Robot Palletizing

PROC teach_drop() MoveJ drop_pt,v1000,fine,tool0; ENDPROC PROC open_gripper() Reset do1; WaitTime 0. 5; ENDPROC QuickTeach software- Creating and calling a subroutine by passing parameter/s to it A. Select â€Å"Routines† from the â€Å"VIEW† top menu keys 1. Cursor to the new subroutine 2. Select â€Å"Decl† (Declaration) from the bottom function keys 3. Select â€Å"Jump† key to switch to bottom half of the page 4. Select â€Å"new† to create a new parameter for subroutine 5. Select â€Å"Right† arrow key to â€Å"Param1† 6. Select â€Å"Text† from the bottom function keys 7. Type the variable name â€Å"y† Repeat the steps 4-7 for more parameters B.Call and set the for the subroutine 1. Select â€Å"ProcCall† and select the subroutine 2. Type or select the variable name. 3. Type â€Å"y† 4. Select â€Å"ok† 5. The result is â€Å"Routine1 y†. Selection buttons and instructions Selecting a nu mber of instructions: Robotic Envelop and Bill of Material (BOM) Bill Of Material ITEM QTY DESCRIPTION REMARKS PPNP unit 1 2 3 4 5 6 7 1 1 10 1 1 1 1 2 ABB IRB 1400 Robot manipulator S4 Controller Pallet Output conveyor In feed conveyor Spring Stand Pneumatic PNP unit PLC unit Allen Bradley & OMRON PLC Part Pick 2 x10 matrixUse only top view of the cell Do not label the components in the drawing itself 8 ABB Rapid new instructions TPWRITE â€Å"Remarks† Type in message to display on the teach pendant for the operator. TPERASE Clear the screen of the teach pendant. Case Study – 2 dimensional palletizing Write a 2Ãâ€"3 palletizing program for the ABB robot. The robot will pick up parts from the conveyor belt and place them on the packaging tray. a) Sketch the layout of the application. (Include the robot, robot envelope, pallet, conveyors, other components. b) Sketch the Program Routine Layouts c) Write the program Specifications: The tray is arranged into 10 columns (7 6. 2 mm in x direction) and 2 rows (50. 8 mm between in y direction) Subroutine names:Main, Home, Pick, Pallet, Open_gripper, Close_ gripper, and the Teach_Drop ABB Rapid – Case Study PROC MAIN() ! MAIN routine – Layer 1 ! Clear the Teach Pendant screen TPERASE; ! Display message on the Teach Pendant TPWrite; â€Å" 2 x 3 Palletizing program† ! Declare VARIABLES rows := 2; columns := 3; ! Program Logic MoveJ Home, V1000, Z50, T1; WaitTime 0. ; Pallet; MoveJ Home, V1000, Z50, T1; ENDPROC Nested â€Å"FOR† loop PROC Pallet() ! Palletizing routine – Layer 2 ! y is in the inner loop and x is in the outer loop FOR x FROM 0 TO rows-1 STEP1 DO FOR y FROM 0 TO columns-1 STEP1 DO PICKUP; MoveJ Offs(droppt, x*76. 2, y*50. 8, 50),v1000,fine,tool0; MoveLOffs(droppt, x*76. 2, y*50. 8, 0),v1000,fine,tool0; opengripper; MoveL Offs(droppt, x*76. 2, y*50. 8, 50),v1000,fine,tool0; ENDFOR ENDFOR Adding TPReadFK instruction TPReadFK (TPRead Function Keys) – whe n the robot waits for an operator input.TPReadFK Variable,â€Å" â€Å",†1†³,†2†³,†3†, â€Å"4†,†5†³; Variable value – depends on the pressed function Key. The variable will be assigned with the value 1 to 5. † First quotationâ€Å" – Blank â€Å"1† – Replace 1 with the preferred text. ( Same for â€Å"2†,†3†³, â€Å"4†, and â€Å"5â€Å") Use the Variable as a condition for the IF†¦ Else IF.. condition 2-dimensional palletizing with TPReadFK ! MAIN subroutine – Layer 1 PROC MAIN() ! Display message on the Teach Pendant TPERASE; TPWrite â€Å" Palletizing program†; ! Declare VARIABLES ! Rows:=2; Cols:=3; !User define Pallet Matrix subroutine usr_def; ! Program Logic Home; ! WaitDi di7,1; (Next semester) WaitTime 0. 5; Palletize; Home; WaitTime 1; ENDPROC ! User defined Pallet Matrix subroutine PROC usr_def() TPErase; TPReadFK User_IN,â€Å" â€Å", †1Ãâ€"2†³,†2Ãâ€"3†³,†2Ãâ€"4†,â€Å" â€Å",â€Å" â€Å"; IF User_IN =1 THEN Rows:=1; Cols:=2; ELSEIF User_IN =2 THEN Rows:=2; Cols:=3; ELSEIF User_IN =3 THEN Rows:=2; Cols:=4; ENDIF ENDPROC TPReadFK in QuickTeach software Select IPL1 select #7 Communicate. Then create the TPReadFK instruction. Highlight the variable name and select the Enter key.Type the variable name Skip first quotation by selecting the â€Å"Next† function key. Then select the â€Å"Text† function key to type â€Å"1X2†. Repeat the steps for â€Å"2 x 3† and â€Å"2 x 2 x 2† matrix or any other matrix you want. Below the TPReadFK instruction, create the If-ThenElse instruction. TPReadFK in QuickTeach software cont’d.. Else IF Instruction Select IPL1 Select the IF instruction. Highlight the entire instruction Select enter key From the function keys, select ADD Select ELSE IF to create the instruction, then select OK. Case study â⠂¬â€œ 3D palletizing

