Lab 6 - Intro to Fanuc Part 2 - Spr 10 phases 1-4

Lab 6 - Intro to Fanuc Part 2 - Spr 10 phases 1-4 - MFET...

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MFET 248, Lab #6 page 1 of 10 MFET 248 Laboratory Assignment #6 Spring 2010 Introduction to the Fanuc Robot, Part 2 Objectives: In this assignment you will learn how to perform the following operations with the Fanuc robot: Develop a program which picks up a part using a vacuum gripper. Manually test robot discrete inputs and outputs using the teach pendant. Integrate the Fanuc robot with the Allen-Bradley ControlLogix PLC via DeviceNet. Background: While working on this assignment, refer to the following power point presentation: “Introduction to the Fanuc Robot.” In addition, refer to the FANUC Robotics SYSTEM R-J3 Controller Handling Tool Setup and Operations Manual ( start with the 36 page handout provided by your Instructor ). In this assignment we will use the Fanuc robots located at droplines 1, 3, and 4. Phase 1: In this phase you will manually test several different types of Fanuc I/O. Step 1 : Using the teach pendant, manually turn on and off the vacuum gripper attached to the Fanuc robot. Tips: Press the I/O Key to invoke the I/O menu. Press F1 – TYPE to select the appropriate type of I/O. Robot outputs, such as RO[x], are used to control the vacuum gripper. Sometimes, robot outputs are made complimentary. That is, two robot outputs work together and are always in the opposite state. The following command will turn on the vacuum gripper: RO[x] = ON What is x? Answer: ___________
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page 2 of 10 Step 2 : Using the teach pendant, test some of the inputs and outputs on the standard operating panel (SOP). Notes : The SOP includes the pushbuttons and lights located on the Fanuc operator box. The SOP inputs are addressed SI[x], where x = 1, 2, 3, etc. The SOP outputs are addressed SO[x], where x = 1, 2, 3, etc. a) Push the “USER1” pushbutton and observe the corresponding SI[x] input. When the “USER1” pushbutton on the operator box is pressed, the corresponding SI[x] input should turn on (verify using the Fanuc’s teach pendant). Question: Which SI input turns ON when you press the USER1 pushbutton? Answer: _____________________ b) Push the “USER2” pushbutton and observe the corresponding SI[x] input. When the “USER2” pushbutton on the operator box is pressed, the corresponding SI[x] input should turn on (verify using the Fanuc’s teach pendant). Question: Which SI input turns ON when you press the USER2 pushbutton? Answer: _____________________ c) Using the Fanuc’s teach pendant, manually turn on the light which is built into the “USER1” pushbutton. Question: Which SO output turns ON the light built into the USER1 pushbutton? Answer: _____________________ d) Using the Fanuc’s teach pendant, manually turn on the light which is built into the “USER2” pushbutton. Question: Which SO output turns ON the light built into the USER2 pushbutton?
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Lab 6 - Intro to Fanuc Part 2 - Spr 10 phases 1-4 - MFET...

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