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 subroutine by passing parameter/s to it A. Select â€Å"Routines† from the â€Å"VIEW† top menu keys 1. Cursor to the new subroutine 2. Select â€Å"Decl† (Declaration) from the bottom function keys 3. Select â€Å"Jump† key to switch to bottom half of the page 4. Select â€Å"new† to create a new parameter for subroutine 5. Select â€Å"Right† arrow key to â€Å"Param1† 6. Select â€Å"Text† from the bottom function keys 7. Type the variable name â€Å"y† Repeat the steps 4-7 for more parameters B.Call and set the for the subroutine 1. Select â€Å"ProcCall† and select the subroutine 2. Type or select the variable name. 3. Type â€Å"y† 4. Select â€Å"ok† 5. The result is â€Å"Routine1 y†. Selection buttons and instructions Selecting a nu mber 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 manipulator S4 Controller Pallet Output conveyor In feed conveyor Spring Stand Pneumatic PNP unit PLC unit Allen Bradley & OMRON PLC Part Pick 2 x10 matrixUse only top view of the cell Do not label the components in the drawing itself 8 ABB Rapid new instructions TPWRITE â€Å"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 2Ãâ€"3 palletizing program for the ABB robot. 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 Program Routine Layouts c) Write the program Specifications: The tray is arranged into 10 columns (7 6. 2 mm in x direction) and 2 rows (50. 8 mm between in y direction) Subroutine names:Main, Home, Pick, Pallet, Open_gripper, Close_ gripper, and the Teach_Drop ABB Rapid – Case Study PROC MAIN() ! MAIN routine – Layer 1 ! Clear the Teach Pendant screen TPERASE; ! Display message on the Teach Pendant TPWrite; â€Å" 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 â€Å"FOR† loop 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) – whe n the robot waits for an operator input.TPReadFK Variable,â€Å" â€Å",†1†³,†2†³,†3†, â€Å"4†,†5†³; Variable value – depends on the pressed function Key. The variable will be assigned with the value 1 to 5. † First quotationâ€Å" – Blank â€Å"1† – Replace 1 with the preferred text. ( Same for â€Å"2†,†3†³, â€Å"4†, and â€Å"5â€Å") 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 â€Å" Palletizing program†; ! Declare VARIABLES ! Rows:=2; Cols:=3; !User define 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,â€Å" â€Å", †1Ãâ€"2†³,†2Ãâ€"3†³,†2Ãâ€"4†,â€Å" â€Å",â€Å" â€Å"; 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. Highlight the variable name and select the Enter key.Type the variable name Skip first quotation by selecting the â€Å"Next† function key. Then select the â€Å"Text† function key to type â€Å"1X2†. Repeat the steps for â€Å"2 x 3† and â€Å"2 x 2 x 2† matrix or any other matrix you want. Below the TPReadFK instruction, create the If-ThenElse instruction. TPReadFK in QuickTeach software cont’d.. 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 â⠂¬â€œ 3D palletizing