15.6 LABORATORY - SEIKO RT-3000 ROBOT
Purpose:
Introduction to the Seiko RT-3000 robot and programming methods.
Overview:
This laboratory will involve a basic tutorial on the use of the robot, including safety. The students will have prepared a program for the robot ahead of class. During the laboratory the robot will be programmed and tested using the prepared programs. A simple accuracy and repeatability test will be conducted.
Pre-Lab:
1. Use Netscape Communicator to access the robots in the laboratory, explore the site.
2. Review the note section on the Seiko RT-3000. After this use the on-line robot to write a simple test program.
3. Write a program to pick up pop cans at one point, and put them down at another point. This program should repeat five times in a row. Test the program on the robot.
In-Lab:
1. Examine the robot and all associated cables, including the pneumatics. Make sure the settings match the manual specifications.
2. Examine the buttons on the front and connectors on the back of the controller box. Match these up to the input/output points. Determine if these are TTL, sourcing, or some other type.
3. Turn on the robot and use the teach pendant, with the commands below, to control the robot.
4. Turn the robot controller off, connect it to a computer, and then turn it back on. Turn the servo power on and then type in the command home. The robot will move and find its reference position. You may then type in commands at the prompt.
5. Program some points using the `here' command. (refer to manual).
6. Enter the simple program below to move between the programmed points. Add in commands that will open and close the gripper.
7. Add lines the the program that will turn on/off outputs and examine inputs. Use the appropriate electrical equipment to test the new parts of the program.
8. Enter and test your prelab program with no parts present. Set up the parts and run the program again. Cooperate with the other group and add a part present sensor to the part pickup point, connect it to the robot, and add a line to the program to wait for the part.
9. Move to the other robot and complete the other part of the first step.
10. For the robot you are currently using, put the robot in an extended position (tool far away from the base). Set up a dial gauge indicator so that it touches a solid point on the tool. Set the gauge so that it reads zero. Move the robot away and back to the same position, and read the value from the dial gauge indicator. Repeat this process to get 10 readings.
11. Position the robot so that the tool is in the middle of the workspace. Take similar measurements to those in step 3.
Submit (individually):
1. A copy of your prelab program.
2. A copy of the final program with the part detector sensor.
3. Statistical estimates of repeatability for both positions.
