实例介绍
【实例简介】
安川作为世界上机器人4大家族之一，在工业上有巨大的保有量，在IT大环境下也推出了适合开发者的软件包，此说明书适合想了解机器人的朋友了解学习
HW1482095 Read this manual carefully before installation, operation, maintenance, or inspection of the dX200 In this manual, the Notes for Safe Operation are classified as DANGER WARN|NG",“ CAUTION",“ MANDATORY",or“ PROHIB|TED ndicates an imminent hazardous DANGER tion which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous WARNING situation which if not avoided, could result in death or serious injury to personnel A CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against safe practices Always be sure to follow explicitly the MANDATORY items listed under this heading st never be pertormed PROHIBITED Even items described as"Caution" may result in a serious accident in some situations. At any rate, be sure to follow these important items NOTE follow all instructions, even if not designated as"dANGER “WARN|NG”and“ CAUTION” HW1482095 3/166 HW1482095 AWARNING Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the DX200 and the programming pendant are pressed When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function Once the emergency stop button is released, clear the cell of all items which could intertere with the operation of the manipulator. Then turn the servo power oN Injury may result from unintentional or unexpected manipulator motion TURN Observe the following precautions when perfo operations within the P-point maximum envelope of the manipulator Be sure to lock out the safeguarding when going inside Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Keep in mind the emergency response measures against the manipulators unexpected motion toward you Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury Confirm that no person is present in the p-point maximum envelope of the manipulator and that you are in a safe location before Turning on the DX200 power Moving the manipulator with the programming pendant Running the system in the check mode Performing automatic operations Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of the front door of the DX200 and the programming endant HW1482095416 HW1482095 CAUTION Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the dX200 cabinet after use The programming pendant can be damaged if it is left in the manipulators work area on the floor or near fixtures Read and understand the Explanation of the Warning Labels in the DX200 Instructions before operating the manipulator The MOtoman is the YASKAWA industrial robot product The MOTomAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables In this manual, the equipment is designated as follows DX200 Controller DX200 DX200 Programming pendant Programming pendant Cable between the manipulator and the Manipulator cable controller HW1482095516 HW1482095 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Programming Character Keys The keys which have characters or its Pendant Symbol Keys symbol printed on them are denoted with [ ex [ENTER] e [Axis Key] and [numeric Key] are generic /Numeric Keys names for the keys for axis operation and number input Keys pressed When two keys are to be pressed simultaneously simultaneously, the keys are shown with a “+” sign between them, eX.[SHF门+ COORD Displays The menu displayed in the programming pendant is denoted with X. JOBI In the explanation of the operation procedure, the expression "Select means that the cursor is moved to the object item and the select key is pressed In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand each company or corporation The indications of(R)and TM are omitted HW1482095616 HW1482095 1 Outline 1.1 Preface 1.2 Function outline 1-1 1.3 Moto Plus Specification …1-3 1.4 Specific Data Type for MotoPlus 1.5 not 2 Task .2-1 2.1 Multitasking 2-1 2.2 State Transitions of task 2-1 2.3 T ask Scheduling Method 2-2 2. 4 Management of Ready-Queue 2-2 2.5 Application Task Control 2-3 2.6 Processing Time Measurement 2-3 2.7 Limit on Protection Regarding Task Control 2-4 2.7.1 Limit on number of files which User Can load 2- 2.7.2 Limit on Memory size 2-4 2.7.3 Limit on Task Start-up .2-4 2.7 4 Function to check execution status of man- Machine task 2-5 2.8 List of task Control APl 2-6 3 User Watchdog..... 