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Mitsubishi Electric MELFA Instruction Manual

Cr1 controller
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MITSUBISHI ELECTRIC
MELFA
Industrial Robot
Instruction Manual
CR1 Controller
Art.No.:
133798
2000 05 10
BFP-A8056-A
INDUSTRIAL AUTOMATION
MITSUBISHI ELECTRIC

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Summary of Contents for Mitsubishi Electric MELFA

  • Page 1 MITSUBISHI ELECTRIC MELFA Industrial Robot Instruction Manual CR1 Controller Art.No.: 133798 2000 05 10 BFP-A8056-A INDUSTRIAL AUTOMATION MITSUBISHI ELECTRIC...
  • Page 2 Safety Precautions Safety Precautions Safety Precautions Safety Precautions Always read the following precautions and the separate Always read the following precautions and the separate Always read the following precautions and the separate Always read the following precautions and the separate "Safety Manual"...
  • Page 3 The points of the precautions given in the separate "Safety Manual" are given below. The points of the precautions given in the separate "Safety Manual" are given below. The points of the precautions given in the separate "Safety Manual" are given below. The points of the precautions given in the separate "Safety Manual"...
  • Page 4 Precautions for the basic configuration are shown below. Precautions for the basic configuration are shown below.( ( ( ( When CR1-571 is used for the controller.) When CR1-571 is used for the controller.) Precautions for the basic configuration are shown below. Precautions for the basic configuration are shown below.
  • Page 5 Revision history Revision history Revision history Revision history Date of print Date of print Date of print Date of print Specifications No. Specifications No. Specifications No. Specifications No. Details of revisions Details of revisions Details of revisions Details of revisions 1999-11-02 1999-11-02 1999-11-02...
  • Page 6 Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION...

  • Page 7: Table Of Contents

    CONTENTS CONTENTS CONTENTS CONTENTS Page Page Page Page 1 1 1 1 Before starting use Before starting use ......................................................................1-1 Before starting use Before starting use ......................................................................1.1 Using the instruction manuals Using the instruction manuals ........................................................
  • Page 8 Page Page Page Page HE (Here) HE (Here) ..........................................................................2-33 2-33 HE (Here) HE (Here) ..........................................................................2-33 2-33 HLT (Halt) HLT (Halt) ..........................................................................2-33 2-33 HLT (Halt) HLT (Halt) ..........................................................................2-33 2-33 HO (Home) HO (Home) HO (Home)
  • Page 9 Page Page Page Page VR (Version Read) VR (Version Read) ....................................................................2-85 2-85 VR (Version Read) VR (Version Read) ....................................................................2-85 2-85 WH (Where) WH (Where) ..........................................................................2-86 2-86 WH (Where) WH (Where) ..............................................................

  • Page 10: 1 1 1 Before Starting Use Before Starting Use

    1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1 Before starting use 1 Before starting use 1 Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the...

  • Page 11: Using The Instruction Manuals Using The Instruction Manuals

    1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1.1.2 Symbols used in instruction manual 1.1.2 Symbols used in instruction manual 1.1.2 Symbols used in instruction manual 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this User's Manual.

  • Page 12: Safety Precautions 1.2 Safety Precautions

    1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1.2 Safety Precautions 1.2 Safety Precautions 1.2 Safety Precautions 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn Always read the following precautions and the separate "Safety Manual"...

  • Page 13: Safety Precautions Safety Precautions

    1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1.2.1 Precautions given in the separate Safety Manual 1.2.1 Precautions given in the separate Safety Manual 1.2.1 Precautions given in the separate Safety Manual 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual"...

  • Page 14: Explanation Of Commands

    Setting value Working language Working language Working language Working language Remarks Remarks Remarks Remarks 1 1 1 1 MELFA-BASIC Ⅳ MELFA-BASIC Ⅳ MELFA-BASIC Ⅳ MELFA-BASIC Ⅳ Default setting Default setting Default setting Default setting 0 0 0 0 MOVEMASTER COMMANDS...

  • Page 15: Overview Of Commands

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 2.3 Overview of commands 2.3 Overview of commands 2.3 Overview of commands 2.3 Overview of commands This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command...

