Policy and Procedure

1. ABB IRB-4400 & IRB-6640 : Robotic Cell

a. CLEAN UP: All mess, debris, scrap, stock, tools, material, must be cleaned and returned to original state

b. ROOM ACCESS: All entry into room must remain closed and locked except when necessary for project execution or preparation

c. TOOLS: All hand tools tagged with Blue Spray Paint & hosted in RobLab, never leave the room

d. DESKS: White Tables are for Computer/Clean Work ONLY

e. STORAGE: Project/Material Storage must be labeled. (3) day Storage Limit unless otherwise discussed

f. DOCUMENTATION: All Robotic research should be documented and stored within the dFAB Server (dFABSERVER1/DropBox – Robotics)

g. APPOINTMENTS: Equipment Reservations allow for Preparation, Testing, Research, Computer-Use, Operation and Robotic Related Work-Flows. Users must be mindful of limited time and shared space issues

h. OPERATION: Should the Operation require, all other Users must retreat to a safe work-zone and/or leave the space if deemed necessary by Operational Status. All Users yield to Reservation/Appointment Owner

 

2. ABB IRB-4400 & IRB-6640 : Work-Zones

a. ALL WORK-ZONES: Work-Zones are provided for various Robotic Work-Flows. With advance notification and permission, Users may alter position and affix custom jigs, tools or objects to ROBLab mounting Surfaces. Users are expected to breakdown, clean, and return Work-Zones to their original state. Altered Work-Zones are subject to change and movement throughout the semester

b. 3D ENVIRONMENT: Users are responsible for ensuring proper development and setup of 3D Environmental requirements for successful RAPID Code Generation/Simulation

c. ROLLING VACUUM TABLE: Rolling Vacuum Table is for Robotic Work-Flows ONLY. Vacuum Table utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

d. STEEL TABLE: Steel Table is for Robotic Work-Flows ONLY. Steel Table utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

e. WALL-MOUNTS: Wall-Mount Jigs are for Robotic Work-Flows ONLY. Wall Mount Jig utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

f. ROTARY TABLE: Rotary Vacuum Table is for Robotic Work-Flows ONLY. Rotary Vacuum Table utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

g. DESKS: White Desks are for Computer/Clean Work ONLY

h. WORK-TABLE: Work Tables are positioned throughout the lab for Fabrication related work-flow. Work-Table usage must be approved beforehand. Users must label their work and clean-up afterward

 

3. ABB IRB-4400 & IRB-6640 : Manipulators, External Devices, Controllers & TeachPendants

a. DO NOT:

  • Push ANY buttons on the robot
  • Unplug ANY connections on the robot or ATI Robot-Side interface
  • Climb or physically engage robot
  • Place non-toolside objects on the robot
  • Store/place objects on the Track

b. CONTROLLERS:

  • should remain ON
  • Cases will not be opened by User

c. TOOL PLATES:

  • All ATI tool plates are to be dismounted and returned to default configuration (user custom tools removed).

d. TEACH PENDANT (TP):

  • TP is to be treated with GREAT CARE. User is subject to Fines and/or Fees related to TP misuse
  • TP menu user access is restricted to the following:
    • HotEdit, I/O’s, Jogging, Program Editor, Program Data, Production Window
    • User Modules should be uploaded to the USER MODULES folder
    • System Modules and other core files are not to be altered nor delete

 

4. ABB IRB-4400 & IRB-6640 : Operation

a. UNIVERSAL:

  • All Operations will be simulated prior to execution
  • All Users will be aware of non-simulated variables, dress pack, work surface etc.
  • Space will be cleared of debris and extraneous material, taking into account all moving parts of the manipulator not just the TCP
  • Operator will be sober, awake and attentive at all times of operation
  • Operator may be accompanied by other users, teammates, and robotic authorized personnel
  • Robot will not physically engage living organisms.

b. MANUAL MODE:

  • Users will remain clear of working perimeter
  • Operator may be accompanied by other Users and Robotic Authorized Personnel.
  • Operator will hold TP properly while motors on
  • Users should not interfere with environment while motors on

c. AUTO MODE:

  • All Non-Essential Personnel are to leave the area
  • All Essential Personnel are to be on the SAFE side of the light curtain with required Safety Equipment
  • Speed will not be permitted to exceed 2000mm/s at all times for any operation

d. TOOLING: When using Dangerous Tooling Attachments (i.e. Spindle, WireSaw, Plasma, etc.)

  • All Non-Essential Personnel are to leave the room entirely
  • All Essential Personnel are to be on the SAFE side of the light curtain with Safety Equipment
  • Operator will be accompanied by at least one authorized user
  • Stock is to be properly secured
  • Work with particular tools will only occur in designated work zones

e. TOOLING: When using Less Dangerous Tooling Attachments (i.e. Gripper, Hot-Wire, Sensory Apparatus etc.)

  • Follow Protocol for Mode of Operation

f. SPECIAL CASES: Live Command, Indeterminate Operation

  • Modules that may produce Non-Simulative Motion Variability are to only be executed under direct supervision by Admin or Advanced User.  Auto-Mode rules apply.  Active tooling with indeterminate operation should be executed with extreme caution and supervision, and should be preceded with rigorous testing and simulation.