The arrow keys adjust the position of the work surface Left The work surface moves to the left of the screen Right The work surface moves to the right of the screen Up The work surface tilts up If you continue tilting it you will see the underside of the work surface identified by the color magenta Down The work surface tilts down Toggles the Top and Gripper Views Top Gripper view Note that the position of the work surface remains fixed in the Top View even when it is rotated in the Main View In the Top View the X direction is always to the right
50. execution in real time the I O Frame displays the actual status of the SCORBOT ER III controller s inputs and outputs During on line operation ER SIMULATION cannot simulate input status Instead it indicates the actual status of the inputs as they are activated by the working robotic system Exercise If you have not yet tried the Tutorials in Part II it is recommended that you now turn to Tutorial 1 e Perform the tasks defined in Tutorial 1 Loading and Running a Demonstration Program using the applications DEMO1 and DEMO2 e If your installation includes a SCORBOT ER ITI robot try running the program on line It is suggested but not essential that you actually place three cube in the robot s environment User s Manual ER SIMULATION 3 19 9311 for SCORBOT ER III SIMULATION CHAPTER 3 5 Simulating the Environment Activating the SETUP Screen To activate the Setup screen select F3 from the Graphic Simulation menu GRAPHIC SINULATION Manipulate Run Press lt Esc gt to return to the ER SIMULATION Main Menu The SETUP Screen The Setup screen allows you to move and set the initial positions of the cubes which will be handled by the robot The Setup screen has three elements e Viewing e Environment Setup e Setup File Management The keys for altering the views and moving the cubes are all displayed on the screen Complete explanations of their use are given in the following sections
51. hange Coordinate display teach Rel Cylindrical postA H 5 Teach Spherical pos R amp B For a complete explanation refer teach Rel Spherical pos RA amp B3 to the section Coordinates GP GH Go to Position Go Home Display at the beginning of this chapter Record Position This command records the current joints position of both the robot axes and the peripheral axes A maximum of 100 positions can be recorded At the prompt type in a valid position number and press lt Enter gt Record Relative position This command records in joints values the current position of the robot arm and peripheral axes relative to another position Make sure you have first recorded the reference position The format for recording a relative position is RECORD POSITION 1 100 RELATIVE TO If the reference position changes the relative position also moves At the Record Position and Relative To prompts type in valid position numbers and press lt Enter gt If you simply press lt Enter gt without specifying a number for the reference position the position you record will be relative to the current position of the axis For example RECORD POSITION 12 RELATIVE TO CURRENT If your position is relative to current you are prompted to define values for the relative movement of each axis The format is as follows RECORD POSITION 1 100 R
52. highlight the desired option and press lt Enter gt User s Manual ER SIMULATION 1 7 9903 for SCORBOT ER III INTRODUCTION ROBOT SIMULATION SOFTWARE SCORBOT ER III Version 1 64 Copyright C 1993 Eshed Robotec MAIN MENU Simulation F2 Exit F9 4 T Pick option Enter Activate option Module Overview From the Main Menu the following options can be activated SCORBASE F1 The SCORBASE Module contains a complete version of SCORBASE Level 5 for the SCORBOT ER III robot For complete details refer to Part IV of this manual Simulation F2 The Simulation Module is the heart of the ER SIMULATION software It provides graphic simulation of SCORBASE robotic programs as well as on line graphic tracking of SCORBOT ER III activities For complete details refer to Part III of this manual Exit To DOS F9 Press F9 to exit to DOS You will be prompted to confirm MAIN MENU Verify F1 Are you sure Y N F9 1 8 ER SIMULATION User s Manual for SCORBOT ER III 9903 INTRODUCTION Before exiting ER SIMULATION make sure you have saved your program positions and or simulation setup to disk ER SIMULATION will not warn you of changes which have not been saved To cancel press N or lt Esc gt To exit to DOS press Y Going On From Here If you are eager to begin working with ER SIMULATION continue to the tutorials in Part II of this manual If you first want to learn more about
