Introduction To Melfa-Basic; Instruction Reference; Example Programs; Placing Of An Object - Mitsubishi RV-2AJ Programming And Calibration

3.

Introduction to MELFA-BASIC

3.1 Instruction Reference

Command Explanation
MOV Moves the robot to a teach-point position
MVS
Moves the robot to a teach-point in a straight line
Moves the robot to a position above the teach-point
in a straight line. ( Z-Axis distance in Tool-frame)
OVRD
Override speed limit (0 to 100%)
(never use more than 30 for safety ! make this the
first line of your program)
DLY
Delay in seconds – Robot waits
HOPEN
Opens the gripper
HCLOSE Closes the gripper
GOSUB Calls a subroutine
RETURN Returns from the subroutine
DEF POS Defines a position variable
END End of program
3.2

Example programs:

3.2.1 Placing of an object

The example program Pr1 puts down an object at position P10:
OVRD 20
MOV P10, -50
OVRD 5
MVS P10
DLY 0.5
HOPEN 1
DLY 0.5
OVRD 20
MVS P10, -50
END
Pr1: placing of an object
As shown in the program Pr1 a good program should consider the following:
- use as few teach-points as possible
- Always use an approach point before going to the target point,
to ensure you are not hitting the target from the wrong direction
- use delays to let the robot settle
- set the speed limit appropriately
When using the interpolation move MVS, the robot sometimes cannot create an
interpolation path and returns with an out of range error. Use MOV instead of MVS
when moving between approach points.
RV-2AJ Robot Programming LAB NOTES
'set speed to 20%
'go within 50mm of teach-point P10
'set speed to 5%
'go to P10
'wait 0.5 seconds to make sure the robot stopped
'open gripper
'wait 0.5 seconds
'set speed to 20%
'move up, to leave position P10
'end of program
8
Example
MOV P1
MVS P1
MVS P1, -50
MVS 20
DLY 0.5
HOPEN 1
HCLOSE 1
GOSUB *PICK
RETURN
DEF POS PTMP
END
Version 0.6 Nov 2005