Exercise 2-1. Programming, Using RoboCIM EXERCISE OBJECTIVE

Transcription

1 Exercise 2-1 Programming, Using RoboCIM EXERCISE OBJECTIVE In this exercise, you will learn new terms used in the robotics field. You will learn how to record points and use them to edit a robot program. DISCUSSION Refer to the introductory section DISCUSSION OF FUNDAMENTALS of Unit 2 to review the principles for performing this exercise. For detailed information on how to use the RoboCIM software, refer to the Lab-Volt User Guide RoboCIM 5150 Software (part number E). EQUIPMENT REQUIRED Refer to the Equipment Utilization Chart, in Appendix A of this manual, to obtain the list of equipment required to perform this exercise. Procedure Summary In the first part of this exercise, you will perform the application example provided in the Lab-Volt User Guide RoboCIM 5150 Software (part number E). This will allow you to learn how to record points and use them to create a program that makes a robot dip a part into a tank, thus simulating a painting or finishing process. In the second part of the exercise, you will create a program that makes the robot move a part from one location to another without colliding into an obstacle. In the last part of the exercise, you will create a program that makes the robot grasp parts placed at three different locations and drop them into a storage can. PROCEDURE CAUTION! When you are working with moving equipment, make sure you are not wearing anything that might get caught in the equipment, such as a tie or jewelry. If your hair is long, tie it out of the way. Pay particular attention to keeping your hands, other body parts, or anything attached to your body out of the mechanisms of the robot while the robot is moving. 2-9

2 Performing the Application Example of the Lab-Volt User Guide "RoboCIM 5150 Software" G 1. Perform the Application Example (Section 7) of the Lab-Volt User Guide RoboCIM 5150 Software (part number E). Once you have tested the program in the Control mode and the system has been found operational, do not perform the shutdown procedure stated in the Application Example. Instead perform the following steps: a. Stop the execution of the program. b. Perform a soft home positioning, then place the RoboCIM software in the Simulation mode. c. Do not shut down nor disconnect the system: instead proceed with the next section of this exercise. Moving a Part From one Location to Another Without Colliding Into an Obstacle Creating a new workspace, adjusting the work area, and positioning objects in the view display area G 2. Create a new RoboCIM workspace: to do so, select New in the File menu of the RoboCIM menu bar. G 3. Adjust the displayed work area so that it contains two Work Surfaces. G 4. Referring to Figure 2-5, set the position of the displayed robot to (R0,C7). Note: Figure 2-5 is in the introductory section DISCUSSION OF FUNDAMENTALS of Unit 2. G 5. Add a film canister to the view display area and position it to (R9,C10), as shown in Figure 2-5. G 6. Add a metallic can to the view display area and position it to (R8,C6). G 7. Save the work you have done so far in a workspace file. Recording the points to be used for program editing Note: In the following steps, you will record the points required to establish the path the robot will follow to grasp the film canister, and move it to location (R7,C3) without colliding into the metallic can, as shown in Figure

3 G 8. In the rightmost tabbed section of the RoboCIM main window, select the Motion tab to display the Motion window. G 9. Fully open the gripper. Then, using the arrows of the robot's articulations in the Motion window, move and position the gripper so that it is ready to grasp the film canister. Close the gripper to grasp the canister, and then record the point (A). G 10. Raise the film canister above the Work Surface so that the bottom of the canister is about 25 mm (1 in) higher than the top of the metallic can. Record the point (B). G 11. Move and place the film canister on the Work Surface at position (R7,C3). Record the point (D). Note: Here, point D is recorded before point C, because this will help you to position the end effector more easily for the recording of point C. G 12. Raise the film canister over point D until its bottom is at approximately at the same height as that recorded for point B. (The Z cartesian coordinate recorded for point B indicates the approximate height required.) Record point (C). G 13. Return the film canister to the starting point (point A) by double-clicking on the name of point A in the Point Recorder panel of RoboCIM. Then, release the film canister by opening the gripper fully. Note: Since RoboCIM is in the Simulation mode, there is no problem returning the canister directly from point D to A. If RoboCIM were in the Control mode, you would have to do this by making the canister pass through the reverse path established by the recorded points (D C B A) to prevent collisions from occurring. G 14. Perform a soft home positioning. G 15. Save the work you have done so far. 2-11

