Home

100346-G RoboCell-USB-v56

1. An object s configuration cannot be changed once the object has been placed in the cell You must delete the original object and select and configure the object again from the New Object list Objects that have configuration options are described later in this section Object Properties Menu RoboCell User Manual Double clicking on an object that has already been placed in the cell opens the Object Properties menu Object properties can be changed at any time during cell setup All Object Properties menus contain the object s name and the following options Some objects have additional properties which are described in the individual sections 21 CellSetup WELDING Every object is automatically assigned a name and a number when it is placed in the cell This name eae is displayed in the object s properties menu The Position number indicates the order in which objects of the Show Text same type were added to the cell e g FEEDER GFEEDER2 Clicking on Rename opens a dialog box that allows you to change the name of the object The number can be changed or deleted Objects can be rotated to any degree in the minus clockwise or plus counterclockwise direction Clicking on Rotate opens a dialog box that allows you to change the object s orientation The degree of rotation is always defined relative to the object s default predefined orientation The cell has a point of origin at table level de
2. 1 Open the SBWSIMx folder 2 Open the RESOURCE folder 3 Using a text editor that saves files in plain ASCII format such as Notepad open one of the existing user part files PARTI_0 RWX PART2_0 RWX or PART3_0 RWX The file looks like the following example ModelBegin TransformBegin COLO D Lal lO Surface 0 4 0 53 0 2 Opacity 10000000 LightSampling Facet GeometrySampling Solid TextureModes Lit Texture NULLE ClumpBegin Translate 00 D40251 040 Tag 1 BLOGS 008 0405 0 05 ClumpBegin Tag 2001 Color 1 09 Opacity Brock QOS NO GT ClumpEnd TranstormEna Mode lEnd 4 Edit the file to create your own part Save the file Since you can only have three user part files at a time you must replace the original file Do not change the file name 6 To create your own finished part edit the Part I file If you do not want to create a finished part delete the Part 1 file RoboCell User Manual 42 CellSetup Create a New Part Object File If you can create your own user part and user object files do the following 1 Open a text editor that saves files in plain ASCII text such as Notepad or DOS Edit 2 Write the program to create your own part 3 Save as file type RWX You must name the file PART1_0 RWX PART2 O RWX or PART3_0 RWX 4 To create a finished part name the file PART 1 RWX There must also be a PART _0 RWX file to go with it 1 e in order for there to be a PARTI I file there must be a PART1
3. Manual Movernent f Joints EO rd Speed 50 Figure 6 1 Manual Movement Dialog Box Clicking with the mouse on the keys on the Manual Movement dialog box keys or pressing keys on the keyboard moves the virtual robot axes Movement of an axis continues as long as the button or key is pressed or until a software or hardware limit is reached Note For ER 2U axis 6 is disabled Use the Open Gripper and Close Gripper buttons to control the gripper RoboCell User Manual 53 Cell Operation Machine Operation You can operate the Mill or Lathe directly from the Digital Output dialog box or with program commands see Program Execution program continues to run after the machine begins to operate Be sure to close the chuck on the Mill or Lathe before you open the Robot gripper to release it A part placed in the Lathe will drop to the bottom unless the chuck is closed before opening the robot gripper A part placed in the Mill may fall once the Mill cycle begins if the chuck is not closed before starting the cycle Mull and Lathe will work only if the door is closed Send Robot Commands Send Robot commands can often be used instead of the SCORBASE Manual Movement dialog box Commonly however you will use the Manual Movement dialog box to adjust the robot s position after using a Send Robot command When SCORBASE is operating online with an actual robotic cell the Send Robot commands and options are disabled
4. When using the Send Robot commands be aware of certain characteristics of the following objects RoboCell User Manual 54 Cell Operation Feeders Lathe Mill Table Template RoboCell User Manual Click on the part in the feeder and not the feeder itself to select it as the target position for the Send Robot to Object command To easily pick up a part from the feeder select a pitch of O and a roll of 90 in the Send Robot Options dialog box Each of the four clamps in the chuck can be a target object You cannot use the Send Robot to Object command to place an object in the lathe Object must be placed in the chuck manually Only cylinders can be placed in the chuck Use the Manual Movement dialog box to position the cylinder exactly Click on the jig in the mill to select it as the target for the Send Robot to Point command Use the grid on the jig to help place the object Use the Send Robot to Point not Send Robot to Object command and select a specific target point on the table The robot moves to that position with the offset defined in the Options for Send Robot dialog box Although it is regarded as one object the template is comprised of two objects the tray and the handle either of which can be a target object The template has only one position defined by the center of the tray Use Z offset 35 mm to send the robot to the template tray Use Z offset 0 mm user defined to send the r
5. E Save Camera Position Saves the current camera position Only one camera position can be saved Saving a new position overwrites the previously saved position Restore Camera Restores the position recorded using Save Camera Position Position Labels Sub options ETE Shows hides Object Name labels t gt Shows hides Object Position labels The label displays the X and Y coordinates of the object position that 1s relative to the coordinates of the 3D model RoboCell User Manual 50 Working in RoboCell Object Positions in Robot Coordinates Number Parts in Feeder Send Robot Sub options Send Robot to Object Send Robot to Point Send Robot to Above Point Options for Send Robot Send Robot Options Pitch f 90 Degrees f O Degrees C Current C User Defined RoboCell User Manual Shows hides Object Position Robot Coordinates The object position displayed is relative to the robot coordinates The robot coordinates may be different from cell coordinates 1f e The robot was moved after initial setting in CellSetup e The robot is equipped with LSB When the robot moves the position of objects relative to the robot changes Shows hides a label that displays the number of remaining objects in a feeder Select Options Simulation to enable the Send Robot options Sends the robot to the selected object Make sure the gripper is open before sending the robot to the object This
6. WS files in the following default installation subdirectory C VUntelitekiRoboCelllProjects VER 4u 3D Project Descriptions ER4Cell1 ER4Cell2 ER4Cell3 ER4Cell4 ER4Cell5 RoboCell User Manual Builds two towers one of cylinders and one of rectangular blocks Demonstrates the use of numbered positions Builds two towers from parts supplied by parts feeders Demonstrates the use of named variables for positions Part sorting Demonstrates the control of inputs and outputs Order cylinders and process parts Demonstrates complex PICK movements and program control using IF statements Lathe and mill tending Demonstrates complex operation involving robotic arm mounted on slidebase two parts feeders a lathe a mill and various input output functions SI Sample RoboCell Projects ER4Cell6 Similar to ER4Cell5 using the Intelitek ProLight lathe and mill Demonstrates visual representations of the path taken by the TCP Tool Center Point Butt Joint Picks up welding tool to weld two parts in a butt joint Excel EX1 Demonstrates the use of VBScript to transfer values from SCORBASE into Excel spreadsheets Intelitek Demonstrates use of the SCORBASE Write command MICROCIM Simulation of an OpenCIM device driver interface New Project Empty project Polygon Demonstrates the use of VBScript to transfer values from user input to SCORBASE and make floating point calculation available to SCORBASE Script
7. or click on the Open icon 3 Select the desired DMO file from those listed in the Open window The program starts automatically To stop a demo select File Stop 5 Use the Menu options or Toolbar icons to navigate in the virtual cell See Chapter 4 CellSetup for full details 6 To exit the Demos utility select File Exit To uninstall RoboCell do the following 1 From the RoboCell program group select Uninstall 2 Follow the instructions which appear on the screen The Intelitek Software licensing Guide provides full details on the procedures for protecting your license transferring the license from one PC to another and returning the license to Intelitek for retrieval at a later stage 7 Starting RoboCell Quitting the Software To close RoboCell or its components do any of the following 1 From the Menu Bar select File Exit 2 Click the Close box in the SCORBASE Title Bar 3 Press Alt F4 RoboCell User Manual 8 Starting RoboCell 3 Graphic Interface The 3D image you see on your screen is the output of a virtual video camera fitted in the workcell You can use the mouse to manipulate the image The Graphic Display and CellSetup in RoboCell have the same graphic interface Rotate RoboCell User Manual To rotate the scene move the camera around the center of the image 1 Place the cursor anywhere in the graphic window and click the right mouse button The curso
8. Demo Demonstrates the interaction between SCORBASE and VBScript Serial Port Demonstrates using RoboCell to send text messages via serial communications port Tjoint Demonstrates complex pick amp place movements and control of welding tool RoboCell User Manual 82 Sample RoboCell Projects Problem Installation not successful Program not responding correctly Robot cannot be dragged to another position Screen layout is jumbled or crowded Peripheral axes do not move in RoboCell RoboCell User Manual 10 Troubleshooting Make sure all applications including anti virus monitors and network drivers are closed Then try installing the software again There may be a message box hidden behind the application window Minimize the application windows to check for messages or prompts By default the robot is placed at the cell s point of origin to simplify the teaching of positions The robot s position can be changed only by means of its Properties menu Select View Simulation amp Teach or View Simulation amp Run to reset the screen layout You can also select Options Load User Screen to reset a screen layout that you set and saved previously When SCORBASE is operating on line the peripheral settings defined in the CellSetup file are not loaded the peripheral setup defined in SCORBASE is retained Simulated peripheral axes that do not match the SCORBASE definitions will not
