Bachelor of Engineering (Honours) in

Mechatronics

Industrial Robotics & Vision Inspection

Title:

Digital Image Formats and Processing

Name & ID:

Date:

Jose Zapata Neto B00092132

24/04/2016

Introduction:
A robot can be a very cost effective way to achieve some automation tasks. The
figure of a robot as an expansive luxury is far from reality, when the cost of a robot is
computed over is expected lifetime around 6 or 7 years in general, it can provide results
with cost around 1, 65/hr to buy and operate. [1]
MPS stands for Modular Production System. They are design to provide to set the
right challenge and appropriate learning environments. The Station can provide various
requirements, such as: [2]

Differentiated functions;
Individual and combined units;
Different drive technologies;
Material and information flow;
Modern and variable control concepts.

The MPS Robot Station used in the current work, contains the following
components: [3]

Mitsubishi Robot RV-2AJ;

Gripper Module;
Magazine Module;
Slide Module;
Assembly Retainer Module.

The Mitsubishi Robot RV-2AJ is a joint articulated robot with five revolute
joints, providing 5 degrees of freedom. Figure one bring some specifications about the
Robot RV-2AJ arm and multitasking operation system. [3]

Figure 1: Robot RV-2AJ arms and multitasking operation system. [3]

Developed by Mitsubishi, the Melfa Basic IV is a robot programming language

bended to be very close upon the programming language Basic. The number of
function in both languages is similar. [3]
CIROS Robotics was conceived to learn how to program and commission
industrial robot systems. The program can offer a comprehensive library with more than
20 predefined robot work cells which enables to go directly to commissioning and

programming robot applications. The Graphic animations helps to understand the

technical terms and facts, videos and a large number of industrial applications involving
robots, sample for every robot work cell, technical documentation including instructions
on processing. [3]
CIROS Robotics also provides 3D real-time simulations with features of CIROS
Studio and a programming environment for Industrial Robot Language programming
languages Movemaster Command and Melfa basic IV for Mitsubishi robot systems. [3]
[4]
CIROS Robotics provides a virtual learning environment in the field of robotics.
Step by step, the user will be able to advance independently from very simple robotics
applications right through to highly complex work cells in a highly realistic, simulated
3D work environment. The virtual learning environment consists of: [4][5]
Programming and simulation environment for predefined robotic work cells that
represent typical industrial applications;
The Robotics Assistant online tutorial offering comprehensive robotics
knowledge via multimedia presentations.
The Robotics Assistant is not a CBT (computer based training), but rather a
multimedia information system that provides teachers with support in designing courses
of study, and that can be used by trainees for autodidactic learning. [5]

Task 1 Pick and Place

The current exercise asks to perform a pick and place application between 5 points
described in the figure 2. Basically the Robot arms must:
Transport a workpiece via 5 positions (P1, P2, P3, P4,P99);
Take the workpiece from position P1 with the gripper and move to a upper;
Position P2 (which is 50mm directly above P1);
Then move to position P3 (above P4);
Next move down to position P4 and release workpiece with gripper;
Move to position P3, then position P99 and back to position P2.

Figure 2. Exercise 1 points.

The points described in the figure 2 can be seen in table 1.

Table 1: Points coordinates.

Point
P1
P2
P3
P4
P99

X
238
238
65
65
180

Y
45
45
200
200
30

Z
190
240
337
327
370

Rot Z
-52
-52
-90
-90
370

Rot Y
180
180
180
180
180

The code for the program can be seen below.

10 mov p2
20 mvs p1
30 hclose 1
40 dly 1
50 mvs p2
60 mov p3
70 mvs p4
80 hopen 1
90 dly 1
100 mov p3
110 mov p99
120 end

'|program start from the position P99 to P2

'|after moves o position 1
'|open the grab device
'|wait for 1 second
'|comes back to P2
'|moves forward to P3
'|come to position p4
'|open the grab device
'|waits one second
'|come back to P3
'|comes to end position

Task 2 Speed Control

To add speed control to Task 1 is possible by means of the command:

SPD: This instruction declares the speed of the robot on linear and arc
movement. The maximum speed is 10000 units, and changes the speed on the
MVS command. As is desirable 20% of maximum speed the unit used will be
2000.
JOVRD: designates the override that is valid only during robots joint
movements. The value must be given between 0 and 100, when 100 is the
maximum. The value represents percentage of maximum speed.

