14.5 A COMMERCIAL ROBOT

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Some specifications for commercial robots are given below

14.5.1 Mitsubishi RV-M1 Manipulator

In general

Degrees of freedom 5

Maximum payload 1kg (2.2 lb)

Repeatability (based on constant temp., load, speed) +/- 0.3mm

Weight 19kg (42 lb)

Operating Temperature 5C to 40C

Humidity (based on constant temp. load, speed) 10% to 85%

Power Requirements 120/220/230/240 VAC

Other 50-70 psig air

waist

motion revolute

Range 300 degrees

Resolution ?? deg.

Speed

max. speed 120 deg/sec

max. torque ?? in.lbs

shoulder

motion revolute

Range 130 degrees

Resolution ?? deg.

Speed

max. speed 72 deg/sec

max. torque ?? in.lbs

elbow

motion revolute

Range 110 degrees

Resolution ?? deg.

Speed

max. speed 109 deg/sec

max. torque ?? in.lbs

wrist pitch

motion revolute

Range +/-90 degrees

Resolution ?? deg.

Speed

max. speed 100 deg/sec

max. torque ?? in.lbs

wrist roll

motion revolute

Range +/-180 degrees

Resolution ?? deg.

Speed

max. speed 163 deg/sec

max. torque ?? in.lbs

The workspace is pictured below,

14.5.2 Movemaster Programs

All comments follow a semi-colon at any position on a line

Statements are ended with a colon, and as long as colons are used, more than one statement can be used on a line.

Line numbering is required.

Dimensions are given in millimeters in the programs.

A sample program is given below with comments for explanation,

14.5.2.0.1 - Language Examples

The example below shows how points are defined and used. Please be aware that point location values are not normally defined in a program. Normally they are programmed by hand, and then when the program is run, it refers to them by number (from 1 to 629)

The example below shows how we can define and use pallets. The definition of a pallet covers a number of lines to define the pallet size and then the location. We must also define points to indicate where the pallet lies in space. For the example below these points would have to be position numbers 20 (pallet origin), 21 (origin to end of first column), 22 (origin to end of first row), 23 (origin to diagonal corner of pallet). Note: if using pallet #3 these counters would be 30-33, and point 3 would move.

The example below shows some of the position commands. These positions are normally defined outside the program by moving the robot to desired locations. These positions are not always absolute, and in some cases will act as displacement vectors.

The example below shows some of the counter and branching functions. These tend to use a status register approach - for example, a value to be compared will be loaded on one line, the next line will compare it and a branch instruction will occur on the specified condition. For-next loops have been constructed as part of this example.

The example below shows how to use various gripper and I/O functions. There are eight input bits and 8 output bits available.

14.5.3 Command Summary

A summary of the motion commands is given below,

A summary of the program control commands is given below,

A summary of the IO commands is given below,