  • Page 16: Counter Number

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands (4) Counter number (4) Counter number (4) Counter number (4) Counter number The range of counter number is 1-99. When program is different from each other, counters from 1-90 are The range of counter number is 1-99.
  • Page 17 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands (10) Internal resister and related command. (Reference) (10) Internal resister and related command. (Reference) (10) Internal resister and related command. (Reference) (10) Internal resister and related command. (Reference) It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.

  • Page 18: Explanation Of Each Command

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 2.5 Explanation of each command 2.5 Explanation of each command 2.5 Explanation of each command 2.5 Explanation of each command Hereafter, each command (instruction) is explained in alphabetical order. Hereafter, each command (instruction) is explained in alphabetical order.

  • Page 19: An (And)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands AN (And) AN (And) AN (And) AN (And) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 ANDs the specified value with the internal register, then stores the result to the internal register. ANDs the specified value with the internal register, then stores the result to the internal register.

  • Page 20: Ｃ Ｆ (Change Figure)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands Ｃ Ｆ (Change figure) Ｃ Ｆ (Change figure) Ｃ Ｆ (Change figure) Ｃ Ｆ (Change figure) 【 Function 】 【 Function 】 【 Function 】 【...

  • Page 21: Cl (Counter Load)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands CL (Counter Load) CL (Counter Load) CL (Counter Load) CL (Counter Load) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The internal register value is set in the counter with the specified number.

  • Page 22: Cp (Compare Counter)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands CP (Compare Counter) CP (Compare Counter) CP (Compare Counter) CP (Compare Counter) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The value of the specified counter is set in the internal register.

  • Page 23: Cr (Counter Read)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands CR (Counter Read) CR (Counter Read) CR (Counter Read) CR (Counter Read) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The details of the specified counter or character string are read out.

  • Page 24: Disable Act)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DA (Disable Act) DA (Disable Act) DA (Disable Act) DA (Disable Act) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Disables an interrupt of the specified bit through the external input port.

  • Page 25: Div (Div)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DIV (Div) DIV (Div) DIV (Div) DIV (Div) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Multiples the internal register value and operation value, and stores the result in the internal register. Multiples the internal register value and operation value, and stores the result in the internal register.

  • Page 26: Dj (Draw Joint)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DJ (Draw Joint) DJ (Draw Joint) DJ (Draw Joint) DJ (Draw Joint) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Rotates the specified joint by the specified angle from the current position.

  • Page 27: Dl* (Delete Line)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DL* (Delete Line) DL* (Delete Line) DL* (Delete Line) DL* (Delete Line) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Deletes commands of the specified line or step in the program.

  • Page 28: Dr (Data Read)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DR (Data Read) DR (Data Read) DR (Data Read) DR (Data Read) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the values of the internal register, hand check state, and general output state.

  • Page 29: Ds (Draw Straight)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DS (Draw Straight) DS (Draw Straight) DS (Draw Straight) DS (Draw Straight) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X,Y and Z...

  • Page 30: Dw (Draw)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands DW (Draw) DW (Draw) DW (Draw) DW (Draw) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z Moves the end of the hand to a position away from the current position by the distance specified in X, Y and Z...

  • Page 31: Ea (Enable Act)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands EA (Enable Act) EA (Enable Act) EA (Enable Act) EA (Enable Act) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Enables the interrupt motion by the specified bit of the external input signal.
  • Page 32 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 100 EA +5,500 100 EA +5,500 ;...
  • Page 33 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands ED (End) ED (End) ED (End) ED (End) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Ends the program. Ends the program. Ends the program.
  • Page 34 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands EQ (Equal) EQ (Equal) EQ (Equal) EQ (Equal) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 This compares the value of the internal register with a specified value. If they are the same, the program will jump to This compares the value of the internal register with a specified value.

  • Page 35: Ed (End)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands ER* (Error Read) ER* (Error Read) ER* (Error Read) ER* (Error Read) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the current error status and error history contents.

  • Page 36: Gc (Grip Close)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands GC (Grip Close) GC (Grip Close) GC (Grip Close) GC (Grip Close) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Close the grip of hand.

  • Page 37: Gf (Grip Flag)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands GF (Grip Flag) GF (Grip Flag) GF (Grip Flag) GF (Grip Flag) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Defines the open/close state of the grip of the hand (used with the PD command).

