FAKULTI TEKNOLOGI KEJURUTERAAN

MEKANIKAL DAN PEMBUATAN

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

INDUSTRIAL ROBOTICS AND AUTOMATION

BMMW2313 SEMESTER I SESSION 2020/2021

LAB 5: ROBOT MOVE INSTRUCTIONS

NAME OF GROUP MEMBERS &

MATRIX NUMBER(S)

COURSE

DATE

MOHAMED AZMI BIN SAID

NAME OF INSTRUCTOR(S)
MUHAMAD SHUKRY BIN MAT YUSOF

EXAMINER’S COMMENT(S) VERIFICATION STAMP

TOTAL MARKS

1
1 OBJECTIVES

Student able to:

1. Program a robot for pick and place tasks.
2. Utilizing mechanism and Smartcomponents in writing the Robostudio Rapid
program.
3. Test and verify via simulation

2 EQUIPMENT

Hardware/Software Type/Version Quantity

1. Workstation (Computer) Window 7 1
2. Robot Studio 6.05.02 1

3. TASKS
3.1 INITIAL SETUP

1. Launch RobotStudio software.

2. Open IRB120 robot with Schunk gripper and Smartcomponents station from
previous laboratory 4. Save the Solution name as LAB5_MoveInstruction.
Make sure the location of the solution is in your folder located on the desktop.
If there is no folder, create one.
3. Now, the IRB Robot can be jog linearly and orientally. Do some jog for linear
and orientation to make sure the IRB 120 robot can move.

Linear and
Oriental Jog

Figure 3.1(3): Jog tools

4.6 SMARTCOMPONENTS AND ROBOT CONTROLLER

1. Connect between robot system IRB120 with smart component for robot
simulation. Under Simulation tab, click Simulation Logic, the select Station
Logic. Click Design tab and connect both.

1
 Figure 4.6(1): Connect robot to smart component.
2. Invoke digital output using Set and Reset instructions.

Figure 18: Digital I/O Set instructions.

2
4.6 ROBOT PROGRAMMING

1. Write a program for the robot to pick four boxes locate at the left of robot and place it on
the right side of the robot.

Figure 4.6(1): Blue, purple, red and yellow boxes located on the right side of
robot.

2. All four boxes need to be picked and place it as shown in Figure 4.6(2)

Figure 4.6(2): Place all boxes from its original location to a new location on
the right side of the robot.

3
3. Use Rapid instruction below to move the boxes.
3.1. MoveJ
3.2. MoveL
3.3. Set Default
3.4. Reset Default
3.5. WaitTime

4.7 MORE ON ROBOT PROGRAMMING

1. There are 36 boxes arrange in 6 rows and 6 columns matrix on the left side of the robot.
2. One START/STOP toggle switch is connected to the IRC 5 controller.
3. One YELLOW LIGHT is also connected to the controller to indicate the process of
moving all 36 boxes is completed. The light will keep blinking until the START/STOP
button is pressed again.
4. Initially, robot will move all 36 boxes from left to right.
5. After finishing the task, YELLOW LIGHT will keep blinking and waiting for
START/STOP to be pressed again.
6. After pressing START/STOP button, the robot will move all boxes from right to the left.
7. The controller again blinks the YELLOW LIGHT and wait for the START/STOP button
to be pressed.
8. Used RAPID instruction, functions and below for the above task.
8.1. Instruction
8.1.1. WHILE instructions
8.1.2. IF instructions
8.1.3. MoveJ
8.1.4. MoveL
8.1.5. Set
8.1.6. Reset
8.2. Functions
8.2.1. Offs - Displaces a robot position
8.2.2. RelTool - Make a displacement relative to the tool
8.3. Data types
8.3.1. bool
8.3.2. robtarget
8.3.3. num - Numeric values

4
9. Draw Sequential Flow Chart (SFC) for the pick and place tasks.

10. Write a Structured Text (ST) programming in RobotStudio Rapid programming.

5
CLO 3: Design automation systems or components using tools such as programmable logic controllers, drives systems, and industrial robots. (PLO 3, P3)
Assessment Criteria Subcriteria Level 0 1 2 3 Weight Score

Relate robotic
programming and Not able to relate Able to relate types of Able to relate types of Able to relate types of
simulation setup P1 types of experiment experiment setup with experiment setup with experiment setup with 0.2  
to a particular setup many errors minimal errors no errors
experiment given

Selects Selects and applies

Demonstrate proper Selects and applies
inappropriate skills appropriate skills Selects and applies the
preparation to setup appropriate strategies
and/or strategies and/or strategies appropriate strategies
Procedural Skills Relate robotic and/or skills specific to
P2 required by the task required by the task, and/or skills specific to 0.2  
programming and the task without error,
and makes critical but makes a number the task without
simulation and applies some in
errors in applying of non-critical errors in significant errors
experiment innovative ways
them doing so

Follows instructions
Completely not able Able to follow Able to follow Able to follow
to setup the
P3 to follow instructions with full instructions with instructions with no 0.5  
laboratory
instructions guidance minimal guidance guidance
experiment model

Assemble laboratory Completely not able Able to assemble

Laboratory Able to assemble Able to assemble
equipments to assemble laboratory equipments
Experiment P4 laboratory equipments laboratory equipments 1.5  
appropriate for laboratory with minimal
with full supervision with no supervision
experiments equipments supervision

Demonstrate proper
use of Relate Uses tools, Uses tools, equipment Uses tools, equipment
Uses tools, equipment
robotic equipment and and materials with and materials with a
P5 and materials with 0.2  
programming and materials with considerable high degree of
some competence
simulation to limited competence competence competence
solve the task given
Use of equipments
Adapt the
laboratory session
Not able to Able to improvise skills Able to improvise skills Able to improvise skills
and improvise skills P6 0.2  
improvise skills with minimal changes with sufficient changes with excellent changes
to solve the task
given

Develop a new and

Not able to develop Able to develop a new Able to develop a new Able to develop a new
comprehensive
P7 a new practical practical method with practical method with practical method with 0.2  
method on solving
method minimal clarity sufficient clarity excellent clarity
the task given

Total 3