B-83124CM-2/01 目录
c-1
目录
为了安全使用 ................................................................................................................................. s-1
安全预防措施 .....................................................................................................................................i
1 前言 ...........................................................................................................................................1
1.1 有关说明书........................................................................................................................................... 1
2 概要 ...........................................................................................................................................3
2.1 应用工具软件....................................................................................................................................... 4
2.1.1 设定系统 ..............................................................................................................................................4
2.1.2 机器人的 JOG 进给 .............................................................................................................................4
2.1.3 程序 ......................................................................................................................................................4
2.1.4 测试运转(测试执行) ......................................................................................................................5
2.1.5 自动运转(操作执行) ......................................................................................................................5
2.2 机器人................................................................................................................................................... 5
2.3 控制装置............................................................................................................................................... 6
2.3.1 示教操作盘 ..........................................................................................................................................7
2.3.2 操作面板 ............................................................................................................................................15
2.3.3 遥控装置 ............................................................................................................................................16
2.3.4 CRT/KB..............................................................................................................................................16
2.3.5 通信 ....................................................................................................................................................16
2.3.6 I/O.......................................................................................................................................................17
2.3.7 外围设备 I/O......................................................................................................................................17
2.3.8 机器人的动作 ....................................................................................................................................17
2.3.9 急停装置 ............................................................................................................................................17
2.3.10 附加轴 ................................................................................................................................................18
3 设定机器人系统 ..................................................................................................................... 19
3.1 I/O.......................................................................................................................................................19
3.1.1 数字 I/O..............................................................................................................................................24
3.1.2 群组 I/O..............................................................................................................................................29
3.1.3 模拟 I/O..............................................................................................................................................32
3.2 机器人 I/O..........................................................................................................................................35
3.3 外围设备 I/O......................................................................................................................................38
3.4 操作面板 I/O......................................................................................................................................44
3.5 I/O 连接设备画面 ..............................................................................................................................47
3.5.1 I/O 连接设备一览画面 ......................................................................................................................47
3.5.2 MODELB单元一览画面 ..................................................................................................................48
3.5.3 信号数设定画面 ................................................................................................................................49
3.6 I/O 连接功能 ......................................................................................................................................50
3.7 仿真跳过功能..................................................................................................................................... 51
3.8 设定自动运转..................................................................................................................................... 53
3.8.1 机器人启动请求(RSR).................................................................................................................54
3.8.2 程序号码选择(PNS) .....................................................................................................................56
3.8.3 STYLE启动 ................................................................................................................................58
3.8.4 程序选择画面 ....................................................................................................................................61
3.8.5 单元接口 I/O......................................................................................................................................67
3.9 设定坐标系......................................................................................................................................... 70
3.9.1 设定刀具坐标系 ................................................................................................................................72
3.9.2 设定用户坐标系 ................................................................................................................................80