Basic Robot Operations

IE104L (CIM LABORATORY)

PEGASUS ROBOT

The Pegasus robot is a small, table-

top robot which has a very powerful
programming language and industrial
accuracy
basic rules of robot safety check

• Remove all obstructions from the robot work area.

• Check for signs of damage to the robot. THE
ROBOT
BASIC RULES
SAFETY ARE
OF

• Remove loose fitting clothing, ties, scarves, sleeves, etc. IMPORTANT TO KNOW
SINCE  A ROBOT CAN BE
• Tie up long hair. VERY DANGEROUS AS IT

• Remove the teach pendant from the robot work area. CAN CHANGE
POSITION OF ITS ARM VERY
THE

• Locate the emergency stop button. QUICKLY. ROBOTS HAVE

KILLED PEOPLE IN
• People in the area must wear safety glasses. UNEXPECTED INCIDENCE.
THEREFORE, YOU SHOULD
• People must be outside the robot’s work area. ALWAYS PRACTICE SAFETY
AROUND ROBOTS.
 Define a Robot and give
section 1: an application
power up and shut down
Describe three
advantages of a robot

Describe functions of the five

basic components of a robot.

OBJECTIVES: Identify the five basic

components of a robot.

Demonstrate the proper Power

Up and Shut Down for the
Robot.
the robot and its application

Certain types of robots can

move around in a room, and
others use artificial
intelligence to teach
themselves. However, most
robots look and act like an
industrial machine.

Typical Industrial Robot

3 featured needed to define machine as a robot:

JUPITER SCARA
• AUTOMATED – CAN OPERATE
• For loading and unloading
WITHOUT THE NEED OF A
• Application of sealant
HUMAN TO ASSIST IT.
• Assembly Operations
• For handling machine
• RE-PROGRAMMABLE – CAN
tools… and more
BE REPROGRAMMED TO
PERFORM ITS TASK IN
DIFFERENT WAYS.
KAWASAKI ROBOT “KRE
SERIES”
• MULTITASKING – CAN BE
PROGRAMMED TO DO • Assembling   
ENTIRELY DIFFERENT TASKS •  Sealant Dispensing

SUCH AS ASSEMBLY OR • Welding         

• Painting       
MACHINE LOADING.
• Washing… and more
Six common examples of robot applications:

• ASSEMBLY • WELDING • MATERIAL HANDLING

• MACHINE LOADING • PAINTING • GLUING

Robot Assembly Application

 3 ADVANTAGES OF ROBOT

IMPROVE IMPROVE
REDUCE
QUALITY OF PRODUCT
PRODUCTION
LIFE QUALITY
COSTS
- can work in - can perform their
dangerous or dirty - can operate
tasks very accurately
environments on a consistent basis continuously 24
- ideal for repetitive - can also do certain hours a day
tasks that are very tasks much better - have multitasking
boring than people ability
functions of the 5 basic components of a robot

5 BASIC COMPONENTS OF A
ROBOT:

• Manipulator (Arm)
• End Effector (Hand)
• Controller
• Drives
• Teach Pendant
 functions of the 5 basic components of a robot

• Manipulator (Arm) - part of the robot that actually moves and reaches.
• End Effector (Hand) - used to grasp parts or tools. One type of end effector is the
hand or gripper. This is the type used on the Pegasus robot.
• Controller - This is a specialized computer that coordinates the robot’s movements.
• Drives - located inside the controller, consist of electronic circuit cards that supply
power to the robot arm's motors.
• Teach Pendant - a hand-held device that allows you to perform seven functions
(Start up, Program, Run, Monitor, Manual, Shutdown, and Adjustment)
Robot Drive Card
*Robot Work Area - basically the area that the end effector could possibly reach.
 7 FUNCTIONS THAT CAN BE PERFORMED USING THE TEACH
PENDANT
NOTE: A ROBOT TEACH
PENDANT SHOULD ALWAYS
• Start-up – The teach pendant allows you to enable the robot motor drives and other HAVE A RED EMERGENCY
start-up functions. STOP PUSH BUTTON

