MATEC Web of Conferences 184, 02022 (2018) https://doi.org/10.1051/matecconf/201818402022 Annual Session of Scientific Papers IMT ORADEA 2018
The maintenance, commissioning of FANUC M-1iA 0.5A type selecting robot and implementation of iRVision picture- recognizing procedure
Gyula Korsoveczki1,*, Géza Husi2, and Timotei István Erdei3
1Mechatronics Department, Engineering Faculty, University of Debrecen, Hungary 2Mechatronics Department, Engineering Faculty, University of Debrecen, Hungary 3Mechatronics Department, Engineering Faculty, University of Debrecen, Hungary
Abstract. The topic of the given project is based on the maintenance, commissioning and implementation of iRVision picture-recognizing procedure, and the operation of the associated program of the FANUC M-1iA 0.5A type delta tripod designed selecting robot that can be found at the Mechatronics Department, Engineering Faculty of the University of Debrecen. Keywords — FANUC; M-1iA 0.5A; delta tripod; robot; iRVision; picture-recognizing
1 Introduction robot is capable of working at any angle, so it is good choice for those applications that demand high level of The permeation of robots is more considerable in every repeatability and flexibility. area of industry. With the development of the technic and The scope of the application is electronics, food growing of demand there is need for automated products industry, manufacture of medical instruments production lines. The velocity and precision of these lines optic and medical industry and precision mechanics [1]. gives industrial robots. With the opportunity of this project I could work with that kind of industrial robot I have always wanted to. That is why I chose the mentioned FANUC M-1iA 0.5A type delta tripod designed selection robot that can be found at the Mechatronics Department, Engineering Faculty of the University of Debrecen. After I had completed the maintenance operations, I measured the tool used by the robot. Next, I optimizationed the sphere of the workplace and I measured the user frame that I used during the project. After this operation, I designed several tools and elements for the robot. These metal elements make the work desk stronger and ensure a higher level of stability for the construction that supports the work desk. The subjoined CD contains the complete plans. Furthermore, I wanted to know the working of the Fig. 1. FANUC M-1iA 0.5A [1] iRVision system of FANUC and the implementation of picture-recognizing procedure that I wanted to show in The technical specifications of the robot: my task. As the result of these operations, the sphere of • Number of controlled axes: 6 work of the robot was broadened and the functioning • Maximal reach: 280 mm became more efficient and competent in educational • Repeatability: +/- 0,02 mm purposes. • Mechanical weight: 23 kg • Maximal load capacity at wrist: 0,5 kg • Maximal velocity: 4000 mm/s [1] 2 Description of the system 2.2. FANUC R-30iB Mate controller 2.1. FANUC M-1iA 0.5A type robot The robot I used during my task is a delta tripod designed The robot is controlled by FANUC R-30iB Mate Open- robot, that possesses 6 degrees of freedom. This model is Air type of controllers. It is compact and easy to integrate versatile and nimble, and it can achieve excellent work into single robot production cells. Unlike Windows-based rates on complex component assembly operations. The controllers, the R-30iB types use FANUC’s own propriety
* Corresponding author: [email protected]
© The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0/). MATEC Web of Conferences 184, 02022 (2018) https://doi.org/10.1051/matecconf/201818402022 Annual Session of Scientific Papers IMT ORADEA 2018
