Exercise 1-1. Control of the Robot, Using RoboCIM EXERCISE OBJECTIVE

Transcription

1 Exercise 1-1 Control of the Robot, Using RoboCIM EXERCISE OBJECTIVE In the first part of this exercise, you will use the RoboCIM software in the Simulation mode. You will change the coordinates of each articulation and observe the motions performed by the robot displayed in the view display area of RoboCIM. In the second part of the exercise, you will place RoboCIM in the Control mode, this time observing the motions of the actual robot when you change the articulation coordinates. You will then experiment further with control of the robot motions by having the robot grip, move, and rotate objects. DISCUSSION Refer to the introductory section DISCUSSION OF FUNDAMENTALS of Unit 1 to review the principles for performing this exercise. Moreover, 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 the exercise, you will set up the system by installing and connecting the equipment. In the second part of the exercise, you will use the RoboCIM software to experiment with control of the robot's articulations in the Simulation mode. In the third part of the exercise, you will place the RoboCIM software in the Control mode, this time observing the motions of the actual robot when you change the articulation coordinates. You will then experiment further with control of the robot motions by having the robot grip, move, and rotate objects. 1-7

2 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. Setting Up the System G 1. On the Work Surface, position the robot as indicated in Figure 1-3 (position R0,C7). Do not position the accessories yet. This will be done later in the exercise. Note: Figure 1-3 is in the introductory section DISCUSSION OF FUNDAMENTALS of Unit 1. G 2. Connect the equipment as shown in Figure B-1 of Appendix B. This figure shows the connections to make between the robot, the RoboCIM host computer, and the Power Supply. Make sure that no Teach Pendant is connected to the robot. Note: For detailed information on the system connections to make when the RoboCIM software is used, refer to Section 2 of the Lab-Volt User Guide "Robot System Model 5150". Control of the Robot's Articulations, Using RoboCIM in the Simulation Mode Placing RoboCIM in the Simulation mode G 3. On the host computer, launch the RoboCIM software, which will bring up the Welcome dialog box. Select Create a new RoboCIM workspace. The RoboCIM main window appears, showing a 3D view of the robot mounted on square Work Surfaces. G 4. Make sure that RoboCIM is in the Simulation mode [buttons of the Communication toolbar in green (Simulation) and gray (Control)]. In the rightmost tabbed section of the RoboCIM main window, select the Motion tab to display the Motion window. Control of the robot's articulations in the Simulation mode G 5. Experiment with rotation of the robot shoulder in the clockwise and counterclockwise directions: 1-8

3 Base articulation, using the corresponding set of arrows: the single arrows provide a slower speed for precise approach moves; while the double arrows provide a fast speed for long moves. b. While doing this, observe the rotation of the robot shoulder in the view display area of RoboCIM. Then return the shoulder to its initial location. Note: To obtain detailed information on the Motion commands of RoboCIM, refer to Section 4 of the Lab-Volt User Guide "RoboCIM 5150 Software", part number E0. G 6. Experiment with moving the upper arm of the robot up and down. Shoulder articulation, using the corresponding set of arrows (single or double). b. While doing this, observe the motion of the upper arm in the view display area of RoboCIM. Then, return the upper arm to its initial position. G 7. Experiment with moving the forearm of the robot up and down. Elbow articulation, using the corresponding set of arrows (single or double). b. While doing this, observe the motion of the forearm in the view display area of RoboCIM. Then return the forearm to its initial position. G 8. Experiment with moving the gripper of the robot up and down. Wrist Pitch, using the corresponding set of arrows (single or double). b. While doing this, observe the motion of the gripper in the view display area of RoboCIM. Then return the gripper to its initial position. G 9. Experiment with rotation of the robot gripper in the clockwise and counterclockwise directions. Wrist Roll articulation, using the corresponding set of arrows (single or double). b. While doing this, observe the motion of the gripper in the view display area of RoboCIM. Then return the gripper to its initial location. 1-9