• Program – The teach pendant allows you to enter, edit and save programs.
• Run – The teach pendant allows you to run a program.
• Monitor – The teach pendant allows you to monitor the robot operations.
• Manual – The teach pendant allows you to manually operate the robot.
• Shutdown – The teach pendant allows you to stop a program and disable the robot
drives.
• Adjustment – The teach pendant allows you to change control settings in the robot.
 POWER UP AND SHUT DOWN SERVO
ROBOT

Necessary steps to power up and shut down the Pegasus Robot:

• Perform the Safety Check

• Turn On the Power
• Enable the Drives
 PROCEDURE to power Up the robot

1. Conduct a safety check on the Pegasus Robot work area

2. Press and release the power pushbutton on the controller to turn
on the robot controller.
 PROCEDURE to power Up the robot

- After you press the power pushbutton, the power on indicator light should turn on and you should see the
following message displayed on the teach pendant.

- After 10 seconds, the teach pendant will then display the version number of robot’s software as follows:

- Then the display will show you the Main Menu

 TAKE A MOMENT
3 COMPONENTS OF THE TEACH PENDANT
TO EXPLORE THE
TEACH PENDANT!

• display screen

a two-line liquid crystal display (LCD).

• upper line - called the status line, shows information
about the current operation of the robot.
• lower line - called the menu line, displays the functions
activated by pressing one of the function keys (F1-F4)
located below the display on the keypad.

2. EMERGENCY STOP PUSHBUTTON

causes the robot to stop its program and disable its

drives immediately after pressing it.
 3 COMPONENTS OF THE TEACH PENDANT

3. KEYPAD

allows you to enter and display information about the robot’s

operation.
• Hard Keys - keys on the keypad of the teach pendant
that have specific functions.
• soft keys - keys on the keypad that have assigned
functions in the software that can be changed
 MENU
• Move Down the Menu Tree – Press any of the four
- THE GROUP OF FUNCTIONS
function keys.
LISTED ON THE LOWER LINE OF
THE TEACH PENDANT
• Move to a Parallel Menu – Press the [SCROLL]
key. You can keep pressing [SCROLL] and you will
- THERE ARE MANY MENUS
always come back to the menu you started with.
WHICH CAN BE SELECTED USING
Also, you can press [-] to move to the previous
THE TEACH PENDANT. THESE
menu.
MENUS ARE ARRANGED IN A TREE
STRUCTURE AND YOU CAN MOVE • Move Up the Menu Tree – Press the [EXEC] key.
BETWEEN THEM USING ONE OF The entire menu tree for the Pegasus is listed in the
THE THREE FOLLOWING Pegasus reference guide.
METHODS:
 Back to the
PROCEDURE to power Up the robot
Procedures!

3. Enable the Motor Drives

a. Press the [F1] STA key on the teach pendant to display the following Start-up menu. This is the third and
final step to power up the robot.

Line 1 (the status line) of the display shows that you are now in the start-up menu (START) and the
motors are (disabled).
 PROCEDURE to power Up the robot

b. Press the [F2] ENA key to enable and send power to the motors.

4. Press [EXEC] to return to the Main menu.

 PROCEDURE to SHUT DOWN the robot

1.  Disable the robot drives.

a. Press [Fl] STA for you to go to the Start-up menu.
b. Press [F3] DIS to disable the robot arm. This will remove power from the robot’s motors and the teach
pendant should display:

2.  Press the Power pushbutton on the controller to turn off the controller. (You
should then see that the Power and Turbo status indicators turn off and the teach
pendant display goes blank.)
3. Conduct a safety check on the Pegasus Robot work area
 Describe the function of the six
section 2: axes of a robot manipulator
MANUAL OPERATION
Describe three types of
jog applications.

Jog the Servo Robot using the

Teach Pendant

OBJECTIVES: Adjust the fast and slow jog

speed setting
 function of the 6 AXES of a robot MANIPULATOR

Manipulator (arm) - is the part of the

robot that actually performs the
physical task.
Axes - joints that allow the robot's arm
to bend much like a person’s arm so it
can move to various positions

AXES CAN BE DIVIDED INTO TWO 2 CLASSES:

• Body Axes
- to move the end effector to some point in space. These Body Axes of Articulated Robot Arm
axes are named for the human counterparts they resemble:
waist, shoulder, and elbow.
2. Wrist Axes
- allow the robot to orient its end effector.
They are named using the nautical terms:
pitch, roll, and yaw,

Wrist Axes
 3 TYPES OF JOG APPLICATIONS
• Jogging in robot terms means to move the arm manually
under power.