53. ial programs The Run and Jump options have the same effect in both off line and Run Single Line Fi on line program execution Run Single Cycle F3 Press lt Esc gt to stop program Run Continuous ly FS execution at any time Jump To Line F2 Run Single Line F1 Press F1 to execute the current program line When activated this option line turns yellow Run Single Cycle F3 Press F3 to execute the program once When activated this option line turns yellow Run Continuously F5 Press F5 to execute the program in an endless loop When the program reaches the last line it automatically jumps to line 1 and continues program execution When active this option line is yellow Jump To Line F2 Press F2 to instruct the program to jump to another line When activated this option line turns yellow and a prompt for the program line appears Jump to Line BIBI F4 Type and lt Enter gt the desired program line The program will jump to the specified command line and the next run command F1 F3 or F5 will begin at that line User s Manual 9311 ER SIMULATION 3 17 for SCORBOT ER III SIMULATION Graphic Tracking OnLine amp Tracking F6 By default the Run screen normally operates in the off line mode and this option line is not highlighted When the program runs off line the simulated robot executes all commands and the simulated outputs are switched You can thus simu
54. ight the vertical distance in millimeters of the gripper from the point of origin RADIUS APPENDIX B Cylindrical Coordinate System User s Manual ER SIMULATION 9311 for SCORBOT ER III 5 5 APPENDIX B To complete the definition you must also specify the pitch and roll in degrees of the gripper Note that the height coordinate is similar to the Z Cartesian coordinate and the alpha coordinate is a conversion of the base robot axis 1 rotation into degrees Spherical Coordinates Similar to the XYZ and cylindrical coordinate systems the spherical system specifies the position of the gripper tip by defining it as a point on a sphere using three axis values Alpha a the horizontal angle in degrees of the robot base in relation to the horizontal home Radius the distance in millimeters of the gripper from the point of origin Beta the angle of elevation in degrees of the gripper position in relation to the point of origin To complete the definition you must also specify the pitch and roll in degrees of the gripper Note that the alpha coordinate is a conversion of the base robot axis 1 rotation into degrees Spherical Coordinate System 5 6 ER SIMULATION User s Manual for SCORBOT ER III 9311 APPENDIX C APPENDIX C Variable Programming SCORBASE Level 5 allows extensive variable programming Variables are useful for creating loops and subroutines i
55. ion line You now select COORDINATE ROBOT CYLINDRICAL SPHERICAL Use the left and right arrow keys to highlight your choice and then press lt Enter gt The position display options are as follows ROBOT AX 1 AX 2 AX 3 Ax 4 AX 5 AX 6 AX 7 0 0 0 0 0 0 0 XYZ X Y Z PITCH ROLL AX 6 AX 7 168 99 0 00 504 29 63 56 0 00 0 0 CYLIND RADIUS ALPHA HEIGHT PITCH ROLL AX 6 AX 7 RICAL 168 99 0 00 504 29 63 56 0 00 0 0 SPHER RADIUS ALPHA BETA PITCH ROLL AX 6 AX 7 ICAL 531 86 0 00 71 47 63 56 0 00 0 0 SCORBASE Level 5 for the SCORBOT ER III supports programming and operation in four coordinate systems Cartesian XYZ vertically articulated robot axes cylindrical and spherical The robot display shows the robot joints position in encoder pulses The XYZ display shows the Cartesian coordinates in millimeters and the pitch and roll in degrees The cylindrical display shows the radius and height in millimeters and the angle a in degrees The spherical display shows the radius in millimeters and the horizontal a and vertical B angles in degrees Refer to Appendix B Coordinate Systems for more information User s Manual ER SIMULATION 4 7 9311 for SCORBOT ER III SCORBASE Manual Control Add Keys 4 ACTIVE 4 The left side of the menu contains base right left shoulder up Geen the commands for direct control of el
56. iting Commands ctrl I ctrl R Insert line This command allows you to insert lines into a program Type lt Ctrl gt I You are then prompted for the line at which you wish to insert command lines All command entries are subsequently inserted until you press lt Enter gt to exit the insert mode When program lines are inserted all previously entered Jump commands are automatically updated Replace line This command allows you to replace a command line Type lt Ctrl gt R At the prompt enter the line number The command line specified is displayed and you are prompted for the new command Pressing lt Enter gt without a new command leaves the original line unchanged List Delete Edit Press L to activate the List Delete Edit screen In addition to editing your programs in the List Delete Edit screen you might find it is easier to write your programs from this screen since more program lines User s Manual 9311 ER SIMULATION 4 23 for SCORBOT ER III SCORBASE can be displayed All of the commands described in the Edit Program screen are active in the List Delete Edit screen lt Esc gt Returns you to the Main Menu List Delete Edit Screen The List Delete Edit screen is activated by pressing L from the Edit Program screen It is similar to the List Delete Position screen called from the Teach Positions screen LIST DELETE EDIT LL List Line Delete Line LF List From line Delete
