2 Robotics Practical File EXPERIMENT 1 AIM: To import a robot in workspace, use split screen and different views and make solid objects with and without Boolean operations.
INTRODUCTION: Workspace is the area where we are working on and where we want to design the movement of the robots. This software is to design the robot industry and also used for mechanism and object simulation. Different uses of this software are: IMPORT CAD DATA FROM OTHER CAD SYSTEMS MODEL WORK CELLS DIRECTLY IN WORKSPACE USE ROBOTS, MECHANISMS, OR TOOLING FROM THE WORKSPACE LIBRARY, MODEL YOUR OWN MECHANISM AUTOMATICALLY GENERATE ROBOT PATHS GRAPHICALLY EDIT ROBOT PROGRAMS OPTIMIZE FOR CYCLE TIME, REACH, COLLISION DETECTION GENERATE ROBOT PROGRAMS OFF-LINE ( NOT AVAILABLE WITH US) DOWNLOAD PROGRAMS TO A ROBOT CONTROLLER WITHOUT THE NEED FOR POST- PROCESSING (NOT AVAILABLE WITH US)
Different Coordinate systems: Working Co-ordinate System (WCS): A Working Co-ordinate System (WCS) is a local co-ordinate system and it simplifies entering position or vector information while creating models. Multiple Working Co-ordinate Systems can be created using Workspace, however, only one can be active at a time. The creation of shapes, solids and arcs use the active WCS to determine the position and orientation of the object being created.
World Co-ordinate System: The World Co-ordinate System is known as the Global Co-ordinate System and adopts a right- handed rectangular cartesian co-ordinate system where the x, y, and z-axes are as shown.
PROCEDURE:
Opening Workspace 5: Start Menu>All Programs>Workspace 5. Click on it and enter CANCEL; DEMO version opens.
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Screen Layout:
Icons at the top of the screen allow quick access to the functions stored within the Menu Toolbar. Using these icons it is possible to create shapes, change angles and save work along with various other functions. Directly under these icons, there are two separate windows, the Project Window to the left (tree menu) and the Main Screen to the right. The Project Window is used to give a quick overview of the various projects that are opened e.g. simulation, tools, animation etc. This Window provides project information by simply clicking right mouse button which activates additional menus with various options. The Project Window also allows direct control of the overall model or models being used e.g. movement routines can be made or altered though this Window. The Main Window on the right hand side of the Project Window is the area where all robot models, tools, objects and anything relating to these are displayed. The last Window under both the Project and Main Windows is the Command Line Window that allows instructions to be given in the form of typed commands as opposed to using mouse actions. The Command Line Window can also be used to enter in VBA (Visual basic Applications) commands or macros. Many of the available commands allow direct control of Workspace 5 models.
Importing a Robot: There is a library of common robot models. These are accurate, Kinematics models based on the structure and specifications of the particular industrial robot.
4 Robotics Practical File To import a robot go to File>Open>Workspace 5>Robots>Fanuc>Fanuc A520i.
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To combine two robots in a cell, perform the above steps and then do the following: Go to File>Insert file>Fanuc A600 (set the offset value, say x=1000, otherwise the new robot will be positioned on the old one).
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Using Split Screen: To split the screen, import a robot, click and drag the splitter above the scroll bar(right top), and position it. 7 Robotics Practical File
Similarly, the screen can be split vertically using the split icon on horizontal scroll bar (bottom left).Different views can be obtained by changing the view angle in different screens from the view window. 8 Robotics Practical File
Boolean Operations: The following operations are made: Make a rectangular thin section and a cylinder of desired cross section using the create icon. Select and right click the object to change properties such as dimensions, positions etc.
Change their position and properties accordingly and we get 9 Robotics Practical File
Now, go to Modify>Boolean>Subtraction, then select the object to be subtracted. The following object is created. 10 Robotics Practical File
11 Robotics Practical File EXPERIEMENT 2
AIM: To make groups, attachments, layers and create our own robot in workspace Learn to modify objects, attachments and layers.
1. GROUPS Step 1- Make 2 boxes as shown in figure below by using CREATE BOX tool. Right click on each box and select PROPERTIES to change dimensions and positions of boxes.