  • Page 38: Go (Grip Open)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands GO (Grip Open) GO (Grip Open) GO (Grip Open) GO (Grip Open) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Opens the grip of the hand.
  • Page 39 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands GP (Grip Pressure GP (Grip Pressure GP (Grip Pressure GP (Grip Pressure 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Sets the continuous starting grip pressure time for opening and closing the hand.

  • Page 40: Gs (Go Sub)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands GS (Go Sub) GS (Go Sub) GS (Go Sub) GS (Go Sub) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Carries out subroutine beginning with the specified line number.

  • Page 41: Gt (Go To)

    2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 10 GS 100 10 GS 100 ; Carry out subroutine beginning with line number 100. ; Carry out subroutine beginning with line number 100. 10 GS 100 10 GS 100 ;...
  • Page 42 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands HE (Here) HE (Here) HE (Here) HE (Here) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Defines the current coordinates as the specified position. Defines the current coordinates as the specified position.
  • Page 43 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands HO (Home) HO (Home) HO (Home) HO (Home) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Defines the current location and the attitude as origin point. Defines the current location and the attitude as origin point.
  • Page 44 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands ID (Input Direct) ID (Input Direct) ID (Input Direct) ID (Input Direct) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Fetches data unconditionally from the external input and hand check input.
  • Page 45 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands INP (Input) INP (Input) INP (Input) INP (Input) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The specified counter value, the coordinate value of the position number or the data of the specified character string The specified counter value, the coordinate value of the position number or the data of the specified character string The specified counter value, the coordinate value of the position number or the data of the specified character string The specified counter value, the coordinate value of the position number or the data of the specified character string...
  • Page 46 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands IP (Increment Position) IP (Increment Position) IP (Increment Position) IP (Increment Position) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the robot to a predefined position with a position number greater than the current one.
  • Page 47 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands LG (If Larger) LG (If Larger) LG (If Larger) LG (If Larger) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 This compares the value of the internal register with a specified value.
  • Page 48 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands LR* (Line Read) LR* (Line Read) LR* (Line Read) LR* (Line Read) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the program of the specified line number.
  • Page 49 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MA (Move Approach) MA (Move Approach) MA (Move Approach) MA (Move Approach) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the hand tip to the added position.
  • Page 50 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MC (Move Continuous) MC (Move Continuous) MC (Move Continuous) MC (Move Continuous) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the robot continuously through the predefined intermediate points between two specified position numbers.
  • Page 51 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MJ (Move Joint) MJ (Move Joint) MJ (Move Joint) MJ (Move Joint) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Turns each joint the specified angle from the current position.
  • Page 52 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MO (Move) MO (Move) MO (Move) MO (Move) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the hand tip to the specified position. (Joint interpolation) Moves the hand tip to the specified position.
  • Page 53 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MP (Move Position) MP (Move Position) MP (Move Position) MP (Move Position) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the tip of hand to a position whose coordinates (position and angle) have been specified.
  • Page 54 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MR (Move R) MR (Move R) MR (Move R) MR (Move R) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the tip of hand through the predefined intermediate positions in circular interpolation.
  • Page 55 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 10 SP 8 10 SP 8 ;...
  • Page 56 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MRA (Move RA) MRA (Move RA) MRA (Move RA) MRA (Move RA) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves to the specified position in circular interpolation.
  • Page 57 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MS (Move Staight) MS (Move Staight) MS (Move Staight) MS (Move Staight) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the tip of hand to the specified position.
  • Page 58 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MT (Move Tool) MT (Move Tool) MT (Move Tool) MT (Move Tool) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction.
