Professional Documents
Culture Documents
Submitted to
The degree of
Bachelor of Technology
in
Mechanical Engineering
Session:-2019-2020
(i)
CERTIFICATE
(ii)
ACKNOWLEDGEMENT
First of all I would like to thank our college director MR. R.S. VYAS [Founder and
Director of college] for providing me an opportunity to learn about robotics and
automation in the form of 45 days of industrial training period in AKGEC,GHAZIABAD.
This 45 days of industrial training program is conducted under the supervision of MR.
Vikas Kumar, Assistant General Manager, AKGEC-KUKA and MR. Mahesh Kumar,
Head Of Bosch-Rexroth Training Centre,AKGEC.And finally I would like to thank my
parents and my friends for supporting me to complete this entire training program.
(iii)
OBJECTIVE OF MY TRAINING
My objective is to learn about automation and robotics as in the coming future, various
manufacturing industries are going to work on these in India. The reason for doing this
training is due to my interest in automobiles and its manufacturing. In the coming future
the average robot density of India is going to increase which lead to produce various job
opportunities in various domains, especially in the sector of automobile. So by this
training I got a lot of opportunities to join automobile manufacturing company in India.
(iv)
REPORT=1
(KUKA
ROBOTICS)
(v)
INDEX
4) 4) MASTERING 10-12
4.1) Points to remember while performing mastering operation 11
in robot
4.2) Standard work of wire in robots 12
(vi)
LIST OF FIGURES
S.NO. FIGURE NAME PAGE NO.
1) 1.1-Logo of AKGEC 1
2) 1.2-Various robotics companies in world 1
3) 1.3-Logo of KUKA 2
4) 1.4-Dominance of various companies in the world 2
5) 2.1-Robot density of various countries in the world 3
6) 2.2-Parts of industrial robots 6
7) 3.1-Various types of modes in robot 7
programming
(vii)
(1) INTRODUCTION
Ajay Kumar Garg Engineering College (AKGEC), Ghaziabad is affiliated to Dr. A.P.J.
Abdul Kalam Technical University and is approved by the All India Council for Technical
Education. The college was established in 1998 and offers B.Tech Courses in seven
disciplines of Engineering. The college also offers M.Tech in Automation and Robotics,
Electronics & Communication Engineering, Computer Science, Electrical and
Electronics Engineering and Mechanical Engineering. The college is accredited by
NAAC. The college has been consistently maintaining excellent academic results and
placements. The college has the distinction of being the first and only college in UP to
receive the Academic Excellence Award for the Best Engineering College in UPTU from
H.E. the Governor of UP for two successive years.
(1)
(1.2)INTRODUCTION ABOUT KUKA
(2)
(1.3) TOPICS COVERED IN KUKA BASIC ROBOT PROGRAMMING
(2) INTERNAL SENSOR =It is a part of the robot which are used to measure position,
velocity and acceleration of the robot joint or end- effector.
(3)
(3) EXTERNAL SENSOR= It is a part of a robot that senses information about the
environment.
4) INDUSTRIAL ROBOT= The device which is multi-purpose, have 3 axis minimum and
have capacity of reprogramming.
7) ROBOT= A machine resembling a human being and able to replicate certain human
movements and functions automatically.
8) ROBOTICS= The branch of technology that deals with the design, construction,
operation and application of robots.
12) RELEASED DEVICES= It is used when robot hit the object or wall. This case is
generally happened when a programme is failed to work.
13) HOME POSITION= It is the starting position if robot which is used for an operation.
14) SOFTWARE LIMIT SWITCHES= It is the limit which is defined in the programme for
movement of axis. Its value can be changed.
15) HARDWARE LIMIT SWITCHES= It is the limit which is defined in the construction
of robots for movement of axis. Its values cannot be changed.
(4)
16) ROBROOT= It is that reference point where the robot starts to work (0,0,0). It is
always mounted to the axis of A1 of the motor.
17) CAN BUS OPERATOR= It is the operator which is used to execute communication
protocols in the system.
18) DOMINANT AXIS= The single axis of robot which is used to do operation.
21) SUPPLEMENTARY LOAD= It is that extra load which is put on the robot so that
efficiency of robot does not decrease.
