Related Manuals for Mitsubishi RV-2AJ
Summary of Contents for Mitsubishi RV-2AJ
- Page 1 School of Computing, Communication and Electronics Mitsubishi RV-2AJ Industrial Robot Programming and Calibration Lab Notes Joerg Wolf Paul Robinson Version 0.6 Nov 2005...
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Page 2: Table Of Contents
3.2.1 Placing of an object ..............8 3.2.2 Subroutines ................9 3.2.3 External input................9 3.2.4 Palletising ................. 10 3.3 Variables..................10 Common Error Messages............... 11 5. Working Envelope Limits ..............11 References: ..................... 12 RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005... -
Page 3: Introduction
Introduction This manual provides a hands-on introduction to the Mitsubishi RV-2AJ, 5-axis industrial robot. For further information please consult the Mitsubishi manual [1]. Safety REFER TO THE SAFETY SECTION OF YOUR MODULE NOTES – THESE ARE ON THE PORTAL. The following safety rules must ALWAYS be obeyed. Failure to do so may result in exclusion from the laboratory. - Page 4 Figure 2. The Teach Pendant Make sure the emergency stop buttons of both the teach pendant and controller are pulled out. Switch on the Controller. (Power up takes approx. 20 seconds) RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005...
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Page 5: Teach Pendant Mode
To communicate with the robot start up: “C:\Mitsubishi Progs\RoboExplorer\Mits_Soft\RoboExplorer.exe” In the background a second program will automatically start up called “RoboCom.exe” RoboCom has a light blue background when communication with the robot is established. RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005... -
Page 6: Creating And Downloading A Melfa-Basic File
BASIC file should have the extension “.MB4”. An example file can be found with this manual: TEST.MB4. Drag the MELFA-BASIC file across onto the RV-2AJ robot icon, see Figure 3. Drag the MELFA-Position file across to the left onto the MELFA-BASIC file that has just been downloaded. -
Page 7: Creating And Downloading A Teach-Point File
2.3.2 Creating and downloading a teach-point file Teach points (TP’s) define target positions for the robot. A Teach point for the RV-2AJ robot consists of 5 values, namely: Cartesian X position Cartesian Y position Cartesian Z position A – wrist rotation A B –... -
Page 8: Introduction To Melfa-Basic
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 Version 0.6 Nov 2005... -
Page 9: Subroutines
‘Waits for the input signal bit 8 to turn OFF ‘(light beam has been interrupted by the object) GOSUB *PICKUP ‘calls subroutine which could pick up the object GOSUB *PUTSOMEWHERE GOTO *LOOP Pr3: External input RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005... -
Page 10: Palletising
Position variables can be modified. Suppose a teach-point P1 is stored in memory. To increase the x-component 10 mm use: P1.X = P1.X + 10 To change P1, rotating around the end-effector’s y-axis 0.07 radians use: P1.B = P1.B - 0.07 RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005... -
Page 11: Common Error Messages
- 90° to + 90° -200° to +200° Z > 44 mm To prevent the end effector from hitting the work surface (table) X > - 220 mm To prevent the robot from reaching behind RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005... -
Page 12: References
References: “INSTRUCTION MANUAL, Detailed explanations of functions and operations”, Mitsubishi Electric Corporation, Japan, 2001 “INSTRUCTION MANUAL, Troubleshooting”, Mitsubishi Electric Corporation, Japan, 2001 RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005...