Rockwell Robotic Solutions

MM03

MM04- How to Program SCARA and Six Axis

Robots

MM05- Implementing Vision in Robotics

• Automotive remains largest with 45% of total Industrial Robots sold, however, slowest growing.

• F&B / Personal Care and Electronics account for 25% with attractive rates of growth

1

2

1

2

Robotics Application

Automotive 45%

Consumer Electr

6%

Electronics & Elect.

8%

Food/Beverage/Personal Care

11%

Metal Products 10%

Rubber/Plastics

9%

Semicon 8%

Other 3%

Worldwide Industrial Robot Sales by Industry (%) Market Segment CAGR

Automotive 4% Consumer Electronics 8%

Electronics/Electrical 7% Food/Beverage/Personal Care 9%

Metal Products 6% Rubber/Plastics 6%

Semiconductors/LCD/LED/PV 7% Other Industries 5%

Total

Packaging Line

Cartoner

Primary Wrapper

Secondary Wrapper

Accumulator

Product Sorting

Case Packer

Palletizer

Robots in Packaging and Typical Uses

• SCARA

– Case Packing

– Top Loading

• Delta

– Case Packing

– Top Loading

– Infeed

• Articulated Arm

– Palletizing

• Linear Cartesian

– Top Loading

– Palletizing

Packaging Line Architecture

Material Editor Management Clients

LAN (TCP/IP, Ethernet)

Ethernet

High Alarm Low Alarm Comm. Err.

Machine 1 Controller

To Business

systems

Machine 2 Controller

High Alarm Low Alarm Comm. Err.

High Alarm Low Alarm Comm. Err.

Machine 3 Controller

Ethernet

Servo drives for line and robot

Logix control for line and robot

Vision System

8

Packaging – Packing Applications

Packing Applications

• Case Packing

– Placing smaller boxes into

larger boxes

• Racetrack Packing

– Picking multiple items and

placing into a tray

9

Packaging - Palletizing

Palletizing Applications

• Placing boxes, trays, bags,

bottles, kegs, on a pallet

• Assortment mixing

Logix Robot Interface Options

Robotics AOI & Faceplate Library

Level 1 - Robot Vendors Control Level 3 - Logix Kinematics & CIP Motion Interface Drives

Level 2 - Logix Kinematics (Host)

to Robot Vendors Control

Level 1– Dedicated Robot Controller

Robot Control & Joint Axis Drives

Motor/ARM interface

Line Controller (PAC) Studio 5000

Robot Control Software/Teach Pendent • Configuration, Programming • Simulation • Manual control (Jog, Teach)

EtherNet/IP

4/17/2015 12

Optional: • AOI Library, • View Faceplates • AOP/data mapping

• Robot controller manages joint axis drives

• Programming and configuration managed at the robot controller

– Functionality dictated by robot controller

– Optional: Logix AOI library & HMI

– Optional: Logix robot AOP

• Robot handheld programming/operation

• Logix supervisory control (robot slave)

– Interlocking – cmd & status, recipe data

– Command sequencing (AOI)

– Loose coupling to Logix “GMC” axes

• Robot controller manages Robot TCP safety

FANUC Robotics

13

• RA Partnership

• Advanced Global Collaboration

• Products

• Delta, SCARA, Articulated Arm

• Largest supplier worldwide with over 220,000 robot arms

installed

• Logix Integration

• Level 1 EtherNet/IP

• Custom Add-on-profile (AOP)

• Enhanced data access interface (EDA)

• CIP Safety slave

• Line HMI integration

Staubli

Staubli Unival Controller

Staubli Manipulator

Logix AOI Library – 21 functions

• Logix AOI Library

Level 2 – Logix Kinematics (Host) to Robot Controller

Robot Control & Joint Axis Drives

Motor/ARM interface

Line Controller (PAC) Studio 5000

Robot Control Software/Teach Pendent • Configuration • Manual control (Jog in local mode)

EtherNet/IP

4/17/2015 19

Optional: • AOI Library, • View Faceplates • AOP

• Robot controller manages joint axis drives

• Drives configuration managed in the robot controller

• Programming managed in the Logix controller

– Joint axis trajectory commands

– Functionality dictated by Logix

• Core Logix Kinematics

– Tight coupling to Logix “GMC” axes

– Optional: Logix AOI library

• Robot handheld for local jog

• Logix manages Robot TCP safety

Level 3 – Logix Kinematics with CIP Motion Drives

Robot Joint Axis Drives

Motor/ARM Interface

Line Controller (PAC) Studio 5000

EtherNet/IP CIP Motion

4/17/2015 20

Optional: • AOI Library, • View Faceplates • AOP

• Logix manages joint axis drives

• Studio 5000 Programming and configuration, managed in the Logix controller

– Joint axis trajectory commands

– Drive management

– Functionality dictated by Logix

• Core Logix Kinematics

• Robot vendor runtime (option)

– Tight coupling to Logix “GMC” axes

– Optional: Logix AOI library & HMI faceplates

• Logix manages Robot TCP safety

Supported Robot Geometries

• 24

Robotics Pick and Place AOI

Library

• Simplifies application development

• Support for multiple functions

– Path definition and

execution

• Conditional stop points

• Estop recovery

– Vision System data

integration

– Conveyor Tracking

– Ancillary Axis control

– Path position and time

based output control

– Work Zone

Management

Logix Robot Enhancements –

Level 2,3

FEATURE FUNCTIONALITY

Tool Tip Offsets • Dynamic tool tip offsets - TxTyTz, TRxTRyTRz.

