UNIT II

ROBOTICS
PRACTICE 1

Students
Francisco Javier González Medina
#15410227

Luis Adrián Gámez Saucedo

#14060814

Francisco Javier Gutiérrez Estrada

#15060054

Enrique García Sagarnaga

#11060691

Juan Carlos González Valerio

#14060105

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Computer Integrated Manufacturing

INDEX

Introduction……………………………………………………………….3

Robotics Concept………………………………………………………..3

Some types of robots……………………………………………….…..4

Robot RV-2AJ…………………………………………………………….5

Contents of the structural equipment

Robot arm…………………………………………………………………6
Controller………………………………………………………………….7
Teaching Box…………………………………………………………….9
Standard Specification…………………………………………………10
Commands COSIROP………………………………………………….12

Comments……………………………………………………………….13

Practices

Practice 1………………………………………………………………….13

Practice 2………………………………………………………………….14

Conclusion………………………………………………………………..15

Evidence…………………………………………………………………..16

Bibliography………………………………………………………………18

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 Introduction
The purpose of this report is to know the importance that robots have in the
industry nowadays and before our times.
We (team three), as the other teams, went to the ergonomic laboratory for
four days to analyze and learn how to move a robot called RV-2AJ.
Most of us had not moved a robot before, that's why it was very interesting
and entertaining.
As industrial engineers we need to understand how robots work, the
importance of them and how to move it in a way that can help our production
line to reach a goal.
The content of this report is very enriching. We hope that everyone who sees
this can understand it.

Robotics Concept
Robotics is the science responsible for studying, designing and manufacturing
machines that are capable of performing human tasks that require reasoning,
logic and intelligence, all with the purpose of substituting partially or totally in
the tasks performed by human beings, or perfecting them. They are able to
receive and analyze the information of the environment where they are in,
therefore, they carry out the tasks in a satisfactory way.
Robotics uses different disciplines such as computer science, electronics,
mechanics, among others to carry out its practice.
Therefore, a robot is a reprogrammable multifunctional manipulator designed
to move material, parts, tools or specialized devices through various
programmed motions for the performance of a variety of tasks.

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 Some types of robots
 Automaton: (Plural automata or automatons). Is a self-operating
machine, the word is to describe a robot as an “autonomous robot”.
Inside of this category we can find the androids, they’re robots that try
to reproduce totally or partially the form and the kinematic behavior of
the human being. Currently, the Androids are still non developed
devices and don’t have practical use nowadays, they’re just destined
especially to the experimentation.
 Teleoperators: These robots are controlled remotely by a human
operator. They are used in extreme situations like the deactivation of a
pump or, to manipulate toxic waste.
 Polyarticulate: They may have different configurations, what these
robots have in common is that they are sedentary. These are designed
to move your terminals with limited freedom and according to certain
coordinate systems. These robots are ideal when it is necessary to cover
a wide area of work.
 Mobile: Unlike the previous ones, these have been designed to move,
either using a rolling locomotive system or, through platforms or cars.
They are transferred using sensors that receive information from the
environment or by remote controls.

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 Robot RV-2AJ
The "RV-2AJ" is a compact industrial robot developed with Mitsubishi's
advanced technology.
These robots respond to users’ needs for compact and flexible production
facilities generated due to the recent diffusion of compact and highly accuracy
products such as personal computer related devices, information terminal
devices and compact electronic devices for mounting on vehicles, and due to
shorter product life cycles.
The robot RV-2AJ is made by Mitsubishi robots is ideal to use in areas with not
much space and movements with added weight up to 2kg. This robot can reach
410mm downward and has a speed of 2100mm/s.

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 Contents of the structural equipment

Controller

The function of each of the controller elements is:

1. POWER: This is the on / off mechanism of both the teaching box (T / B)
and the controller. ON / OFF.
2. START: This button starts the program to be executed and activates the
robot. Once the program has started, it runs continuously until it is
pressed again.
3. STOP: This button stops the robot immediately.
4. RESET: This button resets the system. In addition, it also reestablishes
the execution of a program that has been stopped and resets it.
5. EMERGENCY STOP: This button stops the robot when there is a state of
emergency. When this button is activated, the stoppage is general in all
stations involved.
6. TEACHING BOX CONNECTOR: This button is used to connect /
disconnect the teaching box

