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RoboCell and Cell Setup Setup and Operation. Program Environments Cell Setup RoboCell.

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Presentation on theme: "RoboCell and Cell Setup Setup and Operation. Program Environments Cell Setup RoboCell."— Presentation transcript:

1 RoboCell and Cell Setup Setup and Operation

2 Program Environments Cell Setup RoboCell

3 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

4 Programs Standard Toolbar Brining in New Objects Setting Up Connections Editing Existing Objects Showing Work Envelope Work Cell Example Cell Setup Virtual Cell Setup

5 Programs Program Windows Standard Toolbar Manual Movement Import and Control 3D ModelImport and Control 3D Model Teach Positions RoboCell Programming Defining Robot Positions Relative Example Program Window Using Work Space Dialog Bars Calculating Roll Programming Example

6 Programs RoboCell - Welding Weld Materials and Setup Weld Types Weld Settings Controller Setup Welding Features Welding Analysis Welding Analysis

7 Cell Setup Standard Tool Bar New File Open File Save File New Object Show Names Redirect Camera Drag Frame Top View Controller Setup Show PositionsDelete Objects Drag Objects

8 Bringing in New Objects

9 New Objects Menu ER 2uER 4u ER 9u

10 New Object Menu

11 New Objects Menu Jig A – T-Joint Jig B – Butt-Joint

12 New Object Menu

13 Controller Setup Inputs 1-8 Outputs 1-8 Peripherals 1-2

14 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

15 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

16 Showing Work Envelope Double click on the robot to choose show envelop option

17 Work Cell Example 1.Start new CellSetup 2.Create an new empty cell 3.Select Robot ER 4u

18 Setup Environment 1.Bring in a new robot with no slidebase 2.Create a new table 1000mm x 1000mm &place it under the robot

19 Navigate and Orientate Use the vertical scroll bar, right mouse, redirect camera, and pan to adjust the camera angle and position

20 Move Objects in the Cell Move the table around the cell until robot is properly positioned on the table

21 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

22 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)

23 Adjust Material Placement Precision Input Change the position of the outside blocks Positive/Right Negative/Left X 300mm X 300mm Y 150mm Y -150mm

24 Input / Output Device Experimental Table Insert experimental table X 0.0mm Y 350mm Rotation 0.0 degrees

25 Input 1 Input 2 Input 3 Input 4 Output 1 Lamp Output 2 Buzzer Finish Cell Save the Cell

26 Standard Toolbar Charts Window New File Open File Save File Run Single Cycle Search Home All Axes Level 1 Level 2 Level Pro Run Single Line Control OnPause Cycle Run Continuously Stop Cycle Control Off

27 RoboCell Programming Windows 3D Image Workspace Dialog Bars Manual Movements Expanded Teach Positions Robot Movement Positions Program Standard Toolbar

28 Manual Movement Joints Input XYZ Movement Open Gripper Close Gripper Movement Type Movement Speed

29 Import 3D Image

30 3D Image Redirect Camera Follow Me Top View Send Robot to Object Save Camera Position Show Object Names Show Object Positions Drag Image Send Robot to PointClear Robot Path Show Robot Path Reset Cell Send Robot Above Point

31 Send Robot Settings 3D Image –Send Robot Send Robot Settings

32 Teach Positions Simple Delete Recorded Position Position Number Coordinate Type Included Axes Record Current Position Expand Teach Positions Go to Recorded Position Speed / Duration for Manual Movement

33 Teach Positions Expanded Position Number Relative to Coordinate Go Linear to Recorded Position Go to Recorded Position Go Circular to Recorde d Position Circular Position Get Position Teach Position with Relative Coordinates Shrink Teach Positions

34 Program Window Close Gripper Go to Position Go Circular to Position If Condition Jump to Go Linear to Position Set Variable Turn On Output Turn Off Output Open Gripper If Input On Input Interrupt

35 Program Window Go to Position Go to Position Go Linear to Position Go Circular to Position

36 Program Window If Condition

37 Program Window Set Variable Options

38 Using Work Space

39 Work Space – Axis Control

40 Work Space – Program Flow

41 Work Space - Inputs and Outputs

42 Dialog Bars

43 Defining Robot Positions Recording Position Method #1 1.Manually Move Robot 2.Create a New Position # 3.Click Record

44 Defining Robot Positions Recording Position Method #2 1.Use Send Robot to 1.Object 2.Position 3.Above Position 2.Manually Move for Fine-Tuning if Necessary 3.Create a New Position # 4.Click Record

