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Starting SCORBASE

1. en mm Y mm Z mm Pitch deg Roll deg mm deg mm deg s r Joint 1 YZ i D Message 2 Joint 148 00 22 70 123 53 10 86 30 75 Abs Joint XYZ 151 34 9456 7223 89 96 30 75 n xYZ 0 00 0 00 30 00 0 00 0 00 Rel 1 YZ T Joint 106 51 13 92 87 26 16 62 12 90 Abs Joint XYZ 83 52 281 84 45 44 89 96 12 90 12 aint RRN 1hR3 8AN 1R 29 2A A hs flninh xj xz mm 168 03 Y mm 0 00 Zimm 504 33 P deg 63 55 R deg 0 00 Open CIM path C Program FilessIntelitekS CORBASE S amp GVACIMFlIexVw 5 15 IP address 172 16 12 165 Insert EJ Simulation Version 5 3 and higher for SCORBOT ER 4u SCORBOT ER 2u ER 400 AGV Mobile Robot User Manual Catalog 100342 Rev G February 2006 Copyright 2006 Intelitek Inc SCORBASE USER MANUAL Catalog 100342 Rev G February 2006 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 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
2. the robot axes User Manual 47 SCORBASE 0602 Program Editing GC Go 2 Pro Sends the robot s TCP in a circular path to the target Circular to position via the position specified in the Via Position Position field The circular motion applies only to the robot Speed Note The Circular command follows the circle defined by the three positions current TCP position target position and the intermediate position specified in the Via position field Via Position The position via which the destination of the movement 1s reached Enter a number or a variable in this field JA Jaw 2 Pro Moves the gripper s jaw to the specified span The command opens this dialog box JAW Jaw mm Range 0 70 pe OK Cancel i Figure 6 7 Jaw Dialog Box Enter a number or a variable in the Jaw field Note Accuracy cannot be guaranteed if the width is less than 5 mm or greater than 65 mm Jaw activates Servo Control for the gripper motor whereas Open Gripper and Close Gripper commands do not use the gripper axis Servo Control Unless you need the Jaw command for a specific application the Open Gripper and Close Gripper commands are recommended Note This command is not available for SCORBOT ER 2u User Manual 48 SCORBASE 0602 Program Editing IL If Limit The IL is a conditional jump command It causes Switch lt gt on program execution to jump to the line that contains jump
3. Back Cancel Figure 2 5 Select Program Folder Window e Inthe Select Program Folder window you are requested to select the folder to which the program icons will be added e Click Next to complete the installation procedure Uninstalling the Software To uninstall SCORBASE 1 From the RoboCell program group select Uninstall 2 Follow the instructions which appear on the screen Starting SCORBASE To start SCORBASE 1 Make sure that all the components to be used are installed and connected according to the installation procedures detailed in the User Manuals supplied with the robot and controller 2 Turn on the computer and the controller 3 Select Start Programs SCORBASE for ER 4u User Manual 5 SCORBASE 0602 Starting SCORBASE 4 Select the SCORBASE for ER 4u command After initialization the following screen appears 2 SCORBASE for SCORBOT ER 4u File Edit Run Options View Window Help D BD aw Ml JE gE EG on on lp A Uu Ap SCORBASE Insert Eg Off Line a Figure 2 6 SCORBASE Opening Screen If SCORBASE opens in Off line mode or the controller is not detected the program will load and operate in Off line mode Only one instance of SCORBASE can be active at a time Quitting the Software Stop the SCORBASE program if running If you have unsaved changes in the project SCORBASE prompts you to save the changes before closing To close SCORBASE or its components
4. MD SendCommand 5 LoadScript EM EndProgram INPUTS amp OUTPUTS E ADVANCED COMMANDS J VISION COMMANDS E JO JumpTo 0 D LA Label INPUTS amp OUTPUTS HingBeall Sel anableT aCamputatian IJump SelSubrautine Return Subroutine CallSubroutine Label F5 Print oScreenLog JE INPUTS amp OUTPUTS 3 XH co zan T dH ous ig ce uM ud SGEGEEBEGEES a ESESESESESESESESESESESESESESESESE WT Wait 1Oths of The command opens this dialog box second 1 10 of second Xo Figure 6 21 Wait Dialog Box Enter a number or a variable in the 1 10 of second field User Manual 56 SCORBASE 0602 Program Editing JU Jump to 1 2 Pro This unconditional jump command causes the program pointer to jump to the line that contains the specified Label The command opens this dialog box Jump to lt LABEL Jump to ceca Figure 6 22 Jump To Dialog Box Enter the Label name in the Jump to field Be sure to include a line with this Label in your program When the Jump command is used Jump is checked in the dialog box You can modify the Jump command to an IF jump command conditional jumping only in Levels 2 and Pro RE Remark 2 Pro Allows insertion of a comment line for explanation and documentation into the program The command opens this dialog box Figure 6 23 Remark Dialog Box Enter up to 47 characters of text including spaces RB Ring 2Pro When exec
5. Go Linear to Executes the Go Linear to Position command Position Sends the axes in a straight line to the selected position Toggles to the Teach Position Simple dialog box Simple Pro Level Teach Positions Simple Position Number nclude Azes Robot Peripherals a f Speed Bie Absolute t Duration Relative ta 10 bs Figure 5 9 Teach Positions Simple Dialog Box Pro Level At the Pro level the Simple Teach Positions dialog box offers the following additional commands Include Axes Instructs the controller to define coordinates for axes for Robot Peripheral or both A peripheral position can be recorded only in the Pro level Duration Defines the time it takes to complete a movement command The time is defined in tenths of a second For further information See page 47 These commands remain available when the Teach Positions dialog box 1s expanded User Manual 34 SCORBASE 0602 Position Definition Recording Positions Joint Coordinates Record Absolute Position Levels 1 2 amp Pro To record an absolute position l 2 3 N 6 Use either the Manual Movement dialog box or the Robot Movement dialog box to move the robot to the position you want to record Click on the Teach Position dialog box Type a position number in the Position Number field or select an existing position number if you want to modify overwrite a previously defined position
6. SCORBASE SCORBASE for SCORBOT ER 4u MICROCIM DEMO File Edit Run Options View Window Help D Bu Big A Uf LU Pig TS a a ae eS a ea aa cc ce aaa Sessa PUTENT Program MICROCIM DEMO Bm mm Open CiM Device Driver USBC1 aag RUANO Wow FORE H 1 Remark Beginning of the automatically generated code a 2 Call Subroutine PICK_AND_PLACE_0 1 3 15 2 0 3 Set Subroutine PICK_AND_PLACE_0 1 3 15 2 0 4 Set Variable TASK_ID 110000 5 Set Variable PART_ID 0 6 Set Variable SOURCE_DEVICE_ID 1 7 Set Variable SOURCE DEVICE INDEX 3 a 8 Set Variable TARGET_DEVICE_ID 15 9 Set Variable TARGET DEVICE INDEX 2 10 Set Variable PICK_AND_PLACE_NOTE 0 12 Call Subroutine PUTO15 13 Return from Subroutine 14 Remark End of the automatically generated code 15 Remark Intelitek Open CIM robot device driver demonstration 16 Remark The ER 4u robot serves the Conveyor CNY1 17 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine GETO15 19 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 20 Go to Position 21 Speed 5 21 Open Gripper A oie set ki anor Tren ATE onoecitina CIM Messages Start new session peration Mode Standalone 2d Task History Robot Movement couner DEVICE a mcs Positions MICROCIM DEMO Axis Axis2 Axis 3 Axis 8 Axis 4 Axis 5 Axis 7 MM
7. Select Absolute Select Include Axes Robot or Peripherals a Robot to record a position for the robot axes b Peripherals to record a position for the peripheral axes Pro level only c The user can select both To record the current position click the Record Position icon Record Relative Position Pro Level To record a relative position l 2 3 4 2s Make sure you have first defined a reference position Move the robot to the position whose coordinates you want to record as relative to another position In the Position Number field in the Teach Positions Simple dialog box enter a new position number Select Relative to and enter a number or select Current for the reference position in the Relative to field Click Record You have now recorded a relative position A position that 1s Relative to Current means the specified offset will be computed from the location at which the robot 1s positioned at the time it 1s sent to the relative position If the reference position changes the relative position also moves User Manual 0602 35 SCORBASE Position Definition Teaching Positions XYZ Coordinates In order to teach a position in XYZ coordinates click Expand See page 27 Teach Absolute XYZ Position Levels 2 amp Pro To teach an absolute X YZ position 1 Click Expand 2 Enter XYZ Pitch and Roll values 3 Click Teach To use existing position coordinates to define a new p
8. w Line Number Reload Last Project at Startup Level 1 Level 2 w Pro Advanced Options Figure 10 15 Options Menu Line Number Selection By default SCORBASE displays program line numbers in the Program Window If you wish to hide them uncheck the toggle under Options Line Number Reload Last Project at Startup mm View 3D Image Window He On Line Off Line ow Simulation Hardware Setup Set Parameters wv Line Number Reload Last Project at Startup Level 1 Lewelz I Advanced Options w Pro Figure 10 16 Options Menu Reload Last Project Selection When SCORBASE is initiated the program can be set up to automatically open the last project To toggle this option select or deselect Options Reload Last Project at Startup A checkmark appearing next to this option indicates that the option is on User Manual 98 SCORBASE 0602 System Configuration Experience Level SCORBASE offers three experience levels e Introductory Level 1 e Advanced Level 2 e Professional Pro Level A higher level offers more commands and tools Levels can be selected from the Tool bar or from the Options menu Displays list of commands and options at introductory level Commands related to Level 2 and Pro are disabled Displays list of commands and options at advanced level Commands related to Pro are disabled Displays list of all commands and options Displa
9. Current parameter set loaded to the controller Default Default set when parameters are optimized Activates the robot at maximum speed To modify any of the parameters of the above vendor supplied sets you must save the set under a different name Click the Save As icon to open the dialog box Enter the name of the new Parameter Set and click OK to save it ps Parameter Set SDEFAULT 2 ER 2 t Figure 10 14 Parameter Set Window toolbar Use the Parameter Set Window toolbar to select one of the following options El Open Displays the Open Parameter Set window Select tH the desired Parameter Set from the list Gp oave saves the Parameter Set after changes have been a effected A Parameter Set marked with the symbol cannot be changed and saved The set must first be saved under a new name using the Save As icon En oave As Opens the Save Parameters Set As dialog box k Enter the name of the new Parameter Set and click OK to save it E Default Displays the Default Parameter Set 3 Apply Loads the selected Parameter Set to the controller i Opens the selected Parameter Set Window which m lists all the parameter keys with description and value included in the Parameter Set The keys are listed by sections See page 96 User Manual 97 SCORBASE 0602 System Configuration Line Number oes View 3D Image Window He On Line OFF Line Simulation E L Hardware Setup ro Set Parameters
10. For safety reasons certain parameters are not accessible by the user i e they appear grayed and can be changed only by Intelitek support personnel To delete cut copy and paste a line use the usual Windows tools 45 SCORBASE Program Editing Axis Control Commands Workspace Project Commands ees xis CONTROL OG OpenGripper i8 Be Due CG CloseGripper SERA BDET Lat GP E Spend X GP GoToPositiontt Speed OG UpenGripper PROGRAM FLOW 4 GL GoLinearT oP ositiondt_ Speed La CloseGripper S IKELTS 8 ELUTPLLTS GO GolircularT oPosition Speed GP GoToPosition Speed GL hoLinearToPositionH Speed 3 IL IfLimitSwitchit 5A Sethsist fore iti oe MEN GC GaeCreularToPasitiont Speed J amp daw 3 ec FLO INPUTS amp OUTPUTS IL IfLimit amp witcht HP RecordPositiont 5A Sel s Tozero SC StatConveyor ST StopConveuor SQ SetVanableToGnippersensor WA Write LM Controlin LF Control ff TJ TeachPositionB loins HJ TeachPaositionBylointsH elativeT o Ts TeachPFaositianB par HX TeachPositienBysrzHelativeT o SJ SaMarnableToJointPosition Se SselVarnableT oL artesianP ositian PROGRAM FLOW INPUTS amp OUTPUTS J ADVANCED COMMANDS VISION COMMANDS Level 1 Introductory Level 2 Advanced Pro Professional Figure 6 5 Command Tree Axis Control amp j Ed E 5 amp j Ed Ed El 4 Ea Ea Ea i i i i Ea OG Open 1 2
11. Select either On or Off for the state of the input Select either Jump or Call Subroutine then complete the active field In the Jump to Label field enter the name of a Label In the Call Subroutine field enter the name of a subroutine or a variable User Manual 67 SCORBASE 0602 Program Editing Ol On Input Sets the condition for an input interrupt service The service Interrupt Call Subroutine or Run Subroutine will be performed On Off whenever the condition input status is satisfied regardless of the current program pointer position The command opens this dialog box On Input Interrupt t On Input Number C DR f Call Subroutine Run Subroutine ced Figure 6 38 On Input Interrupt Dialog Box Input Number Enter the number of a digital input a variable or the word ANY Use of the word ANY causes any input 1 8 to evoke the interrupt state On Off Select the state of the input Call Enter the name of a subroutine that will be Subroutine executed in case of interrupt Execution of the main program is suspended until completion of the subroutine Run Enter the name of a subroutine that will be Subroutine executed in case of interrupt Execution of the main program continues and the subroutine is spawned as a concurrent process An interrupt command causes the program to halt the command it 1s currently executing which can also be a movement or a delay and to immediately
12. do any of the following e From the Menu Bar select File Exit 5 Click the Close box in the SCORBASE Title Bar e Press Alt F4 See page 9 User Manual 6 SCORBASE 0602 Starting SCORBASE 3 Menus Overview The SCORBASE Window Figure 3 1 shows the SCORBASE opening screen which comprises e A Title Bar containing the screen name and the usual Windows controls for sizing and closing the application screen e A Menu Bar containing all SCORBASE command menus and options e A Toolbar containing icons for the most commonly used options e A Status Bar displaying information regarding the SCORBASE software modes of operation current activity etc When you position the mouse over an icon a description of the icon appears 1n the status bar Note The System menu displayed by right clicking the Title Bar contains the Always on Top menu item enabling you to display the application on top at all times Title Bar SCORBASE for SCORBOT ER 4u File Edt Run Options View Window Help Menu Bar NEL ii OB S E z a A on or ih Alib tE DI Toolbar PU Status Bar BRE uM IE UI Figure 3 1 SCORBASE Window User Manual 7 SCORBASE 0602 Menus Overview File Menu A SCORBASE project contains a program SBP file user defined positions PNT file and a project data file WS file If RoboCell is also being used the project includes the cell image 3DC file Throughout this manual the term project refers to th