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7. CHNG DISP: this button is used to change the details displayed in the
display in the order of "program No." "line No." "speed", when an error
occurs in these, the warning will only be noticed when the button is free.
8. END: This stops the program that is running on the last line.
9. SERVO ON: this button activates the servo (the servo remains on). The
LED remains lit green while the servo is running.
10.SERVO OFF: this button deactivates the servo (the servo is off). The LED
is red while the LED is off.
11.STATUS NUMBER (display panel): it is a panel where you can observe
the error number, program number and speed percentage.
12.TEACHING BOX CONNECTION: This is a specialized connection point
that is used to link the TEACHING BOX to the controller
13.PC CONNECTOR: This is an RS-232C specification data transmitter to
make the connection between the controller and the PC.
14.MODE CHANGE SWITCH: activates the different modes of operation of
the robot, either manually or automatically.
 AUTO (Op.): Positioning in this position the controller will be
activated as the only manipulator.
 TEACH: When this mode is selected the T / B is activated, this
means that operations and movements are restricted to what is
ordered from the TEACHING BOX.
 AUTO (Ext.): Choosing this mode will leave the activated PC as the
own control device for the robot arm, disabling the previous ones.
15.UP / DOWN: these buttons function as a scroll channel (up and down)
in the different screen displays, and serve to select the speed.

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 TEACH BOX

The parts of the Teach box are described below:

SWITCH (EMG. STOP): This button has the function of activate the Emergency
Stop. If this button is pressed, all components will stop.

SWITCH (ENABLE/DISABLE): Is a switch that activates or deactivates the Teach

Pendant as the main controller of the robotic arm. For do this operation using
the Teaching Box, the switch most be in the “ENABLE” position. In this case,
the Teaching Box will be enable as the arm manipulator, deactivating the
operation from the control panel or any other external source. To operate
using the panel control or any other external source, set the switch in the
“DISABLE” position.

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LCD DISPLAY: This screen shows the program that is been created or is been
executed from the Teaching Box, the current function of the robot and the
operation modes.
WAYS Jod Feed o “jog operation”:
This term refers to the selection mode by which the position of the robot arm
is adjusted manually.
TOOL- This key selects the TOO JOG operation.
JOINT- This key selects the JOINT JOG operation.
XYZ- This key selects the XYZ JOG, 3-AXIS XYZ or CYLINDER JOG operation.

STOP: When this button is pressed, the programs that are running will be stop.

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Specifictions of the Robot RV-2AJ

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 Commands COSIROP
MOV: move

MVS: move to speed

SPD: Speed

HOPEN: open the grip

HCLOSE: close the grip

DLY: Delay

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 Comments
The main problem we had was that we didn’t quite understood the limits of
the robot, while we were saving the positions and programing the robot we
could move it without a problem, so we recorded all the positions and wrote
the program but when we ran it, by the second position the robot stopped.
This happened in both practices, in the first one because in one position the
joints were too close, and in the second one because they were too extended.

To avoid it we could have run the program occasionally, to see if it ran

smoothly. As for teamwork we had a little difficulty the first few days as we
had many opinions and we could not apply them all to practice for lack of time
and also no one had ever used the teachbox or anyone knew how to program
on the computer, but with the explanations and practice every day we noticed
that we improved a little.

Another problem we had was the lack of communication it is hard for everyone
to express what they can “see” as we perceive the spaces on a different way
than the person with the teach box. It kind of slowed down the person
controlling the robot and it was showcased in the results of our practice.
Nevertheless, we had a better understanding of what to do, but unfortunately
we couldn’t complete the practices.

It was also kind of complicated to imagine effective ways to end the practice a
little bit sooner. There were ramps that we thought they were in the way or
some traps that had been set up. Whilst they could be used to put the pieces
we wanted so they could slide through and we wouldn’t waste that much time
trying to get the robot to go all the way down.

It was also some sort of challenging to use the teach box in an effective way
since we are not that adept at using those devices and at the same time we do
not have the same notion of space with 3 axes (x,y,z)

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 PRACTICES
PRACTICE 1

In this practice the objective was to grab the two black circular pieces that
were on the initial platform. Starting with the first, it grabs the platform
(position 2) moves upwards to move it to position 3 and down to position 4 to
release it on the final platform, the same is done with the other piece that ends
in the position 6. Then, in practice, some small screws are picked up and then
mounted on the black pieces on the other platform, once the screws are
assembled, both pieces are returned to the initial platform, finishing the
practice.

