A robot is used to control an automated system. Start and stop buttons, a micro-

Question

A robot is used to control an automated system. Start and stop buttons, a micro-switch, conveyor motor and gate are interfaced with a robot controller. The robot loads and unloads parts to a machine from a conveyor. The layout of the system is shown below. Please write an application using the Adept V+ software to accomplish the operations listed below. In this ease, the robot controller is a system controller. The robot speed is set to be 50% of the default setting. 1. Start button (input #1 to robot) is pressed; 2. Robot activates the conveyor system (output #1 to motor); 3. A part comes along the conveyor. When it touches a micro-switch (input #2 to robot), the conveyor stops; 4. Robot activates the gate - close the gate (output #2 to solenoid); 5. Robot opens the gripper, goes to position A, closes the gripper; moves the part to position B, then

Explanation / Answer

A V+ program is that it directly controls a robot or motion device.

Normally it can contain any of the V+ program instructions.

Robot control programs are executed by program task #0, but they can be executed by any of the program tasks available in the V+ system.

Task #0 automatically attaches the robot when program execution begins. If a robot control program is executed by a task other than #0, however, the program must explicitly attach the robot.

Task #0 always attempts to attach robot #1 when program execution begins...

programming:

For setting program speed to 50% we use the command...

Start task #0

Have task #0 DETACH the robot

Start the task that will control the robot

Have that task ATTACH the robot

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