Relative Positions

Report
RoboCell and Cell Setup
Setup and Operation
Program Environments
Cell Setup
RoboCell
Navigation – Virtual Cell
Environment
• Zoom and Rotate
– Hold the right mouse button
• Slide side to side to rotate environment
• Slide up and down to zoom in and out
• Tilt
– Slide the vertical scroll bar on the right hand side up
and down to tilt the environment
• Pan
• Redirect Camera
• Top View
Programs
Cell Setup
Virtual Cell Setup
• Standard Toolbar
• Brining in New Objects
• Setting Up Connections
• Editing Existing Objects
• Showing Work Envelope
• Work Cell Example
Programs
RoboCell
Programming
• Program Windows
• Standard Toolbar
• Manual Movement
• Import and Control 3D
Model
• Teach Positions
• Defining Robot Positions
• Relative Example
• Program Window
• Using Work Space
• Dialog Bars
• Calculating Roll
• Programming Example
Programs
RoboCell - Welding
•Weld Materials and Setup
• Weld Types
• Weld Settings
• Controller Setup
• Welding Features
• Welding Analysis
Cell Setup Standard Tool Bar
Show Positions
Show Names
Delete Objects
Drag Objects
New Object
Controller Setup
Save File
Open File
Redirect Camera
New File
Drag Frame
Top View
Bringing in New Objects
New Objects Menu
ER 2u
ER 4u
ER 9u
New Object Menu
New Objects Menu
Jig A – T-Joint
Jig B – Butt-Joint
New Object Menu
Controller Setup
Inputs 1-8
Outputs 1-8
Peripherals 1-2
Controller Setup
• Setup as New
Object are places
• Setup by selecting
the controller icon
• Drag and drop
connections from
Not Connected to
desired controller
number
Editing Existing Objects
• Show Objects Names
• Show Objects Coordinates
• Delete Object
• Move Object
• Double click on any object to see attributes that can be
changed
–
–
–
–
–
Name
Rotate
Size
Position
Machine Settings
Showing Work Envelope
• Double click on the robot to choose show
envelop option
Work Cell Example
1. Start new CellSetup
2. Create an new empty cell
3. Select Robot ER 4u
Setup Environment
1. Bring in a new
robot with no
slidebase
2. Create a new
table 1000mm x
1000mm &place it
under the robot
Navigate and Orientate
• Use the vertical scroll bar, right mouse,
redirect camera, and pan to adjust the
camera angle and position
Move Objects in the Cell
• Move the table around the cell until robot
is properly positioned on the table
Bring in Material
1. Bring in three
Cubes
40mm x 40mm x 40mm
2. Place the cube in
front of the robot
3. Double click on the
robot and turn on
the work envelope
Adjust Material Placement
Precision Input
1. Turn on show
positions
-
Ensure cubes are
inside work envelope
2. Double click on the
center cube
3. Change position
•
•
X 300mm (In and Out)
Y 0mm (Side to Side)
Adjust Material Placement
Precision Input
• Change the position of
the outside blocks
•
•
Positive/Right
Negative/Left
X 300mm
Y 150mm
X 300mm
Y -150mm
Input / Output Device
Experimental Table
• Insert experimental table
• X 0.0mm Y 350mm
• Rotation 0.0 degrees
Finish Cell
• Save the Cell
Input 3
Input 4
Output 1
Lamp
Input 2
Input 1
Output 2
Buzzer
Standard Toolbar
Control Off
Control On
Search Home All Axes
Stop Cycle
Pause Cycle
Charts Window
Run Continuously
Run Single Cycle
Run Single Line
Save File
Level 1
Open File
Level 2
New File
Level Pro
RoboCell Programming Windows
3D Image
Positions
Dialog Bars
Workspace
Standard
Toolbar
Program
Expanded
Teach
Positions
Robot
Movement
Manual
Movements
Manual Movement
Movement
Type
Movement
Speed
Joints Input
Close
Gripper
Open