Piece 1 Piece 2
10 MOV P1 110 MOV P9
13 SPD 50 120 MVS P10
20 MVS P2 122 DLY 1
22 DLY 1 123 HCLOSE 1 (Take piece 2)
23 HCLOSE 1 (Take piece 1) 124 DLY 1
24 DLY 1 130 MVS P9
30 MVS P1 140 MOV P11
40 MOV P3 150 MVS P12
50 MVS P4 152 DLY 1
52 DLY 1 153 HOPEN 1 (Place piece 2).
53 HOPEN 1 (Place piece 1). 154 DLY 1
54 DLY 1 160 MVS P11
60 MVS P3 170 MOV P1 13
70 MOV P5 180 MVS P14
80 MVS P6 182 DLY 1
82 DLY 1 183 HCLOSE 1 (Take screw 2)
83 HCLOSE 1 (Take screw 1) 184 DLY 1
84 DLY 1 190 MVS P13
90 MVS P5 180 MOV P15
80 MOV P7 190 MVS P16
90 MVS P8 192 DLY 1
92 DLY 1 193 HOPEN 1 Put screw 2 in piece 2)
93 HOPEN 1 (Put screw 1 in piece 1) 194 DLY 1
94 DLY 1 200 MVS P15
100 MVS P7

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PRACTICE 2

In this other practice the objective was to take two silver pieces, but in this
case the same procedure was performed as in practice 1 to take them to the
other platforms in front of the ramp, then take the screws to mount them in
the gray pieces but now with the difference that we have to take two springs
and then insert them into the screws, thus ending the practice.

Piece 1 Piece 2
10 MOV P1 170 MOV P13
13 SPD 50 180 MVS P14
20 MVS P2 182 DLY 1
22 DLY 1 183 HCLOSE 1 (Take piece 2)
23 HCLOSE 1 (Take piece 1) 184 DLY 1
24 DLY 1 190 MVS P13
30 MVS P1 200 MOV P15
40 MOV P3 210 MVS P16
50 MVS P4 212 DLY 1
52 DLY 1 213 HOPEN 1 (Place piece 2)
53 HOPEN 1 (Place piece 1) 214 DLY 1
54 DLY 1 220 MVS P15
60 MVS P3 230 MOV P1 17
70 MOV P5 240 MVS P18
80 MVS P6 242 DLY 1
82 DLY 1 243 HCLOSE 1 (Take screw 2)
83 HCLOSE 1 (Take screw 1) 244 DLY 1
84 DLY 1 250 MVS P17
90 MVS P5 260 MOV P19
80 MOV P7 270 MVS P20
90 MVS P8 272 DLY 1
92 DLY 1 273 HOPEN 1 (Put screw 2 in piece 2)
93 HOPEN 1 (Put screw 1 in piece 1) 274 DLY 1
94 DLY 1 280 MVS P21
100 MVS P7 290 MOV P22
110 MOV P9 300 MVS P23
120 MVS P10 302 DLY 1
122 DLY 1 303 HCLOSE 1 (Take spring 2)
123 HCLOSE 1 (Take spring 1) 304 DLY 1
124 DLY 1 310 MVS P22
130 MVS P9 320 MOV P24
140 MOV P11 330 MVS P25
150 MVS P12 332 DLY 1
152 DLY 1 333 HOPEN 1 (Put spring 2 in the screw 2)
153 HOPEN 1 (Put spring 1 in the screw 1) 334 DLY 1
154 DLY 1 340 MVS P24
160 MVS P11

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CONCLUSION

EVIDENCE

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 Bibliography
 Enciclopedia de Clasificaciones (2017). "Tipos de
robots". Recuperado de:
http://www.tiposde.org/general/460-tipos-de-robots/
 Festo Didactic. (2006). Guia rapida para robot Mitsubishi
RV2-AJ. Retrieved October 4, 2017, from
https://es.slideshare.net/jesusgomez39750/guia-r-
pidarobotmitsubishirv2aj
 MITSUBISHI Mitsubishi Industrial Robot RV-1A/RV-2AJ
Series Standard Specifications Manual (CR1-571
Controller)
http://www.rixan.com/Portals/0/RV-1A-2AJ/1n2specs.pdf
 Slides viewed in class.
 Definición de Robótica. (2016, August 7). Retrieved
October 04, 2017, from
http://conceptodefinicion.de/robotica/
 R.OBOTICA. Retrieved October 04, 2017, from
http://robotiiica.blogspot.mx/p/que-tipos-de-robots-
hay.html
 DOCUMENTACIÓN Y PROGRAMACIÓN DE
PRÁCTICAS DEL BRAZO ROBOTICO DE LA CELDA
DE MANUFACTURA FLEXIBLE DE LA UTP
o http://repositorio.utp.edu.co/dspace/bitstream/handl
e/11059/1109/629892O83dp.pdf?sequence=1

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