9. Point command Show Path When selected a line showing the gripper path is drawn on the screen as the robot moves The distance between the points is proportional to the TCP speed Clear Path Clears the robot path that was drawn using Show Path Show Origin Shows the origin of the cell at floor level under the center of the robot s base as a red cross marked with X and Y axes The positions of all objects are defined as relative to this point of origin When manipulating the graphic display the cross may disappear momentarily This option is the same as Scene Origin described in Chapter 4 CellSetup Show Robot Work Displays the span of the robot s working range allowing Envelope you to see whether objects are within the reach of the robot This option is the same as the Show Envelope option of the Robot Properties Welding Settings Opens the Welding Setting dialog box which enables definition of the welding parameters see Figure 7 7 52 Working in RoboCell 6 Cell Operation Operating and programming the robot in RoboCell is similar to working with a hardware robot Graphic display features and automatic operations such as Cell Reset and Send Robot commands enable quick and accurate programming Robot Manual Manipulation The SCORBASE Manual Movement dialog box allows you to manipulate the robot and peripheral axes in the simulated cell in the same way that it provides control of an actual robotic system
10. Properties Object Material Plastic X mm 140 gt Y mm 140 Z mm 140 eS Size Figure 4 19 Cube Configuration Colors Object Material Size mm Cube X Y Z Cylinder Diameter Height Ball Diameter Horizontal Vertical for Cylinder only RoboCell User Manual You can define the color of the plate to which the sensor 1s sensitive The default color 1s red To change the color click Colors T his opens a color palette from which you can select the required color Make sure the color you select 1s compatible with the sensor s detection definition The cell sensor can differentiate between different materials The default material is plastic Other available materials are glass metal and wood When metal is selected you can perform welding using the features described in Chapter 7 Welding Features The default dimensions of the objects can be modified if desired Defines whether the cylinder is placed in a horizontal or vertical position Cylinders that are placed in the lathe should be defined as horizontal 40 CellSetup User Parts and Objects New Objects 3 Robots Peripheral Axes 3 1 0 Devices Storage Devices 2 Machines 3 Welding Tools 3 Welding Materials _j General 3 Materials 3 Object fj Object2 fj Object3 3 Object4 fj Object5 fj Object6 Cancel Parts Objects RoboCell User Manual To insert a part or an object select the des
11. after the robot the first object has been placed Most welding objects are automatically placed at the correct default welding table height even if they are not placed directly on the welding table The welding table configuration dialog box contains the following options WELDTABLEL X mm 1200 Y mm 1800 Figure 7 5 Welding Table Configuration Colors Opens the color pallet to define the color of the welding table The booth poles will remain default gray To distinguish the table use a color that is different from the colors used for the floor and background RoboCell User Manual 64 Welding Features X mm Y mm Defines the length and width of the table in millimeters X and Y dimensions are always in accordance with the X and Y dimensions of the cell Use the Show Cell Origin option to display the X and Y origin of the cell You can accept or change the default dimensions of 1200 x 800 mm Welding Machine Properties The Welding machine supplies the electric energy required for the welding process to the welding gun As such you cannot save a cell containing only a welding gun or only a welding machine Neither or both must be present in order to save the cell To open the welding machine properties window do one of the following e Select 3D Image Welding Setting from the RoboCell main menu Note The Welding Setting option is only enabled if you have defined a welding machine and a welding gun
12. between the two materials Welding will not occur in the following situations e The electrode of the welding gun is too close or too far from the material e The welding gun is located above a material that the software recognizes as non weldable Angle of electrode When recording the start finish weld positions you define this angle by defining the positions pitch RoboCell User Manual 74 Welding Features Welding Process Welding Gun Operation As welding occurs sparks will fly from the welding gun as shown in the figure below Figure 7 16 Sparks from Welding Operation Weld Temperature Changes in the temperature of the welding seam can also be seen by zooming in on it during and after the welding Immediately after the welding the seam is red and yellow indicating that it is extremely hot Slowly it changes to a grayish color indicating that it has cooled RoboCell User Manual 75 Welding Features Welded Part After the welding process is completed RoboCell regards the two metal pieces as one Figure 7 17 Completed T joint Welding Process RoboCell User Manual 76 Welding Features Weld Analysis RoboCell User Manual RoboCell allows you to observe the quality of a weld at the end of the welding process Depending on the welding settings used to create the weld the appearances of welds may differ After welding two metals together double click on the seam to open the Weld Propert
13. does not need manual input The welder determines the feed rate setting by weighing three factors type of shielding gas metal thickness and wire diameter Shielding Gas Sets type of gas for shielding the weld from oxidation which causes rust and poor joining of the welded pieces The system only works with CO gas The default parameters are set according to the Millermatic recommended settings see Millermatic User s Manual Some parameters are interrelated For example changing the voltage tap causes the wire speed default to change automatically Note that the wire speed can also be changed independently of the voltage tap Welding settings can also be changed by the user when working within the Graphic Display window The settings will remain in effect for all subsequent simulated welds Note Changes in this dialog box do not affect the actual Millermatic welder settings This dialog box can also be accessed by double clicking on the welding machine knobs Note that parameter changes are reflected in the knobs positions Controller Output The welding machine operation is controlled dates Welding using a controller output After placing the welding machine in CellSetup you should assign a free controller output for controlling the welding machine RoboCell User Manual 67 Welding Features Gun Stand The gun stand does not require the user to define any additional configurations or properties The user need on
14. electrical power required to weld the materials It is connected to the welding gun by a cable You cannot save a cell containing only a welding gun or only a welding machine Neither or both must be present in order to save the cell Gun Stand The gun stand holds the welding gun between welding sessions The robot picks the gun from the stand before starting the weld and returns it to the stand when the welding is finished Welding Jig A Welding Jig A is a device used to securely hold two materials being welded together in a T joint Welding Jig B Welding Jig B can be used for various types of welds RoboCell User Manual 35 CellSetup Welding Materials New Objects The Welding Materials group includes the plate and the metal cube Robots Peripheral Axes Usage of the welding materials is detailed in Chapter 7 Welding VO Devices Storage Devices Machines elding Tools Features Welding Materials General Materials User Objects Cancel Plate 38 x 89 x2 mm Plate refers to the welding metal plates which are used with Welding Jig A When you select Plate this dialog box opens WELDPARTI Properties ET in E EEN Object Material Metal Size X mm 38 Y mm 85 ET Z mm 2 Figure 4 16 Welding Plate Configuration Colors You can define the color of the plate to which the sensor is sensitive The default color is blue To change the color click Colors This opens a color palet
15. in the cell e Double click on the welding machine image in the 3D window HI Figure 7 6 Welding Machine Image RoboCell User Manual 65 Welding Features RoboCell User Manual The welding machine Properties menu contains the following additional option Welding Settings Opens the Welding Settings dialog box see Figure 7 7 which enables definition of the following weld parameters e Voltage Tap e Wire Diameter e Wire Speed e Shielding Gas Welding Settings Voltage Tap Wire Diameter Shielding Gas C Fan only 0 023 inch f None fq a f CO2 e 3 Wire Speed gt Figure 7 7 Welding Settings Dialog Box Voltage Tap Sets welding machine voltage output supplied to the welding gun an important variable in determining the quality and appearance of a weld The voltage tap value 1s a reference number and 2 does not indicate a voltage value The voltage tap should be set according to several factors such as robot speed wire speed and metal thickness Wire Diameter Sets diameter of the welding wire being fed to the MIG welding gun Cannot be changed 66 Welding Features Wire Speed Sets speed at which the wire is fed to the MIG welding gun Also known as feed rate The wire speed setting is essentially a reference value to the controller built into the welder Valid values 10 100 The wire speed is automatically regulated by the welder for optimal performance and
16. of some objects template jig cylinder and cube is determined at the time they are placed in the cell If for example you click on the conveyor when placing a cube in the scene the cube will be placed on the conveyor at the proper height It is recommended that a table be placed in the cell before any of these four objects is added to the cell Otherwise these objects may be set on the cell floor and are hidden when a table is added Once an object s height is set it cannot be changed in CellSetup For example you cannot move the cube from the table onto the conveyor Moving an object whose height has been set will cause it to float in space or penetrate another object If the setup is saved with a floating object the object will fall to the surface below it when the file is loaded in RoboCell RoboCell User Manual 20 CellSetup To change an object s height in CellSetup you must delete the object and create a new one To move an object simply click on it and drag it to another position Or use the object s properties menu to set precise position coordinates The robot cannot be dragged to another position Its position can be changed only by means of its properties menu Object Configuration Selecting some of the objects from the New Object list will open a configuration dialog box for defining the object s permanent attributes such as size and color Attributes must be set before an object can be placed in a cell