Gripper
4
3
2
XYZ Movement
5
6
1
Import 3D Image
3D Image
Send Robot Above Point
Send Robot to Point
Send Robot to Object
Clear Robot Path
Show Robot Path
Top View
Drag Image
Save Camera
Follow Me
Position
Redirect Camera
Show Object Names
Reset Cell
Show Object Positions
Send Robot Settings
• 3D Image
– Send Robot
• Send Robot Settings
Teach Positions
Simple
Position Number
Included Axes
Go to
Recorded
Position
Record
Current
Position
Expand
Teach
Positions
Delete
Recorded
Position
Coordinate
Type
Speed /
Duration
for Manual
Movement
Teach Positions
Expanded
Teach
Position with
Relative
Coordinates
Get
Position
Go
Circular
to
Recorde
d
Position
Circular
Position
Go to
Recorded
Position
Position
Number
Shrink
Teach
Positions
Relative to
Coordinate
Go
Linear to
Recorded
Position
Program Window
On Input Interrupt
If Input
Set Variable
If Condition Jump to
Turn On Output
Turn Off Output
Go Circular to Position
Go Linear to Position
Go to Position
Close Gripper
Open Gripper
Program Window
Go to Position
Go to Position
Go Linear to Position
Go Circular to Position
Program Window
If Condition
Program Window
Set Variable
Options
Using Work Space
Work Space – Axis Control
Work Space – Program Flow
Work Space - Inputs and Outputs
Dialog Bars
Defining Robot Positions
Recording Position Method #1
1. Manually Move Robot
2. Create a New Position #
3. Click Record
Defining Robot Positions
Recording Position Method #2
1.
Use Send Robot to
1.
2.
3.
2.
3.
4.
Object
Position
Above Position
Manually Move for Fine-Tuning
if Necessary
Create a New Position #
Click Record
Defining Robot Positions
Fine-Tuning a Position
Modifying Current Positions
Manually Fine-Tune Robot
and Re-Record Position
Get Position for Current Gripper
Coordinates or Position
Alter Dimensions and Re-Teach
Defining Robot Positions
Teaching Position
1.
2.
3.
4.
5.
Turn on X and Y Coordinates
Expand the Teach Positions Dialog
Type in Desired Coordinates
Create a New Position #
Click Teach
Defining Robot Positions
Relative Positions
1.
2.
3.
4.
5.
Expand the Teach Positions Dialog
Create a New Position #
Select Relative to
1.
Current Position
2.
Another Position #
Type in Desired Relative Coordinates for
New Positions (Note: Coordinates that
do not change Leave 0
Click Teach
Defining Robot Positions
Relative Positions Example #1
Move Center Cube Back to
100.0, 0,0 with a hover of +60mm
Open Gripper
Send to Object
Record Position as Absolute 1
Defining Robot Positions
Relative Positions Example #2
3
4
2
1
X
Y
Original Block (Red) 300mm, 0mm
Create New Position 2
Select Relative to Position 1
Change Z (mm) to +60
Select Teach
60mm
+
+
-
-
Defining Robot Positions
Relative Positions Example #3
100mm
3
4
2
1
+
Original Position (Red) +300.0mm, 0mm
+
Create New Position 3
Select Relative to Position 2
Select Clear
Change X (mm) to -100 ( +300.0mm Original - +200mm New = 100)
Select Teach
-
Defining Robot Positions
Relative Positions Example
3
4
2
1
60mm
Create New Position 4
Select Relative to Position 1
Keep X (mm) -100
Select Teach
+
+
-
-
Defining Robot Positions
Calculating Roll
Pitch 4 & R
Roll 5 & P
Calculating Roll
100 mm
θ2
θ1
-120 mm
280 mm
120 mm
Solving for θ1
toa
280 mm
θ1
=
tanθ1 = Opposite/Adjacent
Opposite = -120
Adjacent = 280
tanθ1 = -120/ 280
tanθ1 = -0.429
θ1 = tan-1(-0.429)
θ1 = -23.2º
Roll1 = -23.2º
(- Left Side / + Right Side)
-120 mm
Pitch = -90º
Solving for θ2
toa
100 mm
=
tanθ2 = Opposite/Adjacent
θ2
Opposite = _____
