Robo Cell and Cell Setup and Operation Program
Robo. Cell and Cell Setup and Operation
Program Environments Cell Setup Robo. Cell
Navigation – Virtual Cell Environment • Zoom and Rotate – Hold the right mouse button • Slide 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 Robo. Cell Programming • Program Windows • Standard Toolbar • Manual Movement • Import and Control 3 D Model • Teach Positions • Defining Robot Positions • Relative Example • Program Window • Using Work Space • Dialog Bars • Calculating Roll • Programming Example
Programs Robo. Cell - 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 2 u ER 4 u ER 9 u
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 Cell. Setup 2. Create an new empty cell 3. Select Robot ER 4 u
Setup Environment 1. Bring in a new robot with no slidebase 2. Create a new table 1000 mm x 1000 mm &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 40 mm x 40 mm 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 300 mm (In and Out) Y 0 mm (Side to Side)
Adjust Material Placement Precision Input • Change the position of the outside blocks Positive/Right • X 300 mm • Y 150 mm Negative/Left X 300 mm Y -150 mm
Input / Output Device Experimental Table • Insert experimental table • X 0. 0 mm Y 350 mm • 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
Robo. Cell Programming Windows 3 D Image Positions Dialog Bars Workspace Standard Toolbar Program Expanded Teach Positions Robot Movement Manual Movements
Manual Movement Type Movement Speed Joints Input Close Gripper Open Gripper 4 3 2 XYZ Movement 5 6 1
Import 3 D Image
3 D Image Send Robot Above 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 • 3 D 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 Go Circular to Recorded Position Circular Position Get Position Go to Recorded 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 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. 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 +60 mm 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) 300 mm, 0 mm Create New Position 2 Select Relative to Position 1 Change Z (mm) to +60 Select Teach 60 mm + + - -
Defining Robot Positions Relative Positions Example #3 100 mm 3 4 2 1 + Original Position (Red) +300. 0 mm, 0 mm + Create New Position 3 Select Relative to Position 2 Select Clear Change X (mm) to -100 ( +300. 0 mm Original - +200 mm New = 100) Select Teach -
Defining Robot Positions Relative Positions Example 3 4 2 1 60 mm 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 θ 2 θ 1 -120 mm 280 mm 120 mm
Solving for θ 1 toa 280 mm θ 1 = tanθ 1 = Opposite/Adjacent Opposite = -120 Adjacent = 280 tanθ 1 = -120/ 280 tanθ 1 = -0. 429 θ 1 = tan-1(-0. 429) θ 1 = -23. 2º Roll 1 = -23. 2º (- Left Side / + Right Side) -120 mm Pitch = -90º
Solving for θ 2 toa 100 mm = tanθ 2 = Opposite/Adjacent θ 2 Opposite = _____ Adjacent = _____ θ 1 tanθ 2 = _____ / _____ tanθ 2 = _____ θ 2 = tan-1(_____) θ 2 = _____º -120 mm Pitch = -90º
Solving for θ 2 toa 100 mm θ 2 θ 1 = 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 = -50. 19º (- Left Side / + Right Side) -120 mm Pitch = -90º
Programming Example 1. Start new Robo. Cell 2. Create an new file 3. Import 3 D 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 21 20 Absolute and/or Relative Positions 41 31 40 30
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: • • *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
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 Weld. Opposite 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 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
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 CO 2 • Voltage Tap – Fan Only, 1 -4 • Wire Feed Rate • Rate of Travel
Weld Analysis
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