part2
Industrial Robot Component
Basic Robot Operations
The manipulator is really a combination shoulder, arm, wrist, and hand
Base •The base of a robot is its anchor point •Most robots have the base anchored to the floor •track or conveyor system may be used to move the robot along as needed
Arm A jointed arm consists of
a base rotation axis,
a shoulder rotation axis,
an elbow rotation axis.
Wrist •wrist is attached to a jointed arm similar to a human wrist and can be designed with a wide range of motion
Grippers •Grippers are located at the end of a wrist / Robot arm (manipulator) with grippers for reaching and picking up an object on a line
and bringing it back to place it elsewhere
An industrial robot
Safeguard Stops
Your robot system can be equipped with a vast range of safeguards such as door interlocks, safety light curtains, laser scanners and pressure mats etc.
A safeguard prevents hazardous situations by stopping the manipulator in a controlled manner when a mechanism such as a light curtain is activated
The controller has three separate safeguarding mechanisms,
General stop (GS) Always active regardless of operating mode
Automatic stop (AS) Only active in auto mode
Superior stop (SS). Always active regardless of operating mode
Teach Pendant
A teach pendant is the most popular device for programming a robot because it requires very little mathematical figuring and program editing.
Enabling Device (Dead Mans Grip)
The enabling device is a press switch with three positions
The switch must be in the middle position in order to activate the motors
All robot movement will immediately stop if the switch is released or pressed to the bottom
ABB Safety Solutions – an Overview
Emergency stop
Operating modes
Production (Auto) Interlocked guarding
Manual reduced speed (Teach)
Jogging and program operation
Maximum speed 250mm/sec
Manual full speed (Test)
Program operation only
FlexPendant Overview
Menu overview
FlexPendant Windows Overview
Basic Program Operation
Jogging the robot
Jogging Motion Keys
Incremental Jogging
Jogging Override Speed
Used when the default 100% value feels to sensitive
Value can be set to a percentage of the default jog speed
Reduce percentage will be slower and less sensitive
Jog speed is still proportional to joystick deflection
The Jogging Window
IRC5 Compact Controller
2021
2020
2019
Robotics Exploration Class 2. Practice makes perfect
Activity
… Find Robot Spec and discuss …