1. Cell Simulation
Pick and Place Routine

2. Robot Manipulation
The following slide demonstrates 5 ways to manipulate the robot in Cell Simulation.
To object
Jointed axis movement
Linear axis movement
To a defined position
Using the image movement

3. Robot Manipulation

4. Creating Positions
Recording positions uses the absolute coordinate system.
In order to record a position the robot has to be moved to the desired position first.
The following slide demonstrates how to record a position.

6. Creating Positions
Teaching positions uses the relative coordinate system.
In order to teach a position there must be an existing position to work from.
Use the expanded teach menu to define the relative position.
The robot does not have to be moved.
The following slide demonstrates how to record a position.

8. Programming Pick and Place
Plan ahead by creating a sketch of the robots path. Include position numbers in the sketch.
The following slide is an example.

9. Pick and Place Profile 12 45 10 Hover location Hover location40 12 45 10
Place location
Pick location

10. Programming Pick and Place
Home robot.
Use the Command List box to develop the program. Double click on the desired command and respond to the prompts.
After program is completed, run through a single cycle to check for errors.
The following slide is an example.