17. opens WELDPARTI Properties Object Material Metal Size X mm 38 Y mm lag mm 2 Figure 7 11 Welding Plate Configuration Colors You can define the color of the plate to which the sensor is sensitive The default color is blue To change the color click Colors This opens a color palette from which you can select the required color Make sure the color you select is compatible with the sensor s detection definition Size The default dimensions of the plates are 38 x 2 x 89 mm These are for display purposes only and cannot be changed RoboCell User Manual 70 Welding Features Metal Cube When you select Metal Cube this dialog box opens WELDPART1L Properties Object Material Metal Size X mm 1300 Y mm 1100 Z mm la OK Cancel Help Figure 7 12 Metal Cube Configuration Colors Define the color of the cube in the same way as described for the Plate Size Any dimensions can be defined provided that the cubes are compatible with either welding Jig A or B RoboCell User Manual 71 Welding Features Additional Welding Features The RoboCell s Graphic Display includes the following features Advanced Send Robot Commands Recording Positions for Welding Jig A Welding features enable easier recording of positions for Welding Jig A To record the position for placing a part in the left side of the jig use the Send Robot to Object option and click anywhere on
18. option is useful for defining a robot pick position Sends the robot to the selected point This option is useful for defining a robot place position Sends the robot to a point above the selected point on the table Default point 100 mm above the selected point Opens the Send Robot Options dialog box enabling you to define the vertical offset values and the gripper s orientation when Send Robot commands are executed Fall Offset te 10 mm Offset Above Point Degrees f 50 mm f 90 Degrees f 20 mm f 100 mm C Current C 30 mm Co 750 mm C User Defined C User Defined C User Defined Cancel Default Figure 5 3 Send Robot Options 51 Working in RoboCell RoboCell User Manual The settings remain in effect for all subsequent Send Robot commands When the gun is selected default gun settings are used automatically user defined settings are ignored By default the robot moves to an object or point with the gripper perpendicular 90 to the table and with no 0 rotation You may also use the SCORBASE Manual Movement dialog box see Robot Manual Manipulation to adjust the orientation pitch and roll of the gripper You can then select the option Use Current to maintain the gripper s orientation during subsequent Send Robot commands The Z offset value is used by the Send Robot to Object and Send Robot to Point commands The Z offset Above Point value is used by the Send Robot Above
19. reach a target position Since there are no mechanical motor or electrical encoder failures in simulation you can assume simply that the gripper or an object held by the gripper has collided with the robot or another object The Graphic Display status line indicates the object on which the impact has occurred 56 Cell Operation In response to the impact error message select OK to resume Control On Then move the robot away from the impact condition If a Send Robot command caused the impact the robot will resume movement from the position that preceded the Send Robot command When SCORBASE is operating online with an actual robotic cell SCORBASE controls impact detection and response and Cell Simulation s impact detection function is disabled Defining Positions RoboCell provides the methods described below for defining robot positions A position is identified by its assigned number Recording Position 1 l 3 Use the SCORBASE Manual Movement dialog box to manipulate the virtual robot in the same manner in which you would manipulate an actual robot When the position is reached type a number in the position number field in the Teach Position Simple dialog box Click Record If the position number has been used previously the new position will overwrite the previous position data Recording Position 2 l 4 To send a robot to a required position use the Send Robot to Object Position Above
20. the protruding parts of the jig indicated by the number 1 in Figure 7 13 RoboCell will automatically send you to the correct position for placing the part Note that this position is also used for removing the welded part from the jig To place parts in the right side of the jig click on any of the areas numbered 2 in Figure 7 13 Figure 7 13 Recording Positions for Welding Jig Recording Positions for Welding Gun RoboCell User Manual Welding features include a built in feature to facilitate recording the pick position for the welding gun To record the position for picking the gun use the Send Robot to Object option and click on the gripper adapter handle on the gun RoboCell will automatically send you to the correct position for properly picking the gun 72 Welding Features Welding Booth Doors The welding booth doors can be viewed or removed by double clicking anywhere on the booth Figure 7 14 Welding Booth Doors Image Welder The welder has the following built in features Wire Speed Voltage amp Power Switches Wire Spool Figure 7 15 Built in Welder Features Wire Spool Motion During the welding process the wire spool turns just as it does in reality Wire Speed Voltage The knobs on the welder accurately reflect the and Power Switches welding settings defined via the Welding Settings dialog box Double clicking on any knob opens the dialog box RoboCell User Manual 73 Weldin
21. 0 The machine informs the controller that a process is being carried out 1 e when the input is on the machine is busy Closes and opens the machine door The machine cannot start if the door is open Closes and opens the machine chuck The chuck holds the object during the process Sets the robot controller output to which the machine is connected The machine cycle starts when the output is turned on To modify the configuration after the machine has been placed in the cell double click on the machine to open its Object Properties menu see Object Properties Menu Select Machine Setting to open the Configuration dialog box 34 CellSetup Welding Tools New Objects The Welding Tools group includes 3 Robots ES Peripheral Axes e Welding Table 2 170 Devices ai e Welding Machine Welding Table e Gun Stand f Welding Machine R A E Gun Stand e Welding Jig A ES Welding Jig Welding Jig B e Welding Jig B 3 Welding Materials 3 General 3 Materials Full details on use of the welding tools are provided in Chapter 7 _ User Objects Welding Features Welding Table The welding table holds the welding object and it should be placed in the cell just before or after the robot the first object has been placed Most welding objects are automatically placed at the correct default welding table height even if they are not placed directly on the welding table Welding Machine The welding machine supplies the
22. Experiment Table Input Output Configuration Although one of the experiment table inputs may be disabled if the input is later defined for another device all other switches will remain connected to their defined inputs In RoboCell a sound is emitted when the outputs that control the buzzer and lamp are turned on and off The experiment table outputs use the Windows sounds associated with the following events e Buzzer On Exclamation e Buzzer Off Critical Stop e Lamp On Asterisk e Lamp Off Information In addition the lamp in the Graphic Display turns bright red when its associated output is turned on RoboCell User Manual 28 CellSetup Sensor RoboCell User Manual RoboCell includes digital sensors that can be configured to detect specific objects based on their color and or material metal plastic wood etc The objects are listed in the Materials group and their properties are defined when they are placed in the cell see User Parts and Objects When you select Sensor this dialog box opens enabling you to define the color material to which the sensor is sensitive as well as the sensor s height SENSOR Properties W Al Colors W Al Materials Height mm EJ Figure 4 10 Sensor Configuration Color Detect By default the sensor is set to detect all colors To set it to a specific color uncheck All Colors Click Color Detect to open a color palette from which you can select the required col
23. Peripherals Peripheral devices can be connected either to axis 7 or to axis 8 To connect a device listed under Not connected click on it and drag it to one of the free controller axes If you drag the device to an axis that already has a connected device the new device replaces the previous device which is disconnected and relocated under Not connected You can leave the slidebase not connected at this stage and connect it later using View Controller Setup or the Controller Setup icon 25 CellSetup Robot Properties Peripheral Axes New Objects E 3 Robots S Slidebase 1 0m Belt drive 3 Slidebase 1 8m Belt drive 3 Linear Table 0 3m f Rotary Table 24v 3 Conveyor Belt gray 24V 3 xY Table 3 170 Devices 2 Storage Devices 2 Machines 3 Welding Tools 3 Welding Materials 2 General 2 Materials 3 User Objects Cancel RoboCell User Manual In addition to the standard object properties see Object Properties Menu above this option 1s listed as a Robot property Show Envelope Displays the span of the robot s working range This option facilitates the placing of objects within the reach of the robot Peripheral devices include a motor with speed and position control They are connected as axis 7 or axis 8 of the controller To place a peripheral device in the cell click Peripheral Axes and select the required device If you select either of the slidebases or a linear table you wil
24. Position tools If needed use the Manual Movement dialog box for fine tuning When the position 1s reached type a number in the position number field in the Teach Position Simple dialog box Click Record If the position number has been used previously the new position will overwrite the previous position data RoboCell User Manual 57 Cell Operation Teaching Position RoboCell User Manual 1 In the Graphic Display window select View Object Positions to see the X and Y coordinates of an object 2 Zoom in on the object or point whose coordinates you want to record 3 Click the Teach Position Simple Expanded button to open the Teach Position dialog box Teach Positions Expand mm fo mm fo Z mm Pitch deg 0 Roll deg 0 f Via Position Get Position Clear Teach v Position Number R at i Absolute C Relative to Figure 6 2 Teach Positions Dialog Box Expanded 4 Type the position coordinates in the X Y Z P and R fields 5 Enter a number in the position number field 6 Click Teach Note If you click Record position the current robot position is recorded and not the position defined by the coordinates you entered in the X Y Z P and R fields If the position number has been used previously the new position will overwrite the previous position data 58 Cell Operation Fine tuning a Position To modify existing positions 1 Click Teach Position S
