14.8 TUTORIAL - MITSUBISHI RV-M1
1. Turn on the robot power. The switch is located on the back of the unit.
2. Find the teach pendant (Note: It looks somewhat like a calculator). Turn the switch at the top left to 'on'. This will allow the teach pendant to control the robot.
3. Home the robot by pressing <NST><ENT>. The robot will move each joint to one end of it's range. This is an important step whenever a robot is turned on to find the end of the range of motion.
4. The robot can be moved to new positions using the buttons on the right hand side of the teach pendant. Use the following buttons to move the arm. Notice that the buttons move one joint at a time.
<B+><B-> - moves the base right/left
<S+><S-> - moves the shoulder up/down
<E+><E-> - moves the elbow up/down
<P+><P-> - pitches the gripper up/down
<R+><R-> - rolls the gripper
<O><C> - opens/closes gripper
5. The robot tool (at the end of the arm) can be moved in cartesian coordinates by pressing <XYZ><ENT> and then using the buttons indicated below.
<X+><X-> - move right/left
<Y+><Y-> - move forward/back
6. The robot tool can be moved relative to the tool's current orientation by pressing <TOOL><ENT>. The buttons below will move the robot to preserve the tool orientation.
<Z+><Z-> - advance/retract the tool
<P+><P-> - pitch the tool up/down
7. Pressing <PTP><ENT> returns the robot to joint motion mode. While programming robot points an operator will often switch between different robot programming modes.
8. Pressing <ORG><ENT> will move the robot to the origin position where all of the joint angles are equal to zero.
9. At this point we are ready to record positions. This is done by moving the robot to a position and then storing that position in a position memory location. These locations start at zero and go up to 100 (?). Move the robot to three different positions and then record the points using the keystrokes below. (Note: To clear positions you can use <PC><#><ENT> where '#' is the position number.)
<PS><1><ENT> - this will record position 1
<PS><2><ENT> - this will record position 2
<PS><3><ENT> - this will record position 3
10. The robot can be moved to points using the keystrokes below. If the last point entered above was '3', then it will be the current focus. The commands <INC> and <DEC> will increment and decrement to other positions.
<DEC><ENT> - decrement to position 2
<DEC><ENT> - decrement to position 1
<DEC><ENT> - try to decrement to position 0 - this will cause an error
<INC><ENT> - increment to position 2
<INC><ENT> - increment to position 3
<MOV><1><ENT> - move to position 1
<MOV><2><ENT> - move to position 2
<MOV><3><ENT> - move to position 3
11. Connect the RS-232 port of the robot controller to a PC with a serial cable.
12. Run a terminal emulator on the PC and give it the following settings
echo typed characters locally
13. Turn the teach pendant off. This will allow you to control the robot from the remote terminal.
14. Type in 'NT' to home the robot. All commands should be typed in UPPER CASE. If an error occurs a tone will be heard. To clear the error press the 'reset' button on the front of the robot.
15. Type the following commands and observe their effect.
16. Type the following program in a text editor. Cut and paste it into the terminal window when done. This program could be run with 'GT 10', 'RN 10' or 'RN'.
17. Try other program in this chapter.
