ROBOTICS LAB

FACULTY OF ELECTRICAL
& ELECTRONICS ENGINEERING

ROBOTICS LAB STUDENT’S MANUAL

For domestic use only.

Revision Date Author Description

02/01/2023 Dept. of Automatic Control First version

TON DUC THANG UNIVERSITY - 2023

ROBOTICS LAB Updated 01/04/2023

CONTENTS
INTRODUCTION OF MITSUBISHI’S ROBOT .............................................. 1
1.1 Model type name of robot ........................................................................................... 1
1.1.1 How to identify the robot model .......................................................................... 1
1.1.2 Combination of the robot arm and the controller................................................. 1
1.2 Contents of the structural equipment .......................................................................... 1
1.2.1 Robot arm............................................................................................................. 1
The list of structural equipment is shown in below ............................................................ 1
1.2.2 Controller ............................................................................................................. 2
1.3 Robot arm .................................................................................................................... 3
1.3.1 specifications........................................................................................................ 3
1.3.2 Names of each part of the robot ........................................................................... 4
1.4 Controller .................................................................................................................... 5
1.4.1 Standard specifications ........................................................................................ 5
1.4.2 Teaching pendant (T/B) ....................................................................................... 6
1.4.3 MELSOFT RT ToolBox2/RT ToolBox2 mini .................................................... 7
ROBOT SIMULATION WITH RT TOOLBOX2 ............................................. 9
2.1 Objectives .................................................................................................................... 9
2.2 RT Toolbox2 usage ..................................................................................................... 9
2.2.1 Starting RT Toolbox2 .......................................................................................... 9
2.2.2 Explanation of RT Toolbox2 screens ................................................................ 10
2.3 Workspaces and Projects ........................................................................................... 11
2.3.1 Creating a new workspace ................................................................................. 12
2.3.2 Adding a project ................................................................................................. 12
2.3.3 Writing a new program ...................................................................................... 13
2.4 Simulation ................................................................................................................. 20
2.5 Exercise: .................................................................................................................... 26

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INTRODUCTION OF MITSUBISHI’S ROBOT

4.1 Model type name of robot

4.1.1 How to identify the robot model

4.1.2 Combination of the robot arm and the controller

Table 4-1: Combination of the robot arm and the controller
Robot Arm
Protection Axial Controller
Type name Arm length Brake
specification constitution
RV-2F-Q Standard arm Only J2, J3,
RV-2FL-Q Long arm and J5 axes
CR750-02VQ-1
RV-2FB-Q Standard arm
All axes
RV-2FLB-Q Standard Long arm
6-axis type
RV-2F-1Q specification Standard arm Only J2, J3,
RV-2FL-1Q Long arm and J5 axes
CR751-02VQ-0
RV-2FB-1Q Standard arm
All axes
RV-2FLB-1Q Long arm

4.2 Contents of the structural equipment

4.2.1 Robot arm
The list of structural equipment is shown in below

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Fig 4-1: Structural equipment (Robot arm)

4.2.2 Controller
The devices shown below can be installed on the controller.

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Fig 4-2: Structural equipment

4.3 Robot arm
4.3.1 specifications
Table 4-2: Standard specification of robot

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4.3.2 Names of each part of the robot

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Fig 4-3: Names of each part of the robot

4.4 Controller
4.4.1 Standard specifications
Table 4-3: Specification of controller

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4.4.2 Teaching pendant (T/B)

The teaching pendant is used to create, edit and control the program, teach the operation
position and for jog feed, ect.
For safety proposes, a 3-position enable switch (it has 3 statuses) is mounted.

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Fig 4-4: Teaching pendant key layout and main functions

4.4.3 MELSOFT RT ToolBox2/RT ToolBox2 mini

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This is handy software that fully uses the personal computer functions. It can be used in
various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of
program), and maintenance
The "personal computer support software" which supports these function fully, and the
"personal computer support software mini" which does not have the simulation function are
available.

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ROBOT SIMULATION WITH RT TOOLBOX2

5.1 Objectives
To help students learn how to use the functions of the MELSOFT “RT ToolBox2” from initial
robot start to program writing, editing and managerment.
5.2 RT Toolbox2 usage
5.2.1 Starting RT Toolbox2
Run RT Toolbox2

Fig 5-1: RT Toolbox2 Shortcut

Fig 5-2: RT Toolbox2 initial screen

When RT Toolbox2 started, “Communication Server 2” is started up as an icon. This
Communication Server 2 has functions for connecting with a robot controller or during a
simulation, a virtual controller. DO NOT CLOSE THIS ICON.
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Fig 5-3: Communication Server 2

5.2.2 Explanation of RT Toolbox2 screens
The composition of the main RT Toolbox2 screen is as follows

Fig 5-4: Explanation of the main screen

a. Title bar

Fig 5-5: Title bar

b. Project tree (workspace)

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Display a list of all the projects registered in the workspace and by functions. From this
tree, the program edit screen, monitor screen, etc. Can be started.

Fig 5-6: Workspace

c. Property window
This window display the attributes of items on the workspace.

Fig 5-7: Online property

5.3 Workspaces and Projects
The information for one controller is managed as one project. A workspace can manage
up to 32 projects. If Ethernet is used for communications, you can simultaneously
reference information on multiple projects (robot controllers) registered in the
workspace.

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5.3.1 Creating a new workspace

Click [Workspace] -> [New Workspace］ or click (Ctrl + N). Creating a New Workspace
screen is displayed. Input the workspace name and title, and then click the [OK] button. The
project edit screen is displayed, so set the project name (arbitrary name), the communication
method and the robot model for offline (both are the information of the robot that you want to
connect.), then click the [OK] button.

