Lab 3 Robotics

8/18/2019 Lab 3 Robotics

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EXPERIMENT #7

UNDESTANDING MANUAL AND AUTOMATIC

OPERATIONS OF INDUSTRIAL ROBOTS

OBJECTIVES

• To be familiar with the robot component.

• To manually operate DENSO Robot for certain task using teaching pendant.

• To manually operate FN!" Robot for certain task using teaching pendant.

• To manually operate #S$% &OTO&N Robot for certain task teaching

pendant.

INTRODUCTION

&anual operation refers to direct operation of the robot from operating panel

or teaching pendent. 'n manual operation mode( there are three types of operation

modes a)ailable*

a+ ,oint &ode* used to specify mo)ement of each indi)idual -oint of the robots

b+ /# &ode* the -oint of the robot mo)es simultaneously as to create a

motion along the reference ( # and 0/a1is.

c+ Tool &ode* which specifying mo)ement of the robot2s hand relati)e to a

frame attached to the hand

PROCEDURE

The 3&anual Operation3 and 34al)e Operation3 was used to transfer three

balls from left to right with DENSO Robot. The operation was done in different

modes which are( ,oint &ode and /# &ode. Then( the differences in mo)ement are

noted in the data sheet.


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Mechatronics Engineering Lab III Manual Rev 1.0 04/08/11

'n the robotics lab( there are nine robots e5uipped for this course. Students

ha)e to practice the mo)ement of )arious robot based on different modes. The modes

a)ailable are ,oint mode and /# mode.

Figure 6.7* "omponents of robots

!pon switching 8ON2 the controller( the robot mo)es to all a1es in small

amount to confirm their current positions. Then( the calibration is normally done

before using the robot -ust after the switch of the robot is turned on.

There are fi)e different robot configurations in general. They are "artesian(

"ylindrical( Spherical( rticulated and S"R. 'n this e1periment( we are focusing

on S"R configuration. S"R robot has two re)olute -oints that are parallel and

allows the robot to mo)e in a hori9ontal plane( plus an additional prismatic -oint that

mo)es )ertically. S"R robots are )ery common assembly operations. Their


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specific characteristic is that they are more compliant in the 1/y/plane( but are )ery

stiff along the 9/a1is( and thus ha)e selecti)e compliance. nother configuration

a)ailable is the articulated configuration. rticulated robot:s -oints are all able to

re)olute( similar to a human:s arm. They are most common configuration used for

industrial robots.

;efore proceeding with the lab task( we need to switch 8ON2 the machine. To

switch 8ON2 the machine( we ha)e to follow steps as mentioned in figure < below.

fter the motor was switched 8ON2( press the 8"=2 button and then 8STRT2 button

for calibration. "alibration is needed in order to reformat the position to default

positioning. This is to pre)ent inaccuracy in the input coordinate gi)en before

operating the robot.

Figure 6.


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Two modes are a)ailable for manual operation in the machine. %hile( the

differences are as stated in the table 7 below>

Joint Mode X-Y Mode

The mo)ement is constrained to each -oint

in a single operation

The mo)ement is simultaneously for all

-oints in single operation

The motion is not linear ?circular or cur)e+ The motion is always on a straight line.

'nterference between two a1is will cause

damage to the motor

'nterference are impossible

Table 6.7* Differences between ,oint mode and /# mode

OPERATION OF FANUC ROBOT

OBJECTIVES

• To familiari9e different kind of teaching pendant due to different robot gi)en a

set manual for the students to read( in industry this is also called On ,ob

Training. ?O,T+.

• To manually operate Fanuc robot for certain task in ,oint or /# mode using

teaching pendant and to get familiari9e with the robot components.

• To mo)e the robot end effectors@gripper from one end in manual mode. ?The

main reasons here are to identify similarity@differences between DENSO and

Fanuc+

PROCEDURE


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7. The 3&anual Operation3 is used to mo)e the robot gripper@welder and

effectors from right to left( and then left to right. First in ,oint 1is( and then

in Rectangular.


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Figure 6.* Robot System

The handling robot ?basic stand/alone system+ usually consists of a robot

control unit( robot mechanical unit( and hand ?tool+.

Figure6.* The "onfiguration of the Jandling Robot System

Each part performs different functions as follows*/

P$!t" Fn(tion"


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Remote "ontrol !nit

"ontrols the line. This unit starts the robot control unit by calling

a program.

Robot "ontrol !nit

E1ecutes the called program.

