: Positions sequence

    Introduction:In lab 2 there wasn't not much different to the first lab. We used to RV-M2 robot to palletize 6 cylindrical containers that made of plastic into one divided paper in 2 X 3 table that fit each container. We had to set five positons include the final position. The most challenge was to make sure that the robot grips doesn’t hit the containers and move the containers to the blue wax blocks. Procedure: This lab is very common useful in the industries. We have to set the first six containers in the pallet in divided paper in equal six parts. We had to use only five positions for the task (corners and the blue wax container). The first part is to define the positions of corners of pallet and the container that made of wax blocks by using the Teach Pendant. Second part is the movements. RV-M2 robot heading to programing the other movements in order to done with palletizing task.The first step to start working on RV-M2 robot is turn on the command box by hitting the button in back of it. Also, Tech Pendant should turn on. In order to avoid a collision first move to a retracted position of the joints and then execute the “Nest” command.After making sure that the RV-M2 robot is in safe side, we start the next step which is to save the positions that needed they are: pallet corners positions and outside position (Container made of blue wax blocks). That will help us to use in the program.In Roboware program, we should set the positions that we had saved. Because we are in Team #2, the position sequence going to be 20, 21, 22, and 23. (Below is the example of positions sequence). 21 2320 22Table1: Positions sequence What is the position number means? That means the first digit set for pallet number, and the second one is set for position number. For example, 20 the first digit (2) is set for pallet number and the second digit (0) is set for position number and the robot will read the commands like this: 2, 0 (Pallet 2, position 0).To set the first position we need to move the arm by using PTP button then place the grip above the first container. In same level of high we had moved the arm and we placed the grip above the other three containers that happened when we used the XYZ button and X and Z-axis.The final position is 24 which was outside of the pallet, it was above container made of blue wax blocks where we placed all 6 containers. We used PTP and XYZ buttons to get the final position. To save the positions we hit PS + Number of the position + ENT. After saving all positions we move to program part.Conclusion: For this lab we had to use similar materials that’s we used in the previous lab but this time we had to pay attention more to the robot movements and position. We had to make sure that the robot doesn’t hit the containers .in other word, we had to make enough spaces between cylinder containers .this lab is very useful in industries to know the desired size. We found this lab is harder than the one before because we had to pay attention more and record the positions. In addition we learned something new about palletizing