Final Assignment – Robot Programming using teach pendant Due Date by lindahy


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									                                  University of South Australia
                The School of Advanced Manufacturing and Mechanical Engineering

                                  Robotics and Automation

   Final Assignment – Robot Programming using teach pendant
Instruction for your submission
1. Your report should be typed at least 12 size font of Times New Roman or Arial font for normal text
and Courier New for any robot program. Use A4 size paper one side only (not both sides).

2. You have to submit heard copy of your report containing the whole robot program. Remember that
you have to explain every single line of your program in your submission. A flow chart to explain the
procedure of your program should be included.

3. You have to follow the report writing style guide of the university. You should have a proper cover
sheet, abstract, disclaimer, table of contents, conclusion and reference list. Quality of submission will
be a part of your marking.

4. On top of it, you have to electronically submit your robot program so that we can try it on our own.
In your submission, you should zip all documents/robot program files together and named as (like Submit it using AssignIT. AssignIT is an online assignment
submission system developed for UniSA. Go to the course homepage to find what to do for AssignIT.
Remember, you have to submit only one file. Put all files together and zip them into a single file.

5. You also submit your robot program file in a disk. Dr. Lee will provide a disk in the class.

6. The assessment will be made based on the following points
        • The report for the procedure of programming (The flow chart of the program should be
        • Execution of the program on Teach Pendant
        • Targets and paths definition without confliction
        • Reorientation of the targets
        • The main program and sub‐routines
        • Communication on Teach Pendant in program
        • Signal control in program
        • Clock reading on Teach Pendant in program

                         Due Date: 10th of November 2009
• Do not work alone in the robot lab. You should work with
your group members all the time. You are not allowed to
stay in the robot Lab on your own. It is against university
OH&S policy.

• Do not change anything in the robot controller folders
except one folder “course”. We have created this folder in
the robot memory for this course. You have to use this
folder only. You can create and modify files inside this
folder during your session. On completion of your session,
you have to copy all your files in this folder to your disk
and empty the folder so that the next group can use it. Do
not remove any files other than yours even though there
are some other files in the folder. If it is not yours, do not
touch it. If you modify any files in the robot memory except
the files in this folder, the robot needs to be rebooted and
it requires a lone time to do it. Never touch any files other
than yours in the robot memory!
1. Introduction
This practical assignment is designed and aimed to encourage students in Robotics and
Automation course in the school of AME to practice the fundamental of robot programming
using teach pendant. The robot to be used is the ABB140 robot located at Robotics and
Automation Lab (Room M2‐17) in University of South Australia. This practical assignment is
designed to apply the knowledge gained in the previous assignments and the tutorials to the
real robot programming using teach pendant. The practice of basic operation on jogging the
robot and programming on teach pendant is prerequisite for this assignment. The program
should include a logical structure, communication and signal control.

2. Tasks of practical assignment
The program should be made in the following order
1. At the beginning, the robot is located at the home position (say P1). When the program is
stared, the gripper should be closed and wait for the instruction.
2. The instruction should provide three options (option A, B or C). In addition, you also give
an option to define the number of repetition for the same movement (the number of
repetition should be 1, 2 or 3). Once an option and the number of repetition are chosen, the
robot should make a move.
        a. In Option A, the robot should make a linear motion to follow a square shape of
path. To do that you need to define four points (say P2, P3, P4 and P5). Hence if Option A is
chosen, the robot should move to P2 (from the current P1, home position). Then it should
move to P2, P3, P4 and back to P2 in the order to complete a square. If the number of
repetition is more than 1, then the robot should continue the routine and complete the
number of repetition. Once all repetition is completed, then go back to home position (P1).
        b. If Option B is chosen, the robot should make a circle. To do it, you also need to
define other 4 points (P6, P7, P8 and P9 – These points should be different from the point
you defined in Option A. Of course you can use the same positions, but we want you to
define new positions. So do it without complaining!). So when Option B is chosen, you have
to move to P6 from the home position (P1). Then make a circular motion to pass through P7,
P8, P9 and back to P6 to complete the circle. . If the number of repetition is more than 1,
then the robot should continue the routine and complete the number of repetition. Once all
repetition is completed, then go back to home position (P1).
        c. If Option C is chosen, the gripper should be opened and complete the program by
saying “bye bye”. Figure 1 shows an example of four targets to make a square or a circle. So
your task will be to define the position first. In the jogging mode, you can define the target
point using linear jogging and axis configuration jogging option as shown in Figure 2. Note
that once the linear jogging is completed to define a position, the defined positions can be
used in the program. After you switch to the program mode and insert “a whole line” to
define the position, you may be required to do a reorientation of TCP. In this case, “Dec1” is
selected to precisely define the position of the target by assigning the number on teach
pendant. For details, ask your tutor.
          Figure 1 Targets and routines in robot practical assignment example

               Figure 2 Axis configuration jogging option assignment example
The signal of ‘DO10_11’ should be reset at the beginning and then be set again to close the
gripper before the execution of the routines. When the execution is finished, this signal
must be reset as well to open the gripper.
In this practical assignment, the operation time should be measured by the clock command.
The commands can be used are:
         • ClkReset clock1 to reset the variable of ‘clock1’
         • ClkStart clock1 to start the clock and store the clock read in the ‘clock1’ variable
         • ClkStop clock1  to stop the clock when the job is finished and store the clock
read in ‘clock1’ variable
         • TPWrite “Time is: “\Num:=ClkRead(clock1); �� to output the ‘clock1’ number on
the screen of Teach Pendant

You have to include the flow chart of your program in your report.

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