START-UP TEACHING SHUTDOWN

Before the robot is The robot should always
Involves jogging the
put into operation the be jogged to a certain
robot into a position
arm should be jogged position where it will
that you would like
to a certain position not hit obstacles if it
the robot to record in
so that it is free to relaxes its arm after the
its memory
move and will not hit drives are disabled.
any obstacles
 JOG A SERVO ROBOT

Procedures to jog the robot using the teach pendant with the fast and slow jog speed:

1.   Power up the robot by doing the following sub steps:

A.   Conduct a safety check of the robot work area as described in Section 1.
B.    Press and release the Power pushbutton on the controller.
C.    After the Main menu is displayed, press the [Fl] STA key to display the Start-up menu of
the teach pendant. 
D.   Press the [F2] ENA key to enable the robot drives by sending power to the motors.  
E.    Press the [EXEC] key to return to the Main menu.
 PROCEDURE

5.  Momentarily press the [JOG] key on the teach pendant to turn on

the jog function.
 PROCEDURE
• You should now see that two indicator lights on the teach pendant are on.   The light on the [JOG SPEED] key
will indicate fast or slow jog.
• The light on the [SEL] key will indicate the direction (right/up,  left/down) in which the robot axis will move
when it is jogged.  The figure below shows the direction in which each axis will move depending on the
setting of the [SEL] key.
 PROCEDURE
3.   Press the [JOG SPEED] key, if necessary, to turn on the slow indicator light

The Pegasus is equipped with two jog speed settings: slow and fast.
⚬ Slow jog speed - used when it is necessary to have precise positioning
⚬ Fast jog speed is - used when it is desirable to cover more distance, but with less control.

RECOVERING FROM MOTOR ERRORS:

NOTE:
• Press [F1] STA from the main menu.
End of Travel Errors – when the robot axis moves as far as it can
• Press [F2] ENA to enable the motors.
physically, it will run into a hard stop. This will cause the motors to
• Press [SEL] to change directions of this axis so you can move it
be disabled and an error message [FERR] will be displayed on the
in the other direction.
teach pendant.
• Jog the axis away from this position, which is often called a
hard stop.
 ADJUSTING THE FAST AND SLOW JOG
SPEED SETTINGS

Procedures to adjust the jog speed settings:

1.   Do following sub steps to change the fast jog speed setting:

A. Press the [JOG] key to disable the Jog function. 
- The Jog function is off if the indicator lights on the [JOG SPEED] and [SEL]
keys are off. When the Jog function is on, you cannot use the numeric keys to enter data
because they are assigned to the axis movements and the robot will think you want it to
move. 
B. Press the [EXEC] key repeatedly to display Main menu on the teach pendant.
C. Press the [F1] STA key to display the Start-up menu.
 PROCEDURE

D. Press the [F4] JOG key to enter the jog menu. The teach pendant will appear similar to:

E. Press [Fl] FST to change the fast jog speed. The teach pendant will display the following:

F.  Enter the number 255 on the numeric keypad.  This is the fastest fast speed you can set on the fast speed
setting.  The display should now appear similar to this:
 PROCEDURE
2. Press the [JOG] key to turn the Jog function on again then test the new speed setting.
3. Repeat the steps if you want to change the fast speed to a slower speed. Use the numeric keys
to enter 100 on the display. This will set the fast jog speed to 100. Try to test the new settings
again.
4. Perform the following sub steps to change the slow jog speed settings:
A. Press [JOG] to turn the Jog function off.
B. Press [F2] SLW to change the slow speed. The teach pendant will display the following:

C. Press [5] and then [ENTER] to set the slow jog speed to a setting of 5 (very slow).
 PROCEDURE

5. Press the [JOG] key to turn the Jog function back on then press [JOG SPEED] to change
the speed to slow and try the new speed settings.

6. To shut down the servo robot, do the following:

A.   Press [EXEC] repeatedly to return to the Main menu. 
B.    Press [Fl] STA to go to the Start-up menu. 
C.    Press [F3] DIS to disable the robot. 
D.   Press and release the Power pushbutton to turn off the controller.
 section 3:
Describe and identify the functions of
homing the four components of a servo robot
axis.