12 Robotics Practical File Step 2- Make table using CREATE BOX and PROPERTIES tools and align each box to form table by changing positions and dimensions.
Step 3- Select CAD option (shown in figure below)
13 Robotics Practical File Step 4- Select GROUPS and then properties
Step 5- A dialogue box named GROUPS will appear on screen. Left click on the name for some time it will become active, then change name (as shown in fig below).Then click on OK. Now the whole group acts as one.
14 Robotics Practical File 2. ATTACHMENTS
Step 1- Make two boxes and select the smaller one, it will behave as a child.
Step 2- Select MODIFY and then select ATTACH from drop down list.
\
15 Robotics Practical File Step 3- Select bigger box and right click on it. Select MOVE command from list.
Step 4- Click and drag the mouse to left side on screen as shown below
16 Robotics Practical File Both components have moved.
3. LAYERS
Step 1- Right click on LAYERS option and then select New Layer option. A new layer named Layer 1 will appear (as shown in the figure)
17 Robotics Practical File Step 2- Now right click on Layer 1 and select Set Current option from drop down list
Step 3- Make any two objects (At present we are working on Layer 1)
Step 4- Now right click on Layer 0 and select Set Current option. Now make cone in layer 0. 18 Robotics Practical File
Step 5- Select and drag one object from one layer to other
Step 6- Now right click on Layer 1 and then properties from drop down list. A box named Layers will open and then locked the layer 1 as shown in figure below. (IMP NOTE- One layer remains unlocked even if u try to lock it, then system will show an error and also one cannot lock active layer) 19 Robotics Practical File
Step 7- When one lock a layer then objects present in that layer will disappear (Fig below)
20 Robotics Practical File AIM: Learn to modify objects, attachments and layers.
PROCEDURE: 1) Open Workspace 5 software by double clicking on it. 2) To make a box.
Click on the blue button on the toolbar (3 rd line from the top), then click at any three points to make a cuboidal box.
3) Any of the properties of the object can be seen or changed by clicking on the created object and selecting Properties.
4) Make another box by following the steps in step 2.
5) To change the prevalent World Co-ordinate system and form a new work co-ordinate system go to Options >> WCS >> 3 points as shown.
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6) TO CHANGE THE COLOR OF THE OBJECT Right click on the object >> Properties >> Color >> Choose the color >> Click on the object. Following is a in-program window :
7) To view the wire frame view of our object click on the Wireframe button on the toolbar (Next to blue button utilized in step 1).
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8) For deleting any of the objects, right-click on the object and choose delete.
9) To change the location of a WCS.
Go to Options >> WCS >> Options >> Properties and set the values according to the need.
Then, if for exam[ple we set the above values, the Co-ordinate system would move as follows.
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10) Please familiarize yourself with the WCS by changing the values in Properties section and noticing the effects.
11) To remove any Work Co-ordinate system : Go to Options >> WCS >> Options >> Select the WCS to be deleted and click Delete.
12) Working with Object Frame. Each CAD object has a single implicit Co- ordinate frame (CF) associated with it.
This CF is used when assessing the object position and orientation. 24 Robotics Practical File
a) Create a cylinder by selecting a cylinder from the toolbox ( 3 rd line from the top ) and then choosing centre of the cylinder followed by its radius and finally its height. Then, change position of its centre to (0,0,0). Please follow the figure for any further understanding.
b) To create a new frame. Right click on the object >> Properties >> Frames >> Add. Default_Object_Frame is the default name given to the frame.
c) Following the creation of a frame, its location can be adjusted by changing the values of X,Y,Z in properties.
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13) For Scaling the object following steps need to be followed. Go to Modify on the top toolbar >> Scale >> Then enter the scaling factor as shown.
14) To move or copy the object to a new location : Right click >> Copy, Move >> Base point >> Next point.
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14A) Alternately. Click on Modify >> Copy >> Copy and Translate >> Drag the copy to create one. (Absolute values can also be set from the location window as shown in figure)
It is suggested that previous step be repeated and effects bt notes.
15) Similarly, Move command may also be used from Modify drop down menu, and properties also be set in the same way as for the Copy command. 27 Robotics Practical File
16) Now, follow the following steps. New >> File >> Create >> Rectangle>> Properties >> 0, 0, 0.