so tw re is ows t t t e syste is ore st e n it e syste in u es n in ustri ono ro ti er is prote te inst t e ost y er irus n tt s o t t is powere y N is er is o p ti e wit ers Furt er ore its ontro er nt e is t t t ere t e i ision pi ture re o ni in syste t s t e uty is no nee r e syste to run to o p is t e isu p rt o t e i p e ente e ontro er so suits t e re uire ents o in ustri pro e ure en iron ent e use it s suit e prote tion inst e in te ni spe i i tions o t e er wetness n ust o use t e i ision syste e si y n • i reso ution A reso ution t ernet port n e oun on t e ontro er e in • i r te s nnin 0 r es se on p rts re swit wit two position N FF n • ini u i u in tion 0 u e er en y to e wit re o our n n oper tion o e • i s o n i r tion resist n e n er reen to e t t n e tu te y s ey is reen to e is t e responsi e or t e runnin o t e y e pro r
Fig. 4. SONY XC-56 camera [5]
3 The maintenance operations Fig. 2. FANUC R-30iB [3] 3.1. Reset of the serial pulsecoder 2.3. FANUC iPendant Touch urin t e t s y irst pro e w s re te to t e e ro ot n e pro r e in two w ys ne o t ese tteries o t e seri pu se o er e ro ot s w ys is t e re pro r n u e o use t is one C o e e es ese es re o e y AC ser o is nee e e ot er opportunity is t e i en nt ou otors o i e t eir tu position t ere re n ontro er t t is powere y FANUC As t is n in re ent pu se o ers in t e ro ot ese in s o ontro er uses o sty e pro r n u e t ere re pu se o ers nee st tion ry e e tri supp y it out t is ore options to pro r t e ro ot n it is ster t n in t e resu t o t e ountin peris es t is w y t e se o re n u e ro ot in u es n ustri A CA N tteries e i en nt ou s er ono i s pe tou owe er t ese tteries e one t sin e t e st use s reen n its pro r in en iron ent is user rien y o t e ro ot n t is se spe i r turns up n e y o urt er en r e ents it ont ins un tion to es n 0 B A r roup i A is t e ns t ere n e opene two win ows on t e i o our u B ttery ero A r o so e t is pro e n in t e s reen t t e s e ti e e n ontro er s tteries is not enou e use t ere is nee to e ete n esi ner option n U B input to onne t e tern store un o t is one in t e syste it usin o t e i en nt or ouse e in p rts re t e i o our u s reen ou we nee to enter into t e enu o t e ro ot wit t e ey o r t e s ety e n swit wit t ree pus in o t e NU utton A ter t t t ere is nee to positions n e er en y to e n swit wit two se e t N 0 n t e options Fin y positions t t n en e t e i en nt ou we n re t e intern i r ry o t e ro ot wit pus in o t e A AB utton it t e un tion we n se r or in to seri nu ers n t is se t e nu er o t e se r e ite is 30 is is C o er n t is o er we nee to in t e C ri e wit t e seri nu er o t e ns A U C en it is oun we e to n e t e ue FA to ue U Co p etin t is oper tion t ere is nee to pus t e e n swit into i e position n t e utton t t e s e ti e As t e ne t step t ere is nee to s ut own t e ro ot n is onne t to t e e e tri ir uit en we turn on t e ro ot t e es wi e o e e n we n use t e Fig. 3. FANUC iPendant Touch [Own figure] N oor in te syste
2.4. SONY XC-56 type camera
2 MATEC Web of Conferences 184, 02022 (2018) https://doi.org/10.1051/matecconf/201818402022 Annual Session of Scientific Papers IMT ORADEA 2018
Fig. 5. The $SPC_RESET [Own figure]
3.2. The MASTERING and the CALIBRATION Fig. 6. The MASTER/CAL menu [Own figure] 4 The commissioning of the robot 4.1. Measuring of the tool frame • • ⃗ ⃗ ⃗ ⃗ ⃗ ⃗
3 MATEC Web of Conferences 184, 02022 (2018) https://doi.org/10.1051/matecconf/201818402022 Annual Session of Scientific Papers IMT ORADEA 2018
