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FANUC机器人手册(超全)
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更新于2023-03-16
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FANUC机械手系列(R-J3i 模型B控制器)点焊工具操作员手册 本手册描述如何运行FANUC机械手—一个通用简洁机械手。它由FANUC R-J3i 模型B控制 器(在下面叫做机械手控制器)来控制,包括点焊工具软件。 本手册描述关于使用机械手来进行加工加工件时的下面几项。 F 为点焊建立系统 F 运行机械手 F 创建和更改程序 F 运行程序 F 状态指示 F 警报代码和系统变量 使用本手册 手册的每章叙述了机械手的单个功能。使用者可以选择性阅读各章节的功能说明。读者可以 在5到6个小时之内理解本手册的所有内容。
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1. 绪言 .............................................................................................................................................1
1.1 手册规划............................................................................................................................2
1.2 工作人员............................................................................................................................5
1.3 一般安全防护.....................................................................................................................6
1.4 安全防护措施....................................................................................................................9
2. 概述 14
2.1 点焊工具软件...................................................................................................................16
2.1.1 系统设定...............................................................................................................16
2.1.2 机器人的手动进给...............................................................................................16
2.1.3 程序.......................................................................................................................16
2.1.4 测试操作 (测试执行模式) ..................................................................................17
2.1.5 自动操作(操作执行模式) ....................................................................................17
2.2 机器人..............................................................................................................................18
2.3 控制器..............................................................................................................................19
2.3.1 教导盒...................................................................................................................20
2.3.1.1 显示教导盒界面................................................................................................25
2.3.2 操作面板...............................................................................................................29
2.3.3 远程控制器...........................................................................................................30
2.3.4 显示器与键盘.......................................................................................................30
2.3.5 通讯.......................................................................................................................30
2.3.6 输入输出...............................................................................................................30
2.3.7 外围设备输入输出...............................................................................................30
2.3.8 机器人的动作.......................................................................................................31
2.3.9 紧急停机装置.......................................................................................................31
2.3.10 扩展轴.................................................................................................................31
3.设置点焊系统 32
3.1 点焊 I/O----------------------------------------------------------------------------------------------33
3.1.1 点焊输入----------------------------------------------------------------------------------37
3.1.2 点焊输出----------------------------------------------------------------------------------38
3.1.3点焊输出信号的电源故障恢复--------------------------------------------------------41
3.2 焊接工序--------------------------------------------------------------------------------------------42
3.3 输入输出(I/O) ............................................................................................................48
3.3.1 数字 I/O .................................................................................................................54
3.3.2 I/O 组 .....................................................................................................................59
3.3.3 模拟 I/O ................................................................................................................61
3.4 机器人 I/O ......................................................................................................................67
3.5 外围设备 I/O ...................................................................................................................70
3.6 操作面板 I/O ..................................................................................................................78
3.7 I/O 联结界面 ....................................................................................................................81
3.7.1 I/O 连接目录界面 ................................................................................................81
3.7.2 模型 B 单元目录界面 ..........................................................................................82
3.7.3 信号计数界面........................................................................................................83
3.8 I/O 连接功能 ....................................................................................................................84
3.9 设置自动操作..................................................................................................................86
3.9.1 机器人服务请求 (RSR).......................................................................................87
3.9.2 程序号选择 (PNS)...............................................................................................90
3.10 设置坐标系....................................................................................................................93
3.10.1 设置工具坐标系.................................................................................................95
3.10.2 设置用户坐标系...............................................................................................104
3.10.3 设置手动坐标系............................................................................................... 113
3.11 设置参考位置..............................................................................................................118
3.12 关节操作区..................................................................................................................122
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3.13 用户警告......................................................................................................................124
3.14 可变轴区域..................................................................................................................125
3.15 特殊区域功能...... 127
3.16 系统配置菜单..............................................................................................................131
3.17 设置通用项目..............................................................................................................138
3.18 其他设置......................................................................................................................140
4. 程序结构 .................................................................................................................................141
4.1 程序详细信息................................................................................................................144
4.1.1 程序名.................................................................................................................144
4.1.2 程序注释.............................................................................................................145
4.1.3 子类型.................................................................................................................145
4.1.4 组标志.................................................................................................................145
4.1.5 写保护.................................................................................................................146
4.1.6 中断屏蔽..............................................................................................................146
4.2 行号,程序结束标志和自变量..................................................................................149
4.3 动作指令........................................................................................................................151
4.3.1 动作类型.............................................................................................................152
4.3.2 位置数据.............................................................................................................154
4.3.3 进给速度.............................................................................................................159
4.3.4 定位路径.............................................................................................................161
4.3.5 附加动作指令.....................................................................................................162
4.3.6 高精度轨迹功能(选项).................................................................................173
4.4 点焊指令........................................................................................................................176
4.4.1 焊接指令.............................................................................................................176
4.4.2 行程更改指令.....................................................................................................178
4.5 寄存器指令 …………………………………………………………………………179
4.5.1 寄存器指令.........................................................................................................179
