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Mitsubishi LabNotes v0.6

Mitsubishi LabNotes v0.6

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Published by: PHONG279 on Jun 21, 2012
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School of Computing,Communication and Electronics 
Mitsubishi RV-2AJIndustrial Robot Programmingand Calibration
Lab Notes
 
Joerg Wolf Paul Robinson
Version 0.6 Nov 2005
 
Table of Contents
page
1. Introduction.......................................................................................31.1 Safety............................................................................................31.2 Operational rules...........................................................................32. Operation modes..............................................................................32.1 Teach pendant mode....................................................................52.1.1 Moving the robot.........................................................................52.2 Automatic Operation......................................................................52.3 Automatic Operation, controlled externally (via PC)......................52.3.1 Creating and downloading a MELFA-BASIC file........................62.3.2 Creating and downloading a teach-point file...............................73. Introduction to MELFA-BASIC..........................................................83.1 Instruction Reference........................................................................83.2 Example programs:.......................................................................83.2.1 Placing of an object....................................................................83.2.2 Subroutines................................................................................93.2.3 External input..............................................................................93.2.4 Palletising.................................................................................103.3 Variables.........................................................................................104. Common Error Messages...............................................................115. Working Envelope Limits.....................................................................11References:.............................................................................................12
RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005
2
 
1. Introduction
This manual provides a hands-on introduction to the Mitsubishi RV-2AJ, 5-axisindustrial robot. For further information please consult the Mitsubishi manual [1].
1.1 SafetyREFER TO THE SAFETY SECTION OF YOUR MODULE NOTES – THESE AREON THE PORTAL.
The following safety rules must ALWAYS be obeyed. Failure to do so may result inexclusion from the laboratory.1.
NEVER enter the robot work space when servo power is on!
i.e., the green LED (light emitting diode) at the “SVO ON” switch is on.2.
Always
make sure there is no one in the work cell before starting a program.3.
Always
give an audible warning before running the program.4 .
Always
keep one hand at the emergency stop and observe the robot duringits full operational cycle5
. Always
write “
OVRD 20
” as the first line in any robot program. This limits themaximum speed6.
Never
load the robot with more than 2 kg. If the arm is operated at full stretchlimit the maximum load to 0.5 kg.7.
Never
leave the robot unattended when it is powered up.
1.2 Operational rules
In order to prevent damage to the robot:
Do not switch off the controller power while the robot has power on theservo
Avoid collisions. If you think the robot will cause a collision press theemergency stop button immediately.
Do not change the tool-end coordinates
2. Operation modes
Identify the four parts of the robot system, namely;1. The Mitsubishi RV-2AJ robot arm2. The robot controller 3. A Teach Pendant (or TeachBox).4. The PC
RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005
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