22) FIXED TOOL= It means that the robot guides a workpiece to one or more stationary
tools that are integrated into the cell.
24) PERIPHERAL DEVICES= Out of robot system, any other devices which is integrate
to robot is known as peripheral devices.
25) MAIN RUN POINTER= It is the point in the program which is highlighted.
26) ADVANCE RUN POINTER= It is always 3 steps ahead of main run pointer due to
advance calculation execution.
27) B.C.O.(BLOCK COINCIDE RUN)= For the purpose of ensuring that the robot
position corresponds to the coordinates of current program unit, a BCO run is executed.
28) D-H PARAMETERS= By D-H parameters we can find relation between any of
joint/link of robot to coordinate of object.(alpha,a,d,theta)
(5)
a= Angle of link from base.
d= Link length
theta= Angle of link between joint which is variable.
29) SINGULAR POINTS= Points of robot where end-effector does not reach.
1) Welding
2) Packaging of boxes
3) Checking of joints in chassis
4) Painting
5) Cutting of meat
6) Making of T.V.
7) Handling of engine block
8) Handling of sheet metal
and so on......
(6)
(3) PROGRAMMING METHODS
In teaching based method, we teach the robot the coordinates of point where the robot
should have to reach by moving its axis with the help of teach-pendant.
In lead-through based method,we teach the robot the coordinates of point where the
robot should have to reach by moving its axis manually.
In text based method, we teach the robot the coordinates of point where the robot
should have to reach by providing the coordinate.
1) KUKA SIM-VIEWER
(7)
[Figure 3.2- KUKA SIM VIEWER]
2) KUKA SIM-PRO
[Figure-3.3-KUKA SIM-PRO]
3) KUKA SIM-TECH
(8)
3) ARTIFICIAL INTELLIGENCE(A.I.) ROBOTS= It is the 3rd generation of robots. It
implies the use of a computer to replicate intelligent behaviour.
4) HUMANOID ROBOTS= It is 4th generation of robots. It is built to resemble humans.
5) BIO-LOGICAL ROBOTS=It is 5th generation of robots. It is made to emulate
biological organism.
1) 0th LAW= It states that, "a robot may not injure a human being".
2) 1st LAW= It states that, "a robot must obey orders given by human beings".
3) 2nd LAW= It states that, "a robot must protect its existence".
(9)
(3.5) VELOCITY OF MODES OF PROGRAM IN ROBOT
(4) MASTERING
To set all parameters of robots to zero is known as mastering. During mastering, the
robot moves to mechanical zero position, and the encoder value for each axis is saved.
In this way the mechanical zero position and the electronic zero position are coincides.
(11)
(4.2) STANDARD WORK OF WIRE IN ROBOT
1) BLACK(BOLD,12)= Electricity
2) Red(BOLD,12)= Chemical
3) Blue(BOLD,12)= Pneumatic
4) Green(BOLD,12)= Coolant
5) Purple(BOLD,12)= Sensor operation
(12)
(5.1)TOOL CALIBRATION
We shift coordinate system from robroot to tool because to avoid tool collision with
workpiece/table. We also do tool calibration because to maintain maximum speed of
robot at tooltip.
(5.2)BASE CALIBRATION
Base calibration is done to maintain path during jogging operation and to maintain
speed. It can be achieved via 3 POINT METHOD.
1) AXIS SPECIFIC= It contains PTP(point to point) motion. In PTP motion path is not
defined. In PTP motion, the axis which moves fast out of all axis is known as leading
axis. In PTP motion, velocity is in %.
(13)
[Figure 6.1-AXIS SPECIFIC]
1) WAIT= This commands always used for operation where some kind of delay is
required. Its value is user-defined.
2) OUT= This command is used to send signal robot system to peripheral devices.
3) IN= This command is used to send signals from peripheral devices to robot system.
4) PULSE= It is used to start peripheral devices for a given time period and then
automatically off it.
5) SYN OUT= It is used to start peripheral devices by taking a reference distance from a
reference point.
