STAUBLI机器人示教教程

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1、2005-26TeachingInterfaceTeachinginterfaceVAL3version5.2.1Thepurposeofthisdocumentistoexplaintheuseoftheteaching/jogginginterfaceontheStaubliSP1pendant.ItusesVAL3version5.2.1,butotherversionsaresimilar.TheillustrationsshownarefromthePCemulator.Theactualpendanthasadifferentkeyboardlayout.Seethediagram

2、belowcomparingthetwo.43765JECPage111/4/20052005-26TeachingInterfaceLoadinganApplicationToentertheteachinginterface,youmusthaveanapplicationalreadyloaded.Mostcustomershaveapplicationssettoautostartsoitwillalreadybeloaded.Whileteachingcanbedonewithanapplicationrunning,itisbettertostoptheapplication.If

3、anapplicationisnotloaded,pleaseloaditatthistimeasshownbelow.Pressmenuuntilthemainmenuisdisplayed.UsetheupanddownarrowtohighlighttheApplicationManager.Presstherightarroworenterkey.PresstheF7openkey.PressRightarrowtoexpandthediskentry.ArrowdowntohighlightyourapplicationandpresstheF8OKkey.JECPage211/4/

4、20052005-26TeachingInterfaceManualModeandArmPowerTeachinglocationsisdoneinmanualmode.SwitchtomanualmodebypressingthemodeselectbuttonuntilthemanualLEDislightup.Themanualsymbolisapictureofahand.Removethependantfromitsholdingcradle.Releaseandreapplytherobotenablingdevice(deadmanswitch)andpressthearmpow

5、erbutton.Ontheemulatorclickonthe“System”menu.UncheckParkingandcheckdeadman,thenpressthearmpowerbutton.Armpowershouldcomeonin2to3seconds.Ifitdoesnottherewillbeapopupmessage,forexampleanopene-stop,statingwhyarmpowerdidnotcome.JECPage311/4/20052005-26TeachingInterfaceJoggingModePressoneofthefourjogging

6、modebuttonsonthependant.Theyarejoint,frame,toolandpoint.TheLEDbesidethechosenmodewillilluminate.ToolSelectionThefirsttimeyougointothejoggingscreenwillbeaskedtoselectatooltobeusedforteaching.Youwillhavetoexpandthe“flange”listingtoseethetoolsvariables.Ifthereismorethenoneapplicationloadedinmemory,thet

7、oolyouselectwilldeterminewhichapplication’slocationsyouwillseeandteach.Ifyouneedtomodifyatoolvariable,youcanopenatoolforeditingfromthisscreenbypresstheF3editkey.Usethearrowskeystoselectthevalueyouwant