Teaching positions Mitsubishi RV-2AJ
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1 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
2 Teaching positions Position Coordinates Comment X Y Z A B P Pick-up red workpiece P Reference point Assembly retainer module P Identification (colour of workpiece) P Place position red/metallic workpiece P Place position black workpiece P Initial position Note Coordinates may differ depending on hardware set-up. Position P1: Pick-up red workpiece 2 Festo Didactic GmbH & Co. KG MPS
3 Position P2: Reference point Assembly retainer module Position P3: Identification (colour of workpiece) Festo Didactic GmbH & Co. KG MPS 3
4 Position P4: Place position red/metallic workpiece 4 Festo Didactic GmbH & Co. KG MPS
5 Position P5: Place position black workpiece Festo Didactic GmbH & Co. KG MPS 5
6 Position P99: Initial position 6 Festo Didactic GmbH & Co. KG MPS
7 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
8 Teaching positions Position Coordinates Comment X Y Z A B P Pick-up red workpiece P Reference point Assembly retainer module P Identification (colour of workpiece) P Pick-up spring P Reference point Pallet module P Place workpiece at slide P Cover available P Spring available P Pick-up cover P Initial position Note Coordinates may differ depending on hardware set-up. 8 Festo Didactic GmbH & Co. KG MPS
9 Position P1: Pick-up red workpiece Position P2: Reference point Assembly retainer module Festo Didactic GmbH & Co. KG MPS 9
10 Position P3: Identification (colour of workpiece) Position P4: Pick-up spring 10 Festo Didactic GmbH & Co. KG MPS
11 Position P5: Reference point Pallet module Festo Didactic GmbH & Co. KG MPS 11
12 Position P6: Place workpiece at slide 12 Festo Didactic GmbH & Co. KG MPS
13 Position P7: Cover available Position P8: Spring available Festo Didactic GmbH & Co. KG MPS 13
14 Position P9: Pick-up cover 14 Festo Didactic GmbH & Co. KG MPS
15 Position P99: Initial position Festo Didactic GmbH & Co. KG MPS 15
16 16 Festo Didactic GmbH & Co. KG MPS
17 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
18 Teaching positions Position Coordinates Comment X Y Z A B P Pick-up red workpiece P Reference point Assembly retainer module P Identification (colour of workpiece P Pick-up spring P Reference point Pallet module P Place workpiece at slide P Cover available P Spring available P At Punching station: Pick-up cover P Cover deposition module: Pick-up tool P Cover deposition module: Place cover P Cover deposition module: Pick-up cover P Initial position Note Coordinates may differ depending on hardware set-up. 18 Festo Didactic GmbH & Co. KG MPS
19 Position P1: Pick-up red workpiece Position P2: Reference point Assembly retainer module Festo Didactic GmbH & Co. KG MPS 19
20 Position P3: Identification (colour of workpiece) Position P4: Pick-up spring 20 Festo Didactic GmbH & Co. KG MPS
21 Position P5: Reference point Pallet module Festo Didactic GmbH & Co. KG MPS 21
22 Position P6: Place workpiece at slide 22 Festo Didactic GmbH & Co. KG MPS
23 Position P7: Cover available Position P8: Spring available Festo Didactic GmbH & Co. KG MPS 23
24 Position P9: At Punching station: Pick-up cover Position P10: Cover deposition module: Pick-up tool 24 Festo Didactic GmbH & Co. KG MPS
25 Position P11: Cover deposition module: Place cover Position P12: Cover deposition module: Pick-up cover Festo Didactic GmbH & Co. KG MPS 25
26 Position P99: Initial position 26 Festo Didactic GmbH & Co. KG MPS
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