Fig 5-8: How to create a new workspace

5.3.2 Adding a project
Click [Workspace] -> [Add Project]

Fig 5-9: Adding project

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Fig 5-10: Workspace’s detail

(1) Offline
Displays the information stored in computer.
Displays the robot model set up currently and the name of robot programs created.
(2) Online
The "Online" section is displayed when a robot is switched into being connected online
with its controller or starts a simulation. This section displays the connected robot
model and the information items that can be referenced in the controller or a simulation
controller
(3) Backup
Controls the information backed up from the controller.
(4) Tool
Other functions are displayed.
5.3.3 Writing a new program
For offline: Select [Offline] -> [Program], then click the right mouse button. The right
button menu is displayed, so click [New]. Input the robot program name, then click
[OK] button.

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Fig 5-11: Writing a new program on the computer

For online: select [Online] -> [Program], then click the right mouse button. The right
button menu is displayed, so click [New].

Fig 5-12: Writing a new program in a Robot controller

After doing this step. A new window will appear for coding the robot’s program.

Fig 5-13: Editing a new program

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Fig 5-14: Explanation of program edit screen

Fig 5-15: Position variable edit screen

The upper list is a list of XYZ coordinate variables while the lower list is a list of joint
coordinate variables.
For adding position variables, click the [Add] button on this screen. A position data screen
where position can be inputted in XYZ coordinate or Joint coordinate will appear. User can
also the current position of the robot by click on the [Get current position] button.

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Fig 5-16: Position Data Variable

The program can be save in the computer or in the robot if the robot is connected to this
computer.
Table 5-1: Common commands

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- Mov <Designed potition>

Fig 5-17: Mov function

- Mvs <Designed potition>

Fig 5-18: Mvs function

- Mvr <Start potition>, <Transit potition>, <Designed potition>

Fig 5-19: Mvs function

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- Cnt <movement mode>, <numeric value 1> < numeric value 2>

Fig 5-20: Cnt function example

- Goto *<label>
This function makes a program branch to the specified label step unconditionally.
- GoSub *<label>
Calls up the subroutine at the designated step label. Be sure to return from the jump
destination using the Return function.
- Return
When returning from a normal subroutine returns to the next step after the GoSub
- Dly <time>
o When used as a single command: At a designated time, it causes a wait. It
is used for positioning the robot and timing input/output signals.
o When used as an additional pulse output: Designates an output time for a
pulse.
- Def Act <Priority No.>, <Expression> <Process> [, <Type>]
This instruction defines the interrupt conditions for monitoring signals concurrently
and performing interrupt processing during program execution, as well as the
processing that will take place when an interrupt occurs.

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Fig 5-21: Def Act function example

- If <Expression> Then <Process> [Else <Process>]

Fig 5-22: If function example

- For <Counter> = <Default value> To <End Value> [Step <Increment>]
Next [<Counter 1>]

Fig 5-23: For-Next function example

- Ovrd <Override>

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This instruction specifies the speed of the robot movement as a value in the range
from 1 to 100%. This is the override applied to the entire program.
- Spd <Designated Speed>
Designates the speed for the robot's linear and circular movements. This instruction
also specifies the optimum speed control mode.
- Hlt
Interrupts the execution of the program which executed this Hlt command.
- Variable:
o Position type variable: to store robot’s tool position (P1, P2, …P_01, P_02,
…) (See Fig 5-6)
o Joint type variable: to store the value of robot’s joint (J1, J2, …)
o Numerical value type variable: to store number value (M1, M2, …)
o Input and output Variable: M_In(1), M_In(2), … M_Out(1), M_Out(1), …
5.4 Simulation
This part will introduce an example

- Create the layout

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Fig 5-24: Create all layouts for this example

- Set the layout condition (Name 1, 2, 3, 4, 11, 12, 13, 14)

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Fig 5-25: Layout condition for part name 1 to 4

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Fig 5-26: Layout condition for part name 11 to 14

- Create the hand and their condition (Tool2_ON, Tool2_OFF)

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Fig 5-27: The condition for the hand name Tool2_ON

Fig 5-28: The condition for the hand name Tool2_OFF

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- Write the program

Ovrd 50
OAdl On
Accel 100,100
M_Outb(1)=&HFF
M_Outb(11)=&H0
M_Out(20)=0
M_Out(21)=1
Servo On
Mov PHOME
Dly 0.3
Def Plt 1, P1, P2, P3, ,2,2,1
Def Plt 2, P11, P12, P13, , 2,2,1
M1=0
For M1=1 To 4
PGET=Plt 1,M1
Mov PGET,-50
Mvs PGET
M_Out(20)=1
M_Out(21)=0
M_Out(M1)=0
'M_OUT(10005)
Mvs PGET, -50
Dly 0.3
PPUT=Plt 2,M1
Dly 0.5
Mov PPUT,-50
Mvs PPUT
M_Out(20)=0
M_Out(21)=1
M_Out(10+M1)=1
Mvs PPUT, -50
Dly 0.5
Next M1
End
5.5 Exercise:
Exercise 1: Let's create a conveyor belt with 3 moving objects on it.
Exercise 2: Let's create a 3x3 shelf to fit the objects in exercise 1.
Exercise 3: Create a grip structure suitable for the robot to grasp the objects in exercise
1.
Exercise 4: Program the robot to simulate the process of picking up objects from the
conveyor belt to the shelf.

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