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

Teaching positions Mitsubishi RV-2AJ

Teaching positions
Position Coordinates X P1 P2 P3 P4 P5 P99 251.66 217.05 187.70 82.64 -65.74 240.63 Y 53.27 202.19 219.73 193.13 193.13 7.35 Z 165.80 163.42 141.43 334.05 334.04 372.23 A -51.86 0.12 1.08 -89.99 -89.99 1.40 B 179.98 179.94 180.61 180.04 180.03 180.74 Pick-up red workpiece Reference point Assembly retainer module Identification (colour of workpiece) Place position red/metallic workpiece Place position black workpiece Initial position Comment

Note Coordinates may differ depending on hardware set-up.

Position P1: Pick-up red workpiece 2

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Teaching positions Mitsubishi RV-2AJ

Position P2: Reference point Assembly retainer module

Position P3: Identification (colour of workpiece)

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Teaching positions Mitsubishi RV-2AJ

Position P4: Place position red/metallic workpiece

Festo Didactic GmbH & Co. KG MPS

Teaching positions Mitsubishi RV-2AJ

Position P5: Place position black workpiece

Festo Didactic GmbH & Co. KG MPS

Teaching positions Mitsubishi RV-2AJ

Position P99: Initial position

Festo Didactic GmbH & Co. KG MPS

Teaching positions Mitsubishi RV-2AJ

RobotAssembly combination

View of the RobotAssembly combination

Programs Program 2: RobotAssembly Program 12: RobotAssembly without PLC

Festo Didactic GmbH & Co. KG MPS

Teaching positions Mitsubishi RV-2AJ

Teaching positions
Position Coordinates X P1 P2 P3 P4 P5 P6 P7 P8 P9 P99 247.30 211.81 189.55 218.04 -119.43 142.01 68.40 200.56 32.47 240.63 Y 53.99 199.27 208.78 242.55 270.68 313.19 273.86 251.00 272.36 7.35 Z 167.70 161.98 141.38 143.70 144.82 343.36 145.10 142.17 146.73 372.23 A -51.81 0.01 1.08 -73.24 0.60 90.40 -180.87 -91.77 -270.79 1.40 B 180.40 180.00 180.60 180.51 180.75 180.74 179.98 180.11 180.79 180.74 Pick-up red workpiece Reference point Assembly retainer module Identification (colour of workpiece) Pick-up spring Reference point Pallet module Place workpiece at slide Cover available Spring available Pick-up cover Initial position Comment

Note Coordinates may differ depending on hardware set-up.

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

Teaching positions Mitsubishi RV-2AJ

Position P3: Identification (colour of workpiece)

Position P4: Pick-up spring

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Teaching positions Mitsubishi RV-2AJ

Position P5: Reference point Pallet module

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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

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Festo Didactic GmbH & Co. KG MPS

Teaching positions Mitsubishi RV-2AJ

RobotAssemblyPunching combination

View of the RobotAssemblyPunching combination

Programs Program 1: RobotAssemblyPunching Program 11: RobotAssemblyPunching without PLC

Festo Didactic GmbH & Co. KG MPS

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Teaching positions Mitsubishi RV-2AJ

Teaching positions
Position Coordinates X P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P99 246.87 213.51 177.26 210.20 -144.24 130.36 -233.08 199.97 -250.68 -6.52 -51.14 -65.87 240.63 Y 53.41 200.88 224.63 246.20 267.45 321.98 244.75 255.27 249.31 315.62 317.42 380.02 7.35 Z 166.72 162.91 141.45 143.96 144.36 353.24 162.51 144.38 109.09 233.39 120.04 292.27 372.23 A -51.85 0.12 1.08 -60.18 -0.14 90.55 -214.31 -85.61 0.52 -0.59 -180.39 -274.98 1.40 B 179.99 180.21 180.61 180.22 181.59 182.93 180.84 180.11 89.85 89.95 89.96 183.35 180.74 Pick-up red workpiece Reference point Assembly retainer module Identification (colour of workpiece Pick-up spring Reference point Pallet module Place workpiece at slide Cover available Spring available At Punching station: Pick-up cover Cover deposition module: Pick-up tool Cover deposition module: Place cover Cover deposition module: Pick-up cover Initial position Comment

Note Coordinates may differ depending on hardware set-up.

18

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Teaching positions Mitsubishi RV-2AJ

Position P1: Pick-up red workpiece

Position P2: Reference point Assembly retainer module

Festo Didactic GmbH & Co. KG MPS

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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

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Teaching positions Mitsubishi RV-2AJ

Position P6: Place workpiece at slide

22

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Teaching positions Mitsubishi RV-2AJ

Position P7: Cover available

Position P8: Spring available

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Teaching positions Mitsubishi RV-2AJ

Position P9: At Punching station: Pick-up cover

Position P10: Cover deposition module: Pick-up tool

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Teaching positions Mitsubishi RV-2AJ

Position P11: Cover deposition module: Place cover

Position P12: Cover deposition module: Pick-up cover

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Teaching positions Mitsubishi RV-2AJ

Position P99: Initial position

26

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