13. eese 35 Teaching Positions XYZ Coordinates cccccccccccccceeeceeeeessssssseseeeeeeeeeeeeees 36 Teach Absolute XYZ Position Levels 2 amp Pro 36 Teach Relative XYZ Position Levels 2 amp Pro 36 OS TEL IAG T TING OO bien natok abb Stm sede gestae eae 37 POSION gta eie aac segs pat mist tiM N 37 Postion Popup Window sasidan tva st OEN 38 W atch Popup MIDOON arendame T E iade aea ds hen euas 38 Position Data Dialoge Bats2autee en bere tbe eimi te nasus epa uiu 39 Encoder Counts Dialop Bath rot ERE ere ee iae EIE ROO 39 2x17 1913109 DOE eser brin ee aptas East tel alee ahaa eeu 39 POMS ATO OAL ondtouetotest tutti seta ee 39 Using a Teach Pendant with SCORBASE cccccccceeceesssssseeeececceeeeeeeeeaeaaanaas 40 Chapter 6 Program eC CNN ies odes eue R ps osuere eU 41 Opening ana Closme a Program eoe rette e E Bie be Reset e RE RSd 4 Proca QIU TOO doe a ets edlen Medestutidcs ctas dips dus 43 Addins and Editmng Commands ioco S tn tehia Og vide tr de Ods 45 Axis Control Corinands ueooce eden ner ed ueneno bee eod anat uet 46 Program Flow Command Siseron e nn I HUP EDRUS ui iet iso ea RIPEM ME 56 Input Output Commands coe dee verdes quee via OE RE Ie aden I oa Doe ERE bons 67 Advanced Commands nett pea metarum deett bids 12 MISION C OnI dS ea a N a a a a a tad c Nhat 74 Chapter 7 Variable Programming ccscceeesseeseeeeeee
14. from horizontal reference position Pitch nglel tof axis motion in angles degrees from horizontal reference position Pitch ngle2 Roll nglel Roll ngle2 t of axis motion in angles degrees from horizontal reference position 570 it of axis motion in angles degrees from horizontal reference position Lower limit of working envelope radius in meters 0 940 Upper limit of working envelope radius in meters Lower limit of 2 coordinate in meters Singularity Minimum elbow angle in degrees BaseHeight dinate of the rotation axis of arm link 2 when robot at home position in JointiOffset rate of the rotation axis of arm link 2 when the robot at home position Geometry i 5 Upper limit of Z coordinate in meters 0 340 Minimum elbow angle indegrees ShoulderLength Length of arm link 2 from the first articulated joint in meters offset from center along the Y axis of the TCP when robot at home pos Joint20ffset ElbowLenath GripperLength R Homingxis 1 fset from center along the Y axis of the TCP when robot at home po o HIS Homing amp xis 2 Second robot axis for homing Homing amp xis 3 Third robot axis for homing ooo EE r Figure 10 12 Parameter Set Window for Robot PIT I 2 AxisT ype Axis type bitmap bit mask rotational 1 linear 2 gripper 4 unlimited axis ImpactDetect Maximum position error for impact detection in encoder counts General a
15. se Parameter Set Figure 6 47 Use Parameter Set Dialog Box Open the drop down list to select the desired Parameter Set and click OK See page 96 for further information Sets the value for a selected device parameter by name The command opens this dialog box Set Parameter Value Fa Axis M ame Value Robot Base amp nnglel r f 740 Section Limite Kew BaseAnglel Description Lower limit af axis motion in angles degrees fron Cancel Figure 6 48 Set Parameter Value Dialog Box Axis Open the drop down list to select the axis for which you need to change the parameter Name Open the drop down list to select the parameter whose value needs to be changed Enter the new value The details of the selected parameter are automatically displayed 73 SCORBASE Program Editing Vision Commands Vision Commands are displayed in the Command Tree when you select Options Advanced Options ViewFlex Commands See the ViewFlex User Manual for full details Workspace xj Froject Command Fl A amp xIS CONTROL Erg PROGRAM FLOW selon INPUTS amp OUTPUTS B A VISION COMMANDS Snap FindU bject FindB lobe SetPosition ExternalFunction GetValue Change T able Pro Professional Figure 6 49 Command Tree Vision Commands User Manual 74 SCORBASE 0602 Program Editing 7 Variable Programming The SCORBASE language allows variable programming Variable
16. to moderate the learning curve This makes it possible for beginners to start at a lower level and advance through the levels as they become more skilled in robotics programming saving and loading projects SCORBASE can be installed as part of RoboCell an interactive graphic software package which provides simulation of the robot and other devices in the workcell This manual describes all the features and operations for all Experience Levels of SCORBASE When necessary illustrations show the differences in the levels and descriptions note the availability of options and commands User Manual 0602 1 SCORBASE Introducing SCORBASE 2 Starting SCORBASE The instructions in this chapter are for SCORBASE only If you intend to install SCORBASE as part of the RoboCell software package follow the instructions in Chapter 2 Starting RoboCell in the RoboCell User Manual System Requirements SCORBASE for ER 4u computer requirements are e Pentium III with 450 MHz processor or higher equipped with CD drive e Atleast 128 MB of RAM e A hard drive with at least 60 MB of free disk space e Windows 98 2000 Me XP e A Super VGA or better graphics display minimum 256 colors e A Mouse or other pointing device e USB port Installing the Software The SCORBASE software is supplied on a CD which also contains RoboCell Close any open applications before proceeding with the installation procedures If yo
17. Driver Device Driver Task ID TASE ID Cancel Figure 6 32 Send Message Device Dialog Box For a message to the MANAGER select the type of message from the list of available types Type a Task ID and select a message from the drop down menu Consult the Open CIM user manual for more details Send Message Send To MANAGER Type f5tarl SFirish Task ID tEnd 00 Result Figure 6 33 Send Message Manager Dialog Box For other device drivers type the ID of the Device you wish to receive the message and enter the string to be sent User Manual 65 SCORBASE 0602 Program Editing Sends a command to the CNC Device Driver This is the Command same dialog box as the SM command except that the default device is the CNC Device Driver and the default message is a command rather than a string Send Message send To ENC Device Driver Device ID f String PO Command Cancel Figure 6 34 Send Command CNC Device Dialog Box Enter the device ID and the command in the boxes Loads a Visual Basic script by means of the following dialog box Load Script File name Cancel Figure 6 35 Load Script Code Box The script must be located in the same subdirectory as the SCORBASE project file You must be sure that the LS command is actually executed before you attempt to call any of the affected subroutines or variables You may load more than one script into a single SCORBASE
18. EF a EncLimit 1 Lower limit of axis motion in encoder counts EncLimit 2 Upper limit of axis motion in encoder counts Maximum speed setting in units of encoder counts second SEE MaxAccel Yum acceleration deceleration allowed for each axis during movement in units of encoder counts sec 18000 11000 Speed setting for manual movement in one direction Speed setting for manual movement in opposite direction NoeEnc90 mber of encoder counts for 90 degrees when axis is linear value is number of encoder counts for 90 r Encoder count at horizontal reference position Proportional feedback constant 10216 120000 1200000 PropGain DifferGain IntegralG ain FeedForward Differential feedback constant Integral feedback constant Velocity feed forward constant Zero offset bias Homing Velocity Maximum encoder counts for impact detection during homing Number of ticks 24 ms for impact detection during homing Velocity 100 ImpactCondE nc ImpactCondT icks MaxTime MaxDistance Offset Maximum time for homing in milliseconds Maximum movement during homing in encoder counts Offset after home switch found in encoder counts Figure 10 13 Parameter Set Window for Axes User Manual 96 SCORBASE 0602 System Configuration SCORBASE contains the following parameter sets 2KG Moves objects that weigh about 2 kg 3KG Moves objects that weigh about 3 kg
19. NH 03109 5317 Tel 603 625 8600 Fax 603 625 2137 Web site www intelitek com User Manual il SCORBASE 0602 Table of Contents Chapter 1 Introducing SCORBASE ccccscceseeeseeeeeeeeeseeeseeeeeneeeeeeneseneseneeenes 1 Chapter 2 Starting SCORBAS Bucs ee ee ee Oe Diva a eS 2 oystemBRed itbe MEN ee o oput ten bestie dead optic etre Matra eine 2 Instali the SOPDWALG uot umi epa ssa tee ced cote OO 2 Uninstalling the SOL Wale siete thiet Hm edet hase ent dede Uus 5 prarimip SC ORBASD asset mM LII UMS 5 Quite TNC SOIL W ALC uii oe on verc dee rana eG dote casas Verden tete e diues triduo uen 6 Chapter 3 Menus Overview surxoreond i d XE NKEEN RODEO ROO E CE SSCREHRREDOR RO Sc C SER EDD 7 The SCOR BASE WNUN xoa optet Lem esa aeneum aes d IO FSI CIN RIA ERR HET Em 8 FCC MoN etae ocean du aa tae oda c nes eae DIU ME 10 RHEE BAY ESL b NR CE 11 CUO MS IVICA e miei v od e std cect aset M d LIEN et MDD M E LI EUM 12 Arum ee ede E Oe ee ai eee mere 14 WOW M ii nenian e r E S 16 Herr Mei rere ee tee lS 17 E E T E E E E E E E Ei PM EA TT 17 Chapter 4 Homing and Control ccccccceseceeeeeeeeeeeseeeeeneeeeeeenseeeeanseeneseeeeeees 21 CTC Taal E E E N T EEEE EE E T E 21 PEOD EE A TE TEE E tee 22 DearcDzHordae AT Xe oett addo Deu e dio 22 Searc MHONA RODO Caent t tmi Min menit 23 Search Home e Perpheralssssessedee bd ep aset bivio Ob AER 23 70 ELOMGC rini tC 23 Go Home All Axes Robot
20. Output Enter a number 1 or 2 or a variable Number Value Range Enter a number between 0 and 255 which corresponds to the output voltage The range of the output voltage 1s 0 10 Volts The Analog default setting can be changed User Manual 7 1 SCORBASE 0602 Program Editing Al Set Sets the value of the specified analog input to a variable The Variable to command opens this dialog box Analog Input Set Variable Function Analog Input ES Variable Name c Analog Input Number a _ Cancel Figure 6 45 Set Variable Analog Dialog Box Variable Name Enter the name of the variable The first character of the name must be a letter Analog Input Enter an input number 1 4 or a variable Number where the variable value is an integer in the range of 0 255 corresponding to a controller input voltage of 0 10 volts See also the description of the Set Variable commands in the preceding sections of this chapter Advanced Commands Advanced Commands are displayed in the Command Tree when you select Options Advanced Options Advanced Commands E AS CONTROL H E PROGRAM FLOW Eg INPUTS amp OUTPUTS c3 ADVANCED COMMANDS Pro Professional Figure 6 46 Command Tree Advanced Commands User Manual 12 SCORBASE 0602 Program Editing UP Use Parameter Set PV Set Parameter Value User Manual 0602 Specifies the Parameter Set to be used The command opens this dialog box
21. Peripherals ssssseee 23 Online Mode Oft Eme Mode ioi DS UI eas 23 Control On Control Off CON COFFE ecce eennnns 24 Chapter 5 Position Definition e eeseeeeeeee eene nennen nnn nnn nnn 25 Joint and Cartesian Coordinate Systems cccccccccceccecceeceeeeeeeeeeeeeeeeeeeeeeeeeees 26 Joint Coordinate SVSUeTEL eed eite Ideo e liget Rene oet Lote etae Ga eil a sou ieeehi 26 Cartesian Coordinate System XYZ ccccccccccccssssssssssssssseeeeeeseeeeeees 2 Absolute and Relative Positions ccccccccccccccesceeceesssssssseseeeeeeeceeeeeeeeeaaas 28 Recordand Lede seno cio ee boton E edt De ED uM DUM DM e 28 Manual Movement Dialog BOX 5nd integre otia pisa eR obs 29 Robot Movement Dialog BOX uicesetiiives tse emues t edlen dida 3l Teach Positions Dialog BOK ecciesie ntt adeat MU ae M ET DUM eeaS cde 3l User Manual iii SCORBASE 0602 mori 00 9 koa Ce VE LM eee ee een ae ne a Eres Tie tera pee Ee mane ee eee me tT 32 Simple Cad vanced Devel snu ud evobenate doti paie aat D hab ud 32 Expand Advanced and Pro Levels esee 33 SPIE PrO Level re 34 Recording Positions Joint Coordinates ccccccccccccssssssssesssseeeeceeeeeeeeeeeeaaaaas 35 Record Absolute Position Levels 1 2 amp Pro eeeeeeesses 35 Record Relative Position Pro Level
22. Screen When a SCORBASE project is opened the screen is set for the Teach amp Edit display mode by default In this mode these windows and dialog boxes are displayed e Program Window that holds the SCORBASE program e Manual Movement Dialog Box e Teach Positions Dialog Box e Workspace Window that shows e Project tab e Commands tab To open the Teach amp Edit layout select Window Teach amp Edit User Manual 89 0602 SCORBASE System Configuration Run Screen SCORBASE for SCORBOT ER 4u MICROCIM DEMO File Edit Run Options View Window Help Q D a Go ow of A Ly UP E Program MICROCIM DEMO Sy NN oe E RA ES ES 1 Hemark Beginning of the automatically generated code 2 Call Subroutine PICK AND PLACE 0 1 3 15 2 0 3 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 4 Set Variable TASK ID 110000 5 Set Variable PART ID 0 B Set Variable SOURCE DEVICE ID 1 Set Variable SOURCE DEVICE INDEX 3 8 Set Variable TARGET DEVICE ID 15 8 Set Variable TARGET DEVICE INDEX 2 10 Set Variable PICK AND PLACE NOTE 0 11 Call Subroutine GETOO1 12 Call Subroutine PUTO15 _ 13 Return from Subroutine 14 Remark End of the automatically generated code 15 Remark Intelitek Open CIM robot device driver demonstration 16 Remark The ER 4u robot serves the Conveyor CNV1 _ 1 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine GETO15 18 Print to Screen GET TEMPLATE FRO
23. accept this agreement Back Tes Hn Figure 2 3 License Agreement Window e Review the Intelitek software license agreement You must accept the terms of this agreement in order to proceed with the installation To accept choose Yes The Choose Destination window opens Choose Destination Location Setup will install AoboCell for Controller US6 in the following folder To install ta this folder click Next Ta install ta a different Folder click Browse and select another falder fou can choose not to install HobeCall for Controller US6 by clicking Cancel to exit Setup Destination Folder Dr Pragram FilessIntelitek S CCIRBASE Browse Cancel Figure 2 4 Choose Destination Window User Manual 4 SCORBASE 0602 Starting SCORBASE e The default destination folder for the files 1s Program Files Intelitek SCORBASE Click Next to accept the default or click Browse to select another folder and then click Next to open the Select Program Folder window Select Program Folder 3 Setup will add program icone to the Program Folder listed below Tou may type a new folder name or select one from the existing Folders list Click Next to continue Programm Folders SCORBASE Existing Folders 30 Simulation Software Demos ACCeSsOnes ACL Win Administrative Tools AutoCAD Al 4 AutoCAD R14 0 Uninstall EH Simulation Demo InstallShield 5 5 Professional Edition Kinet
24. bar displays the angles between the two links of the joint in degrees Joints deg Joints deg Base 0 00 Shoulder 111 80 Elbow 30 78 Pitch 84 58 Rol 0 00 Figure 5 13 Joints Dialog Bar 39 SCORBASE Position Definition To display the Dialog bar select View Dialog Bar Joints The values shown in the above example are the X YZ values after the Search Home command is executed Using a Teach Pendant with SCORBASE User Manual 0602 The Teach Pendant is a hand held terminal that gives the operator direct control of the robot and peripheral axes In addition to controlling movement of the axes the Teach Pendant may be used for recording positions sending the axes to recorded positions and other functions To control the axes from the Teach Pendant SCORBASE must be operating in the On line mode and the Teach Manual switch on the Teach Pendant must be switched to Teach This disables control of the axes from SCORBASE dialog boxes All Teach Pendant operations are reflected in the SCORBASE dialog boxes For example positions recorded by the Teach Pendant will appear in the Position Number list in the Teach Positions dialog box and encoder and XYZ values will change in the Encoder Counts and XYZ dialog boxes The Teach Pendant operation is described fully in the Teach Pendant for Controller User Manual 40 SCORBASE Position Definition 6 Program Editing A SCORBASE program is a set of