Reform of WTO Essay Example | Topics and Well Written Essays - 1000 words

Reform of WTO - Essay Example As tha paper declares a corporation that pollutes a river into which it discharges wastes will be made to clean it up and to compensate those who have been harmed. The cost of keeping the environment clean becomes a part of the production cost. This can be enforced when there is a global authority to regulate pollution. Without global environment protection welfare cannot be maximized. This essay stresses that unconstrained globalization is likely to lead to economic efficiencies. The ruling elite have to care about the overall welfare otherwise they will out-compete countries that provide minimal conditions for their workers. According to Herman Daly when world production shifts to countries that do the poorest jobs, it reduces the efficiency of global production. The fear is that rich countries would use high standards to keep goods out of the poor countries. Instituting global standards is the only way to prevent an equally inhuman form of uncontrolled global capital. Trade and politics should be independent of each other. Governments may trade with other countries even while disapproving of their regimes. The US has attacked China for its human rights record while it expanded its trade with China. At times though, many trade deals are done with the governments. Transnational corporations arrange with governments for oil exploration, to cut timer and to fish. Th ey thus accept the government’s rights to sell the resources that lie within its border.

The Benefits Of College Sports Speech or Presentation

The Benefits Of College Sports - Speech or Presentation Example Instead, they opt to spend the period set aside for sports studying, socializing or shopping.College sports have been beneficial for students who are offered scholarships based on their sporting prowess in games including tennis, American football, basketball and swimming (Shulman and Bowen 154). Students from marginalized communities benefit immensely from such programs. Most colleges in Europe do not pay the deserved attention to college sports as in other continents (Rosner,Scott and Shropshire 428). This is owing to the shared belief that education is more important than college sports. European varsities do not have the same number of sporting events like the ones in the United States and varsities in other regions of the world. In fact, the experience of college sports is not an important part of the college experience in continental Europe. At its best, most institutions have informal leagues for rugby and soccer. For instance, there are irregular college rugby matches at Twin ckenham between Cambridge and Oxford annually. In addition to, there are inter university events in football and basketball but the situation is still wanting in comparison to other continents. Further study into the topic reveals that college sports do not get enough support from the varsities and the sport departments. It has been observed that there are no sports scholarships in Europe. This adversely affects the sporting landscape in the region, as there are no incentives to take part in sports. This means that that the number of students taking part in college sports is minimal. Secondly, college sports events do not get appropriate coverage. This means students lack the necessary information on sports and those excelling in the sports are not recognized for their efforts. Other continents offer full media and television coverage to such events increasing their popularity among the students. Thirdly, a well-established fan base has a positive impact on the college sports scene (Rosner,Scott and Shropshire 428). Regrettably, the fan base for the various college sports is minimal. This further decreases the popularity of such sports. Additionally, it discourages the participation of any students who would be willing to take part in college sports (Shulman and Bowen 154). Fourthly, college sports do not get the necessary funding to develop and expand its activities. Finally, the college stadiums and facilities in the European varsities are not well developed. This means that those taking part in the sports do not get the appropriate training in a healthy environment. Additionally, the lack of proper training and sporting facilities dampen the efforts of the students taking part in the sports. The issue is no different at Franklin College Switzerland since sports are taken too lightly and denied the deserved attention. This is owing to the fact that too much attention is given to education and other extra curricula activities that are considered more importan t. It has been noted that there are no sporting scholarships offered at Franklin College Switzerland. This leads to the decline in attention paid to sports. The college rarely organizes sporting events within the institution and with other colleges. Additionally, the stadium at the institution has an inadequate space to accommodate various sporting activities. The college

