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1 - Introduction To RoboCell

This document provides instructions for setting up and programming a robot simulation using RoboCell software. It describes how to: 1) Create a new cell setup by adding a robot, table, and three cylinders of different positions. 2) Save the cell setup and import it into the RoboCell programming software. 3) Use manual movement controls to move the robot arm and gripper to pick up and stack the cylinders in different arrangements, teaching new positions along the way.

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336 views

1 - Introduction To RoboCell

This document provides instructions for setting up and programming a robot simulation using RoboCell software. It describes how to: 1) Create a new cell setup by adding a robot, table, and three cylinders of different positions. 2) Save the cell setup and import it into the RoboCell programming software. 3) Use manual movement controls to move the robot arm and gripper to pick up and stack the cylinders in different arrangements, teaching new positions along the way.

Uploaded by

litrakhan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
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Introduction to RoboCell

The robot simulation software is a very powerful learning tool. By mastering the art
of programming in simulation, you will find the actual programming identical except
for the positioning of the robot to existing locations. Before beginning to learn
programming it is important to understand the basics of the robot, the various joints,
and the safety procedures. Be sure to review these if you are unsure.

There are two programs we will be using. Both are found in the Programs selection
from the Start Menu.

Find the RoboCell Selection in the Programs selection. Select the CellSetup
program.

Procedure
From the File Menu select New.

The Select Robot dialog box appears. Select the ER 4u robot and click on OK.

Figure 1

The New Object Dialog box appears. The first thing that must be placed is the
robot. Double click on the Word Robots to expand it similar to figure 2.

Figure 2

Click on the ER 4u and check OK at the bottom of the Dialog box. You should see the
Optional Slidebase dialog box appear. In this first exercise we will not be using the
slide base. Therefore, select the No Slidebase option and then the OK button at the
bottom of the screen.

Figure 3
You should now see the Robot in the center of your screen.

Figure 4

Expand the General Tab by double clicking on it. Highlight Table and select OK at the
bottom of the screen. Select a color for your table. Leave the X and Y Defaults set
to 1000. Select OK.

Figure 5
You should now have the object placement icon on the screen.

Figure 6

Click anywhere on the screen to place your table.


Select Cancel from the New Object dialog box.
Double left click on the table. Select Set Position from the Options.

Figure 7

Set the New X and Y Coordinates to 0 for each. The Center of the Robot is 0,0. This
will place the table center under the Robot. You can also move the table by using
the Drag Object tool to dynamically move the object.

Figure 8
Change your view to an isometric view similar to figure 11 by dragging the scroll bar
on the right until you are viewing it at the angle you wish. You can pivot the screen
by holding down your right mouse button and dragging to the left and right. You can
Zoom in and out by right clicking and dragging in the up and down direction. If you
wish to reposition the robot in the screen select the Camera Redirect icon (Figure 8)
or selecting Redirect Camera from the View pull down menu. You can then click on
the spot you wish to be the center of your screen.

Figure 9
You can also maneuver the screen with the Drag 3D frame tool. This allows you to
manually move the screen.

Figure 10

Figure 11

Now select the Icon for New Object, or select New Object from the Edit menu.

Figure 12

Expand the Materials option and select Cylinder. Select OK from the bottom of the
dialog box.

Figure 13

Now set the size to 35 mm and 35mm. Select a color and Place three of them on
your screen. You can place them anywhere. After placing the third cylinder select
cancel from the New Object dialog box.

Now double left click on a cylinder. Select set position. Set the position of the first
Cylinder to X=150, and Y=150
Set the second cylinder to X=200, and Y=225
Set the third Cylinder to X=150, and Y=300

Your screen should show the cylinders looking like this.

Figure 14

Save the Cell Setup by selecting Save from the File pull down menu. With this
program it is a good idea to keep the name of the file under 8 characters Browse to
where you wish to store the setup.

Exit Cell Setup.

RoboCell
Open RoboCell. When RoboCell opens select Hardware Setup from the Options
menu

On the Peripherals tab be sure that Axis 7 and Axis 8 are set to Not Connected

Figure 15

Check the Robot check box and be sure that you have selected the ER 4u. If you
dont have the hardware setup the same as your CellSetup you will get an error
message. Select OK

Figure 16

Select New from the File menu. You will see the programming screen open.

Select Import 3D Model from the File menu.


This will bring up a dialog box for the file types *.3DC. Select the file you created.
You should now see your setup in the Graphic Display window.

From the Manual Movement select Open Gripper.

Figure 17

In the 3D Image window select the Send Robot to Object tool. (see figure 18)

Figure 18

You should see an image of the grippers. Position it over the first cylinder, similar to
Figure 13. If the grippers arent open you will crash the robot.

Figure 19

The Robot will position itself at the cylinder. From the Manual Movement toolbar
select close gripper.

From the Teach Positions screen Enter 10 in the Position Number window.

Figure 20
Select the Record Position button.

From the Manual Movement dialog box, click on the Number 2. This will move the
Robot arm up.

Figure 21
Now click on the Q and the arm will swing across the table. Try to use the manual
movement controls to place the cylinder back on the table.

When you give up select the Open Gripper button and drop the cylinder.

Open the gripper and send the Robot to the Second cylinder.

Figure 22
Close the grippers. From the Manual Movement Dialog box Depress the 2 again to
move the cylinder into the air.

From the Options pull down menu select Pro.


Your Teach Positions dialog box will no longer have grayed out sections.

In the Teach dialog box, be sure 10 shows in the Position number window and select
the Go Position button.

Figure 23
Open the grippers and the second cylinder should be in the position we picked the
first one up from.
Click on the Expand button at the bottom of the dialog box.

Figure 24
Change the number in the Position Number box to 11. Check the Relative to: button
Enter 10 in the Relative to: box. Enter 0 for the X and Y values. Enter 40 for the Z
value. Select the Teach button. Now the Robot knows a new position above the first
one.

In the 3D Display Window Send the Robot to third cylinder. Close the grippers. Use
the 2 in the Manual Movement dialog box to raise the arm. In the Teach Positions
Window be sure 11 is showing in the Position Number window. Select the Go
Position button. Open the grippers. You should have placed the Cylinder on top of
the last one.

Exercises

1. From the Graphics Display window select Cell Reset from the file menu. Stack all
three cylinders on top of one another. See figure 25

Figure 25
2. Try to set the three cylinders down so they are all touching on the sides similar to
figure 26

Figure 26

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