programming.

RoboCell User Manual 42 CellSetup

Rev. C
 5
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.
RoboCells user interface and menus are similar to those of SCORBASE.
The main differences are detailed in this chapter. They include:
The graphic module, which enables position definition and
SCORBASE program execution in a virtual or real workcell.
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:

Figure 5-1: New Project Window

RoboCell User Manual 43 Working in RoboCell

Rev. C
 File Menu
The following options are available from the File menu:

New Project Opens a new untitled project (see Figure 5-1 on

page 43).
The new untitled project does not include a
robotic workcell (3D window).
To add a workcell, do one of the following:
Select File | Import 3D model to open an
existing workcell file.
Select File | Edit 3D model to open CellSetup
and create a new workcell.
Open Project Opens the Load Project window which lists
SCORBASE files (without a virtual cell), and
RoboCell files (that include a virtual cell).
Save Project Saves the curently active project (program,
positions and graphics).

Save Project as. Saves the curently active project under a different
name (program, positions and graphics).
Close Project Closes the curently open project (program,
positions and graphics).
New Script By default, opens Notepad. The user can then
begin to write a new Visual Basic script file.
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

RoboCell User Manual 44 Working in RoboCell

Rev. C
 the current cell.
Print Preview Opens a dialog window that shows how the
3D Image printed cell will appear on paper.
Print Charts 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.
Print Preview Charts Opens a window that displays the chart of the
selected axis showing how it will appear on
paper.
Import 3D Model 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.
Edit 3D Model Opens CellSetup. If the project already includes a
workcell, CellSetup opens that workcell for
editing. Otherwise, CellSetup opens with a new
untitled empty cell.

View File Opens the View File window which lists the
following files:
Graphic module files (*.3DC)
SCORBASE programs (*.sbp) (Note: It is
possible to copy and paste an sbp file into
your own project.)
Position data (*.pnt)
When you select a file, a window opens
displaying that file.
Exit Closes RoboCell.

Edit Menu
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 menus options.

Run Menu
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

RoboCell User Manual 45 Working in RoboCell

Rev. C
 run the robot in the virtual cell.
If you select Options | On-Line (and a robot connected to the computer)
the virtual and real robot will work together.

Options Menu
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
menus options.
Note: Advanced Commands are detailed in the SCORBASE User
Manual. The ViewFlex Commands are detailed in the ViewFlex User
Manual.

View Menu
The View menu is identical to the SCORBASE menu whose options
allow you to toggle the display of SCORBASE dialog bars and menus.

3D Image Menu
The options of this menu are described in Graphic Display Module
below.

Window Menu
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.

Help
RoboCell Help Opens RoboCell help.
SCORBASE Help Opens SCORBASE help.
Scripting Help Opens Visual Basic Script help.
About Shows Robocell version.
Registration Opens the Software License Window for
registration, and for transferring RoboCell license
to another computer. (See Chapter 11 on page 79
for further information.)

RoboCell User Manual 46 Working in RoboCell

Rev. C
Graphic Display Module
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.

Figure 5-2: 3D Image Window

The 3D image portrays the robotic workcell and all its 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 number of part in a feeder).

RoboCell User Manual 47 Working in RoboCell

Rev. C
 3D Image Menu & Toolbar
All graphic display tools are accessible from the 3D Image Menu.
Frequently used tools can also be accessed from the toolbar.
Reset 3D Model Returns the workcell image to the initial setting
and position (saved in CellSetup).
This tool is useful when you want to initialize the
workcell before re-running a program.
Top View Resets camera position to the top center point of
the cell.
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.
Redirect Camera Selects the point that will always be in the center
of the screen (while rotating, zooming and
changing the cameras angle).
The Redirect Camera mode remains in effect until
you select another option or press [Esc].
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.
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:

RoboCell User Manual 48 Working in RoboCell

Rev. C
 Object Names Shows/hides Object Name labels.

Object Positions Shows/hides Object Position labels.

The label displays the X and Y coordinates of the
object position that is relative to the coordinates of
the 3D model.
Object Positions in Shows/hides Object Position Robot Coordinates.
Robot Coordinates The object position displayed is relative to the
robot coordinates. The robot coordinates may be
different from cell coordinates if:
The robot was moved after initial setting (in
CellSetup)
The robot is equipped with LSB. When the
robot moves, the position of objects relative to
the robot changes.
Number Parts in Shows/hides a label that displays the number of
Feeder remaining objects in a feeder.
Send Robot Sub- Select Options | Simulation to enable the Send
options Robot options.
Send Robot to Sends the robot to the selected object.
Object Make sure the gripper is open before sending the
robot to the object.
This option is useful for defining a robot pick
position.
Send Robot to Sends the robot to the selected point. This option
Point is useful for defining a robot place position.

Send Robot to Sends the robot to a point above the selected point
Above Point on the table.
Default: point 100 mm above the selected point.
Options for Opens the Send Robot Options dialog box
Send Robot enabling you to define the vertical offset values
and the grippers orientation when Send Robot
commands are executed.

RoboCell User Manual 49 Working in RoboCell

Rev. C
 Figure 5-3: Send Robot Options
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 page 51) to adjust the orientation (pitch
and roll) of the gripper. You can then select the option Use Current to
maintain the grippers 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 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 robots 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 robots 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 on
page 63).

RoboCell User Manual 50 Working in RoboCell

Rev. C
 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.

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: Axis 6 is disabled for robot configuration with pneumatic gripper.
Use the Open Gripper and Close Gripper buttons to control the gripper.

RoboCell User Manual 51 Cell Operation

Rev. C
Machine Operation
You can operate the Mill or Lathe directly from the Digital Output dialog
box, or with program commands (see Program Execution, page 56). A
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.
Mill 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 robots 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.
When using the Send Robot commands, be aware of certain
characteristics of the following objects.
Feeders 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 0 and a roll of (-90) in the Send Robot
Options dialog box.
Lathe 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.
Mill 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.

RoboCell User Manual 52 Cell Operation

Rev. C