Positioning and Differentiation Paper Research Example | Topics and Well Written Essays - 1250 words

Positioning and Differentiation - Research Paper Example They also need to differentiate themselves from the competitors in order to be attractive to the customers. Failure to position and differentiate from competitors will make it highly difficult for business to survive and sustain growth in today’s highly competitive business world. This paper analyses and compares the positioning and differentiation strategy adopted by two health insurance companies in the US. The two companies chosen are: UnitedHealth Group and WellPoint, Inc. Positioning Positioning is a marketing process used to position a product or a service in the mind of the customer in the best way that the company believes that the product or service must be perceived by the customer. There is very little change that is made to the product unlike the name product positioning suggests. Positioning is all about changing how the product is perceived by the customer (Ries & Trout, 2001). Therefore, positioning is the essence of a marketing mix. It throws light on how the c ompany defines its market segments, its competition and target markets (Schiffman & Kanuk, 2007). It does not induce any new features into a product or service but uses the existing features in order to project the product or service in an effective way to the target market. ... By highlighting the differences between its competitors, businesses try to make its products and services more attractive to the target customer group (Hoskisson et al., 2008). Differentiation is vital for any product or service as it will create a niche for the product or service within a well defined closed target market group. Therefore, a well differentiated product or service will have a competitive advantage over its competitors. Successful differentiation will also give a business the freedom in pricing the products and services as the differentiating features will make for the extra cost from a customer’s perspective (Hoskisson et al., 2009). UnitedHealth Group With headquarters in Minnetonka, Minnesota UnitedHealth Group is one of the leading health care companies in the world. Across the globe, the company serves more than 75 million people. It offers a range of products and services to its customers. UnitedHealth Group was created in 1977 but its origin can be dated back to 1974 when a group of physicians and healthcare professionals founded the Charter Med Incorporated. The company was incorporated with the main purpose of increasing or expanding consumer’s health coverage options (UnitedHealth Group, 2012). Today the company has grown on to become the biggest health carrier in the United States. Positioning UnitedHealth Group which primarily started as an insurance company has diversified its products and services to cater to the needs of the entire health care industry. The company positions itself as leading health care companies which not only address the needs of consumers with heal benefit products and services but also the service sector of the health care industry. It

Impacts Of Conversion Of Tropical Forests To Small-Scale Agriculture Essay

Impacts Of Conversion Of Tropical Forests To Small-Scale Agriculture - Essay Example From a biologist perspective, tropical forests are the richest and most exciting areas on earth sheltering a diverse wildlife. Tropical forests are differentiated from another type of forests due to their gigantic trees amazingly diverse fauna of colorful birds, millions of brightly hued insects, and a variety of fascinating mammals. It is widely accepted that tropical lowland forests are the most species-rich type of terrestrial ecosystem, for example, a hectare of Malaysian tropical rainforest may contain 180 kinds of trees. Tropical rainforests are generally concentrated near the equator in Asia, Africa, South America, Central America, and on many of the Pacific Islands. According to WWF’s biome classification, tropical rain forests are considered a type of tropical wet forest and may also be referred to as lowland equatorial evergreen rain forests. All five layers of tropical rainforests i.e. emergent layer, canopy layer, understory layer, shrub layer, and forest floor are enriched with different plants and animals. Tropical deforestation, desertification, decreasing biodiversity, climate change and the scarcity of fresh water are issues of recent global conflict. This paper makes a conclusion that tropical forests are the richest and most exciting areas on earth sheltering a diverse wildlife. Small-scale agricultural practices, though considered safe by many scientists and ecologists, have been proved to be having detrimental effects on the health of tropical forests. These agricultural practices are facing the burden of huge population growth and unhealthy practices.