6 Axis Cartesian Moves

• 6 axis Cartesian TCP control -> XYZ & Orientation RxRyRz • MAPM data table driven interpolation • Point-point (PTP) • Linear path (CP-L) • Blending PTP and CP-L • MDSC mode support.

Robot Geometry Support

• The OEM Team can support OEM’s developing a Logix/Kinetix based Robotics solution. GOTC application engineers can provide assessment, consulting, training and guidance on design and implementation.

• Typical Robot Types • 2 D or 3D Delta – Codian or equivalent and Custom design

• Custom Robotic configurations (requires technical assessment)

• H-Bot Robot configurations

• Tools and Templates • Path Object – template for motion path planning

• Native instructions – MCT and MCLM’s

• Custom forward and inverse Kinematics routines for non-native Kinematics

OEM Team Support

Robotics Applications

2 Axis Delta OEM Reference 1

• Top Tray Loader and Cartoner Side Loader

Applications

– 2D Delta custom design by OEM. 2 Variations:

• Standard 2D Delta top loader that used native Logix

Kinematics

• Non-Standard design requiring manual Kinematics

calculations encapsulated into an AOI or structured

text. Used for inverse and forward Kinematics

calculations.

• Coordinated vector motion control (MCLM

instruction) for the path control

Non-Native Logix Kinematics

Execution

- Kinematics calculations can be written in structured text in a routine or

an AOI

- Routines or AOI’s can be source code protected

- Kinematics are solved every scan of the motion group

3 and 4 Axis Delta OEM Reference 2

• 3D 4 axis Delta Codian Robots for In-feed section of Cartoning Machines

– Single 3D 4 axis Delta with one in-feed conveyor and one out-feed conveyor.

• Vision system for random product on in-feed conveyor

• Product tracking control in Logix. – Three 3D 4 Axis Deltas in tandem for load balancing

• Random product mult-infeed conveyors for product variation.

• Single or dual out-feed flighted conveyor

• Manage product mix on the out-feed conveyor for cartoning

• Codian Robots using native Kinematics and vector motion path planning (MCLM instruction).

H-BOT Pick & Place OEM Reference 3

• H-BOT multi-pick robot arm for cartoning applications

– Native Kinematics in Logix for robotic arm control

– Path Object used for path planning and tool rotation control

– Optionally the H-BOT AOI using gearing and vector motion path

planning (MCLM instruction) to control desired motion profile in

Cartesian space. Useful for backward compatibility with processors

prior to Kinematics capability.

Articulated Arm Robot OEM

Reference 4

• 4 Axis Comau Robot palletizer application

– Native Kinematics in Logix

– Path Object for Path Planning or motion vector path planning (MCLM)

– Layer Forming code for the PLC and HMI

– Multi-Tool support

– Time based Stopping control with jerk control

– Torque Proving servo capability for motor brake control

– L7S GuardLogix Safety Controller for integrated safety functionality

Dynamic and fast lightweight construction

One integral control system needed, cutting the price,

maintenance cost and physical space.

Very fast lead times (4-6 weeks).

Robots come with gearboxes and can optionally include

servo motors.

Quality – Dynamic – Innovative – Low Maintenance

Lightweight Construction

Codian Robotics:

Innovative Robot Technology

D2 Series

Model Work Envelope Payload

D2-800 850 mm 2 kg

D2-1000 1000 mm 30 kg

D2-1500 1500 mm 30 kg

D2-1000 Twin 1000 mm 40 kg

D2-1500 Twin 1500 mm 40 kg

• Movement in two axis, rotation optional • Ideal for many Pick and Place packaging

processes • Designed for applications up to 40 kg • ISO gripper mount • ISO standard mount for servo motors and

gear boxes • Very low maintenance • Materials: carbon fiber, stainless steel,

anodized aluminium

D2-1000 with Rotation

D4 Series

Model Work Envelope Payload

D4-500 500 mm 1 kg

D4-800-2 800 mm 3 kg

D4-1100-2 1100 mm 3 kg

D4-1300-2 1300 mm 3 kg

D4-1600 1600 mm 10 kg

• Three axis, rotation optional

• Open platform for servo motors and

control systems

• Ideal for applications up to 10 kg

• ISO gripper mount.

• ISO standard mount for servo motors

and gear boxes

• Materials: carbon fiber, anodized

aluminium, titanium and plastic

D4-1100 with Rotation

D5 Series

• Five axis of rotation.

• Allows for 360 degrees of rotation.

• Open platform for servo motors and

control systems.

• Ideal for applications up to 1.5 kg.

• ISO gripper mount

• ISO standard mount for servo motors

and gear boxes

• Materials: carbon fiber, anodized

aluminium, titanium and plastic.

Model Work Envelope Payload

D5-800 800 mm 1.5 kg

D5-1100 1000 mm 1.5 kg

D5-1300 1300 mm 1.5 kg

D5-1100

Hygienic Design

• Fully enclosed water tight system for gearboxes, servo motors and cables.

• Standard Gearboxes and Motors. • Smooth rounded surface, easy to

clean, CIP (Cleaning In Place). • IP69K standard. • Materials: titanium, 316L stainless steel

and POM.

Model Work Envelope Payload

D4-800 HD 800 mm 3 kg

D4-1100 HD 1000 mm 3 kg

D4-1300 HD 1300 mm 3 kg

D4-1100 HD

Motion & Mechatronics Solution Area

• Codian D2 & D4 Robots

Tradeshow

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