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Course: AI LAB- Level 2
PNP with Slide Rail

  • 6-12 grade
  • Intermediate

Lesson Description:

When the workspace of Dobot Magician is not enough, you can extend it with a sliding rail. This peripheral allows you to mount the robot on a rail, and precisely control its position along the rail. The robot controls its position on the rail by use of a stepper motor.

This device can be useful, especially in an industrial setting. It allows you to do long distance pick and place and palletization routines for one, sometimes making it possible for one robot to do the work of two or more, saving money and time.

It is also very useful when Machine tending. A robot can put raw materials into a machine and remove finished product allowing for Lights Out Manufacturing.


KEY VOCABULARY

  • Sliding Rail
  • Stepper Motor
  • Machine Tending
  • Lights out manufacturing


EQUIPMENT & SUPPLIES

  • Dobot Magic Box
  • Dobot Magician Lite
  • Digital – 2-Button Input Module
  • Suction Cup Gripper
  • Analog – Potentiometer Module
  • Module Connecting Wires
  • 12V Power Cable and Supply
  • USB C to A Cable


 

Standards Covered

image description

Lesson Modules


Teaching Tips:

PROCEDURE

SECTION 1 – INSTALLING THE ROBOT ON THE LINEAR SLIDE RAIL

Helpful tip If this section is already complete, skip to SECTION 2 – WIRING.

Step 1 – Mount the Dobot Magician on PLATE A

Mount the Dobot Magician on PLATE A with FOUR M3x10 countersink cap screws. Ensure the countersinks of PLATE A point outward. Orient the plate as shown in the image to the right.

Mount Magician on Plate A Mount Magician on Plate A
Mount Magician on Plate A

Step 2 – Mount PLATE A onto PLATE B

Mount PLATE A (with the Dobot Magician attached) onto PLATE B with THREE M3x8 Hex-Socket Head Cap Screws. Make sure the back of the robot faces the cut out on the back of PLATE B.

Helpful tip Do not put a screw in the back right corner (EMPTY). We need this hole for the next step

Plate A & B Hex-Socket Screw
Mount Plate A to Plate B

Step 3 – Connect the WIRE DUCT

Connect the free end of the WIRE DUCT to PLATE B with ONE M3x6 Countersink screw.

Plate B M3x6 Countersink
Wire duct to Plate B

Step 4 – Attach PLATE C

For this activity, in order for use with the Magic Box we will need PLATE C to carry it. Attach PLATE C onto PLATE A with TWO M3x8 Hex-Socket Head Cap Screws.

Plate A Plate C M3x8 Hex-Socket Head
Attach Plate C

Step 5 – Secure the VACUUM PUMP

Use the included ZIP-TIES to attach the VACUUM PUMP to PLATE C. It may be necessary to link/chain more than one zip tie in order to make a complete loop around the Magic Box and bracket.

Plate C Zipties Side-By-Side
Zip-tie vacuum pump Zip-tie Double Connection

SECTION 2 – WIRING THE ROBOT & LINEAR SLIDE RAIL

Helpful tip If this section is already complete, skip to SECTION 3 – SETUP & PROGRAMMING.

Step 1 – Connect the slide rail wires

Connect the four wires from the linear slide rail to the back of the MAGIC BOX. The wires should reach from the wire duct to the MAGIC BOX.

GREEN – PORT 4 USB-B to CONVERTER (Convert to USB-C) to Magic Box
YELLOW – STP 2 12V SHARED POWER to Magic Box

(A) – The motor interface controls the direction and location of the stepper motor
(B) The homing cable is attached to the limit switch at the end of the conveyor and reports when the slide base has been homed to a zero location.
(C) - The USB connection is an extension cable routed through the wire duct and allows the robot to communicate directly with the computer.
(D) - The 12V DC cable powers both the robot and the linear slide base .

Slide-rail wiring overview

Teaching Tips:

SECTION 3 – SETTING UP & PROGRAMMING THE ROBOT & LINEAR SLIDE RAIL

Caution: NEVER wire anything to the Dobot Magician or Magic Box while it has power on. ALWAYS turn it off before making connections or damage to the robot could occur. Be sure to ask your instructor if you have any questions.

1. Typical Start Up Procedure

  • Disconnect any existing END of ARM TOOLING (EoAT).
  • Carefully disconnect any existing vacuum tubes.
  • Press and hold the release button on the bottom of the arm and pull off the EoAT.
Typical Startup Procedure
Wire Guide Below

2. Attach the Suction Cup

Attach the Suction Cup as the END EFFECTOR or END of ARM TOOLING (EoAT) on both robots.