25. instructions written by the user to control the robot peripheral equipment and to communicate with external I O devices This chapter explains how to create and edit a SCORBASE program The following tools are used for program editing e Program commands editor e Command tree that lists all SCORBASE commands Opening and Closing a Program Every SCORBASE program is part of a SCORBASE project A project also includes the user defined positions project data and 1f RoboCell is installed a virtual cell 3dc file Only one project can be opened at a time To open a saved program open the project containing the desired program by doing one of the following e Select File Open Project e Click on the Open an Existing Project icon zs e Press Ctrl O In all cases the Load Project window will open prompting you to select the project that contains the program you want to edit The program is displayed in the Program Window To create a new project do one of the following e Select File New Project e Click on the Create a new project icon e Press Ctrl N User Manual 41 SCORBASE 0602 Program Editing User Manual 0602 By default the new project is opened with the Teach amp Edit layout This layout displays four windows e Program Window that holds the SCORBASE program e Manual Movement Dialog Box e Teach Positions Dialog Box e Workspace Window that shows e Project data 1 e positions us
26. is not detected Off line remains the active mode Control On Control Off CON COFF User Manual 0602 The Control On state enables servo control of the axes This state is available only in On line mode In the Control Off state axis movement commands cannot be executed The Control state On or Off is displayed in the lower right corner of the status bar To enable control of the axes do one of the following e Select Options Control On e Click the Control On icon ON e Press the F5 key To disable control do one of the following e Select Options Control Off e Click the Control Off icon If you have disabled control and SCORBASE opens in On line mode or On line mode is selected after detection of the controller this prompt appears SCORBASE X Control is off Do you want to execute Control Ori Figure 4 3 Control On Confirmation Dialog Box Press OK to enable control or press Cancel to remain in the Control Off state The controller automatically disables control if an impact condition trajectory error or thermic overload error occurs during execution of a movement command If you attempt to move the axes when control is disabled this error message appears SCORBASE enor ES 903 Control disabled Figure 4 4 Axis Move Error When SCORBASE is in Off line mode the Control On Off state cannot be altered 24 SCORBASE Homing and Control 9 Position Definition Every SCORBASE
27. name As default all projects are saved in a Projects folder Close Project Closes the currently open project New Script Opens Notepad The user can then begin to write a new Visual Basic script file Open Script Opens File Selector box for opening an existing Visual Basic script file The Program window must be active to select this option Print Positions Prints the position table The Position window must be open and active to select this option You can open the Position window by selecting View Positions Print 3D image Prints the 3D image if RoboCell program 1s installed 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 specific axis chart for display or printout Only one axis can be selected at a time Print Preview Opens a screen which displays the selected Charts axis chart before printout showing how the printed cell will appear on paper Import 3D Model Opens the Import 3D Image dialog window showing the graphic module files 3DC files User Manual 85 SCORBASE 0602 Project Files Management Edit 3D Model Opens the Graphic Module in CellSetup View File Opens the View File window to display the program or position of any selected project Exit Quits SCORBASE If changes to a program or position file have been made but not yet saved a warning message will be displayed User Manual 86 SC
28. not home the robot See pages 22 and 23 Go home Sends the peripherals to their home position peripherals This command does not home the peripherals See pages 22 and 23 Run single line Executes the selected highlighted program F6 line See page 78 Run single cycle Executes the program from the selected mu Wit F7 highlighted program line to the end of the program 78 User Manual 11 SCORBASE 0602 Menus Overview Run Executes the program from the selected continuously F8 highlighted program line When the last program line is reached the program starts again from the first line See page 78 movement of all axes See page 79 Pause F10 Stops program execution after the current line is executed See page 79 STOP Stop F9 Immediately stops program execution and Note Pause and Stop are software methods for halting program execution In an actual emergency situation you should use the EMERGENCY button on the controller or the ABORT key on the Teach Pendant Options Menu Options On Line i Off Line The Options menu allows you to define your preferences for operating Control Gin FS the software ww Control Orr Hardware Setup Set Parameters w Line Number Reload last project at startup Level 1 Level 2 wv Pro Advanced Options Establishes communication with the controller See page 23 Off line SCORBASE do
29. project includes a set of pre defined positions and a program that sends the robot from one position to the other Prior to running a program all the positions used in that program should be defined SCORBASE offers various tools to define and store positions that will be used in the programs The following SCORBASE tools are used in the position definition process Manual Movement Dialog Box Teach Positions Dialog Box Robot Movement Dialog Box Position Data Dialog Bars Positions Window To activate the dialog boxes which are most useful for position definition select Window Teach amp Edit Any of the following four methods can be used for position definition cel me o m Absolute position Joint coordinates Relative position Joint coordinates Absolute position Cartesian coordinates Relative position Cartesian coordinates Note Peripheral position definition can only be performed in the Pro level User Manual 0602 25 SCORBASE Position Definition Joint and Cartesian Coordinate Systems Defining a position in SCORBASE can be done by using either the Joint or Cartesian coordinate systems In both systems a robot position 1s defined using five parameters derived from the data supplied by the five axes encoders An encoder is an angular movement sensor attached to the axes motor A Peripheral position is always defined using one variable that stores the sensor output encoder value of that position Joint Coo
30. the robot s joints angle five joints XYZ Displays the robot tool center point TCP position and orientation The coordinate system origin 1s at the center of the robot base at table level Digital outputs Displays the status of digital outputs 1 8 dark green off light green on Click on an output to show hide its status Digital inputs Displays the status of digital inputs 1 8 dark green off light green on In Off line clicking on input toggles its status Analog outputs Displays the value of analog output 1 amp 2 0 255 0 10 volt Analog inputs Displays the value of analog input 1 4 0 255 In Off line you may set the analog input value Encoders Displays the encoder counts of axes 1 8 Encoders are zeroed after homing the system See pages 39 and 80 Show All Dialog Displays all seven dialog bars Bars Close All Dialog Closes all seven dialog bars Bars 15 SCORBASE Menus Overview Movement Displays the following data Information e Position error of eight axes in encoder counts Home switch status of all eight axes PWM for one selected axis The PWM Pulse Width Modulation is the controller output for the selected axis motor Messages Opens the Messages Window The data displayed in the Messages window 1s printed using the PS Print to Screen amp Log commanding SCORBASE Shows hides the programming toolbar default on otatus Bar Shows hides the lower status bar defa
31. the robot is located at the time it is sent to the relative position If the reference position changes the relative position moves accordingly User Manual 36 SCORBASE 0602 Position Definition Positions Window Positions User Manual 0602 The Positions window displays a list of the positions of the currently open project The list is presented in tabular format As default the table presents position information in both the Joint Coordinate System and the Cartesian Coordinate System When fully open the window is divided horizontally into two panels By dragging the bottom edge of the window you can reveal the bottom panel The top panel displays all positions in the project Position Inventory Panel The bottom panel Watch Panel displays the positions which have been selected for watching Positions Erdcelli IE ici x m 7 E es id Jm 8 z 107 y Abs Joint wz 20000 000 20 00 EUNT m Joint B s Here ooo 295 6509 2787 0 00 Abs Joint YZ 34000 000 2000 30 00 0 00 mu 4500 335 10505 570 45 02 Abs Joint XN 149 99 149 99 1999 30 00 45 02 4500 617 7521 13 95 45 02 Abs Joint Joint 0 i i s 10 0 93 EE YZ 200 00 000 20 00 30 00 jeg ooo amp 88 99 59 3 29 Abs Joint 270 01 O00 2001 90 00 0 00 Figure 5 10 Positions Window fully opened to display both the Position Inventory Panel and the Watch Panel Each row
32. the toolbar e Select Run Stop or Run Pause e Press F9 F10 Make sure the SCORBASE application is the currently active window before you press F9 STOP or F10 PAUSE e To STOP the program you can also press the red EMERGENCY button on the controller or press the ABORT key on the Teach Pendant if installed User Manual 79 SCORBASE 0602 Program Execution Stop F9 Program execution is stopped immediately Use this command only in emergencies If the workstation is connected only to a stationary robot such as an ER 4u the STOP command is sent directly to the device However other devices such as the ER 400 AGV Mobile Robot require the user to define a subroutine with the name ON STOP When the STOP button or F9 is pushed the ON STOP subroutine is called The subroutine might contain a line such as Turn Off Output 1 Here is an example for use with the ER 400 AGV Mobile Robot E Program Untitled ANN A P MERECE 1 Set Subroutine ON_STOP 0 2 Send Message STOP to Device Driver ID 2 3 Return from Subroutine A Figure 8 1 Program Window ON STOP subroutine Pause F10 Stops program execution only after the current command has been executed Thus axes may continue moving to complete their motion after the Pause command is issued Inputs and Outputs Dialog Bars Digital Inputs amp Outputs Dialog Bars The Digital Inputs amp Outputs dialog bars show the status of the controlle
33. timer starts operating when SCORBASE is opened Set Variable Functian Variable M ame Cancel Figure 6 26 Set Variable Dialog Box Timer To initialize the SCORBASE timer in a program use the Reset Timer RT command User Manual 60 SCORBASE 0602 Program Editing IF lfJump 2 Pro A conditional branch command which is used to determine to the program flow in relation to the value of the variables The command opens this dialog box IF lt CONDITION gt jump to lt LABEL gt i IF C Jump m SA Jump to n Figure 6 27 If Jump Dialog Box If the condition in the IF field is true program execution jumps to the line specified by the label in the Jump to field If the condition in the IF field is false program execution skips to the following line Enter the condition The condition includes a variable name a comparison operator and another variable name or a number Enter the name of a Label Be sure to include a line with this Label in your program Example If COUNTER gt 0 jump to START LOOP Go to Position 1 speed 5 START LOOP Go to Position 2 speed 5 If the value of Counter is greater than zero the robot will go to Position 1 If the value of Counter is equal to or less than zero the robot will go to Position Z2 Use two equal signs for equal operators For example If COUNTER 0 jump to END The IF jump command can be converted to an unconditional jump co
34. to the specified Label if the selected axis micro switch is lt Label gt pressed On The command opens a dialog box If limit switch lt gt on jump to lt LABEL E Figure 6 8 If Dialog Box Enter the Axis number or a variable in the Limit Switch field Enter the name of a Label in the Jump to field RP Record When the Record Position command is executed Position during program execution the controller records the i current position data to the specified position The command opens this dialog box Hecord Position Figure 6 9 Record Position Dialog Box Enter a position number or a variable in the Record Present Position as Position field The Record Position command is useful when a position and all relative positions that refer to that position must be relocated during program execution This command updates the position data User Manual 49 SCORBASE 0602 Program Editing SA Set Axis Initializes sets to 0 the encoder count of the selected to Zero axis The command opens this dialog box i Set Axis l Amis ta Zera Figure 6 10 Set Axis Dialog Box Enter a number or a variable in the Axis field oC Start Starts the conveyor as a speed controlled conveyor Conveyor Movement of the conveyor will continue until a Stop Conveyor ST command is encountered The command opens this dialog box Start Conveyor As Speed Direction Plus C Minus cancel Figure 6 11 St
35. 0602 System Configuration Open CIM Screen SCORBASE for SCORBOT ER 4u MICROCIM DEMO File Edit Run Options View Window Help Q D S W ao o gt A LY LA Pro BB Program MICROCIM DEMO f Efx m Open CiM Device Driver USBC1 Sag Hy NO Mose AEN ED FB U Remark Beginning of the automatically generated code 5 2 Call Subroutine PICK_AND_PLACE_0 1 3 15 2 0 lOn Line See 3 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 4 Set Variable TASK ID 110000 5 Set Variable PART ID 0 amp Set Variable SOURCE DEVICE ID 1 Task History Set Variable SOURCE DEVICE INDEX 3 8 Set Variable TARGET DEVICE ID 15 9 Set Variable TARGET DEVICE INDEX 2 10 Set Variable PICK AND PLACE NOTE 0 11 Call Subroutine GE T001 12 Call Subroutine PUTO15 13 Return from Subroutine 14 Remark End of the automatically generated code 15 Remark Intelitek Open CIM robot device driver demonstration 16 Remark The ER 4u robot serves the Conveyor CNV1 17 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine GETO15 19 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 20 Go to Position 21 Speed 5 Complete from Pick and Place File 21 Open Gripper 22 Set Variable ABOVE_TEMPLATE_POSITION SOURCE_DEVICE_INDEX 11 3 Cannot connect to 23 Go to Position ABOVE TEMPLATE POSITION Speed 8 MANAGER 24 Set Variable AT TEMPLATE POSITION ABOVE TEMPLATE POSITION 10 25 Go Linear to Position AT TEMPLATE POSITION Speed 2 Mes
36. After the five axes and the gripper have been homed a checkmark appears next to Robot Homing axis 3 Axis 1 Axis 2 L Axis 3 Axis 4 Axis 5 L Gripper Axis 8 Figure 4 1 Homing Status Window To abort homing while the procedure is still in progress do one of the following e Press F9 Stop command e Press the red EMERGENCY button on the controller e Press the EMERGENCY key on the Teach Pendant If the homing procedure fails a message appears The Search Home All Axes command executes the robot s homing procedure as well as that of any peripheral devices that have been configured in the Options Peripherals Setup menu The command is available only when SCORBASE 1s On line for the first time If the system has already been homed and you change SCORBASE to Off line mode there is no need to home the system again when you return to On line mode When SCORBASE is in Off Line Mode or when RoboCell is installed the homing procedure is not required although it can be executed The homing procedure initializes Joint and XYZ values according to a software definition 22 SCORBASE Homing and Control All encoders are set to 0 while the robot Cartesian coordinates are set according to a software model Search Home Robot This command runs the homing procedure for the robot Homing of the peripherals 1s enabled only after the system has been homed once Search Home Peripherals Thi
