第1页 / 共902页
第2页 / 共902页
第3页 / 共902页
第4页 / 共902页
第5页 / 共902页
第6页 / 共902页
第7页 / 共902页
第8页 / 共902页
FANUC机器人操作手册.pdf
1目录1.绪言.............................................................................................................................................81.1手册说明....................................................................................................................................9使用本手册.........................................................................................................................................9产品规格...........................................................................................................................................10相关手册...........................................................................................................................................101.2工作人员............................................................................................................................12一般安全防护...........................................................................................................................131.4安全防护措施....................................................................................................................162.概述..............................................................................................................................................232.1点焊工具软件..........................................................................................................................252.1.1系统设置...............................................................................................................................252.1.2手动操作机械手...................................................................................................................252.1.3程序.......................................................................................................................................252.1.4测试操作（测试执行）.......................................................................................................262.1.5自动操作（操作执行）....................................................................................................262.2机器人................................................................................................................................262.3控制器................................................................................................................................282.3.1教导盒.....................................................................................................................302.3.1.1显示教导盒界面.................................................................................................312.3.2操作面板.................................................................................................................362.3.3远程控制器.............................................................................................................372.3.5通讯.........................................................................................................................372.3.6输入输出.................................................................................................................372.3.7外围设备输入输出................................................................................................372.3.8机器人的动作.........................................................................................................392.3.9紧急停机装置.........................................................................................................392.3.10扩展轴...................................................................................................................39焊接工序...........................................................................................................................................413.1.1点焊输入...............................................................................................................................453.3输入输出（I/O）..............................................................................................................583.3.1数字I/O...................................................................................................................643.3.2I/O组.......................................................................................................................703.3.3模拟I/O..................................................................................................................733.4机器人I/O........................................................................................................................783.5外围设备I/O.....................................................................................................................813.6操作面板I/O....................................................................................................................913.7I/O链接界面......................................................................................................................943.7.1I/O连接目录界面..................................................................................................943.7.2模型B单元目录界面............................................................................................953.7.3信号计数界面..........................................................................................................963.8I/O链接功能......................................................................................................................98
23.9设置自动操作..................................................................................................................1003.9.1机器人服务请求(RSR)......................................................................................1013.9.2程序号选择(PNS)..............................................................................................1043.10设置坐标系....................................................................................................................1073.10.1设置工具坐标系.................................................................................................1103.10.2设置用户坐标系................................................................................................1203.10.3设置手动坐标系................................................................................................1313.11设置参考位置................................................................................................................1373.12关节操作区....................................................................................................................1413.13用户警告........................................................................................................................1433.16系统配置菜单................................................................................................................1503.17设置通用项目................................................................................................................1553.18其他设置........................................................................................................................1574.程序结构....................................................................................................................................1584.1程序详细信息..................................................................................................................1614.1.1程序名...................................................................................................................1614.1.2程序注释...............................................................................................................1624.1.3子类型...................................................................................................................1624.1.4组标志...................................................................................................................1634.1.5写保护...................................................................................................................1634.1.6中断屏蔽................................................................................................................1634.2行号，程序结束标志和自变量...................................................................................1664.3动作指令..........................................................................................................................1704.3.1动作类型...............................................................................................................1714.3.2位置数据...............................................................................................................1764.3.3进给速度...............................................................................................................1814.3.4定位路径...............................................................................................................1834.3.5附加动作指令.......................................................................................................1854.3.6高精度轨迹功能（选项）..................................................................................2004.4点焊指令................................................................................................................................205点焊[i]...........................................................................................................................................205点焊[i,j]........................................................................................................................................205点焊[BU=*,P=*,S=i,BU=*]......................................................................................................206点焊[BU=(*,*),D=(*,*),S=(i,j),BU=(*,*)]...........................................................................206SUTOROKU=[state].....................................................................................................................207SUTOROKU=[state-1,state-2]....................................................................................................207Strokefull-open/half-opendetection..............................................................................................2074.5寄存器指令......................................................................................................................2094.5.1寄存器指令...........................................................................................................2094.5.2位置寄存器指令..................................................................................................2134.5.3位置寄存器轴指令..............................................................................................2144.6.1数字输入/输出指令.............................................................................................2204.6.2机器人输入输出指令..........................................................................................2204.6.3模拟输入输出指令..............................................................................................222