  • STEP 1 – Push the Suction Cup in until it snaps in place.
  • STEP 2 – Attach the hose to the air nozzle.

3. Open DobotBlock Lab

Open up DobotBlock Lab in the software and connect the robot.

DobotLab DobotBlock Lab

4. Open a new file for DobotBlock Lab

Helpful tip Turn on the power to the Magic Box. The Magician Lite will automatically power up.

New File

5. Add a Magic Box to Devices

Add a Magic Box

6. Delete unnecessary devices

Under Devices, delete the Magician and Magician Lite.

Deleting Apps

7. Add the EXTENSION

For this activity, we will need to add the EXTENSION to use the Magician Lite. Click the EXTEND icon in the bottom left corner.

8. Select the Magician Lite Extension

Select Extend, then Select the Magician Lite Extension

+Extend
Add Extension

9. Connect the Magic Box

Select the connect icon to establish control from the software to the Magic Box. A connection window should pop up.

Connect Icon

10. Home the slide & robot

Select the CHECK box for the LinearRail BEFORE homing the robot.

Check Box Before Homing

11. Clear the area and home

ENSURE THE AREA IS CLEAR OF OBSTRUCTIONS & LIMIT SWITCH CABLE IS CONNECTED ON BOTH ENDS. When the home icon is selected, the Linear Slide Base will slide all the way to the limit switch (End with the stepper motor). The robot will home after the slide base has homed.

Home Icon Selected

12. Test the slide movement

Once the Linear Slide Base and Robot are homed, select the L+ icon. The robot should slide away from the stepper motor. The value shown is not actually the distance traveled. Since the motor is a stepper motor, the number shown is a position that the slide base has traveled too.

DO NOT ADJUST THE VELOCITY SLIDER!

L+ Icon

13. Add the COLOR SENSOR extension

For this activity, we will need to add an EXTENSION to use the COLOR SENSOR. Click the EXTEND icon in the bottom left corner.

Click Extend Button

14. Add extension for the Sliding Rail Kit

Click on “+ Add extension” for the Sliding Rail Kit.

Click on Add Extension

15. Set the rail status

The first step in programming this activity is to set the status of the rail.

  • V1 – RED Bumpers at the end of each rail
  • V2 – BLUE Bumpers at the end of each rail

At this time do not use the Set Velocity Block

Sliding Rail Extended Toolbox:
– Set Sliding Rail Status “ON” & “V2”

Set Sliding Rail Status Block

16. Create a test program

Create a simple test program that will send the robot out to location 80 mm, wait for 2 seconds, travel back to location 20 mm, wait for 2 seconds, and then repeat the loop.

Simple Test Program

17. Add movements at 80 mm and 20 mm

Add a movement after the robot has reached the 80 mm and a different movement at 20 mm.

Helpful tip Use the Unlock Arm Control to Grab new locations (any new positions will do for this test) and Fill those Coordinates into the Go To Commands

Add a Movement
Add a Movement

SECTION 4 – PICK AND PLACE USING THE LINEAR SLIDE BASE

  1. Tape both field diagrams to the table as shown below (one towards each end of the slide base. See your instructor for specific locations) *NOTE: the slide base shown has been reduced in length
Field diagrams taped
  1. Tape both field diagrams to the table as shown.
  2. Create a pick and place activity that will move a block from one field diagram to the other. Get the starting and ending locations from your instructor.

Teaching Tips:

CONCLUSION

  1. Find a video example of a working sliding base being used in industry. Explain what operation it is doing.
  2. How is the slidebase in question #1 similar to the one you are using?
  3. How is the slidebase in question #1 different from the one you are using?
  4. What was the most difficult part of this activity for you? Why? Explain fully.

GOING BEYOND

Finished early? Try some of the actions below. When finished, show your instructor and have them initial on the line.

  • _________ Move a pallet of 4 blocks from one pallet to the other.
  • _________ Set up the robot to “tend a machine”. Use a cardboard box for the machine at one end of the slide, a switch for the machine on/off, a field diagram for the pallet at the other end of the slide, and a cube or cylinder for the part.

    1. Pick a part off the Pallet
    2. Place a part in the machine (Box)
    3. Move the robot out of the machine
    4. When the machine is done (press the switch)
    5. Have the robot get the part out of the machine and return it to the pallet at the other end of the slide

If your set up did not work correctly the first time, what did you have to do to make it work?