4.5.2 位置寄存器指令.................................................................................................181
4.5.3 位置寄存器轴指令.............................................................................................182
4.6 输入输出指令................................................................................................................184
4.6.1 数字输入/输出指令............................................................................................184
4.6.2 机器人输入输出指令.........................................................................................185
4.6.3 模拟输入输出指令.............................................................................................187
4.6.4 组输入输出指令.................................................................................................188
4.7 分支指令........................................................................................................................189
4.7.1 标签指令.............................................................................................................189
4.7.2 程序结束指令.....................................................................................................189
4.7.3 无条件分支指令.................................................................................................190
4.7.4 条件分支指令.....................................................................................................191
4.7.5 变量.....................................................................................................................193
4.8 等待指令........................................................................................................................200
4.8.1 指定时间的等待指令..........................................................................................200
4.8.2 条件等待指令.....................................................................................................200
4.9 跳转条件指令................................................................................................................203
4.10 补偿条件指令..............................................................................................................205
4.11 工具补偿条件指令......................................................................................................206
4.12 坐标系指令..................................................................................................................207
4.13 程序控制指令..............................................................................................................208
4.13.1 停止指令...........................................................................................................208
4.13.2 异常终止指令...................................................................................................208
4.14 其他指令......................................................................................................................209
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4.14.1 RSR 指令 ........................................................................................................209
4.14.2 用户警报指令...................................................................................................209
4.14.3 计数器指令.......................................................................................................210
4.14.4 倍率指令...........................................................................................................210
4.14.5 注释指令...........................................................................................................210
4.14.6 信息指令...........................................................................................................211
4.14.7 参数指令……………………………………………… …211
4.14.8 最大进给指令...................................................................................................214
4.15 多轴控制指令..............................................................................................................215
4.15.1 旗号指令...........................................................................................................215
4.15.2 旗号等待指令...................................................................................................215
4.15.3 程序执行指令...................................................................................................216
4.16 操作组指令..................................................................................................................217
4.16.1 异步操作组指令...............................................................................................217
4.16.2 同步操作组指令...............................................................................................217
5. 编程 218
5.1 有效编程的提示............................................................................................................220
5.1.1 动作指令..............................................................................................................220
5.1.2 预定义位置..........................................................................................................222
5.2 打开电源,手动进给....................................................................................................223
5.2.1 打开电源和关闭电源.........................................................................................223
5.2.2 三模式开关.........................................................................................................225
5.2.3 手动移动机器人.................................................................................................231
5.3 创建程序........................................................................................................................238
5.3.1 注册程序.............................................................................................................239
5.3.2 改变标准动作指令.............................................................................................243
5.3.3 教导动作指令.....................................................................................................246
5.3.4 教导辅助动作指令.............................................................................................249
5.3.5 教导控制指令.....................................................................................................254
5.3.6 禁止启动 TP(教导盒) ...................................................................................260
5.4 改变程序........................................................................................................................262
5.4.1 选择程序.............................................................................................................262
5.4.2 改变动作指令.....................................................................................................264
5.4.3 改变控制指令.....................................................................................................273
5.4.4 程序编辑指令.....................................................................................................275
5.5 程序操作........................................................................................................................290
5.5.1 改变程序信息......................................................................................................290
5.6 后台编辑........................................................................................................................295
5.7 奇点检测功能................................................................................................................304
6. 执行程序 .................................................................................................................................305
6.1 程序暂停和恢复............................................................................................................306
6.1.1 使用紧急状况停机按钮暂停和恢复.................................................................307
6.1.2 使用 HOLD 按钮进行暂停和恢复..................................................................308
6.1.3 由警告引起的暂停.............................................................................................309
6.2 执行程序........................................................................................................................312
6.2.1 启动程序.............................................................................................................312
6.2.2 机器人动作.........................................................................................................313
6.2.3 重新开始程序.....................................................................................................315
6.3 测试................................................................................................................................321
6.3.1 指定测试执行.....................................................................................................321
6.3.2 单步测试.............................................................................................................323
6.3.3 连续测试.............................................................................................................326
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6.3.4 程序查找/监视....................................................................................................328
6.4 手动 I/O(输入/输出)控制.............................................................................................329
6.4.1 强制输出.............................................................................................................329
6.4.2 仿真的 I/O(输入/输出).......................................................................................330
6.4.3 待机解除.............................................................................................................332
6.5 手动操作机械手............................................................................................................333
6.6 手动点焊.........................................................................................................................334
