teachpositionen mitsubishi rv-2aj

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

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


Position P2: Reference point Assembly retainer module

Position P3: Identification (colour of workpiece)



Position P4: Place position red/metallic workpiece



Position P5: Place position black workpiece



Position P99: Initial position



Robot–Assembly combination

View of the Robot–Assembly combination

Programs

• Program 2: Robot–Assembly • Program 12: Robot–Assembly without PLC



Teaching positions


X Y Z A B



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






Position P4: Pick-up spring



Position P5: Reference point Pallet module



Position P6: Place workpiece at slide



Position P7: Cover available

Position P8: Spring available



Position P9: Pick-up cover



Robot–Assembly–Punching combination

View of the Robot–Assembly–Punching combination

Programs

• Program 1: Robot–Assembly–Punching • Program 11: Robot–Assembly–Punching without PLC



Teaching positions


X Y Z A B



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






Position P4: Pick-up spring



Position P5: Reference point Pallet module



Position P6: Place workpiece at slide



Position P7: Cover available

Position P8: Spring available



Position P9: At Punching station: Pick-up cover

Position P10: Cover deposition module: Pick-up tool



Position P11: Cover deposition module: Place cover

Position P12: Cover deposition module: Pick-up cover


teachpositionen mitsubishi rv-2aj

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