CONTENTS目錄Page頁碼1Introduction1-11Overview31綜述32HowtoUsethisManual42該手冊的使用辦法42.1Organizationofchapters42.1章節(jié)構(gòu)造42.2Typographicconventions62.2印刷慣例63OtherManuals73其它手冊72Safety2-11Overview31概述31.1Introduction31.1闡明32ApplicableSafetyStandards32應用安全原則33Fire-Extinguishing43消防44DefinitionsofSafetyFunctions44安全功效的定義45SafeWorkingProcedures55安全運行程序55.1Normaloperations55.1常規(guī)操作56Programming,TestingandServicing56編程，測試和維護67SafetyFunctions67安全功效67.1Thesafetycontrolchainofoperation67.1操作的安全控制鏈67.2Emergencystops77.2急停7.7.3Modeselectionusingtheoperatingmodeselector77.3使用操作模式選擇器選擇操作模式77.4Enablingdevice87.4啟動裝置87.5Hold-to-runcontrol87.5握緊運行控制87.6GeneralModeSafeguardedStop(GS)connection97.6通用模式的安全保護停止（GS）連接97.7AutomaticModeSafeguardedStop(AS)connection107.7自動模式的安全保護停止（AS）連接107.8Limitingtheworkingspace107.8限制運行空間107.9Supplementaryfunctions107.9補充功效108SafetyRisksRelatedtoEndEffectors108尾效應器的安全風險108.1Gripper108.1機械爪108.2Tools/workpieces118.2工具/工件118.3Pneumatic/hydraulicsystems118.3氣動/液壓系統(tǒng)119RisksduringOperationDisturbances119操作干擾過程中的安全風險1110RisksduringInstallationandService1110安裝維護過程中的安全風險1111RisksAssociatedwithLiveElectricParts1311帶電零件的有關安全風險1312EmergencyReleaseofMechanicalArm1312機械臂的緊急釋放1313LimitationofLiability1413責任限制1414RelatedInformation1414有關信息143BasicOperation3-11Overview31綜述32TheManipulator42操縱器43TheController43控制器44TheOperator’sPanel54操作面板55TheTeachPendantunit75示教屏75.1EnteringtextusingtheTeachPendantunit95.1使用示教屏裝置輸入文本內(nèi)容95.2Workingwithwindows95.2窗口操作96EmergencyStops126急停126.1Theemergencystopbutton126.1急停按鈕126.2Recoverfromemergencystop126.2急停的恢復127Startinguptherobot137機器人啟動137.1Errorsatstart-up147.1啟動過程的錯誤147.2SwitchingthePowerSupplytotheMOTORSON147.2接通電源開動電機148Switchingtherobotoff158關閉機器人159SelectingtheOperatingMode169選擇操作模式169.1Automaticmode(productionmode)169.1自動模式（生產(chǎn)模式）169.2Manualmodewithreducedspeed(programmingmode)169.2減速手動模式（編程模式）169.3Manualmodewithfullspeed(Option,testingmode)169.3全速手動模式（選項，測試模式）1610JoggingtheRobotUsingtheJoystick1710使用操作桿操控機器人1710.1Linearjogging1710.1直線操控1710.2Finepositioning1910.2精擬定位1911OpenaProgram2111打開程序2111.1Loadinganexistingprogram2111.1裝載現(xiàn)有程序2112StartingtheProgram2512啟動程序2513StoppingtheProgram2713停止程序運行2714AutomaticMode2814自動模式2815EditingaProgram2915編輯程序2915.1Modifyingpositions2915.1修改位置2915.2Changingarguments3115.2更改論據(jù)3115.3Addinginstructions3215.3添加指令3215.4Programmingadelay3515.4編制延遲指令3516I/OSignals3816輸入/輸出信號3816.1ProgramminganI/Oinstruction3816.1編制輸入/輸出指令3816.2Manuallycheckthestateofasignal4016.2信號狀態(tài)的手動檢測4017Errors4117錯誤解決4117.1Acknowledgeerrormessages4117.1擬定錯誤信息4117.2Callingupsuggestionsonhowtocorrectanerror4117.2查詢糾錯辦法的有關建議4117.3Acknowledgewarningmessages4117.3擬定警告信息414Jogging4-11Overview31綜述31.1TheJoggingwindow31.1操控窗口31.2Customisingthejoggingwindow41