This unit mo)es the robot arm according to a mo)e statement.

This unit opens or closes the hand according to a hand statement.

Robot &echanical

!nit

&o)es the torch to a specified position according to a mo)e

statement.

Jand The hand picks up and places ob-ects as commanded.

Fanuc robot also needs calibration e)ery time it starts operating. s we know(

calibration is done by machine by mo)ing its entire a1is in small amount to confirm

their current positions. 't is performed right after turning ON the controller before

using the robot. The Fanuc robot used is of rticulated type of configuration

coordinate frame because all the -oints re)olute without any prismatic motion.


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Figure 6.C* Robot %orkspaces

!pon operating the Fanuc Robot( the se5uences of key operations are as follows*/

O%e!$tion T$")"

Aower/on Arocedure

7. Turn on the circuit breaker of the control unit.


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Safety configurations are installed for the Fanuc robot during the manual

mode session. This is in order to pre)ent unwanted cases such as in-ury( etc from

happening while operating the robot.

For installation and layout:s safety precautions( signals such as warning lamps

are used to indicate that the robot is in operation. Safety fence installed with a safety

door which will stop the robot when it is opened by a worker coming in. Emergency

button is also installed in places that allow the operator to press it immediately.

%hile for the system design( a safety -oint between the robot -oints forming a

tool so that if an abnormal e1ternal force is applied to the robot( the safety -oints

breaks and the robot stops. lock is also installed so that only authori9ed workers can

turn on the power.

The most important safety precautions to be obser)ed are during the operation.

ll Fanuc robot system users should be trained to ac5uire sufficient knowledge

especially on the safety precautions and robot functions. ;efore operating( the robot

should be checked first whether or not it is working properly and no dangerous

conditions are present. One should also place a partner as a guard to obser)e the

situation and act 5uick in case on any accident occurs.


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EXPERIMENT *+

OFF-LINE AND ON-LINE PROGRAMMING

OF INDUSTRIAL ROBOT

EXPERIMENT #*

OFF-LINE AND ON-LINE PROGRAMMING OF

INDUSTRIAL ROBOT,

OBJECTIVES


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• To operate the DENSO robot for certain task with on/line programming using

teaching pendant.

• To edit a pre/created program in DENSO

• To change the end effectors mo)ement coordinates and operations speeds

• Edit the written program with off/line programming using computer.

INTRODUCTION

Arogramming aims to e1press the operation procedure with language

?command+. program is defined as a chain of flow between beginning of operation

and the end of operation. 't2s possible to create a ma1imum of 7II programs and

name them AROKR& 7 to 7II. Arogram is created through teaching pendent and it

is sa)ed in robot controller. There are two types of programming to operate DENSO

robot*

a+ Online programming* !sing teach pendent

b+ Offline programming* !sing %'N"AS software

PROCEDURE

s shown in the figure( an online programming is used to program the robot

using the un/operational and operational command to mo)e the ball from location

to ;*

FOR PIC AND PLACE ROBOT


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Fi.!e /,0+ =ocation of the ball


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FOR DR'=='NK RO;OT

Fi.!e /,/+ =ocation of the Drill

M$n$1 Mode

7. The robot controller is turned ON. &anual mode is set. The teaching pendant

is then used to start the motors. The robot is calibrated. The speed is set to

IL and the working mode is chosen ?either ,oint mode or /# mode+.


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SAMPLE PROGRAM

5505 ISP 055 Set ISP to 055

55/5 MV E Mo&e to te $2o&e %oint

5565 APR E 5 Mo&e te (() $2o&e te %oint A

5545 MV E Mo&e to te %oint A

555 SUB 0

5585 TIM 5 9$it :o! 5, "e(ond"

5575 DEP P 5 5 33 %

55*5 MV P P$"" o&e! te %oint B

55;5 APR E 5 Mo&e te (() $2o&e te %oint

5055 MV E Mo&e to te %oint B

5005 SUB /

50/5 TIM 5 9$it :o! 5, "e(ond"5065 DEP E 5 5 33 %

5045 MV E Mo&e to te %oint A

505 END End te P!o.!$3

The robot repeatability problem can be sol)ed while programming by putting

small amount on the internal speed and make the time for the robot motion become

longer. The difference between the step and the cycle mode are e1plained in the

diagram below.

VS


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EDITING T


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command and completing creating mode( we can edit any command such as inserting(

deleting( copying and changing commands.

