Lab 3 Automation & Robotics ROBO237

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Centennial College *

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237

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Mechanical Engineering

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Dec 6, 2023

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Lab #3A Pick ‘n’ Place (ABB) 2.- Objectives  Design and write different moving points of ABB robot programs  Reset the robot from safety stop conditions 3.- Procedure 1.- Create a new program for the ABB. 2.- Name the program (name of your choice). 3.- Write the program to move the robot to home position, then pick up part from PTA and drop part to PTB. (Note: Pick up Lego blocks & drop Lego blocks). 4.- Jog the robot to different points and save them. 5.- To run the program: Move cursor to the first line of the program and select either FWD or START to run the robot. 6. Demonstrate function of program to instructor for signature 7. For your report, write the step-by-step procedure to reset the five safety stop conditions a. The stop conditions are: i) Three emergency stops and room emergency stop ii) Auto stop iii) General stop

4.- Robot emergency and protective stops Robot stopping functions. The robot has protective, and emergency stop functions (stop category 0 or 1, in accordance with IEC 60204-1). Stop category 0 As defined in IEC 60204-1, stopping by immediate removal of power to the machine actuators. Stop category 1 As defined in IEC 60204-1, a controlled stop with power available to the machine actuators to achieve the stop and then removal of power when the stop is achieved. Activation of external safety rated devices, connected to the robot controller through dedicated discrete safety inputs or safety protocols, will initiate these stop functions. Inputs to initiate a Description Default stop category Inputs to initiate a Description Default stop category Inputs to initiate a Description Default stop category Emergency Stop (ES) Input to initiate the emergency stop function. The Stop category 0 For deviations, see the

Emergency Stop function is initiated in both automatic and manual mode product manual for the manipulator. Automatic Stop (AS) Input to initiate the protective stop function Automatic Stop. The Automatic Stop function is only initiated in automatic mode. Stop category 1 General Stop (GS) Input to initiate the protective stop function General Stop. The General Stop function is initiated in both manual mode and automatic mode. Stop category 1 General Stop (GS) Input to initiate the superior stop function. The Superior Stop function is initiated in both manual mode and automatic mode. Stop category 1 Emergency stop. Controller E-Stop

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The purpose of the emergency stop function is to avert actual or impending emergency situations arising from the behavior of persons or from an unexpected hazardous event. The emergency stop function is to be initiated by a single human action. The emergency stop function is a complementary protective measure and shall not be applied as a substitute for safeguarding measures and other functions or safety functions. The effect of an activated emergency stop device is sustained until the actuator of the emergency stop device has been disengaged. This disengagement is only possible by an intentional human action on the device where the command has been initiated. The disengagement of the emergency stop device shall not restart the machinery but only permit restarting. Flex-Pendant E-Stop The emergency stop device on the Flex-Pendant is operational when the robot is powered. Indicators to be used to verify that the robot is powered are the main switch on the cabinet or the LED indicator on the cabinet when robot is in Motors On Mode. Automatic stop The automatic stop is form by the doors or gates in the robot’s cell. The porpoise of this protective stop is to prevent someone go into the cell when the robot is operating. General stop

General stop is active when robot is active or moving. It is wired normally to light-curtains or floor scanners. (Product manual IRC5, 2022) 5.- Procedure to reset the emergency stops and protective stops Emergency stops 1. Inspect the machinery to detect the reason for emergency stop activation. 2. Check any of the three emergency stops to locate which is engage and disengage if necessary. The emergency stops are located on the cell panel, the controller panel, the Flex-Pendant and one room E-stop. Auto stop - Check if the door is open and why that happened. Check that no one is inside the cell. - Close the door. - Press the Motors on button on the controller panel. General Stop - Inspect the cell and identify what caused the interruption of the curtain light. Check that no one is into the work area of the robot. - Press the reset button on the panel cell.

6.- Line by line explanation of the logic for the Pick ‘n’ Place (ABB) PROGRAM ABB # LINE EXPLANATION 4 PROC main(): Beginning of the main program 5 Move J: interpolation motion Home: Position Home V1000: Speed 100mm/s Z50: Zone size radius 50 mm Tool 0: Selected tool # 0 PICK FROM POSSITION 1 6 Move J: interpolation motion *: Previous Pick1 position, Z= +100 from Pick1 position V1000: Speed 100mm/s Z50: Zone size radius 50 mm Tool 0: Selected tool # 0 7 Move J: interpolation motion *: Pick1 position V1000: Speed 100mm/s FINE: Moves to exact point position Tool 0: Selected tool # 0 8 Close gripper: SET DO5: Set Robot Output 5 in high to close the gripper 9 WAIT 1(sec): Robot waits 1 second at pick1 position, giving enough time to fully close the gripper’s clamps. 10 Move J: interpolation motion *: Next position to Pick1, Z= +100 from Pick1 position V1000: Speed 100mm/s Z50: Zone size radius 50 mm Tool 0: Selected tool # 0 DROP AT POSSITION 2 11 Move J: interpolation motion *: Previous Drop2 position, Z= +100 from Drop2 position V1000: Speed 100mm/s Z50: Zone size radius 50 mm Tool 0: Selected tool # 0 12 Move J: interpolation motion *: Drop2 position

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V1000: Speed 100mm/s FINE: Moves to exact point position Tool 0: Selected tool # 0 13 Open gripper: RESET DO5: Set Robot Output 5 in low to close the gripper. 14 WAIT 1(sec): Robot waits 1 second at pick1 position, giving enough time to fully close the gripper’s clamps. 15 Move J: interpolation motion *: Next position to Drop2, Z= +100 from Drop2 position V1000: Speed 100mm/s Z50: Zone size radius 50 mm Tool 0: Selected tool # 0 16 Move J: interpolation motion Home: Position Home V1000: Speed 100mm/s Z50: Zone size radius 50 mm Tool 0: Selected tool # 0 17 ENDPROC: End of the Program Cycle