Fig. 8. The new work sphere [Own figure]
4.3. Measuring of the user frame Fig. 7. Measuring of the tool frame [Own figure] 4.2. Optimization of the work sphere Fig. 9. Measuring of the user frame [Own figure] 5 Creating of the iRVision procedure the FANUC’s own PLUG & PLAY
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en oo n te s ste w th the se o the e test n st ht e nwh e the test n the so tw e A te th t t to hes the ente o nt o the oo n te shows s the o ess n the es t o the s ste n t ws o n the who es e t n e wh h se h n s e n th s one owe e th s t n e s n s e o th o et n o the esente ste s o e e the o ot o o sh these o e t ons we nee o e o she s ess t ht the o ot o th t onne ts the s on s ste to the oo n te s ste to the o ot s se h e o e t o ot he s e t o the s on s th t t h s e t onne t on to the ont o e n se o o te onne t on the e s nee n the net e n PC th t n n oso t nte net o e he st ste o the e ent t on s onne t n the PC to the ont o e o the o ot w th the net e Fo the o n t on we nee to o e w te the P ess o the PC to Fo ow n th s Fig. 10. The searched and found object [Own figure] o e t on t s ne ess to o en the nte net o e n we n e h the n so tw e o the ont o e w th the ess o he e e s e o onents o 6 The associated robot program the nte net o e wh h e essent to wo the s ste hese o onents n e own o e w th 6.1. Description of the program code n to the s on et en F o the e n en we sho hoose the As the st ste o t s w nte to e te n CA A UP L o o t n t w th the he o sso te o ot o to the t e e o n n YP o t on A te th t w th s n o the C A o e e h n s to th t the o ot n se the ent one o n we n e te new one e e we n e ne o e e n t e th nn n the o the the sett n s o the se e n t on we h e to o ot s e to e o n e the t ht oo n te s ste se e t e o t on n set the e os t on t e wh h s n e o n on the wo t e o the o ot n he ne t ste s to o ete the t on o the n os t on t n en o ent t on F the o e the e w th the CA A CAL A N L o ot n to h the o o o the oo n te s ste n function. To do this, we need the FANUC’s own te th t t n w o n the t n e n the oo n te t on s tho t th s we nnot o sh the s ste n th s se the t n e s n s e o the o ot o e t on he n o nt o the t on s th t the so the os t on o the t n e e en s on the o n o ot o t es the sett n s o the e tse to et the oo n te s ste maximal efficiency. Since I didn’t possess with he o n h ene w th the s n o t on s se the s sett n s o the e Pen nt o h t s h o e s t e n ste th n A te these o e t ons the e s nee to e te new the s e o e o n e t e e o n n o e e n e N n s n e o th s s the st ste e ne the P C L n w th n th s NGL – e o s e s e too e n se e n ne N P C he n e o the o ess n created is “KRESHAROMSZOG”. As the th ste e ente ew o nt o the n th s o o t n t we h e to e ne the e o e e n th s o nt the CP o not st the s on t on the e os t on t e n the te ons o the o the e he t e o the ot on s ne L the n n o the se he o onents F the o e the e s e o t s s n t the en o the ot on the o ot nee to se e t the e o s e s e se e n we sto s F N h e to e ne e e en e os t on n ne onne te the t e e o n n he en ont ns GP L CA L o e e to the o ot o w th the N o t on th s n o t we n te h o s o e ts to UN F N o n he ose o the se h n the o ot o te h the we h e to t e t e w th e the n e o the s o ess wh h s the NAP o n Fo ow n th s o e t on the e s A G he e o the o ot he s nee to t e the o e t th t we w nt to te h to the o ot the wo t e o n to the t e e o n n n t on we h e the oss t to s the ts o e e to n t ht o e t wh h e n o t nt o the o nt o ew se h n n se o s ess ete t n the o ot s es the s n se o the t n e