34.6.4组输入输出指令..................................................................................................2244.7分支指令..........................................................................................................................2244.7.1标签指令...............................................................................................................2244.7.2程序结束指令.......................................................................................................2244.7.3无条件分支指令..................................................................................................2264.7.4条件分支指令.......................................................................................................2274.7.5变量.......................................................................................................................2294.8等待指令..........................................................................................................................2364.8.1指定时间的等待指令...........................................................................................2364.8.2条件等待指令.......................................................................................................2364.9跳转条件指令..................................................................................................................2404.10补偿条件指令................................................................................................................2434.11工具补偿条件指令........................................................................................................2444.12坐标系指令....................................................................................................................2454.13程序控制指令................................................................................................................2464.13.1停止指令.............................................................................................................2464.13.2异常终止指令....................................................................................................2464.14其他指令........................................................................................................................2474.14.1RSR指令..........................................................................................................2474.14.2用户警报指令....................................................................................................2474.14.3计数器指令.........................................................................................................2484.14.4倍率指令.............................................................................................................2484.14.5注释指令.............................................................................................................2484.14.6信息指令.............................................................................................................2494.14.7参数指令.............................................................................................................2494.14.8最大进给指令....................................................................................................2524.15多轴控制指令................................................................................................................2534.15.1旗号指令.............................................................................................................2534.15.2旗号等待指令....................................................................................................2534.15.3程序执行指令....................................................................................................2544.16操作组指令....................................................................................................................2554.16.1异步操作组指令................................................................................................2554.16.2同步操作组指令................................................................................................2555.编程............................................................................................................................................2575.1有效编程的提示..............................................................................................................2615.1.1动作指令...............................................................................................................2615.1.2预定义位置...........................................................................................................2645.1.3点焊.......................................................................................................................2645.2打开电源，手动进给......................................................................................................2655.2.1打开电源和关闭电源..........................................................................................2655.2.2三模式开关...........................................................................................................2675.2.3手动移动机器人..................................................................................................2715.3创建程序..........................................................................................................................2805.3.1注册程序...............................................................................................................281
45.3.2改变标准动作指令..............................................................................................2855.3.3教导动作指令.......................................................................................................2895.3.4教导辅助动作指令..............................................................................................2935.3.5教导控制指令.......................................................................................................2985.3.6禁止启动TP（教导盒）.....................................................................................3045.4改变程序..........................................................................................................................3075.4.1选择程序...............................................................................................................3075.4.2改变动作指令.......................................................................................................3095.4.3改变控制指令.......................................................................................................3195.4.4程序编辑指令.......................................................................................................3215.5程序操作..........................................................................................................................3355.5.1改变程序信息........................................................................................................3355.6后台编辑..........................................................................................................................3415.7奇点检测功能..................................................................................................................3506执行程序.....................................................................................................................................3526.1程序暂停和恢复..............................................................................................................3536.1.1使用紧急停机按钮暂停和恢复..........................................................................3546.1.2使用HOLD按钮进行暂停和恢复...................................................................3556.1.3由警告引起的暂停..............................................................................................3576.2执行程序..........................................................................................................................3616.2.1启动一个程序.......................................................................................................3616.2.2机器人动作...........................................................................................................3626.2.3恢复执行一个程序..............................................................................................3656.3测试..................................................................................................................................3726.3.1指定测试执行.......................................................................................................3726.3.2单步测试...............................................................................................................3766.3.3连续测试...............................................................................................................3806.3.4程序查找/监视.....................................................................................................3826.4手动操作焊接设备..........................................................................................................3836.6手动I/O(输入/输出)控制..............................................................................................3866.6.1强制输出...............................................................................................................3866.6.2仿真的I/O(输入/输出)........................................................................................3876.6.3待机解除...............................................................................................................3896.7手动操作机械手..............................................................................................................3906.8自动操作..........................................................................................................................3916.8.1用机器人启动请求（RSR）自动操作...............................................................3926.8.2用程序号选择（PNS）来自动操作...................................................................3946.8.3外部倍率选择功能..............................................................................................3966.9在线位置修改..................................................................................................................3987.状态显示....................................................................................................................................4047.1教导盒上的LED（发光二极管）.................................................................................4057.2用户界面.........................................................................................................................4067.3寄存器.............................................................................................................................4077.4位置寄存器.....................................................................................................................409
