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Lab 1and2

This lab report summarizes a robotics project involving palletizing, quality testing, and sorting applications. The objective was to program a robot to sort good and bad pallets from other cells, performing depalletizing if needed. The report includes an AutoCAD drawing, I/O tables for the robot and PLC, the PLC program printout, robot program routine layout, and general observations about challenges faced with the robot's programming, teaching points, axis errors, and power failures. With overcoming challenges, the team was able to efficiently run the program and gain experience applicable to future projects.

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53 views4 pages

Lab 1and2

This lab report summarizes a robotics project involving palletizing, quality testing, and sorting applications. The objective was to program a robot to sort good and bad pallets from other cells, performing depalletizing if needed. The report includes an AutoCAD drawing, I/O tables for the robot and PLC, the PLC program printout, robot program routine layout, and general observations about challenges faced with the robot's programming, teaching points, axis errors, and power failures. With overcoming challenges, the team was able to efficiently run the program and gain experience applicable to future projects.

Uploaded by

samrath grewal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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School Of Engineering Technology and Applied

Science(SETAS)
Advanced Manufacturing and Automation Technology
(AMAT)

ROBO 367 – INDUSTRIAL PRODUCTION APPLICATIONS

Lab Report #1&2

Title –Palletizing,
Quality Testing and
Sorting Applications

Date –February
14th,2020

Professor: Kolarith Khieu

Submitted By:
Chetanpreet Kaur Gogia – 300990523
Apurab Gupta - 300928212
Gurkiran Gill - 300976685
Girishkumar Solanki - 300992921
Prashant Barot - 301034242
Akshay Balu - 301059903
Objective
The main of this is to program the robot for sorting/stacking application between incoming good
and bad pallets from other cells and perform the de-palletizing process if the pallet is bad.
Procedure:
Cell Assigned- #4

A.) AutoCAD drawing of top and front view layout is attached.


B.) I/O table for Robot and PLC:

1.) For Robot: Cell #4 - ABB IRB1600 I/O MAP


ROBOT TYPE ABB IRB1600
ROBOT CONTROLLER ABB IRC5
LOCATION OF EXTERNAL MOUNTED ON PPNP STAND
TERMINAL BLOCK
INTERNAL TERMINAL BLOCK NEGATIVE (COMMON)
#10,20,30,40
INTERNAL TERMINAL BLOCK POSITIVE (24VDC)
#1,11,21,31

INPUTS
DI# DESCRIPTION EXT T.B.#
DI-1 ROBOT HOME 2
DI-2 PALLET PRESENT ON CONVEYOR 3
DI-3 LIFT CYLINDER RETRACTION 4
SENSOR
DI-4 LIFT CYLINDER EXTENSION SENSOR 5
DI-7 PPNP HOME 8
DI-12 CR-1(PLC 0:6/0) PART PRESENT ON 15
CONVEYOR
DI-9 GRIPPER PHOTO EYE XT6/.1_4
OUTPUTS
D0# DESCRIPTION EXT T.B.#
D0-1 OPEN/CLOSE MAIN GRIPPER 22
D0-3 LIFT CYLINDER 24
DO-4 BLOCK CYLINDER 25
DO-5 PPNP A+ 26
D0-6 PPNP A- 27
D0-7 PPNP B+ 28
D0-8 PPNP B- 29
DO-9 PPNP C+ 32
D0- PPNP C- 33
10
D0- PPNP D 34
11
DO- STOP CONVEYOR RELAY 37
14
DO- VACUUM CUP ON 38
15

2.) For PLC:


C.) PLC program printout is attached.

D.) Robot Program Routine Layout (PRL)

WELCOME_MSG

RESETOUTPUTS

PPNP_HOME APLUS MSG; VACON

BLOCK_EXT BMINUS ADD_SPACERS; BAD_


MSG
LYFTCYLINDER CMINUS pICK_PALLET;
GOOD_
BLOCK_REC DMINUS DROP_GDPALLE MSG
T
MARKER_DISK GOOD_PALLE POSITIO
T VACOFF N1

BADH_PALLE POSITIO
T N2

VACOFF

MAIN

E.) Robot program printout is attached.

F.) General Observation


There were few challenges for us as our cell responsibility was to sort between good and bad
pallets and hence, De- palletize the bad one. It’s our cell from whom final product has to come.
Few Challenges that we faced during this are following:
1.) Robot’s Programming
2.) Teaching Points for Stacking and de-palletize.
3.) Robot’s axis configuration error during execution of program and power failure

 Result: After few Challenges, we were able to run our program efficiently and we learnt
how this will help us in future.

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