Robot (MELFA) Programming

Instructions
Training Department
Factory Automation Engineering Centre
Factory Automation & Industrial Division
Mitsubishi Electric India Private Limited
[email protected]

MITSUBISHI ELECTRIC INDIA

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 6.Commands/Instructions
1. Joint interpolation movement ( Mov):
The robot moves with joint interpolation to the target position.

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 6.Commands/Instructions
2. Linear interpolation movement ( Mvs):
The robot moves with linear interpolation to the target position.

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 6.Commands/Instructions
Convenient interpolation instructions:

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 Exercise 1
1. Program the Robot to move in Linear Interpolation for the following profile using Linear
Interpolation command?

P2 P3

P1 P4

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 Exercise 1(Solution)
1. Program the Robot to move in Linear Interpolation for the following profile using Linear
Interpolation command?

1. MOV P_Safe ‘Robot in Home Position

2. MOV P1,-50 ‘Move the Robot to Safe Position 1 above 50mm

3. MVS P1 ‘Move the Robot in linear interpolation to position 1

4. MVS P2 ‘Move the Robot in linear interpolation to position 2

5. MVS P3 ‘Move the Robot in linear interpolation to position 3

6. MVS P4 ‘Move the Robot in linear interpolation to position 4

7. MVS P1 ‘Move the Robot in linear interpolation to position 1

8. MVS P1,-50 ‘Move the Robot to Safe Position 1 above 50mm

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 6.Commands/Instructions
3. Circular interpolation movement
The robot moves with circular interpolation to the target position.

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 6.Commands/Instructions
3. Circular interpolation movement
Program Example:

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 6.Commands/Instructions
4. Continuous path mode selection (Cnt):
Select from one of the following actions to be taken when passing through the taught points:
• Decelerate and stop
• Do not accelerate or decelerate, and complete smooth interpolation to the end point

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 6.Commands/Instructions
4. Continuous path mode selection (Cnt):
Program Example:

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 6.Commands/Instructions
4. Continuous path mode selection (Cnt):
Program Example:

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 Exercise 2
2. Program the Exercise no: 2 with Continuous path as per the dimensions below

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 Exercise 2(Solution)
2. Program the Exercise no: 2 with Continuous path as per the dimensions below

1. MOV P_Safe ‘Robot in Home Position

2. CNT 1 ‘Validates continuous movement
3. MVR P2, P3, P4 ‘Moves linearly to P2, and continuously moves to P4
with arc movement.

3. MVS P5 'After arc movement, moves linearly to P5.

4. CNT 1, 200, 100 ' Sets the continuous movement's start point
neighbourhood distance to 200mm, and the end point
neighbourhood distance to 100mm.
5. MVS P6 ‘After moving to previous P5, moves in succession
linearly to P6.
6. MVS P1 ' Continuously moves to P1 with linear movement.
7. CNT 0 ‘Continuous Stop

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 6.Commands/Instructions
5. Acceleration/Deceleration time and speed control

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 6.Commands/Instructions
5. Acceleration/Deceleration time and speed control

Program Example :

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 6.Commands/Instructions
5. Acceleration/Deceleration time and speed control
Program Example :

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 6.Commands/Instructions
7 & 8. Hand control (HOpen/EHOpen/HClose/EHClose):
These instructions are used to control a tool attached to the robot.

1) HOpen/EHOpen (Hand open)

The hand designated in the program opens.
(HOpen: Pneumatic hand,
EHOpen: Electric operated hand)
2) HClose/EHClose (Hand close)
The hand designated in the program closes.
(HClose: Pneumatic hand,
EHClose: Electric operated hand)

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 6.Commands/Instructions
9. Pallet Operation( Def Plt, Plt):
• When carrying out the operation to arrange workpieces with equal distance (palletizing),
or removing workpieces arranged with equal distance (depalletizing), the reference
workpiece positions on the four corners are taught and other positions can be obtained
by calculation.

