Name : Raja Nur ‘Ain Bt Raja Abu Bakar Matric.No : 06C11026 Task 1 Describe common programming methods and give an example on how the programming is done. Generally, robots may be programmed in a number of varies of modes, depending on the robot and its sophistication. The following programming modes are very common: Physical Setup In this mode, an operator sets up switches and hard stops that control the motion of the robot. This mode is usually used along with other devices such as Programmable Logic Controllers (PLC). Lead Through or Teach Mode In this mode, the robots joints are moved with a teach pendant. When the desired location and orientation is achieved, the location is entered (taught) into the controller. During playback, the controller will move the joints to the same location and orientation. 2
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
Task 1
Describe common programming methods and give an example on how the programming
is done.
Generally, robots may be programmed in a number of varies of modes, depending
on the robot and its sophistication. The following programming modes are very common:
Physical Setup
In this mode, an operator sets up switches and hard stops that
control the motion of the robot. This mode is usually used along with other
devices such as Programmable Logic Controllers (PLC).
Lead Through or Teach Mode
In this mode, the robots joints are moved with a teach pendant.
When the desired location and orientation is achieved, the location is
entered (taught) into the controller. During playback, the controller will
move the joints to the same location and orientation.
This mode is usually point to point , where the motions between
points is not specified or controlled . Only the points that are taught are
guaranteed to reach.
During the programming phase of the project, all of the points are
recorded in the order that the robot must move to them. When the robot
runs the program, it moves sequentially from point to point. When the
robot reaches a point, it can energize or de-energize any output signals to
energize end effectors or send output signals that are used for interfacing
to other equipment in the cell such as pneumatic cylinders that are used to
move parts into location.
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
The most important part about the point-to-point program is that
the robot can move one or all of its axes to move from one point to the
next. The robot does not care if the travel between one point and the next
is a straight path or if the motion has a slight arc in it.
All that is important is that the robot stops when it reaches the
next point. In most cases, the function the robot provides occurs after it
reaches a point. For instance, if the robot uses suction to pick up and place
a part, it will turn on its suction when it reaches the point where it's ready
to pick up the part, and it will turn off its suction when it reaches the point
where it will drop off the part.
The technician who programs the robot puts the robot in teach
mode, which disables the servomotors and allows the robot to be manually
pulled through the path. This action would be similar to the process if the
technician has a glue gun in hand and moved around the path placing glue
in the correct position.
Even though the servos are de-energized during this process, the
encoders of each axis are still energized and they record the exact path as
the robot is pulled through its program.
During this teaching process the robot controller is recording every
single point in this path as well as the speed at all times as the technician
pulls the robot around the contours. The robot controller also keeps track
of when the glue gun is turned on to dispense glue and when it is turned
off at any points while the robot is moving around the path.2
When the program is in the replay mode, the robot will follow the
exact path at the exact speed the technician used while the robot was being
Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
The controller is the name for the cabinet that contains the microprocessor (CPU)
for the robot and all of the input and output boards. The teach pendant is connected to the
controller main CPU board to provide control of the robot for jogging and programming.
From the figure notice that the teach pendant is connected to the controller with a long
cable. The long cable allows the technician to be close to the robot end effector when the
robot is being programmed. The teach pendant allows the technician to jog the robot or to
make changes in the robot program.
Controller specific languages were the original method of controlling industrial
robots, and are still the most common method today. Every robot controller has some
form of machine language, and there is usually a programming language to go with it that
can be used to create programs for that robot. These programming languages are usually
very simple, with a BASIC like syntax and simple commands for controlling the robot
and program flow.
Datum shifts
For a given robot the only parameters necessary to locate the end effector
(gripper, welding torch.) of the robot completely are the angles of each of the joints or
displacements of the linear axes (or combinations of the two for robot formats).
There are many different ways to define the points. The most common and
most convenient way of defining a point is to specify a Cartesian coordinate for it such
as the position of the end effector in mm in the X, Y and Z directions.
In addition the angles of the end effector in pitch roll and yaw and the length of
the tool must also be specified, depending on the types of joints a particular robot may
have. For a jointed arm these coordinates must be converted to joint angles by the
robot controller and such conversions are known as Cartesian Transformations which
may need to be performed iteratively or recursively for a multiple axis robot.
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
The mathematics of the relationship between joint angles and actual spatial
coordinates is called kinematics. Positioning by Cartesian coordinates may be done by
entering the coordinates into the system or by using a teach pendant which moves the
robot in X-Y-Z directions. It is much easier for a human operator to visualize motions
up or down, left or right or others than to move each joint one at a time.
XYZ program is similar to the point-to-point program except the positional data
are listed as XYZ positions rather than the number of pulses each motor or axis will
move. It's important to remember that the XYZ position is the place in the work envelope
where the end of the robot wrist will be for that position.
