Fro St irdeton to Rabtee 20/0209 ASSESSMENT AND INTERNAL VERIFICATION FRONT SHEET (Individual Criteria) ‘Geant | Shea Egg (ann Bnav Conel ogening” | Laksa ans | Wala Bach ‘ie Sian ‘Aasgora Woe Te|-T PSB RAEI r - fd = a = | Pe cath oe renin [areata ocr ea re Dg Tate nt tse. ered by th nse sun sigaore:_| aa ‘Ateramant tei {02 Us appropri language program an indutil obet nd work cl (Gara) Proavea etal ryan or arbat al nang he ol pater gies ak (Cina 22 St up, excie od ele rowan 1 ‘Gita 23 Tet and assess he oof acouracy in retatonto faces, | (itis 24 Espn ow ntl pegranirg sows a bala paar en Sak remo Sasonee | LG a i ara ay rut scan wi na Tob a Cite. Ano te selene a arise aya, 7 Sn Fo a oS wt pou EY SOTHO ° ‘rar 3 Goon ste Sa Gat at is af apn ad area | srebxc omar soe WORT eral and por oman $i ayia oi SC REPron Sot esion Robes 2792019 (a iNT WE TTB oa EN I Name & Surana ‘Sipntee ‘aie Tetra Verio opto winzsat | ng Jeremy Seen Z am 12018 Lacturer Assessor: sue frais ard | Willem Dimech fenton aera vere opto eaaimant |g Jeremy Seat (enon [Sono Leaner sgnatute vpn colctin of earache asgnmant | HERETO RRR i TAT OTUnite introduction to Robotics 20182019 Question 1 ‘Assume that, the Mitsubishi MELFA RV-2AT-S12 S.axie Industial Robot shown below in Figure 1 is uses to implement the Process shown in igure 2, and seven (7) Teach Positions Wore already inserted by an Electronics Engineer using the Teach Pendant or as also known “Tesch Box T/B, Write in the coroct layout & using the proper syntax, « MELFA Basic TV Robot Program, forthe Algorithm described below. U7 marks) Figure 1 Robot Vertical Manipur Figure 2 Plan View of the Process Path Algorithm Moves with joint interpolation to Pt. Validates coninuous movement. Moves nearly to P2, and continuously moves to P4 win arc movement ‘Air are movement, moves inary f0 5, Sets the continous movements start point neighbourhood distance to 100mm and the endpoint neghbourhond distance to 200mm. ‘After moving to previous PS, moves succession nearly to PS. Continuously moves to P1 with near interpolation movement Invanaates, bo contnvous movement Ends the program here, ito dimech meat dunt age 2067Unit: Itrosuetion to Fobetis 2018-2019, Question 2 Win reference to tho FMS-200 (Floxble Manufacturing System) Industial Automation & ovot Workoet! snown in Figure 3 below, that you have worked hands-on Guting the Practical sessions, Team Work '. Look up forthe Functional description & Technical data of the Station hat you were signed on during the Practice and atiach with his Repert, [8 marks} , Using OMRON CX-One Programming software, upload the Omron Sysmac CJ-IM ‘CPU Programmable Logic Controller Ladger-Diagram of your Staton, Hence, ‘explain a smal section ofthe uploaded ladder diagram US marks} ©. Setup, execute and test te program. [smarksy Individual Work ‘4, In your own words, and after careful assessment, briefly dscuss the ‘Accuracy’ of your Staton n relation to facies. [smarka] Figure 3 FMS.200 Inograted/Aesembly Systm from SMC ila cimech@meast mt Page 20t7Unit Introduction te Rebotie sowie ‘Question 3 ' Using the terms ‘Tint interpolation movement or Linear interpolation moveren’ identity each phese described below, |. Motion were the movement taking the longest tme to make the Ink change governs the motion and other links are slowed in proportion so that ALL links accomplish their movement changes simutaneously with the slowest tine | Motion that calculates its movement by finding @ value that is some Poreentace % between two given values (1 mark, , Using the toms ‘Tint interpolation movement” or ‘Linear interpolation movemer?’, identity each MELFA Basic TV programming instruction listed below, 11 mar Lows Mov © Figure 4 show a Simple Mechonism known as Cylneleal Rabat type, with two jolts labeled Jt and Jz Sate which joint is Revolute and which jin Prismatic [1 mang Figura & yindicsl Rabat type 4. With reference to the Rebot Movements of Fgue 5, idenly which movement is ‘using ‘Linear interpolation’ and which movements using Joint interplation (1 mark) ©) Figure 5 Typical Rdbot Movements willam dneeh@reait.edumt Paget?Unit: treduetion ta Robotics 20382019 12. Figure 6 shows typical Circular Interpolation Motion performed by Indust Robots using three 3 Teach Positions namely Pt, P2 and P2 ‘The most commonly used HELFA Basic IV programming language instctions for ‘Geometical movements re MVR, MVR2, MURS and HVC. Identity, fom the above for 4 listed instructions wich one you would use for the pattern of figure 6 (0), and ence write down the ineructon in proper syntax. (0 mark - ae Figure 6 Circular InterpolatonsiGeometial Movement will dech@messt est eto?Unit: nroductionto Robotics roxe2019 ‘question 4 8. Callaborative Robots ike that shown infure 7 below, ako known as COBOTS' are: ‘s00n expectes to experience fast-paced growth, and wil aso playa lgniicant roe in the Factory of the Future, Discuss rity, What makes a Robot Colaborative? Im your description, also inchido the factors ond bensitscontrbuting to the sive tn ‘ober deployments, and typical applications where they can be used bw fare. [S marks) Figure 7 cOBOT ', ‘The RIA (Rebates Industies Assocation) provides safety guidlines forthe use of cobots inthe werkplace. Identify, typical Robot Integrator Safety Standard that ensures the Robot comptes withthe requied safety for hose working in close proxy to Colaboratve Robots (2 marks) lam dimach@rresetedumt Pageso17Unit introduction to Robotics 20162019 ‘Assume that 9 +BY DC operating DC motor is requied to be interfaced to a +24V OC ‘perating dgtal ouput channel of a PLC-based system. The moter is coupled withthe end effector and wil be used to deve the robot's machanical gripper as shown in figure 8 below, at four diferent speeds ic. Spood 1: ful-speed (100%), Speed 2: % speed (75%), ‘Speed 3: 14 speed (50%), and Speed 4: speed (25%). The Engineering Team decided that for optimal performance, @ PWM (Pulse Wieth Modulates) signal wih period of 40m wil be used. The Interface for we User i done through tee Giga ineut push buon Swiches namely START_PB, STOP_PS & SPEED SELECT. All hese fives pul are Bhysially normally-open contacts. The speed select Buon wll be used to enetle the User to select one of four diferent avalable speeds, The PLC dal input channels are Configured as sinking while the PLC cigtal oulput channel as soureng. A fs labelled FUT fend an emergencystop button labelled E_STOP are alo ntaled inthe system for futher ‘Saloly measures during ths Test. Figure 8 Robot oné-tectovimacharical gripper a. Draw a wellabeled block diagram approach representing the above specication, . Draw a wall labeled schematic circuit dagrem., chaning te nteraoes between the PLC-based dgtal output enannel and the BC motor. ©. Drawa propery labeled "Timing Diagram eketched to sole, presenting the Dehaviow ofthe digital ouput channel f connected to an osclloscope, showing ll four difrentspeecs, 4. Draw a wel balled HIVD (Hardware Wiking Diagram) forthe above specification 0 complate the decumentaton. © Wike fy commented PLC base ladder dlogram inthe corect layout Une speciicaon described above. Show knowledge and use of Conte Section, Power ‘Secon and Flag bts approach, 10 marks} wiliam dimach@meaet emt Pages of 7Unit Intron to Robes 20182019 Question 6 8. Give two advantages for instaling ‘Industrial Robots, rather than employing their Human countrpai for pertorming repttive Tasks, (2 marks} . State an advanage achieved by planned Preventive Maintenance’ caried on Inustial AutomatonlEquipment, mary © With reference to the Workcel/Siaton that you have been assigned on during the ravca sessions, identi one ‘safety element installed onthe system. (1 marty ©. Safety must always be a prorty in the design of PLC-ased or any othe Con System. With the ald ofa alagramisketch, cleary show how a STOP Push Burton wich is requedto be implemented for ‘fail-safe’ operation 1 mark, ©. Broly describe how te pneumatic crcl of figure 9 below operates. Figure 8 Pneumate rut agra, [amarks} End of assessment will dimeengrmeast. eye Page 017