Robot Lab 1v2

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School

University of Toronto *

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Course

422

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Mechanical Engineering

Date

Jan 9, 2024

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pdf

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ROBOTICS LAB 1 for Automated Manufacturing MIE 422S © Copyright by A. Wolf, S. Maligec, R. Ma, K. Leung, H. Chu, Prof. J.K. Mills, Prof. B. Benhabib, 2010. The material contained in this document is the exclusive property of the Department of Mechanical and Industrial Engineering, University of Toronto.

MIE422S Robotics Lab 1 1 TO STOP THE ROBOT IN AN EMERGENCY: Press the red emergency button on the power box Or When using the teach pendant in teach mode, press the red emergency button on the teach pendant. Operator Safety: 1) Make sure that the robot is bolted to the work surface by at least three bolts. 2) Do not go near the robot while it is in operation. 3) Do not stick your fingers, or any other appendages, into the arm mechanism while the robot is in operation, as they may get caught between gears or belts. 4) Turn off both the power box and the PC before either doing any work within the workspace of a connected robot or before connecting any inputs or outputs. 5) Do not open the fuse covers while the controller is plugged into the 110 V AC receptacle. Equipment Safety: 1) Make sure that all objects and machines that are not related to the robot’s work are kept out of its work envelope. 2) Do not exert any force on the arm for the purpose of changing joint positions, or for any other reason. 3) Do not leave the system while it is in operation. Maintain direct supervision of the robot at all times. 4) Do not turn on the controller if the PC is not on. Do not turn off the PC if the controller is still on.

MIE422S Robotics Lab 1 2 Key Parts of the SCORPOWER Box: Back Panel Front Panel 1* Power On/Off switch 9 Robot D50 connector 2* Power Line 110 VAC socket 10 Digital I/O screw terminals 3 Line Voltage Indicator 11 Analog I/O screw terminals 4 AC Power Fuse Drawer 12* Emergency button and LED indicator 5 TEACH PENDANT 6-pin telephone jack 13 Input/Output LED indicators 6 Reserved RS-232 COM port 14* Power LED indicator 7 Remote EMERGENCY switch 2 pin WAGO connector 15* Motors LED indicator 8 Computer USB connector 16 Axes 7 and 8 Driver D9 connectors * indicates parts which you may need to check during the lab

MIE422S Robotics Lab 1 3 LABORATORY 1: ROBOT BASICS Experiment 1-1: Introduction to the Robot Objectives: Students will become familiar with the robot, controller and SCORBASE software. They will also learn the correct startup and shutdown procedures for the equipment, as well as the safety rules for using the robot. Material Required: Bamboo skewer Suction cup Felt-tip pen or marker SCORBOT-ER4pc robot Controller SCORBASE Level 3 software Procedure: This experiment is divided into two sections: I. Startup II. Manual Movement of the Robot Words in bold italics correspond to SCORBASE commands. I. Startup 1) Turn on the computer. 2) Turn on the controller. The power LED should now be lit. 3) Start the SCORBASE software by double-clicking the shortcut on the desktop. 4) To begin a new project, go to the menu bar and select File >> New Project (Shortcut: Ctrl + N). A message should appear telling you that the system is initialising itself, and the motors LED on the controller should now be lit. There should be a message on screen telling you that the robot has not been homed. 5) Make sure robot is on-line (Option>>On-line) and the control of the robot (in the menu bar) is ON 6) You will now home the robot. There are several ways in which to do this. You can click on the Search Home icon , located in the menu bar at the top of the screen. You can also select the Search home - all axes or Search home - robot command in the Run menu. Once the robot has been successfully homed, the message “The robot has not been homed” underneath the toolbar should be disappeared.

MIE422S Robotics Lab 1 4 II. Manual Movement of the Robot This section of the lab uses the commands found in the following window. Continuous vs. Intermittent Motion 1) Click on the Manual Movement window in the bottom right corner of the screen in order to make it active. 2) Press, but do not hold, the 1 key a few times. What happened? This type of motion is called intermittent motion. 3) Press and hold the Q key for a few seconds. What happened? This type of motion is called continuous motion. 4) The 1 and Q keys control the movement of axis 1. Try moving some of the other axes, using the keyboard. Which keys control the movement of axis 4? _________________________________________________________________ 5) Tell the robot to go home using the Go home – robot command found in the Run menu. 6) Click on the OFF icon , located near the Search Home icon, in order to disable movement of the robot’s motors. You will be entering the robot’s work envelope, so this step will prevent the robot from accidentally moving while you are near it. 7) Select a point on the table. Stick the suction cup to that point. Stick the bamboo skewer into the middle of the suction cup. 8) Click on the ON icon , located beside the OFF icon, in order to re- enable movement of the robot’s motors. 9) Try to touch the tip of the gripper to the top of the skewer using continuous motion. 10) Tell the robot to go home. 11) Try to touch the tip of the gripper to the top of the skewer using intermittent motion. Which method was easier, using continuous motion or using intermittent motion? __________________________________________________________ _________________________________________________________________ What strategy would you recommend for a task like this one? _______________ _________________________________________________________________ _________________________________________________________________ _________________________________________________________________ Controls which coordinate system is in use Shows which keys control the movement of which axis in the + and - directions Controls the robot’s speed

MIE422S Robotics Lab 1 5 Click on View >> Robot Movement on the menu bar. A window with an image of the robot arm, with red arrows all over it will be displayed. This is the Robot Movement window. Click on one of the arrowheads with your mouse. What happened? 12) Move the robot’s other axes using the image interface, then return to the Manual Movement window. (To return to the Manual Movement window, click on the Manual button in the top right corner of the Robot Movement window). 13) Try moving the robot using XYZ coordinates, using either the Manual Movement window or the Robot Movement window. How does XYZ movement differ from joint movement? __________________________________________ Fast vs. Slow Motion 1) Bring the robot to a position where the arm is parallel to the table and all the joints are in line, as illustrated in Figure 1-1. The arm should be pointing toward the accessible workspace. Figure 1-1 Controls robot’s speed Moves the robot using XYZ coordinates Suction cup Skewer

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