25. RoboCell Version 5 6 for SCORBOT ER 4u SCORBOT ER 2u File Edit Run Options View 3DImage Window Help QB s Ele ss ia on om b B E Program WELD_ACT10 ole x A 3D Image W As Y ANO Bs RD fy W QQ Slo amp amp H Hl 34 13 72 Go Linear to Position WELD_END Duration 90 1 10 sec 73 Tum Off Output 1 74 Go Linear to Position ABOVE WELD END Speed 40 TID Ai 77 Set Subroutine STORE WELD 78 Go to Position ABOVE JIG2 Speed 50 79 Go Linear to Position UNLOAD JIG Speed 40 81 Go Linear to Position ABOVE UNLOAD Speed 60 82 Go to Position ABOVE RACK Speed 50 83 Go Linear to Position RACK Speed 40 84 Open Gripper 85 Go Linear to Position ABOVE RACK Speed 60 86 Set Variable RACK RACK 1 87 Set Variable ABOVE RACK ABOVE RACK 1 Remark 90 Set Subroutine WELD TJOINT 91 Call Subroutine PICK FROM FEEDER 97 Call Subroutine RETURN GUN E Wait 300 10ths of seconds 99 Call Subroutine STORF WFID Manual Movement 8 Teach Positions Simple Position Number Include Axes v La Robot I Peripherals l ES Absolute Expand Relative to Wait 90 10ths of seconds Insert amp Simulation User Manual Catalog 100346 G intelitek Copyright 2014 Intelitek Inc Catalog 100346 G March 2014 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purp
26. TNS 64 Wed Tol aars 64 Weldme Table CNN 64 Welding Machine Properties 65 O ope across 68 Velde ATI ESS 68 Ved ll Ds OAA 69 Welding Mare 70 O PD Ga EE NE OA 70 Metal NE se 71 Additional Weld Fu asco torent ie eee T2 Advanced Send Robot Commands rrrrrrrrrrrvrvvnvvvvnnrrrrrrnnnnnnnnnenersrssssnnnnnnnsnnsnnnnnnnnnnneeeessssne 12 Recording Positions for Welding Jig A rrrrrrrvvvrrnnnnnrrnrrnvnnvrnnnnnnensrnnnnvrnnnnnnsnnsnnnnrnnnnssnee T2 Recording Positions for Welding Gun rrrrnnnnnnnnnnnnrnnnvnnnrvnnnnnnensrnnnnrnnnnnnesnnnnnnnsnnnnsnnee 12 Wed Boo DOS a ion 73 VU 73 VPN 74 Weldine Processes 75 Wed Gea 75 Weld Temperate sereset a a 75 PY GS GE se EE EEE E OESE 76 Wed are T11 Chapter 8 Replicating Real and Simulated Cells annnnnnnnnnnnonnnnennnnennnnennnnennnnennnnr 79 From Simulationto Read Re 19 Prom RealtosS anulado anti 80 Chapter 9 Sample RoboCell ProjectS a erannnannnnnennnnnennnnnnnnnnennnnnennnnvennnnvennnnnennnnene 81 A Bs A O VE NE AR 81 ERIC lastra iaa 81 ERIC PN 81 AS AA o nn a a 81 PRIC O 81 ERICo Ree eR ee Ree ee ee Re ee ee eee ee 81 ERT ba 82 BUJON EEE ETE EE ETE EE EEE 82 Fe Me e o oc 82 AA A uin st ase tiin te Meo uated lene uta 82 MIC ROCIM ve 82 NO gs 82 FN 82 SD 82 DLP 82 TG 82 Chapter 10 Troubleshooting rannvennnnvennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnennnnnennnnvennnnnennnnne 83 RoboCell User Manual lil Introducing RoboCell RoboCell User Manual iv Introd
27. _0 RWX file 5 Copy the files to the SBWSIMn RESOURCE folder 6 Note It is recommended that you do not discard the original files supplied with RoboCell Save the original files under different file names 7 To create a User Object follow the above steps and name the file USER RWX USER RWX files cannot be manipulated by the robot or machines You must replace the original user object files Import a CAD File You can create a 3D object in a CAD program and import it to RoboCell To import a CAD file do the following l 2 5 Create a file in any CAD program Save as DXF or 3DC Use the DXF toRWX or 3DCto RWX converter to convert the file to RWX format Name the files PARTI O RWX PART O RWX or Part3_0 RWX To create a finished part name the file PART 1 RWX There must also be a PART _0 RWX file to go with it 1 e in order for there to be a PARTI I1 RWX file there must be a PARTI O RWX file Copy the file to the SBWSIMn RESOURCE folder To import a user object follow the above steps and name the file USER RWX For more information on RWX files consult a manual on RWX programming RoboCell User Manual 43 CellSetup RoboCell User Manual 44 CellSetup Working in RoboCell RoboCell integrates the SCORBASE robotic software with a graphic display module which allows you to define teach robot positions and execute robot programs in a virtual robotic workcell RoboCell s user inte
28. be precise for example the point at which the robot takes an object from a feeder or the point at which the robot places a part in a machine In SCORBASE On Line mode send the robot to these key positions Adjust the location and orientation of the actual objects and devices e g feeder machine according to the location of the gripper If you are unable to relocate the object or device you can rerecord the position coordinates 79 Replicating Real and Simulated Cells From Real to Simulation To create a simulated cell based on an actual installation you will need to know the exact location and orientation of every element in the cell If the cell layout is simple this information can be obtained through a coordinate grid or a ruler For a more complex cell layout you will probably need a technical drawing e g AutoCAD which shows the center point and orientation of all objects All measurements should be made with both the robot and the cell at the same point of origin and with the same orientation RoboCell User Manual 80 Replicating Real and Simulated Cells 9 Sample RoboCell Projects Your RoboCell package contains a number of sample projects to help familiarize you with the capabilities of RoboCell These are accessible by means of the File Open command Press ctrl O on your keyboard select Open Project from the File menu or click on the Open icon in the toolbar You will be shown a listing of all the
29. connected to axes 7 and 8 of the controller see Robot Configuration and Peripheral Axes below Through the Controller Setup dialog box see Figure 4 3 you can view the defined objects and modify their input output and axes connections under the appropriate tab Controller Setup Inputs Outputs Peripherals Hinput Object Name 1 Feeder FEEDER1 Gravity Feeder GRYFDR1 expertMill MC O600 EXPM_1 Not connected og Caca wow Heb Figure 4 3 Controller Setup RoboCell User Manual 16 CellSetup Devices that have not yet been connected are listed under Not connected To connect a non connected device click on the device and drag it to a free input output axis A plus sign appears next to the cursor To modify an existing connection drag the input output peripheral to a new setting A swap sign appears next to the cursor If you drag the device to a setting that already has a connected device the new device replaces the previous device which is disconnected and relocated under Not connected To disconnect input output peripheral drag the object to the Not connected list A minus sign appears next to the cursor RoboCell User Manual 17 CellSetup E E ES XYZ RoboCell User Manual Show Positions Shows hides the Object Name labels see Figure 4 4 When you select this option a label on each object shows its name Names are assigned by the software but can be renamed by the user
30. dow which lists SCORBASE files without a virtual cell and RoboCell files that include a virtual cell vi Save Project Saves the project program positions and graphics T Save Project as Saves the project program positions and graphics under a different name Close Project Closes the currently open project New Script Opens Notepad Open Script Opens File Selector box for opening an existing Visual Basic script file Print Program Prints the SCORBASE program Print Positions Prints the positions defined by the user Print 3D image Prints the graphic cell The output is an image of the current cell RoboCell User Manual 46 Working in RoboCell Edit Menu Run Menu RoboCell User Manual Print Preview 3D Image Print Charts Print Preview Charts Import 3D Model Edit 3D Model View File Exit Opens a dialog window that shows how the printed cell will appear on paper Opens a dialog box to select the chart of a specific axis for display or printout Only one axis can be selected at a time Opens a window that displays the chart of the selected axis showing how it will appear on paper Opens the Import 3D Model window which lists graphic module files 3DC files Select one of the files to open the graphic display module window When you save the project the current workcell is included as part of the project Opens CellSetup If the project already includes a workcell CellSetup
31. e SCORBASE menu whose options allow you to toggle the display of SCORBASE dialog bars and menus The options of this menu are described in Graphic Display Module below The options of the Window menu offer screen settings that enable optimal usage of the screen while you are carrying out various operations such as defining positions programming and running the SCORBASE programs Graphic Display Module RoboCell User Manual The graphic module file is an integral part of a RoboCell project Opening or saving a project opens or saves the RoboCell program robot positions and graphic module data as one entity You can open a new RoboCell project and then import a virtual cell from an existing project or a cell created using CellSetup File Import 3D Model Only one CellSetup file window can be opened at a time When you open a project which already contains a workcell the graphic display module window appears The window is titled 3D image and the project name 48 Working in RoboCell Fa 3D Image 4AdRob Actl0 o Figure 5 2 3D Image Window The 3D image portrays the robotic workcell and all 1ts components Using the graphic display tools described in Chapter 3 you can manipulate the image and view it from different angles by controlling the angle and position of the virtual camera that monitors the workcell Other tools enable you to see other data related to the cell such as object name position or the numbe
