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RoboCell Utilities

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1. Angle of electrode When recording the start finish weld positions you define this angle by defining the positions pitch RoboCell User Manual 0510 73 Welding Features Welding Process Welding Gun Operation As welding occurs sparks will fly from the welding gun as shown in the figure below Figure 7 16 Sparks from Welding Operation Weld Temperature Changes in the temperature of the welding seam can also be seen by zooming in on it during and after the welding Immediately after the welding the seam is red and yellow indicating that it is extremely hot Slowly it changes to a grayish color indicating that it has cooled Welded Part After the welding process is completed RoboCell regards the two metal pieces as one Figure 7 17 Completed T joint Welding Process RoboCell User Manual 74 Welding Features 0510 Weld Analysis RoboCell allows you to observe the quality of a weld at the end of the welding process Depending on the welding settings used to create the weld the appearances of welds may differ After welding two metals together double click on the seam to open the Weld Properties window Analysis of Weld Segment 11 xi Figure 7 18 Weld Properties Window The window displays the following information RoboCell User Manual 0510 Status of the weld i e good bad etc Whether shielding gas was used or not Selected voltage tap value Wire
2. Voltage Tap From the Welding Settings dialog box select one of the reference numbers RoboCell User Manual 0510 72 Welding Features Parameter How to Change Parameter Wire Feed Rate From the Welding Settings dialog box select one of the reference numbers Automatically changes when voltage tap is changed Rate of Travel To define the rate of travel the speed of the robot and the welding gun in the welding procedure use the Duration setting in the Go To position dialog box By changing the duration it takes to get from position A weld start position to B weld end position the robot s speed is changed thus changing the speed at which it will weld Distance of Electrode from Materials to be Welded When recording the start finish welding positions you define this distance by defining the positions Z value Welding only occurs when the electrode of the welding gun is located at a proper distance above weldable material This feature was built in to enable more accurate recording of the start welding position Once the software recognizes that welding is allowed the gun emits wire that creates a seam between the two materials Welding will not occur in the following situations e The electrode of the welding gun is too close or too far from the material e The welding gun is located above a material that the software recognizes as non weldable
3. Since objects are rotated around their center a long object that will be grasped far from its center must be aligned with the gripper as much as possible before the gripper is closed Releasing Objects RoboCell operates in a gravitational field Objects that are released from the gripper will fall to the first surface below them If more than half of an object s base rests on a surface the object will remain on the surface Otherwise it will fall onto the surface below Objects can be picked up and released at any rotation RoboCell User Manual 0510 54 Cell Operation Impact Detection RoboCell checks for the following impact conditions e The tip of the gripper hits an object or the robot itself e The edge of the gripper motor mounted on top of the gripper hits an object or the robot itself e An object held by the gripper hits another object or the robot RoboCell s impact error message is the same one sent by SCORBASE when an actual robot cannot reach a target position Since there are no mechanical motor or electrical encoder failures in simulation you can assume simply that the gripper or an object held by the gripper has collided with the robot or another object The Graphic Display status line indicates the object on which the impact has occurred In response to the impact error message select OK to resume Control On Then move the robot away from the impact condition Ifa Send Robot command c
4. 3D Simulation Software Demos Demonstration files included with the software allow you to observe the capabilities of RoboCell To run these demo files do the following Uninstall l Activate the demos by selecting Start Programs RoboCell 3DSimulation Software Demos The default demo opens and starts automatically To view another demo file select File Open or click on the Open icon Select the desired DMO file from those listed in the Open window The program starts automatically To stop a demo select File Stop Use the Menu options or Toolbar icons to navigate in the virtual cell See Chapter 4 CellSetup for full details To exit the Demos utility select File Exit To uninstall RoboCell do the following l 2 From the RoboCell program group select Uninstall Follow the instructions which appear on the screen Chapter 10 Intelitek Software Licensing provides full details on the procedures for protecting your license transfering the license from one PC to another and returning the license to Intelitek for retrieval at a later stage Quitting the Software To close RoboCell or its components do any of the following RoboCell User Manual From the Menu Bar select File Exit Click the Close box in the SCORBASE Title Bar Press Alt F4 7 Starting RoboCell 0510 RoboCell User Manual 8 Starting RoboCell 0510 3 Graphic Interface The 3D image you see on yo
5. Cancel Help Figure 4 18 Table Configuration Colors To change the color click Colors This opens a color palette from which you can select the required color Size Defines the width and length of the table X and Y dimensions are always in accordance with the X and Y dimensions of the cell Use the View Scene Origin option to display the X and Y dimensions of the cell Table Properties The Table Properties menu does not have a Rotate option see Object Properties Menu Instead it has a Resize option for scaling the table s dimensions Scale X Scale Y Enter a ratio value e g 2 or 0 5 in the X and Y fields Both fields must contain a value If you want to change only one dimension be sure to enter 1 in the other field do not enter 0 Resizing is progressive The scale reverts to 1 each time the table is resized RoboCell User Manual 0510 38 CellSetup Materials New Objects xj The Materials group includes objects that can be manipulated by the robot Storage J Machines J Welding Tools Welding Materials e Cube e Cylinder E Cylinder e Ball H Patt e User defined parts see User Parts and Objects below A Part2 amp Para You can place as many objects as needed User Objects v Cancel Cube Cylinder Ball When you select Cube Cylinder Ball the Object Configuration dialog box opens E Properties Object Material Plastic bs m Size 2 mm 40 Y mm 40
6. At least 128 MB of RAM A hard drive with at least 60 MB of free disk space Windows 98 2000 A Super VGA or better graphics display minimum 256 colors A mouse or other pointing device USB port if robot controller is connected Software Licensing The RoboCell software is protected by a licensing agreement Full details on Intelitek software licensing are provided in Chapter 10 Installing the Software RoboCell User Manual 0510 The RoboCell software is supplied on a CD which also contains SCORBASE Close any applications that are open before proceeding with the installation procedures If you are about to reinstall the software or install a newer version to an existing RoboCell directory it is recommended that you back up any existing user created files before you begin the installation It is also recommended that you remove the previous RoboCell version for Windows installation using the software s Uninstall utility see Uninstall later in this section 3 Starting RoboCell To install RoboCell e Insert the CD into the CD ROM drive to start the installation procedure e Ifthe procedure does not start either e From the Windows task bar click Start Run and type D Setup where D is your CD drive or e Using Windows Explorer explore the CD drive and click E Setup e Wait until the Installation window is displayed Installation Please select software RoboCell for ER 2u RoboCell for ER 4u Ro
7. 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 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 RoboCell User Manual 0510 48 Working in RoboCell 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 a Redirect Camera Selects the point that will always be in the center a of the screen while rotating zooming and changing the camera s angle The Redirect Camera mode remains in effect until you select another option or press Esc Ea 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 habe camera position can be saved Saving a new positi
8. P For all devices you have the opportunity of allocating the controller axis Cancel at this stage see Robot Configuration Peripherals tab above RoboCell I O input output devices can be connected to any free n nee input output terminal The robot controller has eight digital input and 5 e eight digital output connections os To place an I O device in the cell click the I O Devices group and memes select the required device Welding Tools Welding Materials General J Materials User Objects RoboCell User Manual 26 CellSetup 0510 Experiment Table RoboCell User Manual 0510 An experiment table includes the following input and output devices e Four 4 touch sensors input device Activated when there is a part on the switch or something activates the switch e Lamp output device e Buzzer output device Figure 4 8 Input Output Devices When you select Experiment Table this dialog box opens enabling you to define the input and output connections see the Controller Setup option under View Menu EXTABLE1 xj Inputs Outputs Hinput Object Not connected Experiment Table EXTABLE1 Place Experiment Table EXTABLE1 Place2 Experiment Table EXTABLE1 Place3 Experiment Table EXTABLE1 Place4 Cancel Help Figure 4 9 Experiment Table Input Output Configuration Although one of the experiment table inputs may be disabled if the input is later defined for another device
9. all other switches will remain connected to their defined inputs 27 Cell Setup Sensor In RoboCell a sound is emitted when the outputs that control the buzzer and lamp are turned on and off The experiment table outputs use the Windows sounds associated with the following events e Buzzer On Exclamation e Buzzer Off Critical Stop e Lamp On Asterisk e Lamp Off Information In addition the lamp in the Graphic Display turns bright red when its associated output is turned on RoboCell includes digital sensors that can be configured to detect specific objects based on their color and or material metal plastic wood etc The objects are listed in the Materials group and their properties are defined when they are placed in the cell see User Parts and Objects When you select Sensor this dialog box opens enabling you to define the color material to which the sensor is sensitive as well as the sensor s height Properties Color Detect E All Colors Material Detect Plastic y V All Materials Size Height mm ao Cancel Help Figure 4 10 Sensor Configuration Color Detect By default the sensor is set to detect all colors To set it to a specific color uncheck All Colors Click Color Detect to open a color palette from which you can select the required color If the sensor is configured to be sensitive to All Colors the sensor in the cell is colored different shades of
