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1. To operates and control arm robot using online method 2. To learn and use effectively the teaching box/pendant 3. To be able to execute a workable and safe instruction for robot movement using MELFA software/language INTRODUCTION Politeknik merlimau arm robot modeled RH-5AH SCARA ROBOT manufactured by Mitsubishi is 4 axis scara robot. Scara robots are ideal for sorting,palletzing and compenent installation or workpiece placement. They have a short cycle period of less than 0.5 seconds for a movement sequence of 25mm vertical lift,300mm horinzontal traverse and 25mm vertical lower and return. Depending on the application they can achieve cycle times of less than 1 second.

METHOD AND PROCEDURES Operational rules o Do not switch off the controller power while the robot has power on the servo o Avoid collision . if you think the robot will cause a collision press the emergency stop button immediately o Do not change the tool-end coordinates 1. The Mitsubishi RH-5AH SCARA ROBOT

2. The robot controller

3. A teach pendant (teach box)

4. The pc

PROCEDURES 1. [MOVE] + [+X(J1)] key are pressed. The J1 axis will rotate in plus direction. 2. [MOVE] + [-X(J1)] key are pressed. Rotate in minus direction

3. [MOVE] + [+Y(J2)] key are pressed. The J2 axis will rotate in plus direction. 4. [MOVE] + [-Y(J2)] key are pressed. Rotate in minus direction

5. [MOVE] + [+Z(J3)] key are pressed. The J3 axis will rotate in plus direction. 6. [MOVE] + [-Z(J3)] key are pressed. Rotate in minus direction.

7. [MOVE] + [+A(J4)] key are pressed. The J4 axis will rotate in plus direction. 8. [MOVE] + [-A(J4)] key are pressed. Rotate in minus direction.

Industrial robot An industrial robot is an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes.The field of industrial robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot).Typical applications of industrial robots include welding, painting, ironing, assembly, pick and place, palletizing, product inspection, and testing, all accomplished with high endurance, speed, and precision.The most commonly used robot configurations for industrial automation, include articulated robots, SCARA robots and gantry robots.In the context of general robotics, most types of industrial robots would fall into the category of robot arms. Applications: 1 Robotic handling operations (38%) Material handling is the most popular application with 38% of operational stock of industrial robots worldwide. This includesmachine tending, palatalizing and various operations for metal machining and plastic moulding. 2 Robotic Welding (29%) This segment mostly includes spot welding and arc welding which is mainly used by the automotive industry. Spot welding is still more popular than arc welding but not for long; as arc welding is becoming very popular in the metal industry. 3 Robotic Assembly (10%) Assembly operations include: fixing, press-fitting, inserting, disassembling, etc. This category of robotic applications seems to have decreased over the last few years, even while other robotic applications have increased. 4 Robotic Dispensing (4%) Here we are talking about painting, gluing, applying adhesive sealing, spraying, etc. Only 4% of the opreational robots are doing dispensing. 5 Robotic Processing (2%) Processing is not a big segment of industrial robots (only 2%) and this is probably because a lot of automated machines are available on the market to do specifically these applications. The main application areas are mechanical, laser and water jet cutting.

Scara robot Selective Compliance Arm for Robotic Assembly. A type of cylindrical robot that has 4 axes of movement: X, Y, Z, and Theta Z. The selective compliant feature of the SCARA robot which provides substantial rigidity for the robot in the vertical direction, but flexibility in the horizontal plane, makes it very suitable for many types of assembly operations, e.g., inserting a round pin in a round hole without binding. SCARA robots reportedly offer the best price/performance ratio as regarding speed. They are faster because they move less mass due to its configuration. Their single pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. Thus, besides assembly, Scara is ideal for a variety of general-purpose applications requiring fast, repeatable and articulate point to point movements such as palletizing, de-palletizing, machine loading/unloading, pick-and-place and packaging applications. The electronic printed circuit board industry, in particular, use large numbers of SCARAs for placing semiconductor IC. Due to their ''elbow'' motions, SCARA robots are also used for applications requiring constant acceleration through circular motions like dispensing and in-place gasket forming.

Vertical articulated robot A type of robotic arm that closely resembles a human arm. The arm of an articulated robot has revolute joints and the number of joints can vary. very flexible and has the ability to reach over obstructions. It can generally achieve any position and orientation within the working envelope

articulate robots are used for a wide range of applications including paint spraying, arc and spot welding, machine tending, etc. For examples, the articulate robot allows the welding torch to be manipulated in almost the same fashion as a human being would manipulate it. The torch angle and travel angle can be changed to make good quality welds in all positions. Articulate robots also allow the arc to weld in areas that are difficult to reach. In addition, articulate robots are compact and provide the largest work envelope relative to their size articulate robots are designed to employ in the following applications: Arc welding,Spot welding,Assembly,cleaning/spraying, Cutting,Deburring,Die casting,Gluing/sealing,Grinding/polishing Injection moulding,Machine tending Material handling,Packing Palletizing,Picking Pre-machining,Press brake tending

Joint movement The location at which two or more parts of a robotic arm make contact. Joints allow parts to move in different directions. An articulated robot is a robot which is fitted with rotary joints. Rotary joints allow a full range of motion, as they rotate through multiple planes, and they increase the capabilities of the robot considerably. An articulated robot can have one or more rotary joints, and other types of joints may be used as well, depending on the design of the robot and its intended function.

