Bµi tËp lín xuÊt linh ho¹t HÖ thèng s¶n SEGMENT 1 The three features that define a robot are: Automated, Reprogrammable and Multitasking Name five basic component of a robot: Manipulator End Effector Controller Drives Teach pendant Name four common examples of robot applications: Assembly Material handling Welling Machine loading Robot improve the quality of life by per forming job that are dangerous or dirty The robot’s manipulator is often called the Arm Never wear loose fitting clothing , sleeves , or ties around the robot (or any other machinery) The three steps necessary to power up a servo- Robot are : Perform a safety check Turn on the power Enable the drive The drives consist of electronic circuitry that supply power to the robot arm’s motors Keep the teach pendant within reach while the robot is operating or when you are in side the robot work area 10 The Emergency stop pushbutton causes the robot to stop its program and disable its drives immediately after pressing it SEGMENT The two classes of robot axes are body axes and wrist axes List three type of jog applications Start up Teaching Shut down Why might it be necessary to use the slow job setting? NguyÔn Xu©n Quúnh CTM6-K44 Bµi tËp lín HÖ thèng s¶n xuÊt linh ho¹t The slow jog speed is used when it is necessary to have precise positioning Explain when you might use the fast jog speed setting: The fast jog speed is used when it is desirable to cover more distance but with less control Define what is meant by a hard stop Hard stop is the position when the robot axes moves as far as it can physically This will cause the motors to be disabled and an error message [FERR] Will be display on the teach pendant Why does a robot have axes A robot haves axes to move to various positions How can you tell if the jog function is enabled by looking at the teach pendant ? The jog speed of the Pegasus root can be set between and 255 Describe the procedure for recovering from a motor error • Press/F1/STA • Press/F2/ENA to enable the motors •Press/SEL/to change direction of this axis so you can move in the other direction • Jog the axis away from this position , which is often called a hard stop 10 How many axes does the Pegasus robot have ? 11 To jog the robot means to move the robot arm manually under power 12 Describle the function of the [SEL] key on the teach pendant The [SEL] key is used to change direction of the axis 13 Explain the function of the [JOG] key on the teach pendant The [JOG] key is used to turn on or turn off the jog function SEGMENT List the four components of a robot axis The four components of a robot axis are: • Servo Motor • Encoder • Mechanical Structure • Home Position Sensor An Encoder is located on the servomotor shaft and sends pulses corresponding to the shaft position NguyÔn Xu©n Quúnh CTM6-K44 Bµi tËp lín HÖ thèng s¶n xuÊt linh ho¹t The quick homing position is used to minimize the amount of time needed to home the robot Briefly explain why it is necessary to home the robot Homing is an automatic procedure that causes the robot’s axes to each move to a position where it actuates its home sensor The controller then resets its memory for each encoder position to zero This assures that the robot will accurately to each position that stored in memory Describe the location of the quick – homing position • Waist (Axis 1) – Locate in any clear position to the left of center It will home right • Shoulder (Axis 2) – Locate in any clear position forward of the vertical position It will home up to the vertical position • Elbow (Axis 3) – Locate slightly lower than the horizontal position • Pitch (Axis 4) – Locate in any clear position that is below the horizontal position It will home up to the horizontal position • Roll (Axis ) – If using a pneumatic ( air powered ) gripper , locate so that the air hose is to the left of the vertical position It will home counterclockwise A servo motor receive signals from motor drives in the controller to move at a specific speed , either every slow , very fast or some where in between The first procedure that you should perform when working with the Pegasus robot or any other industrial machine is a safety check of the work area List five steps to start up a servo – robot : 1) Conduct a safety check of the robot and work area 2) Turn on power to the controller 3) Enable the robot drives 4) Jog the robot to the quick homing (or clear ) position 5) Home the robot To make the homing process quicker , jog the robot to a position called a ″quick homing position ″ 10 In the case of the Pegasus the home position sensor is an infrared sensor NguyÔn Xu©n Quúnh CTM6-K44 Bµi tËp lín xuÊt linh ho¹t HÖ thèng s¶n SEGMENT Briefly describe what an end - effector is : End-effector is a device which is used to grasp parts or tools There are two basic types of end effector : end of arm (EOA) tolling and grippers The most common end effector is the grippers EOA stands for end-of-arm Name there types of end-of-arm tooling : Drilling Welding Gluing Name two common ways of powering a gripper 1) electric powered 2) pneumatic powered – point curvilinear and – point parallel are two types of grippers Name the five types of robot safety devices 1) Emergency stops 2) Barricades 3) Light curtains 4) Safety mats 5) Signs and tape The robot’s work area and the equipment in it are called a workcell The [EXEC] and [F3] functions on the teach pendant allow you to manually open and close the robot’ gripper 10 Grippers are used to hold or grasp an object for the purpose of lifting or other wise physically moving an object NguyÔn Xu©n Quúnh CTM6-K44 ...Bµi tËp lín HÖ thèng s¶n xuÊt linh ho¹t The slow jog speed is used when it is necessary to have precise positioning Explain when... pulses corresponding to the shaft position NguyÔn Xu©n Quúnh CTM6-K44 Bµi tËp lín HÖ thèng s¶n xuÊt linh ho¹t The quick homing position is used to minimize the amount of time needed to home the robot... Pegasus the home position sensor is an infrared sensor NguyÔn Xu©n Quúnh CTM6-K44 Bµi tËp lín xuÊt linh ho¹t HÖ thèng s¶n SEGMENT Briefly describe what an end - effector is : End-effector is a device