Adjacent = _____
θ1
tanθ2 = _____ / _____
tanθ2 = _____
θ2 = tan-1(_____)
θ2 = _____º
Pitch = -90º
-120 mm
Solving for θ2
toa
100 mm
θ2
θ1
=
tanθ2 = Opposite/Adjacent
Opposite = -120
Adjacent = 100
tanθ2 = -120 / 100
Tanθ2 =-1.2
θ2 = tan-1(-1.2)
θ2 = 50.19º
Roll2 = -50.19º
(- Left Side / + Right Side)
-120 mm
Pitch = -90º
Programming
Example
1. Start new RoboCell
2. Create an new file
3. Import 3D Model
Setup Work Area
Turn on
Digital
Inputs &
Outputs
Set Level
to Pro
Save User
Screen
Find and Record/Teach Positions
Manual
Movements
Home
1
Place
10
20
30
40
Hoover
11
21
31
41
1
11
10
41
21
31
40
20
30
Absolute and/or
Relative
Positions
Develop Program
• Experimental Table • Movements
–
–
–
–
Output 1 – Lamp
Output 2 – Buzzer
Input 1 – Station 30
Input 2 – Station 40
• Feedback
-Turn on Lamp While Robot
is in Motion
-Turn on Buzzer If Station 30
and 40 are full
– If Station 1 is Empty Place
Block 1 on Station 30
– If Station 30 is Full Check
Station 40
– If Station 40 is Empty Place
Block 2 on Station 40
– If Station 30 and 40 are
Full Wait at Home
– When Station 30 and 40
are Empty Loop to
Beginning
Create Programming
Quick
Programming
Workspace
Program
•
BEGIN:
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*Remark: Turn off Lamp
Turn Off Output 1
Open Gripper
*Remark: Move to Safe Position
Go to Position 1 Speed 5
If Input 1 Off Jump to PLACE_30
If Input 1 On Jump to PLACE_40
If Input 40 On Jump to UNLOAD
•
PLACE_30:
•
*Remark: Get block from station 2 place on station 30
Turn On Output 1
Go to Position 11 Fast
Go Linear to Position 10 Speed 5
Close Gripper
Go Linear to Position 11 Speed 5
Go to Position 30 Speed 8
Go Linear to Position 31 Speed 5
Open Gripper
Go Linear to Position 30 Speed 5
Jump to BEGIN
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PLACE_40:
*Remark: Get block from station 2 - place on
station 40
Turn On Output 1
Go to Position 21 Fast
Go Linear to Position 20 Speed 5
Close Gripper
Go Linear to Position 21 Speed 5
Go to Position 40 Speed 8
Go Linear to Position 41 Speed 5
Open Gripper
Go Linear to Position 40 Speed 5
Jump to BEGIN
•
UNLOAD:
•
•
•
*Remark: Station 30 and 40 full - wait for
unload
*Remark: Turn on Buzzer
Turn On Output 2
•
LOOP_WAIT:
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If Input 2 On Jump to LOOP_WAIT
*Remark: Turn off Buzzer
Turn Off Output 2
Jump to BEGIN
Welding Objects
Jig A – T-Joint
Jig B – Butt-Joint
Welding Setup
• Record position #1 and #2
• Some Weld Joints May Require a Tack
Weld
• For both positions, set the Z coordinate to
60 mm and the pitch to -90°.
#1
Tack Welds
#2
Weld – Butt Joint
Tack Weld
-Linear WeldOpposite End
Back to Tack
Weld Turns Grey
as it Cools
Linear Weld Stack
onto Tack
Weld – T-Joint
Place Part 1
Place Part 2
Weld – T-Joint
Build-Up at the
End of Weld
Weld - Text
Welding Settings
Welding Settings Dialog Box
Enables definition of the following
weld parameters:
• Voltage Tap
• Wire Diameter
• Wire Speed
• Shielding Gas
Welding Controller Setup
Set Welding
Machine to an
Empty Output
Built-In Welding Features
Wire Speed
Voltage
Wire Spool
On / Off
Welding Booth Doors
Welding Booth
Doors
Controllable Features
Machine Settings
Machining Variables
• Inert Gas Shield
• Rate of Travel
• Distance for
Electrode from
Material to be Welded
• Angle of Electrode
– None or CO2
• Voltage Tap
– Fan Only, 1-4
• Wire Feed Rate
• Rate of Travel
Weld Analysis

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