4 Program editing G 16. Create a program in order for the robot to perform the tasks listed below. Note: It is recommended that you use a slow speed of motion (around 20) for moves that involve the risk of collision, such as precise approach moves. You can use faster speeds (80 or higher) for opening and closing the gripper, and for long moves when there are no risks of collision. a. Starting from the home position, the end effector is lowered to point B, then the gripper is opened fully. b. The end effector grasps the film canister at point A, raises it to point B, moves it to point C, and then places it on the Work Surface at point D. c. The gripper is opened fully to release the film canister. d. The end effector is returned to the home position. G 17. Save the newly edited program by selecting Save from the File menu of the RoboCIM menu bar. Testing the program in the Simulation mode G 18. Build (compile) the program by selecting Compile from the Build menu of the Program window. G 19. Once the program has been compiled successfully, run the program by steps in the Simulation mode. Observe the action performed by the robot for each command. Verify that the system operates as described in step 16. Modify the program if corrections are needed, then save and test the modified program by steps again. Once the program operates properly, run it by using the Execute button. Testing the program in the Control mode G 20. Position the robot, the film canister, and the metallic can on the Work Surface as indicated in Figure 2-5. G 21. Place the RoboCIM software in the Control mode. 2-12

5 G 22. Run the program by steps, while observing the action performed by the robot for each separate command. Verify that the system operates as described in step 16. CAUTION! Be sure to watch the robot closely while it is operating. Be ready to click on the EMERGENCY STOP button of the RoboCIM software or to press the ESC key of the keyboard if the robot is in danger of colliding with an obstacle. Once the program operates properly, you can run it by using the Execute button. G 23. Once you have finished, perform the following steps: a. Stop the execution of the program. b. Make sure the end effector is at the soft home position. Place the RoboCIM software in the Simulation mode. c. Do not disconnect nor shut down the system: instead proceed with the next section of this exercise. Grasping Parts at Different Locations and Dropping Them Into a Storage Can Creating a new workspace, adjusting the work area, and positioning objects in the view display area G 24. Create a new RoboCIM workspace: to do so, select New in the File menu of the RoboCIM menu bar. Adjust the displayed work area so that it contains two Work Surfaces. G 25. Referring to Figure 2-6, set the position of the displayed robot to (R0,C4). Note: Figure 2-6 is in the introductory section DISCUSSION OF FUNDAMENTAL of Unit 2. G 26. Add a metallic can to the view display area and position it to (R8,C6). G 27. Add three film canisters to the view display area: film canister 1: position (R6,C1); film canister 2: position (R8,C3); film canister 3: position (R9,C10). G 28. Save the work you have done so far in a workspace file. 2-13

6 Recording the points to be used for program editing Note: In the following steps, you will record the points required to establish the path the robot will travel to move film canisters 1, 2, and 3 over the metallic can and travel them into the can (see Figure 2-6). G 29. In the rightmost tabbed section of the RoboCIM main window, select the Motion tab to display the Motion window. Fully open the gripper. Then, move and position the gripper so that it is ready to grasp film canister 1. Close the gripper to grasp this canister, and then record the point (A). G 30. Raise film canister 1 above the Work Surface so that the bottom of this canister is about 25 mm (1 in) higher than the top of the metallic can. Record the point (B). G 31. Move and position film canister 1 so that the bottom of this canister is about 25 mm (1 in) over the approximate center of the metallic can. Record the point (C). G 32. Return film canister 1 to its initial starting point (point A). Then, release film canister 1 by fully opening the gripper. G 33. Move and position the gripper so that it is ready to grasp film canister 2. Close the gripper to grasp this canister, and then record the point (D). G 34. Raise film canister 2 above the Work Surface so that the bottom of this canister is about 25 mm (1 in) higher than the top of the metallic can. Record the point (E). G 35. Return film canister 2 to its initial starting point (point D). Then, release film canister 2 by fully opening the gripper. G 36. Move and position the gripper so that it is ready to grasp film canister 3. Close the gripper to grasp this canister, and then record the point (F). G 37. Raise film canister 3 above the Work Surface so that the bottom of this canister is about 25 mm (1 in) higher than the top of the metallic can. Record the point (G). G 38. Return film canister 3 to its initial starting point (point F). Then, release film canister 3 by fully opening the gripper. 2-14

