Activity Guide
24 Tech-Design by Lab-Volt
Using the Feeder Automation & Robotics
Create a program that will make the robot perform the following tasks in sequence:4.
Check the status of TTL input 1 to see if a part is available in feeder by using the text command 5.
INPUT(1) OFF or the command icon INPUT1=0 to make the program verify that parts are available
in the feeder.
Note: The RoboCIM Controller Status panel indicates the status [LOW (red) or HIGH
(green)] of the signal present at TTL input 1. In the Simulation mode, a LOW (OFF) level
is simulated at TTL input 1 as long as the number of parts in the feeder (as set in the
Object window for the feeder) is not 0. In the Control mode, the program will execute as
long as parts are detected in the feeder, that is, even if the number of parts simulated
by the program becomes null, because in that case, the program reads the actual signal
provided by the microswitch feeder.
If a part is available in the feeder, lower and position the open gripper near this part. 6.
Close the gripper to grasp the part.7.
Slowly withdraw the part from the feeder, taking care that the part does not rub against or collide 8.
with the feeder.
Move the part over the metallic can, then drop it into the can.9.
Return the end effector to the home position. A new cycle can begin. 10.
Restart from the beginning and run the program until the feeder becomes empty. 11.
Once the program is complete, save it as lename “GravityFeeder and your last name”. 12.
Test and debug your program. 13.
When you are nished, complete the Shutdown Procedure. 14.
Shutdown Procedure
Make sure there is nothing inside of the robot gripper. If an object is in the gripper, open it to release 1.
the object.
Clear the area around the robot.2.
Execute a soft home positioning by selecting Soft Home in the Motion menu of the menu bar.3.
Set the mode to Simulation.4.
Turn off the power supply.5.
Ask your instructor if the equipment should be disconnected. If yes, disconnect the system and 6.
return the equipment to its storage location.
Go to the next section in the presentation.7.
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