VILNIUS GEDIMINAS TECHNICAL UNIVERSITY

FACULTY OF MECHANICS
DEPARTMENT OF MECHATRONICS, ROBOTICS AND DIGITAL MANUFACTURING

Homework of Industrial Logical Controllers

Study programme MECHATRONICS AND ROBOTICS
Kaan Unlu

Vilnius 2023

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Table of components
Table of figures………………………………………………………………………………...2
1 Introduction………………………………………………………………………………….3
2 System structure……………………………………………………………………………..4
3 Sensor descriptions…………………………………………………………………………..5
3.1 Sensor 1…………………………………………………………………………………..5
3.2 Sensor 2…………………………………………………………………………………..5
3.3 Sensor 3…………………………………………………………………………………..6
3.4 Sensor 4…………………………………………………………………………………..6
3.5 Sensor 5…………………………………………………………………………………..7
4. Motor/Actuator Description…………………………………………………………………7
4.1 Motor 1…………………………………………………………………………………...8
4.2 Motor 2…………………………………………………………………………………...8
5. Controller Description……………………………………………………………………….9
6. Conclusion………………………………………………………………………………….11
7. References………………………………………………………………………………….12

List of figures
Figure.1.1 Fanuc P-50iB/15L…………………………………………………………………..3
Figure.3.1 Renishaw RGH24B………………………………………………………………...5
Figure.3.2 Sick OD1000……………………………………………………………………….6
Figure.3.3 Cognex In-Sight 2000………………………………………………………………6
Figure 3.4 Honeywell PX3…………………………………………………………………….7
Figure 3.5 Omega engineeringOS36-5………………………………………………………...7
Figure4.1 Fanuc AC servo motor………………………………………………………………8
Figure4.2 Fanuc AC servo motor………………………………………………………………9
Figure5.1 Fanuc R-30iB………………………………………………………………………10

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 1.Introduction
Automatic paint application systems are widely used in many industries, including
automotive, aerospace, and consumer products. These systems are designed to automate the
process of applying paint to products, reducing the time and cost of manual painting while
improving the quality and consistency of the finish.

One of the popular robotic paint application systems is the Fanuc P-50iB/15L, which is
designed for high-speed and high-precision painting of small to medium-sized parts. This six-
axis painting robot is equipped with a Fanuc R-30iB Plus controller, which offers advanced
motion control and user-friendly programming. The robot can be integrated with various
peripheral devices, such as color sensors, thickness sensors, and conveyor systems, to achieve
automated painting processes.

In this analysis, we will examine the different components of the Fanuc P-50iB/15L automatic
paint application system and their technical specifications, as well as the system's strengths
and weaknesses and its potential impact on the industry. This analysis will provide valuable
insights into the use of robotic painting systems and their benefits in automating painting
processes.

Figure.1.1 Fanuc P-50iB/15L

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 2. System structure analysis
The Fanuc P-50iB/15L automatic paint application system consists of several key
components, including the robot, the controller, the paint supply system, the spray gun, and
the peripheral devices. These components work together to achieve high-speed and high-
precision painting of small to medium-sized parts.
Robot:
The robot is a six-axis painting robot with a maximum reach of 1,500mm and a maximum
payload capacity of 15kg. The robot is equipped with a Fanuc R-30iB Plus controller, which
provides advanced motion control and user-friendly programming. The robot can be
programmed to move in different directions and orientations to achieve precise and consistent
painting of the parts.
Controller:
The Fanuc R-30iB Plus controller is the brain of the system, providing advanced motion
control, user-friendly programming, and communication with other devices. The controller is
equipped with a teach pendant, which allows the user to program the robot and monitor its
operation.
Paint Supply System:
The paint supply system consists of a paint tank, a paint pump, and a paint supply hose. The
paint tank stores the paint, and the paint pump pumps the paint from the tank to the spray gun.
The paint supply hose connects the paint pump to the spray gun.
Spray Gun:
The spray gun is the device that applies the paint to the parts. The spray gun is mounted on
the robot's end effector and is equipped with a nozzle that atomizes the paint into small
droplets. The spray gun can be programmed to move in different directions and orientations to
achieve precise and consistent painting of the parts.
Peripheral Devices:
The Fanuc P-50iB/15L system can be integrated with various peripheral devices, such as color
sensors, thickness sensors, and conveyor systems. Color sensors can be used to ensure that the
paint color is consistent, while thickness sensors can be used to measure the thickness of the
paint layer. Conveyor systems can be used to transport the parts to and from the painting
station.
Overall, the Fanuc P-50iB/15L automatic paint application system is a complex and
sophisticated system that combines robotics, motion control, and paint application technology
to achieve high-speed and high-precision painting of small to medium-sized parts.