37. Gh L Prg E Program MICROCIM DEMO AUN KD dox WWE ES LI Remark Beginning of the automatically generated code 2 Call Subroutine PICK AND PLACE 0 1 3 15 2 0 3 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 4 Set Variable TASK ID 110000 5 Set Variable PART ID 0 Set Variable SOURCE DEVICE INDEX 3 8 Set Variable TARGET DEVICE ID 15 S Set Variable TARGET DEVICE INDEX 2 10 Set Variable PICK AND PLACE NOTE 0 11 Call Subroutine GETOO1 12 Call Subroutine PUTO15 13 Return from Subroutine _ 14 Remark End of the automatically generated code 15 Remark Intelitek Open CIM robot device driver demonstration 17 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine GETO15 13 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 20 Go to Position 21 Speed 5 21 pen Gripper 22 Set Variable ABOVE TEMPLATE POSITION SOURCE DEVICE INDEX 110 23 Go to Position ABOVE TEMPLATE POSITION Speed 8 26 Close Gripper Manual Movement X Teach Positions Simple Position Number Include Axes fi vl Robot Peripherals d VJ Absolute Expand Relative to Joints C XYZ 2 3 Speed 5 v B 7 8 C Duration 1 xy 4 4 R 5 3 5 E T DOr e Project Commands 9 amp xIs CONTROL H PROGRAM FLOW gg INPUTS amp OUTPUTS 9 ADVANCED COMMANDS 9 VISION COMMANDS as a v R T v EN Insert amp Off Line Figure 10 3 Teach amp Edit
38. M MINI ASRS M6AS2 20 Go to Position 21 Speed 5 21 Open Gripper 22 Set Variable ABOVE TEMPLATE POSITION SOURCE DEVICE INDEX 110 23 Go to Position ABOVE TEMPLATE POSITION Speed 8 24 Set Variable AT TEMPLATE POSITION ABOVE TEMPLATE POSITION 100 25 Go Linear to Position AT TEMPLATE POSITION Speed 2 26 Close Gripper 27 Go Linear to Position ABOVE TEMPLATE POSITION Speed 2 28 Go to Position 21 Speed 5 29 Go to Position 20 Speed 5 30 Go Linear to Position 2 Speed 2 31 Open Gripper _ 32 Go to Position 20 Speed 5 33 Send Message Start to MANAGER ID TASK ID 34 Return from Subroutine Insert amp Off Line Figure 10 4 Run Screen The Run Screen display option opens only the Program Window When the program is running the currently executed line is highlighted and information on the currently executed command is displayed in the status bar To open the Run Screen layout select Window Run Screen User Manual 90 SCORBASE 0602 System Configuration Project Screen SCORBASE for SCORBOT ER 4u MICROCIM DEMO File Edit Run Options View Window Help Q Do B sigo om Hb A Bg F Program MICROCIM DEMO BEES IT Project Commands gh ty NO ox wk E cg AXIS CONTROL fet Remark Beginning of the automatically generated code 9 PROGRAM FLOW 2 Call Subroutine PICK_AND_PLACE_0 1 3 15 2 0 C INPUTS amp OUTPUTS Wide 3 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 9 ADVANCED COMMA
39. NDS 4 Set Variable TASK_ID 110000 Re C3 VISION COMMANDS 5 Set Variable PART ID 0 6 Set Variable SOURCE DEVICE ID 1 NEZ Set Variable SOURCE DEVICE INDEX 3 8 Set Variable TARGET DEVICE ID 15 9 Set Variable TARGET DEVICE INDEX 2 n Call Subroutine GE T001 12 Call Subroutine PUTO15 13 Return from Subroutine _14 Remark End of the automatically generated code _ 15 Remark Intelitek Open CIM robot device driver demonstration 16 Remark The ER 4u robot serves the Conveyor CNV1 _ 17 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine GETO15 am n c amp a amp Oe ee CFT TALINE ATF FCD bare acne Lacan Positions MICROCIM DEMO 1 Axis2 Axis3 Axis4 Axis5 Axis Axis8 Y mm Z mm Pitch deg Roll deg mm deg mm deg ont 14800 22 10 30 Abs Joint 3451 34 00 ao Rel 1 XYZ Joint 10651 13 42 Abs Joint 8352 int 65 30 415 Abs Joint XYZ 121 59 Insert amp J Off Line Figure 10 5 Project Screen The Project Screen option displays the following e Program Window that holds the SCORBASE program e Workspace Window that shows e Project tab e Commands tab e Positions Window When the program is running the currently executed line is highlighted and information on the currently executed command is displayed in the status bar To open the Project Screen layout select Window Project Screen User Manual 9 SCORBASE
40. NU DSL addiert Eas ve easet eI DU una ET eI LR TUE 98 Reload Last Project at Startup eeesssesesssssse 98 Experience d Vel uccedsacea etes detea da dinieen eben dot team dais dndiss 99 bolas T 99 Dialog Bar Display Options ccsceessseececeeeeeeeeeeeeeaaees 100 ADDGBODC A xc d x E vd C EE dE M 101 Command Ine Opto uses eR e NIU T pe EE Ua ER SRA REOR In ees 101 User Manual v SCORBASE 0602 1 Introducing SCORBASE SCORBASE for SCORBOT ER 4u is a robotics control software package for robot programming and operation SCORBASE for SCORBOT ER 4u provides numerous capabilities Communication with the robot controller over USB channel Control and real time status display of five robot axes gripper and two peripheral axes Full support and real time status display of eight digital inputs eight digital outputs four analog inputs and two analog outputs Position definition and display as well as manual robot movement in reference to Joint Coordinate System encoder units The Cartesian Coordinate System X Y Z Pitch and Roll is also used Robot movement definition as Go to Position Go Linear or Go Circular with ten active speed settings Availability depends on Experience Level setting Default setting of 1000 positions and 1000 active program lines Interrupt programming for handling responses to changes in digital input status Variable Programming in three levels of complexity
41. OBOCELL PROJECTS ER4u Er4Celll WS The workspace will be loaded in online mode and the robot will be homed User Manual 102 SCORBASE 0602 System Configuration
42. ORBASE 0602 Project Files Management 10 System Configuration SCORBASE offers the following options for system configuration e Window Layout options e Experience level e Hardware setup Window Layout Options Window Menu mm Help Teach amp Edit Run Screen Project Screen Open CIM Screen User Screen Save User Screen w 1 Program Untitled Figure 10 1 Window Menu The display options enable optimal usage of the screen area SCORBASE offers five basic display options and a wide range of dialog bars and windows through which the user can see and change system data User Manual 87 SCORBASE 0602 System Configuration Simulation amp Teach RoboCell for SCORBOT ER 4u MICROCIM DEMO File Edit Run Options View 3D Image Window Help Q D amp M UE tgo o ofp A LY t3 Prg BB Program MICROCIM DEMO _ Efx END Image MICROCIM DEMO Ow Loa amp a amp nsset LAS Wes ux Hemark Beginning of the automatically generated code Call Subroutine PICK AND PLACE 0 1 3 15 2 0 Set Subroutine PICK AND PLACE 0 1 3 15 2 0 Set Variable TASK ID 110000 Set Variable PART ID 0 Set Variable SOURCE DEVICE ID 1 Set Variable SOURCE DEVICE INDEX 3 Set Variable TARGET DEVICE ID 15 Set Variable TARGET DEVICE INDEX 2 Set Variable PICK AND PLACE NOTE Call Subroutine GET 001 Call Subroutine PUT 015 Return from Subroutine 14 Remark End of the automatically generated code 15 R
43. Pro Fully opens the gripper Gripper CG Close 1 2 Pro Fully closes the gripper on itself or on a grasped Gripper User Manual 46 SCORBASE 0602 Program Editing GP Goto 1 2 Pro Opens the Go to Position Dialog Box The Go to Position Position command sends the robot to a recorded position in the shortest time using Point to Point P to P control In Point to Point control all axes move independently and there is no control over the TCP trajectory Go to Position Target Position Joint Linear C Circular Fast Speed 1 9 5 C Duration 1 10 sec Cancel Figure 6 6 Go To Position Dialog Box Movement Control Target The destination of the movement Enter Position a number or a variable in this field Speed Duration Fast Executes the movement at the fastest speed possible Speed Executes the movement at a slower speed Enter a number from through 9 or a variable in the Speed field Default 5 average speed Duration Executes the movement in a specific amount of time Enter the time in tenths of a second or a variable Available only in Pro Level Via Position The position via which the destination of the movement is reached Enter a number or a variable in this field GL Go Linear Sends the robot s TCP tool center point from its to Position current position to the target position along a linear Speed path straight line The linear motion applies only to
44. T ER 2u TJ Teach Teaches the position as defined by the absolute Position By positions of the joints Joints Teach Position Command Base m1 00 0 Shoulder rnm C 0 Theta deo 100 0 Elbow mm 100 fg SS omn f Joints Position Number x Absolute Relative to Get Position Clear Cancel Figure 6 14 Teach Position Absolute Joints Dialog Box Enter a new unique number in the Position Number box Enter the values for Base Shoulder Elbow Pitch and Roll in 1 100ths of a degree Get Position Copies the values of the robot s current position into the appropriate boxes Clears the values from all the boxes RJ Teach Teaches the position as defined by the positions of the Position By joints relative to another defined position Joints Relative to Position Teach Position Command Base deg 100 Doo Pitch deg 100 OO Shoulder deg 100 0 Roll deg QU 0 Elbow deg100 pS tom f Joints Position Number Absolute f Relative to Get Position Clear Cancel Figure 6 15 Teach Position Relative Joints Dialog Box Enter a new unique number in the Position Number box Enter the values for Base Shoulder Elbow Pitch and Roll in 1 100ths of a degree and choose which point this new one is to be calculated from User Manual 22 SCORBASE 0602 Program Editing TX Teach Position by XYZ RX Teach Position by XYZ Relative to Position User Manual 0602 Te
45. a Relative to field appears Select either an existing position or Current A position that is Relative to Current means that the reference position 1s the robot position at the time it 1s sent to that position Relative to is only available to Level 2 and Pro Expand Advanced and Pro Levels Click Expand to open the Teach Positions Expanded dialog box Teach Positions Expand simm O v mm Zimm WD Pitch deg D Rollfdeg n f Via Position Get Position Clear Teach hl Position Number v f Absolute t Relative to Figure 5 8 Teach Positions Expand Dialog Box for Level 2 Advanced user X mm Y mm Fields for displaying or changing the Cartesian Z mm Pitch deg coordinates of the selected position See page 27 Roll deg Get Position Displays the Cartesian coordinates of the selected position See page 27 Clear Clears all position coordinate fields The position data does not change Teach Teaches position using the Cartesian Coordinate System Go Circular Executes the Go Circular to Position command This command sends the robot in a circular path to the target position in the position number field via the position specified in the Via position field The circular motion applies only to the robot User Manual 33 SCORBASE 0602 Position Definition Via position Selects the intermediate position through which the Go Circular movement passes
46. aches the position as defined by the absolute Cartesian coordinate of the TCP Tool Center Point Teach Position Command amp nomi 1 O10 mm 1 00 Theta deo1 00 0 mm 00 s Ae ants Fosition Number m f Absolute Relative to Get Position Clear Cancel Figure 6 16 Teach Position Absolute XYZ Dialog Box Enter a new unique number in the Position Number box Enter the values for X Y and Z in 1 100 mm and Pitch and Roll in 1 100ths of a degree Teaches the position as defined by the Cartesian coordinate of the TCP Tool Center Point relative to another defined position Teach Position Command amp amp mm1 O10 0 Pitch deg 1 00 0 imm100 0 Roll deg 100 0 Zim p NY Joints Pasition Number zs Absolute Relative to Get Position Clear Cancel Figure 6 17 Teach Position Relative XYZ Dialog Box Enter a new unique number in the Position Number box Enter the values for X Y and Z in 1 100 mm and Pitch and Roll in 1 100ths of a degree 53 SCORBASE Program Editing SJ Set Variable Allows you to set a variable to the value of a specified to Joint Position joint at a specified position number Set Variable Function Joint Value at Position 1 700 of deg ar mm V ariable M ame Position Number Joint Humber Base 1 Shoulder 2 E lbow 3 Pitch 4 Aoll 5 E ceca Figure 6 18 Set Variable to Joint Position Dia
47. ars commands Analog Inputs 4 D 2 n 1 0 3 In Analog Inputs Figure 8 4 Analog Input Dialog Bar Analog Outputs Analog Outputs 1 pz Figure 8 5 Analog Output Dialog Bar The Analog Inputs and Output resolution is 8 bit The Analog Input Output range 1s from 0 minimum to 255 maximum Output values can only be manipulated when SCORBASE is operating On line To change the value of an Analog Output do one of the following e Click Output the color turn from light yellow to white and type a number e Use the AO Set Analog Output command and run this line When the controller receives an Analog Input signal from an external device the value 0 255 of the signal is reflected in the Input Value field 82 SCORBASE Program Execution SCORBASE Log File The SCORBASE log file records the messages printed using the PS Print to screen Log command To print to a message to the log file click either Log File or Screen and Log File Figure 6 6 Print To Screen Command The Log file is initialized cleared each time SCORBASE is loaded To see the file content open the file SCBS LOG using a text editor such as WordPad The file 1s located in the SCORBASE subdirectory named BIN SCORBASE generates a backup file each time the program is closed User Manual 83 SCORBASE 0602 Program Execution 9 Project Files Management A SCORBASE project incl
48. art Conveyor Dialog Box Enter the Axis number in the Axis field Enter a number or a variable in the Speed field Select a movement direction Plus or Minus Note When operating a speed controlled conveyor by means of the Start Stop Conveyor commands do not record positions and or use the Set Axis to Zero command for the conveyor in the same program ST Stop Pro Stops the continuous motion of a conveyor that was Conveyor initiated by a Start Conveyor SC command User Manual 50 SCORBASE 0602 Program Editing WR Write Commands the gripper to convert the letters specified into lettering on the workpiece The size is controlled by the Scale setting 1 10 Text INTELITEK cancel Figure 6 13 Write Dialog Box Enables axis control by the controller See page 24 CN ControlOn CF ControlOff User Manual 51 SCORBASE 0602 Program Editing Disables axis control by the controller See page 24 oG Set Pro Assigns the value of the gripper opening in mm to a Variable to variable This command is useful when there is a need Gripper Sensor to measure the object in the gripper or to check the gripper status open closed or gripping an object Set Variable Ed Function peel ENT ram Variable Hame a Cancel Figure 6 12 Set Variable Gripper Sensor Dialog Box In the Name field enter the name of the variable For more information on variables see page 75 Note This command is not available for SCORBO
