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

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.
2.
3.

Double click the icon placed in the desktop named ROBOCELL

Open ROBOCELL application and load project experiment1.ws
You should see figure 2

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.
2.

Select Run | Search Home.

in simulation mode 3d setup/Reset workcell

2.4 Moving robot

Select View | Manual Movement.

Figure 3 Manuel movement windows

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.
2.
3.
4.

Form windows menu Select Simulation & teach

On the Manuel Movement window, select XYZ
Move robot arm according to any direction to practice
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

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.

Figure 5 Teach Positions Window (expanded and Simple)

Table 1.4 Teach Positions Windows

Procedures
1.
2.
3.

Using Manuel movement window move robot to desired location

Press Record button to Record current position of the robot.

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

Figure 6
commands

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

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
Z textbox to 100 then press TEACH button .
6.
7.
direction
8.
9.

) see the figure 5 change only the

select position 11 and press go to position button

Repeat procedure 4 and 5 to record placing position of cube to 50mm +X
After Completing position recording select Windows /teach & edit
place Scorebase code below
i. GP 499
go to position 499
ii. OG
open gripper

iii.
iv.
v.
vi.
vii.
viii.
ix.
x.
xi.

GP 11
GL 1
CG
GP 11
GP 12
GL 2
OG
GP12
GP 499

go to position 11
go to linearly position 1
Close gripper
goto position 11
goto position 11
gotro linearly position 2
open gripper
go to position 12
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