Documente Academic
Documente Profesional
Documente Cultură
(Conestoga College)
Introduction to Robotics
Working with
ABB IRB 120
Robot
4. Coordinates……………………………………………………………………………………………………………………………………….18
5. Subroutines……………………………………………………………………………………………………………………………………….18
5. Problems……………………………………………………………………………………………………………………………………………19
6. Improvements……………………………………………………………………………………………………………………………………20
1. Equipment List
1.1. ABB 120 robot
1.2. Robot controller
1.3. Pendant(MCP)
1.4. Marker
1.5. Paper
1.6. ABB Robotics RobotStudio 5.61 software
4. Coordinates:
5. Subroutines:
Subroutines with Coordinates Offset
LETTER_R: r1, r2, r3, r4, r5, r6, r7 Z-axis = 10
LETTER_R1: r1, r2, r3, r4, r5, r6, r7 Z-axis = 10, Y-axis = 30
LETTER_R2: r1, r2, r3, r4, r5, r6, r7 Z-axis = 10, Y-axis = 60
LETTER_R3: r1, r2, r3, r4, r5, r6, r7 Z-axis = 10, Y-axis = 90
LETTER_R4: r1, r2, r3, r4, r5, r6, r7 Z-axis = 10, Y-axis = 120
LETTER_OPrev: o1, o2, o3, o4 Z-axis = 10, Y-axis = -30
LETTER_O: o1, o2, o3, o4 Z-axis = 10
LETTER_O2: o1, o2, o3, o4 Z-axis = 10, Y-axis = 30
LETTER_O3: o1, o2, o3, o4 Z-axis = 10, Y-axis = 60
LETTER_O4: o1, o2, o3, o4 Z-axis = 10, Y-axis = 90
LETTER_B: b1, b2, b3, b4, b5, b6, b7, b8 Z-axis = 10
LETTER_B1: b1, b2, b3, b4, b5, b6, b7, b8 Z-axis = 10, Y-axis = -60
LETTER_B2: b1, b2, b3, b4, b5, b6, b7, b8 Z-axis = 10, Y-axis = -30
LETTER_B3: b1, b2, b3, b4, b5, b6, b7, b8 Z-axis = 10, Y-axis = 30
LETTER_B4: b1, b2, b3, b4, b5, b6, b7, b8 Z-axis = 10, Y-axis = 50
LETTER_T1: t1, t2, t3, t4 Z-axis = 10, Y-axis = -120
LETTER_T2: t1, t2, t3, t4 Z-axis = 10, Y-axis = -90
LETTER_T3: t1, t2, t3, t4 Z-axis = 10, Y-axis = -50
LETTER_T4: t1, t2, t3, t4 Z-axis = 10, Y-axis = -30
LETTER_T: t1, t2, t3, t4 Z-axis = 10
LETTER_O1: o5, o6, o7, o8 Z-axis = 10
6. Problems:
Session 1
We were not able to find the “Dead man Switch”, because of which we get delayed from starting the
lab.
All the E-stops were pressed by the previous group. Even the one down the robot where all the
machinery is present. Because of that e-switch we again got delayed from starting our lab.
Both of the above problems were rectified by the help of lab instructor, Mr. Wi lson.
One major problem was when we need to transfer the code from the PC to the robot. Initially it was
tricky but after couple of times we figured that out easily. Mr. Wilson recorded a video of ours doing
that.
Session 2
We were supposed to enter the letter and the how many number of times you want to print this
letter. Searching the commands for the same was a bit tricky part because there were various
commands for the same commands mentioned in the user manual of ABB.
For the last session we needed to write the same letter for some number of times. How to use the
same written code with the same teach points (without teaching the new teach points). We had an
idea of doing offset but we confirmed that with Mr. Wilson and then we did it by using offset i n Y
axis.
Session 3
We almost completed our last session in our second lab itself. We were planning to do something
more creative in the last session which was not mentioned in the lab manual like writing a letter in
Chinese or in Hindi language. But when we started doing our lab, as usual all the e-stop buttons
were pressed and the moment I released the last e-stop robot gets down and touched the surface of
the table. Mr. Wilson helped us getting it up in normal position.
We were not able to figure what was wrong with the robot was at that moment but Mr. Wilson
came and played with the robot for a little bit and started working ( NOT PERFECTLY).
Then we restarted the robot and it started showing the error “Robot is in Singularity State”. Which
our instructor Mr. Wilson explained that it’s because of the robot doesn’t know where to go. This
happens because if something happens with the robot’s memory. Again Mr. Wilson helped us to
overcome this.
7. But something was wrong with the robot’s axis. +Y and –Y axis was not behaving as they were
supposed to. Because of that we were only able to complete our last session. If this wouldn’t
happened we could have done something new.
6. Improvements
The manual could have been more object-oriented and informatory.
Whoever works on the robot should properly shut it down and bring it to the home position so
that it would be easier for the following group to start- up.
We could have completed all of the session earlier than we did (2 days), if we could have done
some research prior to the lab sessions.
There should be proper highlighted guidelines for the restricted areas of the lab so that students
wouldn’t reach places they are not supposed to as the lab group ahead of ours did. They pressed
the e-stop on the main controller which gave us a huge mess to deal with at the start of the lab
every time.