4 G 10. Experiment with opening and closing the robot gripper. a. In the Gripper (bottom) section of the Motion window, click and keep the Close button pressed while observing the gripper in the view display area. Observe that the gripper can be closed completely. b. In the Gripper section of the Motion window, click and keep the Open button pressed until the gripper becomes fully open. Moving the Robot's Articulations in the Control Mode Placing RoboCIM in the Control mode Note: If the robot has not been calibrated yet, you must perform the calibration procedure found in Appendix A of the Lab-Volt User Guide ''Robot System Model 5150'' (part number E) before using the equipment. G 11. Turn on the Power Supply of the robot, and wait until the green LED at the rear of the robot base stops flashing and the red LED turns off. G 12. In the Toolbar of the RoboCIM main window, set the Communication toolbar to Control [in which case the toolbar buttons will become gray (Simulation) and red (Control)]. Note: If you place RoboCIM in the Control mode immediately after turning on the Power Supply, that is, before the green LED on the robot base has stopped flashing and the red LED has turned off, the communication might not be established between RoboCIM and the robot controller, and an error message will be displayed. Moreover, RoboCIM and the controller will be unable to communicate if a Teach Pendant is connected to the robot when the Power Supply is turned on. Should this occur, turn off the Power Supply, disconnect the Teach Pendant, then turn on the Power Supply. Note: If the hard home positioning of the robot has not been done yet, a dialog box will appear to indicate that this will be performed. Click to accept and close the box. Note: If the orientation of the robot displayed in RoboCIM does not correspond to that of the actual robot being represented, the display will automatically change to reflect the orientation of the actual robot. Control of the robot's articulations in the Control mode G 13. Now that RoboCIM is in the Control mode, use the single (low-speed) or double (high-speed) arrows of the five articulations in the RoboCIM Motion window to move each articulation. Also, move the gripper. While doing this, observe the motions performed by the actual robot. 1-10

5 Note that the motions of the robot displayed in RoboCIM reflect those performed by the actual robot. Determine the motion or rotation range of each articulation. Then return each articulation to its initial location. Note: RoboCIM limits the range of motion of each articulation, but this will not prevent collisions from occurring if the articulations are moved without precautions. Therefore, carefully move the articulations so that no collisions will occur between the robot parts or between the robot and the Work Surface. G 14. Once you are familiar with control of the robot articulations, return the robot arm to its home position by performing a soft home positioning. To do so, select Soft Home from the Motion menu of the RoboCIM menu bar. Notice the coordinates of the robot articulations once the arm has returned to its home position (these coordinates are displayed in the Articular Coordinates panel of the Motion window, and also at the bottom of the RoboCIM main window). Control of the robot's articulations to grip, move, and rotate objects G 15. On the Work Surface, put the objects shown in Figure 1-3 (square part, film canister, and metallic can), making sure to position them as indicated in the figure. Note: The dashed lines in Figure 1-3 indicate how the objects will be moved by the robot in the steps to follow. Do not take these lines into account for now. Note: The objects put on the Work Surface will not be added to the view display area of RoboCIM for now, as this topic will be covered in another exercise. Therefore, the actual objects put on the Work Surface will neither appear nor be simulated in the view display area of RoboCIM in the Control mode. G 16. In the Motion window of RoboCIM, use the arrows of the five articulations and the Open/Close buttons of the gripper to make the robot grasp the film canister at position (R7,C6) and move it right over the metallic can without colliding into it, as Figure 1-3 shows. Use the double arrows to move the articulations at a high speed, and the single arrows to move the articulations at a low (approach) speed. Once the film canister is over the can, open the gripper in order for the canister to be dropped into the can. (Use the Open button in the Gripper section of the Motion window to open the gripper). G 17. In the Motion window of RoboCIM, use the arrows of the five articulations and the Open/Close buttons of the gripper to make the robot grasp the 1-11

6 square part and move it to position (R2,C2) of the Work Surface, as shown in Figure 1-3. G 18. If time permits, continue to experiment with moving the robot articulations by making the robot grasp the square part and move it at several locations on the Work Surface. Shutdown Procedure G 19. Perform the following shutdown procedure. a. Make sure there is nothing inside the robot gripper (if an object is present within the gripper, open the gripper to release this object.) b. Clear the area around the robot, so that it will not hit anything when it moves. c. Execute a soft home positioning by selecting Soft Home in the Motion menu of the RoboCIM menu bar. d. In the Toolbar of the RoboCIM main window, set the Communication toolbar to Simulation [in which case the toolbar buttons will return in green (Simulation) and gray (Control)]. e. Turn off the Power Supply. f. Disconnect the system and return the equipment to its storage location. CONCLUSION In this exercise, you were introduced to the installation and connection of the robot training system. You learned how to control the various articulations of the robot, using the RoboCIM software in the Simulation mode. You then placed RoboCIM in the Control mode, this time observing the motions of the actual robot when you changed the articulation coordinates. You experimented further with control of the robot motions by having the robot grip, move, and rotate objects. REVIEW QUESTIONS 1. List examples of operations performed by robots in industry that can be hazardous or repetitive for humans. 1-12

7 2. Give some examples of applications in which robots are used. 3. Name three parts of the Lab-Volt 5150 Robot that can move up and down. 4. Name two parts of the Lab-Volt 5150 Robot than can rotate. 5. Which part of the robot can be opened or closed to pick up items before moving them to another location? 1-13