Lab-Volt TECH-design E Series User manual

Tech-Design®
Automation & Robotics
Activity Guide
eSeries
Edition 1
37640-S0

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FIRST EDITION
First Printing, June 2010
Copyright 2010 Lab-Volt Systems, Inc.
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ISBN 978-1-60533-270-3

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Automation & Robotics Table of Contents
Activity Guide
Tech-Design by Lab-Volt vii
Introduction..................................................................................................1
Creating a Program
Saving Your Program .................................................................................3
Changing Speeds
Loading Your Program ...............................................................................4
Basic Robotics
Using RoboCIM..........................................................................................5
Methods of Programming
Introduction to Programming......................................................................9
Editing Programs
Program Editing .......................................................................................16
Robotics in Manufacturing
Industrial Application ................................................................................20
Using the Feeder
Gravity Feeder .........................................................................................23
Working with a Rotary Carousel
Rotary Carousel .......................................................................................25
Appendix A—Safety ..................................................................................27

Table of Contents Automation & Robotics
Activity Guide
viii Tech-Design by Lab-Volt

Activity Guide
Tech-Design by Lab-Volt 1
Automation & Robotics Introduction
Introduction
This Activity Guide is to be used with the multimedia course presentation and the Student Guide. The
Activity Guide remains at the workstation and contains information and procedures that are specic to the
course. Please do not write in this Activity Guide. Record all of your notes and data in your own Student
Guide.
The multimedia course presentation will refer you to a specic activity title in this guide. Some units may
not have activities requiring directions in this Activity Guide, therefore that unit title will not appear in the
Table of Contents.
Tips for navigating the multimedia course presentation can be found in the Mind-Sight™Lab-Volt®
Multimedia eTraining System Installation and User Guide (Mind-Sight Installation and User Guide).

Activity Guide
2Tech-Design by Lab-Volt
Introduction Automation & Robotics
Equipment and Supplies
The following equipment and supplies are provided with the Automation & Robotics course:
____ Multimedia Presentation
____ Mind-Sight™Lab-Volt®Multimedia eTraining System Installation and User Guide
____ Activity Guide
____ Student Guide
____ Lab-Volt Robot Arm with work surface
____ Robot Teach Pendant
____ Gravity Feeder with square parts (2x2x1 in)
____ Rotary Carousel
____ 2 clear tubing P500 2.5
____ 4oz. plastic jar
____ 3 lm canisters
____ 1L paint can
____ 10 Plexi blocks (2x2x0.5 in)
____ 12-in/ 30-cm plastic ruler
____ RoboCIM software
____ File Server application software

Activity Guide
Tech-Design by Lab-Volt 3
Automation & Robotics Creating a Program
Saving Your Program
The 5100/5150 File Server Application is designed to save the programs you make with the Teach
Pendant on a computer. It is used solely for use with the Teach Pendant.
5100/5150 File Server Application
Open the 5100/5150 File Server Application by clicking on the FS icon in the toolbar. The 5100/51501.
File Server window appears.
The I/O Menu of the Teach Pendant allows you to load and save programs to and from the host2.
computer. Go to the Main Menu of the Teach Pendant and select the I/O Menu.
When the Teach Pendant and the server connect, the following screen appears:3.
Teach Pendant I/O Menu
The 5100/5150 File Server window should open and a “Hello” message should appear in the Last4.
Request text eld.
File Server Window
To save your program, press 2 on the Teach Pendant. The following appears:5.
Save Program
Press 1 on the Teach Pendant to save your new le.6.
The 5100/5150 File Server application will display the Save Remote Data… window.7.
Enter a lename for your program that includes your initials, for example, GripperGA. You can use a 8.
maximum of eight characters. Click OK.
After the program is saved, the 5100/5150 File Server window appears with EOT (end of9.
transmission) displayed in the Last Request eld. Minimize the window.
On the Teach Pendant, press the Esc key twice to return to the Main Menu.10.
Go to the next section in the presentation.11.

Activity Guide
4Tech-Design by Lab-Volt
Changing Speeds Automation & Robotics
Loading Your Program
The 5100/5150 File Server Application is designed to save the programs you make with the Teach
Pendant on a computer. It is used solely for use with the Teach Pendant.
5100/5150 File Server Application
Open the 5100/5150 File Server Application by clicking on the FS icon in the toolbar. The 5100/51501.
File Server window appears.
The I/O Menu of the Teach Pendant allows you to load and save programs to and from the host2.
computer. Go to the Main Menu of the Teach Pendant and select the I/O Menu.
When the Teach Pendant and the server connect, the following screen appears:3.
Teach Pendant I/O Menu
The 5100/5150 File Server window should open and a “Hello” message should appear in the Last4.
Request text eld.
File Server Window
Navigate to the Load (1) option. This option is used to load an existing program into the Teach5.
Pendant memory. To load a saved program, enter the number beside its name. Any program in the
Teach Pendant memory will be erased. You can scroll through the list of saved programs using the
up and down arrow keys.
The message “recv” is displayed while the le is loading. When this message disappears, press the 6.
ESC key twice to return to the Main Menu.
If you have previously saved a program made in the task mode and then later load that program7.
while in process mode, the Teach Pendant will switch to the task mode automatically.
Go to the next section in the presentation.8.

