Robot teaching 教材.ppt

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1、YASKAWARobotteaching講師:王文祥CM-523YASKAWA機械手臂廠牌:YASKAWATYPE:XU-RVM5000MASS:160KGYASKAWAELECTRICCORPORATION廠牌:YASNACXRCTYPE:ERCR-ZZ33-RA10MASS:70KGXRC置放空間ROBOTARM承載臂上旋臂(secondarm)下旋臂(firstarm)手臂安全迴轉半徑旋轉範圍當Θ為0時手臂旋轉範圍為±170°前進範圍YASNACXRCPlaybackPanelPlayback

2、PanelButtons(一)PlaybackPanelButtons(二)ProgrammingpendantMenuArea:目錄區GeneralPurposeDisplayArea:通用顯示區StatusArea:狀態區StatusDisplayAreaTheStatusDisplayareashowscontrollerstatus.Thedisplayedinformationwillvarydependingonthecontrollermode(Play/Teach)GROUPOPER

3、ATIONAXISDisplaystheactivegroupaxisforsystemsequippedwithstationaxesorseveralrobotaxes.R1toR3:RobotAxesB1toB3:BaseAxesS1toS6:StationAxesOPERATIONCORDINATESYSTEMDisplaystheselectedcoordinatesystemMANUALSPEEDDisplaystheselectedspeed.OPERATIONCYCLEDisplay

4、sthepresentoperationcycle.STATEUNDEREXECUTIONDisplaysthepresentsystemstatus(STOP,HOLD,ESTOP,ALARM,orRUN)ProgrammingPendantKeys游標鍵(下一)頁鍵+Shift=上一頁區域鍵教導鎖主選單ProgrammingPendantKeysShift:切換鍵Robot:軸操作Exaxis:外部軸操作Cancel:取消InterLock:連接鎖Informlist:訊息列表Aux:輔助Mot

5、ionType:運行模式TESTSTART:測試啟動鍵(自動、一次循環、步進)BWD:步進返回DELETE:刪除鍵MODIFY:修改鍵(teachlock燈亮方可修改)AXISKEYX±:θ逆時針為正、順時針為負Y±:R前伸為正、後縮為負Z±:Z上升為正、下降為負DeadmanSwitchTopmenuicons(一)Topmenuicons(二)Menu&SecurityMode(一)Menu&SecurityMode(二)Menu&SecurityMode(三)Menu&SecurityMode

6、(四)Menu&SecurityMode(五)Menu&SecurityMode(六)