57. l Spherical pos F a 8 ON OFF turn Output oN 7 oF f GP GH Go to Position Go Home COORDINATE ROBOT AEA CYLINDRICAL SPHERICAL tad he PITCH ROLL AKX 6 AK T 168 99 0 00 504 2 63 56 0 User Interface As you can see the Teach Positions menu has two sides Only one side is active at a time The active side is indicated by the highlighted frame around it Use the left arrow key lt gt to activate the left side of the menu and the right arrow key lt gt to activate the right side Or use the space bar to toggle the currently active side The left side of the menu contains the commands which directly control movements and outputs while the right side contains the commands for teaching and reaching positions Most of the commands are activated by a two letter code which usually represents the two initial letters of the commands themselves The code letters are 4 6 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE bolded in the screen display For example to activate the Record Position command type RP Whenever the system responds to a command by displaying dots and a cursor you must type in a number or variable and press lt Enter gt Coordinates Display The current robot location is continuously displayed at the bottom of the screen You can change the coordinate display system by typing CC when either side of the menu is active After you press CC the cursor jumps to the opt
58. late the actual execution of the program OnLine amp Tracking F6 The Run screen may be used for on line graphic tracking Press F6 to activate the On Line and Tracking option This option line is red when the on line mode is active Whenever the On Line option is activated the simulated robot immediately assumes the same position as the connected SCORBOT robot When the program runs on line the robot peripherals if any and I Os execute all program commands The status of the inputs and the outputs is reflected in the I O display Inputs Outputs During program execution the settings in the I O Frame indicate the status of the inputs and outputs Program 1 0 2 TURN ON OUTPUT 2 12345678 3 TURN ON OUTPUT 8 Input QOOS0O8O8 4 WAIT 10 10ths OF SEC iOutput BOOOOO8 Off Line Mode Simulating Inputs You can simulate the status of the inputs when executing your program in the off line mode 3 18 ER SIMULATION User s Manual for SCORBOT ER III 9309 SIMULATION 1 8 Toggle Input On and Off Press a specific number key to toggle the status of the corresponding input When an input is on its corresponding box will light up in the I O Frame If the program encounters an input command for example F INPUT 4 ON JUMP TO LINE 99 It will simply check the state of the simulated input and continue program execution according to the input s status On Line Mode When tracking the program
59. mines where the program is to be inserted If you enter the line number which follows the end of the currently residing program displayed as the default the loaded program is then appended to the end of the current program When using INSERT to load a program the Jump commands in the original program are updated accordingly The insertion of large programs into large programs may take up to two minutes because of the extensive updating POSITIONS IND aO OM VNB A DD This option line will appear if you have selected the POSITIONS mode The selection you now make will affect only the loading operation REPLACE TABLE The positions you are loading will replace the positions currently residing in memory ADD The positions you are loading will be added to those positions currently residing in memory After making your selections in the mode option lines you may select the following operations Press the function key corresponding to your choice SAVE F3 Saves on disk ette lines or positions or both depending on the mode selected 4 28 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE LOAD F5 Loads from disk ette lines or positions or both depending on the mode selected DELETE F7 Deletes from disk ette the file which contains the lines and positions Before the deletion the system will prompt you for confirmation ARE YOU SURE Y N N Press Y to confirm Any other key is regarded as no
60. mming Interrupt programming for monitoring and handling responses to changes in input status Bell ringing and timer facilities Recording of robot positions during program execution Home search during program execution Print output of program lines and messages during program execution Saving and loading of programs and position tables either separately or together as well as merging of positions and program lines 4 2 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE CHAPTER 4 2 Starting SCORBASE Level 5 Activating SCORBASE To activate the SCORBASE Module select F1 from the ER SIMULATION Main Menu MAIN MENU Scorbase Fi Simulation F2 Exit F9 When activating ER SIMULATION from the DOS command you can include the parameters which will determine the specific options used by SCORBASE when it is loaded Refer to Appendix A Command Line Options for altering the start up options SCORBASE Module Main Menu The SCORBASE menu is displayed ROBOT SIMULATION SOFTWARE SCORBOT ER III Version 1 64 Copyright C 1993 Eshed Robotec SCORBASE Edit Program Program Handling Run Program Home Run Cell Control I 0 Setup 47t Pick option Enter Activate option User s Manual ER SIMULATION 4 3 9311 for SCORBOT ER III SCORBASE SCORBASE Module Overview User Interface The SCORBASE Main Menu options can be selected in either one of the following ways