3.1 Function Outline 3.2 Usage outline…… 3-1 3.3 User Watchdog aPI list 4 Ethernet communications 4-1 4.1 Socket 4.2 Client server model 4-1 4.3∪ DP Communication 4-2 4.4 TCP Communication 4-2 4.5 List of Socket Library Functions 4-3 4.6 Operation of Structure and IP Address 4-3 4.6.1 Sockaddr Structure 4-3 4.6.2 Sockaddr in structure HW1482095716 HW1482095 4.6.3 Function for IP Address Operation 4-4 4.7 About Byte Order..... ∴4-5 4.8 Flow of Socket Library System Call 4-5 4.8. 1 Flow of Socket Library System Call with UDP 4-5 4.8.2 Flow of Socket Library System Call with TCP 4-6 4. 9 Note for Ethernet Programming.. 4-6 5 Data Transmission with Programming Pendant 5-1 6 RS232C Communication Control 6-1 7 Event Control .7-1 7.1 Task Creation 7.2 Event notification 7-1 8 Robot System Control 8-1 8. 1 System Information 8-1 8.2 Variables 8-1 8.3/O 8-1 8.4 Robot operation 8-1 8.5 System Monitor API List. 8-2 8.6 System Control API Li 9 Sensor Control 9.1 Outline of provided functi 9.1.1 Path correction functio 9-1 2 Interpolation-Motion Forced Change Functie .9-2 9.1.3 Speed Override Function 9-2 9.1.iNcrement value move function 9.2 Outline of Op 9.3 Timing of Path Correction Proce 9-5 9. 4 Details of Giving and Receiving Command and Changing Operating Conditions by SKILLSND(Including Path Correction) 9.5 Se Control api list 10 Robot Operation Control Service 10-1 10.1 Increment Value Move function ,10-1 10.2 Robot Operation Control API List........................ 10-1 HW1482095816 HW1482095 11 Servo Control ∴11-1 11.1 Function outline 11-1 11.1.1 Feedback Speed/Torque Retrieve Function 11.1.2 Torque Limit Function/Torque Control Function 11-2 11.2 Example of Usage 画面面面画面 11-3 11.2.1 Detecting Workpiece Position 11-3 11.2.2 Holding Workpiece with Unknown Size 11-4 11.3 Servo Control api list 12 Memory Pool Control 12-1 12.1 Memory Pool Control API List......... 12-1 13 File Control 13.1 Rules for file name and size 13.2 Rules for USB Drive and USB Memory Stick 13-3 13.3 Access Right When Opening a File 13-4 13. 4 Available task priol 13-4 13.5 File Control apl list 13-5 14 Existing File Control 14-1 14.1 EXisting File Access API List 14-1 15 Programming 15-1 15.1 Rules 15-1 15.2 C Coding Rules .15-1 153 Program EXecution.…… 15-1 15.4 MotoPlus Coding Rules 15-1 15.5 Restrictions on Programming .15-2 15.5. 1 Usable ansi-C Standard Functions 15-2 15.5.2 Task Priority and Usable aPI 15-3 15.6 Note for Programming 15-3 15.7 Phenomena during Debugging, Potential Coding Problems, and Examination methods 15-4 15.7.1 Programming Pendant Display Freezes with " Starting up system Start Online process. and dx200 Does not start 15-4 15.7.2 MotoPlus Application Is Seemingly Not Running 157.3 Alarm 4479:"MOTOPLUS MM TASK WATCHDOG ERROR"Occurs 15-5 HW1482095916 HW1482095 15.7.5 Programming Pendant Communication Error Occurs and Servo Power of75 15.7.4 Programming Pendant Display or Key Response Is Slow 5-5 DX200 Turns Off(Hang-up Status) 15-5 16 Sample programs .16-1 16.1 Outline of Sample Programs 16-1 16.2 Display of Hello World 16-2 16.3 Task Control Sample Program 16-3 16.4 User Watchdog Sample Program 16-6 16.5 Ethernet sample programs 16-11 16.5.1 Preparations 16-11 16.5.2 UDP Server Sample Programs(DX200 Side) 16-13 16.5.3 UDP Client Sample Program(Windows PC Side) 16-17 16.5. 4 TCP Server Sample Programs(DX200 Side) 16-20 16.5.5 TCP Client Sample Program(Windows PC Side 16-25 16.6 Robot System Monitor Samples and Control Programs 16-28 16.6.1 Variables, IO Access Sample Program 16-28 16.6.2 User Variable Access Sample Program...... 16-43 16.7 Serial Communication(RS232C) 16-48 16.7.1 Preparations 16-48 16.7.2 Operation Check 16-48 16.7.3 Sample Code 16-49 16.8 Sensor Control Sample Program 16-52 16. 9 Servo Control Sample Program. …16-75 16.10 File Control Sample Program 16-83 16.10.1 Operation Check 16-83 16.10.2 Sample Program 国B国面E 16-84 16.11 Existing File Access Sample Program 16-89 16.11.1 Preparation 16-89 16.11.2 Operation Check 6-89 16.11.3 Sample Program 16-89 16 12 Coordinate Coversion Sample Program 16-93 17 Alarm list 17-1 X HW14820951016 【实例截图】
【核心代码】
