FAUNC机器人中文简易教材有书签

【实例截图】

【核心代码】

目 录
认识 FANUC 机器人 4
1.概论----------------------------------------------------------------------------------------------------------- 4
1）机器人的构成------------------------------------------------------------------------------------------- 4
2）机器人的用途------------------------------------------------------------------------------------------- 4
3）FANUC 机器人的型号-------------------------------------------------------------------------------- 4
4）机器人主要参数---------------------------------------------------------------------------------------- 5
5）FANUC 机器人的安装环境--------------------------------------------------------------------------- 5
6）FANUC 机器人的编程方式--------------------------------------------------------------------------- 5
7）FANUC 机器人的特色功能--------------------------------------------------------------------------- 5
2.FANUC 机器人的构成--------------------------------------------------------------------------------- 5
1）FANUC机器人软件系统------------------------------------------------------------------------------- 5
2）FANUC机器人硬件系统------------------------------------------------------------------------------- 5
3.控制器------------------------------------------------------------------------------------------------------- 5
1）认识 TP--------------------------------------------------------------------------------------------------- 5
（1）TP 的作用--------------------------------------------------------------------------------------------- 5
（2）认识TP上的键---------------------------------------------------------------------------------------- 7
（3）TP上的开关------------------------------------------------------------------------------------------- 8
（4）TP 上的指示灯---------------------------------------------------------------------------------------- 8
（5）TP 上的显示屏---------------------------------------------------------------------------------------- 8
（6）屏幕菜单和功能菜单--------------------------------------------------------------------------------- 9
2）操作者面板----------------------------------------------------------------------------------------------- 11
 3）远端控制器----------------------------------------------------------------------------------------------- 11
 4）显示器和键盘-------------------------------------------------------------------------------------------- 12
 5）通讯-------------------------------------------------------------------------------------------------------- 12
 6）输入/输出 I/O-------------------------------------------------------------------------------------------- 12
 7）外部 I/O---------------------------------------------------------------------------------------------------- 12
 8）机器人的运动-------------------------------------------------------------------------------------------- 12
 9）急停设备-------------------------------------------------------------------------------------------------- 12
 10）附加轴--------------------------------------------------------------------------------------------------- 12
安全 13
1.注意事项---------------------------------------------------------------------------------------------------- 13
2.以下场合不可使用机器人---------------------------------------------------------------------------- 13
3.安全操作规程--------------------------------------------------------------------------------------------- 13
编程 14
1.有效编程的技巧----------------------------------------------------------------------------------------- 14
1）运动指令-------------------------------------------------------------------------------------------------- 14
2）设置 HOME 点------------------------------------------------------------------------------------------- 14
2.通电和关电------------------------------------------------------------------------------------------------ 15
1）通电-------------------------------------------------------------------------------------------------------- 15
2）关电-------------------------------------------------------------------------------------------------------- 15
3.手动示教机器人----------------------------------------------------------------------------------------- 15
1）示教模式-------------------------------------------------------------------------------------------------- 15
2）设置示教速度-------------------------------------------------------------------------------------------- 16
 3）示教-------------------------------------------------------------------------------------------------------- 16
SHANGHAI-FANUC
2
4.创建程序---------------------------------------------------------------------------------------------------- 16
1）选择程序-------------------------------------------------------------------------------------------------- 16
2）选择程序编辑画面-------------------------------------------------------------------------------------- 16
3）创建一个新程序----------------------------------------------------------------------------------------- 17
5.示教运动状态--------------------------------------------------------------------------------------------- 17
1）运动指令-------------------------------------------------------------------------------------------------- 17
6.修正点------------------------------------------------------------------------------------------------------- 19
7.编辑命令（EDCMD）------------------------------------------------------------------------------------ 20
8.程序操作---------------------------------------------------------------------------------------------------- 22
1）查看和修改程序信息----------------------------------------------------------------------------------- 22
2）删除程序文件-------------------------------------------------------------------------------------------- 23
 3）复制程序文件-------------------------------------------------------------------------------------------- 23
执行程序 24
1.程序中断和恢复----------------------------------------------------------------------------------------- 24
1）急停中断和恢复----------------------------------------------------------------------------------------- 24
2）暂停中断和恢复----------------------------------------------------------------------------------------- 24
3）报警引起的中断----------------------------------------------------------------------------------------- 24
2.手动执行程序--------------------------------------------------------------------------------------------- 25