(8)REFERENCE
1) Figure 1.1- wikipedia.com
2) Figure 1.2- wikipedia.com
3) Figure 1.3- wikipedia.com
4) Figure 1.4- statista.com
5) Figure 2.1- unz.com
6) Figure 2.2- plant-automation-technology.com
7) Figure 3.1- youtube.com
8) Figure 3.2- youtube.com
9) Figure 4.1- youtube.com
(15)
REPORT=2
(BOSCH-REXROTH
INDUSTRIAL
AUTOMATION)
(viii)
INDEX
1) 1) INTRODUCTION 16-17
4) 4) PLC 27-37
5) 5) SENSOR 37-41
LIST OF TABLES
LIST OF FIGURES
1) Logo of bosch-rexroth 16
2) Various types of automation companies in the 16
world
(x)
(1) INTRODUCTION
(16)
(1.1)LIST OF PRODUCTS MADE BY BOSCH REXROTH
1)Assembly Technology
2)Electric Drives and Controls
3)Gear Technology
4)Industrial Hydraulics
5)Linear Motion Technology
6)Mobile Hydraulics
7)Moulding and Casting Technologies
8)Tightening Technology
9)Welding Technology
10)Production Assistants (APAS)
1) INDUSTRIAL PNEUMATICS
2) INDUSTRIAL HYDRAULICS
3) INDUSTRIAL PLC
4) SENSORS
5) SCADA AND H.M.I.
(2)INDUSTRIAL PNEUMATICS
(17)
AUTOMATION= The technique of making an apparatus, a process or a system operate
automatically is called ''automation".
(19)
D.C.V. are designated as per the following function-
(20)
(2.4)ADVANTAGES OF COMPRESSED AIR
1)Easily transported
2)Easily stored
3)Clean and dry
4)Lightweight
5)Safe to use
6)Accident-proof
7)Rational and economical
(21)
2) DOUBLE ACTING CYLINDER(BOLD,12)=
A) It exert force in both horizontal directions.
B) It has more than one working port.
When we control the air in the system when it is going in then it is known as "meter-in"
and when we control the air in the system when it is going out then it is
known as "meter-out"
(22)
there are 2 types of flow control valve-
It is used to control air when there is more volume exhausted as compared to volume
inserted.
(23)
B) AND-GATE(BOLD,12)= It is used to combine two input signals.
Example= Two pressure valve.
PNEUMATIC TIMERS
(3)INDUSTRIAL HYDRAULICS
(A)HYDROMECHANICS(BOLD,14)= The study of the mechanics of fluids or the laws
of equilibrium and motion concerning fluids.
F=QxPV , where
Q= Flow rate (24)
P= Fluid density
V= Velocity
Equation of continuity=When a fluid is in motion, it must move in such a way that mass
is conserved.(P1,A1,V1=P2,A2,V2)
(3.1)TYPES OF FLOW
It is of 2 types-
(3.2)HYDRAULICS PUMPS
1) Operating medium
2) Required range of pressure
3) Maximum and minimum viscosities
4) Expected lifetime
5) Ease of servicing
It is of 2 types-
Some positive displacement pumps use an expanding cavity on the suction side and a
decreasing cavity on the discharge side.
Liquid flows into the pump as the cavity on the suction side expands and the liquid
flows out of the discharge as the cavity collapses.
The volume is constant through each cycle of operation.
Latching= The process of making a stationary position in circuit until and unless no
external button comes in position.
(4)INDUSTRIAL P.L.C.
In an open-loop controller, also called a non-feedback controller, the control action from
the controller is independent of the
"process output", which is the process variable that is being controlled. It does not use
feedback to determine if its output has achieved the desired goal of the
input command or process "set point".
There are a large number of open loop controls, such as on/off switching of valves,
machinery, lights, motors or heaters, where the control result is known to be
approximately sufficient under normal conditions without the need for feedback. The
advantage of using open loop control in these cases is the reduction in
component count and complexity. However, an open-loop system cannot correct any
errors that it makes or correct for outside disturbances, and cannot engage in
machine learning.
(27)
[Figure 4.1- Open loop system]
In closed loop control, the control action from the controller is dependent on the
process output. In the case of the boiler analogy
this would include a thermostat to monitor the building temperature, and thereby feed
back a signal to ensure the controller maintains the building at the temperature
set on the thermostat. A closed loop controller therefore has a feedback loop which
ensures the controller exerts a control action to give a process output the same
as the "reference input" or "set point". For this reason, closed loop controllers are also
called feedback controllers.