10. another option or press Esc Resets camera position to display an overhead view of the cell You can rotate or zoom in out of this view Use the vertical scroll bar to alter the angle of the view Shows the origin of the cell at floor level under the center of the robot s 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 Rotating the view does not change the X and Y dimensions of the cell Shows hides the Toolbar Shows hides the Status bar Help Menu Opens RoboCell on line help Shows the RoboCell software version Opens the Software License Window for registration and for transferring RoboCell license to another computer See Chapter 10 for further information Objects Object Placement To place a new object in the cell do the following RoboCell User Manual 20 CellSetup 0510 1 Double click on the object s name in the New Objects menu 2 Move the cursor into the graphic scene 3 Point and click on the location where you want to place the object You may need to wait a moment for it to appear do not double click If you have trouble placing an object in the exact spot you want zoom in and out and adjust the view from top to bottom until you can more accurately place the object Most objects are placed in the cell automatically at tab
11. specific code of the target PC and Select Transfer The software on the source PC will generate a new unlock code for the target PC and will remove the license from the source PC e On the target PC enter the new unlock code in the Registration dialog box Return a license to Intelitek so you can retrieve it later Use this procedure when you need to remove a software license and do not have a target PC available e From the Registration dialog box select Remove the License and click Remove The software will generate a unique Remove code e Send the Remove code and your CD key to Intelitek using one of the methods described above email website fax phone We will confirm the codes and update our licensing registration records e When you are ready to retrieve your license install the software if necessary and follow the instructions for obtaining an unlock code RoboCell User Manual 85 Intelitek Software Licensing 0510 FAQs Frequently Asked Questions What is a CD key This is the code on a label on the CD It allows Intelitek to track software that has been purchased What do I do if I do not have a CD key When prompted to enter the CD key during the software installation enter the word evaluation This will allow you to install the software for a trial period What is a PC specific code This is a code generated by the software It is unique for each PC and each installation of the software This cod
12. 11 Cursor Figure 4 12 Placing Objects in Gravity Feeder The feeder is fitted with a touch sensor named NotEmpty located at the lower part of the feeder The sensor indicates when there are parts in the feeder i e it is on when the feeder is not empty RoboCell User Manual 30 CellSetup 0510 Feeder Pneumatic Feeder The pneumatic feeder is constructed from a magazine of objects and a pneumatic cylinder fitted at the lower section The feeder is also fitted with a touch sensor that is pressed the input is on when there are parts in the feeder NotEmpty sensor The pneumatic cylinder is controlled via a controller output When the output is turned on the piston extends pushing out the next object The robot picks the objects from the feeder output tray and the feeder position is defined as the point at which the robot takes an object from the feeder Figure 4 13 Robot Position for Picking Objects Feeder Configuration RoboCell User Manual 0510 Configuration for the Gravity Feeder and the Pneumatic Feeder is described below The differences between the two methods are indicated When you select a feeder a configuration dialog box opens Properties Inputs Number parts in feeder id Height at Front of Feeder 120 to 300 mm 200 Height at Back of Feeder 120 to 300 mm 280 Cancel Help Figure 4 14 Gravity Feeder Configuration 31
13. 4 When you select this option a label on each object shows its name Names are assigned by the software but can be renamed by the user in the object s properties menu This option cannot be selected together with Show Positions RoboCell User Manual 18 CellSetup 0510 E gt file Gat vew Heb So WF H2h5 4 Q4 3 A 4 4 Show Object Names A Shows hides the Object Position labels see Figure 4 5 When you select this option a label on each object shows its position The coordinates that appear on the object s label indicate the object s position X Y coordinates relative to the cell s point of origin F igure This option cannot be selected together with Show Names Figure 4 5 Show Object Positions Allows you to select a different focal point in the graphic display of the cell To change the center point of the graphic display window click on the icon or menu option Use the cursor to point and click on any spot in the scene This now becomes the new center point of the display All zooming of the RoboCell User Manual 19 CellSetup 0510 view will focus on this point all rotations will revolve around this point Press Esc to cancel the Redirect Camera mode Drag 3D Frame Activates the drag mode in order to relocate the entire cell in a new position Click anywhere in the image and drag the entire cell to a new position The drag mode remains in effect until you select
14. 4 7 mm 40 DK Cancel Help Figure 4 19 Cube Configuration Colors You can define the color of the plate to which the sensor is sensitive The default color is red To change the color click Colors This opens a color palette from which you can select the required color Make sure the color you select is compatible with the sensor s detection definition Object Material The cell sensor can differentiate between different materials The default material is plastic Other available materials are glass metal and wood When metal is selected you can perform welding using the features described in Chapter 7 Welding Features RoboCell User Manual 39 CellSetup 0510 Size mm The default dimensions of the objects can be Cube X Y Z Gyinder Diameter modified if desired Height Ball Diameter Horizontal Vertical Defines whether the cylinder is placed in a Hor eyimdsrenly horizontal or vertical position Cylinders that are placed in the lathe should be defined as horizontal User Parts and Objects 21 To insert a part or an object select the desired part object from the Storage Materials User Objects group Machines Welding Tools plas di Point and click on the location where you want to place the part object Materials You may need to wait a moment for the cursor to appear Do not double a Dn click amp Object2 E Object3 A Object4 E Objects amp Object6 v
15. Intelitek is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 East Industrial Park Drive Manchester NH 03109 5317 Tel 603 625 8600 Fax 603 625 2137 Web site www intelitek com Table of Contents Chapter 1 Introducing RoboCell isic ncon coconinecadocane caiste 1 Chapter 2 Starting RoboCell seeeeeeeeeeeeeeeeeeeeseeseeeeeeseeeeeeeeeeeeeeeeeeeeeeeees 3 System A AE ER 3 Software Licensing eia nn a n E Aa IS e E EN ES 3 Installing IA 3 Robo CH UTE as ST E HOR eae NTR 6 3D Sim l tion Software Dei ta taaan 7 Uninstall A A A A A Ae E TRES T Q itting the SOT Wales x3 anssi tsss sis 7 Chapter 3 Graphic Interface sinian anaana esse theses cass ch cas Enara pain sanpa ENa anrai 9 Rotate anin rreo ad RARR 9 FANON EEE RNA 10 Anele EI tla 11 Brightness a a da o O eiea 11 Chapter 4 gt Colo icacana 13 A A AR 13 CellSet p A o nd ao 14 A A O O 15 EMS A A A 16 NT dre a col sio 17 Help Mt coe cee ee inane Bice aioe Ns ctu tee A i E Seco eae nash atta ates E AE aa 20 COD CES AAA A A naan 20 Object PR EAC CII e e ae 20 Object Contamos NS ued Aaa ae laa a ae hearted ssc ae
16. Jig Recording Positions for Welding Gun Welding features include a built in feature to facilitate recording the pick position for the welding gun To record the position for picking the gun use the Send Robot to Object option and click on the gripper adapter handle on the gun RoboCell will automatically send you to the correct position for properly picking the gun RoboCell User Manual 0510 70 Welding Features Welding Booth Doors The welding booth doors can be viewed or removed by double clicking anywhere on the booth Figure 7 14 Welding Booth Doors Image RoboCell User Manual 71 Welding Features 0510 Welder The welder has the following built in features Figure 7 15 Built in Welder Features Wire Spool Motion Wire Speed Voltage and Power Switches Welding Parameters Successful automated welding is often not the result of reliable technology but of proper planning Therefore it is extremely important to work only with the optimal parameter settings defined by the manufacturer The following welding parameters can be modified During the welding process the wire spool turns just as it does in reality The knobs on the welder accurately reflect the welding settings defined via the Welding Settings dialog box Double clicking on any knob opens the dialog box Parameter How to Change Parameter Inert Gas Shield From the Welding Settings dialog box select either None or CO
17. Notepad or DOS Edit open one of the existing user part files PARTI_0 RWX PART2_0 RWX or PART3_0 RWX The file looks like the following example ModelBegin TransformBegin Color 0 0 1 0 1 0 Surface 0 4 0 3 0 2 Opacity 1 000000 LightSampling Facet GeometrySampling Solid TextureModes Lit Texture NULL ClumpBegin Translate 0 0 0 0251 0 0 Tag 1 Block 0 03 0 0005 0 05 ClumpBegin Tag 2001 Transform ModelEnd End Color Opaci Block 100 ty 1 0 03 0 02 0 07 Clump 41 End CellSetup Edit the file to create your own part Save the file Since you can only have three user part files at a time you must replace the original file Do not change the file name To create your own finished part edit the Part _1 file Ifyou do not want to create a finished part delete the Part _1 file Create a New Part Object File If you can create your own user part and user object files do the following 1 Open a text editor that saves files in plain ASCII text such as Notepad or DOS Edit 2 Write the program to create your own part 3 Save as file type RWX You must name the file PART1_0 RWX PART2 0 RWX or PART3_0 RWX 4 To create a finished part name the file PART _1 RWX There must also be a PART _0 RWX file to go with it 1 e in order for there to be aPARTI1_1 file there must be a PART1_0 RWX file 5 Copy the files to the SBWSIMn RESOURCE folder Note It is recommended that you
