Robot Palletizing

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Agenda ROBO237 - WEEK #9
Review of Lab #6 Quick Teach Basics Bill Of Materials (BOM) New instructions TPWrite and TPErase ABB Palletizing Program Two dimensional palletizing program Example 3x2 matrix Adding TPReadFK instruction to the palletizing program ABB 3-dimensional palletizing program Case study Example 2x3x2 matrix

Solution for Lab #6 – method 1
PROC main() MoveJ home,v1000,fine,tool0; pallet; MoveJ home,v1000,fine,tool0; ENDPROC ENDMODULE PROC pallet() FOR y FROM 0 TO 3 STEP 1 DO pickup; MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; MoveL Offs(drop_pt,0,y*50.8,0),v1000,fine,tool0; open_gripper; MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; ENDPROC

PROC pickup() MoveJ a_pick,v1000,z10,tool0; open_gripper; MoveL pick,v1000,fine,tool0; close_gripper; MoveJ a_pick,v1000,z10,tool0; ENDPROC

PROC open_gripper() Reset do1; WaitTime 0.5; ENDPROC

PROC teach_drop() MoveJ drop_pt,v1000,fine,tool0; ENDPROC

PROC close_gripper() Set do1; WaitTime 0.5; ENDPROC

Solution for Lab #6 – method 2
PROC main() MoveJ home,v1000,fine,tool0; pallet; MoveJ home,v1000,fine,tool0; ENDPROC ENDMODULE PROC pallet() FOR y FROM 0 TO 3 STEP1 DO pickup; Place y; ENDFOR ENDPROC PROC pickup() MoveJ a_pick,v1000,z10,tool0; open_gripper; MoveL pick,v1000,fine,tool0; close_gripper; MoveJ a_pick,v1000,z10,tool0; ENDPROC

PROC Place (num y) MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; ConfL\Off; MoveL Offs(drop_pt,0,y*50.8,0),v1000,fine,tool0; open_gripper; ConfL\On; MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; ENDPROC

PROC close_gripper() Set do1; WaitTime 0.5; ENDPROC

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 “Routines” from the “VIEW” top menu keys 1. Cursor to the new subroutine 2. Select “Decl” (Declaration) from the bottom function keys 3. Select “Jump” key to switch to bottom half of the page 4. Select “new” to create a new parameter for subroutine 5. Select “Right” arrow key to “Param1” 6. Select “Text” from the bottom function keys 7. Type the variable name “y” Repeat the steps 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 manipulator S4 Controller Pallet Output conveyor In feed conveyor Spring Stand Pneumatic PNP unit PLC unit Allen Bradley & OMRON PLC Part Pick 2 x10 matrix

Use 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 2x3 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 (76.2 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; “ 2 x 3 Palletizing program” ! Declare VARIABLES rows := 2; columns := 3; ! Program Logic MoveJ Home, V1000, Z50, T1; WaitTime 0.5; Pallet; MoveJ Home, V1000, Z50, T1; ENDPROC

Nested “FOR” loop
PROC...
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