Students with EVEN Roll numbers in ME461
Assignemnt No 1: Write a program in VAL II for the FMS systems shown below. The robot is
expected to perform the sequence of opera ons as given below:
Submit the scanned pdf file of the answer (program) in mookit. Dead line April 7th , 10 PM.
Sequence of opera ons for robot: Part pick up from carousel - load in Machine 1- a er machining
is complete Load in Machine 2- a er machining in machine 2, pick up and place in pallet . Machine
mes and communica on channels are as given below.
1. Part moves on carousel and the sensor detects the arrrival of the part. Once the part is
detected the carousal stops moving. The robot is sent a signal on Channnel no. 1 that the
part has arrived and the carousel has stopped, and part can be picked up.
2. Robot picks up the part , sends a signal to carousal (channel 2) to start and then puts part in
Machine no 1 for machining.
3. A er machining is complete in Machine no 1 it send a signal to the robot to to pick part and
load in Machine 2.
4. Each machine has two channels for signalling:
Machine 1: channel 3,4
Machine 2: channel 5,6
5. Robot transfers part from machine 1 to machine 2.
6. Robot then picks up another part and loads part in Machine 1.
7. Robot waits for comple on in Machine 2. Once machining is over it signals the robot that the
machining is complete.
8. Once machining is over in machine 2, it picks up the part and puts it in the parts pallet.
Indexing of the part placement should be done by a sub programme.
9. Repeat this process 100 mes.
10. Use a subprogramme for indexing for placing in the pallet.
The machining mes are related to your roll numbers as follows:
Roll number 200XXX
First two digits (e.g. 20) is the machining me in machine 1
Last two digits (XX + 30) is the machining me in machine 2.
Eachine machine has two channels that are used for signalling its state:
Both channels are low if the machine is free with no part, one is high and one is low if machining
is ongoing, and both are high if machining is complete. A er the part is picked up by the robot
the channels are automa cally reset to low.
Assume the corodinates of the corner point on the pallet.
Students with ODD Roll numbers in ME461
Assignemnt No 1: Write a program in VAL II for the FMS systems shown below. The robot is
expected to perform the sequence of opera ons as given below:
Submit the scanned pdf file of the answer (program) in mookit. Dead line April 7th , 10
PM.
Sequence of opera ons for robot: Part pick up from carousel- load in free Machine (any one of the
three machines that is free) - a er machining pick up and place in pallet . Machine mes and
communica on channels are as given below.
1. Part moves on carousel and the sensor detects the arrrival of the part. Once the part is
detected the carousal stops moving. The robot is sent a signal on Channnel no. 1 that the
part has arrived and the carousel has stopped, and part can be picked up.
2. Robot picks up the part , sends a signal to carousal (channel 2) to start and then puts part in
any Machine that is free for machining.
3. Each machine has two channels for sending signals to the robot .
Machine 1 : Channel 3,4
Machine 2 : Channel 5,6
Machine 3 : Channel 7,8
4. A er machining is complete in any Machine it send a signal ( respec ve channel ) to the
robot to pick part and load in parts pallet by indexing.
5. Robot then picks up part for placing in pallet.
6. Repeat this process 100 mes.
7. Use a subprogramme for indexing for placing in the pallet.
The machining mes are related to your roll numbers as follows:
Roll number 200XXX
First two digits (e.g. 20) is the machining me in machine 1
Last two digits (XX + 10) is the machining me in machine 2.
Middle two numbers (0X +15) is the machining me in machine 3.
Eachine machine has two channels that are used for signalling its state:
Both channels are low if the machine is free with no part loaded, one is high and one is low if
machining is ongoing, and both are high if machining is complete. A er the part is picked up by
the robot the channels are automa cally reset to low.
Assume the coordiantes of the corner point of the pallet.