3.手动 I/O 控制---------------------------------------------------------------------------------------------- 26
1）强制输出-------------------------------------------------------------------------------------------------- 26
2）仿真输入/输出------------------------------------------------------------------------------------------- 26
4. Wait 语句-------------------------------------------------------------------------------------------------- 27
5.自动运行---------------------------------------------------------------------------------------------------- 27
程序结构 28
1.运动指令---------------------------------------------------------------------------------------------------- 28
2.焊接指令---------------------------------------------------------------------------------------------------- 28
1）焊接开始指令-------------------------------------------------------------------------------------------- 28
2）焊接结束指令-------------------------------------------------------------------------------------------- 28
3）摆焊开始指令-------------------------------------------------------------------------------------------- 29
4）摆焊结束指令-------------------------------------------------------------------------------------------- 29
3.寄存器指令------------------------------------------------------------------------------------------------ 29
1）寄存器指令----------------------------------------------------------------------------------------------- 29
2）位置寄存器指令----------------------------------------------------------------------------------------- 29
4.I/O指令------------------------------------------------------------------------------------------------------ 30
1）数字 I/O 指令 30
5.分支指令---------------------------------------------------------------------------------------------------- 30
1）Label 指令------------------------------------------------------------------------------------------------ 30
2）未定义条件的分支指令-------------------------------------------------------------------------------- 30
3）定义条件的分支指令----------------------------------------------------------------------------------- 30
4）条件选择分支指令-------------------------------------------------------------------------------------- 31
6.等待指令---------------------------------------------------------------------------------------------------- 31
1）时间的等待指令----------------------------------------------------------------------------------------- 31
 2）条件等待指令-------------------------------------------------------------------------------------------- 31
7.偏置条件指令--------------------------------------------------------------------------------------------- 32
8.程序控制指令--------------------------------------------------------------------------------------------- 32
SHANGHAI-FANUC
3
9.其他指令---------------------------------------------------------------------------------------------------- 32
1）用户报警指令-------------------------------------------------------------------------------------------- 32
2）时钟指令-------------------------------------------------------------------------------------------------- 32
 3）运行速度指令-------------------------------------------------------------------------------------------- 32
 4）注释指令-------------------------------------------------------------------------------------------------- 32
 5）消息指令-------------------------------------------------------------------------------------------------- 32
FRAMES 的设置 33
1.坐标系的分类--------------------------------------------------------------------------------------------- 33
2.设置工具坐标系----------------------------------------------------------------------------------------- 33
3.设置用户坐标系----------------------------------------------------------------------------------------- 34
4.设置点动坐标系----------------------------------------------------------------------------------------- 34
宏 MACRO 35
1.概述----------------------------------------------------------------------------------------------------------- 35
2.设置宏指令------------------------------------------------------------------------------------------------ 35
3.执行宏指令------------------------------------------------------------------------------------------------ 37
1）在 TP 的 MANUAL FCTN 画面中执行-------------------------------------------------------------- 37
2）使用 TP 的用户键执行--------------------------------------------------------------------------------- 37
文件的输入/输出 38
1.文件的输入/输出设备---------------------------------------------------------------------------------- 38
1）选择文件输入/输出设备----------------------------------------------------------------------------- 38
2）文件---------------------------------------------------------------------------------------------------------- 39
2.备份文件和加载文件---------------------------------------------------------------------------------- 40
1）备份文件--------------------------------------------------------------------------------------------------- 40
2）加载文件--------------------------------------------------------------------------------------------------- 41
Mastering 42
1.为什么要 Mastering（原点复归）------------------------------------------------------------------- 42
2. Mastering的方式--------------------------------------------------------------------------------------- 42
3. 0 度位置 Mastering------------------------------------------------------------------------------------ 42
4.单轴 Mastering------------------------------------------------------------------------------------------- 43
基本保养 45
1. 概述--------------------------------------------------------------------------------------------------------- 45
2. 更换电池-------------------------------------------------------------------------------------------------- 45
 1) 更换控制器主板上的电池--------------------------------------------------------------------------- 45
 2) 更换机器人本体上的电池--------------------------------------------------------------------------- 45
3. 更换润滑油----------------------------------------------------------------------------------------------- 46
 1) 换减速器和齿轮盒润滑油--------------------------------------------------------------------------- 46
 2) 更换平衡块轴承润滑油------------------------------------------------------------------------------ 46
4. 控制器一般故障维修--------------------------------------------------------------------------------- 48
5. 控制器 SRVO（伺服）类报警代码分析及解决办法------------------------------------- 59