57.5电弧焊状态......................................................................................................................4117.6堆垛寄存器.....................................................................................................................4137.7当前位置.........................................................................................................................4147.8系统变量.........................................................................................................................4177.9程序定时器.....................................................................................................................4187.10系统定时器....................................................................................................................4207.11执行的历史记录...........................................................................................................4217.12内存使用状态显示.......................................................................................................4238．文件输入/输出........................................................................................................................4258.1文件输入/输出单元.......................................................................................................4268.1.1存储卡.................................................................................................................4278.1.2外部存储单元....................................................................................................4288.1.3FloppyCassetteadapter（盒式软盘适配器）........................................4298.1.4HandyFile（便携文件驱动器）..................................................................4288.2设置一个通讯端口.........................................................................................................4328.3文件.................................................................................................................................4358.3.1程序文件.............................................................................................................4358.3.2缺省逻辑文件....................................................................................................4358.3.3系统文件/应用程序文件..................................................................................4368.3.4数据文件.............................................................................................................4368.3.5ASCII文件.........................................................................................................4368.4保存文件.........................................................................................................................4378.4.1在程序选择界面中保存....................................................................................4378.4.2使用文件界面来保存所有的程序文件............................................................4398.4.3使用功能菜单来保存..........................................................................................4428.4.4文件操作...............................................................................................................4458.5文件的加载.....................................................................................................................4498.5.1使用程序选择界面加载.......................................................................................4508.5.2使用文件界面加载一个指定的程序..................................................................4518.6文件打印..........................................................................................................................4568.6.1打印机...................................................................................................................4568.6.2打印文件...............................................................................................................4588.7自动备份..........................................................................................................................4628.7.1自动备份概述.......................................................................................................4628.7.2可供使用的存储卡..............................................................................................4628.7.3自动备份的设置..................................................................................................4648.7.4执行自动备份.......................................................................................................4668.7.5版本管理...............................................................................................................4668.7.6备份的恢复...........................................................................................................4689实用程序......................................................................................................................................4699.1宏指令..............................................................................................................................4709.1.1宏指令的设置.......................................................................................................4739.1.2执行宏指令...........................................................................................................4789.2转换功能..........................................................................................................................484
69.2.1程序转换功能.......................................................................................................4859.2.2镜面转换功能...............................................................................................................4899.2.3输入角度转换功能.......................................................................................................4939.3改变坐标系转换功能......................................................................................................4979.4软浮点功能......................................................................................................................5019.5持续旋转功能..................................................................................................................5079.6位置寄存器前瞻执行功能.............................................................................................5119.7操作组DO输出功能......................................................................................................5129.8预执行指令功能..............................................................................................................5149.9操作间距离......................................................................................................................5199.9.1概要.......................................................................................................................5199.9.2规范说明...............................................................................................................5209.9.3配置.......................................................................................................................5209.9.4指令.......................................................................................................................5209.9.5输入之前距离DB................................................................................................5289.9.6注意和限制事项..................................................................................................5319.9.7系统变量...............................................................................................................5319.9.8错误代码...............................................................................................................5339.10状态监督功能................................................................................................................5349.11自动错误复原功能........................................................................................................5419.11.1概要.....................................................................................................................5419.11.2自动错误复原功能概要......................................................................................5429.11.3定义恢复程序.....................................................................................................5449.11.4校正RETURN_PATH_DSBL指令..................................................................5459.11.5设置自动错误复原功能....................................................................................5459.11.6恢复暂停程序的流程图....................................................................................5519.11.7自动错误复原功能的手动操作界面................................................................5529.11.8从教导盒和测试模式执行恢复程序................................................................5549.11.9更改执行恢复程序的环境条件........................................................................5559.11.10其他说明和限制...............................................................................................5559.11.11警示....................................................................................................................5569.12遥控TCP功能..............................................................................................................5569.12.1概述.....................................................................................................................5569.12.2设置.....................................................................................................................5599.13高灵敏度冲突（碰撞）探测.......................................................................................5619.13.1概要......................................................................................................................5619.13.2说明.....................................................................................................................5629.13.3高灵敏度冲突（碰撞）探测............................................................................5629.13.4注意事项.............................................................................................................5629.14负载设置........................................................................................................................5639.14.1概要.....................................................................................................................5639.14.2动作性能界面....................................................................................................5639.14.3程序指令.............................................................................................................5659.15负载估计........................................................................................................................566