Editing Operation*

7. "reate a new program


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G. The step is displayed so that the pre)ious command can be edited using

forward or backward check. The gi)en manual gi)en manual is referred.

. The point ; is changed to point ". The subroutine will not be included

because it is a drilling robot. The needed position is set and the desired

location is edited for drilling.

7I. The speed is set to 7IIIrpm before drilling( and then reset to CIIrpm.

77. fter the command is changed( the mo)ement is checked by using teach mode

and auto mode.

7


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ISP 100: Set ISP to 100

APR E 50: Move the chuck above the point A

MV E 50: Move to point A

SUB 1

Tim 50

DEP P 50: 50 mm up

MV P: Move !om above point A to the point B

APR E 50: Move to the point B

The Changed location

MV E: Move to the point B

SUB "

Tim 50

DEP E 50: 50 mm up

E#D: En$ the p!o%!am


;elow is the process flow of the edited program*/


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"hanging the speed in term of cycle time will allow the process to a)oid

unnecessary time consumption and waste more money for the waste of time while we

know that the 5uality is not affected due to the increase of speed. ;ut still( a few

things need to be considered under these circumstances. ;ecause when the speed is

higher( it might lead to unwanted mo)ement by the robots because of the e1tra

momentum which is the result for the increase of speed. The positions of parts might

not be precise at the point indicated inside the programming. ;esides( it might lead to

ha9ardous situations if it get in contact with any human because of the e1tra speed

differing to low safety risk when the speed is slower.

This process of editing is )ery crucial in the industry. For e1ample( in the

manufacturing industry( while performing assembly of parts. Those different parts

re5uire different type of motions path for them to be fastened or inserted to the right

position. Therefore( at different times( the machine needs to be informed by editing

the program with a slight different path command in order to handle the process

effecti)ely.

s a conclusion( the e1periment went well and we ha)e basically achie)ed the

main ob-ecti)es. %e ha)e understood on how to do editing on the programming as

re5uired and how does this application come in handy in the industry itself.


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EXPERIMENT ;+

DEVELOPING AN AUTOMATION SYSTEM

AND TESTING T


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EXPERIMENT #;

DEVELOPING AN AUTOMATION SYSTEM AND

TESTING T


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but the close gripper sensor did not detect. The program is inserted@edited to

include in such a way that the robot would in se5uence*

a+ Open the gripper

b+ "heck the open gripper status

c+ &o)e up

d+ &o)e down

e+ "lose the gripper

f+ "heck the close gripper status

g+ &o)e the part to another position and so forth


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5585 SUB 0

5575 TIM 5

55*5 DEP P 5

55;5 MV P

5055 APR E 5

5005 MV E50/5 SUB /

5065 TIM 5

5045 DEP E 5

505 SET I50> I50? 0

5085 CMP I50>@ .o to

0

5075 END

DISCUSSION ' CONCLUSION

This e1periment shows the significance of ,!&A command instruction while

operating a robot. For the robot system( the inputs are from the switches( pro1imity(

pressure( photoelectric. %hile the output accessories are the solenoids( relays and

indicator lamps.

The pro1imity sensors are the input de)ice used to ensure the a)ailability of

the pen. They are able to detect the presence of nearby ob-ects without any physical

contact. pro1imity sensor often emits an electromagnetic or electrostatic field( or a

beam of electromagnetic radiation ?infrared( for instance+( and find for changes in the

field or the return signal. The sensor or input should be identified by the program

because the robot will only operates when there are interactions between hardware

and software( space comple1ity in terms of the memory limitations of the robot:s


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controller( and time comple1ity in terms of the speed of the robot:s action decisions.

%ithout all these systems( the robot cannot operate accurately.

't is obser)ed that the robot in the lab has been e5uipped with optical

pro1imity sensor. 't can detect the presence of nearby ob-ects without any physical

contact. This robot can detect the e1istence of the part@product to/be/pick during pick

and place programming when its recei)er recei)es the signal from the transmitter. The

recei)er and transmitter are usually placed at the hand of the robot arm or at the end

effectors. 'nput 4oltage* it will close within the

certain time according to programming. Then( the close sensor will detect the thing

that it is holding until the thing being released. That means close sensor cannot be

used to detect other signal. Therefore( one more sensor should be put to detect the

place where to put the thing. %hen < sensors detect an ob-ect in the close range it will

send the signal to the close sensor to open the gripper. The process is )ice/)erse.