61. n of the axis specified by setting its value to 0 This command is very useful for performing a cyclical motion of an accessory such as a conveyor or a rotary table Reset Timer This command resets the value of the SCORBASE timer to 0 SCORBASE contains a timer which measures time in tenths of a second The timer operates for approximately 50 minutes from either the ttme SCORBASE is loaded or the point at which the timer is reset To use the timer it must be assigned to a variable using the SV command Set Variable T3 Timer The value of the variable is the time measured since the RT command was executed The value can be checked by using the IF command Actions can be generated according to the time measured IF T3 gt 30 JUMP TO LINE 66 Set Variable to sensor timer computation etc This command allows you to assign a value to a variable For a detailed explanation of the use of variables in SCORBASE refer to Appendix C Variable Programming To set the value of the variable type SV At the prompt enter the name of the variable The name may be either one or two letters or a letter and a digit SCORBASE then prompts you to select one of four options for setting the variable value Number or variable Sensor Timer Computation User s Manual 9311 ER SIMULATION 4 19 for SCORBOT ER III SCORBASE Example Press N to set the variable to a number or to the value of anothe
62. n robot programs They let you write commands that change as the state of the robot or its environment changes during program execution Up to 962 variables can be used by SCORBASE Level 5 Variables are referred to by names of one letter two letters or a letter and a digit for example A or AB or Bl Variables can have integer values from 32767 through 32767 When programming in SCORBASE you can specify a variable instead of a numeric value in most editing commands You cannot use a variable to specify a Jump To line number in the J IL II and OI commands or in the Set Subroutine command The following commands accept variables in the fields marked with a dot GO POSITION SPEED WAIT 1OTHS OF SECONDS F LIMIT SWITCH e F INPUT ON OFF ON INPUT INTERRUPT DISABLE ENABLE INPUT INTERRUPT TURN OUTPUT ON OFF RECORD PRESENT POSITION AS POSITION SET AXIS TO ZERO SET VARIABLE TO IF VARIABLE lt gt User s Manual 9311 ER SIMULATION 5 7 for SCORBOT ER III APPENDIX C Before using a variable in a command be sure you have defined it using the SV Set Variable command Note If at run time the program encounters a variable whose value is not defined or is out of range an error message is displayed VALUE I
63. nput Interrupt on off computation etc call sub jump to line IF variable lt gt jump to Disable Enable input Interrupt Set Subroutine turn Output oN oFf Return from Subroutine REmark PRint Call Subroutine Ring Bell On Motor error jump ctrl I ctr1 f Insert Replace line L List delete edit lt ESC gt MAIN MENU User Interface As described in the preceding chapter you create a program line by typing the two activating letters These letters are bolded in the screen display for easy reference For example to activate the Call Subroutine command type CS When you are prompted to enter a value or an option you may also press lt Enter gt to accept the default setting as your choice SCORBASE Level 5 provides a large number of program editing commands User s Manual ER SIMULATION 4 15 9311 for SCORBOT ER III SCORBASE Program Commands OG CG GP Examples IL II Open Close Gripper These commands open and close the gripper Go to Position fast speed This command sends the robot to the specified position at the specified speed At the Go Position prompt enter a number or a variable If you press lt Enter gt instead of specifying a position SCORBASE automatically enters the next sequential default position number After you enter the position number you are prompted for a speed Press lt Enter gt or F to enter the fastest speed
64. o return to the original simulation setup Exercise 1 Practice selecting different cubes and changing their location 2 Ifyou have not yet tried the Tutorials in Part II it is recommended that you now turn to Tutorial 3 Inputs and Outputs and follow the procedures given there User s Manual ER SIMULATION 3 25 9311 for SCORBOT ER III SIMULATION This page intentionally left blank 3 26 ER SIMULATION User s Manual for SCORBOT ER III 9309 Part IV The SCORBASE Module SCORBASE CHAPTER 4 1 Introduction to SCORBASE Level 5 The ER SIMULATION software package contains the robotics control software SCORBASE Level 5 for the SCORBOT ER III for programming and operating the robot and its peripheral accessories If you are already familiar with SCORBASE Levels 1 2 and 3 you will see that Level 5 offers the same programming options and many additional ones SCORBASE Level 5 features include Control and real time status display of up to 8 axes 5 robot axes a gripper and one or two peripheral axes Full support and real time status display of 8 inputs and 8 outputs including user defined text for each I O status Four coordinate systems for position definition and display robot joints encoder units Cartesian X Y Z pitch and roll cylindrical and spherical User defined number of up to 10 000 program lines 400 default and 7000 positions 100 default Extensive variable progra
