ROBO237_Lab5_1D_InPersonLabs

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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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Automation and Robotics ROBO237 – Robotic Devices Lab #5 – One Dimensional(1D) Palletizing Student names: 1. Click or tap here to enter text. 2. Click or tap here to enter text. Date: Click or tap here to enter text. Section: ___________ 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? FOR LOOP in a palletizing application is used to automatically determine the number of the element in the pallet arrangement. The value of counter of the FOR LOOP is the number of the element of the pallet matrix, furthermore the counter increases 1 step automatically every iteration, this helps to automatically go to the next element position of the pallet. 2) Why use Offsets for this 1D (One dimensional) palletizing? Offset is palletizing application is to determine the exact position of each element of the pallet, and only is required to teach the place point of the first element of the pallet. By entering the operation (PR[2,2]=R[1]*50.8, R[1]: Counter of FOR LOOP ), in Y element in the offset instruction, the robot will place the element in the correct position depending of the number of the counter. Also, the above point of the placing operation can be given by changing Z element in the offset is changed (PR[1,3]=50). 3) What does 1D represent in the FOR loop when programming this application? 1 D in the FOR LOOP for this application refers to a pallet arrangement of one row in X axis and several columns in Y axis. The FOR LOOP will repeat until the maximum value of columns in Y axis is reached, and the robot will place the elements from left to right with a fixed displacement between each element. 4) Is this process a single cycle application or can this process be a continuous operation? This process can be a continuous application that can be activated by a Digital Input signal before the palletizing FOR loop, also, there can be a variation of the program to give the operator the chance to select different types of pallets arrangements

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