6 Creating, Opening and Working with Workcells
6.1 Adding and modifying cell components
Adding a workcell object
To add an object using the cell browser
1. Right mouse click the type of element you want to add to your workcell
A popup menu will appear with selections. The popup menu will have items based upon the PRO Software plug-in and the options loaded on robots in the workcell. For
example, if line tracking is enabled, you would see "add line" under the fixtures menu.
2. Select the source of the object from which it should be added.
Roboguide supports a CAD Library, importing of IGES files, and primitive objects.
3. If you select CAD File a dialog is opened in which you can select the CAD File desired. You may select multiple CAD files if you want to import multiple CAD images into the workcell as a single object. Note: the origin of the combined object will be the origin of the CAD files overlaid.
If you select CAD Library a dialog is opened where you can browse the CAD library and select an object
If you select one of the primitives, a primitive object is loaded into your workcell with default parameters.
To add an object using the main menu
1. From the main menu select Cell. And then select the type of object to add.
2. Select from the popup menu (if applicable) the source of the object from which it should be added. Roboguide supports a CAD Library, importing of IGES files, and primitive objects.
3. If you select CAD File a dialog is opened in which you can select the CAD File desired. You may select multiple CAD files if you want to import multiple CAD images into the workcell as a single object. Note: the origin of the combined object will be the origin of the CAD files overlaid.
If you select CAD Library a dialog is opened where you can browse the CAD library and select an object
If you select one of the primitives, a primitive object is loaded into your workcell with default parameters.
If you select Robot, the robot serialize wizard is opened.
Selecting objects in the workcell
Objects in the workcell include the robot, the robot’s end of arm tooling, obstacles, fixtures, and parts. You can select them by clicking the mouse while the mouse cursor is over the object, or clicking on the objects name in the cell browser. A triad coordinate system will appear at the objects origin.
Opening an objects property page
To open an objects property page using the cell browser 1. Right click on the desired object from the cell browser
2. Select <object name> Properties from the menu The property page for the selected object is shown.
To open an objects property page using the mouse
1. Double left click on the desired object from the cell browser OR
Double left click on the desired object in the workcell.
The objects property page is opened..
To open an objects property page using the main menu
1. Left click on the object in the 3D World view. The objects coordinate reference frame is shown.
2. From the main menu select Cell / <object name> Properties.
The property page for the selected object is shown.
About property page visibility
Roboguide manages the visibility of object property pages. The following general rules apply.
• If a property page is visible for an object selecting another object will bring the new selected objects properties into the property page window
• If a property page is not visible on the screen selecting another object will not automatically show the new selected objects property page.
Deleting a workcell object
To delete an object using the cell browser
1. Right click on the desired object from the cell browser.
2. Select Delete <object name> from the menu.
The object is deleted from the workcell.
To delete an object using the keyboard
1. Left click on the desired object in the 3D World view,. or select the object with the left mouse button in the cell browser. The objects coordinate reference frame is shown.
2. Press the delete key on the keyboard.
The object is deleted from the workcell.
Cut, Copy, or Paste an object
To cut, copy, or paste an object using the cell browser 1. Right click on the desired object
2. Select Cut, Copy, or Paste <object name> from the menu
To cut, copy, or paste an object using menus
1. Select the object by clicking on it. A triad coordinate system will appear at the
objects origin.
2. Select from the menus Edit / Cut, Copy, or Paste <object name>
Copy and Paste of Location data for objects
An objects Location data (X, Y, Z, W, P, R) can be copied and pasted to another objects Location data.
To copy or paste an objects location data:
1. Open the desired object’s property page and select the tab that has the location information that you desire to copy.
2. Press down the CTRL keyboard key
3. Right mouse click in any location box
A popup menu is shown that shows Copy All or Paste All.
4. Select:
o Copy All to copy all the Location data into the Copy buffer
o Paste All to paste the information in the Copy buffer into the selected location fields.