Lab #2:

RV-M2 Palletizing

 Introduction:
In this lab, students used the knowledge acquired in the first lab to different assignment.
The RV-M2 robot uses a basic movement which are point by point or XYZ coordinate
movement. In this lab, students required to move eight cylindrical plastic containers from one
point to put it inside a container made of wax blocks. The challenge of this assignment is to do it
with only five positions saved. Five positions can be programed to move all eight cylindrical
containers. On a paper, the parts are set in a 2×4 matrix form. In this lab, students will decrease
the number of positions saved to make it easier for the robot to operate.

Method and Materials:

● RV-M2 Robot.
● Paper has a 2×4 matrix form.
● Cylindrical Plastic Containers.
● Container made of wax blocks.
● Teach Pendant.

Procedure:

This lab only required 5 positions to be defined, one above each corner of the pallet, and one just
over the opening of the drop point. These positions were defined using the teach pendant using
the techniques documented in Lab 1. Images of these positions can be found in the pictures
section of this report. The pallet positions were defined a few inches above the containers. After
defining the locations a program was written in roboware, this program can be found in the code
section of the report. Some new commands were used in this lab, what these commands do can
be found in the comments of the code.

Conclusion:

Students used that same knowledge applied in the first lab, and they used more complex
programming. In this lab, students will be challenged to move eight cylindrical plastic containers
in a matrix from to a big container. Students should save four positions around the edge of the
paper. Those four position must have same height so it could be programmed correctly. This fifth
position should be above the big container. To move all eight cylindrical plastic containers,
students used more complex programming. This method is used if the parts are in a matrix from.
The four positions should have enough height, so they do not hit the other cylindrical containers
in the way to place it inside the big container.

 Code:

##################
# Setup #
##################

10 PA 5, 2, 4 # Define a pallet with 2 columns, and 4 rows

20 SC 51, 1 # Define counter for the columns
30 SC 52, 1 # Define counter for the rows

##################
# Loop #
##################

100 RC 8 # Create a loop that runs 8 times

110 GS 200 # Jump to the subroutine
120 NX # This line marks the end of the loop and restarts
it.
130 ED # End the program.

##################
# Subroutine #
##################

200 SP 10 # Set the speed to the high speed

220 PT 5 # Defines a virtual position above the current piece.
230 MO 5 # Move to just above the current piece.
240 SP 5 # Set the speed to the low speed
245 PD 55, 0,0,-30,0,0 # Define a relative position 30 mm down in the z
axis.
250 MA 5, 55 # move the grippers down to grab the piece.
260 GC # Close the grippers
270 MO 5, C # Move back to just above the piece
272 PD 56, 0,0, 50,0,0 # Define a relative position 50 mm up in the z axis.
275 MA 5, 56, C # Move up higher to avoid conflict
276 MO 54, C # Move to above the drop site
277 GO # Open the Grippers
280 IC 51 # Increment the column counter
290 CP 51 # Copy the column counter into the comparison
register
300 EQ 3, 330 # If the value is 3 jump to line 330
310 RT # End the subroutine, if the row is done.
330 SC 51, 1 # Reset the column counter
340 IC 52 # Increment the row counter
350 RT # End the subroutine
360 GT 120 # Jump to line 120

 Positions

Position 50: above the top-left corner.

Position 51: above the top-right corner.

Position 52: above the bottom-left corner.

Position 53: above the bottom-right corner.

Position 54: above the big container .