Lesson 3.

The reading module

Read the text:

Robot programming and interface

The setup or programming of motions and sequences for an industrial robot is typically taught by linking the robot controller to a laptop, desktop computer or (internal or Internet) network.

Software: The computer is installed with corresponding interface software. The use of a computer greatly simplifies the programming process. Specialized robot software is run either in the robot controller or in the computer or both depending on the system design.

Teach Pendant: Robots can also be taught via teach pendant, a handheld control and programming unit. The common feature of such units is the ability to manually send the robot to a desired position, or inch or jog to adjust a position. They also have a means to change the speed since a low speed is usually required for careful positioning. A large emergency stop button is usually included as well. Typically once the robot has been programmed there is no more use for the teach pendant.

Lead-by-the-nose is a technique offered by most robot manufacturers but is of dubious value. While user holds the robot end effector another person enters a command which de-energizes the robot and it goes limp. The user then moves the robot by hand to the required positions or along a required path while the software logs these positions into memory. The program can later run the robot to these positions or along the taught path. This technique was popular for tasks such as emergency stop.

Others In addition, machine operators often use human machine interface devices, typically touch screen units, which serve as the operator control panel. The operator can switch from program to program, make adjustments within a program and also operate a host of peripheral devices that may be integrated within the same robotic system. These include end effectors, feeders that supply components to the robot, conveyor belts, emergency stop controls, machine vision systems, safety interlock systems, bar code printers and an almost infinite array of other industrial devices which are accessed and controlled via the operator control panel.

The teach pendant or PC is usually disconnected after programming and the robot then runs on the program that has been installed in its controller. However a computer is often used to 'supervise' the robot and any peripherals.

A robot and a collection of machines or peripherals is referred to as a workcell, or cell. A typical cell might contain a parts feeder, a molding machine and a robot. The various machines are 'integrated' and controlled by a single computer or PLC.

End Effectors

The most essential robot peripheral is the end effector without which the robot cannot do anything. Obvious examples are grippers which are devices that can grasp an object, usually electromechanical or pneumatic. Another common means of picking up an object is by vacuum. End effectors are frequently highly complex, made to match the handled product and often capable of picking up an array of the products at one time. Movement and singularities

Most articulated robots perform by storing a series of positions in memory, and moving to them

at various times in their programming sequence.

After text activity

I. Reading Exercises:

Exercise 1. Read and memorize using a dictionary:

Exercise 2.Answer the questions:

1) How can robots be taught?

2)What can do the operator?

3)What do most articulated robots perform by?

Exercise 3.Match the left part with the right:

Exercise 4. Open brackets choosing the right words:

A robot and a collection of (machines/devices) or peripherals is referred to as a (workcell/workshop), or cell. A typical cell might (contain/consist) a parts feeder, a molding machine and a robot. The (various/similar) machines are 'integrated' and controlled by a single computer or PLC.

The speaking module

II. Speaking Exercises:

Exercise 1. Describe adjustment, vision, effector, interface, peripheral using the suggested words and expressionsas in example:

Exercise 2.Ask questions to the given answers:

1) Question: ___________________________________?

Answer: The common features of such units are the ability to manually send the robot to a desired position.

2) Question: _____________________________?

Answer: The program can later run the robot to these positions or along the taught path.

3) Question: _____________________________?

Answer: The various machines are» integrated” and controlled by a single computer or PLC.

The writing module

III. Writing exercises:

Exercise 1. Complete the sentences with the suggested words: by, but, which, to, or, while.into, for

Lead-by-the-nose is a technique offered ____most robot manufacturers ___is __dubious value. While user holds the robot end effector another person enters a command ______ de-energizes the robot and it goes limp. The user then moves the robot ___ hand __the required positions ___ along a required path ______ the software logs these positions _____ memory. The program can later run the robot ___ these positions __along the taught path. This technique was popular _____ tasks such as emergency stop.

Exercise 2. Fill in the table with words and expressions from the text

:

Exercise 3. Compose a story on one of the topics (up to 100 words):

“Teach Pendant”

“End Effectors”

“Lead-by the-nose technique”