65. odule From within the screens press lt Esc gt to exit to the Graphic Simulation Main Menu Manipulate F1 The Manipulate screen allows you to perform the manipulation functions found in SCORBASE s Teach Positions menu direct control of the simulated robot s movements and the recording of positions Run F2 The Run screen allows you to perform the program execution functions provided by SCORBASE s Run Program and Cell Control screens running partial or complete programs in both on line and off line modes Setup F3 The Setup screen enables you to configure the placement of the three cubes which the robot handles 3 4 ER SIMULATION User s Manual for SCORBOT ER III 9309 CHAPTER 3 3 Simulated Robot Manipulation Activating the MANIPULATE Screen To activate the Manipulate screen select F1 from the Graphic Simulation menu Press lt Esc gt to return to the ER SIMULATION Main Menu GRAPHIC SIMULATION Manipulate Fi Run F2 Setup F3 The MANIPULATE Screen The Manipulate screen lets you move the simulated robot and teach it positions just as you would operate the SCORBOT ER III by means of SCORBASE s Teach Positions screen The Manipulate screen provides three different views of the simulated robot which let you clearly see and follow the movements of the robot The Manipulate screen s elements can be classified into the following three categories e Viewing e Manipulating
66. ogram s execution on line In addition the I O display provides off line simulation of the inputs and on line tracking of the SCORBOT controller s inputs and outputs The Run screen elements can be grouped into four categories e Viewing e Program Execution e Graphic Tracking e Inputs Outputs The keys for activating these elements are displayed on the screen Complete explanations of their use are given in the following sections User s Manual ER SIMULATION 3 13 9311 for SCORBOT ER III SIMULATION Main view Top Gripper view 171 Y 0 Zz 504 Pitch 63 Roll 0 Run Single Line as Fi Run Single Cucle F3 Run Continuously FS Jump To Line F2 Progran PROGRAM IS EMPTY 12345678 Display lines F4 e a LAT EE SE Output 00000000 OnLine 6 Tracking F6 Shift gt gt F7 F8 Rotate FS F1i0 Zoonm 1_ 8 Toggle input tT 1 7 Move Tab View Viewing Options The Run screen provides three different views of the simulated robot to enable you to clearly see and follow the movements of the robot The viewpoints can be manipulated even during program execution Main View The large frame in the Run screen contains the Main View of the robot Top View Shows a bird s eye view of the robot Gripper View Aligns with and follows the movement of the gripper This view is very useful for observing the gripper during pick and place operations Manipulating the View The green line at the bottom of the Run
67. option it overrides the default settings Size Options L IT Example Defines the maximum number of available program lines Default 400 Maximum 10000 or memory limit Defines the maximum number of positions Default 100 Maximum 7000 or memory limit Defines the maximum number of text lines PRINT and REMARK statements available when writing a program Default 50 Maximum 1000 or memory limit RS L2000 P500 lt Enter gt This command loads ER SIMULATION and enables the SCORBASE Level 5 software to use up to 2000 lines and 500 positions Note that when you execute partial LINES ONLY or POSITIONS ONLY load and save operations SCORBASE creates a temporary copy of the program If you define a very large number of lines you may be unable to execute these partial operations due to memory size limitations 5 2 ER SIMULATION User s Manual for SCORBOT ER III 9311 APPENDIX A Device Options C O Example Defines the RS232 port used for communication with the robot controller C1 COMI C2 COM2 Defines the parallel printer port to be used when printing O1 PRNI 02 PRN2 03 PRN3 RS C2 ER SIMULATION will be loaded with the robot communications on COM2 Automatic Run Options applIname Example S Example MH If you specify an application file name the SCORBASE program file extension L5 will be loaded automatically when you activate
68. osition Print Position to printer Prints the Position Table on a connected printer The positions will be printed using the currently active coordinate display system Change Coordinate display 400A yX YZ CYLINDRICAL SPHERICAL Changes the coordinate system in which the positions are listed When you press CC the cursor jumps to the option line Use the left and right arrow keys to make your selection and press lt Enter gt The listing last requested will now be displayed according to the coordinate display system you have selected Delete Position Deletes the position specified Delete From position to position Deletes the positions specified Delete All positions Deletes from controller memory all the recorded positions Before executing any of the deletion commands the system will prompt you for confirmation ARE YOU SURE Y N N Press Y to delete Any other key will be regarded as no 4 14 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE CHAPTER 4 4 Program Editing The Edit Program screen allows you to write and edit your robotic programs EDIT PROGRAM Open Close Gripper Record present Pos as pos Go to Position fast speed set present Position as Home Wait 10ths of seconds Search Home Jump to line Set Axis to zero If Limit switch jump to Reset Timer If Input on off jump call Set Variable to sensor timer On i
