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
系
统
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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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