49. axes location is monitored and controlled using encoders To initialize the encoders and to obtain repeatable performance the axes must first reach a predefined position known as hard home All recorded positions and movements refer to the hard home position The homing procedure finds the hard home for the selected axes SCORBASE offers two commands relating to the home position e Search Home is the procedure for homing During Search Home each axis is homed separately The controller activates the currently homed motor axis until its micro switch 1s pressed Then the controller initializes the axis encoder counter and turns to home the next axis After all configured axes are homed the homing procedure ends e Go Home sends the selected axes to a position where the encoders value is zero Note This command does not home the axes The two commands are available in three levels e Search Go home all applies for all active axes e Search Go home robot applies for the robot e Search Go home peripherals applies for axes 7 amp 8 User Manual 21 SCORBASE 0602 Homing and Control Homing Search Home All Axes User Manual 0602 To start the homing procedure do one of the following e Select Run Search home all axes d e Click the Search Home fai icon A window opens displaying the number of the axis currently being homed Each time an axis is successfully homed a checkmark appears next to the axis number
50. d XYZPR values of all positions User Manual 38 SCORBASE 0602 Position Definition Position Data Dialog Bars SCORBASE offers three dialog bars that display all axes encoder counts and the robot position in reference to both the Cartesian Coordinate System X YZ and the Joint Coordinate System All dialog bars are accessible at all levels via the View menu They may also be opened or closed using the View Show All Dialog Bars or View Close All Dialog Bars commands Encoder Counts Dialog Bar The Encoder Counts dialog bar displays the current values of the encoders for each of the eight axes ncader count coder COUNTS x Encoder counts 1 0 z 22 3 24 4 5 E D 710 8 I Figure 5 11 Encoder Counts Dialog Bar To display the Encoder Counts dialog bar select View Dialog Bar Encoders The encoder values change whenever the axes are moved These values are set to 0 or close to zero after the Search Home All Axes command is executed XYZ Dialog Bar The XYZ dialog bar displays the current Cartesian Coordinate System X YZ PR values of the TCP NYZ oo E al XYZ imm 168 73 r mmj 0 00 Zimm 503 21 P deg 63 55 Rideg 0 00 Figure 5 12 XYZ Dialog Bar To display the XYZ dialog bar select View Dialog Bar XYZ The values shown in the above example are the Joint values after the Search Home command is executed Joints Dialog Bar User Manual 0602 The Joints dialog
51. e program positions and image files saved by the user as one entity Edit R Opti Vi Wind e d opc a The File menu contains the usual Windows functions that allow you to BM Frojec r Open Project cio Open new or previously saved projects save and close projects You can print files containing robot programs and positions and exit the software Mew Script Open Script View File Exit The File menu options are New Project Opens anew untitled project See page 84 Ctrl N Open Project Opens the Load Project window which lists Ctrl O SCORBASE files without a virtual cell Save Project Saves the currently active project program Ctrl S positions and graphics Save Project As Saves the currently active project under a new project name Close Project Closes the currently open project New Script Opens Notepad Open Script Opens File Selector box for opening an existing Visual Basic script file User Manual ss 8 00000 SCORBASE 0602 Menus Overview Print Program Prints the program Program window must be active Print Positions Prints the user defined positions Positions Window must be active Print 3D Image Reserved for RoboCell program option Print Preview Reserved for RoboCell program option 3D Image Print Charts Opens a dialog box to select the specific axis chart for display or printout Only one axis can be selected at a time See page 17 Print Preview Displays the selected axis char
52. each axis is shown in a different chart six charts will be displayed Any chart can be saved to a history his file To do so Check the Record History box Click the Browse button which becomes available to open the window Select the folder and enter the name of the file to be saved Filename font Files of type Histor Files his j Cancel Figure 3 6 Open Project Dialog Box p User Manual 19 SCORBASE 0602 Menus Overview To set the resolution of the chart for the Encoder Errors and PWM Click the Advanced button in the Chart Options dialog box The Range column opens Chart Options EI x Encoders Errors PWM Encoders Errors PWM RM 25000 70 24 M Oo 180 70 24 wm C 2900 70 24 RW C 19000 70 24 Cee eae ee cC 600 30 24 Ll Li C 10000000 1000000 244 oO Lj C 10000000 1000000 244 Figure 3 7 Chart Options Dialog Box History Opens the History Files Window Select the desired history his file from the list or browse to locate it History Files a Tjoint his History Files his Figure 3 8 History Files Window Note To open a history file you must first stop drawing the chart d Legend Displays the colors used in the charts for Encoder Error and PWM Encoders Blue Error Red PWM Green User Manual 20 SCORBASE 0602 Menus Overview 4 Homing and Control General The robot and peripheral
53. eeeeeeeeneseneseneeeeeenesenesens 75 Monitoring Variable Values toee o e e tuner tope T Chapter o Program EXecCullODi ui ceto quoc a chon ooa aieo oes chan etae chute 78 Ionio EO Ola est eect annem Nana dcc E tute ee 78 Halting Program EXe CUOD escort rob rhe eR ro rne e nd ped ii e repeti 79 Inputs and Outputs Dialog Bats e REDE sna REOR a E 80 Digital Inputs amp Outputs Dialog Bars ccccccccceceecceeeeeeeeeeeeeeaees 80 Analog Inputs amp Outputs Dialog BafS cccccccccccececceeeeeeeeeeeeaaees 82 SCORDASE I scents pated aera oon tendon bM Cose md 83 Chapter 9 Project Files Management eese eere enne 84 Project LI IE TUS MISI rr m 84 Chapter 10 System Configuration ccccccceeseeeseeeeeeeeeeeeeeeeeeenseeeseeeseneseneaeaes 87 Window Layout ODUODS 2 pete cassis bett etd edi eO ieee ease 87 0602 Window MD uoo epe ese Seco asa E eode e ve o b be tani 87 Simulatton Ae Lede M iiei aa testata Tav detti aps 88 Teac AV E Xs 89 RUN SCEE a A AN 90 PROJECE SCEeello evt eua a tdeo iU E ud 9 Open CIM Sere i aneren steer Od drive aste sociatus qe m E 92 User Screen Save User Screen enecens ai 93 Other ODIOPBS ect cette A Copt eu NOR A E eee le SAN 93 OLS IV ISU toilet ELE feme batnte noter fii MESE Oed oenuis Leite Seasten tiia dads 93 Hardware Set saci taste ces uu quatn Od c temas apad 93 Parameter Seb WIBOOWS esee estie ceri etie ive ieee 96 Line I
54. emark Intelitek Open CIM robot device driver demonstration 16 Remark The ER 4u robot serves the Conveyor CNV1 17 Remark The ER 4u robot serves the MINI ASRS M6AS2 18 Set Subroutine GETO15 19 Print to Screen GET TEMPLATE FROM MINI ASRS M6AS2 20 Go to Position 21 Speed 5 21 Open Gripper 22 Set Variable ABOVE TEMPLATE POSITION SOURCE DEVI 23 Go to Position ABOVE TEMPLATE POSITION Speed 8 24 Set Variable AT TEMPLATE POSITION ABOVE TEMPLATE 25 Go Linear to Position AT TEMPLATE POSITION Speed 2 26 Close Gripper v e co tO m C2 N 5 Manual Movement x Teach Positions Simple x Workspace Project Commands Joints IC YZ Speed 5 Position Number Include Axes fi m Robot Peripherals MICROCIM DEMO TR em Speed j p Absolute C Duration Expand Relative to 5 xl Insert amp 9 Simulation A Figure 10 2 Simulation and Teach Screen Available only if RoboCell is installed This layout option displays the following windows e Program Window that holds the SCORBASE program e 3D Image e Manual Movement Dialog Box e Teach Positions Dialog Box e Workspace Window that shows e Project tab e Commands tab For further information see the RoboCell User Manual User Manual amp S SCORBASE 0602 System Configuration Teach amp Edit SCORBASE for SCORBOT ER 4u MICROCIM DEMO Bai File Edit Run Options View Window Help Q BG Bi t8 on o ofp A
55. en However the user can customize the layout of the windows to the needs of the project This is useful when you have specified one or more dialog bars under the View menu See page 100 To save the layout for future use select Window Save User Screen Whenever you desire to use that layout again select Window User Screen Other Options Options Menu Hardware Setup SCORBASE allows you to define the devices that are connected and operated by the controller as Axes 7 and 8 The following peripherals can be connected to the USB Controller User Manual 93 SCORBASE 0602 System Configuration options View Window Help On Line w OFF Line Hardware Setup Set Parameters w Line Number Reload Last Project at Startup Level 1 Level 2 w Pro Advanced Options Figure 10 8 Options Menu Hardware Setup 1009 Rotary Table 24V 1010 Conveyor Belt gray 24V 1020 1 0m Linear Slidebase belt drive 24V 1013 Linear Table 0 3m 24V 1014 XY Table 24V 1234 Motor Kit 24V 1021 1 8m Linear Slidebase belt drive 24V Note The following peripherals are not supported e 1 0m Linear Slidebase belt drive 24V Catalog 1018 e 1 8m Linear Slidebase belt drive 24V Catalog 1019 Contact your local distributor for further information Do not change the hardware setup unless you are authorized to do so To define the devices select Options Hardware Setup The Hardware Setup dialog box opens Click on t
56. encoder counts are shown in a blue line e Position error is the difference between the required axis position and the actual axis position The error 1s expressed in encoder counts and shown in a red line e The PWM value represents the controller output The error and the axis control parameters determine the PWM value shown in a green line The data for each axis 1 8 1s shown in a different chart Sample charts for axes and 2 are shown in Figure 3 4 User Manual 17 SCORBASE 0602 Menus Overview I gt sd 83 G 18000 25000 Encoders 25000 Encoders p 18000 Figure 3 4 Chart for Two Axes To open the Charts window do one of the following e Click the Charts icon in the toolbar Zw e Select View Charts The following options are available in the Charts window toolbar otart chart Starts drawing the chart otop chart Stops drawing the chart User Manual 18 SCORBASE 0602 Menus Overview Options Opens the Chart Options dialog box where you can select the data to be displayed in the chart s Chart Options a gt 1E ISI ISI IST IST IST IST 1E TIS ISI IST IST IT IST OQODOOCDOJO SS Record History Cancel Advanced gt gt Figure 3 5 Chart Options Dialog Box Click the data that you want displayed in the charts The example shown in Figure 3 5 results in the display of the Encoder Error and PWM of axis 1 as well as the display of the Encoder and Error for axes 2 through 6 Since
57. er program and graphical display if installed e SCORBASE Command Tree The Program Window contains the text of the SCORBASE program currently loaded Its title bar displays the name of the project Also shown by default is the programming toolbar The toolbar contains a drop down list of all subroutines available for quick navigation B3 Program AGV_CIM Seles AON O x2 A TI ET Ez aov noue 245 Call Subroutine SCRIPT BREAKPOINT 246 Send Message LOCALIZE X1 V1 THETAT to Device Driver ID 58 247 Set Variable STATUS 1 248 Jump to END L CALIZE AGY CAM2 249 VISIDON ERROR L C CAM2 250 Set Variable STATUS 0 251 Print to Screen amp Log PAYLOAD not found under camera 2 252 Jump to END_LOCALIZE_AGY_CAM 2 253 LOCAL_ERROR_CAM 2 254 Set Variable STATUS 0 255 Print to Screen amp Log Localization error at CAM2 Theta ABS_THETA should be less t 256 END_LOCALIZE AGY DCAM2Z 257 Remark Check file paths in AGY _ CIH baz file 258 External Function Script AGY_CIM Function 5aveAndCloselmage 2 gt RETURI 259 Return from Subroutine 260 Remark tsssnsnssssensessssnsses 261 Remark The AGY DONE subroutine is called by the AGY device driver 262 Get Subroutine AGY_DOHE 263 Print to Screen Message from AGY Done 64 Wait 1 10ths of seconds 265 Set Variable DONE_FLAG 1 66 Return from Subroutine 267 Remark 268 Set Subroutine WAIT AGV D NE EQ I ARFI WAIT AGW NONE Figure 6 1 Progra
58. eripheral position Absolute and Relative The two methods are applicable in Cartesian and in Joint coordinates An absolute position 1s defined using all five robot position parameters If the Joint coordinate system is used the robot position is defined using the Base Shoulder Elbow Pitch and Roll angles In the XYZ coordinate system a position is defined using the X Y Z values in millimeters and the Pitch and Roll angles in degrees An absolute position is usually a fixed position in world space A relative position 1s a position whose coordinates are defined as an offset from a reference position coordinates If the coordinates of the reference position change the relative position moves along with it maintaining the same offset A relative position can be defined in either Cartesian or Joint coordinate values A position can also be defined as relative to current In this case the relative position 1s calculated as an offset from the coordinates of the current robot position Record and Teach User Manual 0602 Although the terms teach and record are often used interchangeably SCORBASE makes the following distinction Record position defines a robot position in a Joint coordinates system Teach position defines a robot position in a Cartesian coordinates system 26 SCORBASE Position Definition Manual Movement Dialog Box Recording a robot position in Joint coordinates 1s done by manipulating the robot
59. erts deletes asterisk at beginning of a Ctrl R SCORBASE program command line This action toggles the command line between a remark and an executable command See page 41 Find Ctrl F Find Next Opens a dialog box that displays the total number of lines in the program and prompts you for a line number The program editor jumps to the line you specify See page 41 Display the line selected Useful for long programs See page 41 Go to Line Go to Selected Line SCORBASE Menus Overview 10 Run Menu Mj Options We wmow Fe The Run menu contains SCORBASE commands for homing the robot and peripheral axes see Chapter 4 page 21 and executing programs Note If the software is operating Off line only the Run program options are available in this menu Run Single Line F Run Single Cycle F7 Run Continuously F8 Stop F3 a Search home Homes both the robot and any configured all axes peripheral axes See page 22 Search home robot Homes the robot This command is available only if the system has been homed once after opening SCORBASE See page 23 Homes the peripheral This command is available only if the system has been homed once after opening search home peripherals SCORBASE See page 23 Go home all Sends the robot and peripherals to their home axes positions See pages 22 and 23 Go home robot Sends the robot to its home position This command does
60. es degrees from horizontal reference position for axis 4 Lower limit of axis motion in angles degrees from horizontal reference position for asis 5 Upper limit of axis motion in angles degrees from horizontal reference position for axis 5 Lower limit of working envelope radius in meters Upper limit of working envelope radius in meters Lower limit af Z coordinate in meters Immar imik at cnr she imn matarse Figure 3 2 Parameter Set Window Parameters can be set for the robot and for each one of the eight axes Select the appropriate tab and set the desired parameters Line Number Shows hides program line numbers in the program window Reload Last When checked opens the last project saved when Project at Startup SCORBASE is started Level 1 Displays list of commands and options at introductory level Commands related to Level 2 and Pro are disabled See page 99 Level 2 Displays list of commands and options at advanced level Commands related to Pro are disabled See page 99 Pro Displays list of all commands and options See page 99 User Manual 13 SCORBASE 0602 Menus Overview Advanced Opens a dialog box in which these options are Options available e Advanced Commands See page 41 ViewFlex Commands see the ViewFlex User Manual Advanced Options Ww Advanced Commands Iw ViewFlex Commands Figure 3 3 Advanced Options Dialog Box When one or both options are checked the corresponding com