69. ot be recorded You can change the existing name in a field simply by typing in new text and pressing lt Enter gt A name may contain up to 8 characters The text assigned to each I O is displayed accordingly when a program is executed from the Run Cell Control screen ON OFF gt mill on mill off 4 ok error As long as input 1 is ON the text mill on is displayed While input 1 is OFF the text mill off appears Similarly ok or error are displayed according to the status of input 2 Press lt Esc gt to return to the SCORBASE Module s main menu When you exit the I O Setup screen the I O setup is automatically saved on your disk ette under the filename SETUP IO It is not attached to any specific program When you reload SCORBASE Level 5 the I O setup is automatically loaded If the SETUP IO file is not present in the current directory when SCORBASE Level 5 is loaded all text entries are initialized as blanks 4 38 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE CHAPTER 4 9 i LJ LJ LJ LJ E C C Cell Control The Run Cell Control screen allows you to execute your SCORBASE program off line while a full run time report of the I O status is displayed INPUTS RUN CELL CONTROL OUTPUTS RUN LINE f13 JUMP TO f2 ROBOT STO RUN CYCLECF3 BRAKE lt B gt Ivo RROR RUN CONT Cf5 The center portion of this screen is similar to the Run Program screen For a d
70. program reaches this line F INPUT 1 ON JUMP TO LINE 25 It will stop and prompt S INPUT 1 ON Y N You can thus simulate the actual execution of the program Note that the off line option in this screen can also be used when SCORBASE is connected to a controller and is in the on line mode 4 34 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE Run Actions RUN SINGLE LINE F1 Executes the current program line The line is displayed in the program window RUN SINGLE CYCLE F3 Executes the program once RUN CONTINUOUSLY F5 Executes the program in an endless loop When it reaches the last line the program jumps automatically to line 1 JUMP TO LINE F2 After pressing F2 you must enter a line number The program will jump to the specified command line and execute it BRAKE lt B gt Pressing B immediately stops program execution Pressing any key will cause the program execution to stop after completing the current command Pressing B will also stop movement of the speed controlled conveyor Program Status Reports The left side of the screen contains the dynamic program reports The highlighted field indicates the running status of the current program The right side of the screen contains the command reports The highlighted field indicates the type of command currently being ROBOT executed by the program Ivo User s Manual ER
71. r sensor Otherwise press N If a gripper sensor is connected the following prompt is then displayed GRIPPER SENSOR CONNECTED TO INPUT 1 8 Enter the number of the input port Your response input 4 for example is then reflected in the menu line Define gripper sensor Input 4 will now be checked when Close Gripper commands are executed set present position as Home If you want to start the robot from a position other than its fixed home move the robot to the desired position and press H Be careful when using this command Altering the home position may invalidate other positions you have recorded At the Change Values for XYZ Y N prompt you can insert new Cartesian values for the new home position In addition you can also change the following BASE HEIGHT MM Used when the robot base is not at table level TOOL LENGTH MM Used to program XYZ positions for a tool connected to the gripper Press lt Esc gt to exit the Home screen 4 32 ER SIMULATION User s Manual for SCORBOT ER III 9311 SCORBASE CHAPTER 4 Program Execution The Run Program screen lets you run your programs both on line and off line and activate the robot s execution of the programs RUN PROGRAM RUN SINGLE LINE f1 JUMP TO LINE f2 ROBOT RUN SINGLE CYCLE 3 BRAKE lt B gt Ivo DISPLAY PROGRAM QEMRM ON PRINTER ERROR RUN CONTINUOUSLY 5 LINE OFF LINE QE