安川作为世界上机器人4大家族之一，在工业上有巨大的保有量，在IT大环境下也推出了适合开发者的软件包，此说明书适合想了解机器人的朋友了解学习
HW1482095 Read this manual carefully before installation, operation, maintenance, or inspection of the dX200 In this manual, the Notes for Safe Operation are classified as DANGER WARN|NG",“ CAUTION",“ MANDATORY",or“ PROHIB|TED ndicates an imminent hazardous DANGER tion which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous WARNING situation which if not avoided, could result in death or serious injury to personnel A CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against safe practices Always be sure to follow explicitly the MANDATORY items listed under this heading st never be pertormed PROHIBITED Even items described as"Caution" may result in a serious accident in some situations. At any rate, be sure to follow these important items NOTE follow all instructions, even if not designated as"dANGER “WARN|NG”and“ CAUTION” HW1482095 3/166 HW1482095 AWARNING Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the DX200 and the programming pendant are pressed When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function Once the emergency stop button is released, clear the cell of all items which could intertere with the operation of the manipulator. Then turn the servo power oN Injury may result from unintentional or unexpected manipulator motion TURN Observe the following precautions when perfo operations within the P-point maximum envelope of the manipulator Be sure to lock out the safeguarding when going inside Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Keep in mind the emergency response measures against the manipulators unexpected motion toward you Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury Confirm that no person is present in the p-point maximum envelope of the manipulator and that you are in a safe location before Turning on the DX200 power Moving the manipulator with the programming pendant Running the system in the check mode Performing automatic operations Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of the front door of the DX200 and the programming endant HW1482095416 HW1482095 CAUTION Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the dX200 cabinet after use The programming pendant can be damaged if it is left in the manipulators work area on the floor or near fixtures Read and understand the Explanation of the Warning Labels in the DX200 Instructions before operating the manipulator The MOtoman is the YASKAWA industrial robot product The MOTomAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables In this manual, the equipment is designated as follows DX200 Controller DX200 DX200 Programming pendant Programming pendant Cable between the manipulator and the Manipulator cable controller HW1482095516 HW1482095 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Programming Character Keys The keys which have characters or its Pendant Symbol Keys symbol printed on them are denoted with [ ex [ENTER] e [Axis Key] and [numeric Key] are generic /Numeric Keys names for the keys for axis operation and number input Keys pressed When two keys are to be pressed simultaneously simultaneously, the keys are shown with a “+” sign between them, eX.[SHF门+ COORD Displays The menu displayed in the programming pendant is denoted with X. JOBI In the explanation of the operation procedure, the expression "Select means that the cursor is moved to the object item and the select key is pressed In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand each company or corporation The indications of(R)and TM are omitted HW1482095616 HW1482095 1 Outline 1.1 Preface 1.2 Function outline 1-1 1.3 Moto Plus Specification …1-3 1.4 Specific Data Type for MotoPlus 1.5 not 2 Task .2-1 2.1 Multitasking 2-1 2.2 State Transitions of task 2-1 2.3 T ask Scheduling Method 2-2 2. 4 Management of Ready-Queue 2-2 2.5 Application Task Control 2-3 2.6 Processing Time Measurement 2-3 2.7 Limit on Protection Regarding Task Control 2-4 2.7.1 Limit on number of files which User Can load 2- 2.7.2 Limit on Memory size 2-4 2.7.3 Limit on Task Start-up .2-4 2.7 4 Function to check execution status of man- Machine task 2-5 2.8 List of task Control APl 2-6 3 User Watchdog..... 