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Tutorial 2

This tutorial guides users through creating a simple pick and place program with a robot integrated with a rail system. It covers steps for creating and configuring a workcell, adding extended axis control, setting up a rail unit, and defining end-of-arm tooling. Finally, it explains how to create and run a simulation program for the pick and place routine.

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4 views8 pages

Tutorial 2

This tutorial guides users through creating a simple pick and place program with a robot integrated with a rail system. It covers steps for creating and configuring a workcell, adding extended axis control, setting up a rail unit, and defining end-of-arm tooling. Finally, it explains how to create and run a simulation program for the pick and place routine.

Uploaded by

sam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Tutorial 2

This tutorial will create a simple pick and place program with a robot with an integrated rail. After
this tutorial you should be able to:

Create and configure extended axis in a workcell. Create Robot Rails.

Over the next few pages, we are going to create the cell as shown below:

Step 1: Creating the workcell

Open Handling Pro and click on the ‘NEW CELL’ icon.

This time we are going to use the default ROBOGUIDE settings and the ‘Cell Browser’.

This will guide you through the following process.

Select: ‘New Cell’, this will open the workcell creation wizard.

The first step is to ‘select the process the workcell will perform’ (Handling PRO).

Step 2. Name the new workcell, for example Tutorial 2, when you have entered a name into the
text field click next.

Step 3. Robot creation method is specified, select the first option ‘create a new robot with the
default HandlingPro config’ (this should already be selected as the default option) and click next.

Step 4. Robot Software Version, from the list select the required software version and click next

Step 5. Select Handling Tool from the list, and select: , then click next.

Step 6. Group 1 Robot Model. Select the R2000iC/165F from the list and click next.

Step 7. Additional Motion Groups. Click next.

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Step 8. Robot Options. Add extended axis control (J518) by ticking the option and click next.

Step 9. Summary: Check that the information in the summary is correct and click finish. After a few
minutes the workcell will be created.

For the initial robot settings: Select 1 for Standard Flange

Step 2: Configure the Extended Axis

Select ‘Robot > Restart Controller > Controlled Start’ from the top toolbar, this will open the
controller in a controlled start, select ‘menu > 9 (maintenance)’ and scroll down to ‘extended axis
control’ press F4 (manual) to open the extended axis settings.

Select group 1 > FSSB Line 1 > Hardware start axis 7 (this should be the default value) this will
open the page shown below.
Select #2 ‘Add Ext Axis’ > Enter axis to add 1, enter the following information to define the axis.

Motor Selection
2: Enhanced Method
63: AiS12
1: Ais12/4000 80A

2
Extended Axis Type
1: Integrated Rail
2: +Y

Gear Ratio
10mm/Rotation.

Max Joint Speed setting


2: No change

Motor direction
1: True

Upper Limit (mm)


7000.

Lower Limit (mm)


-10

Master Position (mm)


0

ACC/DEC Time
2: No change
2: No change
2: No change

Load Ratio
2

Select Amplifier Number


2

Select Amp Type


2: A06B-6400 series Alpha i/Beta i Amp

Enter Brake Number


1

Servo Timeout
2: Disable

3
This completes the axis configuration and brings you back to the Extended axis control menu.
Select ‘4’ to exit this screen and ‘0’ to EXIT then set up, then cold start the robot by selecting
‘FCTN > 1 ‘START ( cold)’

Step 3: Rail Unit Creation

From the top toolbar select ‘Tools > Rail Unit Creator Menu’. This will open the menu shown
below.

Select a rail length of 7m and do not tick the ‘Setup Extended Axis Parameter to Robot’ (otherwise
you will lose the integrated axis set up), click the ‘exec’ button in the bottom left of the window to
create the rail. Press ‘OK’ to accept (This may take some time, so be patient)

This completes the rail setup; the robot controller will now have a 7 th axis which will drive the rail
carriage.

Note:

Once the rail has been created, be sure to ‘Lock Axis Location on the General tab and ‘lock all the
location values’ for the link cad. This can be done by either double clicking on the carriage or
expanding the machine from the Cell Browser and right click to open the properties page.

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From the top toolbar select the tech pendant icon to view the 7th axis position and then press
the POSN button on the right-hand side of the key pad.

Step 4: Adding a part to the cell using the Cell Browser:

To ADD the part:


Right click on the Parts tab in the Cell Browser. This will open the sub menu to ADD a new Part.
Using the same values from Tutorial 1, Add the part as a Box.

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Step 5: Defining the End Of Arm Tooling (EOAT) using the Cell Browser:

To ADD the End Of Arm Tooling:


Expand the Robot Controllers tab until the Tooling is visible and double click on UT1. This will
open the properties page.
Define the Utool, add the Part and set up the Simulation.
Use the same gripper and values from Tutorial 1.
Once this is set up, ‘Jog’ the rail axis using any of the Cartesian modes (world etc…).
This should then rotate around the static TCP.

Step 6: Adding a Fixture to the cell using the Cell Browser:

To ADD the fixture:


Right click on the fixtures tab in the Cell Browser. This will open the sub menu to ADD a new
Fixture, select ‘Single CAD File’ – Browse for File’ and click ok. This will open a new window in
which to select the CAD file, in the directory C:\Roboguide Training\CAD Files select the file called
‘1000x1200 pallet.igs’ and click open, this will insert the CAD model as a fixture and open its
properties window. Space the pallets in the Y location @ 1000mm and 6500mm.

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To Edit and of the properties:
Expand the tab in the Cell Browser and double click on the required item:

Step 7: Creating a Simple Pick & Place Program.

To ADD a Simulation Program:


Expand the Robot Controllers tab until the Programs icon is visible.
Right click on the Programs tab in the Cell Browser. This will open the sub menu to ADD a new
Simulation Program.
Create a pick and place routine similar to Tutorial 1 but also using the rail unit.

Step 8: Running Programs

The program can now be run, this is done with the 6 program control icons in the top toolbar.
These commands are (from left to right) Record AVI, Cycle Start, Hold, Abort, Fault Reset,
Immediate stop.
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