16.6 LABORATORY - ROBOT WORKCELL INTEGRATION

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Purpose: Interfacing robots to workcells using PLCs.

Overview:

Pre-Lab (individual):

1. Develop a program that will draw a square on both robots, and test them on-line.

2. Develop a program that will draw a circle on both robots, and test them on-line.

3. Develop ladder logic for a micrologix that will watch for inputs from both robots. The two inputs will indicate when either of the robot is using the drawing paper. The PLC will also have outputs connected to both robots. Each robot will have two inputs. One input will cause a circle to be drawn, the other will cause the square to be drawn. The PLC will use inputs from push-button switches to indicate when a circle or square is to be drawn. The ladder logic should share the work between the robots.

4. Combine and modify the robot programs so that they will interface to the PLC program.

In-Lab (groups of 3):

1. Each group should do one of the tasks below,

1a. Enter and test the program on the RT-3000 robot. Use a voltage source to test the program.

1b. Enter and test the program on the RV-M1 robot. Use a voltage source to test the program.

1c. Enter and test the program on the micrologix.

2. Rotate between the stations until you have done all three modules.

3. Connect the PLC and two robots electrically, and enter and test the programs.

Submit:

1. Individually developed programs for the robots and PLC.

2. Group programs for the robots and PLC.