32. ect RoboCell for ER 2u or RoboCell for ER 4u The robot that you select becomes the default robot while you are working in RoboCell although you can choose to open a new project and work with a different robot See the Hardware Setup option in the Options Menu Click Next to open the Setup Type window Setup Type Select the setup typ Vietnamese Figure 2 4 Setup Type Window 9 Select the desired language and click Next to open the Choose Destination Location window Choose Destination Location Select folder where setup will install files Figure 2 5 Choose Destination Location Window RoboCell User Manual 6 Starting RoboCell 10 The default destination folder for the files is Intelitek RoboCell Click Next to accept the default or click Browse to select another folder and then click Next to open the Select Program Folder window 11 Click Next to complete the installation procedure RoboCell Utilities These utilities are available from the RoboCell group e CellSetup e 3D Simulation Software Demos e Uninstall 3D Simulation Software Demos Uninstall RoboCell User Manual Demonstration files included with the software allow you to observe the capabilities of RoboCell To run these demo files do the following 1 Activate the demos by selecting Start Programs RoboCell 3DSimulation Software Demos The default demo opens and starts automatically 2 To view another demo file select File Open
33. ection of the feeder s mouth as shown by the cursor in Figure 4 12 RoboCell User Manual 30 CellSetup Cursor Figure 4 12 Placing Objects in Gravity Feeder The feeder is fitted with a touch sensor named NotEmpty located at the lower part of the feeder The sensor indicates when there are parts in the feeder 1 e it is on when the feeder is not empty Feeder Pneumatic Feeder RoboCell User Manual The pneumatic feeder is constructed from a magazine of objects and a pneumatic cylinder fitted at the lower section The feeder is also fitted with a touch sensor that is pressed the input is on when there are parts in the feeder NotEmpty sensor The pneumatic cylinder is controlled via a controller output When the output is turned on the piston extends pushing out the next object The robot picks the objects from the feeder output tray and the feeder position is defined as the point at which the robot takes an object from the feeder Figure 4 13 Robot Position for Picking Objects 31 CellSetup Feeder Configuration Configuration for the Gravity Feeder and the Pneumatic Feeder is described below The differences between the two methods are indicated When you select a feeder a configuration dialog box opens GRVFDR1 Properties Inputs Number of parts in feeder p Height at front of feeder 120 to 300mm Height at back of feeder 120 to 300mm Figure 4 14 Gravity Feeder Configuratio
34. fined by XY coordinates 0 0 All object positions are defined in XY coordinates relative to this point of origin For most objects these XY coordinates indicate the center of the object s base By default the robot is placed in the cell with the center of its base 1 e the robot s point of origin at the cell s point of origin Clicking on Set Position opens a dialog box that allows you to change an object s X and or Y coordinates Shows hides the label for the selected object This option can only be activated when View Object Names or View Object Positions is selected RoboCell User Manual a2 CellSetup New Objects Menu Peripheral Axes LO Devices Storage Devices Machines Welding Tools Welding Material General Materials User Objects Robots RoboCell User Manual New objects are added to the cell using the New Objects menu The objects are arranged in groups robots peripheral axes etc To add a new object to the cell click on the desired object group folder and then select the specific object The groups are detailed below The robot which is automatically placed at the cell s point of origin should be the first object you place in the cell The robot cannot be dragged to a new location Its position can be changed only by means of the robot s Properties menu see Object Properties Menu Only one robot can be placed in the cell To add a robot to the cell e Click Robo
35. g Features Welding Parameters Successful automated welding is often not the result of reliable technology but of proper planning Therefore it is extremely important to work only with the optimal parameter settings defined by the manufacturer The following welding parameters can be modified How to Change Parameter Inert Gas Shield From the Welding Settings dialog box select either None or CO Voltage Tap From the Welding Settings dialog box select one of the reference numbers Wire Feed Rate From the Welding Settings dialog box select one of the reference numbers Automatically changes when voltage tap is changed Rate of Travel To define the rate of travel the speed of the robot and the welding gun in the welding procedure use the Duration setting in the Go To position dialog box By changing the duration it takes to get from position weld start position to B weld end position the robot s speed is changed thus changing the speed at which it will weld Distance of Electrode When recording the start finish welding positions you I tobe define this distance by defining the positions Z value Welding only occurs when the electrode of the welding gun is located at a proper distance above weldable material This feature was built in to enable more accurate recording of the start welding position Once the software recognizes that welding is allowed the gun emits wire that creates a seam
36. group includes four Mills spectraLIGHT Mill 0200 sd proLIGHT Mill 1000 expertMill VMC 0600 Super proLIGHT Mill 3 170 Devices sina 1000 and two Turns spectraLIGHT Turn 0400 proLIGHT Turn lt EE ore 3000 A CNC controller controls these machines The robot controller 3 ee e and the machine controller communicate through inputs and outputs The pro i 8 proLIGHT Tum 3000 machine output is the controller input and vice versa AS epertMill VMC 0600 Super proLIGHT Mill 1000 i dd All these machines are configured in the same way 3 Welding Materials 2 General 2 Materials 3 User Objects Cancel When you select any of these machines a configuration dialog box opens SLM E Properties Inputs Outputs r Cycle Time seconds rr OK om __ He Figure 4 15 Machine Configuration RoboCell User Manual 33 CellSetup RoboCell User Manual Properties tab Controller Output for Doors Cycle time seconds Inputs tab Controller input machine output Outputs tab Controller output machine input Controller output machine input Controller output machine input Specifies whether or not the machine doors are controlled by the robot controller output If the doors operate independently of the robot controller they open and close at the beginning and end of the machine cycle Sets the amount of time in seconds of the machine process Default 1
37. ies window Analysis of Weld Segment 20 Status of the Weld Good eld Components Shielding Gas Voltage Tap Wire Diameter Inch Wire Speed Value Gun Speed mm sec Figure 7 18 Weld Properties Window The window displays the following information e Status of the weld 1 e good bad etc e Whether shielding gas was used or not e Selected voltage tap value e Wire diameter used e Wire speed reference value that was used e Speed of the welding gun 77 Welding Features RoboCell User Manual 78 Welding Features 8 Replicating Real and Simulated Cells RoboCell s representation of robot and devices are based on actual dimensions and functions of SCORBOT equipment Thus programming performed in RoboCell can be used with an actual robotic installation From Simulation to Real RoboCell User Manual Using CellSetup and Cell Simulation create a cell record all positions to be used by the SCORBASE program write the SCORBASE program and verify program execution Then to construct an actual robotic installation that duplicates the simulated cell l Using CellSetup as a guide place all objects and devices in their approximate locations To print a 3D Image select File Print 3D Image If necessary hide some labels and or change the angle and zoom of the camera and print several cell maps Consider your SCORBASE program and determine which of the recorded positions must
38. imple Expanded to open the Teach Position dialog box 2 Select the position you want to modify in the Position Number field 3 Click Get Position The position data appears in the X Y Z P and R fields 4 Modify the required coordinate Click Teach to overwrite the previous position Program Execution Executing programs in RoboCell is the same as executing programs when using an actual robotic system Since different cell configurations can be loaded and changed in RoboCell keep in mind that positions and programs are not loaded together with their workcell To use a workcell with its positions for a new project save the project with the workcell and positions under a different name using the Save as option in the File menu Then delete the program and write a new one the positions and the cell remain unchanged RoboCell User Manual 59 Cell Operation RoboCell User Manual 60 Cell Operation f Welding Features Introducing Welding Features RoboCell welding features contain 3D solid modeling robotic welding options for teaching modern techniques of arc welding The software features the following e Welding of multiple parts both online and in simulation e Accurate display and manipulation of welded parts both online and in simulation e Single command character generator that calculates and teaches all positions required for producing any text string e Predefined welding cells and fully func
39. in the object s properties menu This option cannot be selected together with Show Positions fee for New BYgmH ge aad Figure 4 4 Show Object Names Shows hides the Object Position labels see Figure 4 5 When you select this option a label on each object shows its position The coordinates that appear on the object s label indicate the object s position X Y coordinates relative to the cell s point of origin This option cannot be selected together with Show Names File Edt Ven Help BSS WAS 25 ta Figure 4 5 Show Object Positions 18 CellSetup Allows you to select a different focal point in the graphic display of the cell To change the center point of the graphic display window click on the icon or menu option Use the cursor to point and click on any spot in the scene This now becomes the new center point of the display All zooming of the view will focus on this point all rotations will revolve around this point Press Esc to cancel the Redirect Camera mode Drag 3D Frame Activates the drag mode in order to relocate the entire cell in a new position Click anywhere in the image and drag the entire cell to a new position The drag mode remains in effect until you select another option or press Esc Resets camera position to display an overhead view of the cell You can rotate or zoom in out of this view Use the vertical scroll bar or the mouse scroll wheel to alter