  • Page 59 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands MTS (Move Straight) MTS (Move Straight) MTS (Move Straight) MTS (Move Straight) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Moves the tip of hand to a position away from the specified position by the distance as specified in the tool direction.
  • Page 60 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Multiples the internal register value and operation value, and stores the result in the internal register. Multiples the internal register value and operation value, and stores the result in the internal register.
  • Page 61 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands N * (Number) N * (Number) N * (Number) N * (Number) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Select the specified program.
  • Page 62 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands Ｎ E (If Not Equal) Ｎ E (If Not Equal) Ｎ E (If Not Equal) Ｎ E (If Not Equal) 【 Function 】 【 Function 】 【...
  • Page 63 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands NT (Nest) NT (Nest) NT (Nest) NT (Nest) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Carry out origin setting. (The robot moves to the user-defined origin.) Carry out origin setting.
  • Page 64 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands OB (Output Bit) OB (Output Bit) OB (Output Bit) OB (Output Bit) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The output state of the bit designated as the external output signal is set.
  • Page 65 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands OC (Output Counter) OC (Output Counter) OC (Output Counter) OC (Output Counter) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The designated Nos.
  • Page 66 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands OD (Output Direct) OD (Output Direct) OD (Output Direct) OD (Output Direct) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Outputs the specified data unconditionally through the output port.
  • Page 67 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands OPN (Open) OPN (Open) OPN (Open) OPN (Open) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Opens communication channel and specify input/output device. Opens communication channel and specify input/output device.
  • Page 68 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands OR (Or) OR (Or) OR (Or) OR (Or) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 ORs the specified data and the internal register data. ORs the specified data and the internal register data.
  • Page 69 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands OVR (Override) OVR (Override) OVR (Override) OVR (Override) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Specify program override. Specify program override. Specify program override.
  • Page 70 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PA (Pallet Assign) PA (Pallet Assign) PA (Pallet Assign) PA (Pallet Assign) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Defines the number of grid points in the column and row directions for the specified pallet.
  • Page 71 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PD (Position Define) Ｐ Ｄ PD (Position Define) Ｐ Ｄ PD (Position Define) Ｐ Ｄ PD (Position Define) Ｐ Ｄ 【 Function 】 【 Function 】 【...
  • Page 72 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PL (Position Road) PL (Position Road) PL (Position Road) PL (Position Road) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Replaces position (a) by position (b).
  • Page 73 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PR (Position Read) PR (Position Read) PR (Position Read) PR (Position Read) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the coordinates of the specified position and the open/close state of the hand.
  • Page 74 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PRN * (Print) PRN * (Print) PRN * (Print) PRN * (Print) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The counter number setting value, position number coordinate value or the character string number data is The counter number setting value, position number coordinate value or the character string number data is The counter number setting value, position number coordinate value or the character string number data is...
  • Page 75 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PT (Pallet) PT (Pallet) PT (Pallet) PT (Pallet) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified Calculates the coordinates of a grid point on the specified pallet and sets the coordinates value to the specified...
  • Page 76 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) 【 Sample program 】 (Movemaster command) Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row Suppose there is a pallet on which a total of 24 workpieces are arranged, 4 in the column direction and 6 in the row...
  • Page 77 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands PX (Position Exchange) PX (Position Exchange) PX (Position Exchange) PX (Position Exchange) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Exchanges the coordinates of the specified position for those of another specified position.
  • Page 78 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands QN (Question Number) QN (Question Number) QN (Question Number) QN (Question Number) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the program name or the program information.
  • Page 79 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands RC (Repeat Cycle) RC (Repeat Cycle) RC (Repeat Cycle) RC (Repeat Cycle) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Repeats the loop specified by the NX command the specified number of times.
