Gantry Robot Commissioning

1
Gantry Robot Commissioning
EGR 450 Semester Project Sponsor Dr. Barakat
and Grand Valley State University Team Members
Clayton Campagna, Orin Cole, Rick Lopez
BEFORE
AFTER

• Objectives
• To setup and commission a donated two-axis gantry
  robot
• Improve the condition of the wiring in the
  control cabinet
• Perform a demonstrational task with robot
  incorporating a PLC
• Produce documentation to aid in future
  modification

• Operations preformed
• Rewire cabinet
• Reprogram servo drivers
• Mount cylinders to create
  half-axis vertical motion
• Build test table for the demonstration task
• Create program to run the sample task

Demonstration task When the start button is
pressed the gantry robot will extend a marker and
draw the GVSU logo on a dry erase board. It will
wait for a second button press and then extend
two suction cups to pick up an eraser and erase
the logo. Finally the eraser is returned to the
staging area