40. ired part object from the Materials User Objects group Point and click on the location where you want to place the part object You may need to wait a moment for the cursor to appear Do not double click Parts are basic shapes that can be used to simulate any type of material the user chooses Simply click on Part 1 2 or 3 to add a new part to the cell In RoboCell parts are changed to show what they look like at the end of the mill or lathe machining process You may design your own finished parts User parts are stored as files in RWX format The robot and machines can manipulate these objects User part files are saved as PART Q RWX where represents 1 2 or 3 and finished parts are named PART 1 RWX The files are located in the SBWSIMn RESOURCE folder The objects included in the User Objects group are for illustration purposes only User Object files are named USER RWX The files are located in the SBWSIMn RESOURCE folder Advanced users who know how to create 3D objects in RWX format can design and use such objects in the robotic cell No more than three user defined parts and eight user objects may be used at one time For further directions on designing user parts objects see Designing User Parts and Objects below 41 CellSetup Designing User Parts and Objects Modify an Existing User Part File You may change the existing user part to create your own user part To modify an existing user part do the following
41. l be asked to define the LSB Height as described in Robot Configuration Properties tab above For all devices you have the opportunity of allocating the controller axis at this stage see Robot Configuration Peripherals tab above 26 CellSetup I O Devices _ Storage Devices Machines Welding Tools 3 Welding Materials 2 General 3 Materials 3 User Objects Cancel RoboCell I O input output devices can be connected to any free input output terminal The robot controller has eight digital input and eight digital output connections To place an VO device in the cell click the VO Devices group and select the required device Experiment Table RoboCell User Manual An experiment table includes the following input and output devices e Four 4 touch sensors input device Activated when there is a part on the switch or something activates the switch e Lamp output device e Buzzer output device Figure 4 8 Experiment Table with Input Output Devices When you select Experiment Table this dialog box opens enabling you to define the input and output connections see the Controller Setup option under View Menu 27 CellSetup Hlnput Object Mame Input 1 Feeder FEEDER Part Feeder FEEDER Part Sensor SENSOR Sensor Hot connected Experiment Table Es TABLE Placel Experiment Table ExXTABLE1 Place Experiment Table Es TABLE Places Experiment Table ExTABLE1 Placed Figure 4 9
42. lowing license agreement carefully LICENSE AGREEMENT IMPORTANT THE SOFTWARE IS LICENSED ONLY ON THE CONDITION THAT THE LICENSEE REFERRED TO IN THIS AGREEMENT AS YOU AGREES WITH THE LICENSOR INTELITEK INC REFERRED TO IN THIS AGREEMENT AS INTELITEK TO THE TERMS AND CONDITIONS SET FORTH IN THE FOLLOWING LEGAL AGREEMENT THIS AGREEMENT IS AN ELECTRONIC AGREEMENT AND IS LEGALLY BINDING CONTRACT BY CLICKING ON THE ACCEPT BUTTON BELOW YOU CONSENT TO ENTER INTO THIS AGREEMENT AND ACCEPT AND AGREE TO BE BOUND BY ALL THE TERMS OF THIS AGREEMENT NOT ACCEPT AND AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT YOU MUST IMMEDIATELY CEASE INSTALLATION OF THE SOFTWARE AND YOU WILL NOT BE PERMITTED TO ACCESS THE SOFTWARE O IN SUCH EVENT YOU WILL BE PERMITTED TO ACCESS THE SOFTWARE IF YOU DO 1 Grant of License Subject to the terms and conditions set out in this License Agreement Intelitek grants Youa Figure 2 2 License Agreement Window 7 Review the Intelitek software license agreement You must accept the terms of this agreement in order to proceed with the installation To accept choose Yes The Software Selection Window opens Setup Type Select the setup type RoboCell for ER 2u RoboCell for ER 4u SCORBASE for ASRS 2 lt 36u SCORBASE for ASRS 36u SCORBASE for ER 2u SCORBASE for ER 4u SCORBASE for Mobile Robot Figure 2 3 Software Selection Window RoboCell User Manual 5 Starting RoboCell 8 Sel
43. ly place it in an accessible position on the welding table CellSetup draws the cable that connects the welding machine to the gun Figure 7 8 Gun Stand You cannot save a cell containing only a welding gun or only a welder Neither or both must be present in order to save the cell Welding Jig A T Joint Welding Jig A is a device used to securely hold two materials being welded together in a T joint This jig does not require the user to define any additional configurations or properties The user need only place it in a position on the welding table in which the robot can access the jig from both ends to place and remove parts Figure 7 9 Welding Jig A RoboCell User Manual 68 Welding Features Welding Jig B Welding Jig B can be used for various types of welds The grooved area in the center of the jig can be used to securely hold two metal sheets side by side to create a butt weld The jig can also be used to hold the larger nameplates used with the SCORBASE Write command For more information see the SCORBASE User Manual Welding Jig B does not require the user to define any additional configurations or properties The user need only place it in an accessible position on the welding table Figure 7 10 Welding Jig B RoboCell User Manual 69 Welding Features Welding Materials Plate 38 x 2 x 89 Plate refers to the welding metal plates which are used with Welding Jig A When you select Plate this dialog box
44. n Properties tab Number of Parts in Defines the number of parts that are loaded in Feeder the feeder at the start of operation when the cell is opened or reset Only one material object e g cylinder cube should be placed in a parts feeder The software multiplies the object by the number of parts specified Default 0 Height at Front of Defines the height of the lower part of the feeder Feeder Gravity above the table level Default 200 Feeder only Height at Back of Defines the height of the higher part of the Feeder Gravity feeder above the table level Default 280 Feeder only Inputs tab To define the robot controller input to which the feeder s NotEmpty sensor 1s connected click on the Inputs tab Outputs tab Pneumatic Feeder only To define the robot controller output to which the feeder is connected click on the Outputs tab A new part appears in the feeder when the output is turned on RoboCell User Manual 32 CellSetup Feeder Properties In addition to the standard object properties see Object Properties Menu this option is also listed in the Feeder Properties menu Enables you to alter the number of parts loaded in the feeder after the feeder has been configured Jig Rack Template Buffers ASRS and Bin No settings are required for these storage devices Double click on the desired device and place them in the cell at the desired location Machines New Objects l The Machines
45. oCell where the newly edited cell will be displayed For further information see Chapter 5 Working in RoboCell CellSetup Window Figure 4 2 shows an existing workcell in the CellSetup window The window comprises e A Menu Bar containing all command menus and options e A Toolbar containing icons for the most commonly used options e Working area containing the workcell objects e A Status Bar displaying RoboCell status messages RoboCell User Manual 12 CellSetup GJ Untitled Cellsetup Menu Bar Ele Edit View Help Toobr DEF Mg SSS atan New Objects a User Objects Work Area Status Bar Figure 4 2 CellSetup Window RoboCell User Manual 13 CellSetup File Menu c EE Cell data is stored in a 3DC file The File menu contains the usual Windows functions that allow you to load and save 3DC files and to exit the software Open Save As Print Print Preview In addition you can open the most recently opened workcell files from this menu 1 C ntelitek WELD_ACT3 Exit Note Only one workcell file can be opened at a time ew After you select the robot that you want to work with either ER 4u or ER 2u opens a new untitled CellSetup file and opens the New Object menu This icon and menu option are available only if CellSetup is opened from the Programs menu Open The Open dialog box appears You can open an existing CellSetup file e g r
46. obol 3DC The cell defined in the file is displayed and the New Objects menu opens This icon and menu option are available only if CellSetup is opened from the Programs menu Save Saves the current placement of all objects in the dd cell to a CellSetup file Default file extension 1s 3DC Save As Saves the currently active CellSetup file under a new file name Note Peripheral axes are redefined through the robot s properties menu in the new file created by the Save As operation Print Prints the currently displayed 3D image Print Preview Opens a dialog window that shows how the printed cell will appear on paper Exit Closes CellSetup RoboCell User Manual 14 CellSetup Edit Menu View Help v New Object Delete Object Drag Object Set Floor Size Set Textures Lo RoboCell User Manual The Edit menu contains functions that allow you to add new objects delete and relocate objects and drag them change their position in the cell Through this menu you can also set the floor size and cell textures New Object Delete Object Drag Object Floor Size Set Textures Opens closes the New Object menu From this menu you can select objects to add to the cell For detailed information see New Objects Menu Activates the delete mode in order to delete an object from the cell Using the cursor point and click on the object you want to delete Click Yes to confirm the deletion If yo
47. obot to the template handle 55 Cell Operation Gripper Grasping Objects The robot gripper in RoboCell will grasp an object only as a result of Close Gripper commands When the gripper closes on an object the object is pushed into the center of gripper In addition cubes and horizontal cylinders are rotated into alignment with the gripper jaws provided the rotation offset does not exceed 35 When the offset is about 45 the gripper simply grasps the object at its corners Since objects are rotated around their center a long object that will be grasped far from its center must be aligned with the gripper as much as possible before the gripper is closed Releasing Objects RoboCell operates in a gravitational field Objects that are released from the gripper will fall to the first surface below them If more than half of an object s base rests on a surface the object will remain on the surface Otherwise it will fall onto the surface below Objects can be picked up and released at any rotation Impact Detection RoboCell User Manual RoboCell checks for the following impact conditions 1 The tip of the gripper hits an object or the robot itself 2 The edge of the gripper motor mounted on top of the gripper hits an object or the robot itself 3 An object held by the gripper hits another object or the robot RoboCell s impact error message is the same one sent by SCORBASE when an actual robot cannot
