CSR Assembly - Exercise #1

Getting Started & Laying Out A Workcell

Before starting the exercise, changing your desktop theme:

1. Open Personalization by clicking the Start button, and then clicking Control Panel. In
the search box, type personalization, and then click Personalization.

2. Under Basic and High Contrast Themes, click Windows 7 Basic or one of the High
Contrast themes.

3. Click save After completing each step

Introduction

This exercise will introduce you to the CSR Assembly and show you how to get started and Layout a
workcell.
1. Create Library in which to save work
2. Install Robot into cell
2.1 Install Robot
2.4 Change Views
2.5 Save Different Views
3. Create and Install Tool
3.2 Install Tool with Supplied Parameters
3.3 Auto Wire Tool
3.5 Move Gripper in Cell
4. Install Models Into Cell
4.1 Install Table
4.2 Move Table
4.3 Experiment with Tool Pendant
4.4 Install Fixture Model
5. Save Cell

Goals

This exercise will show you how to model a simple cell by:
Creating a library to store cells,
Add robots and models to cell,
Change views to view cell,
Save cell for future use,
How to use CSR Assembly to install a Robot and Peripherals

Follow these steps to create a cell and simulate it.

1. Create Library to save your work

1.1 Go to the top bar entry File, and choose Create Library.

1.2 At the top of the Create Library panel select your own personal derive (Y:\).

1.3 At the bottom of the Create Library panel type the name you would like to give the new Library
(e.g. john_training). NOTE: Blank spaces are not supported in names in Production PILOT, so
use either underscores or dashes if you would like to separate words.

1.4 When you have finished entering the name of the Library click the Apply button at the bottom of
the panel.
2. Install a Robot into the Cell
2.1 Go to the top bar entry File, and choose Install (or click on the icon).

2.2 On the top of the install panel select Robot. On the bottom of the install panel scroll down until
you find the staubli_rs80_400f_cs8_flange robot. The STAUBLI_RS80_400F_CS8_flange is a
Staubli One robot (4 axes) with an 8-inch quill. Click the Install button to install this robot.

2.3 After the robot appears in the cell close the install panel. Note that the robot was automatically
named staubli_rs80_400f_cs8_flange in the Quick Pick browser (the panel in upper right corner of
the screen).

2.4 Experiment with view change buttons at the bottom of the graphics window. Note that Axis View
and Iso View require you to hold the mouse button down as you select the direction of view. Note
that you can also hold down the ALT key as a substitute for clicking commonly used Quick View
button.

Experiment with saving different views. Change to a desired view. Click the Save View button in
the bottom right of the graphics window. Type in a name to represent this view and click enter.
To switch to a saved view, click on the Select View button, and then click on the name of the view
to which you would like to switch too.
3. Create and Install a tool into the cell

3.1 On the top menu pull down select Modeling, then select Create Parametrics

3.2 On the top of the panel select to Create A Tool as the category by clicking on the button to the
right to expose a list of possible Peripherals to create, choose Tool. In the Available Styles list
click on Parallel Gripper.

Use the following parameters in creating this parametric tool:

Tool Base: Taper Rect on Cyl (use default values for dimensions)
Fingers: Tapered Rectangular (use default values for dimensions)
Finger Tips: Cyl (use default values for dimensions)

Use the default values for the Grip ___ To ___, this represents the Closed and Open positions of
the gripper. Also use default times for the Delay and Dur parameters. Click on the OK button at
the bottom of the Parallel Jaw Gripper window to create the new gripper. A window will appear
to save the gripper, save it as gripper_train in your created library.

3.3 When the Auto-Wire panel is displayed, click OK to automatically wire the robot I/O to the
gripper I/O, it will wire 2 outputs one to Open and one to Close and 1 input to signal that it is
 Done with its action. Note if you do not auto-wire the gripper to the controller the gripper will not
be functional until it is manually wired to the controller.

3.4 To test the open and closed positions of the grippers click on Layout on the top menu bar. Then
click on Tool Pendant. To select the tool click on the arrow to the right of the select tool text in
the tool menu area. A list of all the tools in the cell will appear, click on the gripper_ train, if it is
not already selected. Click on Open and Close in the configuration area to open and close the
gripper.

3.5 Experiment with moving the gripper_train in the X-Y plane. Click on Layout on the top menu
bar, and then click Move. (or click the icon). Click on the arrow to the right of the Name
window in the Move object panel. Click on the gripper_train in the graphical window or the
name in the quick pick panel. Another way to select the gripper_train is to click on the gripper
with the middle mouse button and hold down until a list of possible objects to move appears,
select the gripper_train. When the gripper is selected it will appear purple. Choose Move in XY
as the move mode, do this click on the button to the right of the move mode text to display a list of
possible move modes, choose Move in XY. Click the circle next to the drag mode so you can see
the gripper move as you move your mouse. Note you can also restrict the movement to one axes,
either the X or the Y by selecting the direction next to the Restrict To text. Experiment with
moving the gripper_train around the window. Note that the robot arm moves with the gripper
because the gripper is attached to the robot flange.

4. Installing Models into the cell

4.1 Go to the top bar entry Modelling, and choose create parametric peripheral. Then go to the
create a Model and create a table with the following dimensions.

After creating the table, select the Staubli robot and put it on the table (move to face).
Create another table with following dimensions:

Notice when the table is installed the move panel is automatically enabled. Note that holding the left
mouse button down over an object allows you to select the subpart or entire object; you can also select
items in the Quick Pick browser.

Please save your work.

4.2 Move the table in the X-Y plane in front of the robot. (A top view may make this easier.)
 4.3 Use the tool pendant to move the robot joints. Click on Layout on the top menu bar, and then

click Robot Pendant selection (or click the icon). To display the workspace of the robot
click on Add WS, a shaded area will appear representing the area the robot can reach.
Experiment with moving the robot joints by dragging the rotator line in a circular motion. Select
Del WS to remove the workspace.

4.4 Go to the create parametric peripheral again, then go to the create a Model and create a Push
Bar with the following dimensions and put the push bar on the table.

4.5 Go to the create parametric peripheral again and then go to the create a model and create a
frustum with the following dimensions and put 2 of them on 2 sides of the push bar.
4.5 Move the gripper_train tool to each of the two top vertices of the fixture. Open the Move panel
and select the gripper_train tool then change the Move Mode to To Vertex. Select the top point
of each cone on the fixture_train to verify reachability. Note it may take a couple of tries to select
the vertex of the cones, zoom in to the fixture as much as possible to get a better view. If robot
does not reach either move the table or fixture to a position that is reachable for the gripper.
5. Save the Cell

5.1 Under the top bar entry File, choose Save (or click the icon). Make sure to select the
Library that was created in section 1. Save the cell as ex_1 and then click the OK button at the
bottom of the panel. Once you have saved the cell the first time, selecting Save (or clicking the
icon) will directly save your work to the current name, you will not be prompted for a name or
have to click the OK button. If you want to save your work with a different name later, you can
use the Save As panel located under File Save As.

Conclusion

Components can be easily added and moved in a cell to any place you wish in order to simulate any real
life manufacturing cell. You can easily move the components in the cell to any position to get a better
view of the cell and how the cell fits together. Each component can be precisely modeled to become
identical to the components being simulated. The robot can be moved and workspace added to see reach
of robots in cell.