Activity Guide
Tech-Design by Lab-Volt 5
Automation & Robotics Basic Robotics
Using RoboCIM
In this activity, you will use the RoboCIM software in Simulation mode and in Control mode. You will rst
change the coordinates of each articulation and observe the motions performed by the robot displayed
in the View Display area. You will then observe the motions of the actual robot when you change the
articulation coordinates when in Control mode.
Setting up the System
On the work surface, position the robot as indicated below (position R0, C7). Do not position the
accessories yet.
Equipment Position
Note: The equipment should be connected for all the exercises in this activity, as shown
below. If it is not, please ask your instructor for help.

Activity Guide
6Tech-Design by Lab-Volt
Basic Robotics Automation & Robotics
Equipment Conguration
RoboCIM Simulation Mode
You are now ready to control the robot using RoboCIM in the Simulation Mode.
Open the1. RoboCIM software.
From the Welcome screen, select Create a new RoboCIM workspace. The2. RoboCIM main window
appears.
You will be working in the Simulation mode rst, so make sure you are in Simulation mode.3.
Current Mode: Simulation
Select the Motion tab from the Tabbed Dialog Section. The Motion window appears.4.

Activity Guide
Tech-Design by Lab-Volt 7
Automation & Robotics Basic Robotics
Motion Tab
Experiment with rotation of the robot shoulder in the clockwise and counterclockwise direction by5.
clicking the arrows for the Base articulation in the Articular Coordinates section. (Note: the single
arrows provide a slower speed; the double arrows provide a fast speed for long moves.)
Observe the rotation of the robot shoulder in the view display area. Then return the shoulder to its6.
initial location.
To move the upper arm of the robot up and down, use the arrows for the Shoulder articulation.7.
Observe the motion of the upper arm in the view display area, then return the upper arm to its initial8.
position.
Experiment with moving the forearm of the robot up and down by using the arrows for the Elbow9.
articulation. Then return the forearm to its initial position.
To move the gripper of the robot up and down, use the arrows for the Wrist Pitch articulation.10.
Once again, return the gripper to its initial position. Experiment with the arrows for the Wrist Roll
articulation too.
To open and close the robot gripper, click and hold the Close button in the Gripper section. Then11.
click and hold the Open button.
RoboCIM Control Mode
You will now move the robot in the Control Mode.
Turn on the power supply of the robot and wait until the green LED at the rear of the robot base1.
stops ashing and the red LED turns off.
Change the mode to Control. If a dialog box appears indicating a hard home positioning has not2.
been done, click Do hard Home to accept and close the box.

Activity Guide
8Tech-Design by Lab-Volt
Basic Robotics Automation & Robotics
Current Mode: Control
Now that3. RoboCIM is in the Control Mode, use the arrows of the ve articulations in the Motion
window to move each articulation. Observe the motions performed by the actual robot. Return each
articulation to its initial location.
Once you are familiar with control of the robot articulations, return the robot arm to its home position4.
by performing a soft home position. To do this, select Soft Home from the Motion menu of the
RoboCIM menu bar.
On the work surface, put the objects shown in the graphic Equipment Position (square part, lm 5.
canister, and metallic can), making sure to position them as indicated in the gure.
NOTE: the dashed lines in the gure indicate how the objects will be moved by the robot
in the steps that follow.
In the Motion window of6. RoboCIM, use the arrows of the ve articulations and the Open/Close
buttons of the gripper to make the robot grasp the lm canister at position (R7, C6) and move it right
over the metallic can without colliding into it.
Once the lm canister is over the can, open the gripper in order for the canister to be dropped into 7.
the can.
Use the arrows of the ve articulations and the Open/Close buttons for the gripper to make the robot 8.
grasp the square part and move it to position (R2, C2) of the work surface.
If you have time, continue experimenting with moving the robot articulations by making the robot9.
grasp the square part and moving it at several locations on the work surface.
Exit10. RoboCIM. Do not save the workspace.
Shutdown Procedure
Make sure there is nothing inside of the robot gripper. If an object is in the gripper, open it to release1.
the object.
Clear the area around the robot.2.
Execute a soft home positioning by selecting Soft Home in the Motion menu of the menu bar.3.
Set the mode to Simulation.4.
Turn off the power supply.5.
Ask your instructor if the equipment should be disconnected. If yes, disconnect the system and6.
return the equipment to its storage location.
Go to the next section in the presentation.7.

