Lab #1:

RV-M2 Pick and Place Using Teach Pendant

 Introduction:

The purpose of this lab is to learn the basic functions of the RV-M2 robot using the teach
pendant for programming the positions. The objective was to move a wax block from its
holder to a goal position on the opposite end of the table. There were constraints on how
the block could be moved because the block had to remain level as it moved. Also the
block had to be moved within reasonable limits of the edge of the table.

Methods and Materials:

• RV-M2 Robot unit

• Blue wax block with approximate dimensions of 5”x3”x1.5”
• Teach Pendant
• The starting position cradle
• The goal position lined out on table

Procedure:

This is a simple to understand lab, but it has many steps that need to be done
precisely. The first things that need to be done are to turn on the control unit, the switch
is on the back of the box, and the teach pendant. The next part was to set the positions of
the robot arm to complete the desired task. To move the robot to a desired position using
the teach pendant, one of the three movement type buttons need to be pressed and held.
The three buttons are labeled as PTP (point to point), XYZ (Cartesian coordinate
movement, origin at the base of the robot), and TOOL (Cartesian coordinate movement,
origin at the tool head). After depressing one of the three buttons, the desired movement
can be done by pressing a joint or directional movement button. If the PTP button is
being used then the movement choices are with the waist, shoulder, elbow, pitch, and
rotation. All of these are labeled on the pendant by the first letter of the word and can
move in either a positive or negative direction. If the XYZ button is used, the movement
button choices are the X+, X-, Y+, Y-, Z+, or Z-. These will move the robot in the X, Y,
or Z direction based on an origin at the base. The TOOL button allows for movement
based from an origin at the tool head and uses the same buttons as the XYZ.
In order to program a wanted position using the teach pendant, the robot had to be
moved using the desired movement type. Once the desired position is obtained the PS
button needs to be pressed, and the position number typed in using the number pad on the
pendant. After the position number is entered the enter button must be pressed. If a “u”
appears on the left side of the display screen then the position was saved; however if a
“c” appears then an error occurred the position was not saved. If the jaws of the tool
need to be open or closed either the <O>, to open, or >C<, to close, button must be

 pressed, and then the command saved as another position. Also while programming and
moving the robot, the robot seems to be close to hitting an obstacle or anything appears to
be wrong, press the red STOP button in the lower right corner of the teach pendant.
To move the robot through the different stored positions, the MOV button must be
pressed. After pressing the MOV button, the desired position can be typed in from the
number pad, and then press the enter button to move the robot. To move to the position
directly following press the MOV button, then the INC button, and then the green ENT
button. This will increase the position number by one and move the robot to the
corresponding position. The thing can be done to decrease the position number only
changing the INT button to the DEC button. The robot is to be stored in the nest position.
In order to move the robot to the nest position: press the MOV button, then the NST
button, and then the ENT button.

For this lab the robot and teach pendant needed to be used to move a wax block
from a starting position to a final goal position. The block needed to be kept in a
completely horizontal position. The block was to be imagined as a container filled with
water, and no water could be spilt from the container at any point through the moving
process. Positions had to be chosen in a manner that would keep the block level, as well
as keeping the block as close as possible within the constraints of the table edge. Our
positions are programmed starting with 700 and incrementing by one for each concurrent
position.

 Position Description:
The robot started from a nesting position.

Position 700-Rotate waist from nest to position facing block and rotate jaws to align with
block (Use PTP)

Position 701-Move joints to align jaws directly above the block (Use PTP)

Position 702-Lower jaws around the block (Use PTP)

Position 703-Close grips on block

Position 704-Lift block from cradle (Use XYZ)

Position 705-Move slightly towards goal position (Use XYZ)

Position 706- Move more towards goal position (Use XYZ)

Position 707- Move more towards goal position (Use XYZ) slightly off edge of table
because limited shoulder range

Position 708-Move above goal position (Use XYZ)

 Position 709-Rotate jaws and shoulder to position directly above goal position (Use XYZ
and PTP)

Position 710-Place in goal area (Use XYZ)

Position 711-Open Jaws

 Position 712-Rotate Shoulder fully to up position (Use PTP), this position is saved so that
the robot can be safely returned to the nest position.

Final step is to safely return the robot to the nesting position

Conclusion:

This lab was a very good learning experience on the RV-M2 robot and the
teaching pendant. The lab was a very good example of how to use the different moving
options of the teaching pendant. The lab was very clear and concise on all what needs to
be accomplished. Also the performing of the tasks was not complicated. One of the
problems that arose was the mobility of the joints and keeping the block next to the table
edge, but it was not a huge problem. The other problem that came up was how the robot
will move in multiple directions if it is not programmed to certain points correctly. Such
as, the robot was programmed to rotate at the shoulder and waist at the same time to
reach a position; this led to the robot almost hitting an obstacle. So the robot had to be
reprogrammed to rotate at the waist, and then in a separate step rotate by the shoulder. If
the lab had to be repeated then the XYZ command would be used more, and it would
have been the first choice for some of the movements instead of the PTP. A
recommendation for others who may perform this lab is to use the XYZ. Also to be sure
and watch carefully for where the robot will move when it is programmed to rotate from
multiple joints simultaneously is another recommendation.