17) Now, to offset the created object, right-click on it and then select Offset and set the desired value >> Select the outside to be offset.
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18) Object Snapping. Go to Options >> Object Snapping >> Active Snap Properties. Then click the Snap properties as shown in the figure.
Or we may make use of icons also.
19) To make a point on the face of the object using mid-point snap. Select Snap option from the toolbar >> Select Mid-point from the resultant dialog box. Then a cylinder may be placed on the mid-point as shown. 29 Robotics Practical File
20) Following the creation of the cylinder the mid-point line may be deleted as shown.
21) For further understanding of the Snap command, following steps may be used. a) A cone is created separately as shown.
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b) Use the Snap command to place the created cone on top of the cylinder as shown.
22) For finding and displaying the dimensions of the created objects. Options >> Dimensions >> Show dimensions.
Same can also be achieved by the use of Snap command.
23) For Textures, Edit>> Selection modes >> Face.
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24) Click as shown.
25) Select the right location and then Select texture > Modify > Remove.
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26) Text may be written in Paint and then added to main scheme in the following way.
And such would be the result. 33 Robotics Practical File
27) For aligning the faces. Modify >> Align faces >> Select the first plane>> Then the second on top, second has moved.
34 Robotics Practical File EXPERIMENT 3
AIM: To create an AUXILIARY AXIS & create a ROBOT MECHANISM.
Auxiliary axis: Here a turn table was used to control the arm of the robot selected. Now, Insert file >> robot- ABB-6400_2.4 (or any other robot of your choice) >> ZOOM IN to fit.
Now looking at the top of robot arm the turntable was placed directly underside it and a red part on the turntable was made as shown. 35 Robotics Practical File
So, turntable base was selected as parent and turntable top as child. A joint of top with base, was made. Robot>> properties >>Kinematics>>no of auxiliary axis = 1. We have now one auxiliary axis assigned with the robot create>>joint. The following screens opened >> click ok.
36 Robotics Practical File There are two main ways to control a robot, i.e. online or offline. Online programming is usually performed using a teach pendant. A teach pendant is a hand held device connected to the robot controller via an umbilical cable which enables the user to manually drive the robot to the desired positions. These positions are then stored in the controller memory for recall as required. In a similar way Workspace 5 allows the user to control a robotic model with a simulated teach pendant. In Workspace 5 the teach pendant can be activated by either selecting the view/pendant menu or by pressing the letter p on the keyboard. (Please note you can only open the teach Pendant once you have previously opened a robotic model. Also the teach pendant is robot specific).
Looking at Figure, it can be seen that the joint values 1 to 7 refer to the positions of the joints of the robot model. To accurately position and orientate an object in 3D (three dimensional space) a robot must have 6 DOFs (degree of freedom). This means that it must be able to move the tool to an X, Y, and Z position and then rotate the tool about X, Y, Z to provide the correct orientation. The second column of values in the pendant menu of Figure provides the Cartesian XYZ position of the robot gripper followed by ABC, its three orientation angles. Workspace 5 allows these values to be entered directly. Several further options are available using the teach pendant. These are: Follow Mouse When this box is checked the robot moves to the location of the mouse click in the main view window, if it is possible to do so. 37 Robotics Practical File Home button Repositions the robot to its home position. Usually the home position is the best park position for the robot when it is not in use. This reduces the amount of tension placed upon the robots gears and joints. Motion Type The user can set the motion type to either joint motion or linear motion via this drop down menu. Zero button Resets all the joint values to Zero
RESULT: Auxiliary axis was created and robot mechanism was studied.
38 Robotics Practical File EXPERIMENT 4
AIM: To study pendant, robot envelops, creating and modifying G.P and making the robot follow it.
Requirements: Computer, Workspace 5.0 software
Theory: Envelope : It is the volume enclosing all the possible positions of the end point of the robot tool. Geometric points : They are of 2 types assigned and unassigned.
Un assigned The GP is created without an active Robot in the project
Assigned The GP is created with an active robot ort mechanism present FLY BY OPTION POINT TO POINT The robot typically stops at each target point velocity at that point = zero. POINT TO POINT The robot typically stops at each target point velocity at that point = zero.
