Table of Contents
page
1. Introduction....................................................................................... 3
1.1 Safety ............................................................................................ 3
1.2 Operational rules ........................................................................... 3
2. Operation modes..............................................................................3
2.1 Teach pendant mode .................................................................... 5
2.1.1 Moving the robot......................................................................... 5
2.2 Automatic Operation...................................................................... 5
2.3 Automatic Operation, controlled externally (via PC)......................5
2.3.1 Creating and downloading a MELFA-BASIC file ........................ 6
2.3.2 Creating and downloading a teach-point file............................... 7
3. Introduction to MELFA-BASIC..........................................................8
3.1 Instruction Reference........................................................................8
3.2 Example programs: .......................................................................8
3.2.1 Placing of an object .................................................................... 8
3.2.2 Subroutines ................................................................................ 9
3.2.3 External input.............................................................................. 9
3.2.4 Palletising .................................................................................10
3.3 Variables......................................................................................... 10
4. Common Error Messages...............................................................11
5. Working Envelope Limits .....................................................................11
References: ............................................................................................. 12
RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005
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