上海发那科(FANUC)机器人有限公司内部教材 下载本文

上海发那科机器人有限公司

2012.1

SHANGHAI-FANUC

目 录

认识FANUC机器人

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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--------------------------------------------------------------------------- 6)FANUC机器人的编程方式--------------------------------------------------------------------------- 7)FANUC机器人的特色功能--------------------------------------------------------------------------- 2.FANUC机器人的构成---------------------------------------------------------------------------------1)FANUC机器人软件系统------------------------------------------------------------------------------- 2)FANUC机器人硬件

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3.控制器------------------------------------------------------------------------------------------------------- 1)认识TP--------------------------------------------------------------------------------------------------- (1)TP的作用---------------------------------------------------------------------------------------------(2)认识TP上的键----------------------------------------------------------------------------------------(3)TP上的开关-------------------------------------------------------------------------------------------(4)TP上的指示灯----------------------------------------------------------------------------------------(5)TP上的显示屏----------------------------------------------------------------------------------------(6)屏幕菜单和功能菜单---------------------------------------------------------------------------------2)操作者面板----------------------------------------------------------------------------------------------- 3)远端控制器----------------------------------------------------------------------------------------------- 4)显示器和键盘-------------------------------------------------------------------------------------------- 5)通讯-------------------------------------------------------------------------------------------------------- 6)输入/输出 I/O-------------------------------------------------------------------------------------------- 7)外部I/O---------------------------------------------------------------------------------------------------- 8)机器人的运动-------------------------------------------------------------------------------------------- 9)急停设备-------------------------------------------------------------------------------------------------- 10)附加轴---------------------------------------------------------------------------------------------------

安全 1.注意事项---------------------------------------------------------------------------------------------------- 2.以下场合不可使用机器人---------------------------------------------------------------------------- 3.安全操作规程---------------------------------------------------------------------------------------------

编程 1.有效编程的技巧----------------------------------------------------------------------------------------- 1)运动指令--------------------------------------------------------------------------------------------------

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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 4.创建程序---------------------------------------------------------------------------------------------------- 16 1)选择程序-------------------------------------------------------------------------------------------------- 2)选择程序编辑画面-------------------------------------------------------------------------------------- 3)创建一个新程序----------------------------------------------------------------------------------------- 5.示教运动状态--------------------------------------------------------------------------------------------- 1)运动指令-------------------------------------------------------------------------------------------------- 6.修正点------------------------------------------------------------------------------------------------------- 7.编辑命令(EDCMD)------------------------------------------------------------------------------------8.程序操作---------------------------------------------------------------------------------------------------- 1)查看和修改程序信息----------------------------------------------------------------------------------- 2)删除程序文件-------------------------------------------------------------------------------------------- 3)复制程序文件--------------------------------------------------------------------------------------------

执行程序 1.程序中断和恢复----------------------------------------------------------------------------------------- 1)急停中断和恢复----------------------------------------------------------------------------------------- 2)暂停中断和恢复----------------------------------------------------------------------------------------- 3)报警引起的中断----------------------------------------------------------------------------------------- 2.手动执行程序--------------------------------------------------------------------------------------------- 3.手动I/O控制----------------------------------------------------------------------------------------------1)强制输出-------------------------------------------------------------------------------------------------- 2)仿真输入/输出------------------------------------------------------------------------------------------- 4. Wait语句-------------------------------------------------------------------------------------------------- 5.自动运行----------------------------------------------------------------------------------------------------

程序结构 1.运动指令---------------------------------------------------------------------------------------------------- 2.焊接指令---------------------------------------------------------------------------------------------------- 1)焊接开始指令-------------------------------------------------------------------------------------------- 2)焊接结束指令-------------------------------------------------------------------------------------------- 3)摆焊开始指令-------------------------------------------------------------------------------------------- 4)摆焊结束指令-------------------------------------------------------------------------------------------- 3.寄存器指令------------------------------------------------------------------------------------------------ 1)寄存器指令-----------------------------------------------------------------------------------------------

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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----------------------------------------------------------------------------------------- 2)条件等待指令-------------------------------------------------------------------------------------------- 7.偏置条件指令--------------------------------------------------------------------------------------------- 8.程序控制指令--------------------------------------------------------------------------------------------- 9.其他指令---------------------------------------------------------------------------------------------------- 1)用户报警指令-------------------------------------------------------------------------------------------- 2)时钟指令-------------------------------------------------------------------------------------------------- 3)运行速度指令-------------------------------------------------------------------------------------------- 4)注释指令-------------------------------------------------------------------------------------------------- 5)消息指令--------------------------------------------------------------------------------------------------

FRAMES的设置

1.坐标系的分类--------------------------------------------------------------------------------------------- 2.设置工具坐标系----------------------------------------------------------------------------------------- 3.设置用户坐标系----------------------------------------------------------------------------------------- 4.设置点动坐标系-----------------------------------------------------------------------------------------

宏MACRO 1.概述-----------------------------------------------------------------------------------------------------------2.设置宏指令------------------------------------------------------------------------------------------------ 3.执行宏指令------------------------------------------------------------------------------------------------ 1)在TP的MANUAL FCTN画面中执行-------------------------------------------------------------- 2)使用TP的用户键执行---------------------------------------------------------------------------------

文件的输入/输出

1.文件的输入/输出设备----------------------------------------------------------------------------------1)选择文件输入/输出设备-----------------------------------------------------------------------------2)文件----------------------------------------------------------------------------------------------------------2.备份文件和加载文件---------------------------------------------------------------------------------- 1)备份文件---------------------------------------------------------------------------------------------------2)加载文件---------------------------------------------------------------------------------------------------

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