Procedure:
Pendant and Envelope Insert robot ABB 2.4
View>>pendent 39 Robotics Practical File
Change the joints up & down
40 Robotics Practical File The absolute values are also changing
Another way : Click on the joint>> this dialog box opens up>>put your value
41 Robotics Practical File The position has changed
Change the absolute>> a number of joints are moving
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A new position note the end position is not changing by changing A / B / C
Home>>relative>>click on tx = translation along x direction takes place ( avoid using the relative option for now)
Follow mouse option>> where ever you click the robot moves there (a very powerful tool) 43 Robotics Practical File
Robot>>envelope
44 Robotics Practical File 2 joints>>1,2 >>ok
This is created
45 Robotics Practical File Remove the envelope>> again put new envelope>> change the joint numbers
We get this
46 Robotics Practical File Now use 3 joints option
We get this
47 Robotics Practical File Joint 2 70, joint 2 now put 80, the robot does not move as we have reached the joint limit of workspace.
Hide envelop
48 Robotics Practical File The envelope has now been hidden
Creating and modifying geometric points
Click three times in the cad view port we see a GP made 49 Robotics Practical File
Load A Robot
50 Robotics Practical File Create box use I command
Create GP
51 Robotics Practical File I command>>no path box opens up >> snap tool bar end point>> click on one>>apply>>ok
We have similarly made 4 GP`s at 4 corner positions of the box.
52 Robotics Practical File Create GP at Robot Location Load robot>>view>>pendent>>learn GP>>No path >> OK
Made 3 GP`s>> home to robot
53 Robotics Practical File Close pendent
Right click on GP>> Move to
54 Robotics Practical File Robot has moved to second location
Creating GP`s on edge load robot>>make a box>>edit>>selection mode>>edge
55 Robotics Practical File Select edge>>create GP on edge
This dialog box opens up
56 Robotics Practical File Create>>write 500 as shown>>create
1000>>create
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Creating GP`s on face>>selection mode Face
Select face>>create GP on face
58 Robotics Practical File U= 0.45>>v = 0.45
Another GP U = 0.91, V = 0.81>>create>>close
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Paths and Simulations Load robot>>pendent>>learn GP>>new>>name path1
Made 3 GP`s in the path
60 Robotics Practical File In the tree we can click and drag the GP`s. We could have also made GP`s first, then path and could have dragged the GP`s in the Robot Path
The properties can also be changed of GP`s.
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Select all GP`s using shift>>properties>>motion>>joint>>speed = 50 >>apply
Right click on robot>> simulate
62 Robotics Practical File Main menu>>simulate>>play simulation the robot will move through GP`s.
Discussion: We have learnt to make the G.P for the corner points and edges and to move the robot using fly by and about envelope of the robot.
63 Robotics Practical File EXPERIMENT NO.5
AIM: [A] To get to know TCP and collision detection. [B] To optimize cycle time using FLYBY option. [C] To study the behaviour of VBA (Visual Basic Application).
APPARATUS: Computer equipped with software Workspace 5.0.3.1.
THEORY: TCP stands for Tool Centre Point. It can be defined as trajectory plotting activity which allows a visible trail to be created from the robots active tool frame. It can also be referred to a mathematical point coinciding with the origin and which helps the robot to perform its necessary actions. When the robot itself is shipped from the factory, it needs to know something about its own dimensions, so normally there will be a centre point in the centre of its wrist which is the origin or (0,0,0) point. The robot knows where that point is, because it is defined in the factory for that particular robot arm, but it does not know what kind of tool will be bolted onto it. A particular robot could be used for welding or material handling or gluing or a myriad of other applications- and each tool has unique requirements regarding where its tool needs to contact the work pieces that it's dealing with. For example- For a material handling robot, the TCP may be at a particular point on the gripper.
Collision detection is a term pretty common in the area of industrial robotics. It refers to detection of the physical interference of the robotic arm with the object positioned within the work volume of a robot.
FLYBY is an option used in Workspace software which aims to minimize the operating cycle time. In a regular PTP control the robot on reaching its destination tends to slow down and eventually loses on some velocity and time. FLYBY on the other hand enables the robot to take a smooth curve along such corners which eventually helps the robot in maintaining a constant velocity.