Linear movement Movement in a straight line across one axis. A cartesian robot, also known as a cartesian coordinate robot, is a common type of industrial robot. It has three "arms" that each function along linear axes of control. Each of these axes is at a right angle to the other two. A common application for the cartesian robot is a computer numerical control (CNC) machine, and it can have a multitude of uses, especially as either a milling or drawing machine. cartesian robot consists of three "arms." Each arm can move only along a two dimensional axis it can only move backwards or forwards or, if the arm is vertical, up or down. Each arm is at a right angle to the other two, though, which allows the robot to utilize the motions of all three arms to reach various points in a three-dimensional space. These arms can vary tremendously in size, depending on the purpose of the robot. In some particularly large designs, the horizontal arm will have support on both ends. This is called a gantry robot.

The joints in the robot can be programmed to interact with each other in addition to activating independently, allowing the robot to have an even higher degree of control. Many next generation robots are articulated because this allows for a high level of functionality.

Safety measures during handling robot

Unpacking 1. The robot and the controller are packed separately in a corrugated cardboard for shipment. Be sure to obey the unpacking procedure indicated outside the corrugated cardboard. 2. When taking the robot out of shock absorbers, never hold resin covers. If you hold these covers, they may be damaged. 3. Keep the used corrugated cardboards and the used shock adsorbers for the secondary transportation in future. Carrying 1. Confirm the weight on the rated nameplate before transporting the robot arm. 2. If the robot arm weighs 30kg or less, two workers must carry the robot while holding the unit at the bottom. If transportation handles are provided, use these handles when transporting. Always leave therobot arm arm fixing plate installed during the transportation work. 3. When transporting the robot arm, prepare even-length wires that can sufficiently withstand the robot weight. Pass these wires through the designated eye bolts, and suspend the robot with a crane. Always leave the robot arm arm fixing plate installed during the transportation work. 4. When putting the robot or the controller on an installing base or a pushcart, don't apply an excessive shock and an excessive vibration to the robot and the controller. 5. When transportiong the robot after installed, be sure to release brakes of the robot arm and from the pose the same as the shipping pose. Don't carry or transport the robot with its arm extended. 6. When putting the robot on an installing base temporarily, fix the robot with one or more bolts to prevent from falling down. 7. When transporting the open cooling structure controller, as a general rule, two workers must insert their hands into the clearance at the bottom from the front side and back side. Make sure that excessive force is not applied on the switches, terminal block, connectors, or heat radiating fin, etc. 8. Many resin covers are used on the exterior surface of the robot. Never hold these parts and never apply forces to them. If you carry the the robot by holding these covers, that may cause hazards of damaging covers and eventually dropping the robot. 9. Before transporting the robot, the arm fixing plate must be installed.

Preparation of installation and operation Robot arm, controller and control panel 1. When installing the robot arm, secure the area required for the work based on the layout design beforehand. At the same time, provide a sufficient clearance so that the robot's movable sections and periphery do not catch or collide. If the robot requires the origin to be set, make sure that there is no interference with the periphery in the origin setting posture.8 2. If thr limitation of range of motion is required by the plan, please consult with us in advance. Only the range of J1 axis can be limited at some fixed points. Alternative method of limiting the range of motion may be provided only if they are designed, constructed, and installead to achieve the same level of safety as the mechanical stops. This may include using the limit switches according to IEC 204-1. 3. Install the controller and control panel starting device where the entry of operators in the safety protection region (inside the safety fence) can be confirmed from the operator control position. 4. If the working areas of robots overlap each other, provide interlock functions to prevent the robots from simulataneously entering their common area.(position detecting switches, etc.) 5. When the safeguarding methods are not in place prior to commissioning and functional testing, interim means of designating the restricted space must be in place before proceeding. 6. When it is intended that operators will perform manual operations associated with the robot, such as loading and unloading of parts, this must be taken into account in the arrangement of the robot system, either by providing loading devices so that the operator cannot access the hazardous area, or by providing appropriate safeguards for the manual activity. 7. Securely fasten the robot to the robot to the specified installing surface with four fastening bolts being careful to prevent deviation of the position. The installing base requires enough stiffness to withstand the weight of the robot and the reaction force. 8. Remove the arm fixing plate before operating the robot. 9. When using ceiling suspension or wall hanging installation methods, a jig allowing use of a standard lift, etc., is available from Mitsubishi. Please consult with your dealer for more information. 10. Install the controller outside the safety protection region (outside the safety fence). Install the controller's operation panel so that the operator can monitor the robot without facing his/her back to the robot, and at a height where the panel can be operated easily. (For maintenance workability, set the operation panel height at 0.6m or more.)