  • Page 80 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands RN * (Run) RN * (Run) RN * (Run) RN * (Run) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Executes the specified part of commands in a program.
  • Page 81 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands RS * (Reset) RS * (Reset) RS * (Reset) RS * (Reset) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Resets the program and error condition.
  • Page 82 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands SC (Set Counter) SC (Set Counter) SC (Set Counter) SC (Set Counter) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 A specified value is set in the specified counter or character string.
  • Page 83 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands SD (Speed Define) SD (Speed Define) SD (Speed Define) SD (Speed Define) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Defines the moving velocity, time constant, acceleration/deceleration time, and continuous path setting.
  • Page 84 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands SF (Shift) SF (Shift) SF (Shift) SF (Shift) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new Adds each coordinate value of position (b) to each coordinate value of position (a) and defines it again as a new...
  • Page 85 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands SM (If Smaller) SM (If Smaller) SM (If Smaller) SM (If Smaller) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 This compares the value of the internal register with a specified value.
  • Page 86 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands SP (Speed) SP (Speed) SP (Speed) SP (Speed) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Sets the operating speed, acceleration or deceleration time and the continuous path setting. Sets the operating speed, acceleration or deceleration time and the continuous path setting.
  • Page 87 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands The relation between the speed level and the moving speed. The relation between the speed level and the moving speed. The relation between the speed level and the moving speed. The relation between the speed level and the moving speed.
  • Page 88 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands STR * (Step Read) STR * (Step Read) STR * (Step Read) STR * (Step Read) 【 Function 】 【 Function 】 【 Function 】 【...
  • Page 89 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Multiples the internal register value and operation value, and stores the result in the internal register. Multiples the internal register value and operation value, and stores the result in the internal register.
  • Page 90 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands TB (Test Bit) TB (Test Bit) TB (Test Bit) TB (Test Bit) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Causes a jump to occur in accordance with the specified bit value in the internal register.
  • Page 91 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands TBD (Test Bit Dirct) TBD (Test Bit Dirct) TBD (Test Bit Dirct) TBD (Test Bit Dirct) 【 Function 】 【 Function 】 【 Function 】 【...
  • Page 92 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands TL (Tool) TL (Tool) TL (Tool) TL (Tool) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Establishes the distance between the hand mounting surface and the tip of hand. Establishes the distance between the hand mounting surface and the tip of hand.
  • Page 93 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands TLM (Tool Matrix) TLM (Tool Matrix) TLM (Tool Matrix) TLM (Tool Matrix) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 The tool conversion is carried out.
  • Page 94 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands VR (Version Read) VR (Version Read) VR (Version Read) VR (Version Read) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the software version of the system ROM.
  • Page 95 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands WH (Where) WH (Where) WH (Where) WH (Where) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the coordinates of the current position and the open or close state of the hand. (Using RS-232C) Reads the coordinates of the current position and the open or close state of the hand.
  • Page 96 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands WT (What Tool) WT (What Tool) WT (What Tool) WT (What Tool) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 Reads the tool length currently being established.
  • Page 97 2 2 2 2 Explanation of Commands Explanation of Commands Explanation of Commands Explanation of Commands XO (Exclusive Or) XO (Exclusive Or) XO (Exclusive Or) XO (Exclusive Or) 【 Function 】 【 Function 】 【 Function 】 【 Function 】 EXCLUSIVE ORs the specified data and the internal register data.
  • Page 98 3 3 3 3 Command List Command List Command List Command List 3 Command List 3 Command List 3 Command List 3 Command List ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○...
  • Page 99 3 3 3 3 Command List Command List Command List Command List ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable Name Name Input Format...
  • Page 100 3 3 3 3 Command List Command List Command List Command List ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable Name Name Input Format...
  • Page 101 3 3 3 3 Command List Command List Command List Command List ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable Name Name Input Format...
