Eastern Kentucky University

Department of Applied Engineering & Technology

AEM 352: Robotics and Automated Systems

Robot Programming

Submitted by
John Harris

Date Submitted: 10/2/2019

Date Performed: 9/25/2019

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Introduction

Automation runs the world. Robotic systems dominate the manufacturing industry with their low
operating cost, little required maintenance, long hours, and complaint free services. The first lab
completed was getting familiar with the robot and controller. For this week, the lab was to learn
how to input a program into the pendant.

Objectives

The purpose of the lab is to get familiar with the following:

 Basic robot programming commands

 Input a program into the robot pendant

 Run the program through the controller

Equipment and Applications Used

 Mitsubishi robot and controller

 Teach pendant

 Class notes

Lab Description
The first step of this lab was to power on the robot controller. Having learned this from the
previous class, it was not difficult at all. The procedures from before were followed and the
controller and pendant were both powered on and ready to go. After this a safety check was
performed to ensure everything works as it should in case of an emergency. After the robot was
on and the safety check was performed, the programming was ready to be input. For the lab, two
different pendants were used to input a program. The first controller discussed is the newest
robot pendant. The first step of inputting the code was to bring up the program list. To do this,
the menu button shown in figure 1 must be pressed.

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 FIGURE 1

Once the menu is brought up, the program button is then selected (shown in figure 2).

FIGURE 2

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Once the program list is brought up, a new one must be created. To do this, the new button was
selected as shown in figure 3.

FIGURE 3

Once selected, a new program is brought up. The program name is listed at the top as shown in
figure 4. Below this, your program is inserted in the programming block. To insert a new line,
the add button is selected. Since the object of the lab was to move the robot from the safe
position to P1 to P2 then back to home, the code shown in figure 4 was wrote.

FIGURE 4

PROGRAM NAME

PROGRAM LINES

ADD BUTTON

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Once all the lines were created, the robot must now be taught the listed positions. To teach a
position, select the program line to be taught, move the robot to the desired position, then select
the teach button shown in figure 5.

FIGURE 5

The position is now recorded in the program. Once all points were taught, the ‘save and close’
button was selected (red arrow in figure 5).

The new program was now ready to be ran. In order to run the program wrote, it must be selected
on the controller. To do this the key switch must be turned to AUTO and the servo button must
be pressed as shown in figure 6.

FIGURE 6

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To select the new program, the ‘CHNG DISP’ button is pressed until the program name appears
Once the program is on the controller, hit the start button and the robot will begin running the
new program. Selection and start button are shown in figure 7.

FIGURE 7

PROGRAM SELECTION

PROGRAM START

Another pendant was used, which was much older than the one shown above. The same concepts
were used; however, the appearances and functions were different.

You selected the menu button once again as shown in figure 2.1. The screen shown then appears.

FIGURE 2.1

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From the above screen, select teach. The new program name can be typed in as shown in figure
2.2.

FIGURE 2.2

Enter the new name and it will bring up a blank program. Select the line to be edited, which if
the program is new will be all blank. The line shown in figure 2.3 is line 10 which was PSAFE
position.

FIGURE 2.3

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The robot is moved to the desired position as mentioned above, then you enter the new position.
It will ask to ‘Replace?’, which will override to the new desired position (shown in figure 2.4).
Enter each new line and record the desired positions until the program is completed. The
program is then saved and ready to be ran. The controllers used were the same, so the run
procedure is as mentioned above in figure 6 and figure 7.

Discussion of Questions

NO QUESTIONS FOR THIS LAB

Conclusions
Overall, the lab was very successful. Bot programs were created and successfully ran. It was very
helpful to be able to use both the new and old pendants. This allowed for an individual to really
grasp the concepts behind the programming rather than just going through the motions. Since it
had to be completed twice, this also allowed for more practice inputting the programs… which
was also nice. The older controllers were a little more difficult to understand and use but in the
end all obstacles were overcome, and the lab objectives were successfully met.

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