Describe the function of the homing

procedure and perform the two ways of
homing the Servo Robot.

Demonstrate the proper start up for the

OBJECTIVES: servo robot by using Quick Homing

Position
 4 COMPONENTS OF A ROBOT AXIS

1. servo motor

- an electric motor that is connected by its shaft to the

robot’s mechanical structure.
- are specially designed to be able to move their shaft at a
specific speed and stop at a precise position under the
control of the drives and robot controller.
2. encoder

- is an electronic device attached to the shaft of the servo

motor
- allows the robot controller to continuously monitor the
position of the servo motors by sending a string of electrical
pulses as the movement of the motor moves its shaft position
3. mechanical structure

- includes the gears, chains, and bearings, as

well as the physical structure itself

4. home position sensors

- used to reset (or zero) the encoder values,

stored in the robot controller, whenever the
robot is homed (all sensors activated)
 homing procedure

Homing - an automatic procedure that causes the robot axes

to each move to a position where it actuates its home
sensor. The controller then resets its memory for each
encoder position to zero. This assures that the robot will
accurately go to each position that is stored in memory.

Two Homing Methods:

• Regular Homing Procedure
• Quick Homing
PEGASUS HOMING POSITION
 HOMING A SERVO ROBOT

Procedures to home servo robot:

1.   Power up the robot.

2. Do the following sub steps to home the robot.
A. Jog the robot into the clear position as shown:
• During the homing procedure, the Pegasus will move each
axis by itself until it trips the home position sensor.
•  The controller will then stop that axis and move the next
axis until it trips its home position sensor.
• This will continue for all axes
 PROCEDURE

B .   From the Start-up menu, press the [F1] HOME key to home the robot.

The robot will move each axis itself as the teach

pendant display reads “HOMING”.
The order in which the Pegasus robot homes each
axis is as follows:
Axis 2 – Shoulder
Axis 3 – Elbow
Axis 5 – Wrist Roll
Axis 4 – Wrist Pitch
Axis 1 – Waist

When the robot is finished homing, the teach pendant display will return to the start-up menu.
 Learn about Quick
Homing!

QUICK HOMING WHY IS QUICK HOMING A GOOD

IDEA?

- A quicker way to home the robot • The robot will often have fixtures or other

wherein you'll move it close to the obstacles within reach that could be hit by
the arm during homing, possibly damaging
home position.
the robot and/or fixtures

- With quick homing, the robot will 2. To make the homing process take less time

quickly activate its home sensors

during homing.
 QUICK HOMING POSITION Learn about Quick
Homing!

• WAIST (AXIS 1) –  LOCATE IN ANY CLEAR POSITION TO THE

LEFT OF CENTER. IT WILL HOME RIGHT.

• SHOULDER (AXIS 2) –  LOCATE IN ANY CLEAR POSITION

FORWARD OF THE VERTICAL POSITION.   IT WILL HOME UP
TO THE VERTICAL POSITION.

• ELBOW (AXIS 3) – LOCATE SLIGHTLY LOWER THAN THE

HORIZONTAL POSITION.

• PITCH (AXIS 4) – LOCATE IN ANY CLEAR POSITION THAT IS

BELOW THE HORIZONTAL POSITION.   IT WILL HOME UP TO
THE HORIZONTAL POSITION

• ROLL (AXIS 5) –  IF USING A PNEUMATIC (AIR POWERED)

GRIPPER, LOCATE IN ANY CLEAR POSITION SO THAT THE
AIR HOSE IS TO THE LEFT OF THE VERTICAL POSITION.   IT
WILL HOME COUNTER CLOCKWISE.
 PROCEDURE
5.Do the following sub steps to quick home the robot:
A. Jog the robot into the quick homing position as shown:
B. Press the [F1] HOME key to home the robot.

