1. The document describes simulating a program to move a robot in cubic and cuboidal shapes using Robotstudio software. 2. It provides steps to create a project, add a robot, controller, cube/cuboid objects, teach positions, and program routines using MoveJ and MoveL instructions to move the robot around the cube and cuboid. 3. The program is run to demonstrate a robot moving in a continuous path around shapes of length 300, width 100, and height 200.

1. Department of Collegiate and Technical Education
Robot Programming (Week 11)
Session 6 : Simulate a program to move a robot in a cubic and
cuboidal shape
Automation and Robotics ( V Semester)
Electronics and Communication Engineering
Electronics and Communication Engineering –20EC53I

2. Aim : Simulate a program to move a robot in a cubic shape
using Robotstudio software.
Electronics and Communication Engineering –20EC53I
Experiment 1

3. 1.Open Robot studio installed in the PC.
2.By default below screen will appear with File – NEW and Project tab , default
Project Name will be displayed. Type a project name ,for example, ‘cubic shape’ and
select CREATE
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

4. 3.The project is saved in the name ‘cubic shape’. Project space appears on the screen.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

5. 4. Select your desired ROBOT from the ABB library in HOME menu. Click OK
to place robot on work space.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

6. 5. You can fix the tool at end effector of ROBOT or without it also.
6. This program is explained without adding end-effector tool.
7. To add a controller to control the ROBOT.
8. Select Virtual Controller from the HOME Menu and select From Layout, the
Controller name and ROBOT ware will be selected.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

7. 9. Once the controller is added to the project space. Status will show in GREEN color
at right corner of the screen.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

8. 10. To add a CUBE to the workspace, Goto MODELLING Menu ,select BOX
from SOLID tab.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

9. 11. Type Length =200 ,Width =200 and Height = 200 in CREATE BOX tab.
12. Click Create and close. A box will appear and place it wherever you want .
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

10. 13. To select Flex Pendent to teach the robot.
14. Goto CONTROLLER Menu-> select FlexPendent
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

11. 15. Set the operating mode as manual and Click Enable Device. You can observe this in the
TeachPendant as “Motors ON”
16. Teach the TCP, module and work object before programming.
17. On the ABB menu select Program editor.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

12. 18. Goto module tab and select the Module 1 or created Module
19. Select the show Module which is at the bottom side of the window.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

13. 20. Select the Routine, by clicking on the file.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

14. 21. Enter the name of the new routine and select Ok.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

15. 22. Select the created Routine and click on show routine.
23. Select ADD Instruction menu appear on the window
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

16. 24. Select Move J.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

17. 25. The syntax will display on the window as
26. MoveJ *, v1000, z50, tool0;
27. Double click on the [*] star.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

18. 28. The menu bar will appear on the screen.
29. Double Click on NEW and a dialog box appears. Type the Name as home for p10
(default name).
30. Tap on OK.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

19. 31.Select the highlighted name, i.e.home and jog the robot for its required Position
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

20. 32. Define the specified position and select MODIFY.
33. Select the MOVE L instruction for the Cube and MODIFY the position and define it.
34. Repeat the steps for remaining points and modify its position.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

21. 35. Select the DEBUG and tap on PP to Routine.
36. Select OK.
37. Select the Play button to run the instruction one at a time.
38. Select Play  Button to RUN continuously.
Procedure to move ROBOT in a cubic shape
Electronics and Communication Engineering –20EC53I

22. • PROC main()
MoveJ home, v1000, z50, tool0;
MoveL home10, v1000, z50, tool0;
MoveL home20, v1000, z50, tool0;
MoveL home100, v1000, z50, tool0;
MoveL home30, v1000, z50, tool0;
MoveL home40, v1000, z50, tool0;
MoveL home50, v1000, z50, tool0;
MoveJ home60, v1000, z50, tool0;
MoveL home70, v1000, z50, tool0;
MoveL home80, v1000, z50, tool0;
MoveJ home90, v1000, z50, tool0;
MoveJ home, v1000, z50, tool0;
• ENDPROC
Program to move Robot in a cubical shape.
Electronics and Communication Engineering –20EC53I

23. • A ROBOT can move in a cubical path continuously using
RobotStudio software.
Result
Electronics and Communication Engineering –20EC53I

24. Aim : Simulate a program to move a robot in a cuboidal shape using Robotstudio
software.
Experiment 2: Simulate a program to move a
robot in a cuboidal shape.
Electronics and Communication Engineering –20EC53I

25. 1. To move ROBOT in a Cuboidal shape , Steps 1 to 9 is repeated
with Project name “Cuboidal_path”
2. To add a CUBOID to the workspace, Goto MODELLING Menu ,
select BOX from SOLID tab.
Procedure to move ROBOT in a cuboidal shape
Electronics and Communication Engineering –20EC53I

26. 3. Type Length = 300 ,Width =100 and Height = 200 in CREATE BOX tab.
4. Click Create and close. A box will appear and place it wherever you want .
Procedure to move ROBOT in a cuboidal shape
Electronics and Communication Engineering –20EC53I

27. 5. Repeat the steps 13 to 38.
Procedure to move ROBOT in a cuboidal shape
Electronics and Communication Engineering –20EC53I

28. PROC main()
MoveJ home, v1000, z50, tool0;
MoveL home10, v1000, z50, tool0;
MoveL home20, v1000, z50, tool0;
MoveL home30, v1000, z50, tool0;
MoveL home40, v1000, z50, tool0;
MoveL home50, v1000, z50, tool0;
MoveJ home60, v1000, z50, tool0;
MoveL home70, v1000, z50, tool0;
MoveL home80, v1000, z50, tool0;
MoveJ home90, v1000, z50, tool0;
MoveJ home, v1000, z50, tool0;
ENDPROC
Procedure to move ROBOT in a cuboidal shape
Electronics and Communication Engineering –20EC53I

29. • A ROBOT can move in a cuboidal path continuously using Robotstudio
software.
Result
Electronics and Communication Engineering –20EC53I

30. • Simulate a Robot to move in a cubical shape of length 300 and
cuboidal of radius 100 and height 200.
ACTIVITY/PRACTICE
Electronics and Communication Engineering –20EC53I

31. Thank you
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Electronics and Communication Engineering –20EC53I