  • Page 102 3 3 3 3 Command List Command List Command List Command List ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable Name Name Input Format...
  • Page 103 3 3 3 3 Command List Command List Command List Command List ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable ○ ： Usable, × ： Not usable Name Name Input Format...
  • Page 104 4 4 4 4 Appendix Appendix Appendix Appendix 4 Appendix 4 Appendix 4 Appendix 4 Appendix Appendix 1 ： RS-232C signal conductor's timing chart (DTR control) Appendix 1 ： RS-232C signal conductor's timing chart (DTR control) Appendix 1 ： RS-232C signal conductor's timing chart (DTR control) Appendix 1 ：...
  • Page 105 4 4 4 4 Appendix Appendix Appendix Appendix ◇◆◇ Supplementation ◇◆◇ ◇ ◇ ◇ ◇◆◇ Supplementation ◇◆ ◇◆◇ Supplementation ◇◆ ◇◆◇ Supplementation ◇◆ １ ． When the personal computer transmits data to the robot, depending on the personal computer, the １...
  • Page 106 4 4 4 4 Appendix Appendix Appendix Appendix Appendix 2 ： Sample program Appendix 2 ： Sample program Appendix 2 ： Sample program Appendix 2 ： Sample program This section explains how to make a program with Movemaster command method. This section explains how to make a program with Movemaster command method.
  • Page 107 4 4 4 4 Appendix Appendix Appendix Appendix (1) Pick and place operation (1) Pick and place operation (1) Pick and place operation (1) Pick and place operation 1) Work description 1) Work description 1) Work description 1) Work description The robot transfers a workpiece from one place to another place.
  • Page 108 4 4 4 4 Appendix Appendix Appendix Appendix 4) Schematic diagram 4) Schematic diagram 4) Schematic diagram 4) Schematic diagram Fig. 4-4 shows general description of operation. Fig. 4-4 shows general description of operation. Fig. 4-4 shows general description of operation. Fig.
  • Page 109 4 4 4 4 Appendix Appendix Appendix Appendix (2) Application of interrupt motion (2) Application of interrupt motion (2) Application of interrupt motion (2) Application of interrupt motion 1) Work description 1) Work description 1) Work description 1) Work description The robot grasps the workpieces that have different height using a limit switch fixed inside the hand.
  • Page 110 4 4 4 4 Appendix Appendix Appendix Appendix 5) Schematic diagram 5) Schematic diagram 5) Schematic diagram 5) Schematic diagram Fig. 4-6 shows brief description of motion. Fig. 4-6 shows brief description of motion. Fig. 4-6 shows brief description of motion. Fig.
  • Page 111 4 4 4 4 Appendix Appendix Appendix Appendix (3) Application of palletizing (3) Application of palletizing (3) Application of palletizing (3) Application of palletizing 1) Work description 1) Work description 1) Work description 1) Work description The robot picks up a workpiece from a feeding pallet and places it on an inspection equipment. After inspec - The robot picks up a workpiece from a feeding pallet and places it on an inspection equipment.
  • Page 112 4 4 4 4 Appendix Appendix Appendix Appendix 5) 5) 5) 5) Operatio Operatio n flow n flow Operatio Operatio n flow n flow Fig. 4-7 Fig. 4-7 and Fig. 4-8 shows the flow of operation. and Fig. 4-8 shows the flow of operation. Fig.
  • Page 113 4 4 4 4 Appendix Appendix Appendix Appendix (Subroutine) (Subroutine) (Subroutine) (Subroutine) (Subroutine) (Subroutine) (Subroutine) (Subroutine) operation 2 operation 2 operation 2 operation 2 operation 3 operation 3 operation 3 operation 3 Placing workpiece to test device Placing workpiece to test device Placing workpiece to test device Placing workpiece to test device Placing tested workpiece...
  • Page 114 4 4 4 4 Appendix Appendix Appendix Appendix 6) Schematic diagram 6) Schematic diagram 6) Schematic diagram 6) Schematic diagram Fig. 4-9 shows general description of operation. Fig. 4-9 shows general description of operation. Fig. 4-9 shows general description of operation. Fig.
  • Page 115 4 4 4 4 Appendix Appendix Appendix Appendix 206 SP 8 SP 8 ;Sets speed. ;Sets speed. SP 8 SP 8 ;Sets speed. ;Sets speed. 208 MO 1, O MO 1, O ;Moves to the position 1. ;Moves to the position 1. MO 1, O MO 1, O ;Moves to the position 1.
  • Page 116 4 4 4 4 Appendix Appendix Appendix Appendix (4) Example of connection with external I/O equipment (4) Example of connection with external I/O equipment (4) Example of connection with external I/O equipment (4) Example of connection with external I/O equipment 1) Work description 1) Work description 1) Work description...
  • Page 117 4 4 4 4 Appendix Appendix Appendix Appendix 3) Operation flow 3) Operation flow 3) Operation flow 3) Operation flow Fig. 4-11 shows the flow of operation. Fig. 4-11 shows the flow of operation. Fig. 4-11 shows the flow of operation. Fig.
  • Page 118 4 4 4 4 Appendix Appendix Appendix Appendix 4) Example program 4) Example program 4) Example program 4) Example program (Main rou (Main rou tine) (Main rou (Main rou tine) tine) tine) 15 15 15 15 OD 0,8,8 OD 0,8,8 OD 0,8,8 OD 0,8,8 ;All LED turns off.
  • Page 119 4 4 4 4 Appendix Appendix Appendix Appendix Appendix-110 Sample program Sample program Sample program Sample program Appendix-110 Appendix-110 Appendix-110...
  • Page 120 MITSUBISHI ELECTRIC Headquarters European Representatives EUROPE GEVA Mitsubishi Electric Europe B.V. AUSTRIA RUSSIA Wiener Straße 89 12/1 Goncharnaya St, suite 3C MITSUBISHI ELECTRIC EUROPE B.V. Gothaer Str. 8 A-2500 Baden RUS-109240 Moscow Phone: +43 (0) 2252 / 85 55 20...

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