4.

Apparatus

There are several apparatus in the system. Figures and description below shows the
apparatus and the equipment in the system.

Scorbot ER-V Plus

Basic Function:
Move work piece from source to the CNC
machine.
Load work piece to the CNC machine.
Unload work piece from CNC machine,
then transfer to the work piece to the
conveyer or inventory.

DC servo motors
Function:
Control 5-axis joint movement in the
Scorbot ER-V Plus.
Positive DC voltage turns the motor in
one direction, while negative DC voltage
turns it in the opposite direction.
Each motor is fitted with an encoder for
closed-loop control.

Gripper

Functions:
Grip the work piece.
When motors 4 and 5 are driven in
opposite

directions,

the

wrist

pitch

moves up and down.

When motors 4 and 5 are driven in the
same

direction,

the

wrist

rotates

clockwise and counterclockwise.

Motor 6 was assigned to open and
close the gripper.
Main Controller Unit

Functions:
Connect and control all devices in the
system (includes Scorbot ER-V Plus).
All the devices controlled programming
language. The programming language
was input through the software.
Record the movement of the Scorbot
in the ATS program.

The Controller

Functions:
On/ off power switch: Located at the side of
the

controller

box

that

connects

and

disconnects AC power to the controller.

Motor

power

switch:

Connects

and

disconnects DC voltage to all the connected

motors and to the user power supply.
Emergency Switch and Lamp: Halt all
controller operations. A red lamp embedded
in the switch lights up when the switch is on.
Inputs: Allow the robotic system to receive

signals from external devices in the robots

environment. (includes 16-inputs and Ground
Terminal)
Outputs: Allow the robotic system to
transmit signals to external devices in the
robots

environment.

(includes

12

open

collector outputs and 4 relay outputs)

Input and Output LEDs: 16 yellow LEDs,
corresponding to outputs 116, light up when
the outputs are ON. 16 orange LEDs,
corresponding to inputs 116, light up when
the inputs are ON.
Scorbot Teach Pendant

Functions:
Hand-held terminal, used for controlling the
robot and axis connected to Controller-A.
Moving the axes, recording positions,
sending the axes to recorded positions, and
activating programs.

5.0

Procedures
1)
2)
3)
4)
5)
6)

The manual of the robot given during laboratory practical was studied carefully.
The ATS program was developed for the case study.
The ATS program for the case study was run.
The developed program was checked to ensure it meets the case study requirement.
The program was confirmed and the program was run continuously.
The joint angles and respective Cartesian positions for each position of the robot
were recorded.