机器人教材.docx

机器人教材.docx

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机器人教材

上海发那科机器人有限公司

SHANGHAI-FANUC

目录

认识

FANUC机器人4

1.概论-----------------------------------------------------------------------------------------------------------4

1）机器人的构成-------------------------------------------------------------------------------------------4

2）机器人的用途-------------------------------------------------------------------------------------------4

3）FANUC机器人的型号--------------------------------------------------------------------------------4

4）机器人主要参数----------------------------------------------------------------------------------------5

5）FANUC机器人的安装环境---------------------------------------------------------------------------5

6）FANUC机器人的编程方式---------------------------------------------------------------------------5

7）FANUC机器人的特色功能---------------------------------------------------------------------------5

2.FANUC机器人的构成---------------------------------------------------------------------------------5

1）FANUC机器人软件系统-------------------------------------------------------------------------------5

2）FANUC机器人硬件系统-------------------------------------------------------------------------------5

3.控制器-------------------------------------------------------------------------------------------------------5

（1）认识TP---------------------------------------------------------------------------------------------------5

（1）TP的作用---------------------------------------------------------------------------------------------5

（2）认识

TP上的键----------------------------------------------------------------------------------------7

（3）TP上的开关-------------------------------------------------------------------------------------------8

（4）TP上的指示灯----------------------------------------------------------------------------------------8

（5）TP上的显示屏----------------------------------------------------------------------------------------8

（6）屏幕菜单和功能菜单---------------------------------------------------------------------------------9

2）操作者面板-----------------------------------------------------------------------------------------------11

3）远端控制器-----------------------------------------------------------------------------------------------11

4）显示器和键盘--------------------------------------------------------------------------------------------12

5）通讯--------------------------------------------------------------------------------------------------------12

6）输入/输出I/O--------------------------------------------------------------------------------------------12

7）外部

I/O----------------------------------------------------------------------------------------------------12

8）机器人的运动--------------------------------------------------------------------------------------------12

9）急停设备--------------------------------------------------------------------------------------------------12

10）附加轴---------------------------------------------------------------------------------------------------12

安全

13

1.注意事项----------------------------------------------------------------------------------------------------13

2.以下场合不可使用机器人----------------------------------------------------------------------------13

3.安全操作规程---------------------------------------------------------------------------------------------13

编程

14

1.有效编程的技巧-----------------------------------------------------------------------------------------14

1）运动指令--------------------------------------------------------------------------------------------------14

2）设置

HOME点-------------------------------------------------------------------------------------------14

2.通电和关电------------------------------------------------------------------------------------------------15

1）通电--------------------------------------------------------------------------------------------------------15

2）关电--------------------------------------------------------------------------------------------------------15

3.手动示教机器人-----------------------------------------------------------------------------------------15

1）示教模式--------------------------------------------------------------------------------------------------15

2）设置示教速度--------------------------------------------------------------------------------------------16

3）示教--------------------------------------------------------------------------------------------------------16

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4.创建程序----------------------------------------------------------------------------------------------------16

1）选择程序--------------------------------------------------------------------------------------------------16

2）选择程序编辑画面--------------------------------------------------------------------------------------16

3）创建一个新程序-----------------------------------------------------------------------------------------17

5.示教运动状态---------------------------------------------------------------------------------------------17

1）运动指令--------------------------------------------------------------------------------------------------17

6.修正点-------------------------------------------------------------------------------------------------------19

7.编辑命令（EDCMD）------------------------------------------------------------------------------------20

8.程序操作----------------------------------------------------------------------------------------------------22

1）查看和修改程序信息-----------------------------------------------------------------------------------22

2）删除程序文件--------------------------------------------------------------------------------------------23

3）复制程序文件--------------------------------------------------------------------------------------------23

执行程序

24

1.程序中断和恢复-----------------------------------------------------------------------------------------24

1）急停中断和恢复-----------------------------------------------------------------------------------------24

2）暂停中断和恢复-----------------------------------------------------------------------------------------24

3）报警引起的中断-----------------------------------------------------------------------------------------24

2.手动执行程序---------------------------------------------------------------------------------------------25

3.手动

I/O控制----------------------------------------------------------------------------------------------26

1）强制输出--------------------------------------------------------------------------------------------------26

2）仿真输入/输出-------------------------------------------------------------------------------------------26

4.Wait语句--------------------------------------------------------------------------------------------------27

5.自动运行----------------------------------------------------------------------------------------------------27

程序结构28

1.运动指令----------------------------------------------------------------------------------------------------28

2.焊接指令----------------------------------------------------------------------------------------------------28

1）焊接开始指令--------------------------------------------------------------------------------------------28

2）焊接结束指令--------------------------------------------------------------------------------------------28

3）摆焊开始指令--------------------------------------------------------------------------------------------29

4）摆焊结束指令--------------------------------------------------------------------------------------------29

3.寄存器指令------------------------------------------------------------------------------------------------29

1）寄存器指令-----------------------------------------------------------------------------------------------29

2）位置寄存器指令-----------------------------------------------------------------------------------------29

4.I/O指令------------------------------------------------------------------------------------------------------30

1）数字

I/O指令30

5.分支指令----------------------------------------------------------------------------------------------------30

1）Label指令------------------------------------------------------------------------------------------------30

2）未定义条件的分支指令--------------------------------------------------------------------------------30

3）定义条件的分支指令-----------------------------------------------------------------------------------30

4）条件选择分支指令--------------------------------------------------------------------------------------31

6.等待指令----------------------------------------------------------------------------------------------------31

1）时间的等待指令-----------------------------------------------------------------------------------------31

2）条件等待指令--------------------------------------------------------------------------------------------31

7.偏置条件指令---------------------------------------------------------------------------------------------32

8.程序控制指令---------------------------------------------------------------------------------------------32

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9.其他指令----------------------------------------------------------------------------------------------------32

1）用户报警指令--------------------------------------------------------------------------------------------32

2）时钟指令--------------------------------------------------------------------------------------------------32

3）运行速度指令--------------------------------------------------------------------------------------------32

4）注释指令--------------------------------------------------------------------------------------------------32

5）消息指令--------------------------------------------------------------------------------------------------32

FRAMES的设置..33

1.坐标系的分类---------------------------------------------------------------------------------------------33

2.设置工具坐标系-----------------------------------------------------------------------------------------33

3.设置用户坐标系-----------------------------------------------------------------------------------------34

4.设置点动坐标系-----------------------------------------------------------------------------------------34

宏.