You should now realize that the complete start-up

procedure for the Pegasus robot is consist of 5 steps:
• Conduct a safety check of the robot and work area.
• Turn on power to the controller.
• Enable the robot drives.
• Jog the robot to the quick homing (or clear) position.
• Home the robot.
 Describe the functions of two
section 4: types of end effectors
end effector operation
Identify the two types of gripper
finger designs and describe their
operation

Move the Servo Robot using

the Manual Jog function

OBJECTIVES: Describe the operation of five

types of robot safety devices
 function of the 2 types of end effector

End Effector - In order for the robot to

do work, the manipulator must be
outfitted with a device called an end
effector.
2 BASIC TYPES OF END EFFECTORS:
1. End-of-Arm (EOA) Tooling
- allows the robot a more active role by enabling the robot to
perform work on an object such as drilling, welding, gluing,
cutting or performing some other task to an object.
2. Grippers
- are the most common end effector and are used to hold or grasp
an object for the purpose of lifting or otherwise physically moving SOME BASIC END EFFECTORS
an object from one position to another.
 2 TYPES OF GRIPPER FINGER DESIGNS AND ITS OPERATIONS

1. 2-POINT CURVILINEAR GRIPPER

- has two fingers that close on the part

- closing movement of the fingers is a circular path
- often pneumatic powered
- most common type of gripper used in industry
2. 2-POINT PARALLEL GRIPPER

- also has two fingers that close on the part

- fingers move in a straight line toward each other with the
fingertips always remaining parallel with each other
- more expensive than the 2-point curvilinear but it allows
you to pick up a wider range of sizes of parts because the *The Pegasus robot is available with either a 2-point
gripper fingers will close flat on the part no matter how curvilinear pneumatic gripper or a 2-point parallel electric
large the part gripper.
 MANUALLY OPERATE THE GRIPPER USING THE
TEACH PENDANT

Procedures to manually open and close the gripper:

1. If your robot has a pneumatic gripper, perform the following

substeps. If you have an electric gripper, skip this step and
proceed to step 2. 
A. Check to see that the air supply is connected as shown.  
B. Turn on the shutoff valve to the air supply. 
C. Adjust the regulator pressure to 50 psi/345 kPa.
 PROCEDURE

2.   Perform the following substeps to start up the robot.

  A. Perform a safety check
  B. Turn on the controller. 
C. Enable the drives. 
D. Jog to the quick home position. 
E.   Home the robot.

3.   Press [EXEC] to return to the Main menu.

 PROCEDURE
4.   Perform the following substeps to operate the gripper manually
  A. Press [F3] TCH to go to the Teach menu as shown:

• The Teach menu will be displayed whether the gripper is

open or closed. If the gripper is currently closed, OPEN will
appear on the display above the [F3] key. This tells you that
by pressing [F3] the gripper will open.
• If the gripper is currently opened, CLOS will appear on the
display above the [F3] key as shown below. This tells you
that by pressing [F3] the gripper will close.

B. If the gripper is closed, press [F3] to open it. If the gripper is open, press  [F3] to close it.
 OPERATION OF FIVE TYPES OF ROBOT SAFETY DEVICES

• emergency stops
• The robot's work area and the equipment within
- this device must interrupt power to all aspects of the robot workcell
it are called a workcell. - All devices must default to a safe condition
- must always be within reach of any person who is near or in the
• For safety, the workcell must be designed so workcell area
that people cannot enter it while the robot is - NOTE: The emergency stop pushbutton located on the Pegasus Teach
operating. Pendant is NOT meant to be a substitute for the buttons described
above. It is intended to stop only the robot
• Depending on the type of application, one or
more of the following five devices are used to
2. BARRICADES
protect people from injury around robot
- can also be used to protect people from robots. Chain link fencing or
workcells:
walls around the work area of the robot can be used to restrict access
to the robot.
 OPERATION OF FIVE TYPES OF ROBOT SAFETY DEVICES

3. LIGHT CURTAINS
- Some factories limit access to the robot workcell using
a beam of light.
- These focused light beams are positioned to form
a light grid or light curtain. 
- When interrupted by a person entering the guarded
area, the light curtain acts like an emergency stop
pushbutton and stops the robot.

LIGHT CURTAINS
OPERATION OF FIVE TYPES OF ROBOT SAFETY DEVICES

5. SIGNS AND TAPES

4. SAFETY MATS
- Warning signs should be placed around the robot
- designed with a switch inside that opens when
workcell
someone steps on them
- The floor around the robot workcell can also be
- can be connected to the robot controller to shut
marked off with black and yellow tape to help
down operation immediately
direct traffic around the hazardous area.