79.15.1概要.....................................................................................................................5669.15.2操作步骤.............................................................................................................5669.15.3负载估计流程（对于6轴机器人）................................................................5669.15.4校准流程（对于6轴机器人）........................................................................5699.15.5其他相关事宜....................................................................................................5729.16辅助轴的碰撞探测........................................................................................................5729.16.1概要.....................................................................................................................5729.16.2注意事项.............................................................................................................5739.16.3初始设置.............................................................................................................5739.16.4调配流程.............................................................................................................5739.17重力补偿........................................................................................................................5749.17.1系统变量.............................................................................................................5759.17.2动作界面.............................................................................................................57510.装托功能....................................................................................................................................57710.1装托功能.........................................................................................................................57710.2装托指令.........................................................................................................................57910.3校正装托功能................................................................................................................58010.3.1选择装托指令....................................................................................................58110.3.2输入初始数据....................................................................................................58210.3.3校正堆放模式....................................................................................................58710.3.4设定路径模式环境条件....................................................................................59210.3.5校正路径模式....................................................................................................59510.3.6校正装托功能的一些提示................................................................................59910.4执行装托功能................................................................................................................59910.4.1装托寄存器.........................................................................................................60010.4.2使用装托寄存器控制装托功能........................................................................60110.5调整装托功能................................................................................................................60210.6带有延长轴的装托改功能...........................................................................................60310.7装托全点校正................................................................................................................604附录.................................................................................................................................................605A.附录.................................................................................................................................605A.1菜单列表..........................................................................................................................606A.2界面类型.........................................................................................................................609A.3程序指令列表..................................................................................................................627A.4程序指令.........................................................................................................................630A.4.1动作指令...............................................................................................................630A.4.1附加动作指令.......................................................................................................631A.4.3寄存器和I/O指令..............................................................................................633A.4.4条件分支指令.......................................................................................................634A.4.5等待指令..............................................................................................................635A.4.6无条件分支指令..................................................................................................636A.4.7程序控制指令.......................................................................................................637A.4.8其他指令..............................................................................................................637A.4.9跳过和偏移环境条件指令.................................................................................638
8A.4.10框设定指令........................................................................................................639A.4.11宏指令................................................................................................................639A.4.12多轴控制指令....................................................................................................639A.4.13位置寄存器前瞻执行指令...............................................................................640A.4.14软浮点指令........................................................................................................640A.4.15状态监督指令.....................................................................................................641A.4.16动作组指令........................................................................................................641A.4.17装托指令............................................................................................................641B.附录.........................................................................................................................................642B.1启动模式.........................................................................................................................642B.1.1启动方式..............................................................................................................642B.1.2初始化启动..........................................................................................................643B.1.3受控启动..............................................................................................................644B.1.4冷启动..................................................................................................................645B.1.5热启动..................................................................................................................646B.2控制..................................................................................................................................647B.2.1夹具控制..............................................................................................................648B.2.2零度位置控制......................................................................................................649B.2.3快速控制..............................................................................................................651B.2.4单轴控制..............................................................................................................652B.2.5设定控制数据......................................................................................................655B.3软件版本.........................................................................................................................656B.4机器人轴状态..................................................................................................................658B.5诊断界面..........................................................................................................................664B.5.1概要.......................................................................................................................664B.5.2关于减速器诊断...................................................................................................664B.5.3流程......................................................................................................................664B.5.4各个项目..............................................................................................................666B.6世界框原点......................................................................................................................668B.7I/O（输入/输出）模块设定...........................................................................................669B.8远程位置调节器设定......................................................................................................673B.9延长轴设定...................................................................................................................679B.10延长轴设定....................................................................................................................684B.11独立附加轴板（Nobot）启动流程.............................................................................689C.警告代码.....................................................................................................................................693C.1警告代码表的具体描述.................................................................................................694C.2警告代码.........................................................................................................................700D.1系统变量表的格式..........................................................................................................803D.2系统变量..........................................................................................................................805索引.................................................................................................................................................821[A]...........................................................................................................................................821[B]............................................................................................................................................822[C]............................................................................................................................................822[D]...........................................................................................................................................822
相关推荐
2023年江西萍乡中考道德与法治真题及答案.doc
2012年重庆南川中考生物真题及答案.doc
2013年江西师范大学地理学综合及文艺理论基础考研真题.doc
2020年四川甘孜小升初语文真题及答案I卷.doc
2020年注册岩土工程师专业基础考试真题及答案.doc
2023-2024学年福建省厦门市九年级上学期数学月考试题及答案.doc
2021-2022学年辽宁省沈阳市大东区九年级上学期语文期末试题及答案.doc
2022-2023学年北京东城区初三第一学期物理期末试卷及答案.doc
2018上半年江西教师资格初中地理学科知识与教学能力真题及答案.doc
2012年河北国家公务员申论考试真题及答案-省级.doc
2020-2021学年江苏省扬州市江都区邵樊片九年级上学期数学第一次质量检测试题及答案.doc
2022下半年黑龙江教师资格证中学综合素质真题及答案.doc