11. Install the controller on a level surface. Be sure not to prevent the heat fin from radiating heat and the fan from ventilating hot air. The ambient temperature of the controller must be within the rated range. 12. If the controller must be fixed to prevent dropping or movement, etc. from external vibration, always fix on the base surface. (Do not remove the rubber legs.) 13. When installing the robot, the controller and the peripheral equipment, take mens of access into account to allow access in safety to all areas used for production, adjustment and maintenance operations. 14. Do not get on or hang from the robot. 15. Do not get on or place heavy objects on the controller. 16. Make sure that foreign matter does not enter the robot arm or controller. Entry of conductive matter such as screws or metal pieces, or the entry of flammable matter such as oil could lead to ruptures or damage, etc. Cables 1. Tighten the connectors of the cables between the robot and the controller according to the instructions of the manual. 2. Don't pull or bend the cables with force. Protect the cables with ducts or covers if necessary. 3. When installing ducts or covers, means should be taken to prevent persons from stumbling, and caution signs should be indicated necessary. 4. Keep the robot machine cables and the external I/O cable away from other cables such as power cables and earth lines. Be sure that the externai I/O cable is shielded. 5. Do not mistake the terminal connections. Failure to observe this could lead to ruptures or damage, etc. 6. Do not mistake the polarity (+, -). Failure to observe this could lead to ruptures or damage, etc. 7. When moving the robot on a slide rail, never use standard machine cables of the robot due to the poor resistance against bending. In this case, be sure to use flexible machine cables of the robot prepared as options. 8. Before connecting the powere source line, be sure that the voltage of the power is within the rated range and the power switch of the controller is off. Then connectit to the correct portion. 9. Do not connect or disconnect the cables or connectors while the power is ON.

1. When using the optional motor-operated hand or the pneumatis hand, follow the instructions of the manual. Be sure that the total weight including workpieces is within the rated load. 2. If necessary, attach the specially machined picking tool to the end of the hand accrding to the shape of workpieces. Be sure that the tool has no sharp edges nor projections except functionally necessary portions. 3. When fixing a customer-made hand, be sure that the total weight including workpieces is within the rated load. Especially, when fixing an unbalanced hand, the rated torque of the wrist axes should also be taken into account. 4. When attaching a customer-made hand to the flange of the robot, fiz it securely with specified bolts. Be sure that the hand has no sharp edges nor projections except functionally necessary portions, and provide covers and other protections as necessary. 5. If cables and hoses are connected to the hand, prevent cables and hoses from getting twisted round or damaged and from restricting the motion of the robot. 6. When using a pneumatic hand, supply clean air which pressure is within 0.7MPa{7kgf/cm2} as the pressure higher than this may lead to a breakage of the internal pneumatic pipe in the robot arm. 7. If there is the possibity of a hand releasing a workpiece during motion thus causing a hazardous conditions, necessary means should be taken for the gripping mechanism of the hand to prevent such hazards. 8. The hand must be designed and constructed so that power failure does not cause release of the load or result in a hazardous condition. To keep the opening or closing state of a pneumatic hand even when the electric power fails, make use of a double solenoid to control the hand. 9. Grasping a workpiece charged with static electricity could cause malfunctioning due to electrical-discharge through the hand and robot arm. Thus, always use an insulated structure for the hand and robotarm. When a charged workpiece is placed, the device on which is it placed could malfunction due to the electricaldischarge. Always structure the system so that the charged workpiece's charge is discharged with an appropriate electrical-discharge route. 10. Power for the confirmation sensor is supplied to the hand check cable enclosed with the robot (or optional). If the cable end cannot be treated sufficiently due to this, the end could contact the peripheral device or robot arm while the power is turned ON, and could lead to short circuit accidents. Thus, always treat the end when using the hand check cable

http://www.sciencedaily.com/articles/i/industrial_robot.htm http://blog.robotiq.com/bid/52886/industrial-robots-5-most-popular-applications http://www.toolingu.com/definition-470130-79868-scara-robot.html http://www.robotmatrix.org/SCARARobotic.htm http://www.wisegeek.com/what-is-an-articulated-robot.htm SAFETY MANUAL MITSUBISHI ELECTRIC INDUSTRIAL ROBOT