Lab #4:

Downloading Programs to Denso Robot

2/5/2016

 Introduction

This lab goal is to teach students the basic function of the robot. Also, students will learn
and use WINCAPS III. The lab objective is to move the robot from the initial position (Home
position) to grab the item and then place the item on the conveyer belt. Student should be using
WINCAPS III as a simulation of the robot, and writing a code to accomplish the objective.

Method and Materials

● VP-6242G robot
● ArmPlayer Plus
● WINCAPS III

Procedure
This lab first required the robot's working environment to be measured and modeled. The
measurements were taken with a ruler. WINCAPS III was used to model the environment on the
computer. After modeling the environment, Three locations were stored using WINCAPS III.
One location was a “home” location for the robot to start from, and return to when done. Position
J1 was above the table, and Position J2 was above the conveyor. After saving the location a
program was written, which can be found in the Code section of this report. This program moves
the robot from the table to the conveyor 3 time, adjusting the speed as needed.

All of the files were saved to a flash drive and then moved to the computer next to the robot.
The robot was moved to the different location, to ensure that they were correct. The program
was then executed.

Conclusion:
Students in this lab used WINCAPS III to build a simulated version of the system around
the robot. They had to set the positions, so the robot could move the object from the table to the
conveyer belt. Some positions were a little off, but they were corrected using the remote. After
that, students wrote a program to move the object from the table to the conveyer belt.

Code:

'!TITLE "@TITLE" # Program title

PROGRAM sample # Title
TAKEARM # Start programming
Speed 50 # Set the speed to fast
Move P, J0 # Move to the home position if not already there.
Move P, J1 # Move to above the table
Speed 20 # Set the speed to slow

 Move P, J2 # Move to above the belt

Speed 50 # Set the speed to fast
Move P, J1 # Move to above the table
Speed 20 # Set the speed to slow
Move P, J2 # Move to above the belt
Speed 50 # Set the speed to fast
Move P, J1 # Move to above the table
Speed 20 # Set the speed to slow
Move P, J2 # Move to above the belt
Speed 50 # Set the speed to fast
Move P, J0 # Move to the Home position
END # End program

Position Descriptions:

Picture 1. The initial position (Home position).

Picture 2. The first position above the object.

Picture 3. The second position above conveyer belt.