61. es not change Open Gripper Completely opens the gripper Close Gripper Completely closes the gripper The robot can be manipulated from the Manual Movement dialog box before it has been homed in Joint mode only In fact it is often necessary to bring the robot into a more suitable position before initiating the homing routine However an axis limit error message may appear during manipulation of a robot that has not been homed Movement of an axis continues as long as the button or key is pressed or until a software or hardware limit is reached User Manual 30 SCORBASE 0602 Position Definition Robot Movement Dialog Box The Robot Movement dialog box enables control over the robot in XYZ and Joint modes Robot Movement X Y ZPR Figure 5 5 Robot Movement Dialog Box Clicking on an axis image or the XYZPR buttons moves the robot as described above at Manual Movement Dialog Box To open the Robot Movement dialog box select View Robot Movement Teach Positions Dialog Box The Simple Expanded Teach Positions dialog box enables the following e Teaching positions in Cartesian coordinates e Recording positions in Joint coordinates e Sending the axes to the recorded positions when program is not running e Goto Position e Go Linear e Go Circular To display the description of the function of each icon in the Teach Position dialog box simply place the mouse on the desired icon without clicking a mo
62. es not communicate with the controller even though it may be connected Off line mode is useful for checking and debugging programs See page 23 On Control On Enables servo control of the axes See page 24 cu FS OFF Control Off Disables servo control of the axes See page 24 Hardware Opens the Hardware Setup dialog box where you can Setup define the peripheral devices which are connected and operated by the controller as axes 7 and 8 User Manual 12 SCORBASE 0602 Menus Overview Set Opens the Parameter Set Window see Figure 10 12 Parameters and Figure 10 13 You have to activate Advanced Commands before can you utilize Set Parameters Robot Axis 1 Avis 2 Avis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Description Ac Lower limit of axis motion in angles degrees from horizontal reference position for axis 1 Upper limit of axis motion in angles degrees from horizontal reference position for axis 1 Lower limit of axis motion in angles degrees from horizontal reference position for axis 2 Upper limit of axis motion in angles degrees from horizontal reference position for axis 2 Lower limit of axis motion in angles degrees from horizontal reference position for axis 3 Upper limit of axis motion in angles degrees from horizontal reference position for axis 3 Lower limit of axis motion in angles degrees from horizontal reference position for axis 4 Upper limit of axis motion in angl
63. execute the command specified for this interrupt If the specified command is a Call Subroutine the program will resume from the point where it was suspended as soon as the subroutine completes its execution If the specified command is a Run Subroutine the main program resumes immediately after the concurrent process is started An interrupt command can be disabled and enabled by means of the El Enable Interrupt and DI Disable Interrupt commands described below User Manual 68 SCORBASE 0602 Program Editing Example On Input Interrupt On Input Number 1 7 on KE Call Subroutine GETON E F un 5 ubroutine Cancel Figure 6 39 On Input Interrupt Call Dialog Box This inserts the following line of code On Input Interrupt 1 On Call Subroutine GETOOL When Input 1 is turned on the program immediately calls subroutine GET001 If any axes are moving when the interrupt occurs they will immediately stop When the subroutine is completed Return from Subroutine command is reached the axes will reassume the position and status that were interrupted and the program will continue from that point DI Disable Causes the specified input interrupt to become inactive Interrupt When an interrupt is inactive it is disregarded until the El Enable Interrupt command reactivates it The command opens this dialog box Disable 7 Enable Interrupt Figure 6 40 Disable Interrupt Dialog Box Input Number Enter an
64. ftware Selection Window Installation Please select software RoboCell for ER 2u RoboCell for ER 4u RoboCell for ER Su SCORBASE far 45A5 Zx3bu SCORBASE far ASAS 36y SCORBASE for ER zu SCORBASE for ER 4u SCORBASE for Mobile Robot Description SCORBASE for Mobile Robot Cancel Figure 2 2 Software Selection Window User Manual 3 SCORBASE 0602 Starting SCORBASE 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 SCORBASE although you can choose to open a new project and work with a different robot See the Hardware Setup option in the Options Menu e Click Next to open the License Agreement Window Software License Agreement Please read the following License Agreement Press the PAGE DOWN key to see the rest of the agreement LICENSE AGREEMENT This document is an agreement between you the LICENSEE and Intelitek Inc hereinafter Intelitek BY INSTALLING OPENING OR USING THIS SOFTWARE YOU SRE AGREEING TO BECOME BOUND BY THE TERMS OF THIS AGREEMENT WHICH INCLUDES THIS SOFTWARE LICENSE IF vou da not agree to the terms af this agreement promptly return the package to the place where you obtained them DEFINITIONS Licensee Do vou accept all the terms of the preceding License Agreement IF vau choose Ho Setup will clase To install RoboCell For Lontraller LIS B you must
65. he arrow to open the list of available devices and then click on the desired device User Manual 94 SCORBASE 0602 System Configuration Hardware Setup Avis 5 Not Connected Figure 10 9 Hardware Setup Dialog Box Initial Hardware Setup Peripherals C Robot Axis Hot Connected Rota Table 24 Convevor Belt grav 24V Slidebase 1 0m Belt drive Slidebase 1 8m Belt drive Linear T able D 3m AT Table axis Figure 10 10 Hardware Setup Peripherals Dialog Box showing default settings The Hardware Setup option also enables you to work with a different robot from the one you selected during installation See page 2 To do so click the Robot radio button C Peripherals Robot SCORBOT ER ju SCORBOT ER 2u SCORBOT ER 4u SCORBOT ER Su ASAS 3bu ASRS 2 3bu Figure 10 11 Hardware Setup Robot Dialog Box Select the desired robot and click OK User Manual 95 SCORBASE 0602 System Configuration Parameter Set Window Parameter Set DEFAULT He iMi URS 3 E ae Se 7 BaseAnglel tof axis motion in angles degrees from horizontal reference position BaseAngle2 tof axis motion in angles degrees from horizontal reference position Shoulder amp nglel t of axis motion in angles degrees from horizontal reference position Limits 174 0 124 0 160 0 ShoulderAngle2 ElbowAngle ElbowAngle2 tof axis motion in angles degrees
66. ific workspace and runs SCORBASE For example SCORBASE EXE SCBS INI R C PROGRAM FILES INTELITEK ROBOCELL PROJECTS ER4u Er4Celll WS Open CIM Robot Device Driver configuration file For example SCORBASE EXE I USBVD1 INI N Open CIM Robot Device Driver number T Displays the SCORBASE application on top of the desktop at all times User Manual 101 SCORBASE 0602 System Configuration Prevents the SCORBASE application from staying on top of the desktop This command can be activated only when SCORBASE is open IM Minimizes the SCORBASE application This command can be activated only when SCORBASE is open Restores the SCORBASE application This command can be activated only when SCORBASE is open Closes the SCORBASE application This command can be activated only when SCORBASE is open CIMDD ONLINE Open CIM SCORBASE device driver mode Online CIMDD SIMUL AUTO Open CIM SCORBASE device driver mode Simulation CIMDD STANDALONE ONLY Open CIM SCORBASE device driver mode Standalone Examples of SCORBASE command line procedures are provided as follows Loading a workspace in simulation mode e At the prompt type the following SCORBASE EXE S L C PROGRAM FILES INTELITEK ROBOCELL PROJECTS ER9u Act3 WS The workspace will be loaded in simulation mode Loading the software in online mode and homing the robot e At the prompt type the following SCORBASE EXE O H R C PROGRAM FILES INTELITEK R
67. in the top portion of the table represents a single position To manipulate the list e Select a position row e Right click to display the popup window 37 SCORBASE Position Definition Position Popup Window Position 3 Displays the number of the position Delete Deletes the selected position Delete All Sne a Delete All Deletes all listed positions from the Position o Auen Inventory Panel and the SCORBASE memory show Joint Add Watch Copies the position data to the watch list visible LE in the Watch Panel v Show Both Show Joint Shows only Joint values of all positions See page 26 Show XYZ Shows only the XYZPR of all positions See page 27 Show Both Shows both Joint and XYZPR values of all positions Note The peripheral positions are always displayed using encoder counts Watch Popup Window Position 2 Displays the number of the position Remove Remove Removes the selected position from the watch list Remove Al but does not affect its presence in the overall list Show Joint Remove All Removes all listed positions from the watch list Show YZ but does not affect their presence in the overall w Shaw Both list Show Joint Shows only Joint values of all positions This can be set to a value different from the Position Inventory Panel See page 26 Show XYZ Shows only the XYZPR of all positions This can be set to a value different from the Position Inventory Panel See page 27 Show Both Shows both Joint an
68. input number a variable or the word ALL Enable Disable Select Enable in order to modify the command User Manual 69 SCORBASE 0602 Program Editing El Enable Causes the specified input interrupt to become active The Interrupt command opens this dialog box Disable Enable Interrupt Figure 6 41 Enable Interrupt Dialog Box When an interrupt is active it is waiting for an interrupt status defined using the OI On Interrupt command described above Input Number Enter an input number a variable or the word ALL Enable Disable Select Disable in order to modify the command Er ON Turn On 1 2 Pro Sets the state of the specified digital output On The Output command opens this dialog box Output Number Ig Digital IC Analog caen Figure 6 42 Turn On Output Dialog Box Output Select a number or type a variable name Number The default settings of Digital and On can be changed User Manual 70 SCORBASE 0602 Program Editing OF Turn Off 1 2 Pro Sets the state of the specified digital output Off The Output command opens this dialog box Figure 6 43 Turn Off Output Dialog Box Output Select a number or type a variable name Number The default settings of Digital and Off can be changed AO Set Pro Sets the state of the specified analog output The command opens this dialog box Analog Output Set Analog Output Figure 6 44 Set Analog Output Dialog Box
69. is executed the current value of the variable is displayed in the status line at the bottom of the screen When the program is not running click on the Set Variable command in which the value is assigned to the variable and then execute this line using the Run Single Line command The variable value is displayed in the status line at the bottom of the screen The Print to Screen amp Log PS command can also be used to print the actual value of a variable by placing the variable name within single quote marks in the text to be printed Example Set Variable z 5 Set Variable x 9 Set Variable y x z Print to screen z z x x y y When the program is running the following messages appear in the status bar Ea When the first line is executed the message is z 5 When the second line is executed the message is x 9 When the third line is executed the message is y 4 When the fourth line is executed this window opens Date Time Message 06 27 01 23 46 02 7 5 x 9 p 4 Figure 7 2 Variable Status Dialog Window 77 SCORBASE Variable Programming Program Execution The Program Window and the dialog bars described in this chapter are used for activating and monitoring program execution Select Window Run Screen to display only the Program window which shows the section of the program currently executed e Status Bar indicates the currently executed line or current value of a variable e Inputs and Ou
70. log Box Enter the name of the variable in the Variable Name field and select the position number from the Position Number drop down list Enter an integer between 1 and 5 for the Joint number as follows Base l Shoulder 2 Elbow 3 Pitch 4 Roll 5 You may also insert a variable which contains one of these values User Manual 54 SCORBASE 0602 Program Editing SX Set Variable Allows you to set a variable to the value of a specified to Cartesian Cartesian coordinate at a specified position number Position Set Variable Function Cartesian Coordinate at Position 1 100 of deg or mm Variable Mame Position Mumber Cartesian Coordinate Number 421 1 22 723 Fitch24 RH oll 5 eer Cancel Figure 6 19 Set Variable to CartesianPosition Relative XYZ Dialog Box Enter the name of the variable in the Variable Name field and select the position number from the Position Number drop down list Enter an integer between 1 and 5 for the Cartesian coordinate number as follows X l Y 2 Z 3 Pitch 4 Roll 5 You may also insert a variable which contains one of these values User Manual 55 SCORBASE 0602 Program Editing Program Flow Commands Workspace Workspace WT wal JU JumpTo HE Remark HB HinaBaell HI HesetTimer 5v SalVanableT aComputatian V SetVanableT oT inner IF lflump 55 SatbSubrautine H5 HeatumSubrautine CS CallSubroutine A Label F5 Print oScreenLog SM SendMessage
71. m Window The Workspace Window contains two tabs to switch between the project files and the commands currently available 42 SCORBASE Program Editing Workspace Project Commands Program Polygor g Positions Polygon Figure 6 2 Workspace Window Project Tab The Commands tab displays the Command Tree which in turn displays all of the commands available for the currently set Experience Level Program Editing Tools SCORBASE is a text based programming language in which every command is a Single text line SCORBASE programs are edited by means of the usual Windows text editing options which can be accessed e Via the Edit menu e By pressing the designated keys e Byright clicking the mouse in the Program Window to open a pop up menu Cut Ctrl X Deletes selected text or lines from the program and places it on the Windows and SCORBASE clipboards Copy Ctrl C Places a copy of selected text or lines from the program on the Windows and SCORBASE clipboard Paste Ctrl V Inserts the contents of the SCORBASE clipboard into the program Find Ctrl F Opens a dialog box that allows you to search for any string such as a command or text Find what anahe AE Direction Cancel Match case o f Up 9 Dow Figure 6 3 Find Dialog Box User Manual 43 SCORBASE 0602 Program Editing Find Next F3 Repeats the last Find operation for the next occurrence Accessible also from the Find dial
72. mands Advanced Commands and Vision Commands are listed under the Command tab of the Workspace Window View Menu m Window Help The options in the View menu allow you to show hide SCORBASE wv Workspace dialog bars and windows Manual Movement w Teach Positions Robot Movement w Positions Charts Dialog Bars k Show All Dialog Bars Close All Dialog Bars Movement Information Messages w Toolbar Workspace Shows hides the Workspace Window Through v Status Bar this window the user can access the project files and the SCORBASE commands tree See page 41 Manual Shows hides the Manual Movement Dialog Box Movement This box enables manual control over the movements of the robot the gripper and peripheral axes User Manual 14 SCORBASE 0602 Menus Overview User Manual 0602 Teach Positions Shows hides the Teach Positions Dialog Box This box enables recording teaching and deleting positions It also enables the user to send the robot and or peripherals to a previously defined position The functions available depend on the current Experience Level setting Robot Movements Opens the Robot Movement Dialog Box Pressing on a Selected axis moves it in the selected direction Positions The Positions Window displays the positions of the currently open project The list is presented in tabular format Dialog Bars Toggles the display of seven dialog bars that enable the following Joints Displays
