FANUC M1iA ROBOT PROGRAMMING

The main objective of this was to generate a program for the FANUC M1iA Robot through direct programming with the iPendant controller. The program was required to be developed in the Teach Pendant (TP) programming language. The program was to be developed and debugged in the Teach Mode after which it would be run in Automatic Mode. The aim was to produce a valid control program that would pick and place objects avoiding collisions while optimising the overall cycle time.

There were two sequences that had to be implemented which involved picking placing from one side and then picking placing to the starting side.
Sequence 1 – left to right: L1 -> R4, L2 -> R3, L3 -> R2, L4 -> R1
Sequence 2 – right to left: R1 -> L1, R2 -> L2, R3 -> L3, R4 -> L4

During these sequences the robot should not hit the obstacle in the middle and should not malfunction while rotating to the orientation that it goes into for the next step.

The program was created using the iPendant. The structure of the program was to have a main program that called on other subroutines to run the required task. The program that was created had a main program, two subroutines which also used two other subroutines. The main program called the two subroutines.

The first subroutine completed the first sequence from left to right. Once this was completed, the second subroutine was called and completed the right to left sequence. Within these subroutines there were two main subroutines that were called upon .Their main purpose was for the correct home positioning of the robot so that it would not face problems when either picking up or placing the part. As some positions were limited for it to reach in any orientation. Programming this sequence was done by manually locating specific positions for the robot to reach.

https://www.youtube.com/watch?v=iDMKdL26Fpk