LAB MANUAL

OF
WORKSHOP ON DIGITAL MANUFACTURING
(ARISTO ROBOT)

DEPARTMENT OF PRODUCTION ENGINEERING

VEER SURENDRA SAI UNIVERSITY OF TECHNOLOGY, ODISHA,
BURLA
 General Safety
 A robot seems to be very clever, responding eagerly to the instructions of
their operators, but in reality they are merely machines performing
mechanical functions. As such they are sublimely unaware of the presence
of human heads and hands and eyes, and have no instinct or common
sense to warn them of imminent danger to life.
 In any collision between a robot and a human, the human is the most likely
to suffer injury, and the human is the only one who will feel pain. Always
stay outside the operating envelope while the robot is active. Make sure
other people do the same.
 Robots are also capable of damaging themselves. If a moving robot
collides with an inanimate object, it is likely to suffer damage. Be kind to
your robot and do not drive it into walls or control boxes or smash it into
its own baseboard.
Aristo Robot Safety Measures:
 Homing all axes is essential before running a new program.
 Do not touch the robot during operation.
 Test all programs initially at greatly reduced speeds.
 Emergency stop (E-Stop) switch is provided in the control box. During the
test phase, press the emergency stop switch if necessary. Activating the E-
Stop stops all robot movement immediately.
 Use robot and drive unit within the allowed temperature range between 5
to 40 Celsius (41 to 104 Fahrenheit).
 Do not allow water, liquid and metal shavings to enter the robot and drive
unit.
 Protect the robot against impact and vibration.
Keep the robot and rive unit connectors clean. Wipe the conductive areas with
preservative to protect from dirt, dust etc.
Always use stabilized power source. A standard stabilizer of 2kVA is
recommended if your power source has significant fluctuation (±10%).
Never try to handle the robot or move the robot axis when robot is enabled.
 EXERCISE
Objective:
To study the Basic Features of Aristo Robot.
Teach the robot palletizing operations by picking the job from pallet1 and placing it in pallet 2.
Material Required:
 Robot Experiment Table.
 Pallet 1 (horizontal rows pallet).
 Pallet 2 (5x3 column pallet).
 Aristo Robot.
 MRobot Software.
Theory:

ARISTO ROBOT:-
A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or
specialized devices through variable programmed motions for the performance of a variety of tasks.
An Aristo robot is a 6 axis Articulated robot. Articulated robots are powered by a variety of means and can
be used to lift small parts with great accuracy. They are often used for tasks such as welding, painting, and
assembly.

The three laws of robotics are:

 A robot may not harm a human or, through inaction, allow a human to come to harm.
 A robot must obey the orders given by human beings, except when such orders conflict with the
First Law.
 A robot must protect its own existence as long as it does not conflict with the First or Second Laws.

Axis Angular Specification

Min Max Home
Base -2500 900 900
Shoulder -900 -450 -900
Elbow -450 -1150 -900
Wrist 00 3400 00
Pitch -900 900 900
Roll 00 3400 00

 Base: This is also called as waist. Being the first axis (al) can revolve from 90° to. 250°. It is the
lowest or supporting part or structure of the robot.
 Shoulder: Being the second axis, it can play between -45° & -90° which will help the robot to
moves in forward and backward.
 Elbow: The third axis plays between 45° & 115° providing up and down movement for picking the
object.
Page-1
 NOTE: The axis2 and axis3 are mechanically connected in parallel so we can’t move both this
axis simultaneously but we can move both axes separately in an equal distance like 20 mm.

 Wrist: Wrist being the fourth axis can perform rotation from 0° to 340°.

 Pitch: An angle of -90° to 90° can be obtained from this fifth axis which makes the robot flexible
enough to pick 'n place the objects.

 Roll: This small additional wrist in place of sixth axis will revolve from 0° to 340°. This gives
much more flexibility to handle job-oriented objects.

 Gripper: It is used to pick and place the object.

Types of Robot:
Robots are classified as per coordinates system as follows.
1. Cartesian Coordinates (Three Linear Axes)
2. Cylindrical coordinates (Two Linear and One rotary Axis)
3. Spherical Coordinates (One Linear and Two rotary Axis )
4. Revolute and articulated coordinates.(Three Rotary Axis)

Aristo Robot Coordinates:

In the Aristo Robot Program, all the menus contain two types of co-ordinates.
i) World Coordinate System:
The world coordinate system is a coordinate system that defines the physical coordinates. Three
coordinates x, y, z are arranged at right angles as shown in the figure. The origin of these coordinates
systems is situated at the center point of the BASE. Coordinate axes are measured in millimeters (mm).
The positive directions are indicated in figure by arrow tips. With the help of this system, we can find the
actual location of Robot.
ii) Axial Coordinate System:
The Axial coordinate is referred as AX1, AX2, AX3, AX4, AX5 and AX6 which all represents the six axes
of the aristo Robot.

