Mitsubishi RV-2AJ Robot controller

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Teaching Pendant for remote operation

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Teaching Pendant para operacin remota

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Robot Programming with MELFA BASIC IV

Structured programs
BASIC Sentences for program flow and conditions:
IF THEN ELSE, GOTO, FOR NEXT, DO WHILE, GOSUB, RETURN, etc.
MELFA Sentences for Robot movement and tool operation:
MOV, MVS, MVR, HOPEN/CLOSE, etc.
Line numbers to sequence instructions
Special characters to define comments, labels, separators
A positions list to define trajectories
Numerical and Alphanumerical constants
Variables declaration: Positional, Joint, Arithmetic, Character string
 Command resume

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command resume

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command resume

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command resume

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Special characters

Apostrophe (): Comment lines

Asterisk (*): Label
Comma (,): To separate consecutive parameters
Dot (.): To separate multiple data and decimal places
Space ( ): To be included between line numbers, instructions
and individual data
 Variable declaration

Variable names to define position, joint situation, arithmetic and character string begin
with predefined characters:
P: Positional
J: Joint
M: Arithmetic
C: Character string

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Inputs and Outputs

Inputs:
<variable>=M_IN(<bit>)
<variable>=M_INB(<byte>)
<variable>=M_INW(<word>)
Outputs:
M_OUT(<bit>)=<1/0>
M_OUT(<byte>)=<byte>
M_OUT(<word>)=<word>
 Program configuration

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command MOV

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command MVS

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Commands MVR y MVC

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command MVR example

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command CNT

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command CNT

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command CNT

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Command CNT

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Speed and Acceleration definition

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Speed and Acceleration definition

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Speed and Acceleration definition

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Pallet operation

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Pallet operation

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Pallet operation

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Program flow control

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Repetitions

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Interruptions

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Subroutines

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Timer

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Operators and expressions

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot

 Operators and expressions

Fuente: CR1/CR2/CR4/CR7 Controller Instruction Manual. Mitsubishi Industrial Robot