MANDATORY UESTIONS

7. There are sensor going to be use to construct the line*

a+ 'nfrared Sensor Q this sensor react to the intensity of light pro-ected on

them by changing their electrical resistance. The port for this sensor is

on the con)eyor. %hen the infrared sensor detects the pear on the

con)eyor( the robot will automatically acti)ated and pick up the pear

which is place between the transmitter and recei)er.

b+ Tactile Sensor Q This is a touch sensor de)ice that sends a signal when

physical contact has been made. The sensor will detect the hardness of

the pear. This sensor will be put at the gripper of the robot( the gripper


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will gi)e a small pressure during picking process( if the pear does not

follow the specification hardness which has been set it will consider as

old or spoil. Then the pear will be put into the re-ect basket meanwhile

if the pear meets the hardness specification it will go to further

inspection.

c+ "amera sensor Q This sensor will detect the color of the pear. 'f the

color is green it will be put into the KREEN basket and if the pear is

yellow in color( it will be put into the #E==O% basket. The sensor

also being put nearer to the gripper.


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Di+e!entiate

,o)o! (en(o! -,ame!a.

B/A, ba(ket

En$

20Mechatronics Engineering Lab III Manual Rev 1.0 04/08/11

P!o.!$3 6

5505 ISP 055

55/5 APR E 5

5565 MV E

5545 LABL 0

555 SUB 0

5585 JZ ( M − N ) M in%t %o!t

(onditioni: o:: N 1$2e1

5575 TIM 555*5 DEP P 5

55;5 MV P

5055 APR E 5

5055 MV E

5005 LABL /

50/5 SUB /

5065 JI ( M − N ) i: on

5045 TIM 5

505 DEP E 5

5085 End

. The important of input and output in the robotic system are*

a+ Easy for human to communicate with the robot.

b+ 'nput of the robot is sensor and switches. They will collect information

about the internal state of the robot or to communicate with outside

en)ironment.

c+ Output of the robot is solenoids( relays and indicator lamps. They will do

the process that has been process in the robot system and follow the command

from the input.

C. Types of signal from the A="*


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'nput signals are typically generated by binary sensors( such as limit switches

or photo sensors that are interfaced with the process.

Output signals are generated by the controller to operate the process in

response to the input signals.

These output signals turn on and off switches( motors( )al)es( and other binary

actuators related to the process.

list of binary sensors and actuators( along with the interpretation of their I

and 7 )alues are shown in T$21e ;,0.

The purpose of the controller is to coordinate the )arious actions of the

physical system( such as transferring parts into the work holder( feeding the

machining work head( and so on.

Sen"o!

OneHe!o

Inte!%!et$tion

P!o(e"" Cont!o1

A(t$to!

OneHe!o

Inte!%!et$tion

=imit switch "ontact@no contact &otor On@off

Ahoto/detector On@off "ontrol relay "ontact@no contactAush/button

switch

On@off =ight On@off

Timer On@off 4al)e "losed@open

"ontrol relay "ontact@no contact "lutch Engaged@not engaged

"ircuit breaker "ontact@no contact Solenoid

Energi9ed@not

energi9ed

Table .7* ;inary Sensors and ctuators !sed in Discrete "ontrol

Discrete process control can be di)ided into two categories*

logic control( which is concerned with e)ent/dri)en changes in the

system> and


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ROBOTICS CONTROL USIN!C"#$%&

$R%&P '&M(ER ) 1*

$R%&P MEM(ER+) M*,RI-'%)

1. R*I+*M *( R*M*' 4080484

2. M&*MM* *MI I+M*IL 42"12"!3. *' M&*MM* IMR*' 4120!"8

4. *RI IRI+ 40#0#"4

*,E % +&(MI++I%'

,uesa5 "th Ma5 2012


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Appendix B: 'ata s(eet report )or*s

'ATA S+EET FOR E,PERI!ENT-:

LIST T+E CO'ES USE':

PART B

PART C

6'ote Please a the 7PART. accoringl5

EM% P*R, * -%MPLE,E

EM% P*R, ( -%MPLE,EEM% P*R, - -%MPLE,E

9

9

Page 33 of 3


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ata a::rove an verifie b5 )

+ignature an ate )

Appendix C: Certi)i/ate o) Originalit0 and A1t(enti/it0

,his is to certif5 that ;e are responsi2le for the ;or< sub=itte in thisre:ort that t(e original 3or4 is our o;n e>ce:t as s:ecifie in the

references an ac


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Lab 3 Robotics

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