This assignment focuses on how to write up a basic program for a ABB Robot moment to complete general task
of Appling a glue (Applicator) on a particular object. It also underlines the basic terminology that program
needs in order to execute the code. In this assignment we use the same program of the Company ‘ABB
Robotics’ called the ‘ABB RobotStudio’. This program is the simulator of the ‘Robots’ that are made by the
company. The main objective of these assignment is as follows-
The task of the robot is to suck the glue from a part and then dispense over to the other objects. Assume that
dispense of the gum/glue is done automatically when it comes ...view middle of the document...
Zonedata – This code is useful for taking precautions when approaching a narrow part of the object or when a
precise decision is to be made. i.e. if the user wants the glue to be applied at right corner of the object or along
Velocity – As the name suggest it is useful when you want to control the speed of the robot arm. For instant in
this assignment we have used different velocities at different locations as we want to insure that the right
amount of glue is applied without spilling over and at the same time complete the task as fast as possible to
insure better production results.
This section consist of detail briefing of each of the executed code by ABB RobotStudio to complete its whole
task. Later on in APPENDIX there is only the code presented to have a better look at how it looks like.
//Default position of the robot Arm
MoveJ My_Home, v7000, z200, tool0;
MoveJ Pass_by, v7000, z200, tool0;
//Since it was hard to position the robot arm to its far left so first it is rotated on the x-axis and then positioned
just above the Glue Applicator.
MoveJ Align_Above_Applicator, v7000, fine, Pen_TCP\WObj:=Applicator;
//Here the tip of the robot is dipped inside the applicator, so the glue is shucked inside the tip for applying on to
the object. Since this Applicator can be positioned anywhere by the user/buyer and program can become
unsuitable for relative task, so an object is created known as Applicator. This will make the program easier as
now we only have to change the position co-ordinates of the object and not write the whole program again.
MoveL Sucking_Glue, v200, fine, Pen_TCP\WObj:=Applicator;
//This will allow the tip of the robot arm to gentle lower down inside the applicator. Decreasing the speed of the
robot and using fine for the motion will insure that no damage is caused to the object and tip of the robot arm.
//Time allotted for the tip of the robot arm to wait inside the applicator so that the right amount of glue is sucked
for applying on the edges of the different objects.
MoveL Return_back_for_safety, v200, fine, Pen_TCP\WObj:=Applicator;
//Gently moves out of the applicator before moving to other object.
MoveJ Align_Above_Obj1, v7000, z50, Pen_TCP\WObj:=wobjbobblerectangle;
//New object created for the first object. This will allow the tip of the robot arm to be positioned just above one
corner of the object. The speed of the robot is increased to insure the completion of the task is done in minimum
time but at the same time it is insured that the tip of the robot arm which contains glue does not fly away from
the robot arm.
MoveL Position1_1, v7000, fine, Pen_TCP\WObj:=wobjbobblerectangle;
//Tip is lower down to first point of the object.
MoveL Position1_2, v200, fine, Pen_TCP\WObj:=wobjbobblerectangle;
//Moving from first point to another. ...