Robot Palletizing

PROC teach_drop() MoveJ drop_pt,v1000,fine,tool0 ENDPROC PROC open_gripper() Reset do1 WaitTime 0. 5 ENDPROC QuickTeach software- Creating and calling a office by passing parameter/s to it A. take in human activitys from the VIEW top menu keys 1. Cursor to the new subroutine 2. hire Decl (Declaration) from the bottom function keys 3. Select Jump key to switch to bottom half of the rogue 4. Select new to create a new parameter for subroutine 5. Select Right cursor key to Param1 6. Select Text from the bottom function keys 7. Type the variable name y double up the go 4-7 for more parameters B.Call and set the for the subroutine 1. Select ProcCall and select the subroutine 2. Type or select the variable name. 3. Type y 4. Select ok 5. The result is Routine1 y. Selection buttons and instructions Selecting a number of instructions Robotic Envelop and Bill of Material (BOM) Bill Of Material ITEM QTY DESCRIPTION REMARKS PPNP unit 1 2 3 4 5 6 7 1 1 10 1 1 1 1 2 ABB IRB 1400 Robot ma nipulator S4 Controller Pallet proceeds conveyer In feed conveyor Spring Stand Pneumatic PNP unit PLC unit Allen Bradley & OMRON PLC intermit Pick 2 x10 matrix white plague only top view of the cell Do not label the components in the drawing itself 8 ABB Rapid new instructions TPWRITE Remarks Type in message to display on the teach pendant for the operator. TPERASE Clear the screen of the teach pendant. Case Study 2 dimensional palletizing write a 23 palletizing program for the ABB automaton. The robot will pick up parts from the conveyor belt and place them on the packaging tray. a) Sketch the layout of the application. (Include the robot, robot envelope, pallet, conveyors, other components. b) Sketch the design Routine Layouts c) Write the program Specifications The tray is arranged into 10 columns (76. 2 mm in x direction) and 2 rows (50. 8 mm between in y direction) Subroutine namesMain, Home, Pick, Pallet, Open_gripper, Close_ gripper, and the Teach_Drop ABB Rapid Case Study PROC principal(prenominal)() MAIN routine Layer 1 Clear the Teach Pendant screen TPERASE show message on the Teach Pendant TPWrite 2 x 3 Palletizing program Declare VARIABLES rows = 2 columns = 3 Program Logic MoveJ Home, V1000, Z50, T1 WaitTime 0. Pallet MoveJ Home, V1000, Z50, T1 ENDPROC Nested FOR looping PROC Pallet() Palletizing routine Layer 2 y is in the inner loop and x is in the outer loop FOR x FROM 0 TO rows-1 STEP1 DO FOR y FROM 0 TO columns-1 STEP1 DO PICKUP MoveJ Offs(droppt, x*76. 2, y*50. 8, 50),v1000,fine,tool0 MoveLOffs(droppt, x*76. 2, y*50. 8, 0),v1000,fine,tool0 opengripper MoveL Offs(droppt, x*76. 2, y*50. 8, 50),v1000,fine,tool0 ENDFOR ENDFOR Adding TPReadFK instruction TPReadFK (TPRead Function Keys) when the robot waits for an operator input.TPReadFK Variable, ,1,2,3, 4,5 Variable value depends on the touch function Key. The variable will be assigned with the value 1 to 5. First quotation fatuous 1 Replace 1 with the preferred text . ( Same for 2,3, 4, and 5) Use the Variable as a condition for the IF Else IF.. condition 2-dimensional palletizing with TPReadFK MAIN subroutine Layer 1 PROC MAIN() Display message on the Teach Pendant TPERASE TPWrite Palletizing program Declare VARIABLES Rows=2 Cols=3 substance abuser plant Pallet Matrix subroutine usr_def Program Logic Home WaitDi di7,1 (Next semester) WaitTime 0. 5 Palletize Home WaitTime 1 ENDPROC User defined Pallet Matrix subroutine PROC usr_def() TPErase TPReadFK User_IN, ,12,23,24, , IF User_IN =1 then Rows=1 Cols=2 ELSEIF User_IN =2 THEN Rows=2 Cols=3 ELSEIF User_IN =3 THEN Rows=2 Cols=4 ENDIF ENDPROC TPReadFK in QuickTeach software Select IPL1 select 7 Communicate. Then create the TPReadFK instruction. cotton up the variable name and select the Enter key.Type the variable name Skip first quotation by selecting the Next function key. Then select the Text function key to type 1X2. Repeat the steps for 2 x 3 and 2 x 2 x 2 matrix or any other ma trix you want. Below the TPReadFK instruction, create the If-ThenElse instruction. TPReadFK in QuickTeach software contd.. Else IF Instruction Select IPL1 Select the IF instruction. Highlight the entire instruction Select enter key From the function keys, select ADD Select ELSE IF to create the instruction, then select OK. Case study 3D palletizing