18. do not discard the original files supplied with RoboCell Save the original files under different file names 6 To create a User Object follow the above steps and name the file USER RWX USER RWX files cannot be manipulated by the robot or machines You must replace the original user object files Import a CAD File You can create a 3D object in a CAD program and import it to RoboCell To import a CAD file do the following 1 2 Create a file in any CAD program Save as DXF or 3DC Use the DXFtoRWX or 3DCto RWX converter to convert the file to RWX format 3 Name the files PART1_0 RWX PART2_0 RWX or Part3_0 RWX 5 To create a finished part name the file PART _1 RWX There must also be a PART _0 RWX file to go with it i e in order for there to be a PART1_1 RWX file there must be a PARTI_0 RWX file Copy the file to the SBWSIMn RESOURCE folder To import a user object follow the above steps and name the file USER RWX RoboCell User Manual 0510 42 Cell Setup For more information on RWX files consult a manual on RWX programming RoboCell User Manual 43 Cell Setup 0510 J 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 RoboCell s user interface and menus are similar to those of SCORBASE The main differences are detailed
19. in Graphic Display Modulebelow 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 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 RoboCell User Manual 47 Working in RoboCell 0510 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 SN 3D Image Er4celll 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 3D Image Menu amp Toolbar a All graphic display tools are accessible from the 3D Image Menu
20. in this chapter They include e The graphic module which enables position definition and SCORBASE program execution in a virtual or real workcell e 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 lex Oee sea 5 MET REVO EOE E Manuali Me T F g C xz Postion Nambe inchsje Aans EE lA NIN E E AO ao Bl ijajajejsjs Al LERT F Dusen AWjojwjejajrjY Eped_ C Reaser 5 3 Resty Iret tne Mist yersek Pros Mads Rave Bcc uscar namn 1D REDES vise Figure 3 1 New Project Window RoboCell User Manual 44 Working in RoboCell 0510 File Menu le The following options are available from the File menu New Project Open Project Ctri O 5 ject Ctrl s Print Program Print Positions Print 3D Image Print Preview SD Image Print Charts Print Preview Charts Import 3D Model Edit 3D Mode View File Exit ES Opens a new untitled project see Figure 5 1 The new untitled project does not include a robotic workcell 3D window To add a workcell do one of the following e Select File Import 3D model to open an existing workcell file e Select File Edit 3
21. robot can be placed in the cell To add a robot to the cell e Click Robots Select either ER 4u or ER 2u Robot Configuration New Objects UNE Peripheral Axes 1 0 Devices Storage Machines Welding Tools Welding Materials General Materials User Objects Cancel RoboCell User Manual 0510 A dialog box titled ROBOT1 opens allowing you to define whether or not the robot is mounted on a linear slidebase LSB a peripheral device that enables linear movements of the robot unit By default the robot has No Slidebase and when you confirm this option the robot is immediately placed in the cell Alternatively these slidebase options are available e Slidebase 1 0 m belt drive e Slidebase 1 8 m belt drive If you select a slidebase the Robot Configuration dialog box looks like this 23 CellSetup Figure 4 6 Robot Configuration RoboCell User Manual 24 CellSetup 0510 Properties tab LSB Height By default the LSB Height is 100 mm which is the actual height of standard SCORBOT slidebases Robot Angle By default the robot is mounted perpendicular to the slidebase at 90 If you select a slidebase the robot and the slidebase are treated as one object in the cell Peripherals tab To select a controller peripheral axis that controls the slidebase and any other peripheral device that has already been defined click on the Peripherals tab Slidebase 1 9m Beltediive LSB
22. to a point above the selected point on the table Default point 100 mm above the selected point Opens the Send Robot Options dialog box enabling you to define the vertical offset values and the gripper s orientation when Send Robot commands are executed 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 RoboCell User Manual 0510 50 Working in RoboCell You may also use the SCORBASE Manual Movement dialog box see Robot Manual Manipulation to adjust the orientation pitch and roll of the gripper You can then select the option Use Current to maintain the gripper s 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 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 Clears the robot path that was drawn using Show Path Shows the origin of the cell at floor level under the center of the robot s base as a red cross marked with X and Y axes The positions of all ob
23. 2 LSB180B Ys Linear Table 0 3m LSB1 LT03 Figure 4 7 Axis Selection for Peripherals Peripheral devices can be connected either to axis 7 or to axis 8 To connect a device listed under Not connected click on it and drag it to one of the free controller axes If you drag the device to an axis that already has a connected device the new device replaces the previous device which is disconnected and relocated under Not connected You can leave the slidebase not connected at this stage and connect it later using View Controller Setup or the Controller Setup icon Robot Properties In addition to the standard object properties see Object Properties Menu above this option is listed as a Robot property Show Envelope Displays the span of the robot s working range This option facilitates the placing of objects within the reach of the robot RoboCell User Manual 25 CellSetup 0510 Peripheral Axes 3 Peripheral devices include a motor with speed and position control a am a They are connected as axis 7 or axis 8 of the controller E Peripheral Axes Sia 1 0m Bate To place a peripheral device in the cell click Peripheral Axes and select E Slidebase 1 8m Belt dr the required device Linear Table 0 3m Rotary Table 24v If you select either of the slidebases or a linear table you will be asked ne to define the LSB Height as described in Robot Configuration Storage Properties tab above Machines X
24. 21 Object Properties Ment Zs Soest dd odias 21 New Objects Menard ins 23 ROD O E a O E 23 Robot Configuration q A A tie Mia A nas E A E 23 Robot Propertie Suspiro tetas 25 Peripheral AXE o sad 26 TODA bo lr aos ble e o a ted tral Satan ae 26 Experiment Al a a a a a a e ia 27 SENSON ea a a A V e E E 28 a E E E A 29 Gravity A a a a a a ot igh a a a a 29 Feeder Pneumatic EcedeT sirrinisoiunnosntnnnn aaea a a a a A a 31 Feeder Connor atomic A ek bate 31 AA A ce OE E 32 RoboCell User Manual i Introducing RoboCell 0510 Jig Rack Template Buffers ASRS and Bl it a 32 Machines to aay a 33 Welding Tools bonds 35 Welding Materials sa 36 AD e A AI A 36 MD acess lade tel iia eae a le Mate ce 37 A E 37 AEI EE E ON 38 TADEO a e E aI RE nl ak 38 Material Sot adds 39 Cube Cylimdern Balkan 39 User Parts and ODbJECtS gcc astatetecttcy tila cea Pieces hanson Sacnuesiniet E R yaad a 40 Pats 3 ase cnet ee eee a a a oe ee See ead 40 OS a 41 Designing User Parts and ODIA ea 41 Modify an Existing User Parla dss 41 Create a New Part Object ls doi a E ia 42 Import CAD Pl eines ncads EA A E OERA 42 Chapter 5 Working in RoboCell cositas 44 ODOC ell Men s esit rinso tatna ins 44 File Menthe i e ERE neve daa Suh ecu E EE E a aAa aR aa 45 Edit MeNi neroian nene a ea a E Ma a ar E ea a A 46 R n MET A a ee i na iaai 46 Options Menta ina e E EE E R E Se ee ee ape E ete 47 Miew Ment aeree len a e a a E OE E 47 2D Image o O 47 NAO A O 47 Graph
25. Cancel Parts Parts are basic shapes that can be used to simulate any type of material the user chooses Simply click on Part 1 2 or 3 to add a new part to the cell In RoboCell parts are changed to show what they look like at the end of the mill or lathe machining process You may design your own finished parts User parts are stored as files in RWX format The robot and machines can manipulate these objects User part files are saved as PART _0 RWX where represents 1 2 or 3 and finished parts are named PART 1 RWX The files are located in the SBWSIMn RESOURCE folder RoboCell User Manual 40 CellSetup 0510 Objects Designing User Parts and Objects Modify an Existing User Part File RoboCell User Manual 0510 The objects included in the User Objects group are for illustration purposes only User Object files are named USER RWX The files are located in the SBWSIMn RESOURCE folder Advanced users who know how to create 3D objects in RWX format can design and use such objects in the robotic cell No more than three user defined parts and eight user objects may be used at one time For further directions on designing user parts objects see Designing User Parts and Objects below You may change the existing user part to create your own user part To modify an existing user part do the following 1 Open the SBWSIMx folder 2 Open the RESOURCE folder 3 Using a text editor that saves files in plain ASCII format such as
26. CellSetup Properties tab Number of Parts in Feeder Height at Front of Feeder Gravity Feeder only Height at Back of Feeder Gravity Feeder only Inputs tab Defines the number of parts that are loaded in the feeder at the start of operation when the cell is opened or reset Only one material object e g cylinder cube should be placed in a parts feeder The software multiplies the object by the number of parts specified Default 0 Defines the height of the lower part of the feeder above the table level Default 200 Defines the height of the higher part of the feeder above the table level Default 280 To define the robot controller input to which the feeder s NotEmpty sensor is connected click on the Inputs tab Outputs tab Pneumatic Feeder only To define the robot controller output to which the feeder is connected click on the Outputs tab A new part appears in the feeder when the output is turned on Feeder Properties In addition to the standard object properties see Object Properties Menu this option is also listed in the Feeder Properties menu Enables you to alter the number of parts loaded in the feeder after the feeder has been configured Jig Rack Template Buffers ASRS and Bin No settings are required for these storage devices Double click on the desired device and place them in the cell at the desired location RoboCell User Manual 0510 32 CellSetup Machines