Task 3Robot is being used widely now in the industry, several task carried out by robots. Write a robot program that will simulate the selected tasks.
a) Pick and place program
Step no
Commands Operands Comments
10 NT Origin setting ( nesting )20 SP 3 Set speed at 330 MO 1 Move to position 140 MS 2,1 Move straight to position 250 MO 3 60 MS 4,1 70 GC Close the grip of the hand 80 TI 30 Stop for 3 seconds90 MS 5,1,C Move straight to position 5 with closed
hand100 MO 6,C Move to position 6 with closed hand110 MS 7,1,C 120 GO Open the grip of the hand 130 MS 8,1 140 MO 9 150 MO 10
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
160 MS 11,1 170 GC 180 MS 12,1,C 190 MO 13,C 200 MS 14,1,C 210 MS 15,1,C 220 ED Ending the program
b) Painting program
Step no
Commands Operands Comments
10 NT Origin setting ( nesting )20 SP 3 Set speed at 330 MO 1 Move to position 140 MS 2,1 Move straight to position 250 MO 3 60 MS 4,1 70 GC Close the grip of the hand 80 MS 5,1,C Move straight to position 5 with closed hand90 MO 6,C Move to position 6 with closed hand100 MO 7,C 110 MS 8,1,C 120 TI 20 Stop for 2 seconds130 MO 9,C 140 TI 20 150 MO 10,C 160 TI 20 170 MS 11,1,C 180 MO 12,C 190 MO 13,C 200 MS 14,1,C
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
210 TI 20 220 GO Open the grip of the hand 230 MS 15,1 240 MO 16 250 MO 17 260 ED Ending the program
Positional Sketch for Painting program
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
Positional List
a) Pick and Place
Position List Comment
1 Robot is in Origin position ( Nesting )2 Move straight to the position 23 Move to position 34 Move straight to the position 4 ( pick the object )5 Move straight to the position 5 with closed hand6 Move to position 6 with closed hand7 Move straight to position 7 with closed hand8 Move straight to position 8 with opened hand9 Move to position 9 with opened hand10 Move to position 10 with opened hand11 Move straight to position 11 with opened hand12 Move straight to position 12 with closed hand13 Move to position 13 with closed hand14 Move straight to position 14 with closed hand15 Move straight to position 15 with closed hand
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
Positional List
b) Painting
Position List Comment
1 Robot is in Origin position ( Nesting )2 Move straight to the position 23 Move to position 34 Move straight to the position 4 ( pick the spray bottle)5 Move straight to the position 5 with closed hand6 Move to position 6 with closed hand7 Move to position 7 with closed hand8 Move straight to position 8 with closed hand9 Move to position 9 with closed hand ( spray the
workpiece )10 Move to position 10 with closed hand ( spray the
workpiece )11 Move straight to position 11 with closed hand12 Move straight to position 12 with closed hand13 Move to position 13 with closed hand14 Move straight to position 14 with closed hand15 Move straight to position 15 with open hand16 Move to the position 16 with open hand17 Move straight to position 3 with open hand
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
Program flow chart
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
Task 4
In order to achieve Task 3, explained how the setup , procedure , and safety precautions
have to be consider so that the robot will functions safely and efficiently.
Setup
Before turning the system power ON , set the setting switches.
Turn ON the power switch located on the rear panel of the drive unit.
The robot of the Movemaster RV-M1 must be returned to origin after power on.
This is done to match the robots nechanical origin with the control systems and is
required only once after the power is turned ON.
The arm should be moved as appropriate by jog operation before return to origin so
that the robot will not interfere with any peripheral equipment during set origin.
Procedure
STEP 1 - Starting COSIPROG
After started windows , double click onto the COSIPROG
symbol in the COSIMIR program group with the
mouse.The COSIPROG program editor is then started.
STEP 2 - Editing a new robot program
Loading aprogram window and inputting a program
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
STEP 3 - Creating a position list
Entering positions
Teaching positions with robot
Teaching positions off-line in COSIMIR
STEP 4 - Connecting the robot program and position list
Compiler setting command in the File menu
STEP 5 - Compiling a robot program
Compiler command in the File menu
STEP 6 - Selecting a robot cell for simulation
Setting command in the Simulation menu
STEP 7 - Calling simulation
Start simulation command in the Simulation menu
STEP 8 - Starting simulation
Start command in the Execute menu
Safety precaution
Do not touch any moving parts of the robot during operation. Any work within the
operation ranges must be done after switching off the power
Several emergency stop switches should be installed as required.
Do not allow the robot to make contact with any person such as set up a fence
around the robot
Signals corresponding to the robot operating states from the drive unit I/O connector
may be used as appropriate to indicate the operation status of a line.
Ground the Movemaster to prevent noise and electric shock.
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Name : Raja Nur ‘Ain Bt Raja Abu BakarMatric.No : 06C11026
Do not allow water, liquid or metal shavings to enter the robot and drive unit.