Activity Guide
Tech-Design by Lab-Volt 9
Automation & Robotics Methods of Programming
Introduction to Programming
In this activity, you will record points and use them to create a program that makes the robot dip a part
into a tank.
Start Programming
Equipment Position
Open1. RoboCIM, and from the Welcome screen, select Create a new RoboCIM workspace.
Select Work Surfaces in the View menu of the2. RoboCIM menu bar. The Work Surfaces dialog box
appears. Set the R+ eld to 2, and the C+ eld to 1. Set the R- and C- elds to 0. Click on Close to
accept the new settings and close the box.
Position the Objects
Two work surfaces now appear in the view display area.
Change the position of the robot as follows:3.
Select the Object tab to display the Object window. Since the R and C coordinates are currentlya.
set to R0, C4, the robot is at 0 row of perforations from the R axis, and four rows of perforations
from the C axis in the direction pointed by this axis.

Activity Guide
10 Tech-Design by Lab-Volt
Methods of Programming Automation & Robotics
Set the robot to position (R0, C7) by changing the C value to “7” in the Position eld. Leave the b.
robot orientation set to 0 degrees. The robot position is now as shown below:
Display Area
You will now add a metallic can to the view display area:4.
In the header section of the Object window, click on the New button. The New Object selectiona.
box appears.
Click on the icon of the metallic can (Model 77123) to select it. Leave the default name in theb.
dialog box that now appears. Click OK. In the view display area, the newly added can now
appears at position (R0, C0).
In the basic parameters (bottom) section of the Object window, set the can to position (R8, C9).c.
Leave the can orientation set to 0 degrees. The can is now positioned as shown is the gure
above.
You will now add a lm canister to the view display area:5.
Click the New button. In the New Object selection box, click on the icon of the lm canister a.
(Model 95183) to select it. Leave the default name and click OK to close the dialog box that now
appears. In the view display area, the newly added lm canister now appears in position (R0,
C0).
In the basic parameters section of the Object window, set the position of the lm canister to (R8, b.
C5). Leave the orientation of the lm canister set to 0 degrees.
Save your work by selecting Save from the File menu. Enter Example and your last name for the6.
lename. For example, ExampleSmith. Then click the Save button.
Record Points
You will now record four points that will establish the path the robot will go through to perform its tasks
without collisions.
The starting (and arrival) point (point A)•
The height clearance point (point B)•
The point over the approximate center of the metallic can (point C)•
The point down to which the canister is lowered within the can (point D)•
These points will then be used to edit a program for control of the robot motions. Note that the robot arm
is at its soft home position in the view display area, which is the default arm position when a workspace is
created.

Activity Guide
Tech-Design by Lab-Volt 11
Automation & Robotics Methods of Programming
Open the robot gripper fully by rst selecting the Motion tab to display the Motion window. 7.
In the Gripper section, click on the Open button until the robot gripper becomes fully open in the8.
view display area.
Record point A by doing the following:9.
Use the arrows of the ve articulations of the robot to move and position the gripper so that it is a.
ready to grasp the lm canister.
Grab Canister
Grip the lm canister by clicking on the Close button. b.
In the header of the Point Recorder panel, click on thec. Record button. Enter “A” as the name
point and click OK.
Record point B (height clearance point) by following the steps below:10.
Use the arrows of the ve articulations of the robot to raise the canister 140 mm (5.5 in) a.
approximately above the work surface, and over the top of the metallic can.
Raise Canister
Click on the Record button and enter “B” as the point name. Click on OK.b.
Record point C (point over the metallic can):11.

Activity Guide
12 Tech-Design by Lab-Volt
Methods of Programming Automation & Robotics
Use the arrows of the ve articulations of the robot to move the canister over the approximate a.
center of the metallic can.
Move Canister
Click on the Record button and enter “C” as the point name. Click OK.b.
Record point D (point down to which the canister is lowered within the can):12.
Use the arrows of the ve articulations of the robot to lower the bottom of the canister down into a.
the can (bottom quarter of the canister level with the top of the can).
Dip Canister
Click on the Record button and enter “D” as the point name. Click OK.b.
Return the lm canister to the starting point:13.
In the Point recorder panel, double-click on the name of point A, which will return the canister toa.
point A (starting point).
Release the canister by opening the robot gripper fully (click on the Open button of the Gripperb.
section).
Perform a soft home by selecting Soft Home in the Motion menu of the14. RoboCIM menu bar.
Write the Program
Now that the points have been recorded, a program can be written.
First create a new icon program:1.