Hi again, here is a short video on how to create a program (Basic Stuff) using the Teach Pendant (Manual Mode) of the robot. This kind of programming is called Motion Programming.
As motion programming is more used, a combination between textual programming and lead-through programming. In this case the full programming will be done by using the teach pendant textual programming language from Mitsubishi.
The software (RTToolBox 3) can also perform this kind of programming and without the need of the Teach Pendant, but to understand the use of the software, the teach pendadnt must be used first due to the fact that it is the most common way of programming a robot when fast modifications are needed.
However at the software, more tools and information will appear. An example of how to move the robot using the Teach Pendant in Mitsubishi robots is as follows:
At the keypad and with the robot powered ON, press JOG.
Be sure to be in MANUAL MODE at the control panel, HMI, or PLC, then proceed to activate the TEACH MODE at the teach pendant.
Using the trigger lever located at the back, activate the trigger position 1 without going to far and activating the position 2. Position 2 is enabled by pulling the lever from the middle to one extreme position (left or right), this will exert an emergency stop to the servomotors, that is why we don’t want to pull to hard and reach that position; at the middle position between the resting mode of the trigger and this position 2 stop, there will be another click sound, there you will enable the servomotors of the robot, it’s like releasing the brakes but remember to stay in that position, otherwise the brakes will jump again and the robot will not move and the servos will not be activated.
Once the trigger button is on position one, press SERVO on the keypad and DO NOT REALEASE THE LEVER ON POSITION 1 nor move it to position 2, so we can start moving the robot.
Before moving the robot, check the surroundings and verify that the robot speed is not at 100% (although the robot in this mode will always move slower), press OVRD UP at the keypad in order to move up the speed or press OVRD DOWN at the keypad in order to move down the speed.
Now that the speed and the environment is free, use the display to check if the robot will be moving in a tool mode, joint mode, XYZ Mode, etc… depending on the type of movement you want to achieve.
To move the robotic arm, at the keypad, locate the axis buttons and press any of them, the robot should start moving.
**Remember to always start programming by making a backup if you are editing a robot, in this case we are programming from zero, but I have a backup prepared if something goes wrong.
28 авг 2024