48. opens that workcell for editing Otherwise CellSetup opens with a new untitled empty cell Opens the View File window which lists the following files e Graphic module files 3DC e SCORBASE programs sbp Note It is possible to copy and paste an sbp file into your own project e Position data pnt When you select a file a window opens displaying that file Closes RoboCell The Edit menu is identical to the SCORBASE menu which is used to edit SCORBASE programs See the SCORBASE User Manual or Help file for a description of this menu s options The Run menu is identical to the SCORBASE menu whose options allow you to run the SCORBASE programs and send the robot home If you select Options Simulation running a SCORBASE program will run the robot in the virtual cell 47 Working in RoboCell Options Menu View Menu 3D Image Menu Window Menu If you select Options On Line and a robot connected to the computer the virtual and real robot will work together The Options menu is similar to the SCORBASE menu The only difference is the Simulation option When checked the robot in the virtual cell will run according to the SCORBASE program instructions See the SCORBASE User Manual or Help file for a description of this menu s options Note Advanced Commands are detailed in the SCORBASE User Manual The ViewFlex Commands are detailed in the ViewFlex User Manual The View menu is identical to th
49. or If the sensor is configured to be sensitive to All Colors the sensor in the cell is colored different shades of gray with its upper part in white This distinguishes it from a sensor configured to be sensitive to gray which is entirely gray Material Detect By default the sensor is set to detect all materials To set it to a specific material uncheck All Materials Select a material Metal Glass Plastics or Wood from the drop down list Height mm Defines the height above table level at which the sensor will be placed in the cell The default height is 40 mm If you increase the height the stand on which the sensor is mounted will appear taller 29 CellSetup Storage The storage devices in RoboCell enable you to store Robots place and retrieve objects listed in the Materials 3 Peripheral Axes 3 170 Devices group d 3 Template 4 Buffer 1 Part 3 Buffer 2 Parts 5 ASAS 4 Parts 3 Machines J Welding Tools J Welding Materials A General Cancel Gravity Feeder The Gravity Feeder 1s an inclined plane on which objects are placed one above the other Figure 4 11 Gravity Feeder Unlike most objects the feeder s position is defined as the point at which the robot takes an object from the lower part of the feeder All the remaining objects slide down the feeder to be taken in turn When placing objects on the gravity feeder you must position them in the light gray s
50. ose or fitness is made or implied Intelitek 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 Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 Fast Industrial Park Drive Manchester NH 03109 5317 Tel 603 625 8600 Fax 603 625 2137 Web site www intelitek com Table of Contents Chapter 1 Introducing RoboCellisiinniaami nnmnnn 1 Ch pter2 Starting RoboCel uuminin en 3 System Reguire meN avveie a a 3 OPW ate GEL ON id 3 Kle NE SANT Vee 4 RODOC Ulver 7 SD Simulation SOmMware DEMOS eee 7 Von vvs 7 TE A ate ae ee nee Te ce Ue ae Se IT eee Ret 8 Chapter 3 Graphic Interface aannannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnennnnnennnnnennnnnennnnnene 9 A EE EE EE NE 9 Zoom 2 Aircast tansy asta abit een Se 10 Mil PP 10 Pi 10 Chapter 4 CelSetup ala ed 11 penas Ce SA EE NE EE NE EE 11 Cell Setiip Ndure 12 FMeN NNN 14 FN 15 VMS 16 Hep Meis ad eder 20 GE EET TE RETTE TE PR O E 20 VINN 20 VET CT AO iii os 21 Object Properties MN 21 NA Objects MT 23 KN 23 Robot Corsa area 24 Robot Properes eerun e a a a a 26 PAAL se 26 A EE NE REN EE E NE 21 Experiment DE vend 27 See EE EEE ES EE EE SE NN 29 LO GAS REE EN RD KN EE MR ce
51. r changes to a magnifying glass 2 Keep the right mouse button depressed and drag to the right to rotate the scene counterclockwise 3 Similarly keep the right mouse button depressed and drag to the left to rotate the scene clockwise 51 Figure 3 1 Rotating the Scene The image rotates around its center point To change the center point use the Redirect Camera tool see View Menu on page 16 9 Graphic Interface Zoom To zoom in or out 1 Place the cursor anywhere in the graphic window and click the right mouse button The cursor changes to a magnifying glass 2 Drag up to zoom in 3 Drag down to zoom out The image zooms in and out while its center point remains fixed To change the center point use the Redirect Camera tool see View Menu on page 16 Angle To change the angle of the overhead scene to move the camera up or down either place the cursor on the vertical scroll bar and drag it up or down or use the mouse scroll wheel Figure 3 2 Changing Camera Angle The camera moves up or down while the center point of the image remains fixed To change the center point use the Redirect Camera tool see View Menu on page 16 Brightness To change cell illumination bright or dark click the right mouse button and drag in any direction while holding down Ctrl The cursor changes to a light bulb RoboCell User Manual 10 Graphic Interface 4 CellSetup CellSetup allow
52. r of part in a feeder 3D Image Menu amp Toolbar All graphic display tools are accessible from the 3D Image Menu Frequently used tools can also be accessed from the toolbar RoboCell User Manual 49 Working in RoboCell E Reset 3D Model Returns the workcell image to the initial setting ia and position saved in CellSetup This tool is useful when you want to initialize the workcell before re running a program H Top View Resets camera position to the top center point of the cell sm Drag Image Activates the drag mode in order to drag the entire image to a new position Using the cursor point and click anywhere on the image and drag it to its new position The drag mode remains in effect until you select another option or press Esc Camera Sub options The 3D image window displays the output of a virtual camera that is fitted in the workcell Manipulating the camera determines how the image is displayed in the window Kol Redirect Camera Selects the point that will always be in the center of the screen while rotating zooming and changing the camera s angle The Redirect Camera mode remains in effect until you select another option or press Esc A Follow me Camera Enables you to follow the movement of any object robot gripper certain object etc when the workcell is running To select the point choose a point on a moving object part of the robot or an object Press Esc to exit Redirect Camera
53. re reece 30 Grade NERE NERE 30 Feeder Prelmatio Perder aan sg 31 FEE Conn suron sar e 32 Fecder Pope 33 RoboCell User Manual i Introducing RoboCell Jig Rack Template Buffers ASRS and Bin rrrrrrrnnnnrnnnnnnrrrrrrnnnrrnnnnnnrrsrrnnnvvnnnnnsennr 33 A artes a EE EE EE EE 33 Welding TOO ai cn 35 A ei Serre eat 36 PEST NN 36 MU 37 Ge RE ES mr meee yr 38 Tver NNN 38 TVEN 39 de EU O ias 39 Cube Cynder lla S eSS 40 User Parts MON 41 EE EE EE enone eee Seedy tae 41 OD EEE EE NE SN EE NE KN MER 41 Desicnime User Parts and NE vr 42 Modi yan Existe User Part Plena ii SLR 42 Create a New Pat Object FU ve 43 Mote DER vvs 43 Chapter 5 Working in RoboCelll iria 45 ROD AN 45 A a O 46 EN 47 BU RO 47 Options MEN aars 48 VON 48 PD IMS MED ude 48 NAAA an 48 Graphic Display Module aa 48 PIE MELK TOO svar 49 Chapter 6 Cell Oper pinssuassssrsaede edda 53 Robot Manual Manipulation sra 53 re AG EO EEE EEE ENE EN 54 SAR DE NTE r 54 PE SN 56 Gras pine DE dl R 56 Roe OD o o dro o 56 Impact Detection A a 56 PE PN iio eae cette eae a ena ee lio ce hanno eae 57 Recordine Postion T Lars d 57 Recordins Rostion 2 dd a a a 57 Teac hine Postio ANE 58 Fre Ts PAID RR 59 0 RET de LRO EEE II EEE EE RON On Te De a 59 Chapter 7 Welding Features annnennnnnnnnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnennnnnennnnnennnnnennnnnennnnne 61 RoboCell User Manual ii Introducing RoboCell Introduces WeldmoReatures Vvs de 61 BNI
54. respond to SCORBASE commands in the Graphic Display 83 Troubleshooting
55. rface and menus are similar to those of SCORBASE The main differences are detailed in this chapter They include e The graphic module which enables position definition and SCORBASE program execution in a virtual or real workcell e Additional options which facilitate the integration of SCORBASE in RoboCell appear in RoboCell menus All SCORBASE operations menu items and programming language are described in the SCORBASE User Manual RoboCell Menus When you open Robocell and select New Project this window appears Program Untitled BENQ Pr kt EWE E Figure 5 1 New Project Window RoboCell User Manual 45 Working in RoboCell File Menu Edit Run Options View 3Dimsge The following options are available from the File menu New Project Ctrl N f Open Project Ctrl O Save Project Ctrl S Save Project As T Ay Close Project New Script Open Script Print Program Print Positions Print 3D Image Print Preview 3D Image F E rint Charts rint Preview Charts Import 3D Model Edit 3D Model View File Exit D New Project Opens a new untitled project see Figure 5 1 The new untitled project does not include a robotic workcell 3D window To add a workcell do one of the following e Select File Import 3D model to open an existing workcell file e Select File Edit 3D model to open CellSetup and create a new workcell Open Project Opens the Load Project win
56. s you to create a new virtual workcell or modify an existing one A workcell created using CellSetup can be theoretical or a replica of actual robotic installations After creating a workcell you can open it in RoboCell where you can define positions write programs and run them If a controller and a robot are connected to your computer you can switch RoboCell to On Line and run the virtual robot in the virtual cell together with the real robot in the real cell Opening CellSetup To open CellSetup 4 Select Start Programs RoboCell CellSetup After initialization the following screen appears Untitled CellSetup File Edit View Help DA s Amla CV PIE a P a m KA bed EINER z Figure 4 1 CellSetup Opening Screen RoboCell User Manual Il CellSetup 5 Select File New to create a new workcell At this stage you can choose to work with either the default robot that you selected during installation or another robot 6 If you want to open an existing workcell select File Open from the Opening Screen For further details see File Menu below 7 If you are working in RoboCell and you want to modify the current workcell you are using select File Edit 3D Model CellSetup opens with your current workcell At this point you cannot open another cell therefore the New and Open options are not available When you exit CellSetup after having completed your modifications you will return to Rob