7 G 39. Perform a soft home positioning. G 40. Save the work you have done so far. Program editing G 41. Create a program in order for the robot to perform the tasks listed below: Note: It is recommended that you use a slow speed of motion (around 20) for moves that involve a risk of collision such as precise approach moves. You can use faster speeds (80 or higher) for opening and closing the gripper, and for long moves when there are no risks of collision. a. Starting from the home position, the end effector is lowered to point B, then the gripper is fully opened. b. The end effector grasps film canister 1 (at point A), raises it to point B, moves it to point C, then the gripper is opened to drop this canister into the metallic can. c. The end effector is then moved to point E, lowered to point D, then the gripper is closed to grasp film canister 2. d. The end effector raises film canister 2 to point E, moves it to point C, then the gripper is opened to drop this canister into the metallic can. e. The end effector is then moved to point G, lowered to point F, then the gripper is closed to grasp film canister 3. f. The end effector raises film canister 3, moves it to point C, then the gripper is opened to drop this canister into the metallic can. g. The end effector is returned to the home position. G 42. Save the newly edited program by selecting Save from the File menu of the RoboCIM menu bar. Testing the program in the Simulation mode G 43. Build (compile) the program by selecting Compile from the Build menu of the Program window. G 44. Once the program has been compiled successfully, run the program by steps in the Simulation mode. Observe the action performed by the robot for each command. Verify that the system operates as described in step

8 Modify the program if corrections are needed, then save and test the modified program by steps again. Once the program operates properly, you can run it by using the Execute button. Note: Once a program cycle has been completed (that is, the three canisters have been dropped into the metallic can), a new cycle can be initiated by emptying the metallic can and adding three new canisters in the view display area of RoboCIM. Failure to do so will not prevent the program from being executed, however you will not see the three canisters on the screen during program execution. Testing the program in the Control mode G 45. Position the robot, the three film canisters, and the metallic can on the Work Surface, as indicated in Figure 2-6. G 46. Place the RoboCIM software in the Control mode. G 47. Run the program by steps, while observing the action performed by the robot for each separate command. Verify that the system operates as described in step 41. CAUTION! Be sure to watch the robot closely while it is operating. Be ready to click on the EMERGENCY STOP button of the RoboCIM software or to press the ESC key of the keyboard if the robot is in danger of colliding with an obstacle. Once the program operates properly, you can run it by using the Execute button. Shutdown Procedure G 48. Once you have finished, perform the following shutdown procedure: a. Make sure there is nothing inside the robot gripper. b. Clear the area around the robot, so that it will not hit anything when it moves. c. Execute a soft home positioning. d. Set the RoboCIM software in the Simulation mode. e. Turn off the Power Supply. f. Disconnect the system and return the equipment to its storage location. 2-16

9 CONCLUSION In this exercise, you learned how to record points and then edit a program, using the RoboCIM software. To edit the program, you used the recorded points and the icon commands of RoboCIM. You then tested the edited program in the Simulation mode, corrected the program as necessary, and then tested the program in the Control mode with the real equipment. REVIEW QUESTIONS 1. What is the work cell of a robot? When working with the Lab-Volt Robot System, what are the elements that make a work cell? 2. What is the work envelope of a robot? 3. What does the term "end effector" mean? List some types of end effectors used in the industry. 4. Name four methods commonly used to program a robot, and briefly describe each of them. 2-17

10 5. Why must the movements of the robot all be related to a same reference position (home position), and all the equipment be kept at the same location as when the program was edited? 2-18