FANUC机器人培训汇编.docx
- 文档编号:29158534
- 上传时间:2023-07-20
- 格式:DOCX
- 页数:89
- 大小:848.21KB
FANUC机器人培训汇编.docx
《FANUC机器人培训汇编.docx》由会员分享,可在线阅读,更多相关《FANUC机器人培训汇编.docx(89页珍藏版)》请在冰豆网上搜索。
FANUC机器人培训汇编
上海发那科机器人有限公司
2002.12
认识FANUC机器人
1
1.概论-----------------------------------------------------------------------------------------------------------
1
1)机器人的构成-------------------------------------------------------------------------------------------
1
2)机器人的用途-------------------------------------------------------------------------------------------
1
3)FANUC机器人的型号--------------------------------------------------------------------------------
1
4)机器人主要参数----------------------------------------------------------------------------------------
2
5)FANUC机器人的安装环境---------------------------------------------------------------------------
2
6)FANUC机器人的编程方式---------------------------------------------------------------------------
2
7)FANUC机器人的特色功能---------------------------------------------------------------------------
2
2.FANUC机器人的构成---------------------------------------------------------------------------------
2
1)FANUC机器人软件系统-------------------------------------------------------------------------------
2
2)FANUC机器人硬件系统-------------------------------------------------------------------------------
2
3.控制器-------------------------------------------------------------------------------------------------------
3
1)认识TP---------------------------------------------------------------------------------------------------
3
(1)TP的作用---------------------------------------------------------------------------------------------
3
(2)认识TP上的键----------------------------------------------------------------------------------------
4
(3)TP上的开关-------------------------------------------------------------------------------------------
5
(4)TP上的指示灯----------------------------------------------------------------------------------------
5
(5)TP上的显示屏----------------------------------------------------------------------------------------
5
(6)屏幕菜单和功能菜单---------------------------------------------------------------------------------
6
2)操作者面板-----------------------------------------------------------------------------------------------
8
3)远端控制器-----------------------------------------------------------------------------------------------
8
4)显示器和键盘--------------------------------------------------------------------------------------------
9
5)通讯--------------------------------------------------------------------------------------------------------
9
6)输入/输出I/O--------------------------------------------------------------------------------------------
9
7)外部I/O----------------------------------------------------------------------------------------------------
9
8)机器人的运动--------------------------------------------------------------------------------------------
9
9)急停设备--------------------------------------------------------------------------------------------------
9
10)附加轴---------------------------------------------------------------------------------------------------
9
安全
10
1.注意事项----------------------------------------------------------------------------------------------------
10
2.以下场合不可使用机器人----------------------------------------------------------------------------
10
3.安全操作规程---------------------------------------------------------------------------------------------
10
编程
11
1.有效编程的技巧-----------------------------------------------------------------------------------------
11
1)运动指令--------------------------------------------------------------------------------------------------
11
2)设置HOME点-------------------------------------------------------------------------------------------
11
2.通电和关电------------------------------------------------------------------------------------------------
12
1)通电--------------------------------------------------------------------------------------------------------
12
2)关电--------------------------------------------------------------------------------------------------------
12
3.手动示教机器人-----------------------------------------------------------------------------------------
12
1)示教模式--------------------------------------------------------------------------------------------------
12
2)设置示教速度--------------------------------------------------------------------------------------------
13
3)示教--------------------------------------------------------------------------------------------------------
13
4.创建程序----------------------------------------------------------------------------------------------------
13
1)选择程序--------------------------------------------------------------------------------------------------
13
2)选择程序编辑画面--------------------------------------------------------------------------------------
13
3)创建一个新程序-----------------------------------------------------------------------------------------
14
5.示教运动状态---------------------------------------------------------------------------------------------
14
1)运动指令--------------------------------------------------------------------------------------------------
14
6.修正点-------------------------------------------------------------------------------------------------------
16
7.编辑命令(EDCMD)------------------------------------------------------------------------------------
17
8.程序操作----------------------------------------------------------------------------------------------------
19
1)查看和修改程序信息-----------------------------------------------------------------------------------
19
2)删除程序文件--------------------------------------------------------------------------------------------
20
3)复制程序文件--------------------------------------------------------------------------------------------
20
执行程序
21
1.程序中断和恢复-----------------------------------------------------------------------------------------
21
1)急停中断和恢复-----------------------------------------------------------------------------------------
21
2)暂停中断和恢复-----------------------------------------------------------------------------------------
21
3)报警引起的中断-----------------------------------------------------------------------------------------
21
2.手动执行程序---------------------------------------------------------------------------------------------
22
3.手动I/O控制----------------------------------------------------------------------------------------------
23
1)强制输出--------------------------------------------------------------------------------------------------
23
2)仿真输入/输出-------------------------------------------------------------------------------------------
23
4.Wait语句--------------------------------------------------------------------------------------------------
24
5.自动运行----------------------------------------------------------------------------------------------------
24
程序结构
25
1.运动指令----------------------------------------------------------------------------------------------------
25
2.焊接指令----------------------------------------------------------------------------------------------------
25
1)焊接开始指令--------------------------------------------------------------------------------------------
25
2)焊接结束指令--------------------------------------------------------------------------------------------
25
3)摆焊开始指令--------------------------------------------------------------------------------------------
26
4)摆焊结束指令--------------------------------------------------------------------------------------------
26
3.寄存器指令------------------------------------------------------------------------------------------------
26
1)寄存器指令-----------------------------------------------------------------------------------------------
26
2)位置寄存器指令-----------------------------------------------------------------------------------------
26
4.I/O指令------------------------------------------------------------------------------------------------------
27
1)数字I/O指令
27
5.分支指令----------------------------------------------------------------------------------------------------
27
1)Label指令------------------------------------------------------------------------------------------------
27
2)未定义条件的分支指令--------------------------------------------------------------------------------
27
3)定义条件的分支指令-----------------------------------------------------------------------------------
27
4)条件选择分支指令--------------------------------------------------------------------------------------
28
6.等待指令----------------------------------------------------------------------------------------------------
28
1)时间的等待指令-----------------------------------------------------------------------------------------
28
2)条件等待指令--------------------------------------------------------------------------------------------
28
7.偏置条件指令---------------------------------------------------------------------------------------------
29
8.程序控制指令---------------------------------------------------------------------------------------------
29
9.其他指令----------------------------------------------------------------------------------------------------
29
1)用户报警指令--------------------------------------------------------------------------------------------
29
2)时钟指令--------------------------------------------------------------------------------------------------
29
3)运行速度指令--------------------------------------------------------------------------------------------
29
4)注释指令--------------------------------------------------------------------------------------------------
29
5)消息指令--------------------------------------------------------------------------------------------------
29
FRAMES的设置
30
1.坐标系的分类---------------------------------------------------------------------------------------------
30
2.设置工具坐标系-----------------------------------------------------------------------------------------
30
3.设置用户坐标系-----------------------------------------------------------------------------------------
31
4.设置点动坐标系--------------
- 配套讲稿:
如PPT文件的首页显示word图标,表示该PPT已包含配套word讲稿。双击word图标可打开word文档。
- 特殊限制:
部分文档作品中含有的国旗、国徽等图片,仅作为作品整体效果示例展示,禁止商用。设计者仅对作品中独创性部分享有著作权。
- 关 键 词:
- FANUC 机器人 培训 汇编
![提示](https://static.bdocx.com/images/bang_tan.gif)