72. r variable Type a valid integer any value 32767 through 32767 or a variable name and press lt Enter gt Press S to set the variable to the value of the gripper sensor During operation the variable is set to the value in millimeters of the gripper opening The Set Variable to Sensor command is used for measuring objects with the gripper sensor When the command is executed it reads the gripper s current encoder value and computes the difference between the current value and the value stored in the ZERO file The difference is then converted to millimeters thus resulting in the variable measurement of the object which is being grasped by the gripper Press T to set the variable to the value of the SCORBASE timer During operation the variable is set to the timer value in tenths of a second Press C to set the variable to the result of a specified computation A computation consists of two arguments and an operator An argument can be either an integer or a variable SCORBASE prompts you for the first argument SET VARIABLE A Enter an integer or a variable name and press lt Enter gt This example uses the variable BB SCORBASE then prompts you for the operator SET VARIABLE A BB Enter an operator and press lt Enter gt Pressing lt Enter gt without an operator enters the plus sign for addition This example uses the plus sign SCORBASE then prompts you for the second argument SET VARIAB
73. sure you see a listing of the DEMO files as shown here PROGRAM HANDLING MODE LINES POSITIONS HBigii Working Directory SBS LR NAME SAVE f3 CATALOG DEMO3 L5 DEMO1 L5 HOME L3 CATALOG 9 lt ESC gt RETURN TO MAIN MENU ARE YOU SURECY N N Using the arrow keys bring the cursor to the Name field Type DEMO1 lt Enter gt Select the Load option F5 Once the application has loaded the message DONE is displayed Press lt Esc gt to exit the Program Handling screen Press lt Esc gt again to exit the SCORBASE menu From the Robot Simulator Main Menu select Simulation F2 MAIN MENU Scorbase Fi Simulation F2 Exit F9 From the Graphic Simulation menu select Run F2 GRAPHIC SINULATION Manipulate Run Setup The Run Screen will now be displayed as illustrated here User s Manual 9311 ER SIMULATION 2 3 for SCORBOT ER III TUTORIALS Main view Top Gripper view Speed 10 171 Y 0 Zz 504 Pitch 63 Roll 0 Run Single Line Fi Run Single Cucle F3 Run Continuously FS Jump To Line F2 Progran 1 GO POSITION 2 FAST 12345678 Display lines F4 Input QOOO0000 A Output Oooooooo OnLine Tracking FG Shift gt F7 F8 Rotate FS Fi0 Zoonm 1_ 8 Toggle input tT 1 7 Move Tab View 9 Press F1 to Run Single Line One program line will be executed Press F1 several times and watch the lines in the Program Win
74. t move any further Rotary table Search for microswitch is performed Conveyor No search is performed Not connected No search is performed This setup is recorded in the ZERO file and placed on your disk ette The next time you load SCORBASE the correct peripheral setup will automatically be configured You do not need to repeat the setup operation unless you actually alter a peripheral or its axis connection This command opens the gripper which sets the gripper s encoder to zero it then closes the gripper completely and registers the encoder value at that position The encoder value of the closed gripper is recorded in the ZERO file and placed on your disk ette The recorded encoder value helps produce more accurate measurements when measuring objects with the gripper User s Manual 9311 ER SIMULATION 4 31 for SCORBOT ER III SCORBASE lt Esc gt Define gripper sensor not installed A sensor mounted within the gripper can be used to control the amount of force exerted by the gripper when executing a Close Gripper CG command The sensor is connected to the SCORBOT controller through one of the 8 input ports When the force reaches a predefined threshold the sensor sends an ON signal to the input This command allows you to define which input port is used for the sensor connection Press D You are then prompted S GRIPPER SENSOR CONNECTED Y N Y Press Y or lt Enter gt to connect a grippe
75. t to place the cube back on the work surface Whenever you open the gripper any cube within its grasp will fall to the work surface 2 8 ER SIMULATION User s Manual for SCORBOT ER III 9311 TUTORIALS CHAPTER 2 0 Tutorial 3 Inputs and Outputs In this tutorial you see how inputs and outputs are defined manipulated and displayed in both the SCORBASE Module and the Graphic Simulation Module DEMO 3 Graphic Simulation 1 To work with the Tutorials activate ER SIMULATION by typing TUTOR at the C ROBSIM gt prompt C ROBSIM gt TUTOR lt Enter gt From the Robot Simulator Main Menu select SCORBASE F1 From the SCORBASE Menu select Program Handling F3 Once the Program Handling screen is displayed make sure the Working Directory field shows C ROBSIM TUTOR Select the Catalog option F9 Make sure you see a listing of the DEMO files Using the arrow keys bring the cursor to the Name field Type DEMO3 lt Enter gt Select the Load option F5 Once the application has loaded the message DONE is displayed Press lt Esc gt to exit the Program Handling screen From the ER SIMULATION Main Menu select Simulation F2 User s Manual 9311 ER SIMULATION 2 9 for SCORBOT ER III TUTORIALS 10 11 From the Graphic Simulation menu select Run F2 The Run Screen will now be displayed Press F3 or F5 to begin program execution The DEMO3 program will be executed in a