h s o e t on n e oo n tes o the o e t nto n FF e n ne o ete w th the A N NG A o n owe e t oes not n n th n t e tes o t nt too s e the C N A L P onto e e L L to s o e the t N A N AN CAL P N th the st o the o o e wh h e on s to the n n one we n se h o o s n se o the se on one th the o n s wh h n e o n n nes we h e the o o t n t to n o e ts n o s the o ot to hes the o o o the oo n te s ste o ent t ons he th one en es s to se h o e ts A te th t w th the o n s n nes the o ot the s es ws o n the t n e o n to P P P th the en n s n o the e t on o es nto P P n P o nts e sten e the t e e o n n o e e th t n e
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Finally the can e found in line , and with iR ision system of the ro ot with the help of the line and the EN command the ro ot returns into the associated pro ram. As a result, I ot a system that wor s IE point and finishes the pro ram. The pro ram well and I accomplished the purposes. There sre other code is the next possi ilities, for example creatin arious tar et specific UFRAME NUM tools or implementation of external li ht source and UTOO NUM con eyor line. Moreo er, the recali ration of the camera IE mm sec FINE is more important to ma e the precision and efficiency 4 : VISION RUN_FIND ’KRESHAROMSZOG’ etter and to impro e the scope of the wor . Howe er, the ISION GET OFFSET software part can e roadened without any pro lem with : ’KRESHAROMSZOG’ VR [1] JMP LBL [1] new part of pro ram codes and functions. A RCH mm sec FINE OFFSET , R Acknowledgement ICK mm sec FINE OFFSET , R The publication was supported by the project EFOP- A RCH mm sec FINE 3.6.1-16-2016-00022. This project was co-funded by the OFFSET , R European Union, from the European Social Fund. mm sec FINE OFFSET , R mm sec FINE References OFFSET , R mm sec FINE 1 FANUC Hungary Kft., „M-1iA/0.5A,” [Online]. OFFSET , R Available: mm sec FINE http://www.fanuc.eu/hu/hu/robotok/robotsz%c5%b OFFSET , R 1r%c5%91-lap/m1-sorozat/m-1ia-05a. [Accessed: mm sec FINE 27.11.2017.]. OFFSET , R 2. FANUC Hungary Kft., „R-30iB controller.” mm sec FINE [Online]. Available: OFFSET , R http://www.fanuc.eu/hu/hu/robotok/tartoz%c3%a9 kok/r-30ib-vez%c3%a9rl%c5%91. [ Accessed: IE mm sec FINE 27.11.2017.]. EN 3. RobotWorx, „FANUC R-30iB Open Air Cabinet,” [Online]. Available: https://www.robots.com/fanuc/controller/r-30ib- 6.2. The flowchart diagram open-air-cabinet. [Accessed: 27.11.2017.]. 4. FANUC Hungary Kft., „iPendant Touch,” [Online]. Available: http://www.fanuc.eu/hu/hu/robotok/tartoz%c3%a9 kok/r-30ib-vez%c3%a9rl%c5%91/ipendant-touch. [Accessed: 27.11.2017.]. 5. SONY, „XC56,” [Online]. Available: https://pro.sony.com/bbsc/ssr/product-XC56/. [Accessed: 27.11.2017.]. 6. Dr. P. Boza, Dr. J. Pintér, Manufacturing automatization (Gyártásautomatizálás) Győr, 2011. 7. FANUC Robotics America, Inc., „M-1iA Operator Manual,” [Online]. Available: https://www.scribd.com/document/350205121/M- 1iA-Operator-Manual-B-83084EN-08. [Accessed: 27.11.2017.]. 8. FANUC Robotics America, Inc., „R-30iA Mate CONTROLLER,” [Online]. Available: Fig. 11. The flowchart diagram [Own figure] http://www.msamc.org/aimss/documentation/pdf/m anuals/lr_mate_manuals/R30iA%20Mate%20Contr 7 Conclusion oller.pdf. [Accessed: 27.11.2017.]. 9. FANUC Hungary Kft., „Visual sensor system,” The purpose of my tas was to accomplish the [Online]. Available: maintenance and the practice oriented commissionin of http://www.fanuc.eu/hu/hu/robotok/tartoz%c3%a9 the ro ot. Furthermore, I wanted to test and su mit the kok/l%c3%a1t%c3%a1s. [Accessed: 27.11.2017.].
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