**4.2 Planning stage**

*Industrial Robotics - New Paradigms*

and programming.

the process.

*4.1.2 Case study*

**Figure 2A**, **B**.

diagnosis was made.

not modular.

rent replacement version.

for the execution of arm kinematics.

The initial state of the arm is shown in **Figure 1**.

*4.1.1 Creation of the work team*

When mentioning the possibility of integrating pedagogical processes into the project, the need for seedbeds to support the research process of the GACIPE group is emphasized, allowing the support of students from different technologies in the training areas related to the needs of the project, allowing then to implement the proposal of design and development of a new and reliable control system, by integrating a series of fully updated electrical and electronic devices, which allows us to perform a perfectly scalable assembly at industrial and plausible level as training, experimentation, and interaction tool for students from different areas of training (faculties), related to students in electronics, electricity, electromechanics,

In the robotic system, devices or mechanisms, such as some couplings and the entire frame, including the base, work well. However, all electronics, electromechanics, and software are obsolete. Therefore, an interdisciplinary team is needed to achieve the success of the project. Each team destined for a particular section according to their strengths. The development lines are mechanical, electromechanical control, and programming. Each team is made up of instructors and students of SENA to know first-hand what is a process of reconditioning of industrial machinery. Each team must carry out research work to apply their knowledge acquired on a real high-level project. It notes that periodic meetings of the GACIPE research group were held to make the fundamental decisions of

The initial state of the electrical panel and the original control are shown in

• Microprocessor-based technology of the 1980s of the last century.

• The size of the power system is excessively large and heavy.

ible with the first versions of operating systems.

Therefore, taking into account the initial situation of the robotic system, a brief

• The control system is a mixture of digital and analog components. That is, it is

• The monitoring software is an old and discontinued version. That is compat-

• The man-machine interface has destroyed half of the screen. There is no cur-

• The structure and most of the mechanisms are in good condition. It should

Consequently, the decision is made to implement new technology (electronics, software, and mechanics) compatible with the existing structure and mechanisms

only do piece-by-piece maintenance due to its long inactivity.

**32**

At this stage, the activities that must be carried out to meet the objective of the project are determined. The intention is to recover the original functioning of the robotic arm. That is why we study each technological module of the robot to have

**Figure 1.** *The initial state of the arm.*

**Figure 2.** *Module status: (A) control panel and (B) man-machine interface.*

the detail of the problems that must be overcome. Therefore, each of the modules will be presented below.

## *4.2.1 Control module*

The original cabinet was completely revised. The diagnosis of electronics is that the circuitry is in proper operation. However, its architecture is complex. There is a mixture of digital and analog elements. Some of those elements or components are obsolete or are outgoing. Even some of them are expensive. It is no longer being manufactured.

Therefore, the entire control cabinet was designed and constructed mainly with the objective of protecting, controlling, and indicating the status of the servodrivers and the PC that are in charge of the control of the arm, for these different control devices were used, maneuver and protection such as selectors, breaker, electrical noise filters, thermal and overcurrent protection relays, sources, and light indicators among others.

The final control cabinet (**Figure 3**) was designed and built by apprentices and instructors who are part of the power seedbeds. Servo drivers are products offered by DMM. These products were successfully tested in previous projects.

The main components used in the control panel are: Driver DYN4-H01A2-00, Driver DYN2-TLA6S-00, and Computational Hardware 5I25 Superport FPGA based PCI.

The ignition cycle is as follows: when the main breaker is switched on, the system does not start; everything starts when the main contactor is activated, and the coil is activated from the system computer, before this, in order to start the computer. The control board has a power button on the door, this button is responsible for short-circuiting two pins of the PC board (PWR) to generate the ignition

**35**

*Training by Projects in an Industrial Robotic Application DOI: http://dx.doi.org/10.5772/intechopen.90667*

(0.12 kW) responsible for handling the grabber.

drivers, and other components.

RS485/CAN communication.

*4.2.3 Robot programming*

free LinuxCNC software.

CNC machine tools.

*4.2.2 Power module*

of said card, and additionally this board has a power signal that activates the main contactor**.** At that time, the entire board is energized, initializing the sources, servo

Within the exploration and research work that was to be carried out, a technological surveillance activity was carried out looking for technologies similar to the original actuators of the arm in commercial, technical, and academic websites on the Internet with the students of electric seedbed that focused on the definition of power system and the determination of the suitable motors, in such a way that the arm meets or improves the original response level, in this particular case, six servomotors had to be selected, three of them, more robust (1 kW) to take care of the movement of the joints responsible for positioning, and three other smaller ones

The servomotors were chosen to take into account the characteristics of the original engines, the main power, size, and electrical characteristics were reviewed to find a suitable replacement, as for the brand the DMM brand was selected for its reliability demonstrated in previous projects developed for the industry by the GACIPE research group. The servomotors used are Servomotor 410-DST-A6TKB and Servomotor 11A-DST-A6HKB. The servo drives used for the control of the servomotors are DYN4-H01A2-00 and DYN2-TLA6S-00. These drivers have within their basic applications, being implemented in machine tools, with RS232/Modbus

During the review of the robot, it could be evidenced that the software is obsolete and not functional with the current operating systems in force. As for the electronic infrastructure, both the man-machine interface and the control system are eliminated because their components have already left the commercial market. To select the control software, a state of the art is done in academic pages and databases on the internet with the support of the students. Among the results, it was found that some of the existing programs in the medium are made by other people who, not finding a good option for this application, choose to design and build their own software as mentioned in [13–17], where there is an open architecture but with a lot of work to develop, in this search is the aforementioned LinuxCNC, a software based on the Linux operating system Ubuntu V10.04 (**Figure 6A**), which implements an open architecture for numerical control of CNC machines based on the RT-Linux kernel for real-time instruction execution. Some work done with the software shows good results as in [18]; therefore, the decision is made to select the

The servomotors are controlled by signals from an FPGA 5i25 card, a low-cost and general-purpose device for PCI, commonly used in this type of applications, which allows us to use pins and parallel port connectors to handle high compatibility with the most actuator motion systems becoming a reliable parallel porttype interface, works perfectly at 5 or 3.3 V, has 34 I/O bits with their respective pull up resistors, this card is installed on a motherboard GA -H110M integrated in the control cabinet, said board controls, through a hardware interface, the movement of the robot, using the free LinuxCNC software, for its robustness, additionally so that the apprentices know about it and include it in their project due to its advantages as a very versatile, reliable, and efficient software to handle

**Figure 3.** *Control board.*

of said card, and additionally this board has a power signal that activates the main contactor**.** At that time, the entire board is energized, initializing the sources, servo drivers, and other components.