27. D 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 project program positions and graphics k Save Project as Saves the project program positions and graphics under a different name Prints the SCORBASE program Prints the positions defined by the user Print 3D image Prints the graphic cell The output is an image of 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 RoboCell User Manual 45 Working in RoboCell 0510 Edit Menu Run Menu Print Preview Charts Import 3D Model Edit 3D Model Opens a window that displays the chart of the selected axis showing how it will appear on paper 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 Opens CellSetup If the project already includes a workcell CellSetup opens that workcell for editing Otherwise CellSetup opens with a new untitled empty cell Opens the View File window which lists the following fil
28. MAREA A The Machines group includes two Mills Mill PLM1000 and two Pobats Lathes Lathe PLT3000 A CNC controller controls these machines Peripheral Axes a 1 0 Devices The robot controller and the machine controller communicate through ne inputs and outputs The machine output is the controller input and vice S Mil versa A Lathe q PLMI000 All these machines are configured in the same way PLT3000 Welding Tools Welding Materials General Materials y Cancel When you select any of these machines a configuration dialog box opens CTO Properties Inputs Outputs Y Controller Output for Doors Cycle Time seconds 103 Figure 4 15 Machine Configuration RoboCell User Manual 33 CellSetup 0510 Properties tab Controller Output for Doors Cycle time seconds Inputs tab Controller input machine output Outputs tab Controller output machine input Controller output machine input Controller output machine input Specifies whether or not the machine doors are controlled by the robot controller output If the doors operate independently of the robot controller they open and close at the beginning and end of the machine cycle Sets the amount of time in seconds of the machine process Default 10 The machine informs the controller that a process is being carried out i e when the input is on the machine is busy Closes and opens
29. RoboCell Version 5 0 1 for SCORBOT ER4u SCORBOT ER2u RoboCell for SCORBOT ER 4u Er4cell5 File Edit Run Options View 3DImage Window Help QD euls esia om Ab IP Er4 ASE SD Image Er4i ANOS Ra 001009 LH BF Call Subroutine PUT_ON_ASRS Go to Position 99 Fast Close Gripper Remark Remark TAKE CYLINDER FROM GRAVITY FEEDE Remark AND PUT IN LATHE Remark Set Subroutine FEEDER_LATHE Go to Position 11 Speed 2 Open Gripper Go Linear to Position 1 Fast Close Gripper Go Linear to Position 11 Fast Go Linear to Position 99 Fast Go to Position 97 Speed 5 Go Linear to Position 83 Fast Go Linear to Position 84 Fast Turn On Output 5 A E Manual Movement G Joins C xyz Include Axes M Robot W Peripherals Project Commands N a 53 Erdcell5 Speed E Program Er4cell5 L B_ amp Absolute C Duration Positions Er4cell5 EE Cine b E 26 3D Image Er4cell A xyz X mm 169 03 mm 0 00 Z rm 504 33 P deg 63 55 Rideg 1000 24 Digital Outputs SESE 2 digi inputs E hi tal a J Zl Encoder Counts 1 0 2 0 3 0 4 0 5 0 6 2214 7 171555 amp 0 Insert Simulation A User Manual Catalog 100346 F intelitek Copyright 2005 Intelitek Inc Catalog 100346 F October 2005 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied
30. a AASER EARE E A A AAE tees 85 Transfer a license from one PC source to another PC target ooococinccinnnnncicocccnns 85 Return a license to Intelitek so you can retrieve it later oooooononccinncnnnccnoccnoccnnonnconnnons 85 FAQs Frequently Asked Questions ccccccesscsssceessecsseceseceeseceeeeeeaeecsaeceseeeeeeenaeees 86 RoboCell User Manual iv Introducing RoboCell 0510 1 Introducing RoboCell RoboCell is a software package that integrates four components e SCORBASE a full featured robotics control software package which provides a user friendly tool for robot programming and operation e A Graphic Display module that provides 3D simulation of the robot and other devices in a virtual workcell e CellSetup which allows a user to create a new virtual robotic workcell or modify an existing workcell e 3D Simulation Software Demo to demonstrate RoboCell s capabilities This manual covers all features and operation of the Graphic Display and CellSetup modules It provides support for all current versions of RoboCell SCORBASE menus and commands are described in the SCORBASE User Manual RoboCell User Manual 1 Introducing RoboCell 0510 RoboCell User Manual 2 Introducing RoboCell 0510 2 Starting RoboCell System Requirements For best performance the following system is recommended Computer Minimum Pentium III PC with 450 MHz processor or higher equipped with a CD drive
31. an 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 53 Cell Operation Table Use the Send Robot to Point not Send Robot to Object command and select a specific target point on the table The robot moves to that position with the offset defined in the Options for Send Robot dialog box vemplale Although it is regarded as one object the template is comprised of two objects the tray and the handle either of which can be a target object The template has only one position defined by the center of the tray Use Z offset 35 mm to send the robot to the template tray Use Z offset 0 mm user defined to send the robot to the template handle Gripper Grasping Objects The robot gripper in RoboCell will grasp an object only as a result of Close Gripper commands When the gripper closes on an object the object is pushed into the center of gripper In addition cubes and horizontal cylinders are rotated into alignment with the gripper jaws provided the rotation offset does not exceed 35 When the offset is about 45 the gripper simply grasps the object at its corners
32. ation The cell has a point of origin at table level defined by XY coordinates 0 0 All object positions are defined in XY coordinates relative to this point of origin For most objects these XY coordinates indicate the center of the object s base By default the robot is placed in the cell with the center of its base i e the robot s point of origin at the cell s point of origin Clicking on Set Position opens a dialog box that allows you to change an object s X and or Y coordinates Shows hides the label for the selected object This option can only be activated when View Object Names or View Object Positions is selected RoboCell User Manual 0510 22 CellSetup New Objects Menu New Objects TE 2 Peripheral Axes 1 0 Devices Storage Machines Welding Tools Welding Materials General Materials User Objects Cancel Robots New objects are added to the cell using the New Objects menu The objects are arranged in groups robots peripheral axes etc To add a new object to the cell click on the desired object group folder and then select the specific object The groups are detailed below The robot which is automatically placed at the cell s point of origin should be the first object you place in the cell The robot cannot be dragged to a new location Its position can be changed only by means of the robot s Properties menu see Object Properties Menu Only one
33. aused the impact the robot will resume movement from the position that preceded the Send Robot command When SCORBASE is operating online with an actual robotic cell SCORBASE controls impact detection and response and Cell Simulation s impact detection function is disabled Defining Positions RoboCell provides the methods described below for defining robot positions A position is identified by its assigned number Recording Position 1 1 Use the SCORBASE Manual Movement dialog box to manipulate the virtual robot in the same manner in which you would manipulate an actual robot 2 When the position is reached type a number in the position number field in the Teach Position Simple dialog box 3 Click Record If the position number has been used previously the new position will overwrite the previous position data Recording Position 2 RoboCell User Manual 55 Cell Operation 0510 4 To send a robot to a required position use the Send Robot to Object Position Above Position tools If needed use the Manual Movement dialog box for fine tuning When the position is reached type a number in the position number field in the Teach Position Simple dialog box Click Record If the position number has been used previously the new position will overwrite the previous position data Teaching Position l In the Graphic Display window select View Object Positions to see the X and Y coordinates of an
34. ave a predefined number of input and or output positions at which they can be connected to the controller For further information see the section describing each specific object in New Objects Menu below In addition peripheral devices can be connected to axes 7 and 8 of the controller see Robot Configuration and Peripheral Axes below Through the Controller Setup dialog box see Figure 4 3 you can view the defined objects and modify their input output and axes connections under the appropriate tab RoboCell User Manual 17 CellSetup 0510 Controller Setup x Inputs Outputs Peripherals Hinput Dbject Feeder FEEDER1 NotEmpty Gravity Feeder GR YFDR1 NotEmpty Mill MILL1 Busy Not connected Figure 4 3 Controller Setup Devices that have not yet been connected are listed under Not connected To connect a non connected device click on the device and drag it to a free input output axis A plus sign appears next to the cursor To modify an existing connection drag the input output peripheral to a new setting A swap sign appears next to the cursor If you drag the device to a setting that already has a connected device the new device replaces the previous device which is disconnected and relocated under Not connected To disconnect input output peripheral drag the object to the Not connected list A minus sign appears next to the cursor bi Shows hides the Object Name labels see Figure 4
35. boCell for ER Su SCORBASE for ASRS 2 lt 36u SCORBASE for ASAS 36u SCORBASE for ER 2u SCORBASE for ER 4u SCORBASE for Mobile Robot r Description SCORBASE for Mobile Robot Cancel Figure 2 1 Installation Window e Select RoboCell for ER 2u RoboCell for ER 4u SCORBASE for ER 2u or SCORBASE for ER 4u The robot that you select becomes the default robot while you are working in RoboCell although you can choose to open a new project and work with the other robot see Opening CellSetup e Click Next to open the User Information window RoboCell User Manual 4 Starting RoboCell 0510 RoboCell User Manual 0510 Figure 2 2 User Information Window e Enter the User Name Company and the Serial number printed on the CD The serial number is made up of 12 characters in the following format XXXX XXXX XXXX If you are using RoboCell for evaluation type Evaluation in the Serial field e Click Next The Intelitek Software License window is displayed Product RoboCell 4 X Company COMPANY NAME User USER NAME CD Key 1111 1111 1111 To complete the installation you need to enter x Figure 2 3 Intelitek Software License Window See Chapter 10 for full details on Intelitek software licensing 5 Starting RoboCell RoboCell Utilities These utilities are available from the RoboCell group e CellSetup e 3D Simulation Software Demos e Uninstall RoboCell User Manual 6 Starting RoboCell 0510