6.7 自动操作........................................................................................................................336
6.7.1 用机器人启动请求(RSR)进行自动操作 .....................................................337
6.7.2 用程序号选择(PNS)进行自动操作..............................................................339
6.7.3 外部倍率选择功能.............................................................................................341
6.8 在线位置修改................................................................................................................343
7. 状态显示 .................................................................................................................................349
7.1 教导盒上的发光二极管(LED).................................................................................350
7.2 用户界面.......................................................................................................................351
7.3 寄存器...........................................................................................................................352
7.4 位置寄存器...................................................................................................................354
7.5 堆垛寄存器...................................................................................................................357
7.6 当前位置.......................................................................................................................359
7.7 系统变量.......................................................................................................................361
7.8 程序定时器...................................................................................................................362
7.9 系统定时器....................................................................................................................364
7.10 执行的历史记录.........................................................................................................365
7.11 内存使用状态显示.....................................................................................................367
8. 文件输入/输出 368
8.1 文件输入/输出单元.......................................................................................................369
8.1.1 存储卡.................................................................................................................370
8.1.2 外部存储单元.....................................................................................................371
8.1.3 Floppy Cassette adapter(盒式软盘适配器).................................................372
8.1.4 Handy File(便携文件驱动器) .....................................................................374
8.2 设置通讯端口................................................................................................................377
8.3 文件................................................................................................................................381
8.3.1 程序文件.............................................................................................................381
8.3.2 缺省逻辑文件.....................................................................................................381
8.3.3 系统文件/应用程序文件....................................................................................382
8.3.4 数据文件.............................................................................................................382
8.3.5 ASCII 文件 .........................................................................................................382
8.4 保存文件........................................................................................................................383
8.4.1 使用程序选择界面保存.....................................................................................383
8.4.2 使用文件界面来保存所有的程序文件.............................................................385
8.4.3 使用功能菜单来保存.........................................................................................389
8.4.4 文件操作.............................................................................................................391
8.4.5 ASCII 文件保存 ...............................................................................................393
8.5 文件的加载....................................................................................................................396
8.5.1 使用程序选择界面加载......................................................................................397
8.5.2 使用文件界面加载指定的程序.........................................................................398
8.6 文件打印........................................................................................................................403
8.6.1 打印机.................................................................................................................403
8.6.2 打印文件.............................................................................................................405
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8.7 自动备份 408
8.7.1 自动备份概述.....................................................................................................408
8.7.2 可供使用的存储卡.............................................................................................408
8.7.3 自动备份的设置.................................................................................................409
8.7.4 执行自动备份.....................................................................................................410
8.7.5 版本管理.............................................................................................................410
8.7.6 恢复备份.............................................................................................................411
9 实用程序 412
9.1 宏指令............................................................................................................................413
9.1.1 设置宏指令.........................................................................................................414
9.1.2 执行宏指令.........................................................................................................419
9.2 转移功能...................................................................................398 错误!未定义书签。
9.2.1 程序转移功能.......................................................................错误!未定义书签。
9.2.2 镜像转移功能........................................................................错误!未定义书签。
9.2.3 角输入转移功能...................................................................错误!未定义书签。
9.3 坐标系变换功能..............................................................................错误!未定义书签。
9.4 软件浮点功能..................................................................................错误!未定义书签。
9.5 连续旋转功能..................................................................................错误!未定义书签。
9.6 位置寄存器 Look-Ahead (预作准备)执行功能......................错误!未定义书签。
9.7 操作组 DO 输出功能.....................................................................错误!未定义书签。
9.8 预执行指令功能..............................................................................错误!未定义书签。
9.9 操作开始前的距离..........................................................................错误!未定义书签。
9.9.1 概述.......................................................................................错误!未定义书签。
9.9.2 技术规范...............................................................................错误!未定义书签。
9.9.3 配置.......................................................................................错误!未定义书签。
9.9.4 指令.......................................................................................错误!未定义书签。
9.9.5 输入距离在…之前...............................................................错误!未定义书签。
9.9.6 注意和限制规定...................................................................错误!未定义书签。
9.9.7 系统变量...............................................................................错误!未定义书签。
9.9.8 错误代码...............................................................................错误!未定义书签。
9.10 状态监视功能................................................................................错误!未定义书签。
9.11 自动错误恢复功能........................................................................错误!未定义书签。
9.11.1 概述.....................................................................................错误!未定义书签。
9.11.2 自动错误恢复功能的要点..................................................错误!未定义书签。
9.11.3 定义重新开始的程序.........................................................错误!未定义书签。
9.11.4 教导 RETURN_PATH_DSBL 指令 .................................错误!未定义书签。
9.11.5 设置自动错误恢复功能.....................................................错误!未定义书签。
9.11.6 重新开始一个暂停程序的流程图 .....................................错误!未定义书签。
9.11.7 自动错误恢复功能的手动操作界面 ..................................错误!未定义书签。
9.11.8 从教导盒和测试模式执行重新开始的程序 .....................错误!未定义书签。
9.11.9 改变重新开始执行程序的条件 .........................................错误!未定义书签。
9.11.10 其他的技术规范和约束规定...........................................错误!未定义书签。
9.11.11 警告...................................................................................错误!未定义书签。
9.12 远程 TCP 功能 ..............................................................................错误!未定义书签。
9.12.1 概要.....................................................................................错误!未定义书签。
9.12.2 设置.....................................................................................错误!未定义书签。
9.13 高灵敏度碰撞探测........................................................................错误!未定义书签。
9.13.1 概述.....................................................................................错误!未定义书签。
9.13.2 技术规范.............................................................................错误!未定义书签。
9.13.3
高灵敏度碰撞探测..............................................................错误!未定义书签。
9.13.4 注意.....................................................................................错误!未定义书签。
9.14 加载设置........................................................................................错误!未定义书签。
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