Describing And Creating The Program - Mitsubishi Electric MELFA Hardware Manual

(3) Describing and creating the program

■ Convert the target robot operations and work into commands.
Refer to the separate manual "Instruction Manual: Detailed explanations of functions and operations" for details
on the commands.
Table 4-2 ： Commands used
Target operation and work
Joint movement
Linear movement
Hand open
Hand close
Wait
End
■ Program the converted commands
Upward position to Upward position to Upward position to Upward position to
grasping workpiece grasping workpiece grasping workpiece grasping workpiece
Start
(1) Move to wait position (joint movement)................................................................... 10 MOV PWAIT
(2) Move to 20mm upward workpiece (joint movement) .......................................... 20 MOV PGET,+20
(3) Move to position to grasp workpiece (linear movement) .................................. 30 MVS PGET
(4) Grasp workpiece (hand close) ...................................................................................... 40 HCLOSE 1
............................................................................................................................................... 50 DLY 1.0
(5) Move 20mm upward (linear movement).................................................................... 60 MVS PGET,+20
(6) Move to 20mm upward position to place workpiece (joint movement)....... 70 MOV PPUT,+20
(7) Move to position to place workpiece (linear movement) .................................. 80 MVS PPUT
(8) Release workpiece (hand open) ................................................................................... 90 HOPEN 1
............................................................................................................................................... 100 DLY 1.0
(9) Move 20mm upward (linear movement).................................................................... 110 MVS PPUT,+20
(10) Move to wait position (joint movement) ................................................................ 120 MOV PWAIT
End .................................................................................................................................................. 130 END
Hand ････ Up to four hands can be installed. However, in the above program, the 1st hand connected to
hand 1 is the target.
CAUTION
Command
MOV Move to position variable PWAIT
Move to 20mm upward position variable PGET
MVS Move to position variable PGET
Move to 20mm upward position variable PGET
HOPEN Open hand 1
HCLOSE Close hand 1
DLY Wait 1 second
END End the program
Wait position Wait position Wait position Wait position
(ＰＷＡＩＴ) (ＰＷＡＩＴ) (ＰＷＡＩＴ) (ＰＷＡＩＴ)
Position to grasp workpiece Position to grasp workpiece
Position to grasp workpiece Position to grasp workpiece
(ＰＧＥＴ) (ＰＧＥＴ) (ＰＧＥＴ) (ＰＧＥＴ)
Fig.4-8 ： Describing the program
Note) Upward movement is designated at a position along the Z axis of the TOOL coor -
dinate system, and the direction is designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Installation
Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of
the TOOL coordinate system. Then, designate the correct sign (direction) that
matches the robot being used.
Designating the reverse direction could lead to interference with the peripheral
devices and damage.
Generally (in the default state), the hand retract direction is the "-" sign with the
vertical articulate type robot, and the "+" sign is the robot's upward direction with
the other robots.
Example of designation
MOV PWAIT
MOV PGET,+20
MVS PWAIT
MVS PGET,+20
HOPEN 1
HCLOSE 1
DLY 1.0
END
Upward position to Upward position to Upward position to Upward position to
release workpiece release workpiece release workpiece release workpiece
Position to release Position to release
Position to release Position to release
workpiece workpiece
workpiece workpiece
(ＰＰＵＴ) (ＰＰＵＴ) (ＰＰＵＴ) (ＰＰＵＴ)
4Basic operations
Note)
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Programming 4-31