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End of Arm Tooling


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Gripper - Used for grasping products. Friction grippers use force to pick up an object, while encompassing grippers act like a basket to pick up a product. Vacuum Cups - These tools handle objects using suction. 3-jaw Chucks - Used to produce cylindrical parts. The outside jaw has a concave grip, and the inside jaw helps hold the workpiece tightly.Clamping range from 2 to 30 mm. High-Speed Spindles - Rotating tools used to hold and drive cutting tools. Cylinders - Used for compressing gases or air - welding applications will utilize these attachments. Drills - Creating holes is fast and easy with automated drilling tools.

Mechatronics Department

Campus Guadalajara

ABB IRB1400
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Axes: 6 Payload: 5 kg H-Reach:1440 mm Repeatability: ±0.06 mm Structure: Articulated Mounting: Floor Applications: Arc-welding, machine tending, material handling. Compatible with pneumatic and electrical EOAT

Mechatronics Department

Campus Guadalajara

Fanuc M6-iB
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Axes: 6 Payload: 6 kg H-Reach: 1373 mm Repeatability: ±0.08 mm Structure: Articulated Mounting: upright, inverted, wallApplications: arc-welding, part handling, machine load/unload, assembly. Pneumatic and electrical connections available on the J3 axis, for easy integration of EOAT
Campus Guadalajara

Mechatronics Department

Applications Demos








Material Handling: http://www.youtube.com/watch?v=Z93YJaPJgsw&feature=rel ated Welding: http://www.youtube.com/watch?v=L_1hcaUUIzA&feature=rel ated Machineloading: http://www.youtube.com/watch?v=XAbDxpyjSW8&feature=rel ated Precise Movements: http://www.youtube.com/watch?v=SOESSCXGhFo

Mechatronics Department

Campus Guadalajara

Teach Pendant
4 main parts: •Screen: displays menu,
configuration, position and programming screens.

•Navigation buttons: allow to
access menus and switch between screens.

•Data Input: used for modifyingdata, such as coordinates and registers.

•Robot movement: used to
control axis movement and speed, and for running programs manually.

Mechatronics Department

Campus Guadalajara

Types of Programming Commands


Point


Each point will tell the robot where to go next. The path and speed the robot will follow is defined by the user. The structure of the line will be:
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Type of movement: Joint, Linear or Circular interpolation P [ ]: the number of the stored point. Speed: magnitude and units are specified by the user Precision: Between 1 ~ 100% and FINE, which indicates the highest precision. Optional commands: additional instructions may be added at the end, such as offsets.

J P[3] 250mm/sec 80%
Approach 80% to point 3 using joint interpolation at aspeed of 250mm/sec

Mechatronics Department

Campus Guadalajara

Types of Programming Commands


Precision


When the robot must only follow a path around a piece to avoid collisions, lowering the precision allows the robot to have a smoother path. Highest precision is needed when placing and taking objects. (100%, or FINE)



Mechatronics Department

Campus Guadalajara

Typesof Programming Commands


I/O


The robot may communicate with other elements by available inputs and outputs.
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Robot I/O Digital I/O Analog I/O Cell interface I/O



WAIT


The robot will wait until a condition is fulfilled.
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Wait X seconds. Wait until an output is activated Wait until an output reaches certain value

Mechatronics Department

CampusGuadalajara

Types of Programming Commands


Registers




Data Register: allows storage of a numeric value. Logical and mathematical operations can be done in the program with the registers, as well as storage of input and output status. Point Register: allows storage of coordinates either in joint or planar coordinates. Operations can be done in the program with point registers, as...
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