Process and robot data from a two robot workcell representative performing representative manufacturing operations.

This data set is captured from a robot workcell that is performing activities representative of several manufacturing operations. The workcell contains two, 6-degree-of-freedom robot manipulators where one robot is performing material handling operations (e.g., transport parts into and out of a specific work space) while the other robot is performing a simulated precision operation (e.g., the robot touching the center of a part with a tool tip that leaves a mark on the part). This precision operation is intended to represent a precise manufacturing operation (e.g., welding, machining). The goal of this data set is to provide robot level and process level measurements of the workcell operating in nominal parameters. There are no known equipment or process degradations in the workcell.  The material handling robot will perform pick and place operations, including moving simulated parts from an input area to in-process work fixtures. Once parts are placed in/on the work fixtures, the second robot will interact with the part in a specified precise manner. In this specific instance, the second robot has a pen mounted to its tool flange and is drawing the NIST logo on a surface of the part. When the precision operation is completed, the material handling robot will then move the completed part to an output. This suite of data includes process data and performance data, including timestamps. Timestamps are recorded at predefined state changes and events on the PLC and robot controllers, respectively. Each robot controller and the PLC have their own internal clocks and, due to hardware limitations, the timestamps recorded on each device are relative to their own internal clocks. All timestamp data collected on the PLC is available for real-time calculations and is recorded. The timestamps collected on the robots are only available as recorded data for post-processing and analysis. The timestamps collected on the PLC correspond to 14 part state changes throughout the processing of a part. Timestamps are recorded when PLC-monitored triggers are activated by internal processing (PLC trigger origin) or after the PLC receives an input from a robot controller (robot trigger origin). Records generated from PLC-originated triggers include parts entering the work cell, assignment of robot tasks, and parts leaving the work cell. PLC-originating triggers are activated by either internal algorithms or sensors which are monitored directly in the PLC Inputs/Outputs (I/O). Records generated from a robot-originated trigger include when a robot begins operating on a part, when the task operation is complete, and when the robot has physically cleared the fixture area and is ready for a new task assignment. Robot-originating triggers are activated by PLC I/O. Process data collected in the workcell are the variable pieces of process information. This includes the input location (single option in the initial configuration presented in this paper), the output location (single option in the initial configuration presented in this paper), the work fixture location, the part number counted from startup, and the part type (task number for drawing robot).  Additional information on the context of the workcell operations and the captured data can be found in the attached files, which includes a README.txt, along with several noted publications. Disclaimer: Certain commercial entities, equipment, or materials may be identified or referenced in this data, or its supporting materials, in order to illustrate a point or concept. Such identification or reference is not intended to imply recommendation or endorsement by NIST; nor does it imply that the entities, materials, equipment or data are necessarily the best available for the purpose. The user assumes any and all risk arising from use of this dataset.

Tags: condition-monitoring, diagnostics, manufacturing, prognostics, robotics, workcell
Organization: National Institute of Standards and Technology