36. both ends to place and remove parts Figure 7 9 Welding Jig A Welding Jig B RoboCell User Manual 66 Welding Features 0510 Welding Jig B can be used for various types of welds The grooved area in the center of the jig can be used to securely hold two metal sheets side by side to create a butt weld The jig can also be used to hold the larger nameplates used with the SCORBASE Write command For more information see the SCORBASE User Manual Welding Jig B does not require the user to define any additional configurations or properties The user need only place it in an accessible position on the welding table Figure 7 10 Welding Jig B RoboCell User Manual 67 Welding Features 0510 Welding Materials Plate 38 x 2 x 89 Plate refers to the welding metal plates which are used with Welding Jig A When you select Plate this dialog box opens WELDPART1 x Properties Object Material Metal y Size 2 mm 38 Y mm 2 Z mm fas OK Cancel Help Figure 7 11 Welding Plate Configuration Colors You can define the color of the plate to which the sensor is sensitive The default color is blue To change the color click Colors This opens a color palette from which you can select the required color Make sure the color you select is compatible with the sensor s detection definition Size The default dimensions of the plates are 38 x 2 x 89 mm These are for d
37. diameter used Wire speed reference value that was used Speed of the welding gun 75 Welding Features RoboCell User Manual 76 Welding Features 0510 Replicating Real and Simulated Cells RoboCell s representation of robot and devices are based on actual dimensions and functions of SCORBOT equipment Thus programming performed in RoboCell can be used with an actual robotic installation From Simulation to Real Using CellSetup and Cell Simulation create a cell record all positions to be used by the SCORBASE program write the SCORBASE program and verify program execution Then to construct an actual robotic installation that duplicates the simulated cell 1 Using CellSetup as a guide place all objects and devices in their approximate locations 2 To print a 3D Image select File Print 3D Image 3 Ifnecessary hide some labels and or change the angle and zoom of the camera and print several cell maps 4 Consider your SCORBASE program and determine which of the recorded positions must be precise for example the point at which the robot takes an object from a feeder or the point at which the robot places a part in a machine 5 In SCORBASE On Line mode send the robot to these key positions Adjust the location and orientation of the actual objects and devices e g feeder machine according to the location of the gripper If you are unable to relocate the object or device you can rerecord the p
38. e allows Intelitek to generate the unlock code for the PC on which you installed the software The PC specific code is displayed in the Registration dialog box What is an unlock code This is a code that allows you to use the software after the evaluation period expires You need to send your CD key and PC specific code to Intelitek We will reply with the unlock code for the software you purchased How do I install and register the software on more than one PC Repeat the procedure for obtaining an unlock code as many times as necessary Alternately install the software on all PCs and make a note of the PC specific code generated on each PC You can then send us one email or fax listing all the PC specific codes You will receive unlock codes for each PC Note this will be handled manually by our technical support and may take several days Why should I give you my personal details when I request the unlock code This will allow us to keep you informed about products upgrades and services available for your system and software It will also allow us to help you in case of a lost license How can I recover the unlock code after a disk crash or other system failure Once you have restored and reactivated your PC reinstall the software If it resumes operation in Evaluation mode follow the procedure for obtaining an unlock code Include a comment explaining why you need a new unlock code Note this will be handled manually b
39. e gripper RoboCell User Manual 52 Cell Operation 0510 Machine Operation You can operate the Mill or Lathe directly from the Digital Output dialog box or with program commands see Program Execution 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 RoboCell User Manual 0510 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 robot s 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 c
40. eders Demonstrates the use of named variables for positions Part sorting Demonstrates the control of inputs and outputs Order cylinders and process parts Demonstrates complex PICK movements and program control using IF statements Lathe and mill tending Demonstrates complex operation involving robotic arm mounted on slidebase two parts feeders a lathe a mill and various input output functions Similar to ER4Cell5 using the Intelitek ProLight lathe and mill Demonstrates visual representations of the path taken by the TCP Tool 79 Sample RoboCell Projects Center Point Butt Joint Picks up welding tool to weld two parts in a butt joint Excel_EX1 Demonstrates the use of VBScript to transfer values from SCORBASE into Excel spreadsheets Intelitek Demonstrates use of the SCORBASE Write command MICROCIM Simulation of an OpenCIM device driver interface New Project Empty project Polygon Demonstrates the use of VBScript to transfer values from user input to SCORBASE and make floating point calculation available to SCORBASE Script Demo Demonstrates the interaction between SCORBASE and VBScript Serial Port Demonstrates using RoboCell to send text messages via serial communications port Tjoint Demonstrates complex pick amp place movements and control of welding tool RoboCell User Manual 80 Sample RoboCell Projects 0510 10 Troubleshooting Problem Solution Installation not s
41. es e Graphic module files 3DC e SCORBASE programs sbp Note It is possible to copy and paste an sbp file into your own project e Position data pnt When you select a file a window opens displaying that file Closes RoboCell 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 menu s options 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 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 RoboCell User Manual 0510 46 Working in RoboCell 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 menu s 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
42. ged independently of the voltage tap Welding settings can also be changed by the user when working within the Graphic Display window The settings will remain in effect for all subsequent simulated welds Note Changes in this dialog box do not affect the actual Millermatic welder settings This dialog box can also be accessed by double clicking on the welding machine knobs Note that parameter changes are reflected in the knobs positions Controller Output The welding machine operation is controlled la Welding using a controller output After placing the welding machine in CellSetup you should assign a free controller output for controlling the welding machine RoboCell User Manual 65 Welding Features 0510 Gun Stand The gun stand does not require the user to define any additional configurations or properties The user need only place it in an accessible position on the welding table CellSetup draws the cable that connects the welding machine to the gun Figure 7 8 Gun Stand You cannot save a cell containing only a welding gun or only a welder Neither or both must be present in order to save the cell Welding Jig A T Joint Welding Jig A is a device used to securely hold two materials being welded together in a T joint This jig does not require the user to define any additional configurations or properties The user need only place it in a position on the welding table in which the robot can access the jig from
43. gray with its upper part in white This distinguishes it from a sensor configured to be sensitive to gray which is entirely gray RoboCell User Manual 0510 28 CellSetup Material Detect Height mm Storage 3 Sensor A Gravity Feeder E Feeder A Jig A Rack A Template A Buffer 1 Part E Buffer 2 Parts E ASRS 4 Parts ASRS 6 Parts AS Bin Machines Gravity Feeder By default the sensor is set to detect all materials To set it to a specific material uncheck All Materials Select a material Metal Glass Plastics or Wood from the drop down list Defines the height above table level at which the sensor will be placed in the cell The default height is 40 mm If you increase the height the stand on which the sensor is mounted will appear taller The storage devices in RoboCell enable you to store place and retrieve objects listed in the Materials group The Gravity Feeder is an inclined plane on which objects are placed one above the other a Figure 4 11 Gravity Feeder Unlike most objects the feeder s position is defined as the point at which the robot takes an object from the lower part of the feeder All the remaining objects slide down the feeder to be taken in turn RoboCell User Manual 0510 29 CellSetup When placing objects on the gravity feeder you must position them in the light gray section of the feeder s mouth as shown by the Cursor in Figure 4
44. ic Display M d l niiit nan e i Arenas 47 3D Image Menu amp DOOR A r AE 48 Chapter 6 CellOperatio ecc 52 Robot Manual Manipulations cesccitasdectecettansdonntinssts catesed ite cate teusdontecaas ctw is euapietebetecgnbtulens 52 Machine Operation AM E T R E O T A Eh 53 Send R bot Commands A e A dadas 53 O REER 54 Grasping ODE e e seus nck arsed onde e E C 54 Rel asing Ob e oia 54 O A AEA S E AE A E 55 Defining POSO A SAA AA 55 Recording Postion A koniin aini e E a e R a E 55 Recording Position FL A i A A E a a a 55 Teaching POST 145 x2 gare Aces iena ann aa a EREA A AEE TEA taka AE A EAR 56 A IA wenn 57 A a E O A T EE 57 Chapter 7 Welding Features ccccccsscsssssssssseeeeereccssssscssseseeessccnsnsscessuseeeessesssaes 59 RoboCell User Manual ii Introducing RoboCell 0510 Introducing Welding Pates izo 59 CellSetup Welding Tons A E eae te ete ve eine 62 Welding Tools iii bald 62 Welding Table ConfiUtatiM oiaa 62 Welding Machine Properties is isa 63 G n SaN seasieg casos leis ea esas se e a a a E 66 Welding Had TTM IS E E R E RR ER 66 A a a N E 66 Welding Matas o o a tat eas 68 Plate 3S X25 BD E E EE E usages iatonres 68 Metal Cobros 69 Additional Welding Feat t s at Ai 70 Advanced Send Robot Commands ssssssseessesseeseosseesesresseessesresseessesersstessessessressessessees 70 Recording Positions for Welding Jig Acurio 70 Recording Positions for Welding Gun sssssessssssessesseesresseesresre