73. mmand by selecting Jump instead of If User Manual 61 SCORBASE 0602 Program Editing oo Set Creates a subroutine You can program up to 64 Subroutine subroutines in one program The command opens this dialog box Set Subroutine Enter a name far the subroutine An rea Figure 6 28 Set Subroutine Dialog Box In the Name field enter a name or number for the subroutine Note Create subroutines only at the end of the main program Every subroutine must end with a Return from Subroutine command RS Return Marks the end of a subroutine At run time this command from terminates the execution of the subroutine and the program Subroutine resumes execution at the line that follows the Call Subroutine command Note Every subroutine must end with a Return from Subroutine command User Manual 62 SCORBASE 0602 Program Editing CS Cal 2 Pro Activates the specified subroutine The command opens Subroutine this dialog box E Mate ou can call a script subroutine For example SCRIPT My SUBROUTINE 2 4 5 ceca Figure 6 29 Call Subroutine Dialog Box In the Name field enter the name of the subroutine Notes Use the Call Subroutine command either from the main program or from another subroutine command You can call the same subroutine repeatedly in the same program You can call a subroutine from a Visual Basic script that is loaded Append the prefix SCRIPT to the beginning of the Vi
74. oductory level Level 1 only basic commands appear in the Command Tree e Atthe Advanced level Level 2 the number of commands is increased e At the Professional level Pro Level all commands are accessible To see the Command Tree click the Command tab 1n the Workspace Window SCORBASE commands are grouped into these categories e Axis amp Control e Program Flow e Inputs amp Outputs e Advanced By default this category is hidden Select Options Advanced Options Advanced Commands to display these commands e Vision By default this category is hidden Select Options Advanced Options ViewFlex Commands to display these commands Clicking on a category opens closes the list of commands To add commands to a program do one of the following e Double click on the desired command in the Command Tree e Type the two letters written next to the command e Click on the command icons in the Program Window applicable only for selected commands If you are working in Insert Mode the new command line is added above the currently selected highlighted line If you are working in Overwrite Mode the new command replaces the selected line Toggle between the two modes using the Ins key Many commands open dialog boxes for completing the command line parameters To change a command parameter click on the command to re open the command dialog box Change the required parameter and click OK to close the dialog box Note
75. og window Command Inserts deletes asterisk at beginning of a command Remark line SCORBASE ignores command lines that start with an asterisk This feature is useful for debugging Go to Line Opens a dialog box that displays the total number of lines in the program and prompts you for a line number Type in the number The program editor will jump to the line you specify Total number of lines 3 MO EE n Figure 6 4 Go To Line Dialog Box Go to Selected Automatically scrolls the Program Window to Line display the line which you have selected This is useful for long programs when you have selected a particular line and then scrolled away from it In very short programs which fit within a single window this function has no visible effect In addition use the keyboard for the following functions Toggles between Insert Mode and Overwrite Mode The currently active mode is shown in the Status bar at the very bottom of the SCORBASE window In Insert Mode a new command is inserted into the program above the line currently marked by the cursor Deletes the line or lines currently marked by the cursor User Manual 44 SCORBASE 0602 Program Editing Adding and Editing Commands User Manual 0602 SCORBASE commands are organized in a Command Tree which is displayed in the Workspace Window SCORBASE only displays the commands which are available in the currently set Experience Level e At the Intr
76. og output Displays the value 0 255 of Analog output 1 and 2 These values can also be modified through this dialog bar See page 82 Analog input Displays the value 0 255 of Analog inputs 1 4 Enables setting a value for an input in Off line mode for program debugging See page 82 Shows the values of the eight encoders See page 39 Each of these options adds a dialog bar to the bottom of the screen overlapping whatever windows are displayed The user can retile the screen by reselecting the desired Window Layout Options from the Window menu User Manual 100 SCORBASE 0602 System Configuration Appendix A Command Line Options The following table describes the command line options that enable the integration of user applications with SCORBASE Before operating SCORBASE with these command line options follow and obey all warnings and cautions provided in the user application manuals to prevent for example hazards from moving parts The SCORBASE command line format that is required when using the options described in the table is provided as follows SCORBASE EXE Optional INI File Optional Switches Loads SCORBASE n online mode For example SCORBASE EXE SCBS INI O Loads SCORBASE in simulation mode For example SCORBASE EXE SCBS INI S Loads a specific workspace in simulation mode For example SCORBASE EXE SCBS INI L C PROGRAMES INTELITEK ROBOCELL PROJECTS ER4u Er4Celll WS Loads a spec
77. osition or modify that position s coordinates do the following 1 Inthe Position Number field in the Teach Positions dialog box select an absolute position number 2 Click Get Position The XYZPR values of the position now appear in the XYZ Pitch and Roll fields Note If the position is relative only the offset values will be displayed 3 Inthe Position Number field enter a different number or leave the position number if you want to modify that position 4 Torecord a position for the robot axes click Robot To record a position for the peripheral axes click Peripherals To record positions for both click Robot and Peripherals 5 In one or more of the coordinate fields enter a new value in millimeters or degrees 6 Click Teach Warning If you click Record the current TCP coordinates will be written to the selected position Teach Relative XYZ Position Levels 2 amp Pro To record a relative XYZ position Make sure you have first recorded the reference position 1 In the Position Number field in the Teach Positions dialog box enter the new position number 2 Select Relative to and enter the number of the reference position in the Relative to field All XYZ coordinate fields are blank or show 0 3 In one or more of the coordinate fields enter a new value in millimeters or degrees 4 Click Teach A position that is relative to current means the specified offset will be computed from wherever
78. project However it is the programmer s responsibility to ensure that there are no name conflicts EN End This command simply enters the command End on the Program selected line of the program It signifies the end of the program It may be used in more than one subroutine such as subroutines which respond to various error conditions User Manual 66 SCORBASE 0602 Program Editing Input Output Commands Workspace Workspace Project Commands Project Commands 4215 CONTROL xi AXIS CONTROL Eg PROGRAM FLOW GQ PROGRAM FLOW Sex INPUTS amp OUTPUTS a INPUTS amp OLITPUTS l Input Dinlump I T nputi OnJump i DM TumOnQutputt a Ol Onlnputinttt OnSub OF Tum ff utputit El Enablelnterruptt_ DI Disablelntenupt ON Tumt ntlutputit HF Turm ffflutputi E AQ c etAnalonDlutpudt E Al Set nableT anslbg ndi E ADVANCED COMMANDS VISION COMMANDS Level 1 amp 2 Introductory amp Pro Professional Advanced Figure 6 36 Command Tree Inputs amp Outputs Branch I If Input 1 2 Pro Causes the program to jump to a label or call a subroutine if On Off Jump the state of the tested digital input matches the status specified On or Off The command opens this dialog box Input Number Iu Jump to Label 5 mum Call Subroutine IDEST ma Figure 6 37 If Input Dialog Box In the Input Number field enter the number of digital input 1 8 or a variable
79. r digital inputs and outputs The display is available in all modes of operation Digital Inputs E x Digital input 2S a eee Figure 8 2 Digital Input Dialog Bar User Manual 80 SCORBASE 0602 Program Execution User Manual 0602 x touts TERRI RE pel We RESI aaa east Figure 6 3 Digital Output Dialog Bar In both dialog bars when the I O status 1s Off false the matching I O number is dark green When the I O status 1s On true the matching I O number is light green If control is On the sixteen Output Input LEDs on the front panel reflect the I O status If control is On clicking on an output number in the Digital Output dialog bar toggles the status of the controller s digital outputs In Off line the Digital Output dialog bar can also be used to simulate the status of controller s digital inputs This option is useful for checking the If Input onJump command In On line mode to test the program response for the If Input onJump command short the designated input terminal to the digital input ground amp 1 SCORBASE Program Execution Analog Inputs amp Outputs Dialog Bars User Manual 0602 SCORBASE can monitor and control four 4 analog inputs and two 2 analog outputs The Analog Inputs amp Outputs dialog bars show the values of the controller Analog Inputs and Outputs These dialog bars may also be opened or closed using the View Show All Dialog Bars or View Close All Dialog B
80. rdinate System A robot position in Joint coordinates 1s defined by five angle values representing each angle of the joints The joint names are Base Shoulder Elbow Pitch and Roll ENCODER MOTOR GRIPPER ELBOW PITCH SHOULDER BASE MOTORS ENCODERS Figure 5 1 Robot Joints User Manual 26 SCORBASE 0602 Position Definition For example after homing the robot position in Joints coordinates 1s Axis 1 Base 0 Axis 2 Shoulder 120 Axis 3 Elbow 95 Axis 4 Pitch 88 Axis 5 Roll 0 Cartesian Coordinate System XYZ A robot position in Cartesian or XYZ coordinates is defined by these parameters e The distance of the robot s Tool Center Point TCP from the point of origin the center bottom of the robot base along the three axes that describe three dimensional space X Y Z e The Pitch P and Roll R angles of the gripper specified in angular units Tool Center Point T C P L gt X Y Figure 5 2 Tool Center Point in Cartesian XYZ Coordinates User Manual 27 SCORBASE 0602 Position Definition For example after homing the robot position in Cartesian coordinates 1s defined as X 4169 mm Y 0 mm Z 503 mm Pitch 63 Roll 0 A position recorded in one coordinate system can be converted by SCORBASE to another coordinate system Absolute and Relative Positions SCORBASE offers two methods of defining a robot or p
81. s allow you to write commands that change as the state of the robot or its environment changes during program execution Therefore they are useful for creating loops and subroutines in robot programs To use a variable it must first be defined using the Set Variable to Computation command See pages 41 and 58 Variable names can be up to 22 characters long It is recommended however that you use meaningful names that are as short as possible The first character of the name must be alphabetic SCORBASE has full access to variables in Visual Basic scripts that are loaded in memory The variable name must begin with SCRIPT for example SCRIPT A Values can be transferred both to and from variables in external Visual Basic scripts In most editing commands a variable can be specified instead of a numeric value A variable cannot be used to specify a Label or a Subroutine If at run time the program encounters a variable whose value is not defined or Is out of range an error message is displayed SCORBASE XC Undefined variable r Figure 7 1 Undefined Variable Error Message Using a Variable Instead of a Numeric Value Example 1 Set Variable stationl 5 User Manual 75 SCORBASE 0602 Variable Programming User Manual 0602 Set Variable lamp 1 Go to Position stationl fast Turn on output lamp In this example one of the robot stations named station is recorded as position 5 and a lamp is connected to outp
82. s command runs the homing procedure for the configured peripherals Homing of the robot is enabled only after the system has been homed once Go Home Command Go Home All Axes Robot Peripherals After the axes have been homed select Run Go Home All Axes to send the axes back to their home position at any time This command sends the robot and peripherals to a position where the axes encoders value equals zero The Go Home command does not run the homing procedure Selecting the Go Home Robot or Go Home Peripherals command sends the selected axis to its home position On Line Mode Off Line Mode SCORBASE can run either in On line or in Off line mode In On line mode SCORBASE communicates with the controller over the USB channel If the Control On state is selected SCORBASE controls the robot peripherals and I O device In Off line mode SCORBASE can be used only in the Control Off state useful for programming and debugging The active mode is displayed in the status bar To change to On line select Options On line To change to Off line select Options Off line If SCORBASE 1s opened in On line or On line is selected from the Options menu this message appears as SCORBASE searches for the controller Initializatian please wait Figure 4 2 Controller Search Status Window User Manual 23 SCORBASE 0602 Homing and Control If the controller is detected On line mode 1s activated If the controller
83. sages 26 Close Gripper Message 27 Go Linear to Position ABOVE_TEMPLATE_POSITION Speed 2 28 Go to Position 21 Speed 5 29 Go to Position 20 Speed 5 30 Go Linear to Position 2 Speed 2 _ 31 Open Gripper _ 32 Go to Position 20 Speed 5 Operation Mode CIM Messages Open CIM path C Program Files IntelitekS CORBASENAGVACIMFlexSw S 14 IP address 1721612 21 Insert amp amp off line Figure 10 6 Open CIM Screen The Open CIM Screen option displays the following e Program Window that holds the SCORBASE program e Open CIM Device Driver Window which provides e Toolbar with button for Manual Stop e Operation Mode selector e Online e Simulation e Standalone When this option is selected you may press the icon on the toolbar to open the TCP IP dialog box for establishing communications with other Open CIM applications User Manual 92 SCORBASE 0602 System Configuration TCP IP Status iw Enable TCP IP Cancel e Task History panel e Percentage Complete from Pick amp Place File e CIM Messages panel e Messages Window To use the Open CIM Screen layout select Window Open CIM Screen User Screen Save User Screen rnm Help Teach amp Edit Run Screen Project Screen Open CIM Screen User Screen Save User Screen w 1 Program MICROCIM DEMO Figure 10 7 Window Menu Select User Screen By default the User Screen displays the same windows as the Teach amp Edit Scre
