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FANUC喷涂机器人培训教材

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工控学习网 发表于 2020-3-27 10:55:06 | 显示全部楼层 |阅读模式
机器人品牌
厂商: FANUC
FANUC喷涂机器人培训教材.pdf (1.85 MB, 售价: 5 E币)
目录
认识 FANUC 机器人 4
1.概论----------------------------------------------------------------------------------------------------------- 4
1) FANUC 简介------------------------------------------------------------------------------------------- 4
2)机器人的构成----------------------------------------------------------------------------------------- 4
3) FANUC PAINTING 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-------------------------------------------------------------------------------------------------------- 16SHANGHAI-FANUC
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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--------------------------------------------------------------------------------------------- 32SHANGHAI-FANUC
3
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 MACRO 35
1.概述----------------------------------------------------------------------------------------------------------- 35
2.设置宏指令------------------------------------------------------------------------------------------------ 35
3.执行宏指令------------------------------------------------------------------------------------------------ 37
1)在 TP 的 MANUAL FCTN 画面中执行-------------------------------------------------------------- 37
2) 使用 TP 的用户键执行--------------------------------------------------------------------------------- 37
文件的输入/输出 38
1.文件的输入/输出设备---------------------------------------------------------------------------------- 38
1)选择文件输入/输出设备----------------------------------------------------------------------------- 38
2) 文件---------------------------------------------------------------------------------------------------------- 39
2.备份文件和加载文件---------------------------------------------------------------------------------- 40
1) 备份文件--------------------------------------------------------------------------------------------------- 40
2) 加载文件--------------------------------------------------------------------------------------------------- 41
Mastering 42
1.为什么要 Mastering(原点复归)------------------------------------------------------------------- 42
2. Mastering 的方式--------------------------------------------------------------------------------------- 42
3. 0 度位置 Mastering------------------------------------------------------------------------------------ 42
4.单轴 Mastering------------------------------------------------------------------------------------------- 43
基本保养 45
1. 概述--------------------------------------------------------------------------------------------------------- 45
2. 更换电池-------------------------------------------------------------------------------------------------- 45
1) 更换控制器主板上的电池--------------------------------------------------------------------------- 45
2) 更换机器人本体上的电池--------------------------------------------------------------------------- 45
3. 更换润滑油----------------------------------------------------------------------------------------------- 46
1) 换减速器和齿轮盒润滑油--------------------------------------------------------------------------- 46
2) 更换平衡块轴承润滑油------------------------------------------------------------------------------ 46

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