3.1 Function Outline 3.2 Usage outline…… 3-1 3.3 User Watchdog aPI list 4 Ethernet communications 4-1 4.1 Socket 4.2 Client server model 4-1 4.3∪ DP Communication 4-2 4.4 TCP Communication 4-2 4.5 List of Socket Library Functions 4-3 4.6 Operation of Structure and IP Address 4-3 4.6.1 Sockaddr Structure 4-3 4.6.2 Sockaddr in structure HW1482095716 HW1482095 4.6.3 Function for IP Address Operation 4-4 4.7 About Byte Order..... ∴4-5 4.8 Flow of Socket Library System Call 4-5 4.8. 1 Flow of Socket Library System Call with UDP 4-5 4.8.2 Flow of Socket Library System Call with TCP 4-6 4. 9 Note for Ethernet Programming.. 4-6 5 Data Transmission with Programming Pendant 5-1 6 RS232C Communication Control 6-1 7 Event Control .7-1 7.1 Task Creation 7.2 Event notification 7-1 8 Robot System Control 8-1 8. 1 System Information 8-1 8.2 Variables 8-1 8.3/O 8-1 8.4 Robot operation 8-1 8.5 System Monitor API List. 8-2 8.6 System Control API Li 9 Sensor Control 9.1 Outline of provided functi 9.1.1 Path correction functio 9-1 2 Interpolation-Motion Forced Change Functie .9-2 9.1.3 Speed Override Function 9-2 9.1.iNcrement value move function 9.2 Outline of Op 9.3 Timing of Path Correction Proce 9-5 9. 4 Details of Giving and Receiving Command and Changing Operating Conditions by SKILLSND(Including Path Correction) 9.5 Se Control api list 10 Robot Operation Control Service 10-1 10.1 Increment Value Move function ,10-1 10.2 Robot Operation Control API List........................ 10-1 HW1482095816 HW1482095 11 Servo Control ∴11-1 11.1 Function outline 11-1 11.1.1 Feedback Speed/Torque Retrieve Function 11.1.2 Torque Limit Function/Torque Control Function 11-2 11.2 Example of Usage 画面面面画面 11-3 11.2.1 Detecting Workpiece Position 11-3 11.2.2 Holding Workpiece with Unknown Size 11-4 11.3 Servo Control api list 12 Memory Pool Control 12-1 12.1 Memory Pool Control API List......... 12-1 13 File Control 13.1 Rules for file name and size 13.2 Rules for USB Drive and USB Memory Stick 13-3 13.3 Access Right When Opening a File 13-4 13. 4 Available task priol 13-4 13.5 File Control apl list 13-5 14 Existing File Control 14-1 14.1 EXisting File Access API List 14-1 15 Programming 15-1 15.1 Rules 15-1 15.2 C Coding Rules .15-1 153 Program EXecution.…… 15-1 15.4 MotoPlus Coding Rules 15-1 15.5 Restrictions on Programming .15-2 15.5. 1 Usable ansi-C Standard Functions 15-2 15.5.2 Task Priority and Usable aPI 15-3 15.6 Note for Programming 15-3 15.7 Phenomena during Debugging, Potential Coding Problems, and Examination methods 15-4 15.7.1 Programming Pendant Display Freezes with " Starting up system Start Online process. and dx200 Does not start 15-4 15.7.2 MotoPlus Application Is Seemingly Not Running 157.3 Alarm 4479:"MOTOPLUS MM TASK WATCHDOG ERROR"Occurs 15-5 HW1482095916 HW1482095 15.7.5 Programming Pendant Communication Error Occurs and Servo Power of75 15.7.4 Programming Pendant Display or Key Response Is Slow 5-5 DX200 Turns Off(Hang-up Status) 15-5 16 Sample programs .16-1 16.1 Outline of Sample Programs 16-1 16.2 Display of Hello World 16-2 16.3 Task Control Sample Program 16-3 16.4 User Watchdog Sample Program 16-6 16.5 Ethernet sample programs 16-11 16.5.1 Preparations 16-11 16.5.2 UDP Server Sample Programs(DX200 Side) 16-13 16.5.3 UDP Client Sample Program(Windows PC Side) 16-17 16.5. 4 TCP Server Sample Programs(DX200 Side) 16-20 16.5.5 TCP Client Sample Program(Windows PC Side 16-25 16.6 Robot System Monitor Samples and Control Programs 16-28 16.6.1 Variables, IO Access Sample Program 16-28 16.6.2 User Variable Access Sample Program...... 16-43 16.7 Serial Communication(RS232C) 16-48 16.7.1 Preparations 16-48 16.7.2 Operation Check 16-48 16.7.3 Sample Code 16-49 16.8 Sensor Control Sample Program 16-52 16. 9 Servo Control Sample Program. …16-75 16.10 File Control Sample Program 16-83 16.10.1 Operation Check 16-83 16.10.2 Sample Program 国B国面E 16-84 16.11 Existing File Access Sample Program 16-89 16.11.1 Preparation 16-89 16.11.2 Operation Check 6-89 16.11.3 Sample Program 16-89 16 12 Coordinate Coversion Sample Program 16-93 17 Alarm list 17-1 X HW14820951016 【实例截图】
【核心代码】
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