84. sual Basic subroutine name If more than one VB script is loaded it is the responsibility of the programmer to ensure that there is no conflict of names After the subroutine is executed the program resumes execution from the line that follows the Call Subroutine command LA Label 1 2 Pro Marks a line in the program that is referenced by a Jump command The command opens this dialog box aK x f Cancel oa Figure 6 30 Label Dialog Box In the Label field enter a name Do not include blank spaces use an underscore Do not use the same label name more than once User Manual 63 SCORBASE 0602 Program Editing PS Printto 2 Pro Instructs SCORBASE to print data containing strings ocreen amp messages and variable values to a log file or to the message Log window or to both The command opens this dialog box p Print to f Screen t Log File f Screen and Log File Cancel Figure 6 31 Print Dialog Box Enter text and spaces of up to 47 characters To print a value of a variable place the variable name in single quote marks For example VARX X will print as VARX 50 when the value of X is 50 Click the desired print destination User Manual 64 SCORBASE 0602 Program Editing SM Send Sends a message to MANAGER Robot Device Driver Message CNC Device Driver or Device Driver Send Message Send To MANAGER MANAGER aires Robot Device Driver ane CNC Device
85. t before printout Charts Import 3D Model Reserved for RoboCell program option Edit 3D Model Reserved for RoboCell program option View File Enables you to view a file from those listed Graphic module files 3DC e SCORBASE programs sbp Position data pnt When you select a file a window opens displaying that file Exit Closes SCORBASE If changes to a program or position file have been made but not yet saved a message appears giving you the opportunity to save the file before you exit SCORBASE User Manual 9 SCORBASE 0602 Menus Overview Edit Menu m Run Options View Window Cut krls Copy CErI C Ctrl F F3 Find Find Next CommandjR emark t 4 Go to Line Go bo Selected Line User Manual 0602 The Edit menu contains the usual Windows functions that allow you to edit program files Deletes selected text or lines from the program lines and places it on the Windows and SCORBASE clipboards See page 41 Cut Ctrl X Places a copy of selected text or lines from the program lines on the Windows and SCORBASE clipboards See page 41 Inserts the contents of the SCORBASE clipboard into the program lines See page 4 Copy Ctrl C Paste Ctrl V Opens a dialog box that allows you to search for a particular text string SCORBASE command or command argument See page 4 Repeats the last Find operation for the next occurrence See page 41 Command Remark Ins
86. tion enter a string that consists of two arguments and an operator An argument can be either an integer or a variable e g fun 2 Click on the arrow to see a list of operators or use the following list User Manual 58 SCORBASE 0602 Program Editing Arithmetic Operators Addition Multiplication Subtraction Division Floating Point Division Algebraic Operators Power raises the first argument to the power of the second argument Modulus returns the remainder of the first Figure 6 25 Operators argument divided by the second Dialis bor Logical Boolean Operators Not Or Exclusive or Equivalent Null or Boolean values only Implication Null or Boolean values only The result of a logical operation is 1 True or 0 False Any operand with a non zero value is considered true while a zero value is considered false A value assigned using the SV command can be used for conditional jumping using the IF lt Condition gt Jump command Actions can then be generated according to the variable value The following example jumps the program cursor to a label if more than three seconds elapse after timer reset Reset Timer Set Variable TIME to timer IF TIME gt 30 jump to PICKUP For more information on variables See page 75 User Manual 59 SCORBASE 0602 Program Editing VT Set Allows you to assign the current value of SCORBASE timer to a Variable to variable Timer The SCORBASE
87. to the required position and then recording it The Manual Movement dialog box allows direct control and manipulation of the robot and peripheral axes The Manual Movement dialog box is automatically opened when a project is opened or when the Window Teach amp Edit display setting is selected To open the Manual Movement dialog box when there is no open project select View Manual Movement Figure 5 3 Manual Movement Dialog Box Joints Note Axis 6 is not applicable for SCORBOT ER 2u Axes 7 and 8 are only applicable when defined using the Options Hardware Setup dialog box The following chart explains how clicking the buttons in the Manual Movement dialog box or pressing the corresponding keys on the keyboard controls the robot and peripheral movements Joints When Joints is selected clicking the buttons or pressing the corresponding keys on the keyboard moves one robot axis at a time as described below User Manual 29 SCORBASE 0602 Position Definition Manual Movement Joints C YT Figure 5 4 Manual Movement Dialog Box XYZ XYZ When XYZ is selected clicking the buttons or pressing the corresponding keys on the keyboard moves the TCP as described below Movements in X YZ mode are sometimes a combination of simultaneous movements of a few axes 4 R_ Axes move in order to change the gripper s pitch angle the TCP position does not change 5 T_ The gripper rolls the TCP position do
88. tputs Dialog Bars show the Analog Input Analog Output Digital Input Digital Output values To activate the dialog bars that are most useful for program execution select View Dialog Bars and then the desired dialog bar from the pop up menu e Log file records data during program execution Running a Program SCORBASE offers three modes of running a program To select the running mode do one of the following e Click the appropriate Run icon in the toolbar e Select one of the Run options in the Run Menu e Press the function key Single line F6 Runs the currently selected highlighted line Ilii Single cycle pz Runs the program from the currently selected highlighted line Running stops after the last line is executed Continuous F8 Runs the program from the currently selected highlighted line After the last line 1s executed program execution continues from the first line User Manual 78 SCORBASE 0602 Program Execution The Run key on the Teach pendant cannot be used to start execution of SCORBASE programs Note Always restart execution of a program from the first line after you have changed program data e g recorded new coordinates for a position edited a program line etc Halting Program Execution Stop and Pause are the two methods of halting program execution from SCORBASE To stop or pause programs from SCORBASE do one of the following e Click the appropriate icon in
89. u are about to reinstall the software or install a newer version to an existing SCORBASE directory it is recommended that you back up any existing user created files before you begin the installation It 1s also recommended that you remove the previous SCORBASE version for Windows installation using the software s Uninstall utility To install SCORBASE e Insert the CD into the CD ROM drive to start the installation procedure User Manual z SCORBASE 0602 Starting SCORBASE 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 a Setup e Wait until the Welcome window is displayed Welcome to the RoboCell for Controller USB Setup program This program will install RoboCell Far x L ontraller LISB on your computer It iz strongly recommended that vou exit all Windows programs before running this Setup program Click Cancel to quit Setup and then close any programs you have running Click Next to continue with the Setup program WARNING This program is protected by copyright law and International treaties Unauthorized reproduction or distribution of this program ar any portion of it may result in severe civil and criminal penalties and Will be prosecuted to the maximum extent possible under law Next gt Cancel Figure 2 1 Welcome Window e Click Next to open the So
90. udes the following files e SCORBASE program file extension SBP e Recorded Position files file extension PNT e Project data file extension WS e Graphic image if RoboCell is installed file extension 3DC All commands except for Open relate only to the SBP PNT and WS files Opening or saving a project from the File menu opens or saves all project files three or four files As default all files are located 1n the Projects directory folder in the ER 2U or ER 4U directory depending on which robot is being used for the project Project Management SCORBASE project files are managed by means of the usual Windows file tools which can be accessed by icons or via the File menu B Opens a new untitled project named Untitled All project related files are created E Open Ctrl O Opens a Load Project File dialog box for gt opening a previously saved project All project TN related files are opened Only one project may be open at a time User Manual 84 SCORBASE 0602 Project Files Management Save Ctrl S Saves the currently active pro ect It the proj ect mj has not previously been saved 1 e is untitled EN a dialog box for specifying the project name opens All project related files are saved including Program Positions and Graphics Save As Opens the Save Project dialog box for saving the currently active project under a new name All project related files are saved under that new
91. ult on Window Menu window r The Window menu enables you to select the desired window layout options Teach amp Edit Run Screen Project Screen Open CIM Screen User Screen Save User Screen w 1 Program Untitled Simulation amp Sets the screen to display the RoboCell window Teach and dialog bars required to define positions This is disabled in SCORBASE Teach amp Edit Opens Program Window Workspace Window Manual Movement Window and Teach Position Window Run Screen Displays the Program Window together with its toolbar Project Screen Displays the Program Window and Positions Window Open CIM Screen Displays Program Window Open CIM Device Driver Window and CIM Messages Window User Screen This allows the user to customize the screen layout according to personal preference User Manual 16 SCORBASE 0602 Menus Overview Project Name Displays the file name of the open project Save User Screen This saves the User Screen layout for later recall with the User Screen command Help Menu m The Help menu options SCORBASE Help Scripting Help About SCORBASE Help Opens SCORBASE on line help F1 Scripting Help Opens help files for Visual Basic scripting About Shows the SCORBASE software version Charts SCORBASE charts can be configured to display the following data Y axis vs time X axis e Encoder counts axis position represent the actual axis position The
92. use button The user can define 1 000 positions A higher computer CPU and memory can hold more positions User Manual 31 SCORBASE 0602 Position Definition Simple Level 1 Teach Positions Simple Position Number Figure 5 6 Teach Positions Dialog Box Simple Level 1 The Teach Positions Simple dialog box offers the following options Record 1 2 amp Pro Records the current robot position in joint coordinates to the position displayed in the position number field Delete 1 2 amp Pro Deletes from memory the position in the position number field Go to 1 2 amp Pro Executes the Go to Position command which Position sends the robot s TCP Tool Center Point from its current position to the selected position opeed 1 2 amp Pro selects the speed for all movement commands 10 fastest 1 slowest 5 default Simple Advanced Level Teach Positions Simple Position Number j x Fa Expand Relative to Figure 5 7 Teach Positions Dialog Box Simple for the Level 2 Advanced user At the Advanced level the Teach Positions dialog box offers all the commands available at Level 1 and also all of the following Expand 2 amp Pro Opens the Teach Positions Expanded Simple dialog box User Manual 32 SCORBASE 0602 Position Definition Absolute Defines positions either as absolute or relative to Relative to another position When Relative to is selected
93. ut 1 When the program initiates the value 5 is assigned to the variable named station and the value 1 1s assigned to the variable lamp The following program lines send the robot to position station and turn on a lamp Using a meaningful name for the variable makes the programming debugging and maintenance easier Example 72 Set variable pos 0 Suede ls Set variable pos pos 1 GO LO position pos Tast Wait 50 10ths of seconds If pos lt b Wamp to statt In this example the robot moves to Positions 1 2 3 4 and 5 At each position the robot waits 50 seconds After waiting at position 5 the program terminates Example 3 Start 1 c Set variable tested Loop Set variable tested tested 1 It input tested Off call Sub off If input tested on call sub on If tested 8 jump to loop JUMP TO Start Set Subroutine off Turn off output tested Return from subroutine Set Subroutine on Turn on output tested Return from subroutine In this example the program sequentially scans digital inputs 1 through 8 in an endless loop If the tested input 1s On the program turns on the corresponding output If the tested input 1s Off the program turns the corresponding output off 76 SCORBASE Variable Programming Monitoring Variable Value User Manual 0602 To monitor a variable value SCORBASE offers the following tools l When SCORBASE is running and a Set Variable command
94. uted this command produces a beep using the Bell computer s internal loudspeaker RT Reset Pro SCORBASE uses a timer that measures time in units of tenths of a Timer second The timer starts operating when SCORBASE is opened The Reset Timer command resets the value of the SCORBASE timer to 0 To use the timer the timer value must be assigned to a variable using the Set Variable command See page 58 for more details User Manual 57 SCORBASE 0602 Program Editing Me oV Set 1 2 Pro Allows you to assign a value or an expression result of a specific Variable to Computation computation to a variable The command opens the Set Variable dialog box Computation is selected by default Set Variable Function Computation Variable M ame lt Value or Expression Note You can use script Functions and variables For example SCRIPT MY FLIHCTIDNI 1 3 2 4 SCRIPT MY VARIABLE ea Figure 6 24 Set Variable Default Dialog Box In level 2 the Set Variable value can only be a result of computation In the Pro level variable values can be derived from other sources For further information see pages 51 54 55 60 and 72 Variable Name Enter the name of the variable The first character must be a letter Value or Enter a value or a formula Expression To set the variable to a fixed value enter a number in the range of 1000000 To set the variable to the result of a computa
95. y of the Advanced Commands and the Vision Commands 1s activated by selecting Options Advanced Options View Menu The following display options are available from the View menu Movement Displays the following information Position error for all eight axes Home switch status for all eight axes The number 1 indicates the switch is on pressed while 0 indicates the switch 1s off released Selected axis 1 8 PWM value The PWM value indicates the power sent to the axis motor Movement Information Axis te 1 os mous Position Error 0 Axis H Home Switches O I To Value T Figure 10 17 Movement Information Dialog Box User Manual 99 SCORBASE 0602 System Configuration Messages Displays the content of the PS Print To Screen commands Messages Message Figure 10 18 Messages Window These two commands produce a window which overlaps the existing windows The user should readjust the positions and sizes of these windows according to personal preference Dialog Bar Display Options All Dialog bars are accessible from the View menu Select View Dialog Bars Shows angle of the robot joints See page 39 Shows position coordinates of the TCP See page 39 Digital output Shows digital output status and enables toggling an output status See page 80 Digital input Shows the digital input status Enables toggling an input status in Off line mode for program debugging See page 80 Anal

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