64 Robotics Practical File PROCEDURE:[A] To get to know TCP and collision detection. 1. Open file and then click on OPEN.
2. Click Robots and then Fanuc. In Fanuc choose Fanuc M6i.
65 Robotics Practical File 3. In the Simulation window right click on Tool Framess Nil option and click on Visible option following which apply the changes made by clicking on apply.
4. In the View option click on Pendent and then click on Learn GP option.
66 Robotics Practical File 5. After clicking Learn GP select New in Select Path. A new window will open up shortly by the name Create Path for Fanuc M6i. Give a legible name to the path say path1.
6. On clicking OK a new path is generated and it can be easily viewed in the Simulation window under the icon of path by the name path1 and a GP can also be seen in the icon GP by the name GP0001.
7. Screenshot of the same can be viewed.
67 Robotics Practical File 8. The step number 6 is carrying the detail of generating GPs. Again click on Learn GP in the Pendent and in the Select Path window click on OK.
9. On clicking this option OK it is seen that the number of GPs have increased by one under the GP icon. Continue with this step till a total of seven GPs are obtained. 10. After the required no. of GPs are obtained using the SHIFT key select all the GPs and drag into the path icon. Once all the GPs are moved then proceed to the next step.
68 Robotics Practical File 11. Right click on Fanuc M6i and select Simulate. It will be observed that neither any simulation is being run nor any detail has been mentioned regarding the trajectory being followed by the robotic arm.
12. To view the Simulation modify the GPs by right clicking on them in the Path icon and selecting their properties. One example has been shown and rest can be derived from the same. 13. In the GP properties select the position icon and change the values which earlier were equal to zero and finally click on Apply. Proceed for changing the next GPs in the same fashion. 69 Robotics Practical File
14. The following screenshot shows exactly how the window would appear with different GPs.
15. Now run the simulation by clicking on Simulate>> Run Simulation. 16. Now to visualize the path click on Robot>> Properties>> TCP Trajectory and click on plot colour and change it to red. Now run the simulation and observe the change. 70 Robotics Practical File
17. A red coloured trajectory is clearly obtained.
18. Now make a cylinder as shown. Since it does not intersect with the trajectory defined modify its dimensions by right clicking on it and varying its properties. 71 Robotics Practical File
19. See whether it intersects or not.
20. Now click on Options>>Collision Detection. 72 Robotics Practical File
21. Opt for the same changes shown in the screenshot below and apply them.
22. Now run the simulation and notice the change. A red colour would be visible which is an indicator of collision. Again in Options>>Collision Detection>>Report all the details can be seen. 73 Robotics Practical File
74 Robotics Practical File PROCEDURE [B]: To optimize cycle time using FLYBY option.
1. Open the file FlyBy>>Using FlyBy.wsp>>Open.
2. The following window opens up.
3. Play simulation and note down the run time as shown in the right hand side corner of the screen. It clocks up to 9.01 seconds. 75 Robotics Practical File 4. Right click on the GP002 and alter its properties. Click on Motion and enable FlyBy. Rest follow the screenshot for other parameters. Please change the properties of GPs from 002-004 excluding the last GP.
5. Now play the simulation. This time the time which has been recorded is 8.12 seconds.
6. Invoke the changes in the GP004 as shown. The percent criterion has been used and the distance percentage has been kept at 100. 76 Robotics Practical File
7. Finally the time recorded on running the simulation is 7.42 seconds. 8. In Robot>>Properties>>Fly By Data change the value for Level1 from 1 to 50.
9. Change the properties of GP002 by selecting Level 1 in Motion command window. 77 Robotics Practical File
10. On running the simulation the time recorded id 7.23 seconds.
11. Bring about certain changes in the three GPs from 002-004 by deselecting the distance mode and affixing the velocity percentage equal to 70%. 78 Robotics Practical File
12. On running the simulation the time recorded is 6.94 seconds.
13. Hence this is an option of optimizing the cycle time. 14. Thank You.
79 Robotics Practical File PROCEDURE:[C] Study of VBA Behaviour Step 1: Load the default class module. 1. Open workspace 5.0 (Demo Version) as directed in the previous experiments. Go to options>>visual basic.