(World Coordinate System) (Axial Coordinate System)

Page-2
Controller Detail:
MTAB 8860 Controller is a multi-purpose and programmable 6 axis motion controller (PMC - program
motion control) with PLC function. It supports offline operating mode, online real- time operating mode
and console operating mode, and is widely used in various automation control equipment.
When the controller is running in offline mode, it uses "C" language style instruction programming and
control, and is partly compatible with G code motion instructions. When it is in online running mode, any
third party software can access PMC internal system register area through standard Modbus
communication protocol to control the various function of the motion control card and provide flexible
open architecture.
Aristo Robot Specifications:
Number of Axes/Height 6/522mm Power Supply 230V/110 AC, 50/60 Hz
and SA
Joint Actuators Servo Motor (With Pay load ( Including 3 Kg
Encoders) Gripper)
Transmission Belt drives, Ball Screws, Repeatability ±0.3mm
Elbow & Gear drive
Joints Ball Bearings Horizontal Reach 654 mm
Gripper Angular Jaws Type Tip Speed 0.2 m/sec
(Detachable)
Gripper Actuator Pneumatic Position Feedback Optical Encoder (HP
2phase 500 PPR)
Waist J1 340 degree Operating 180 C to 400 C
Temperature
Shoulder J2 45 degree Mounting Method Floor
Motor
Elbow J3 45 degree (dependent on Controller PC Based Ethernet Port
shoulder)
Wrist J4 340 degree Control Software Specially Developed
Robot Programming
Language
Pitch J5 180 degree Path Type Point-to-Point, Continuous
Path, Linear and Circular
Roll J6 340 degree Communication Ethernet
Application Pick & Place Applications Palletizing Kit, Stacking, Assembly, Testing switch
Banks
Weight Body 35 kg

Control Box 35 kg
Page-3
Operating Procedure for Palletizing Pick and Place:
Step 1: Switch ON the control box.

Step 2: Release the emergency button.

Step 3: Open the MRobot software login “User Name” Step 4: Program the robot to pick and place the
and “Password”. job.
– admin
- password

Program Syntax:
Set Speed 50
Home the robot
Command: Gripper Open
…..
Teach the robot to pick the job in pallet1
….. Page-4
Command: Gripper close
…..
Teach the robot to place the job in pallet2
…..
Command: Gripper open

To repeat the experiment more than 10times, use the IF command,

Set Speed 50
Home the robot
Let A=0
Label A
Label B
Command: Gripper Open
…..
Teach the robot using joint command
…..
Command: Gripper close
…..
Teach the robot using joint command
…..
Command: Gripper open
If A <10
Add A = A+1
Jump B
Step 5: Run the program.

Result:
The Aristo robot successfully completes the palletizing experiment.
Page-5
 PICK & PLACE OPERATION USING 6 AXIS ARISTO ROBOT

SPEED 80
HOME_ALL
LET A = 0
LABEL A
LABEL B
GRIPPER OPEN
JOINT A1= 50.95 A2= -89.7 A3= 91.18 A4= 2.55 A5= 77.71 A6= 0.01
JOINT A1= 48.27 A2= -54.3 A3= 58.83 A4= 2.55 A5= 77.71 A6= 0.02
JOINT A1= 48.27 A2= -46.71 A3= 54.06 A4= 2.55 A5= 76.58 A6= 0.01
GRIPPER CLOSE
JOINT A1= 48.27 A2= -48 A3= 50.71 A4= 2.55 A5= 76.58 A6= 0.01
JOINT A1= 48.27 A2= -69.6 A3= 70.56 A4= 2.55 A5= 63.56 A6= 0.01
JOINT A1= -110.08 A2= -69.6 A3= 70.56 A4= 2.55 A5= 63.57 A6= 0.01
JOINT A1= -110.08 A2= -78.37 A3= 91.92 A4= 2.55 A5= 63.57 A6= 0.02
JOINT A1= -107.58 A2= -78.74 A3= 93.31 A4= 2.55 A5= 63.57 A6= 0.02
GRIPPER OPEN
JOINT A1= -107.58 A2= -89.68 A3= 90.18 A4= 2.55 A5= 63.57 A6= 0.02
IF A < 4 JUMP B
ADD A = A + 1
JUMP B

Submitted by:- Department of Production Engg.

Name- VSSUT, Burla, Sambalpur.
Regd. No. – Lab – Workshop & Digital Mfg. Lab
Semester – , Section – Dt.:-

(Exercise Print Copy)