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Lab-Volt TECH-design E Series, Руководство пользователя

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Activity Guide

12

Tech-Design by Lab-Volt

Methods of Programming

Automation & Robotics

Use the arrows of the five articulations of the robot to move the canister over the approximate 

a. 

center of the metallic can. 

Move Canister

Click on the Record button and enter “C” as the point name. Click OK. 

b. 

Record point D (point down to which the canister is lowered within the can):

12. 

Use the arrows of the five articulations of the robot to lower the bottom of the canister down into 

a. 

the can (bottom quarter of the canister level with the top of the can).

Dip Canister

Click on the Record button and enter “D” as the point name. Click OK. 

b. 

Return the film canister to the starting point:

13. 

In the Point recorder panel, double-click on the name of point A, which will return the canister to 

a. 

point A (starting point).
Release the canister by opening the robot gripper fully (click on the Open button of the Gripper 

b. 

section).

Perform a soft home by selecting Soft Home in the Motion menu of the 

14. 

RoboCIM

 menu bar. 

Write the Program

Now that the points have been recorded, a program can be written. 

First create a new icon program:

1. 

Содержание TECH-design E Series

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Страница 3: ...Tech Design Automation Robotics Activity Guide eSeries Edition 1 37640 S0 ...

Страница 4: ......

Страница 5: ...ames may be used in this document to refer to either the entity claiming the marks and names or their products Lab Volt Systems Inc disclaims any proprietary interest in trademarks and trade names other than its own FIRST EDITION First Printing June 2010 Copyright 2010 Lab Volt Systems Inc All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted...

Страница 6: ...Volt 5 Termination This agreement is effective until terminated It will terminate automatically without notice from Lab Volt if you fail to comply with any provisions contained herein Upon termination you shall destroy the written materials Lab Volt s software and all copies of them in part or in whole including modified copies if any 6 Registration Registration of your purchased software product ...

Страница 7: ... Program 3 Changing Speeds Loading Your Program 4 Basic Robotics Using RoboCIM 5 Methods of Programming Introduction to Programming 9 Editing Programs Program Editing 16 Robotics in Manufacturing Industrial Application 20 Using the Feeder Gravity Feeder 23 Working with a Rotary Carousel Rotary Carousel 25 Appendix A Safety 27 ...

Страница 8: ...Table of Contents Automation Robotics Activity Guide viii Tech Design by Lab Volt ...

Страница 9: ...write in this Activity Guide Record all of your notes and data in your own Student Guide The multimedia course presentation will refer you to a specific activity title in this guide Some units may not have activities requiring directions in this Activity Guide therefore that unit title will not appear in the Table of Contents Tips for navigating the multimedia course presentation can be found in t...

Страница 10: ...ltimedia eTraining System Installation and User Guide ____ Activity Guide ____ Student Guide ____ Lab Volt Robot Arm with work surface ____ Robot Teach Pendant ____ Gravity Feeder with square parts 2x2x1 in ____ Rotary Carousel ____ 2 clear tubing P500 2 5 ____ 4oz plastic jar ____ 3 film canisters ____ 1L paint can ____ 10 Plexi blocks 2x2x0 5 in ____ 12 in 30 cm plastic ruler ____ RoboCIM softwa...

Страница 11: ...rver connect the following screen appears 3 Teach Pendant I O Menu The 5100 5150 File Server window should open and a Hello message should appear in the Last 4 Request text field File Server Window To save your program press 2 on the Teach Pendant The following appears 5 Save Program Press 1 on the Teach Pendant to save your new file 6 The 5100 5150 File Server application will display the Save Re...

Страница 12: ...ollowing screen appears 3 Teach Pendant I O Menu The 5100 5150 File Server window should open and a Hello message should appear in the Last 4 Request text field File Server Window Navigate to the Load 1 option This option is used to load an existing program into the Teach 5 Pendant memory To load a saved program enter the number beside its name Any program in the Teach Pendant memory will be erase...

