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EXPERIMENT 1 ROBOCELL & SCORBASE

1.Objective

2.Introduction

What is a Robot? The most widely accepted definition for an industrial robot was given by the

Robotics Institute of America: A robot is a re-programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks. This carefully composed definition contains several key words:

Manipulator: The robot must have a mechanical arm. Re-programmable: The robot must have a computer-based controller that can be

programmed through software. Multifunctional: Robots must be versatile, capable of performing different

tasks. These three concepts represent the basis of this book. In these activities you will

learn how the robot works and how to manipulate it. You will learn how to write robot programs and will program the robot to perform a variety of tasks.

2.1 About SCORBOT-ER 4u The SCORBOT-ER 4u was designed and developed to emulate an industrial

robot. The open structure of the robot arm allows students to observe and learn about its internal mechanisms as seen in figure 1. In table 1 you can find the specifications of Scorbot ER 4U

Figure 1

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Table 1.1 Scorbot ER 4U specifications

2.2 Scorebase ROBOCELL Robocell and Scorbase are two different but integrated programs. Scorebase is

used to program Scorbot ER 4U while Robocell provides and environment suitable for simulation and off line working.

Running application ROBOCELL will also run Scorbase application in an integrated mode.

Procedures

1. Double click the icon placed in the desktop named ROBOCELL 2. Open ROBOCELL application and load project experiment1.ws 3. You should see figure 2

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Figure 2

2.3 Homing Robot If you are working in Control On mode you may need to move the robot arm to

home position. In simulation mode in order to home robot in simulation window, select 3d setup from menu and select reset workcell

Procedures

1. Select Run | Search Home. 2. in simulation mode 3d setup/Reset workcell

2.4 Moving robot Select View | Manual Movement.

Figure 3 Manuel movement windows

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If xyz is selected robot arms move in x-y-z coordinates. Otherwise, Robot arm moves according to selected joints either in + direction or - direction. Now practice some movement in simulation mode

Procedures

1. Form windows menu Select Simulation & teach 2. On the Manuel Movement window, select XYZ 3. Move robot arm according to any direction to practice 4. Repeat same procedure when Joint mode is selected

Table 1.2 Joint Mode Movement

Table 1.3 XYZ Mode Movement

2.5 Recording positions Recording key position of the desired movement is essential for programming the

robot arm. Before starting one should make and clear sketch for all position required to

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complete the task. The simplest task is pick and place task. And required sketch should look like figure below

Figure 4 simple Sketch for Pick & place You can see clearly four position by looking at the figure above #1, position of the cube to be grabbed #11, 40 mm above in z direction of the position #1, #2 , the position where grabbed cube will be placed #12, 40 mm above in z direction of the position #2 After planning one can easily record positions using , teach position dialog

window Position number field must me a numeric value (1,11,3, 500) Move the robot desired position and record the position by pressing Record button

after giving the position number.

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Figure 5 Teach Positions Window (expanded and Simple) Table 1.4 Teach Positions Windows

Procedures

1. Using Manuel movement window move robot to desired location 2. Press Record button to Record current position of the robot. 3.

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2.6 Writing first Scorbase Program To switch programming mode from menus select windows /Teach&Edit.

Scorbase is the programming language of Scorbot ER 4U. It has simple interface and instruction set as seen in figure 6

a b c Figure 6 a) Axis control commands, b) Program Flow commands , c) I/O

commands

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if one of the command is double clicked it will automatically added to the

scorebase program code,

Program Flow command LA: Label Axis command GP .. moves the all axis to pos. #1 Axis Command OG , opens gripper Axis Command GL , move all axis linear to pos

#2 Axis Command CL closes gripper Axis Command GL Axis Command GP Axis Command GP Axis Command GL Axis Command OG Axis Command CG Axis Command Program Flow Command JU: to jump a label

3 Experiment Procedure Project 1 Objective to accomplish simple Scorebase programming with simulation

and robot. Pick&Place Project 1. Record a starting position for Robot (HOME position is ideal) After

homing the robot record that position as 499. In Simulation mode in 3S setup windows select reset workcell . and record that position of robot as 499

2. Plan your project so that you will pick blue square and place it 50mm +X direction (sketch the project)

3. In simulation using Manual Movement windows, place the gripper just above the blue cube so that it can grip the object

4. In the teach Position windows press RECORD button and record that Position As 1

5. in the position number textbox write 11 and choose RELATIVE TO: and select position 1, Press Expand button (if Expand button not active it means you are not

working in pro level switch to pro level ) see the figure 5 change only the Z textbox to 100 then press TEACH button .

6. select position 11 and press go to position button 7. Repeat procedure 4 and 5 to record placing position of cube to 50mm +X

direction 8. After Completing position recording select Windows /teach & edit 9. place Scorebase code below

i. GP 499 go to position 499 ii. OG open gripper

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iii. GP 11 go to position 11 iv. GL 1 go to linearly position 1 v. CG Close gripper

vi. GP 11 goto position 11 vii. GP 12 goto position 11

viii. GL 2 gotro linearly position 2 ix. OG open gripper x. GP12 go to position 12

xi. GP 499 goto start position Project 2 1. Place Blue cube on the top of the red cube . 2. Repeat procedure and scenario make necessary changes (tip: be carefull

about the height of the cube Project 3 1. Realize these two projects with Control On. Ask help from your instructor