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Friday, June 29, 2007

Workspace

One of the software that ihave been learn in my college to program the robot is using Workspace. There are three main methods to move a robot model using “Workspace”: with the Pendant, the Follow Mouse command or moving to GPs. Below is the Pendant in workspace in controlling the movement of the robot.


First method byusing the Pendant to move a robot model there are six joint values that can be change from 1 to 6. By changing the any value from 1 to 6 the corresponding joint moves. If the value beyond the limit of that joint, a warning error appears. By clicking button Home, the robot returns to its Home position. Second method, the robot moves to the position of the mouse click if it’s within reach, otherwise a warning is given in the message section of the pendant.




Second method is by Learn GP on the Pendant. A GP is set of axes in the main view port shown as green color axes in the picture and it’s listed in the GP folder of the robot. By clicking button Home, the robot returns to its Home position. The robot will returns to GP when select Move to by right click on the name of the GP.

Thursday, June 28, 2007

Sumo Robot Competition (SumoBOT)

In 2004 I had been participated a competition in my faculty call Sumo Robot Competition Interfaculty. in this competition, the robot that have been use are from parallax manufacturer. Below is the picture of the robot that have been use.

The robot components which contain whells, DC servo motor, Battery pack and the other components are being installed together. The robot program of the sumo robot is using the Basic Stamp Editor as shown in figure below:


Robot which defined as device that imitiate human action ussually being programmed by computer is giving us many benefit in order in replacing human work.















Tuesday, June 26, 2007

PLC Animation Studio 2

As stated before, the Animation Studio is software that uses to implement the PLC operation through the system (pneumatic, electrical). This post showed another program of PLC using ladder diagram in the Animation Studio. The application of this operation is use for delay counter operation. During my session lab for this experiment, the Animation Studio Software is using library button which the symbol with their tags are given. it easy to use and understand as long as we know the usage of the symbol through the system that we must use. the other thing is, the connection between the rung and the PLC modules in this software must be right in order to avoid any failure.

Figure 1

Figure 1 show the ladder diagram and the PLC connection. Which is the input is at IN0 (push button) and the output is at OUT0 (light) the ladder diagram use the delay counter in which the delay counter will count down in ten times before the current can be go through the system.

Figure 2

In which the Figure 2 show the current cannot go through the delay counter since it have the 9 more times to activate.

Figure 3

The Figure 3 shows that the light is on (yellow color when the delay counter is reach the zero (0) value. Which mean, after the switch in IN0 is switch 9 times, the light will turn ON.

Monday, June 25, 2007

PLC Animation Studio 1

This post will show the simulation of the PLC system and learn the PLC simulation using Animation Studio software. All of the grafic are developed by myself during my PLC lab session using this Animation Studio software. Animation Studio is a software that use to implement the PLC operation through the system (pneumatic, electrical) in which the animation studio give an opportunity to the student to look the PLC system and study it in simulation.

Figure 1

Figure 1 show the ladder diagram and the PLC connection as reprehensive by the pneumatic system. Which is the input is at IN0, IN1, and IN2 (push button) and the output is at OUT1 (solenoid) the ladder diagram use the countdown delay counter in which the countdown delay counter will count down in ten times before the current can be go through the system. The Countdown delay have 3 input which IN0 (Countdown), IN1 (Reset), and IN2 (Set).

Figure 2

In which the Figure 2 show the system is set when the IN2 push button is pushed. It gives the solenoid on and activates the 3/2 way DCV valve in which allow the suction cup to suck up (vacuum on).

Figure 3

In which the Figure 3 show the system is reset when the IN1 push button is pushed. It stops the solenoid and deactivates the 3/2 way DCV valve in which the valve will go to its initial position and makes the pneumatic system off.

Figure 4

Figure 4 show the delay counter will count down in ten times before the system will off rather than reset it.

OMRON PLC

Programming Logic Controller as known as PLC is a tool of automation. Automation is one of the importance part in robot and CIM. The automation process replace human operator, and use of control system such as computers to control industrial machinery and process and also reduce need of human sensory and mental requirement as well. One of the PLC that i've been met is an OMRON PLC. Below in the picture of it.

OMRON PLC

This OMRON PLC is used by me during my laboratory section for industrial automation subject. This OMRON PLC can be program by using:
•Ladder diagram
•Functional block diagram
•Sequential block diagram

But, the most popular program is the ladder diagram which use symbol in order to create the program. The ladder diagram example is shown below:

Example of ladder diagram

Sunday, June 24, 2007

CIM Robot Video 2

The system of the bearing supply module is using the Omron PLC control features model CPM2C-S110C-DRT with 15 inputs and 13 outputs. The function of the control features makes the actuator works, by referring to the sensing input. The PLC also make the system is run in sequence for the bearing supply processes.

The other control features that control the system in sequential process is microcontroller.
The inputs that have been used in this system are:
• Reed type magnetic detector (D-C73L)
• Proximity detector micro switch (Omron V-166-1C5)
• Reed type magnetic detector (D-A93L)
• Linear potentiometer (NOVOTECHNIK TR25)

The function of the sensor is to detect the input in which the sensing input then is transferred to the PLC. The reed type magnetic detector is use to check the extension and retraction of the pneumatic actuator and the Proximity detector micro switch is used to detect the appearance of the bearing. While the linear potentiometer is used to check the bearing thickness.





Saturday, June 23, 2007

CIM Robot Video 1

As stated before here are the video containing the operation in CIM system. This video i'd recorded during my lab session. the robot will transfer the part to the conveyor after chechking procedure. just take a look...




The function of this station (Body Supply Module) is to supply the correct part of body (position and orientation) to the pallet on the conveyor or transfer system.
Below is the flowchart of handling process of the body supply module station:

1. The pallet is brought to sensor (limit switch) through the conveyor. The sensor will detect the existence of the pallet. Next the machine is run after the PLC is receiving the input that there have a pallet on the conveyor in limit switch.

2. The cylinder will extend and retract to push the body to the position verification part(First cylinder moved)

3. Cylinder (which is located above the position verification part) will extend to check whether the body is in the correct orientation or not, by fitting the end of the extended cylinder into housing of the body.

4. If the body is not in the correct orientation, the sensor on the cylinder will not blinking (red) and send an input to PLC. The cylinder will retract. Then, the body will be extended and guide the the rejection of incorrect body (transfer point) part. The body will be push down the ramp and throwned out from the operating system (reject).

5. Next, the process is started again (the process is repeated by using a new body from the 2nd step).

6. If the body is in the correct orientation, the sensor will blinking (red) and send an input to PLC.

7. Cylinder (Robot end effector) which has 4 suction cups (terminal element), is then being extended on to the body. The vacuum will sucked the body up. The cylinder will retract and bring up the body.

8. Finally the robot arm will extend to transfer the body to the pallet

Friday, June 22, 2007

What Inside???

This blog contents will discuss about the information technology about engineering technology, which contribute the information about computer, electronic and mechanical engineering. This blog hopefully can be share with other worlds so that my information can be share through the university students who involved in this field (engineering) especially and others (individual). This blog is use by me to share and improve my knowledge in the engineering field and to get friends all over the world. Others blogger also can share their knowledge from the suggestions or comments about the contents of this blog. We also can share problem or experience related so that it won't be wasted. Are U lost if your problem or experience is shared with the others??? Think about it as you explore my blog... Thank you

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