76. the graphic simulation software continue to Part III If you have not yet worked with SCORBASE Level 5 and want to familiarize yourself with the robotic software commands continue to Part IV User s Manual 9903 ER SIMULATION 1 9 for SCORBOT ER III INTRODUCTION This page intentionally left blank 1 10 ER SIMULATION User s Manual for SCORBOT ER III 9903 Part Il Tutorials User s Manual ER SIMULATION 2 1 9311 for SCORBOT ER III TUTORIALS CHAPTER 2 1 Tutorial 1 Loading and Running an Application In this tutorial you will load and run demonstration programs DEMO 1 1 To work with the Tutorials activate ER SIMULATION by typing TUTOR at the C ROBSIM gt prompt C ROBSIM gt TUTOR lt Enter gt 2 From the Robot Simulator Main Menu select SCORBASE F1 Simply press F1 or use the up and J down arrow keys to highlight SCORBASE and press lt Enter gt MAIN MENU Simulation F2 Exit F9 3 From the SCORBASE Menu select Program Handling F3 SCORBASE Teach Positions Edit Program Program Handling Run Program Home Run Cell Control I 70 Setup 4 The Program Handling screen is displayed 2 2 ER SIMULATION User s Manual for SCORBOT ER III 9311 TUTORIALS Make sure the Working Directory field shows C ROBSIM TUTOR Select the Catalog option F9 A list of the application files in the current directory will be displayed on the screen Make
77. tput oN oFf This command sets or resets the specified output At the prompt enter an output number or a variable and press lt Enter gt RE REmark You can insert a comment remark line into the program for explanation and documentation Type any text of up to 48 characters PR PRint This command prints text on the screen at run time A maximum of 48 characters can be printed in one command line RB Ring Bell When executed this command sounds a beep using the computer s internal loudspeaker RP Record present Position as Position When executed at run time this command records the current location of the robot arm as the specified position At the prompt enter a specific number or variable and press lt Enter gt Note that you can overwrite positions using this command This command is very useful in palletizing applications 4 18 ER SIMULATION User s Manual for SCORBOT ER III 9311 PH SH SA RT Example SV SCORBASE Set present Position as HOME When executed at run time this command changes the Home position of the robot All current axes positions are reset to 0 Use this command with caution t immediately changes the physical location of all the recorded positions Search Home This command sends the robot to search for its actual home location that is the SCORBASE checks the limit switch on each axis as in the homing procedure Set Axis to Zero This command resets the positio
78. transferred between computer RAM and disk ette s In SCORBASE Level 5 position tables and program lines can be loaded and saved in either separate or combined operations PROGRAM HANDLING MODE QEEHY POSITIONS BOTH Working Directory A N NAME LINES REPLACE INSERT INSERT AT LINE 1 SAVE 3 LOAD 5 DELETE CFT CATALOG 9 lt ESC gt RETURN TO MAIN MENU The option lines at the top left of the screen let you select the specific modes in which the loading and saving operations are performed To move from one option line to another use the up lt T gt and down lt J gt arrow keys Use the left lt lt gt and right lt gt arrow keys to highlight the field you want to activate and press lt Enter gt Leaving the option line without pressing lt Enter gt will accept the selection last recorded for that option Depending upon your responses additional option lines may appear as described in this chapter 4 26 ER SIMULATION User s Manual for SCORBOT ER III 9311 MODE SCORBASE IBN POSITIONS BOTH This option line allows you to select the mode in which the load and save operations are performed LINES When loading or saving in this mode only the program lines are affected POSITIONS When loading or saving in this mode only the positions are affected BOTH When loading or saving in this mode both the position table and the program commands are affected This is the default
79. unting the number of pulses you can determine how far an axis has moved Similarly you can define a robot movement or position by specifying the number of pulses in relation to the home position or a coordinate for each axis The location of the peripheral axes 6 and 7 is always stated in encoder pulses The SCORBOT ER III is a vertically articulated robot arm Control of the SCORBOT using other coordinate systems is achieved by SCORBASE s converting the various coordinates to joints coordinates 5 4 ER SIMULATION User s Manual for SCORBOT ER III 9311 XYZ Cartesian Coordinates The XYZ coordinate system is a geometric system used to specify the position of the gripper tip by defining its distance in millimeters from the point of origin along three linear axes To complete the definition you must also specify the pitch and roll in degrees of the gripper The point of origin in the XYZ coordinate system as well as in the cylindrical and spherical systems is located at the center and bottom of the SCORBOT s base Cylindrical Coordinates Similar to the XYZ coordinate system the cylindrical system specifies the position of the gripper tip by defining it as a point on a cylinder using three axis values Radius the horizontal distance in millimeters of the gripper from the point of origin Alpha a the horizontal angle in degrees of the robot base in relation to the base home position He

100055-d ER-Simulation ERIII

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