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Engineer Automation
What is a Robot ?
Robot Definition
Cartesian Robot
Gantry Robots
Cylindrical Robots
Spherical Robots
Spherical or polar robots are similar to
a cylindrical robot, but form a spherical
range of motion using a polar
coordinate system.
SCARA Robots
SCARA robots, or Selective Compliance Assembly Robot Arm, are
quite popular. It is a combination of the articulated arm and the
cylindrical robot.
Parallel Robots
Parallel Robots consist of a fixed base to a platform by means of a
number of legs. This type of robot is used to create realistic flight
simulators or rides in amusement parks.
Degrees of Freedom
Degrees of Freedom
Basics Of ABB
Robots
Manipulator( body of
robot )
Controller(computer
+drives)
End-effector (tool)
Man Machine
Interface
(TeachPendant/Lapt
op)
THE END_EFFECTOR
PNEUMATIC GRIPPER
A WELDING TORCH
A VACUUM GRIPPER
ROBOT MANIPULATOR
SMB Cable
Ext Ax Power
Resolver Cable
EXTERNAL AXIS
R
Y
B
3 Phase 415VAC
DESCRIPTION OF A MANIPULATOR
Link 4
Link 3
Link 2
Link 5
Link 1
Link 0 (Base)
Base of robot
Link 0
Link 1
Joint 1
Joint 2
Link 3
Link 2
Joint 3
Joint 4
Link 6
Tool Flange
Joint 6
Link 4
Link 5
Joint 5
DEGRES OF FREEDOM
IRC5 Controller
overview
Flexible Controller
Control module
Drive module
Control Module
A.
B.
C.
D.
E.
*Capacitor
Drive units
Rectifier
Axes
computer
Drive units
for ext axis
resistant to environmental
influence
900
Computer unit
Computer UltraCap
Power ON/OFF
Manipulator signal
interface
Operators panel
Service ports
USB (option)
Ethernet
FlexPendant
connection
Drive unit
section
Axis computer
(right inside wall)
Options:
Duty Time Counter
230/120 V service
outlet
Power intake
Motors On contactors
and interface board
(left inside wall)
Manipulator connections
Customer connections
(behind optional cover)
Differentiation
Distributability
Block
Diagram
of Controller
IRC5 HW
Overview
Control module
Power &
UPS
USB
LAN
Service
Drive module
Power
Panel
Safety
MC
S4CPlus
Carry over
Drive
Safety
IRB xxx
AXC
SMB
Drives
Motor
Communication
Field
buses
Fieldbuses
Profibus DP Master/Slave
Interbus Master/Slave
EtherNet-IP slave
IRC5 FlexPendant
3 ax joystick
3-way joystick
Windows style
switch between
open windows/views
Status bar
Quickset Menu
Jogging window
Quickset Menu
JOGGING
JOGGING
Operating Mode
Automatic mode
Manual mode
Enabling Device
Enabling device
Enabling device
Hold-to-run buttons
(for left or right hand)
Safeguarded Stop
JOGGING WINDOW
MODES OF JOGGING
Jogging can be done in three modes:
AXIS MODE
LINEAR MODE
The TCP can move parallel to either the x-axis or the y-axis or the
z-axis of the selected coordinate system of the robot which can be
the base,world,tool or workobject coordinate system.
The position format shows the position of the TCP w.r.t the
coordinate system selected in mm and orientation of tool in
Quaternions or Euler Angles.
REORIENTATION MODE
INCREMENTAL MODE
JOYSTICK LOCK
QUICKSET MENU
MultiMove!
ROBOT SPECIFICATION
ABB robots are specified using a designation IRB say for example,
IRB140, IRB1400, IRB2400, IRB1600, IRB6600, IRB340 etc.
1.Payload
2.Reach
3.Supplementary load.
4.Speed
Manual mode.
Automatic mode.
OPERATING MODES
MANUAL
Robot can be
jogged at less
than 250 mm/s
Enabling device
needs to be pre_
_ssed
Programmed
speed is not
followed.
MANUAL 100%
Robot can be
jogged at less
than 250 mm/s
Enabling device
and Hold to Run
button needs to
be pressed
Programmed speed
is followed.
AUTOMATIC
Robot cannot be
jogged
No need of enabl_
ing device or hold
to run button
Programmed speed
is followed.
COORDINATE SYSTEMS
A coordinate system = origin O and
3 perpendicular axes X, Y, & Z.
It is used to specify the position of a point in space.
The various types of coordinate systems used in a
Robot are:
COORDINATE SYSTEMS
IRC5 Safety
Emergency Stop
Increased injury
Before releasing the brakes, make sure that the weight of the arms
does not increase the pressure on the trapped person, further
increasing any injury!