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2.1
Teach pendant mode
Turn the key on the Controller to TEACH.
Turn the key on the Teach Pendant to ENABLE.
2.1.1 Moving the robot
To move the robot two buttons must be pushed, i.e., the button under the teach
pendant (dead-man's-handle) and the button "STEP/MOVE". (Keeping these two
buttons pressed down turns on the servos). A low beeping sound from the PWM can
be heard and the LED "SVO ON" goes green. Stay out of the work space when the
servos are on (Safety Rule 1 – above)
The robot can be now moved in joint-space (Ө
For Cartesian-space operation press the XYZ button once (top row 3
The buttons labelled –X,+X,-Y,+Y,-Z,+Z can now be used to move the robot.
The buttons labelled -A,+A are to rotate the robot's end-effector around the end
effector Z axis. .
The buttons labelled,-B,+B are to rotate the robot's end-effector around the end
effector ...... axis?
Pressing the XYZ button at any time displays the position of the end-effector.
To open and close the hand keep the dead-man's handle pressed, release the
"STEP/MOVE" button and keep the "HAND" button pressed instead.
To open the hand press "+C" to close it "-C"
2.2
Automatic Operation
Automatic Operation is used to run programs that are stored in the robot controller
memory. The program will cycle, i.e. run continuously once started.
Turn the key on the Teach Pendant to DISABLE.
Turn the key on the Controller to AUTO(Op.) .
Press the "Change Display" button until the status display shows "P.xxxxxx"
Press the "Up" or "Down" button to select your program.
Switch on the servos by pressing the "SVO ON" button.
Press "START"
If the "END" button is pressed, the robot will finish the current program cycle and stop.
If the "STOP" button is pressed, the robot stops immediately.
2.3
Automatic Operation, controlled externally (via PC)
Turn the key on the Teach Pendant to DISABLE.
Turn the key on the Controller to AUTO(Ext.).
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
to Ө
) or Cartesian-space (XYZ).
1
5
5
rd
across).
Version 0.6
Nov 2005
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