DR. B. C.

ROY ENGINEERING COLLEGE

MECHANICAL ENGINEERING DEPARTMENT
ADVANCED MANUFACTURING TECHNOLOGY LABORATORY

(ME 791)

Experiment No.: 7

Name of the experiment Demonstration of geometry of robot manipulator, actuators and

gripper.

Objective: To study various axes movement of the VERTICALLY ARTICULATED ROBOT ARM (5-
axes with Gripper).

EXPERIMENTAL PROCEDURE:
a) Determine the co-ordinates of Bin-1 and Bin-2 with respect to the Robot base.
b) Run the ROBOsoft program to move different axes.

Theory:
VERTICALLY ARTICULATED ROBOT ARM ( 5 Axes with Gripper)MODEL:- HYTECH ROBO 6005

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 DR. B. C. ROY ENGINEERING COLLEGE
MECHANICAL ENGINEERING DEPARTMENT
ADVANCED MANUFACTURING TECHNOLOGY LABORATORY

(ME 791)

Technical Specifications:

Mechanical
• Vertically articulated
structure

Axis Range: • Axis 1: Base rotation: 300°

• Axis 2: Shoulder rotation: +120° / -35°
• Axis 3: Elbow rotation: ±110°
• Axis 4: Wrist pitch: ±130°
• Axis 5: Wrist roll: ±180°
Maximum operating
• 610mm (24") end of gripper
radius

Homing • Micro-switch home on each axis

Actuators • Dc stepper motor on all axes .

Transmission • Gears, timing belts, ball screw

Safety features • Hard stops prevent user damage to robot

• Motors stop automatically upon impact detection without loss of data

Specifications: Controller
Number of control axes
• Standard=5

Axis drivers
• Stepper motor drives. Half Step,

Path control
• Point to point; continuous path; joint; linear; 10 ms response time
Velocity control profile • Parabolic; trapezoid

Speed control • Speed settings defined as a percentage of range or by travel time

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 DR. B. C. ROY ENGINEERING COLLEGE
MECHANICAL ENGINEERING DEPARTMENT
ADVANCED MANUFACTURING TECHNOLOGY LABORATORY

(ME 791)

Sensors • Positive and Negative proximity end limit sensors

• Proximity home sensors.
Power requirements • 220 VAC, 50 Hz
• 15 A. max. (±5%) . Earthing has to be provided and earth to Neutral Voltage
2.5 Volts max.

Control • PC Based control with communication Port.

Programming • Custom built windows based software.

Coordinate systems
• XYZ coordinates, Joint coordinates with angular coordinates.

Position recording • Absolute, Relative, Cartesian, Joint (by software or teach pendant)

LED indicators
• Main power, inputs, outputs, motor power, emergency, axis power
• Front panel: emergency switch; motor power switch On all axes: adjustable
Safety features current limit;`
• Automatic fuse
• Front panel: inputs, outputs, user power supply
Rear panel: axis drivers, robot, gripper, RS232 channel, auxiliary RS232
Connectors

PROBLEM STATEMENT of Expt.#7:

[P3.1] A Robot is utilized to pick an object from Bin1 and place it in Bin2. One
possible sequence of robot activity is as follows:
a)Move to a location 50 mm above the object in the Bin1.
b) Move to the part in a straight line.
c) Close the gripper jaws followed by a short delay period.

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 DR. B. C. ROY ENGINEERING COLLEGE
MECHANICAL ENGINEERING DEPARTMENT
ADVANCED MANUFACTURING TECHNOLOGY LABORATORY

(ME 791)

d) Withdraw the object to a point 100 mm above the Bin1 along a straight line.
e) Move along a straight line to a location 150 mm above the Bin2.
f) Move it into the Bin2.
g) Open the gripper jaws.
h) Withdraw to a point 50 mm above the Bin.
Write a complete set of commands to carry out the above mentioned sequence
of activities.

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 DR. B. C. ROY ENGINEERING COLLEGE
MECHANICAL ENGINEERING DEPARTMENT
ADVANCED MANUFACTURING TECHNOLOGY LABORATORY

(ME 791)

PRECAUTIONS:
1. Never attempt to machine a workpiece without first checking the operation of the
trainer. Before starting a trainer, ensure that the trial run is ok by operating the trainer
with neither a tool nor workpiece mounted.

2. Operating the trainer with incorrect data may result in damage to the workpiece
&trainer or injury to the user.

3. Before attempting to perform programming, read this manual carefully to operate the
trainer safety.

4. Coordinate setting is very important factor while operating the CNC trainer. Incorrect
coordinates may damage the tool, the machine, or user.

5. When performing positioning, the tool path must be carefully confirmed before
performing programming.

6. Before giving numerical i/p command determine the current position of the tool &
workpiece & ensure the axis, direction & command have been specified correctly &
the entered values are valid.

7. Ensure that the mains supply for the drive is single phase supply 230 VAC + / - 10 %
, 50 Hz..

8. Use of a C.V.T. ( Constant Voltage Transformer ) of rating 2 KVA 230 V AC is

recommended where wide line fluctuations are present.

9. Ensure that proper earth connection is provided. The potential between Earth And
Neutral should be below 2V.

10. Proper ventilation is necessary for the controller.

11. Never connect or disconnect the motor from the drive when the Panel is ON.

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