Страница 13: ...rformed by the robot displayed in the View Display area You will then observe the motions of the actual robot when you change the articulation coordinates when in Control mode Setting up the System On the work surface position the robot as indicated below position R0 C7 Do not position the accessories yet Equipment Position Note The equipment should be connected for all the exercises in this activ...

Страница 14: ...bot using RoboCIM in the Simulation Mode Open the 1 RoboCIM software From the Welcome screen select Create a new RoboCIM workspace The 2 RoboCIM main window appears You will be working in the Simulation mode first so make sure you are in Simulation mode 3 Current Mode Simulation Select the Motion tab from the Tabbed Dialog Section The Motion window appears 4 ...

Страница 15: ...nitial 8 position Experiment with moving the forearm of the robot up and down by using the arrows for the Elbow 9 articulation Then return the forearm to its initial position To move the gripper of the robot up and down use the arrows for the Wrist Pitch articulation 10 Once again return the gripper to its initial position Experiment with the arrows for the Wrist Roll articulation too To open and ...

Страница 16: ...ripper to make the robot grasp the film canister at position R7 C6 and move it right over the metallic can without colliding into it Once the film canister is over the can open the gripper in order for the canister to be dropped into 7 the can Use the arrows of the five articulations and the Open Close buttons for the gripper to make the robot 8 grasp the square part and move it to position R2 C2 ...

Страница 17: ...he View menu of the 2 RoboCIM menu bar The Work Surfaces dialog box appears Set the R field to 2 and the C field to 1 Set the R and C fields to 0 Click on Close to accept the new settings and close the box Position the Objects Two work surfaces now appear in the view display area Change the position of the robot as follows 3 Select the Object tab to display the Object window Since the R and C coor...

Страница 18: ...election box click on the icon of the film canister a Model 95183 to select it Leave the default name and click OK to close the dialog box that now appears In the view display area the newly added film canister now appears in position R0 C0 In the basic parameters section of the Object window set the position of the film canister to R8 b C5 Leave the orientation of the film canister set to 0 degre...

Страница 19: ...n the gripper so that it is a ready to grasp the film canister Grab Canister Grip the film canister by clicking on the Close button b In the header of the Point Recorder panel click on the c Record button Enter A as the name point and click OK Record point B height clearance point by following the steps below 10 Use the arrows of the five articulations of the robot to raise the canister 140 mm 5 5...

Страница 20: ...anister down into a the can bottom quarter of the canister level with the top of the can Dip Canister Click on the Record button and enter D as the point name Click OK b Return the film canister to the starting point 13 In the Point recorder panel double click on the name of point A which will return the canister to a point A starting point Release the canister by opening the robot gripper fully c...

Страница 21: ...e its field as is that is with the arrows pointing d outward open gripper In line 005 insert the SPEED command and enter 20 approach speed into its field e In line 006 insert the MOVETO command and set its field to A f In line 007 insert the SPEED command and enter 80 high speed into its field g In line 008 insert the GRIP command and select the inward pointing arrows option close h gripper In lin...

Страница 22: ...mpiling process again Run the program in the Simulation Mode Make sure you are in Simulation Mode 3 In the animation toolbar of the Program window select Execute from the Run drop down menu or 4 click on the Execute button to start execution of the program Once execution of the program is completed click several times on the Execute step by step button 5 and observe the action performed by the rob...

Страница 23: ...click several times on the Execute step by step button in the Program 12 window Once the program is operational you can run it continuously by clicking on the Run Continuously 13 button and then the Execute button in the animation toolbar of the Program window When you are ready stop the program by clicking on the Stop button 14 Shutdown Procedure Make sure there is nothing inside of the robot gri...

Страница 24: ...the metallic can Program Set Up On the work surface place the robot and the objects as shown below 1 Equipment Position Open the 2 RoboCIM software Open the workspace program that you created previously Example and your last name The equipment shown in the RoboCIM view display should be positioned like the actual equipment Select the Program tab to display the program 3 Before you edit the program...