57. te from which you can select the required color Make sure the color you select is compatible with the sensor s detection definition size The default dimensions of the plates are 38 x 2 x 89 mm These are for display purposes only and cannot be changed RoboCell User Manual 36 CellSetup Metal Cube When you select Metal Cube this dialog box opens WELDPARTI1 Properties Object Material Metal Size tom 0 vm fo Z mm fa OK Cancel Help Figure 4 17 Metal Cube Configuration Colors Define the color of the cube in the same way as described for the Plate size The default dimensions of the cube are 300 x 4 x 100 mm which you can modify if desired RoboCell User Manual Dr CellSetup General The General group includes a table and a computer which is for display purposes only J Peripheral Axes IO Devices Storage Devices Machines Welding Tools Welding Materiale Materials User Objects Cancel Table It is a good idea to place the table in the cell just before or after the robot has been placed It is also recommended that you place one or more tables in the cell so that objects do not float in space or lie on the floor Most objects will be displayed at the correct height even 1f they are not sitting on tables When you select Table this dialog box opens TABLE2 Properties X mm 800 Y mm 1500 Figure 4 18 Table Configuration RoboCell User Man
58. the angle of the view Shows the origin of the cell at floor level under the center of the robot s base as a red cross marked with X and Y axes The positions of all objects are defined as relative to this point of origin When manipulating the graphic display the cross may disappear momentarily Rotating the view does not change the X and Y dimensions of the cell Shows hides the Toolbar Shows hides the Status bar RoboCell User Manual 19 CellSetup Help Menu Help sd Opens RoboCell on line help Help Fl About Registration Shows the RoboCell software version Opens the Software License Window for registration and for transferring RoboCell license to another computer See the Intelitek Software licensing Guide for further information Objects Object Placement To place a new object in the cell do the following 8 Double click on the object s name in the New Objects menu 9 Move the cursor into the graphic scene 10 Point and click on the location where you want to place the object You may need to wait a moment for it to appear do not double click If you have trouble placing an object in the exact spot you want zoom in and out and adjust the view from top to bottom until you can more accurately place the object Most objects are placed in the cell automatically at table level These objects will appear to float in space unless a table has also been placed in the cell The height
59. tional demonstration programs for simulated execution A typical welding cell is shown in Figure 7 1 Figure 7 1 Welding Cell RoboCell User Manual 61 Welding Features RoboCell User Manual Welding features enable several types of welding processes T joint welds butt welds and the welding of letters and numerals e T joint weld A T joint weld is shown in Figure 7 2 Figure 7 2 T joint weld e Butt weld Weld in which the pieces are welded side by side Figure 7 3 Butt Weld e Letters and numerals A gun is used to weld letters or numerals on a large metal plate placed on the butt jig Figure 7 4 Letters and Numerals 62 Welding Features RoboCell User Manual The workcell allows fully automatic T joint welding operations retrieval of metal plates from gravity feeder loading of parts into T joint jig retrieval of MIG gun arc welding returning of gun unloading of weld from jig for cooling Welding of a butt joint or of numerals letters is performed similarly However for these processes the metal sheets must be placed in the jig during the cell setup stage The robot s work envelope does not allow it to place and remove parts from this jig 63 Welding Features CellSetup Welding Tools The welding tools available in CellSetup are described below See also Chapter 4 CellSetup Welding Tools Welding Table Configuration The welding table should be placed in the cell just before or
60. ts Select either ER 4u or ER 2u 23 CellSetup Robot Configuration A dialog box titled ROBOTI opens allowing you to define whether or E not the robot is mounted on a linear slidebase LSB a peripheral device EEE that enables linear movements of the robot unit By default the robot has No Slidebase and when you confirm this option the robot is immediately placed in the cell Alternatively these slidebase options are available e Slidebase 1 0m Belt drive e Slidebase 1 8m Belt drive If you select a slidebase the Robot Configuration dialog box looks like this ROBOTI Froperties Peripherals Y LSB Stand LSB Height above Table Top mm 35 Robot Angle deg 0 4 Figure 4 6 Robot Configuration RoboCell User Manual 24 CellSetup RoboCell User Manual Properties tab LSB Height By default the LSB Height is 100 mm which is the actual height of standard SCORBOT slidebases Robot Angle By default the robot is mounted perpendicular to the slidebase at 90 If you select a slidebase the robot and the slidebase are treated as one object in the cell Peripherals tab To select a controller peripheral axis that controls the slidebase and any other peripheral device that has already been defined click on the Peripherals tab ROBOTI Properties Peripherals Object AF ile Not connected Slidebase 1 0m Belt dive ROBOT LSB LSB100B Figure 4 7 Axis Selection for
61. u click No the delete mode remains in effect allowing you to select and delete another object Press Esc to cancel the delete mode Activates the drag mode in order to relocate an object in the cell Using the cursor point and click on the object you want to relocate and drag it to its new position The drag mode remains in effect until you select another option or press Esc Opens the Set Floor Size dialog box where you can set the X and Y dimensions of the cell Click OK to confirm the new size or Cancel to close the dialog box Opens a sub menu listing cell textures backdrop ground building and floor Select Picture and click Edit to browse for a desired bmp file or select Color and click Edit to define a color for the specified texture 15 CellSetup View Menu _ The View menu enables control of the position and name labels en and the virtual camera position Through this menu you can toggle the display of the Toolbar and Status Bar Show Names Show Positions Redirect Camera Drag 3D Frame Top View Y Toolbar v Status Bar The robot controller has eight digital input and eight digital output connections Certain objects that are placed in the cell have a predefined number of input and or output positions at which they can be connected to the controller For further information see the section describing each specific object in New Objects Menu below In addition peripheral devices can be
62. ual 38 CellSetup Colors To change the color click Colors This opens a color palette from which you can select the required color size Defines the width and length of the table X and Y dimensions are always in accordance with the X and Y dimensions of the cell Use the View Scene Origin option to display the X and Y dimensions of the cell Table Properties Materials New Objects 3 3 Robots 3 Peripheral Axes _j 1 0 Devices _ Storage Devices 2 Machines 3 Welding Tools I Welding Materials _j General Material 3 Cube 3 Cylinder i Ball AS Parti A Part2 A Parts AS Part4 3 User Objects Canes RoboCell User Manual The Table Properties menu does not have a Rotate option see Object Properties Menu Instead it has a Resize option for scaling the table s dimensions Scale X Scale Y Enter a ratio value e g 2 or 0 5 in the X and Y fields Both fields must contain a value If you want to change only one dimension be sure to enter I in the other field do not enter 0 Resizing 1s progressive The scale reverts to I each time the table is resized The Materials group includes objects that can be manipulated by the robot e Cube e Cylinder e Ball e User defined parts see User Parts and Objects below You can place as many objects as needed 39 CellSetup Cube Cylinder Ball When you select Cube Cylinder Ball the Object Configuration dialog box opens CUBEL
63. ucing RoboCell 1 Introducing RoboCell RoboCell is a software package that integrates four components e SCORBASE a full featured robotics control software package which provides a user friendly tool for robot programming and operation e A Graphic Display module that provides 3D simulation of the robot and other devices in a virtual workcell e CellSetup which allows a user to create a new virtual robotic workcell or modify an existing workcell e 3D Simulation Software Demo to demonstrate RoboCell s capabilities This manual covers all features and operation of the Graphic Display and CellSetup modules It provides support for all current versions of RoboCell SCORBASE menus and commands are described in the SCORBASE User Manual RoboCell User Manual I Introducing RoboCell RoboCell User Manual 2 Introducing RoboCell 2 Starting RoboCell System Requirements For best performance the following system is recommended Pentium 4 Dual Core with 3 GHz processor or higher equipped with CD drive At least 512 MB RAM 1 GB for Vista A hard drive with at least 60 MB of free disk space Windows XP Vista 7 A VGA or better graphics display minimum 256 colors A mouse or other pointing device USB port Minimum requirements are Pentium 4 Dual Core with 2 GHz processor 512 MB Note Your operating system might have additional hardware requirements Software Licensing The RoboCell soft
64. ware is protected by a licensing agreement Full details on Intelitek software licensing are provided in the Intelitek Software licensing Guide RoboCell User Manual 3 Starting RoboCell Installing the Software The RoboCell software is supplied on a CD which also contains SCORBASE Close any applications that are open before proceeding with the installation procedures If you are about to reinstall the software or install a newer version to an existing RoboCell directory it is recommended that you back up any existing user created files before you begin the installation It is also recommended that you remove the previous RoboCell version for Windows installation using the software s Uninstall utility see Uninstall later in this section To install SCORBASE 1 Insert the CD into the CD ROM drive to start the installation procedure 2 Ifthe procedure does not start either 3 From the Windows task bar click Start Run and type D Setup where D is your CD drive or 4 Using Windows Explorer explore the CD drive and click E Setup 5 Wait until the Welcome window is displayed Welcome to the InstallShield Wizard for Software for Controller USB The InstallShield Wizard will install Software for Controller USB on your computer To continue click Next Figure 2 1 Welcome Window RoboCell User Manual 4 Starting RoboCell 6 Click Next to open the License Agreement window License Agreement Please read the fol

100346-G RoboCell-USB-v56

Contents

Download Pdf Manuals

Related Search

Related Contents