2. Go to file>>import file>> select behaviours.
3. Select default behaviour folder and open the default behavior.cls file. 80 Robotics Practical File
4. From the Project-worksp1 tree in the left, select class modules>>default behaviour.
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Step 2: Apply a rotating behaviour to control a rotating mechanism. 1. Make a turntable as shown.
2. Add the turntable to the mechanism. Click yes. 82 Robotics Practical File
3. Then go to options>>visual basic. A new window will open.
4. Right click on worksp1>>import file>>workspace5 folder>> Behaviors>> RotateMechanismBehavior.cls. Click to open the file as shown in the figure. 83 Robotics Practical File
Step 3: Applying the Visual Basic code to the mechanism. 1. In the Visual Basic window, right click on module>>import file>>robot language>> open WorkspaceRobotLanguage.bas.
2. In the Project-worksp1 tree on the left, right click on worksp1>>insert>>module. 84 Robotics Practical File
3. Click on module1 Rename it to turntable_track.
4. Write the code in the window as shown in the figure. 85 Robotics Practical File
5. Open file>>select Close and return to workspace. This will take you back to the workspace window.
6. In the workspace window select Simulation>>VBA track>>VBA track. 86 Robotics Practical File
7. Click on Add>>click on subroutine drop down menu>> select TurntableMechanismTrack. Check In Simulation>>OK
8. Click on Behaviors>>right click>>behaviors 87 Robotics Practical File
9. Click on Add>>fill as under>>OK
10. Right click on Turntabletrack under the VBA tracks option>> check simulate. 88 Robotics Practical File 11. Open the Simulate>>simulate options>> timing change 100 ms to 10 as shown
12. Simulate. Simulation will run.
13. Right click on VBA Track>>Modify code add more zeros to delay time in milli seconds 89 Robotics Practical File
14. Simulate>> check the time delay changes which have taken place
15. This ends the study of behaviours of VBA.
90 Robotics Practical File EXPERIMENT 6
AIM: To attach a tool to the robot and to perform water jet machining and arc welding using a robot.
File > Close and Return to Workspace Tools > CAT241D > Properties > Click as under
Tool Frames > Relative to self > Put Z=170
Simulate 110 Robotics Practical File
111 Robotics Practical File EXPERIMENT 7 AIM: To attach an Arc Welding tool to robot and Automatic Path Generation of robotic arm. APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software. THEORY: Workspace is the area where we are working on and where we want to design the movement of the robots. This software is to design the robot industry and also used for mechanism and object simulation. Different uses of this software are: IMPORT CAD DATA FROM OTHER CAD SYSTEMS
MODEL WORK CELLS DIRECTLY IN WORKSPACE
USE ROBOTS, MECHANISMS, OR TOOLING FROM THE WORKSPACE LIBRARY,
MODEL YOUR OWN MECHANISM
AUTOMATICALLY GENERATE ROBOT PATHS
GRAPHICALLY EDIT ROBOT PROGRAMS
OPTIMIZE FOR CYCLE TIME, REACH, COLLISION DETECTION
GENERATE ROBOT PROGRAMS OFF-LINE ( NOT AVAILABLE WITH US)
DOWNLOAD PROGRAMS TO A ROBOT CONTROLLER WITHOUT THE NEED FOR POST-PROCESSING (NOT AVAILABLE WITH US)
AUTOMATIC PATH GENERATION We can choose to use either Automatic Path or Semi-Automatic Path. Automatic Path creates all of the GPs in one step. Semi-Automatic Path allows the user to accept, reject, or edit each GP as it is created. PROCEDURE 1. Opening Workspace 5:
Start Menu>All Programs>Workspace 5. Click on it and enter CANCEL; DEMO version opens.
