ROBO237-Lab5-1D_InPersonLabs

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Oct 30, 2023

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Automation and Robotics ROBO237 – Robotic Devices Lab #5 – One Dimensional(1D) Palletizing Student names: 1.Avanish Prajapati 2.Apurva Prajapati 3. Parin Kathrotiya Date: 2023-03-09 Section: ___003________ Objectives: Design and write a 1D palletizing program using the “For Do Loop” instruction for the ABB & Fanuc robots Lab Report: a) Demonstrate your fully functioning program to the instructor. b) Application layout. (Include the robot, robot envelope, pallet, conveyors, and other components.) & Program Routine Layout(PRL) c) Questions below d) Group Labs 5,6, & 7 together for final report Procedures: 1. Draw a top view of the ABB/Fanuc robot cell and automation cell, including the pallet and main conveyors (Cells 1-7) 2. Sketch the “Program Routine Layout” for this lab (ABB) 3. Work online for the Fanuc robot 4. Use RobotStudio offline programming for ABB and same procedure for Fanuc, use RoboGuide if possible 5. Create a new program 6. In the program window, type your program for the 1D Pallet program • Use the following subroutine names for ABB: Main, Home, Pick, Pallet, Open gripper, Close Gripper, and the Teach Drop subroutines. Fanuc use sub programs or label jumps • Program Logic: ABB/Fanuc robot moves to Home position. Next, the robot will pick up the part from the conveyor and move to a clear position. From the clear position, the robot will move to DROP_PT to drop round disc onto pallet. Please use offset to create above points. With the FOR instruction, the robot will repeat the sequence for the 1x4 palletizing. • Please follow the instructions in the lecture notes to create FOR DO loop, offset. Use position registers (PR) for fanuc 7. Double check your program and save it to your flash drive for ABB/Fanuc 8. Test run and debug your program. 9. Demonstrate the fully functioning program to the instructor 10. Save the program to your flash drive and print a copy by using offline PCs

Instructor Signature _____________________________ 1) By applying the FOR loop for this application, what is the purpose of using the FOR loop? The FOR loop is used to repeatedly run the programme, significantly lowering the number of codes needed. This programme uses a 1x5 matrix, thus it won't return to the origin point and run at specific offset positions until the FOR loop has executed the necessary number of loops. 2) Why use Offsets for this 1D (One dimensional) palletizing? Since the robot needs to have 5 drop-off locations in the same axis in addition to 1 origin point for picking up the product, offsets are necessary. We have to teach the robot fewer points overall when the drop of all the points are evenly spaced apart. 3) What does 1D represent in the FOR loop when programming this application? The term "one dimension," or "1D," refers to the robot's ability to move just horizontally and in one direction. It represents the X-axis. 4) Is this process a single cycle application or can this process be a continuous operation? Even though this is a one-cycle application, a software programme that employs sensors to activate the FOR loop can be programmed to turn it into a continuous process. There is a limit to how long the FOR loop can run, but if certain conditions are met, it is still possible.

FANUC Program 1: R[1]=0 2: FOR R[1]= 0 TO 4 3: PR[1,1]=0; 4: PR[1,2]=0 5: PR[1,3]=70 6: J P[5:Home] 100% CNT50, 7: J P[6:Abv_Pick] 2% FINE OFFSET, PR[1] 8: RO[1:Open Gripper]=OFF 9: L P[1:Pick_pt] 100mm/sec FINE; 10: RO[1]=ON; 11: WAIT 1 SEC; 12: L P[6:Abv_Pick] 100mm/sec FINE : OFFSET, PR[1]; 13: J P[5:Home] 100% CNT50; 14: PR[2,1]=0 15: PR[2,2]-50.8*R[1]; 16: PR[2,3]=50 17: PR[3,1]=0 18: PR[3,2]=50.8 R[1] 19: PR[3,3]=0 20: J P[4:Abv_Drop] 100% FINE OFFSET, PR[2]; 21: L P[3:Drop_pt] 250mm/sec FINE : OFFSET, PR[3] 22: RO[1:Open Gripper]=OFF; 23: WAIT 1 SEC 24: L P[4:Abv_Drop] 250mm/sec FINE OFFSET, PR[2]; 25: END FOR

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CELL Layout Program Routine Layout 1D Palletizing Program Start Defining No. of Columns using FOR Loop Counter Call Sub-Program 'Pick' Close Gripper Call Sub-Program 'Pallet' Open Gripper End For Loop Open Gripper Item Description 1 ROBO Arti. 2 ROBO Cont. 3 Pickup Plt. 4 Drop Plt.

ABB Program PROC Main() Home; Pallet; Home; ENDPROC PROC Home() MoveJ p1, v1000, fine, tool0; ENDPROC PROC Close_Gripper() Set DO5; WaitTime 1; ENDPROC PROC Open_Gripper() Reset DO5; WaitTime 1; ENDPROC PROC Pick() MoveJ offs(p2,0,0,70), v1000, fine, tool0; Open_Gripper; MoveL p3, v200, fine, tool0; Open_Gripper; Close_Gripper; MoveL offs(p2,0,0,70), v200, fine, tool0; ENDPROC PROC Pallet() FOR Y FROM 0 TO 4 DO Pick; MoveJ offs(p3,0,50.8*Y,70), v1000, fine, tool0; MoveL offs(p4,0,50.8*Y,0), v200, fine, tool0; Open_Gripper; MoveL offs(p3,0,50.8*Y,70), v200, fine, tool0; END FOR ENDPROC