1) Def (define) and Plt (pallet)

This instruction sets the conditions
for using the pallet.
The instruction is described in the
following order:
• Definition/pallet
• Pallet number
• Start point
• End points A, B
• Diagonal point
• Quantity A, B
• Numbering direction

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 6.Commands/Instructions
9. Pallet Operation( Def Plt, Plt):

Program example: Def Plt 1, P10, P11, P12, P13, 5, 4, 1

* To move to a grid point into the pallet, describe the instruction in the following order:
• Mov (move)
• Pallet No. Example: Mov Plt 1, M10
• Grid point No.
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 Exercise 3
3. Program for the (4*3=12) Pallet operation using Def Plt function.

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 Exercise 3(Solution)
3. Program for the (4*3=12) Pallet operation using Def Plt function.

1.Def Plt 1,P10,P11,P12,,4,3,1 ‘Defining a pallet

2.M1=1 ‘Initialize counter M1
3.OVRD 100
4.HOpen 1
5.*Loop
6.Mov P1,-50 ‘Moves 50mm above
7.Mvs P1
8.Dly 0.3
9. HClose 1
10. Dly 0.5 ' Wait for the hand to close securely (0.5 sec.)
11. Mvs ,-50
12. P100=Plt 1, M1 ' Calculates the M1th position
13. Mov P100,-50 ' Moves 50 mm above the current position.
14. Mvs P100
15. Dly 0.3
16. HOpen 1
17. Dly 0.3
18. Mvs ,-50
19. M1=M1+1 ' Add the counter.
20. If M1 <=12 Then *LOOP ' If the counter is within the limits, repeats from *LOOP.
21. Mov P1,-50
22. End

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 6.Commands/Instructions
10. Unconditional/Conditional branch( GoTo, If Then Else):
• Select branch instructions are used in the command for unconditional jump or jump based
on condition judgment.
• There are 4 types of branching.
1. GoTo
2. If Then Else
3. Select Case
4. While Wend

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 6.Commands/Instructions
GoTo:
• Program jumps to a designated label.

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 6.Commands/Instructions
If Then Else:
• If the condition expression designated with the If statement is established (true), the
instruction after Then is executed.
• If not established (false), the next step is executed.
• If Else is designated after Then and the condition expression designated with the If
statement is established (true), the instruction after Then is executed. If not established
(false), the instruction after Else is executed.

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 6.Commands/Instructions
While-WEnd:
• This instruction repeats the program between the While statement and WEnd statement
as long as the loop conditions are satisfied.

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 6.Commands/Instructions
11. Waiting for conditions( Wait):
1. The robot waits here until the variable data reaches the value designated in the program.
2. Use this for interlock control, etc.

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 6.Commands/Instructions
12. Repetitions ( For-Next ):
• Repeatedly Executes the Program between the FOR & Next Statement until the end
conditions are satisfied.

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 6.Commands/Instructions
14. Subroutine( Gosub - Return, CallP ):
• GoSub- Return:
• The subroutine for the designated label is executed.
• The main routine is returned to with the return command in the subroutine.

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 6.Commands/Instructions
14. Subroutine( Gosub - Return, CallP ,FPrm):
• CallP & FPrm:
• The designated program is called and executed.
• The variables defined in the program to be called can be handed over.

Syntax:
CallP "<program name>" [,<argument> [, <argument>] ]

FPrm <argument> [, <argument>]

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 6.Commands/Instructions
15. Timer ( Dly ):
• Program waits the designated time before moving to execution of the instruction on the next
line.

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 6.Commands/Instructions
16. Stop/Wait( End, Hlt ):
• End:
1. When cycle stop turns ON, one cycle operation is executed and then the program ends.

• Hlt:
1. The program will stop when this instruction is executed.
2. The start signal is used to resume the program.

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 6.Commands/Instructions
17. Input/Output signal ( M_In, M_Out ):
• Signals can be received /outputted ,from/to an external controller ( like PLC, additional IO card,
etc.,)
Input Signal example:

Output Signal example:

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 6.Commands/Instructions
18. Output signal/ Variable clear( Clr ):
• This instruction clears general-purpose output signals, local numeric variables in a
program, and external numeric variables.

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 Thank You

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