45. ically connect to Intelitek s website The unlock code will automatically be installed on your PC and you will see a message that the software is now licensed If you have Internet access but not on the same computer on which the software is installed do the following Using your Internet browser go to http www intelitek com support software licenses index html Enter your CD key and the PC specific code as instructed The unlock code will be displayed automatically Enter the unlock code in the Registration dialog box and select Unlock e Email uses Intelitek s software licensing service In the Registration dialog box select Get Unlock Code and select By Email Ifemail is available on the PC a new email message containing all required details will open Fill in the requested user information optional and click Send The licensing service will send back an unlock code Enter the unlock code in the Registration dialog box and select Unlock Ifyou have email service but not on the same computer on which the software is installed a Notepad window containing all required details will open Fill in the requested user information optional and then transfer the text file to your email program Send to info intelitek com Subject line Intelitek Software License To ensure automatic processing use this exact subject line and do not edit the automatically generated text in the message You may add text and commen
46. ide by side Figure 7 3 Butt Weld e Letters and numerals A gun is used to weld letters or numerals on a large metal plate placed on the butt jig Figure 7 4 Letters and Numerals The workcell allows fully automatic T joint welding operations e retrieval of metal plates from gravity feeder e loading of parts into T joint jig e retrieval of MIG gun e arc welding e returning of gun RoboCell User Manual 0510 60 Welding Features e unloading of weld from jig for cooling Welding of a butt joint or of numerals letters is performed similarly However for these processes the metal sheets must be placed in the jig during the cell setup stage The robot s work envelope does not allow it to place and remove parts from this jig RoboCell User Manual 61 Welding Features 0510 CellSetup Welding Tools The welding tools available in CellSetup are described below See also Chapter 4 CellSetup Welding Tools Welding Table Configuration The welding table should be placed in the cell just before or after the robot the first object has been placed Most welding objects are automatically placed at the correct default welding table height even if they are not placed directly on the welding table The welding table configuration dialog box contains the following options WELDTABLE2 xi Properties a Size X rom po Y mm po a OK Cancel Help Fig
47. iled information see New Objects Menu Delete Object Activates the delete mode in order to delete an eS object from the cell Using the cursor point and click on the object you want to delete Click Yes to confirm the deletion If you click No the delete mode remains in effect allowing you to select and delete another object Press Esc to cancel the delete mode Drag Object Activates the drag mode in order to relocate an object in the cell Using the cursor point and click on the object you want to relocate and drag it to its new position The drag mode remains in effect until you select another option or press Esc Floor Size Opens the Set Floor Size dialog box where you can set the X and Y dimensions of the cell Click OK to confirm the new size or Cancel to close the dialog box Set Texture Opens a sub menu listing cell textures floor land and background Select the desired bmp file for the specified texture RoboCell User Manual 16 CellSetup 0510 View Menu Controller Setup The View menu enables control of the position and name labels and the virtual camera position Through this menu you can toggle the display of the Toolbar and Status Bar Show Names Show Positions Redirect Camera Drag 3D Frame Camera Top Scene Origin Toolbar Status Bar P The robot controller has eight digital input and eight digital output connections Certain objects that are placed in the cell h
48. isplay purposes only and cannot be changed RoboCell User Manual 68 Welding Features 0510 Metal Cube When you select Metal Cube this dialog box opens x Properties a Object Material Metal y Size mm 300 Y mm la Zim fm 3 DK Cancel Help Figure 7 12 Metal Cube Configuration Colors Define the color of the cube in the same way as described for the Plate Size The AMT tekLink uses parts whose dimensions are 300 x 4 x 100 mm default which you can modify if desired Any dimensions can be defined provided that the cubes are compatible with either welding Jig A or B RoboCell User Manual 69 Welding Features 0510 Additional Welding Features The RoboCell s Graphic Display includes the following features Advanced Send Robot Commands Recording Positions for Welding Jig A Welding features enable easier recording of positions for Welding Jig A To record the position for placing a part in the left side of the jig use the Send Robot to Object option and click anywhere on the protruding parts of the jig indicated by the number 1 in Figure 7 13 RoboCell will automatically send you to the correct position for placing the part Note that this position is also used for removing the welded part from the jig To place parts in the right side of the jig click on any of the areas numbered 2 in Figure 7 13 Figure 7 13 Recording Positions for Welding
49. ize and color Attributes must be set before an object can be placed in a cell An object s configuration cannot be changed once the object has been placed in the cell You must delete the original object and select and configure the object again from the New Object list Objects that have configuration options are described later in this section Object Properties Menu RoboCell User Manual 21 CellSetup 0510 Double clicking on an object that has already been placed in the cell opens the Object Properties menu Object properties can be changed at any time during cell setup All Object Properties menus contain the object s name and the following options Some objects have additional properties which are described in the individual sections Every object is automatically assigned a name Show Text and a number when it is placed in the cell This name is displayed in the object s properties menu The number indicates the order in which objects of the same type were added to the cell e g FEEDER1 GFEEDER2 Clicking on Rename opens a dialog box that allows you to change the name of the object The number can be changed or deleted Objects can be rotated to any degree in the minus clockwise or plus counterclockwise direction Clicking on Rotate opens a dialog box that allows you to change the object s orientation The degree of rotation is always defined relative to the object s default predefined orient
50. jects 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 Displays the span of the robot s 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 Opens the Welding Setting dialog box which enables definition of the welding parameters see Figure 7 7 RoboCell User Manual 51 Working in RoboCell 0510 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 Manual Movement 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 In ER2 axis 6 is disabled Use the Open Gripper and Close Gripper buttons to control th
51. le The camera moves up or down while the center point of the image remains fixed To change the center point use the Redirect Camera tool see View Menu on page 17 Brightness To change cell illumination bright or dark click the right mouse button and drag in any direction while holding down Ctrl The cursor changes to a light bulb RoboCell User Manual 11 Graphic Interface 0510 RoboCell User Manual 12 Graphic Interface 0510 4 CellSetup CellSetup allows you to create a new virtual workcell or modify an existing one A workcell created using CellSetup can be theoretical or a replica of actual robotic installations After creating a workcell you can open it in RoboCell where you can define positions write programs and run them If a controller and a robot are connected to your computer you can switch RoboCell to On Line and run the virtual robot in the virtual cell together with the real robot in the real cell Opening CellSetup To open CellSetup e Select Start Programs RoboCell CellSetup After initialization the following screen appears Ready Figure 4 1 CellSetup Opening Screen e Select File New to create a new workcell At this stage you can choose to work with either the default robot that you selected during installation or another robot RoboCell User Manual 13 CellSetup 0510 Select Robot x Select a robot for the new cell CE gt x E e Ifyou want to ope
52. le level These objects will appear to float in space unless a table has also been placed in the cell The height of some objects template jig cylinder and cube is determined at the time they are placed in the cell If for example you click on the conveyor when placing a cube in the scene the cube will be placed on the conveyor at the proper height It is recommended that a table be placed in the cell before any of these four objects is added to the cell Otherwise these objects may be set on the cell floor and are hidden when a table is added Once an object s height is set it cannot be changed in CellSetup For example you cannot move the cube from the table onto the conveyor Moving an object whose height has been set will cause it to float in space or penetrate another object If the setup is saved with a floating object the object will fall to the surface below it when the file is loaded in RoboCell To change an object s height in CellSetup you must delete the object and create a new one To move an object simply click on it and drag it to another position Or use the object s properties menu to set precise position coordinates The robot cannot be dragged to another position Its position can be changed only by means of its properties menu Object Configuration Selecting some of the objects from the New Object list will open a configuration dialog box for defining the object s permanent attributes such as s
53. n an existing workcell select File Open from the Opening Screen For further details see File Menu below e Ifyou are working in RoboCell and you want to modify the current workcell you are using select File Edit 3D Model CellSetup opens with your current workcell At this point you cannot open another cell therefore the New and Open options are not available When you exit CellSetup after having completed your modifications you will return to RoboCell where the newly edited cell will be displayed For further information see Chapter 5 Working in RoboCell CellSetup Window Figure 4 2 shows an existing workcell in the CellSetup window The window comprises e A Menu Bar containing all command menus and options e A Toolbar containing icons for the most commonly used options e Working area containing the workcell objects e A Status Bar displaying RoboCell status messages Menu Bar ___ za Toolbar BSS BEAMS SSA Q4 43 Status Bar Figure 4 2 CellSetup Window RoboCell User Manual 14 CellSetup 0510 File Menu New Ctrl N Open Ctrl O Save Ctrl S Save As 1 Er4Cell4 2 Erdcell2 Exit 3 RoboCell User Manual 0510 Cell data is stored in a 3DC file The File menu contains the usual Windows functions that allow you to load and save 3DC files and to exit the software In addition you can open the most recently opened workcell files from this menu Note Onl
