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Exp No 7

The document describes programming a 5-axis TAL BRABO industrial robot using a teach pendant. Key details include: 1) The TAL BRABO robot has 5 axes, a 750mm reach, and a 10kg payload capacity. It is used for applications like pick and place, assembly, and machine tending. 2) Programming is done using the teach pendant to manually set waypoints and create motion paths by linking the waypoints. 3) Multiple paths can be created and run in a loop by setting waypoints, adding delays, and using the run button on the teach pendant.

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20R211 - D L SHRIVARSHINI
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435 views

Exp No 7

The document describes programming a 5-axis TAL BRABO industrial robot using a teach pendant. Key details include: 1) The TAL BRABO robot has 5 axes, a 750mm reach, and a 10kg payload capacity. It is used for applications like pick and place, assembly, and machine tending. 2) Programming is done using the teach pendant to manually set waypoints and create motion paths by linking the waypoints. 3) Multiple paths can be created and run in a loop by setting waypoints, adding delays, and using the run button on the teach pendant.

Uploaded by

20R211 - D L SHRIVARSHINI
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
You are on page 1/ 8

EXP NO. : 07 ROLL NO.

: 20R211

NAME : D.L.SHRIVARSHINI DATE:

PROGRAMMING OF FIVE-AXIS TAL BARBO INDUSTRIAL ROBOT


AIM:

To program 5-Axis (TAL BRABO) Robot using teach pendent and manual set the way-
points and run the motion of the robot.

APPARARTUS REQUIRED:

• 5-Axis (TAL BRABO) Robot


• Teach Pendant

THEORY:

TAL BRABO is an Indigenous Articulated Industrial Robot (IAIR), built in two variations
with ten kilogram and two-kilogram payload capacity, and 750 millimeter and 600-
millimeter reach respectively. Having undergone two years of strenuous testing and
validation, TAL BRABO robots made it to market in 2016, and as of April 2017 a total of 50
were installed across the industry. The robot possesses flip back capabilities and its five-axis
design, along with repeatability measurements of 0.2 millimeters, allow it to be programmed
to take on dull, dirty and dangerous jobs to complement a company’s human workforce.

TAL Manufacturing Solutions, a wholly-owned subsidiary of TATA Motors formed a


strategic partnership with Italy’s RTA Motion control Systems to source motors and drives
for its BRABO Robot. TAL BRABO can be used for various applications, taking on tasks such
as pick and place, the assembly of parts, machine and press tending, sealant tasks, camera
and vision-based applications, deburring, chamfering, abrading and welding.

1
FEATURES OF TAL BRABO:

• Machine tending is a well proven application done by TAL BRABO Robot.


• This application requires repetitive and reliable industrial robot. The Flip back
mechanism, Strong controller with built in PLC in the controller and Extra Input and
output total 512 I/O s (as additional extra option) makes TAL BRABO Ideal choice for
machine tending of small parts.
• Flip back mechanism which gives a large working area makes input / output
mechanism and secondary processes such as gauging, Inspection and Post machining
easily achievable with TAL BRABO.
• TAL BRABO compact robot with 750mm reach with payload of 10 Kg offers various
options for gripper for small parts.
• TAL BRABO has generated highly enthusiastic response from SMEs and MSMEs for
machine tending, even 2 machine owner and that of a small turning shop will find
BRABO extremely lucrative to deploy in their work shop.
• Easy programming, installation and maintenance of BRABO with easily available
parts makes TAL BRABO a reliable option for machine tending.

2
3
SPECIFICATION:

Parameter Value

Robot make TAL BRABO

Robot model TR10-5

Construction Articulated arm

Ambient temperature of the 0° C to 45° C


robot workspace

Relative humidity of the robot Less than 90%


workspace

Number of Axes 5

Axis movement range J1- AXIS: ±180°


J2-AXIS: ±130°
J3-AXIS: ±150°
J4-AXIS: ±180°
J5-AXIS: 360°

Maximum speed J1- AXIS: 110°/s


J2-AXIS: 110°/s
J3-AXIS: 110°/s
J4-AXIS: 150°/s
J5-AXIS: 150°/S

Maximum Payload 10Kg

Maximum reach (horizontal) 750mm

Weight of robotic arm 95Kg

Position repeatability ±0.2 mm


(accuracy)

Main power supply 230V AC, Single phase, Regulated


power supply

Full load current 15 Amps

4
Maximum power 4.5KW
consumption

Acoustic level Less than 70 db

Robot controller dimensions 660 * 660 * 350mm

Robot controller weight 45 Kg

Spare digital I/O 3 Input, 4 output (Bidirectional)

Communication protocol Ethernet, Ether CAT

ROBOT WORKSPACE:

5
ROBOT SPECIFICATIONS:

ROBOT IMAGES:

6
PROCEDURE:

➢ Power on the TAL Robot after checking for obstacles that can come in between
ROBOT motion.
➢ Release the EMG STOP button the power supply as well as the teach pendent.
➢ Turn ON the Controller.
➢ After the Teach Pendent is booted, login to Operator mode and get into JOG mode.
➢ In JOG mode, we have two options, one is moving individual joints manually by
varying the values.
➢ The second option is to move using (X,Y,Z) coordinates which will maintain the end
effector coordinates and still move the robot.

7
➢ Apart for this we can manually move the robot by physically moving it with hand or
we can program it in a PC and import the program into teach pendent to move the
Robot.
➢ To set waypoint we just click on the way point button and save this current point as
way point
➢ To create a delay, we can use the delay function and between some path we can create
a specific delay.
➢ By repeating the above steps, we can create multiple waypoints and also, the
necessary delay.
➢ With multiple waypoints one after another, a path will be created.
➢ To run the path, we just have to click the run button before which the Robot should
be set to its home position.
➢ Then it will start to move in the path that we have created by using multiple
waypoints.
➢ It will run this in a loop until we stop it.
➢ Turn On the EMG STOP if the Robot is not used for safety conditions.

RESULT:

Hence the programming of 5-Axis (TAL BRABO) Robot was completed


and multiple paths were created and run using teach pendant

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