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BASIC INTRODUCTION
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Industrial Robots in India

 The major robot suppliers are: FANUC, ABB, Motoman, Kuka and the
others are Kawasaki, Nachi, Panasonic, OTC, IGM, Cloos, Adept,
Staubli, Denso, Comau, Durr, etc.
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Major Robotic applications in India

 Spot welding (40%)

 Arc welding and cutting (25%),

 Material handling (20%) (incl. assembly, pick-and-place, CNC machine

loading, palletizing, handling in hazardous environments, etc),
 Painting (5%) and

 Remaining 10% is deburring, grinding, buffing, inspection, sealing, etc.

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Main components of a robot
1. MECHANICAL MANIPULATOR
2. ROBOT CONTROLLER
3. TEACH PENDANT
4. END OF ARM TOOLING (EOAT)
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1. MECHANICAL MANIPULATOR

 A manipulator is a mechanical assemblage of rigid links consisting of axis and arms which are driven by
servo motors.

 When the mechanical linkages are connected in series the linkage is an articulated system
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2. ROBOT CONTROLLER [Link]

 The Robot controller includes a power supply unit, motion controlling unit, memory circuit, i/o
circuit etc.

 The motion controlling circuit controls the servo amplifier which moves all the robot axes via the
main cpu pcb.

 The memory circuit can store programs and data.

 The IO circuit interfaces the controller with the peripheral units by receiving and sending signals
via the i/o link cable and peripheral connection cable.
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Latest FANUC CONTROLLERS:

 RJ2iB (can control up to 16 axis)
 RJ3iC/ R30iA (can control up to 32 axis)
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3. TEACH PENDANT
 The Teach Pendant is the interface between the human and the Robot.
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ROBOT SELECTION

Some important specifications to look out for in a Robot:

 Application.
 Payload
 Work envelope & Robot reach
 No. of axes.
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APPLICATIONS
 Though the robot designs are meant to be used with various applications all robots
cannot perform all tasks.

 A great care has to be executed while selecting a robot for a particular application.
These criteria will enable the robot manufacturer to load the application specific
software options & the hardware features while manufacturing the robot.

Welding

Material Handling

Dispensing

Painting

Assembly
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WORK ENVELOPE

Robots are designed and fabricated with different design configurations and a different number of axes
or degrees of freedom. These factors of a robot's design influence its working envelope. The articulated
robots are most commonly used in the industries due to their flexibility. The work envelope shape
varies from robot model to model.
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ROBOT REACH
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PAYLOAD
• Payload is an important criterion to be considered in the process of the robot selection.
• The payload of the robot specifies the maximum weight the robot can handle.
• Improper payload selection affects the robot motion performance & results in the shortening the
life of the equipment.
• The COG of the load attached to the robot flange must be as close to the robot as possible
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Programming Methods

 Teach and Replay

 Teaching by coordinates

 OLP (Offline Programming)

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JOGGING THE ROBOT

 Jogging the robot is the operation of moving the robot as desired by manually selecting
the axes or direction of motion on the teach pendant.

 Two modes of jogging:

 Joint jogging
 XYZ jogging

 Z

 X

 Y
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OVERVIEW OF TP [Link]

Display Window

Emergency Stop
Button

Teach Pendant On/Off

selector switch

Key Pad
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OVERVIEW OF TP [Link]

To jog the Robot

Teach Pendant
should be On and
Press Shift + Jogging
Keys.( To run the
program in manual
mode TP should be
On and Press Shift +
FWD/BWD keys to
execute) Keys for Jogging in
either joint mode or
XYZ mode
To execute the
program step-by-
step
Reset the errors Selection of Co-ordinates

Speed Control keys

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Sequence for Jogging a robot

[Link] the teach pendant. [Link] the Deadman [Link] the displayed errors.
Switch.

[Link] the required coordinate [Link] the required speed.

system.

6. Finally, press both “Shift” and the required “Axes jog” key, to jog the robot.
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ROBOT MOTIONS

JOINT MOTION

LINEAR MOTION

CIRCULAR MOTION
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TYPES OF INTERPOLATION

Interpolation type determines the path along which the manipulator moves between
playback steps. There are 3 types of interpolation in Fanuc;

 JOINT INTERPOLATION

 LINEAR INTERPOLATION

 CIRCULAR INTERPOLATION
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JOINT INTERPOLATION

This interpolation is used when the

robot does not need to move in a
specific path towards the next step
position.
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LINEAR INTERPOLATION

The manipulator moves in a linear path (as

shown in the fig.)from one taught step to the
next.
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CIRCULAR INTERPOLATION

The manipulator moves in a circular path

from start point to end point through the
center point

Center point

Start point End point

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FANUC MOTION INSTRUCTION

1. J P[1] 100% FINE

2. J P[2] 100% CNT 20

3. L P[3] 1500mm/sec FINE

4. L P[4] 2000mm/sec FINE

5. C P[5]

P[6] 100mm/sec FINE

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MOTION TYPE
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TERMINATION TYPE
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CIRCULAR MOTION [Link]

1. L P[1] 2000mm/sec FINE

2. C P[2]

P[3] 2000mm/sec FINE

P[2]

P[1] P[3]
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EXERCISE 2 [Link]

P[1] 1. Write a program to make a SQUARE as shown

P[7]

P[2] P[3]
P[6]

P[5] P[4]
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CREATING ROBOT PROGRAM [Link]
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EXERCISE 3 [Link]

P[5] 1. Write a program to make a SEMI CIRCLE as shown

P[1]

P[3]

P[4]
P[2]
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INTRODUCTION TO FRAMES [Link]

1. WORLD FRAME
2. JOG FRAME
3. USER FRAME
4. TOOL FRAME

+X
TOOL FRAME
+Y
 Tool Frame :- The default tool frame is located at
robot’s J6 Flange center. The origin of this frame is
known as Tool Center Point (TCP). +Z
 TOOL FRAME IS REFERRED to as UTOOL for FANUC
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USER FRAME

 User Frame :- The user frame by default has world frame as its reference. When the user frame is setup, all
the positions are automatically recorded in the user frame in the program. The user frame makes it easy to
do re-teaching when the object is shifted without actually teaching all points once again. Up to 10
numbers of user frame can be set up in each robot.

 User Frame is referred as UFRAME in FANUC

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COMMON PROGRAM INSTRUCTIONS

1. REMARK
2. REGISTERS
3. JUMP-LABEL
4. CALL
5. WAIT
6. INPUT/ OUTPUT
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SAMPLE PROGRAMS WITH INSTRUCTIONS

Remark

1:! ***THIS IS A PROGRAM FOR MODEL-B131***

2: L P[1] 2000mm/sec FINE
3: L P[2] 2000mm/sec FINE
END
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Registers

1:R[1]=R[1]+1
2: L P[1] 2000mm/sec FINE
3: L P[2] 2000mm/sec FINE
END
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JUMP LABEL Instruction

1: R[1]=0
2: LBL[1]
3: R[1]=R[1]+1
4: L P[1] 2000mm/sec FINE
5: L P[2] 2000mm/sec FINE
6: IF R[1]<6 JMP LBL[1]
END
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Wait instruction

1: R[1]=0
2: LBL[1]
3: R[1]=R[1]+1
4: L P[1] 2000mm/sec FINE
5: L P[2] 2000mm/sec FINE
6: WAIT 2.0 sec
7: IF R[1]<6 JMP LBL[1]
END
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Call instruction

1: CALL PROGRAM_1
2: CALL PROGRAM_2
END