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1. To learn and understand the machine processes involved in running a fully automated cell consisting of a lathe, a milling machine (miller), two robots, a vision system linked by a conveyor, an Automatic Storage and Retrieval System (ASRS) and a quality cell comprising of an AGV, a robot and a Component Measuring Machine (CMM).
2. To create virtual chess pieces.
INSTRUCTIONS
Follow the step by step instructions whilst carrying out the described actions on your computer. The Instructions will take you through the machine processes that make up the Virtual Reality CIM suite.
N.B. Robot programming is handled in the Virtual Reality Robot suite.
START THE VR LINKER
1. Click on START>Programs>Denford>Virtual Reality>Virtual Reality. You will see this screen:
2. Type in your Class or Name. Click on OK. Key in Your Password as Instructed by the Lecturer.
3. You will see this dialogue window:
Select FILE>Run Virtual World>CIM Level Room 5.
4. You will see a door. Click
on the Door to Enter.
5. You will see the machine cell.
6. Use viewpoints provided at the
top of VR window to switch to different views. Turn on the power
for the robots, CNC lathe, miller, vision system and robots by clicking
on their switches. Alternatively, select the Crafty Start Blob!!! viewpoint
and click it. This will power up all the machines, simultaneously.
You can manoeuvre yourself in the virtual world by using the arrow buttons
at the bottom of the window.
7. The cell manager will automatically
launch:
AR1. LOADING THE ASRS INVENTORY
1. At the VR Linker, select ASRS:
2. Then, click on the C button, below the device selector. This will launch the ASRS Control Panel.
3. Select File>Open and the dialogue below appears:
4. Click on chess.dat and click open. The inventory file will be loaded into the ASRS and will appear on the ASRS Control Panel:
Each of the bays appearing on the ASRS control panel contains two billets: to make the named piece and a pawn.
N.B. Steps AR1-4 must be completed or the system will not run.
1. Right click in cell 1,1 king.
2. Select From>Here
3. Right click in (now empty) cell 1,1 king.
4. Select To>Conveyor
The ASRS will take the pallet and load the conveyor:
L1. LOADING THE LATHE
1. Change the viewpoint to "Cell 1View Of Conveyor Station"
2. Click on the device selector on the VR Linker and select Robot 1.
3. Select the action: "Load Lathe from Cup 1". The Cup 1 billet is always a pawn.
4. Click on the A button. The Robot will load the lathe.
5. Click on the device selector on the Virtual Linker and select lathe.
6. From the action selector "Close Chuck" and press the A button.
7. Click on the device selector on the Virtual Linker and select Robot 1.
8. Instruct the robot to "Out of Lathe After Load" and click A. The Robot will retreat out of the lathe.
L2. TURNING THE COMPONENT
1. Click on the device selector on the Virtual Linker and select lathe.
2. Select "Open Program" and click A. The following box will appear:
3. Double-Click on Cell1 and select Pawn_l.fnc
4. Click on the device selector on the Virtual Linker and select lathe.
5. Select "Run Program" and press A. The lathe will now turn the pawn.
L3. UNLOADING THE TURNED COMPONENT
1. Change the viewpoint to "Cell 1View Of Conveyor Station"
2. Click on the device selector on the Virtual Linker and select Robot 1.
3. Select the action: "In to Lathe before Unload".
4. Click on the A button. The Robot will move into the lathe.
5. Click on the device selector on the Virtual Linker and select lathe.
6. From the action selector "Open Chuck" and press the A button.
7. Click on the device selector on the Virtual Linker and select Robot 1.
8. Instruct the robot to "Unload Lathe To Cup 1" and click A. The Robot will retreat out of the lathe and place the finished pawn back on the pallet.
L4. TURNING A KING
1. REPEAT STEPS L1-L3
AT STEP L1.3 Select "Load Lathe From Cup 2"
AT STEP L2.3 select the file: \Cell1\King_l.fnc
AT STEP L3.8 Select "unload
lathe to Cup 2"
Once the king is back on the pallet and the robot has finished moving, select the Conveyor from the Virtual Linker and press A.
The pallet will move along the conveyor towards Cell2- the milling machine.
M1. OPERATING THE MILLER
1. Select Robot2 from the VR Linker and instruct it to load from cup 2 and press A. (The Pawn in cup1 does not require milling).
2. Select the Miller and select "Close Chuck".
3. Select "Open Program", but this time open \Cell2\king_m.fnc, and then select "Run Program" from the VR Linker.
4. Once the miller has completed its program, "Open Chuck" and instruct Robot2 to "Unload to Cup2"
5. Finally, select Conveyor, and "Release
gate 3" and the pallet will head towards the Vision System.
V1. VISION SYSTEM
1. Once the pallet has arrived at the vision system, select Vision System from the Virtual Linker and select "Do Scan" from the Action Selector.
2. After the Vision System completes its scan , select Conveyor and "Release Gate 4"
AG1. LOADING THE AGV
1. After releasing gate 4, click on the ASRS Control Panel. Right Click on the empty cell 1,1 and select FROM>Here
2. Right Click again on the empty cell 1,1, and select TO>In Conveyor. This ensures that the ASRS can pick up the pallet for loading onto the AGV
3. The pallet will arrive on the ASRS arm.
5. Right Click again on the empty cell 1,1, and select TO>AGV.
6. The pallet will be loaded onto the AGV.
7. Select AGV from the VR Linker and press the A button. The AGV will proceed to the CMM.
CM1. USING THE CMM
1. Select Robot 3 form the VR Linker and instruct it to "Load CMM".
2. Select CMM and instruct it to "Measure Piece".
3. When the measurement is complete, instruct Robot 3 to "Unload CMM".
4. Activate the AGV from the VR Linker. The AGV will proceed to the ASRS.
AR3. STORING THE FINISHED PIECES
1. Restore the ASRS Control Panel.
2. Click on the tab marked "Front Rack"
3 Right Click on the empty cell 1,1 and select FROM>AGV
4. Right Click again on the empty cell 1,1, and select TO>Here. The ASRS will retrieve the pallet from the AGV and load it onto the finished parts racking.
5. The pallet will be stored on the rack at bay 1,1.