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 3. Sensors Descriptions
Temperature, pressure, light, sound, motion, and other physical or environmental factors are
monitored and detected using sensors. They are made to convert these physical measures into
electrical signals that electronic systems, such as computers or microcontrollers, can decipher
and analyze. Sensors are used in a wide range of applications across many industries,
including industrial, healthcare, automotive, aerospace, and consumer electronics.

3.1 Sensor 1
Encoder Sensors: The robot has built-in encoder sensors for detecting the position and
orientation of the robot arm and spray gun. These sensors provide feedback to the robot
controller in real-time, allowing it to accurately control the motion of the robot and position of
the spray gun. The encoder sensors have a resolution of 0.001mm and a repeatability of
±0.02mm. The robot uses incremental encoders, such as the Renishaw RGH24B, which have
a resolution of 0.001mm and a maximum speed of 15,000 rpm.

Figure.3.1 Renishaw RGH24B

3.2 Sensor 2
Laser Distance Sensors: Laser distance sensors can be used to measure the distance between
the spray gun and the parts being painted. This information can be used to adjust the position
and motion of the robot to ensure that the spray gun is at the correct distance from the parts.
The laser distance sensors used in the Fanuc P-50iB/15L robot have a measurement range of
up to 4m and a resolution of 0.1mm.
The robot can use various laser distance sensors, such as the Sick OD1000 or which have a
measurement range of up to 4m and a resolution of 0.1mm.

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 Figure.3.2 Sick OD1000

3.3 Sensor 3
Vision Sensors: Vision sensors can be used to detect the position and orientation of the parts
being painted. This information can be used to adjust the motion of the robot to ensure that
the spray gun is always pointed at the correct location on the part. The vision sensors used in
the Fanuc P-50iB/15L robot have a resolution of 0.1mm and a field of view of up to 640mm x
480mm.
The robot can use various vision sensors, such as the Cognex In-Sight 2000 Series or, which
have a resolution of 0.1mm and a field of view of up to 640mm x 480mm.

Figure.3.3 Cognex In-Sight 2000

3.4 Sensor 4
Pressure Sensors: Pressure sensors can be used to monitor the pressure of the paint being
delivered to the spray gun. This information can be used to adjust the flow rate of the paint to
ensure consistent coverage and minimize waste. The pressure sensors used in the Fanuc P-
50iB/15L robot have a measurement range of up to 1000 psi and a resolution of 1 psi.
The robot can use various pressure sensors, such as the Honeywell PX3 Series or , which have
a measurement range of up to 1000 psi and a resolution of 1 psi.

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 Figure 3.4 Honeywell PX3

3.5 Sensor 5
Temperature Sensors: Temperature sensors can be used to monitor the temperature of the
paint being delivered to the spray gun. This information can be used to adjust the viscosity of
the paint to ensure consistent coverage and minimize waste. The temperature sensors used in
the Fanuc P-50iB/15L robot have a measurement range of up to 150°C and a resolution of
0.1°C. The robot can use various temperature sensors, such as the Omega Engineering OS36-
5 Series or which have a measurement range of up to 150°C and a resolution of 0.1°C.

Figure 3.5 Omega engineeringOS36-5

These sensors work together to provide real-time feedback to the robot controller, allowing it
to adjust the position, motion, and paint flow rate of the robot to ensure accurate and
consistent paint application.

4. Motor/Actuator Description
Motors are devices that can convert one type of energy into mechanical movement.
Although there are many different types of motors, they can be broadly categorized into two
categories: internal combustion engines and electric motors. Electric motors use magnetic
fields they create with electricity to spin magnets or wires. Fuel and air explosions produced
by internal combustion engines propel pistons or turbines. There are many uses for motors,
including moving vehicles, powering equipment, operating machines, and playing with toys.
DC motors, AC motors, synchronous motors, induction motors, jet engines, diesel engines,
and gasoline engines are a few types of motors.

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 4.1 Motor 1
Here are going to shown motor are used in Fanuc P-50iB/15L robot:

J3-J6 Axis Motors: The J3-J6 axes of the robot arm are driven by Fanuc AC Servo Motors
from the Alpha-i Series, model number Alpha iSV. The specifications for these motors are:
Rated Output: 3.3 kW
Rated Speed: 3000 rpm
Rated Torque: 10.6 Nm
Maximum Speed: 4000 rpm
Maximum Torque: 16.5 Nm

