Lab-Volt TECH-design E Series - Modifications for point D; Insert a delay; Modify speed

Activity Guide
18 Tech-Design by Lab-Volt
Editing Programs Automation & Robotics
Modications for point D:8.
Using the arrows of the robot’s articulations in the Motion window, lower the bottom of the a.
canister down into the can (bottom quarter level with the top of the can).
Save Point D with the new coordinates by clicking on the Record button. Enter “D” as the point b.
name, then click OK to replace the old point with this new one.
Return the lm canister to the starting point by double-clicking on the name of point A in the Point 9.
Recorder panel. Then, release the lm canister by fully opening the gripper.
Perform a soft home positioning.10.
Save the edited program in a new workspace in order to prevent overwriting the original one you 11.
created in a previous unit. To do this, select File>Save As and enter EditExample followed by your
last name (for example, EditExampleSmith). Click Save.
Compile and Build the edited program like you did before and then test the program in the 12.
Simulation mode.
Once the program runs properly, place 13. RoboCIM in the Control mode and run the program by steps.
Once the program is operational, you can run it continuously by clicking on the Run Continuously 14.
button and then the Execute button in the animation toolbar of the Program window.
When you are ready, stop the program by clicking on the Stop button.15.
Place 16. RoboCIM in the Simulation mode.
You will now edit the program in order to insert a delay. You will make the lm canister delay for 5 seconds
after it is lowered into the metallic can.
Select the Program tab.17.
Click on program line 013 to highlight it. This will permit the insertion of a DELAY command before 18.
this line.
In the list of command icons, click on the icon to insert a DELAY command in program line 013.19.
Click on line 013 to highlight it. In the eld DELAY(s) = , enter “5”. This will make the lm canister 20.
“hold” for 5 seconds when it reaches point D.
Save the newly edited program, then build and compile it. 21.
Test this program in the Simulation mode. Verify that there is a 5 second delay when the lm 22.
canister is lowered within the can before it is withdrawn from the can.
Once the program operates properly, place 23. RoboCIM in the Control mode and run the program by
steps. After that, you can run it continuously by checking the Run Continuously button.
Stop program execution and then place 24. RoboCIM in the Simulation mode.
Now you will edit the program to remove the DELAY command by rst clicking on program line 013 25.
to highlight it. Then clicking on the Delete (X) button.
Save the newly edited program, then build and compile it. Test the program in the Simulation mode 26.
and then in the Control mode.
You will now edit the program to modify the speed at which the lm canister is lowered and withdrawn
within the metallic can, changing the speed to a very slow speed of 5.
Select the Program tab.27.
Click on program line 011 to highlight it. In the eld SPEED =, which is currently set to 20, enter “5”. 28.
This will cause the speed associated with the next movements to be reduced from 20 to 5.
Save the newly edited program, then build and compile it. Test this program by steps in the Control 29.
mode.
NOTE: The reduction of the speed cannot be observed in the RoboCIM software when
this software is in the Simulation mode.