Tmas de la clase

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
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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
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Point
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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
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Precision
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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)

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Mechatronics Department

Campus Guadalajara

Typesof Programming Commands
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I/O
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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

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WAIT
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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
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Registers
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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...