Department Of Mechatronics Engineering
ACHARYA INSTITUTE OF TECHNOLOGY
Soladevanahalli, Bangalore -560107
INDUSTRIAL ROBOTICS LAB
MANUAL
Semester: VII
Subject Code: 15MTL76
Academic Year 2019-20
1. CALIBRATION OF A ROBOT
AIM: To calibrate the IRB1410 Robot
SPECIFICATION OF ROBOT: Make –ABB
Model –IRB1410
Controller –IRCS with flex touch pendent.
Payload -5kg
Axis -6 axis
Reach -1.45m
COMPONENTS: Power supply
Servo –max (voltage stabilizer)
IRB 1410 Robot controller
Flex pendent with stylish pen
PROCEDURE:
➢ Switch ON the main power supply 230v/50Hz.
➢ The supply is given to the servo –max stabilizer.
➢ Switch ON the flex pendent controller.
➢ Set the flex pendent controller to manual mode.
➢ Hold the flex pendent.
➢ Control the robot to the pre –determined position.
➢ There are 2 sets of axis
➢ . 1, 2, 3 axis are for main memory body
➢ 4,5,6 axis are for control of arm
➢ Set the robot in the flex pendent, select axis 1-3 run.
➢ Axis -1 rotates around an axis left and right and set the position marked.
➢ Axis-2 moves back and front which is fixed to case.
➢ Axis 3-rotation of ARM
➢ Robot 1: select axis 4-6 → RXN
➢ Axis 1: rotation of holder.
➢ Axis 5: Head mover up and down.
➢ Axis 6: Rotation of angle or gripper takes place.
RESULT: Hence the calibration of robot has been performed.
2. POINT TO POINT OPERATION ON
TRIANGLE
AIM: In this experiment we will learn how to stimulate robotic arm to have point to point
On the triangle.
PROCEDURE:
➢ Switch ON the power supply and power is given to the robot from servo motor.
➢ Switch ON the flex pendent.
➢ Set the flex pendent to manual mode.
➢ Control the robot using flex pendent.
➢ Move the robot using flex pendent from one point to start i.e. from point 1.
➢ Calibrate the robot for accurate result.
➢ Using flex pendent joystick select axis 1-2-3 and using joystick move from position 1
to position 2 and vice versa.
➢ Finally from point 3 to home positions.
A
B C
PROGRAM:
MODULE MainModule
PROC main ()
MoveL P10, v1000, z50, tool0;
MoveL P20, v1000, z50, tool0;
MoveL P30, v1000, z50, tool0;
MoveL P40, V1000, z50, tool0;
MoveL P10, v1000, z50, tool0;
ENDPROC
ENDMODULE
RESULT: The point to point operation on triangle is performed.
3. POINT TO POINT OPERATION ON
SQUARE
AIM: In this experiment we will learn how to stimulate robotic arm to have point to point
On the square.
PROCEDURE:
➢ Switch ON the power supply and power is given to the robot from servo motor.
➢ Switch ON the flex pendent.
➢ Set the flex pendent to manual mode.
➢ Control the robot using flex pendent.
➢ Move the robot using flex pendent from one point to start i.e. from point 1.
➢ Calibrate the robot for accurate result.
➢ Using flex pendent joystick select axis 1-2-3 and using joystick move from position 1
to position 2 and vice versa.
➢ Finally from point 3 to home positions.
A B
D C
PROGRAM:
MODULE MainModule
PROC main ()
MoveLP10, v1000, z50, tool0;
MoveLP20, v1000, z50, tool0;
MoveLP30, v1000, z00, tool0;
MoveLP40, v1000, z00, tool0;
MoveLP50, v1000, z00, tool0;
MoveLP60, v1000, z00, tool0;
MoveLP10, v1000, z50, tool0;
ENDPROC
ENDMODULE
RESULT: The point to point operation on square is performed.
4. POINT TO POINT OPERATION ON
CIRCLE
AIM: In this experiment we will learn how to stimulate robotic arm to have point to point
On the circle.
PROCEDURE:
➢ Switch ON the power supply and power is given to the robot from servo motor.
➢ Switch ON the flex pendent.
➢ Set the flex pendent to manual mode.
➢ Control the robot using flex pendent.
➢ Move the pointer from position A.
➢ Calibrate the robot for accurate result.
➢ Using flex pendent joystick select axis 1-2-3 and using joystick move from A to B ;
B to C; C to D and D to A.
➢ Finally from point 3 to home positions.
A
D B
C
PROGRAM:
MODULE MainModule
PROC main ()
MoveL P10, v1000, z50, tool0;
MoveL P20, v1000, z50, tool0;
MoveC P30, P40, v1000, z50, tool0;
MoveC P50, P60, v1000, z50, tool0;
MoveLP10, v1000, z50, tool0;
ENDPROC
ENDMODULE
RESULT: The point to point operation on circle is performed.
5. POINT TO POINT OPERATION OF A
SQUARE TRIANGLE AND CIRCLE
AIM: In this experiment we will learn how to stimulate robotic arm to have point to point
On square, triangle and circle using a robot arm.
PROCEDURE:
➢ Calibrate the robot.
➢ ABB → Program editor → task and program → file → new program.
➢ Add instruction → MoveL→Move C →add required position velocity and for turning.
➢ Debug PP to mains and run the program.
PROGRAM:
MODULE MainModule
PROC main ()
MoveL P10, v1000, z50, tool0;
MoveL P20, v1000, z50, tool0;
MoveL P30, v1000, z50, tool0;
MoveL P40, v1000, z50, tool0;
MoveLP50, v1000, z50, too10;
MoveL P20, v1000, z50, tool0;
MoveL P60, v1000, z50, tool0;
MoveL P70, v1000, z50, tool0;
MoveL P80, v1000, z50, tool0;
MoveL P60, v1000, z50, tool0;
MoveL P10, v1000, z50, tool0;
MoveL P90, v1000, z50, tool0;
MoveC Q10, Q20, v1000, z50, tool0;
MoveC Q30, Q40, v1000, z50, tool0;
MoveL P10, v1000, z50, tool0;
ENDPROC
ENDMODULE
RESULT: The point to point operation on square, triangle and circle is completed.
6. PICK AND PLACE
AIM: In this experiment we will learn how to stimulate robotic arm to trace point to point
And pick and place
PROCEDURE:
➢ Switch ON the power supply and power is given to the robot from servo motor.
➢ Switch ON the flex pendent.
➢ Set the flex pendent to manual mode.
➢ Control the robot using flex pendent.
➢ Calibrate the robot for accurate result.
➢ Move the pointer to position A.
➢ Using flex pendent joystick select axis and using joystick move to position from
position 1-2 from position 2-3.
➢ Finally from point 3 to home positions.
PROGRAM:
MODULE MainModule
PROC main ()
MoveL P10, V1000, Z50, tool0;
MoveL P20, V200, Z50, tool0;
MoveL P60, V200, Z50, tool0;
MoveL P10, V1000, Z50, tool0;
Wait 5;
Set D010 -1;
Wait 2;
MoveLP30, V200, Z0, tool0;
MoveLP40, V200, Z0, tool0;
Wait 2;
Set D010-2;
MoveLP10, V200, Z0, tool0;
Reset D010-1;
Reset D010-2;
ENDPROC
ENDMODULE
RESULT: The Pick and place operation is performed by the robot ARM.