Hamlet Essay Example | Topics and Well Written Essays - 750 words - 17

Hamlet - Essay Example The role of a madman that is played by Hamlet tries to proof that the poet is a genius. There is no way that a guarantor for the madness of the prince can be provided not unless the readers are ready to hold that no mad man can stimulate lunacy. Shakespeare must as well have been insane to make it possible for him to portray the traits of a madman in the play. The portraying of the lunacy traits cannot be ascribed to the characters since they are just used as tools to portray it. This is a sign and a way to portray the genius possessed by Shakespeare (Rosenberg, P 393). The perfect awareness of the symptoms that depict madness possessed by Shakespeare appears to be the products of both his imagination and the observation that he has made from the symptoms that are exhibited by real people. The way he portrays madness in the play, is a reality as compared to the real madness in nature and very true to the nature. It is more accurate to say that his knowledge on the deranged is due to his observation and the research he had done but not from his imagination. The sincerity of the madness of Hamlet can only be known by knowing the intention of the poet since medical experts had testified that he had all the symptoms that suggested dementia. A comparison of the madness that is shown by Hamlet and Edgar in the Hamlet is symbolized by a flash of light that occurs in the darkness. This is because they are both seen to be pretending that they are mad. Edgar suffers from the disloyalty of his brother and he plays the role of a fool. This happens to Hamlet who is also a victim of his uncle’s disloyalty and he is deceived by his impersonate madness (Rosenberg, P 393). In Shakespeare’s Tragedy of Hamlet, we are expected to find both the proofs of madness in Ophelia and the signs and indications that the prince was faking his lunacy. The first indicator is that the depicted madness of Hamlet conforms to the stories told by the use of the

Marketing Internet Essay Example | Topics and Well Written Essays - 1000 words

Marketing Internet - Essay Example eBay has gained the reputation for serving the kind of services they offer online for millions of clients worldwide. Millions of collectibles, appliances, computers, furniture, equipment, vehicles, and other miscellaneous items are listed, bought, and sold daily (eBay, Wikipedia). eBay business approach comprises mounting profits by increasing international traffic contained by the eBay structure. eBay is continually trying to reach different countries outside the USA, which includes market deals in Asia Pacific and Europe. The company also does acquisition of related business online companies to integrate in their current systems. This strategic approach enables eBay to expand not online in the previous services and business they handle but enlarging its business scale. Consumers and analyst view eBay as a successful business venture with over $4.55 billion total revenues in 2005. Successful as it may seem, why eBay not explore the venture of becoming a brick and mortar industry This may be an issue or another area where eBay may win in the competition though they are already a winner. In a continuing development, large businesses that existed before the invention of the Web (and were therefore bricks and mortar businesses) are becoming clicks and mortar businesses. Companies like eBay.com and others that have never owned a bricks and mortar storefront are usually known as dotcom companies. Considering the brick and mortar business, with having the physical and online business presence, eBay has a lot of opportunities to explore and take into their serious business plan in the future. Like Target Corporation (www.target.com), has practicing this kind of business enterprise as e-commerce since 1999. The corporation started as a specialty discount store and now boomed and became one of a leading merchant store. In United States, there have 1,447 stores. It now has different subsidiaries and planning to expand abroad to reach greater number of consumers. The first few Target stores included leased supermarkets in addition to general merchandise, which during the time was a common practice by discount retailers as they attempted to offer a one-stop shopping experience to customers. As a result, Target stores tend to attract younger and more educated and affluent customers than its competitors. Currently, the median Target shopper is 41 years old, which is the youngest of al l major discount retailers that Target competes directly against (Target Corporation, Wikipedia). eBay may have a behind the scene approach in the e-commerce business and Target Corporation has its own. Ebay started business online while Target Corporation has been on the business since 1960s and just recently moved online to cater consumers who cannot drop by their store outlets across the country. Differentiating their nature may see some advantages and disadvantages of practicing such business. Will one be of gain by practicing the brick and mortar business This engages systematize shipment, access into shops, handling money, signing credit card, selecting/seeing the product, carrying the product and finding the right aisle to get out. Today there are many online stores selling products from books, CD's, flowers, groceries, services, software and more.