Eastern Kentucky University

Department of Applied Engineering & Technology

AEM 352: Robotics and Automated Systems

Developing Robotics Application

Submitted by
John Harris

Date Submitted: 11/1/2019

Date Performed: 10/21/2019

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Introduction

Automation runs the world. Robotic systems dominate the manufacturing industry with their low
operating cost, little required maintenance, long hours, and complaint free services. In industry,
robots must repeat certain functions in order to get desired results. This lab involved stamping a
piece of paper with a reject or accept stamp. The LOOPING function was used to repeat the stamp
motion 3 times. The LOOPING function is used in many different applications throughout the
manufacturing industry and this lab is a great introduction on how to properly use the command.

Objectives

The purpose of the lab is to get familiar with the following:

 Programming robot with LOOPING functions

 Design and program a robotic application on Mitsubishi Robot.

Equipment and Applications Used

 Mitsubishi robot and controller

 Teach pendant

 Computer Programming Software

 Class notes

 Conveyor Sensor

 Power Supply

Lab Description

The first step for this lab is the same as all others: turn on the controller, turn on the computer, and
make sure all Estop buttons are functioning correctly. After everything was powered up and tested,
the lab content could then be started. This lab was divided up into 2 sections but only section 1
had to be completed.

Section 1 stated the following:

1. Develop a sequence of steps for the robot to complete the task described below. Record
the steps in a code sheet.

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Task requirement: Ink Stamp Operation (Accept and Reject operation)

Use two in stamps: one accept and the other reject to complete the following operations

a. Store two positions into memory

b. Repeat this cycle 3 times

c. Stamp reject onto a piece of paper 3 times

d. Switch stamps

e. Stamp accept on the paper three times

f. Place stamp in a safe position

g. Move robot to safe position

Program requirement:

a. Start your program with the command syntax ‘WAIT M_IN(8)=1’

b. USE repetition for repeat stamp operation 3 times

c. Programming syntax you may use: GOTO, GOSUB, REPEAT, IF..THEN..ELSE

After the group had a clear understanding of what was desired, the work began. The first thing that
needed to be completed was the robot code. The group got together and thought everything out
and created the correct robot coding. Figure 1 and Figure 2 shows the complete robot coding.

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Figure 1

Figure 2

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After the coding was completed, the points (P1, P2, P3, & PSAFE) needed to be taught. The
method explained in the lab 2 report was used once again to teach the robot points. Figure 3
shows the exact point locations for all mentioned above.

Figure 3

Figure 4 below shows the location of P1, -50 (reject stamp) and Figure 5 shows the location of
P2, -50 (accept stamp).

Figure 4

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 Figure 5

Figure 6 shows the P3 location. The P3 location represents the location of the paper where it is
stamped 3 times. For this picture the stamp is in the robot gripper already for a visual
representation.

Figure 6

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This lab was somewhat different compared to the previous labs. At the beginning of the lab
description, it stated to start with the command “WAIT M_IN(8)=1”. This command was a
sensor on the conveyor in the classroom. Once the paper stand reached the stop point, the
command WAIT M_IN(8)=1 becomes true and allows the robot program to begin. This means
that the robot does not move until there is a station with a paper to stamp at the correct location.
Figure 7 shows the command on the robot programming software where WAIT M_IN(8)=1. For
the sensor to get power, a power supply was also used. The power supply is shown in figure 8.

Figure 7

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 Figure 8

Once the input sensor was made, the robot would pick up stamp 1 (accept). It moved to the paper
location and stamped 3 times. It returned the stamp back to its original location and then moved
to stamp 2 (reject). It picked stamp 2 up and then moved to the paper. It stamped 3 times and
then placed the stamp back in its location. The robot then moved back to PSAFE location. The
LOOPING function was used to repeat the stamping operations on both points.

This lab incorporated a sensor and the LOOPING command which were both new and very
helpful functions to get familiar with.

Discussion of Questions
No questions were listed for this lab.

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Conclusions

Overall the lab was very informative. There was no air in the lab at the time this was completed so
the stamps were not able to be picked up. With that aside, the program was successfully coded,
taught, and ran. The lab incorporated a sensor which was the first time this has occurred. By
learning how they are incorporated into the program, everyone benefited and will know what to
do if that situation is encountered in the future. Overall, the lab was a success!

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