2. Open Examples 112 Robotics Practical File
3. A robot and part comes on the screen as shown:-
4. Paths>>right click>>new 5. Path1>>generic automated 6. Select top face of the work piece>this dialog box opens:- 113 Robotics Practical File
7. Constraints>>this dialog opens up
The GP Constraints for Feature dialog allows us to set constraints on two of the axes of the GPs that are created relative to the feature. This gives control over the orientation of the GPs as they are created. The axes of the GPs can be set Normal to, Parallel to, or Tangent to, the Part Surface, the Adjacent Surface, the Part Edge or the axes of the World Co-ordinate System. 8. Modify changes as shown 114 Robotics Practical File
9. ADD>> CLOSE 10. Create>>gp`s are now created as shown:-
11. Close>>set to simulation mode >> Simulate. Creating a Semi-Automatic Path on a Cad Object Semi-Automatic Path Generation allows us to Accept, Reject or Edit each GP as it is created. The procedure is very similar to the procedure for Automatic Path Generation. 1. Open the same example. 2. Generic automated>>path1>>this dialog opens up 115 Robotics Practical File
3. Select an outer edge>>constraints The Feature and Point Number boxes give the Current GP number and the Feature it is associated with.
The Forward and Reverse Arrow buttons moves the robot to the next or previous GP in the path,
and the To Preview button returns the robot to the original position of the GP after the robots position has been edited using the pendant . Once the Pendant is open the Forward arrow button moves the robot to the initial location of the first GP in the path. We can then edit the position of the robot with the pendant and set the motion type. Once the position and motion type are set, Learn GP creates the GP and places it in the path. At this point we can either hit the Forward Arrow button to move to the next GP in the path, or further edit the current GP and then hit Modify GP to store the changes. 4. Click on arrow and check that the robot is moving to next Gp.
5. Change B value to 30 for a particular Gp
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6. Change this motion type to linear i.e. it will now take shortest path
Advanced method of Arc Welding using an ABB robot The ArcWeldTorch behavior is used to simulate the yellow sparks that fly from the end of the arc weld torch during welding. 1. File>>open>>examples>>undefined tools>> this arc weld tool
2. Select base >>create tool 118 Robotics Practical File 3. Confirm, End object is nozzle Fill this dialog as shown and remove VBA generation at his point
4. A tool has now been created with a default Start and End frame position. 5. Insert robot.
6. Attach to robot (its not necessary to position the robot at some other location Here we had taken it at x = 2000 mm) Tool is attached as shown 119 Robotics Practical File
7. Lets create the Welding cell and GPs. 8. Check the dimensions from help, or create your own 9. Make box 10. Edit>>selection mode>>face 11. Create Gp on face 12. Path1 >>Manual 13. 5 gp`s are made using U and V values
14. Pendent >> learn Gp>> next Gp Joint 2 = -10, 3 = 30 , 5 = 10 120 Robotics Practical File
Optimizing the cycle time is one of the key design parameters in most work cells. Decreasing the cycle time obviously can lead to greater production.
Point accuracy is the criterion that defines when the robot has reached the target point. There are two types of parameters that can be used in setting point accuracy in Workspace: 1) Distance - represents the radius of an imaginary sphere with the center as the target point. The distance criteria can be set as mm, % or Level. 2) Velocity criterion - while approaching the target, the robot decelerates. The critical velocity is set as a percentage of the velocity set for this GP move. A criteria of 100% corresponds to no deceleration. Important Key Points: Flyby motion will be turned off in case of circular motion. 124 Robotics Practical File If the motion type changes before and after the flyby zone, flyby will be turned off.
PROCEDURE Step 1: Open the workspace by clicking on Workspace Icon on the Desktop
Step 2: Insert the robot Browse the workspace5 directory and in the Examples folder, select the folder Flyby and open the file within it called Using FlyBy.wsp.
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126 Robotics Practical File STEP 3:View the postion of the end effector View the pendant by clicking P key. The pendant displays the position of the end effector related to robot base.
End Effector 127 Robotics Practical File STEP 4: Run Simulation and check cycle time To Run Simulation click on Simulate Tab then click on play simulation To check Cycle Time view the lower right hand corner.
Step 5: Optimize cycle time by using flyby option Analyzing GP properties and turning on the flyby option. Go to Project window to the left(tree menu). Right Click on GP002 and click on properties . Repeat the steps for the subsequent GPs NOTE: The first and last GP cant be modified.
CYCLE TIME Simulate Tab 128 Robotics Practical File