Because of an incident in the computer, the file was lost, but the changes can be seen on
exercise 4

Exercise 3
To define 3 teachable points P1, P4 and P4 is required to define the points P2
and P3 as 50 mm above P1 and P4 respectively. To do that was use the command:
MOV P1, -50 what actually represents P2 of 50 mm above P1
The second way is a wee bit more complicated involving vectors. First, define
two vectors, one for the point and one for the value is required to change or correction
vector.
DEF POS VECZ2 'correction z-axis 50 mm

DEF POS AUXPOS '|Position

To define the correction vector:

VECZ2 = (+0.00,+0.00,+50,+0.00,+0.00) '|50 mm above any point

The point is calculated by the sum, then is possible to use the MOV command.
AUXPOS = P1 + VECZ2 '|AUXPOS is 50 mm up from P1
MVS AUXPOS '|comes back to P2
As on exercise 2, the version as lost, but is possible to see in Exercise 4.

The benefits in real word relies in the fact that the program have less points to
define what make his life easier once that is much simple to do that on code compared
to manually move the robotic hand to the desirable point and save the value.

Exercise 4
To add punctuality to the program is possible to use the sensor on Bit 8, and then
execute the routine in Exercise 3.
For that will be used the following structure:

Main loop
gosub *wpart

Part available?
No

Yes
Execute the code
on Exercise 3

The code can be seen above:

10 DEF POS VECZ2

'|correction z-axis 50 mm

20 DEF IO PART_AV = BIT,8 '|bit who defines if the piece is available

30 DEF POS AUXPOS
'|Position
40 SPD 2000 '|the maximum speed is 10000 so 2000 is 20% of max speed '|
of mvs command
50 JOVRD 100'| maximum speed for the mov command
60 VECZ2
= (+0.00,+0.00,+50,+0.00,+0.00) '|50 mm above any point v
'|when sums
70 *MAINLOOP
80 GOSUB *WPART
90 GOTO *MAINLOOP
100 END

'|Mainloop
'| subroutine to verifies if a part is available
'| stay in loop

110 *WPART
'|Verifies if the workpiece is available
120 IF PART_AV = 1 THEN GOSUB *AUTOMATION '|if a piece is available a
'|subroutine is called
130 RETURN
140 *AUTOMATION
150 MOV p1,-50 '|program start from the position P99 to P2
160 spd 2000
' the maximum speed is 10000 so 2000 is 20% of max '|
speed of mvs command
170 MVS p1
'|after moves o position 1
180 HCLOSE 1
'|open the grab device
190 DLY 1
'|wait for 1 second
200 AUXPOS = P1 + VECZ2 '|AUXPOS is 50 mm up from P1
210 MVS AUXPOS '|comes back to P2
220 jovrd 10
'|speed of 10% for the mov command when the robot is
'|holding the workpiece
230 MOV p4,-50 '|moves forward to P3
240 MVS p4
'|come to position p4
250 HOPEN 1
'|open the grab device
260 DLY 1
'|waits one second
270 MVS p4,-50 '| movs to P3
280 jovrd 100
'| maximum speed for the mov command
290 MOV p99
'|comes to end position
300 RETURN

Summary:
The current work provides to the student concepts of Mitsubishi Robot RV-2AJ
programmed with Ciros. In the beginning was not so straight forward to understand
how the Robot expects a communication from the programmer but with a wee bit of time
Ciros Programming shows that is not hard to understand the command and develop
programs with the software. The commands used in this report allowed the student to
comprehend the functionality of the Robot hand, set points and move between then, at
the same time is possible to configure speed in the movement.
Define a point in relation to another was implemented in two ways to do it, and
this salve time of the programmer in the real world. The functions make the program
more professional and organize and Ciros programming uses a very useful programmed
language to deal with objects and functions with goto that stands for a jump and gosub
that stands for a call a subroutine.

References :
[1]
Anon,
(2016).
[online]
Available
at:
http://www2.it.lut.fi/wiki/lib/exe/fetch.php/courses/ct50a6200/rv-3sb_3sjb.pdf
[Accessed 10 Apr. 2016].
[2] Festo-didactic.com. (2016). MPS The modular production system:
From module to learning factory - MPS The Modular Production System Learning Systems - Festo Didactic. [online] Available at: http://www.festodidactic.com/int-en/learning-systems/mps-the-modular-productionsystem/mps-the-modular-production-system-from-module-to-learningfactory.htm?fbid=aw50lmvulju1ny4xny4xoc41oduunzyzmq [Accessed 10
Apr. 2016].
[3]
Bell,
N.
(2016).
[online]
Available
at:
http://moodle.itb.ie/pluginfile.php/152163/mod_resource/content/0/Festo
%20MPS%20Robot%202016.pdf [Accessed 10 Apr. 2016].
[4]
Bell,
N.
(2016).
[online]
Available
at:
http://moodle.itb.ie/pluginfile.php/151989/mod_resource/content/0/Introducti
on%20to%20Ciros%20Programming%202016.pdf [Accessed 10 Apr. 2016].
[5] Karras, U. (2016). [online] Available at:
http://moodle.itb.ie/pluginfile.php/93317/mod_resource/content/0/CIROS_Ro
botics_Manual.pdf [Accessed 10 Apr. 2016].