(4.3)SERVO MOTOR
It is a rotary/linear actuator that allows for precise control of angular or linear positions.
It consists of a suitable motor coupled to a sensor for position feedback.
The motor is paired with some type of encoder for feedbacking.
(28)
[Figure 4.3- Servo motor]
1) Power connector
2) Flange
3) Shaft
4) Bearing cap
5) Frame
6) Housing
7) Encoder cover
8) Encoder connectors
Encoders are used to translate rotary or linear motion into a digital signal. Servo motor
are controlled by P.W.M.(Pulse Width Modulation).
Pulse of 1ms can rotate shaft of motor upto 0degree. Pulse of 1.5ms can rotate shaft of
motor upto 90degree. Pulse of 2ms can rotate shaft of motor up to 180degree.
1) Robotics
(29)
2) Conveyors or pulleys
3) Solar tracking system
4) Metal Cutting & Metal Forming Machines
5) Automatic Door Openers
(4.4)P.L.C.
PLCs were first developed in the automobile manufacturing industry to provide flexible,
ruggedized and easily programmable controllers to replace
hard-wired relays, timers and sequencers. Since then, they have been widely adopted
as high-reliability automation controllers suitable for harsh environments.
(4.5)TYPE OF P.L.C.
1) FIXED P.L.C.= “Fixed I/O” actually stands for Fixed “Input/Output”. When you buy
Compact PLCs, you will notice that the input section and the output
sections of the PLC are integrated into the microcontroller itself.
This means that every type of output or input is fixed and is determined by the
manufacturer.
(30)
2) MODULAR P.L.C.= The modular PLC is a type that allows multiple expansions of the
PLC system through the use of modules, hence the term “modular”.
Modules give the programmable logic controller additional features like increased
number of I/O units, and they are usually easier to use because each component is
independent of each other.
(4.6)LIMITATIONS OF P.L.C.
1) P.L.C. can control upto 200 analog values. After 200 analog values,
D.C.S.(Distributed Control System) is used.
2) D.C.S. is used to control many P.L.C. at a single time. Upto 4-5 P.L.C. we can put
master-slave in P.L.C. but more than 10 P.L.C. we use D.C.S.
3) P.L.C. can store data upto 1 GB.
4) We can give in both A.C. and D.C. power in P.L.C. but from output we get A.C.
4) PLC is used commonly with on/off DCS is used commonly with process
control and may be expanded with control system as it is combined of
analog I/O modules for analog many control cards,PLCs
control and used for a unique task.
5) PLC does not have wide range of DCS have wide range of
communication communication
6) PLC is basically oriented for one In DCS there is redundant PLC for
job only,suppose if PLC fails then each PLC so that if primary system
whole system will shut down fails then its standby plc takes over the
charge.
7) PLC has to read all its data itself DCS have many sub processors who
and to generate o/p accordingly,if update their data and give summery to
the system is big the scan cycle DCS, so DCS have to scan only these
goes high and any changes in i/p sub cpu hence it improves the scan
could scan and display little late cycle and system become faster.Now
PLC has also coming with big data
handling capacity with low scan cycle.
10) Total cost and size is much less Total cost and size is higher.
than DCS system.
(32)
[Figure 4.6- VARIOUS TYPE OF P.L.C. PROVIDED BY BOSCH-REXROTH]
SERIAL COMMUNICATION= It is the oldest type of protocol. In this there is only one
receiver and one transmissor.
In P.L.C, FIFO(FIRST IN FIRST OUT) principle is used. In P.L.C., data is read from left
to right hand side.
(33)
2) INSTRUCTOR LIST(I.L.)= Instruction lists (or ILs) are one of the five PLC
programming languages defined by the IEC 61131-3 standard.
(The others being ladder logic diagrams, function block diagrams, sequential function
charts, and structured text.)ILs are not a graphical programming language.
Instead, they most resemble assembly language programming. As the name implies, a
program is a series of instructions, listed in much the same way as an assembly
program.
