Teachpositionen Mitsubishi RV-2AJ · Teaching positions Mitsubishi RV-2AJ Robot station View of the...
Transcript of Teachpositionen Mitsubishi RV-2AJ · Teaching positions Mitsubishi RV-2AJ Robot station View of the...
Teaching positions Mitsubishi RV-2AJ
Robot station
View of the Robot station
Programs
• Program 3: Robot (with orientation) standard program for the Robot station
• Program 4: Robot (simplified: without orientation) • Program 5: Robot (simplified: without orientation and without position variables) • Program 6: Robot (simplified: without orientation, without position variables,
without subroutines)
© Festo Didactic GmbH & Co. KG • MPS 1
Teaching positions Mitsubishi RV-2AJ
Teaching positions
Position Coordinates Comment
X Y Z A B
P1 251.66 53.27 165.80 -51.86 179.98 Pick-up red workpiece
P2 217.05 202.19 163.42 0.12 179.94 Reference point Assembly retainer module
P3 187.70 219.73 141.43 1.08 180.61 Identification (colour of workpiece)
P4 82.64 193.13 334.05 -89.99 180.04 Place position red/metallic workpiece
P5 -65.74 193.13 334.04 -89.99 180.03 Place position black workpiece
P99 240.63 7.35 372.23 1.40 180.74 Initial position
Note Coordinates may differ depending on hardware set-up.
Position P1: Pick-up red workpiece
2 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P2: Reference point Assembly retainer module
Position P3: Identification (colour of workpiece)
© Festo Didactic GmbH & Co. KG • MPS 3
Teaching positions Mitsubishi RV-2AJ
Position P4: Place position red/metallic workpiece
4 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P5: Place position black workpiece
© Festo Didactic GmbH & Co. KG • MPS 5
Teaching positions Mitsubishi RV-2AJ
Position P99: Initial position
6 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Robot–Assembly combination
View of the Robot–Assembly combination
Programs
• Program 2: Robot–Assembly • Program 12: Robot–Assembly without PLC
© Festo Didactic GmbH & Co. KG • MPS 7
Teaching positions Mitsubishi RV-2AJ
Teaching positions
Position Coordinates Comment
X Y Z A B
P1 247.30 53.99 167.70 -51.81 180.40 Pick-up red workpiece
P2 211.81 199.27 161.98 0.01 180.00 Reference point Assembly retainer module
P3 189.55 208.78 141.38 1.08 180.60 Identification (colour of workpiece)
P4 218.04 242.55 143.70 -73.24 180.51 Pick-up spring
P5 -119.43 270.68 144.82 0.60 180.75 Reference point Pallet module
P6 142.01 313.19 343.36 90.40 180.74 Place workpiece at slide
P7 68.40 273.86 145.10 -180.87 179.98 Cover available
P8 200.56 251.00 142.17 -91.77 180.11 Spring available
P9 32.47 272.36 146.73 -270.79 180.79 Pick-up cover
P99 240.63 7.35 372.23 1.40 180.74 Initial position
Note Coordinates may differ depending on hardware set-up.
8 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P1: Pick-up red workpiece
Position P2: Reference point Assembly retainer module
© Festo Didactic GmbH & Co. KG • MPS 9
Teaching positions Mitsubishi RV-2AJ
Position P3: Identification (colour of workpiece)
Position P4: Pick-up spring
10 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P5: Reference point Pallet module
© Festo Didactic GmbH & Co. KG • MPS 11
Teaching positions Mitsubishi RV-2AJ
Position P6: Place workpiece at slide
12 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P7: Cover available
Position P8: Spring available
© Festo Didactic GmbH & Co. KG • MPS 13
Teaching positions Mitsubishi RV-2AJ
Position P9: Pick-up cover
14 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P99: Initial position
© Festo Didactic GmbH & Co. KG • MPS 15
Teaching positions Mitsubishi RV-2AJ
16 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Robot–Assembly–Punching combination
View of the Robot–Assembly–Punching combination
Programs
• Program 1: Robot–Assembly–Punching • Program 11: Robot–Assembly–Punching without PLC
© Festo Didactic GmbH & Co. KG • MPS 17
Teaching positions Mitsubishi RV-2AJ
Teaching positions
Position Coordinates Comment
X Y Z A B
P1 246.87 53.41 166.72 -51.85 179.99 Pick-up red workpiece
P2 213.51 200.88 162.91 0.12 180.21 Reference point Assembly retainer module
P3 177.26 224.63 141.45 1.08 180.61 Identification (colour of workpiece
P4 210.20 246.20 143.96 -60.18 180.22 Pick-up spring
P5 -144.24 267.45 144.36 -0.14 181.59 Reference point Pallet module
P6 130.36 321.98 353.24 90.55 182.93 Place workpiece at slide
P7 -233.08 244.75 162.51 -214.31 180.84 Cover available
P8 199.97 255.27 144.38 -85.61 180.11 Spring available
P9 -250.68 249.31 109.09 0.52 89.85 At Punching station: Pick-up cover
P10 -6.52 315.62 233.39 -0.59 89.95 Cover deposition module: Pick-up tool
P11 -51.14 317.42 120.04 -180.39 89.96 Cover deposition module: Place cover
P12 -65.87 380.02 292.27 -274.98 183.35 Cover deposition module: Pick-up cover
P99 240.63 7.35 372.23 1.40 180.74 Initial position
Note Coordinates may differ depending on hardware set-up.
18 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P1: Pick-up red workpiece
Position P2: Reference point Assembly retainer module
© Festo Didactic GmbH & Co. KG • MPS 19
Teaching positions Mitsubishi RV-2AJ
Position P3: Identification (colour of workpiece)
Position P4: Pick-up spring
20 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P5: Reference point Pallet module
© Festo Didactic GmbH & Co. KG • MPS 21
Teaching positions Mitsubishi RV-2AJ
Position P6: Place workpiece at slide
22 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P7: Cover available
Position P8: Spring available
© Festo Didactic GmbH & Co. KG • MPS 23
Teaching positions Mitsubishi RV-2AJ
Position P9: At Punching station: Pick-up cover
Position P10: Cover deposition module: Pick-up tool
24 © Festo Didactic GmbH & Co. KG • MPS
Teaching positions Mitsubishi RV-2AJ
Position P11: Cover deposition module: Place cover
Position P12: Cover deposition module: Pick-up cover
© Festo Didactic GmbH & Co. KG • MPS 25
Teaching positions Mitsubishi RV-2AJ
Position P99: Initial position
26 © Festo Didactic GmbH & Co. KG • MPS