45 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

46 Defining Robot Positions Teaching Position 1.Turn on X and Y Coordinates 2.Expand the Teach Positions Dialog 3.Type in Desired Coordinates 4.Create a New Position # 5.Click Teach

47 Defining Robot Positions Relative Positions 1.Expand the Teach Positions Dialog 2.Create a New Position # 3.Select Relative to 1.Current Position 2.Another Position # 4.Type in Desired Relative Coordinates for New Positions (Note: Coordinates that do not change Leave 0 5.Click Teach

48 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

49 Defining Robot Positions Relative Positions Example #2 X Y Original Block (Red) 300mm, 0mm Create New Position 2 Select Relative to Position 1 Change Z (mm) to +60 Select Teach 60mm

50 Defining Robot Positions Relative Positions Example #3 Original Position (Red) mm, 0mm Create New Position 3 Select Relative to Position 2 Select Clear Change X (mm) to -100 ( mm Original mm New = 100) Select Teach mm

51 Defining Robot Positions Relative Positions Example Create New Position 4 Select Relative to Position 1 Keep X (mm) -100 Select Teach 60mm

52 Defining Robot Positions Calculating Roll Pitch 4 & R Roll 5 & P

53 Calculating Roll 280 mm 120 mm 100 mm θ1θ1 θ2θ mm

54 Solving for θ 1 θ1θ1 toa = tanθ 1 = Opposite/Adjacent Opposite = -120 Adjacent = 280 tanθ 1 = -120/ 280 tanθ 1 = θ 1 = tan -1 (-0.429) θ 1 = -23.2º Roll 1 = -23.2º Pitch = -90º -120 mm 280 mm (- Left Side / + Right Side)

55 Solving for θ mm θ1θ1 θ2θ mm toa = tanθ 2 = Opposite/Adjacent Opposite = _____ Adjacent = _____ tanθ 2 = _____ / _____ tanθ 2 = _____ θ 2 = tan -1 (_____) θ 2 = _____º Pitch = -90º

56 Solving for θ mm -120 mm toa = tanθ 2 = Opposite/Adjacent Opposite = -120 Adjacent = 100 tanθ 2 = -120 / 100 Tanθ 2 =-1.2 θ 2 = tan -1 (-1.2) θ 2 = 50.19º Roll 2 = º Pitch = -90º (- Left Side / + Right Side) θ1θ1 θ2θ2

57 Programming Example 1.Start new RoboCell 2.Create an new file 3.Import 3D Model

58 Setup Work Area Turn on Digital Inputs & Outputs Set Level to Pro Save User Screen

59 Find and Record/Teach Positions Home 1 Place Hoover Absolute and/or Relative Positions Manual Movements

60 Develop Program Experimental Table –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 Movements –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

61 Create Programming Quick Programming Workspace

62 Program BEGIN: *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 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: If Input 2 On Jump to LOOP_WAIT *Remark: Turn off Buzzer Turn Off Output 2 Jump to BEGIN

63 Welding Objects Jig A – T-Joint Jig B – Butt-Joint

64 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#2 Tack Welds

65 Weld – Butt Joint Tack Weld -Linear Weld- Opposite End Back to Tack Weld Turns Grey as it Cools Linear Weld Stack onto Tack

66 Weld – T-Joint Place Part 1Place Part 2

67 Weld – T-Joint Build-Up at the End of Weld

68 Weld - Text

69 Welding Settings Welding Settings Dialog Box Enables definition of the following weld parameters: Voltage Tap Wire Diameter Wire Speed Shielding Gas

70 Welding Controller Setup Set Welding Machine to an Empty Output

71 Built-In Welding Features Wire Spool Wire Speed Voltage On / Off

72 Welding Booth Doors

73 Controllable Features Inert Gas Shield –None or CO 2 Voltage Tap –Fan Only, 1-4 Wire Feed Rate Rate of Travel Distance for Electrode from Material to be Welded Angle of Electrode Machine SettingsMachining Variables

74 Weld Analysis


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