Wrist

Elbow

TCP
ABB IRB 140

Servo
Shoulder
Motors

Waist

MANIPULATOR
 ABB Robot IRB 140

What is a Robot ?

- Robot is a machine controlled by the computer / processor which can

simulate human activities ( mentally as well as physically )

- Robot is a machine which can perform the task using set of instruction
given and has artificial intelligence
Industrial Tasks Performed by Robots :-

1) Welding , Material Handling 2) Painting & Spraying

3) Plasma Cutting 4) Shoe Roughing

5) Thermal Spraying 6) Water Jet Cutting

7) Roller Hemming of Sheet.

Selection of Robot :-
a) Pay load
b) Maximum Reach (TCP)

Robot is made up of two principal parts :-

1. Controller
2. Manipulator
 Teach Pendant

- The controller & manipulator are connected by two cables

 Generally robot has 6-axes
Driven by Motor Unit

Motor unit :- Servo motor

Resolver (feedback unit)
Electromagnetic Brake(24 V D.C.)
P.T.C Sensor

Controller Unit :- - Drive System

- Computer System
- Teach Pendant
- Operation Panel
 Computer Units :- Main Computer
Axis Computer (Controls axis movement)
I/O Computer (User, Controller & Manipulator)
Mass Memory Computer (64 MB)
Power Memory computer
Power Supply Unit

OPERATION PANEL :-

1. Duty Time Clock 2. Motor ON Button

3. Mode Selector Switch 4. Emergency Stop Switch
Motors ON :- In the motors on state , the motors of the robot are
activated and the motors on button is continuously lit.

Continuous light ------- Ready for program execution

Fast flashing light(4Hz) ------ The robot is not calibrated or the

revolution counters are not updated.The motors have been switched on.

Slow flashing light(1Hz) -------- One of the safeguarded space stops is

active. The motors have been switched off .
 Safety measures of robots
1) Emergency Stop.
2) Hold to run switch.
3) Limiting the workspace

File Edit View Special

Jogging

Program

I/O
Misc.

Stop

Teach - Pendant
Entering Text
 JOGGING

A Joystick is used to jog the robot. It can move robot in three

different directions simultaneously. The robot speed is proportional
to joystick deflection.
Jogging The Robot :-
1.Re-orientation
2.Linear (all motors are ON)
3.Axis (only one motor ON)
 Data Types in Robot

1. Position Data : End Position of the End Effector

2. Velocity Data : Desired Speed
3. Zone Data : The Accuracy of the position
4. Tool Data : Tool Coordinate System & Tool Defn
5. Work Object Data : Work Coordinate System
6. Num : Numeric Values (Register, Counter)
7. Boolean : Logical values (True or False)
 COORDINATE SYSTEM
1. Base Coordinate System
2. World Coordinate System
3. Tool Coordinate System
4. Work Object Coordinate System
 PROGRAMMING
A program consists of instructions &
data, programmed in the RAPID
Programming Language, which
controls the robot & peripheral
equipment in a specified way.
A program is made up of three
different parts:
- a main routine
- several subroutines &
- program data.
Instruction:
An instruction defines a specific task that is to be carried out when
the instruction is executed, for example :
- Moving the robot.
- Setting an output.
- Jumping within the program.
Programming a Position:
A positioning instruction contains following information:
-Type of Path (Linear, Circular, Joint Motion)
- The destination position to which the robot is to move.
- Speed.
- Zone size (accuracy)
- Current Tool (TCP)
Programming an I/O Instruction :
An output instruction contains following information:
- Information on the output to be changed.
- Information on the desired value.

SetDO do1, high

Output Desired Value

 Waiting for an input:
A wait-until-input instruction contains the following information
-The name of the input.
- The input value necessary for program execution to continue.

SetDI do1, high

Input Value
Programming a Delay:

WaitTime 3
 Program Test
A D

A Test Setting Speed & Execution Mode.

B Program Pointer.
C Instruction.
D The current program task, Module & Routine.
E Cursor.
PLEASE, CLICK ON THE ROBO PICTURE