3) LADDER LOGIC(L.D.)= Ladder logic has evolved into a programming language that
represents a program by a graphical diagram based on the circuit diagrams of
relay logic hardware. Ladder logic is used to develop software for programmable logic
controllers (PLCs) used in industrial control applications. The name is based
on the observation that programs in this language resemble ladders, with two vertical
rails and a series of horizontal rungs between them
4) FUNCTIONAL BLOCK DIAGRAM= The term function block diagram (FBD) is used
for PLC programs described in terms of graphical blocks. It is described as a
graphical language for depicting signal and data flows through blocks, which are
reusable software elements. A function block is a program instruction unit that,
when executed, yields one or more output values.
1) %IB0 %QB1
2) %IB1 %QB2
3) %IB2 %QB3
3) WORD FORM
S.NO. INPUT OUTPUT
1) %IW0 %QW0
2) %IW1 %QW1
3) %IW2 %QW2
(4.12)TIMERS
Timers are used to provide logic when a circuit turns on or off. Traditional pneumatic
timers were provided as either on-delay timers or off-delay timers. Contacts were
(35)
provided both normally open and normally closed for each type of timer. The timer head
was chosen as either the on-delay type or off-delay type.
PLCs allow for a quick change from one type to the other with a few keystrokes on the
programming panel.
1) T-ON TIMER=A TON instruction time, as long as the instructions preceding it on the
rung are true and the accumulated value is less than the preset.
When the TON is true, it will write a "1" to the EN (Enable). If the TON is true and the
ACC (Accumulated) is less than the PRE (Preset), the TON will write a "1" to the
TT (Timer Timing) bit and a "0" to the DN (Done) bit. If the TON is true and the ACC
(Accumulated) is greater than the PRE (Preset), the TON will write a "0" to the TT
(Timer Timing) bit and a "1" to the DN (Done) bit.When a TON is false, it will write a "0"
to the accumulated value, EN (Enable), TT (Timer Timing), and the DN (Done)
bit.
2) T-OFF TIMER= A TOFF timer will keep the output energized for a preset time after
the rung signal has gone false.The TOFF timer will have all the contents as in
the TON timer, with a similar function.
3) PULSE TIMER=A retentive timer is used when you want to retain accumulated time
value through the power loss or the change in the rung state.
A retentive timer accumulates time whenever the device receives power, and it
maintains the current time should power be removed from the device.
(36)
Loss of power to the timer after reaching its preset value does not affect the state of the
contacts. The retentive timer must be intentionally reset with a separate
signal for the accumulated time to be reset
(4.14)COUNTERS
A PLC counter is a function block that counts up or down until it reaches a limit. When
the limit is reached the output is set. PLC counters are also used to assist
logging to SCADA systems by counting the amount of times these events has
happened or setting alarms when an event has happened a certain amount of times.
(5)SENSORS
(37)
A sensor is a device, module, or subsystem whose purpose is to detect events or
changes in its environment and send the information to other electronics,
frequently a computer processor. A sensor is always used with other electronics.A
sensor's sensitivity indicates how much the sensor's output changes when the
input quantity being measured changes.
(5.1)WORKING OF A SENSOR
1) Plastic sleeves
2) Printed circuit
3) Cables
4) Coil
5) Integrated circuit
6) Ferrite core
7) Epoxy resin
8) L.E.D.
(38)
[Figure 5.1- Various types of sensor]
Temperature Sensor
Proximity Sensor
Accelerometer
IR Sensor (Infrared Sensor)
Pressure Sensor
Light Sensor
Ultrasonic Sensor
Smoke, Gas and Alcohol Sensor
Touch Sensor
Color Sensor
Humidity Sensor
Tilt Sensor
Flow and Level Sensor
(39)
with the magnetic field, so an inductive sensor can operate in wet or dirty conditions.
2)CAPACITIVE= One of the most common sensor types is the capacitive proximity
sensor. As the name suggests, capacitive proximity sensors operate by noting a
change in the capacitance read by the sensor.
The way a capacitive proximity sensor works is that one of the conductive elements, or
plates, is inside the sensor itself while the other one is the object to be
sensed. The internal plate is connected to an oscillator circuit that generates an electric
field. The air gap between the internal plate and the external object serves
as the insulator or dielectric material. When an object is present, that changes the
capacitance value and registers as the presence of the object.
A typical sensing range for capacitive proximity sensors is from a few millimeters up to
about 1 in. (or 25 mm), and some sensors have an extended range up to 2 in.
REFERENCE
(41)