54. nt cell configurations can be loaded and changed in RoboCell keep in mind that positions and programs are not loaded together with their workcell To use a workcell with its positions for a new project save the project with the workcell and positions under a different name using the Save as option in the File menu Then delete the program and write a new one the positions and the cell remain unchanged 57 Cell Operation RoboCell User Manual 58 Cell Operation 0510 T Welding Features Introducing Welding Features RoboCell welding features contain 3D solid modeling robotic welding options for teaching modern techniques of arc welding The software features the following e Welding of multiple parts both online and in simulation e Accurate display and manipulation of welded parts both online and in simulation e Single command character generator that calculates and teaches all positions required for producing any text string e Predefined welding cells and fully functional demonstration programs for simulated execution A typical welding cell is shown in Figure 7 1 Figure 7 1 Welding Cell RoboCell User Manual 59 Welding Features 0510 Welding features enable several types of welding processes T joint welds butt welds and the welding of letters and numerals e T joint weld A T joint weld is shown in Figure 7 2 Figure 7 2 T joint weld e Butt weld Weld in which the pieces are welded s
55. object Zoom in on the object or point whose coordinates you want to record Click the Teach Position Simple Expanded button to open the Teach Position dialog box mm fo Y mm fo Zimm fo Pitch deg 0 Roll deg 0 fo Get Position Clear Teach 1 a Absolute Simple C Relative to Position Number Include Axes a Ey V Robot Peripherals Figure 6 2 Teach Positions Dialog Box Expanded 4 Type the position coordinates in the X Y Z P and R fields 5 Enter a number in the position number field 6 Click Teach Note If you click Record position the current robot position is recorded and not the position defined by the coordinates you entered in the X Y Z P and R fields If the position number has been used previously the new position will overwrite the previous position data RoboCell User Manual 0510 56 Cell Operation Fine tuning a Position To modify existing positions 1 Click Teach Position Simple Expanded to open the Teach Position dialog box Select the position you want to modify in the Position Number field Click Get Position The position data appears in the X Y Z P and R fields Modify the required coordinate Click Teach to overwrite the previous position Program Execution RoboCell User Manual 0510 Executing programs in RoboCell is the same as executing programs when using an actual robotic system Since differe
56. ollowing additional option Welding Settings Opens the Welding Settings dialog box see Figure 7 7 which enables definition of the following weld parameters e Voltage Tap e Wire Diameter e Wire Speed e Shielding Gas elding Settings Oj 0 030 inch 0 035 inch Figure 7 7 Welding Settings Dialog Box Voltage Tap Wire Diameter Sets welding machine voltage output supplied to the welding gun an important variable in determining the quality and appearance of a weld The voltage tap value is a reference number and 2 does not indicate a voltage value The voltage tap should be set according to several factors such as robot speed wire speed and metal thickness Sets diameter of the welding wire being fed to the MIG welding gun Cannot be changed Default of wire diameter used in the AMT tekLINK is 0 023 inch RoboCell User Manual 0510 64 Welding Features Wire Speed Sets speed at which the wire is fed to the MIG welding gun Also known as feed rate Shielding Gas Sets type of gas for shielding the weld from oxidation which causes rust and poor joining of the welded pieces The system only works with CO gas The default parameters are set according to the Millermatic recommended settings see Millermatic User s Manual Some parameters are interrelated For example changing the voltage tap causes the wire speed default to change automatically Note that the wire speed can also be chan
57. on overwrites the previously saved position Restore Camera Restores the position recorded using Save Camera Position Position Labels Sub options og Object Names Shows hides Object Name labels ay 33 Object Positions Shows hides Object Position labels EL 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 e The robot was moved after initial setting in CellSetup e The robot is equipped with LSB When the robot moves the position of objects relative to the robot changes RoboCell User Manual 49 Working in RoboCell 0510 Number Parts in Feeder Send Robot Sub options Send Robot to Object Send Robot to Point Send Robot to Above Point Options for Send Robot f Send Robot Options e Shows hides a label that displays the number of remaining objects in a feeder Select Options Simulation to enable the Send Robot options Sends the robot to the selected object Make sure the gripper is open before sending the robot to the object This option is useful for defining a robot pick position Sends the robot to the selected point This option is useful for defining a robot place position Sends the robot
58. osition coordinates RoboCell User Manual 77 Replicating Real and Simulated Cells 0510 From Real to Simulation To create a simulated cell based on an actual installation you will need to know the exact location and orientation of every element in the cell If the cell layout is simple this information can be obtained through a coordinate grid or a ruler For a more complex cell layout you will probably need a technical drawing e g AutoCAD which shows the center point and orientation of all objects All measurements should be made with both the robot and the cell at the same point of origin and with the same orientation RoboCell User Manual 0510 78 Replicating Real and Simulated Cells 9 Sample RoboCell Projects Your RoboCell package contains a number of sample projects to help familiarize you with the capabilities of RoboCell These are accessible by means of the File Open command Press ctrl O on your keyboard select Open Project from the File menu or click on the Open icon in the toolbar You will be shown a listing of all the WS files in the following subdirectory C Program Files Intelitek RoboCell Projects ER4u 3D Project Descriptions RoboCell User Manual 0510 ER4Cell1 ER4Cell2 ER4Cell3 ER4Cell4 ER4Cell5 ER4Cell6 Builds two towers one of cylinders and one of rectangular blocks Demonstrates the use of numbered positions Builds two towers from parts supplied by parts fe
59. ou select is compatible with the sensor s detection definition Size The default dimensions of the plates are 38 x 2 x 89 mm These are for display purposes only and cannot be changed RoboCell User Manual 36 CellSetup 0510 Metal Cube General x Robots Peripheral Axes 170 Devices Storage Machines Welding Tools Welding Materials lt a General A Table ES Computer Materials User Objects Cancel _ RoboCell User Manual 0510 When you select Metal Cube this dialog box opens Properties i Object Material Metal X m Size mm 300 Y mm 4 2 Z mm 100 DK Cancel Help Figure 4 17 Metal Cube Configuration Colors Define the color of the cube in the same way as described for the Plate Size The default dimensions of the cube are 300 x 4 x 100 mm which you can modify if desired The General group includes a table and a computer which is for display purposes only 37 CellSetup Table It is a good idea to place the table in the cell just before or after the robot has been placed It is also recommended that you place one or more tables in the cell so that objects do not float in space or lie on the floor Most objects will be displayed at the correct height even if they are not sitting on tables When you select Table this dialog box opens x Properties o ES Size Y rom fico ti mm 1000 00 OK
60. sseessesersseessessrssressesse 70 Welding Bon tas a a a a a a 71 A S AN RAN 72 Welding Dita ta 72 Weld nero ia 74 Welding QUO PEO AA A a A RA a aR As 74 Weld Eesmperatllle sta rl laa za 74 Ni II A 74 A a a Sauk oto tt i du id Sas Fleet ienloed ak 75 Chapter 8 Replicating Real and Simulated Cells cceeeceeeeeeeeeeeeeeeeeeeeeeeeeaes 77 A O a a a aa a ea iTe TA From Real to Ia e e lr tel ae 78 Chapter 9 Sample RoboCell Projects commmmnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 79 PEO Project DS SCRUM add 79 ERIC la as ca Nal Fa anh haar Sete EA Wi ach aaa as 79 ERACEII2 aras ri di 19 PRACE crete dt ease einen eI 79 PUR AC CIIAN A a o iad 19 FERAGC CLD yc ccouias a dial 79 A minis E E E E R E E cane icons EEA 79 A a Gale eases 80 Excel EX irian a a ae a arn ee Sa San ul A 2op an Be ca lasso ck 80 MANUS UC AEE AAAA AE AA Na eee aa cee aN alr E Seeds 80 MICRO CIM a e E ao tod aunver eases aoceede wea tomer nana aimee eats aeneeehccaes 80 NO A A O REE tie E A dd R E O 80 Polygon A A EA A A A Blas A E a ieei 80 Script DEMO n ars ii it ei 80 Serah POTt A II E N a E A 80 A E a ES 80 Chapter 10 Troubleshooting oooomccocnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nas 81 RoboCell User Manual iii Introducing RoboCell 0510 Chapter 11 Intelitek Software Licensing c oommmcnnnnnnnnnnnnnnnnnnnn nn 83 Register your software and receive a unlock code ooooocccnocccococicoconoccnnnoconocona cono nonanonos 83 Protect your cense aiena aia Ae
61. terials It is connected to the welding gun by a cable You cannot save a cell containing only a welding gun or only a welding machine Neither or both must be present in order to save the cell The gun stand holds the welding gun between welding sessions The robot picks the gun from the stand before starting the weld and returns it to the stand when the welding is finished Welding Jig A is a device used to securely hold two materials being welded together in a T joint Welding Jig B can be used for various types of welds 35 CellSetup Welding Materials x Robots The Welding Materials group includes the plate and the metal cube gna Usage of the welding materials is detailed in Chapter 7 Welding 1 0 Devices Features Storage Machines Welding Tools Welding Materials E Plate 38x2x89 mm A Metal Cube General Materials User Objects Cancel Plate 38 x 2 x 89 Plate refers to the welding metal plates which are used with Welding Jig A When you select Plate this dialog box opens WELDPART1 xj Properties Co MEN Object Material Metal y m Size mm 38 Y mm 2 Z mm fas Figure 4 16 Welding Plate Configuration Colors You can define the color of the plate to which the sensor is sensitive The default color is blue To change the color click Colors This opens a color palette from which you can select the required color Make sure the color y