Страница 25: ...rst modify the position of the metallic can Place 1 RoboCIM in the Simulation mode On the work surface modify the position of the metallic can by placing it at R5 C2 2 Now modify the position of the metallic can displayed in 3 RoboCIM to reflect the change made by first selecting the Object tab The Object window appears In the upper section of the Object window click on the line of the metallic ca...

Страница 26: ...ct the Program tab 17 Click on program line 013 to highlight it This will permit the insertion of a DELAY command before 18 this line In the list of command icons click on the icon to insert a DELAY command in program line 013 19 Click on line 013 to highlight it In the field DELAY s enter 5 This will make the film canister 20 hold for 5 seconds when it reaches point D Save the newly edited progra...

Страница 27: ...ram execution and then place 32 RoboCIM in the Simulation mode Shutdown Procedure Make sure there is nothing inside of the robot gripper If an object is in the gripper open it to release 1 the object Clear the area around the robot 2 Execute a soft home positioning by selecting Soft Home in the Motion menu of the menu bar 3 Set the mode to Simulation 4 Turn off the power supply 5 Ask your instruct...

Страница 28: ...Welcome screen select Create a new RoboCIM workspace Simulate the spot welding of four points on the contour of the metallic can as shown in the graphic 3 above First make four marks dividing the can circumference into four quadrants marks A B C and D These marks correspond to the four welding points Now create a program that will make the robot perform the following tasks in sequence 4 Starting f...

Страница 29: ...four current welding 7 points Save this program File Save As using a different filename SpotWelding EDITand your last name Test and debug your edited program 8 Continuous Welding You will now create a new program that will simulate the continuous welding of a steel plate On the work surface place the robot and the objects as shown 1 Continuous Welding Set Up You will now simulate the welding of co...

Страница 30: ...Once points have been recorded along all edges and the staring point is reached return the end 7 effector to the home position Save the program using the filename ContinuousWelding and your last name 8 Test and debug your program 9 Shutdown Procedure Make sure there is nothing inside of the robot gripper If an object is in the gripper open it to release 1 the object Clear the area around the robot...

Страница 31: ...main at the home position until parts are placed in the feeder Writing the Program On the work surface place the objects as shown below 1 Gravity Feeder Set Up Connect the normally open contact yellow and black jacks of the feeder microswitch to the TTL 2 input 1 of the robot base The microswitch will prevent the robot from trying to grasp a part when the feeder becomes empty Open the 3 RoboCIM so...

Страница 32: ...available in the feeder lower and position the open gripper near this part 6 Close the gripper to grasp the part 7 Slowly withdraw the part from the feeder taking care that the part does not rub against or collide 8 with the feeder Move the part over the metallic can then drop it into the can 9 Return the end effector to the home position A new cycle can begin 10 Restart from the beginning and run...

Страница 33: ...d into a bath of molten zinc Writing the Program On the work surface place the robot and the Rotary Carousel as shown below Do NOT add the 1 metallic can and the film canister yet This will be done later Rotary Carousel Set Up Connect the cable of the Rotary Carousel to the ACCESSORY output on the base of the robot 2 Experiment with rotation of the carousel 3 Open the 4 RoboCIM software From the W...

Страница 34: ...wing tasks in sequence 10 Grasp the film canister placed at the starting point R9 C10 a Raise it above the work surface and move it over the metallic can b Lower the film canister a certain distance within the can then withdraw it and move it over the c starting point on the carousel platter Place the film canister on the carousel platter and then rotate the platter by 270 d clockwise in front of ...

Страница 35: ... to you Make sure you use the equipment in the manner intended by the manufacturer Your instructor will provide the necessary introduction to the learning environment and the equipment Here are some basic rules that you should make part of your everyday routine Make sure your behavior is appropriate to the workplace No clowning Avoid loose fitting clothing jewelry or other items that could get cau...

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