Figure4.1 Fanuc AC servo motor

J3-J6 Axis Motors: These motors are from the Fanuc Alpha-i Series and have the model
number Alpha iSV. They are AC servo motors with a maximum speed of 3000 rpm and a
maximum torque of 112 Nm. The rated power of these motors varies depending on the
specific model used, but it can range from 2.9 kW to 7.5 kW. These motors have a maximum
acceleration of 4000 rad/s^2 and are equipped with a feedback encoder for precise
positioning.
4.2 Motor 2
J1-J2 Axis Motors: The J1 and J2 axes of the robot arm are driven by Fanuc AC Servo Motors
from the Alpha-i Series, model number Alpha iF. The specifications for these motors are:
Rated Output: 1.8 kW
Rated Speed: 3000 rpm
Rated Torque: 5.8 Nm
Maximum Speed: 4000 rpm
Maximum Torque: 9.0 Nm

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 Figure 4.2 Fanuc AC servo motor
J1-J2 Axis Motors: These motors are also from the Fanuc Alpha-i Series, but they have the
model number Alpha iF. Like the J3-J6 axis motors, these are AC servo motors. They have a
maximum speed of 6000 rpm and a maximum torque of 25 Nm. The rated power of these
motors ranges from 0.4 kW to 1.5 kW, depending on the specific model used. These motors
have a maximum acceleration of 9000 rad/s^2 and are also equipped with a feedback encoder.
All of these motors are designed for high-speed and high-precision applications, and they
feature a compact and lightweight design. They also have a high overload capacity and can
operate in harsh environments. Both types of motors are designed to work with the Fanuc R-
30iB Plus robot controller and are optimized for high-speed, high-precision operation. The
Alpha-i series motors feature advanced technologies such as a high-resolution encoder,
improved vibration damping, and advanced thermal management to ensure reliable
performance in demanding industrial applications.

5. Controller description
The Fanuc P-50iB/15L robot is controlled by a Fanuc R-30iB controller. This controller is a
high-performance, compact, and reliable controller that is designed to provide precise and fast
robot motion control. It uses a high-speed Ethernet communication network for fast data
transfer between the robot and other devices.

Figure5.1 Fanuc R-30iB

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The controller includes a user-friendly interface that allows operators to program and control
the robot's movements. It also supports various programming languages, including the Fanuc
Robot Language (FRL) and the KAREL programming language. The controller also has built-
in safety features, such as emergency stop buttons and safety interlocks, to ensure safe robot
operation.
In addition to controlling the robot arm, the R-30iB controller can also control other
peripheral devices, such as grippers and sensors. It can communicate with these devices using
a variety of communication protocols, including Ethernet, DeviceNet, and Profibus. The
controller can also be integrated with other factory automation systems, such as
programmable logic controllers (PLCs), to provide seamless control of the entire production
process.
Overall, the Fanuc R-30iB controller is a highly advanced and versatile controller that
provides precise and reliable control of the Fanuc P-50iB/15L robot.

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 Conclusions
In conclusion, the automatic paint application system using the Fanuc P-50iB/15L robot is a
complex and sophisticated system that requires precise and reliable sensors, motors, and
controllers. The system structure includes the robot arm, spray gun, paint supply system,
conveyor system, and safety barriers. The sensors used in the system are the proximity sensor,
encoder, and photoelectric sensor, which provide feedback to the controller to ensure accurate
positioning and operation of the robot arm and spray gun. The AC servo motors used in the
system are the Alpha-i Series motors, including the Alpha iF motors for the J1 and J2 axes and
the Alpha iSV motors for the J3-J6 axes, which provide high-speed and high-precision motion
control. The controller used in the system is the Fanuc R-30iB Mate Plus controller, which
features advanced motion control algorithms and communication protocols for seamless
integration with other systems. Overall, the automatic paint application system using the
Fanuc P-50iB/15L robot is a reliable and efficient solution for industrial paint application,
offering high quality and consistency in painting operations.

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 References
- https://www.fanucamerica.com/products/robots/robot-archive/p-50ib-15l
- https://www.fanuc.eu/-/media/fanuc/technical-
documentation/documents/2018/0b/fanuc-alpha-i-series-servo-motor-technical-
catalogue-en.pdf
- https://www.fanuc.eu/-/media/fanuc/technical-
documentation/documents/2016/e5/fanuc-r-30ib-controller-technical-manual-en.pdf
- https://www.fanuc.eu/-/media/fanuc/technical-
documentation/documents/2016/e5/fanuc-r-30ib-controller-technical-manual-en.pdf
- https://www.fanucamerica.com/products/robots/industrial-robots/p-50ib-15l
- https://www.ni.com/pdf/manuals/375975a.pdf
- https://blog.robotiq.com/what-is-a-six-axis-robot
- https://www.se.com/ww/en/product-range-presentation/63578-modicon-m258/

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