62. the machine door The machine cannot start if the door is open Closes and opens the machine chuck The chuck holds the object during the process Sets the robot controller output to which the machine is connected The machine cycle starts when the output is turned on To modify the configuration after the machine has been placed in the cell double click on the machine to open its Object Properties menu see Object Properties Menu Select Machine Setting to open the Configuration dialog box RoboCell User Manual 0510 34 CellSetup Welding Tools mi Materials Full details on use of the welding tools are provided in Chapter 7 4 The Welding Tools group includes J 1 0 Devices J Storage e Welding Table Machines Welding T ils e Welding Machine E Welding Table E Welding Machine e Gun Stand Gun Stand E Welding Jig A e Welding Jig A E Welding Jig B Welding Materials i i General i Welding Jig a User Objects Welding Features Cancel Welding Table Welding Machine Gun Stand Welding Jig A Welding Jig B RoboCell User Manual 0510 The welding table holds the welding object and it should be placed in the cell just before or after the robot the first object has been placed Most welding objects are automatically placed at the correct default welding table height even if they are not placed directly on the welding table The welding machine supplies the electrical power required to weld the ma
63. ts to the end of the message Once you receive the unlock code enter it in the Registration dialog box and select Unlock e Fax or Phone If you do not have Internet or Email service select Get Unlock Code and select By Fax or Phone A Notepad window containing all required details will open Fill in the requested user information optional and then print out the document Contact your local dealer or Intelitek with the printed information RoboCell User Manual 84 Intelitek Software Licensing 0510 Protect your license Every unlock code is unique It will become invalid and cause the software to stop functioning when you change a physical component in your PC e g hard disk network card CPU format your disk or install a new operating system e Ifyou want to upgrade your PC and keep your software operational you must first transfer the license unlock code to another PC e Once you have upgraded your system reinstall the software if necessary and transfer the license back If you do not have a PC available for the temporary transfer operation return the license to Intelitek You will be able to retrieve the license by following the standard procedure for obtaining the unlock code Transfer a license from one PC source to another PC target e On the target PC install the software and get the PC specific code from the Registration dialog box e On the source PC open the Registration dialog box Enter the PC
64. uccessful Make sure all applications including anti virus monitors and network drivers are closed Then try installing the software again Program not responding correctly There may be a message box hidden behind the application window Minimize the application windows to check for messages or prompts Robot cannot be dragged to another position By default the robot is placed at the cell s point of origin to simplify the teaching of positions The robot s position can be changed only by means of its Properties menu Screen layout is jumbled or crowded Use the SCORBASE View Simulation amp Teach or View Simulation amp Run to reset the screen layout You can also use the SCORBASE Options Load User Screen to reset a screen layout that you set and saved previously Peripheral axes do not move in RoboCell When SCORBASE is operating on line the peripheral settings defined in the CellSetup file are not loaded the peripheral setup defined in SCORBASE is retained Simulated peripheral axes that do not match the SCORBASE definitions will not respond to SCORBASE commands in the Graphic Display RoboCell User Manual 81 Troubleshooting RoboCell User Manual 82 Troubleshooting 0510 11 Intelitek Software Licensing The software is protected by a licensing agreement Once installed you can use the fully operational software for a 30 day evaluation period To continue
65. ur screen is the output of a virtual video camera fitted in the workcell You can use the mouse to manipulate the image The Graphic Display and CellSetup in RoboCell have the same graphic interface 0510 Rotate To rotate the scene move the camera around the center of the image e Place the cursor anywhere in the graphic window and click the right mouse button The cursor changes to a magnifying glass e Keep the right mouse button depressed and drag to the right to rotate the scene counterclockwise e Similarly keep the right mouse button depressed and drag to the left to rotate the scene clockwise Figure 3 1 Rotating the Scene The image rotates around its center point To change the center point use the Redirect Camera tool see View Menu on page 17 RoboCell User Manual 9 Graphic Interface Zoom To zoom in or out e Place the cursor anywhere in the graphic window and click the right mouse button The cursor changes to a magnifying glass e Drag up to zoom in e Drag down to zoom out Figure 3 2 Zooming with Camera The image zooms in and out while its center point remains fixed To change the center point use the Redirect Camera tool see View Menu on page 17 RoboCell User Manual 10 Graphic Interface 0510 Angle To change the angle of the overhead scene to move the camera up or down place the cursor on the vertical scroll bar and drag it up or down Figure 3 3 Changing Camera Ang
66. ure 7 5 Welding Table Configuration Colors Opens the color pallet to define the color of the welding table The booth poles will remain default gray To distinguish the table use a color that is different from the colors used for the floor and background X mm Y mm Defines the length and width of the table in millimeters X and Y dimensions are always in accordance with the X and Y dimensions of the cell Use the Show Cell Origin option to display the X and Y origin of the cell You can accept or change the default dimensions of 1200 x 800 mm which represent the width of the welding booth s table supplied with the Automated Welding tekLINK RoboCell User Manual 62 Welding Features 0510 Welding Machine Properties The Welding machine supplies the electric energy required for the welding process to the welding gun As such you cannot save a cell containing only a welding gun or only a welding machine Neither or both must be present in order to save the cell To open the welding machine properties window do one of the following e Select 3D Image Welding Setting from the RoboCell main menu Note The Welding Setting option is only enabled if you have defined a welding machine and a welding gun in the cell e Double click on the welding machine image in the 3D window Figure 7 6 Welding Machine Image RoboCell User Manual 63 Welding Features 0510 The welding machine Properties menu contains the f
67. using the software after this period you need an unlock code from Intelitek To obtain an unlock code you need to complete three steps 1 Ze 3 Install the software from the CD Send the CD key and the PC specific code to Intelitek Upon receipt of the unlock code enter it in the Registration dialog box The sections below provide detailed instructions on how to use the software license Register your software and receive a PC specific unlock code for each license purchased Protect your license Transfer a license from one PC to another PC Return a license to Intelitek so you can retrieve it later Frequently asked questions Register your software and receive a unlock code RoboCell User Manual 0510 During the software installation you will be prompted to enter the CD key This number is found on the CD case Make sure to keep the CD key in a safe place The installation procedure generates a PC specific code This code is found in the Registration dialog box To receive the unlock code for the software you installed you must send Intelitek both the CD key and the PC specific code The Registration dialog box provides several methods for obtaining the unlock code 83 Intelitek Software Licensing e Automatic from Intelitek website If Internet access is available on the PC do the following In the Registration dialog box select Get Unlock Code and select From Intelitek com The software will automat
68. y one workcell file can be opened at a time New Print 3D Image Print Preview 3D Image After you select the robot that you want to work with either ER 4u or ER 2u opens a new untitled CellSetup file and opens the New Object menu This icon and menu option are available only 1f CellSetup is opened from the Programs menu The Open dialog box appears You can open an existing CellSetup file e g robo1 3DC The cell defined in the file is displayed and the New Objects menu opens This icon and menu option are available only 1f CellSetup is opened from the Programs menu Saves the current placement of all objects in the cell to a CellSetup file Default file extension is 3DC Saves the currently active CellSetup file under a new file name Note Peripheral axes are redefined through the robot s properties menu in the new file created by the Save As operation Prints the currently displayed 3D image Opens a dialog window that shows how the printed cell will appear on paper Closes CellSetup 15 Cell Setup Edit Menu New Object The Edit menu contains functions that allow you to add new objects Delete Object delete and relocate objects and drag them change their position in the ee cell Through this menu you can also set the floor size and cell textures Floor Size Set Textures Ma Opens closes the New Object menu From this menu you can select objects to add to the cell For deta
69. y our technical support and may take several days RoboCell User Manual 0510 86 Intelitek Software Licensing RoboCell User Manual 0510 How can I extend the evaluation period The 30 day evaluation period begins as soon as the software is installed Reinstalling the software on the same PC will not renew the evaluation period Under certain circumstances we will extend your evaluation period Use the Get unlock code option in the Registration dialog box to request a time extension Be sure to send us your CD key PC specific code and the reason for your request After approving your request we will send you an unlock code that will extend the evaluation period When you receive the unlock code do the following e Enter it in the Registration dialog box e Select the option to Extend the Evaluation Period e Select Unlock 87 Intelitek Software Licensing RoboCell User Manual 88 Intelitek Software Licensing 0510

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