.2定制操控窗口41.3Readingthecurrentposition51.3讀取現(xiàn)在位置51.4Howmovingthejoystickaffectsmovements51.4移動操縱桿如何影響機器人移動51.5Lockingofjoystickaxes51.5鎖定操縱桿連軸51.6MotionSupervision61.6移動監(jiān)控62JoggingtheRobot72機器人操控72.1Joggingtherobotalongoneofthebasecoordinateaxes72.1沿一條基礎坐標軸操控機器人72.2Joggingtherobotinthedirectionofthetool72.2在工具方向操控機器人72.3Reorientingthetool92.3工具重新定位92.4Aligningatoolalongacoordinateaxis102.4工具對齊坐標軸102.5Joggingtherobotinthedirectionoftheworkobject112.5沿運行對象的方向操控機器人112.6Joggingtherobotalongoneoftheworldcoordinateaxes122.6沿其中一條世界坐標軸操控機器人122.7Usingastationarytool132.7使用固定工具132.8Joggingtherobotaxis-by-axis142.8操控移動機器人142.9Incrementalmovement142.9漸增移動142.10Jogginganunsynchronisedaxis152.10操控未同時化的軸153JoggingExternalAxes163操控外軸163.1Choosingexternalunits163.1選擇外部裝置163.2Joggingexternalunitsaxis-by-axis163.2逐軸操控外部裝置163.3Joggingexternalunitscoordinated173.3坐標化操控外部裝置173.4Joggingexternalunitswithdynamicmodels173.4使用動態(tài)模型操控外部裝置175InputsandOutputs5-11Overview…31綜述…31.1TheInputs/Outputswindow………….…31.1輸入/輸出窗口………….……….…..31.2ChoosinganI/Olist………31.2選擇輸入/輸出表………31.3DefiningtheMostCommonI/Olist…………51.3定義最慣用輸入/輸出表…………52ChangingSignalValues……….72更改信號值…………72.1Changingthevalueofadigitaloutput………72.1更改數(shù)字輸出值……72.2Changingthevalueofananalogoutputsignaloragroupofoutputsignals..72.2更改模擬輸出信號值或輸出信號組值……73DisplayingInformation……93顯示信息……93.1Todisplayinformationonagivensignal93.1顯示給定信號的有關信息93.2Todisplayachartofalldigitalsignalsofaunit…93.2顯示一種裝置全部的數(shù)字信號表…93.3ToprintanI/Olist……103.3打印輸入/輸出表……103.4Blockedsignals...…………….….………….103.4封鎖信號...…………….….………….104.I/ObusRecovery………………124.輸入/輸出總線恢復………………126Programming1CreatingaNewProgram51新建程序51.1Whatisaprogram?51.1何謂程序？51.2TheProgramwindow61.2程序窗口61.3Creatinganewprogram61.3新建程序61.4Loadinganexistingprogram71.4裝入現(xiàn)成現(xiàn)成程序72DefiningToolsandWorkObject72定義工具及運行對象73CreatingNewRoutines83新建例行程序83.1Whatisaroutine?83.1何謂例行程序？83.2TheProgramRoutineswindow93.2程序的例行程序窗口93.3Creatinganewroutine103.3新建例行程序103.4Duplicatingaroutine123.4復制例行程序124Creatingnewinstructions134新建指令134.1Choosingaroutine134.1選擇例行程序134.2TheProgramInstrwindow134.2程序指令窗口134.3Whatisaninstruction?144.3何謂指令？144.4Gettingmoreinformationaboutaninstruction144.4獲取一條指令的有關具體信息145Programming165編程165.1Choosingfromtheinstructionpicklist165.1從指令選擇表中選擇165.2Addinganinstruction175.2添加指令175.3Expressions195.3體現(xiàn)式195.4Movingandcopyinginstructions225.4移動及復制指令226RunningPrograms236運行程序236.1Programexecution236.1程序執(zhí)行236.2TheProgramTestwindow236.2程序測試窗口236.3Choosingthespeedcorrection246.3選擇速度修正246.4Choosingtheexecutionmode246.4選擇執(zhí)行模式246.5Motionstepexecution266.5移動環(huán)節(jié)執(zhí)行246.6Startingprogramexecution276.6開始程序執(zhí)行276.7Stoppingprogramexecution286.7停止程序執(zhí)行286.8Wherewilltheprogramstart?286.8從何處開始執(zhí)行程序？286.9Simulatingwaitconditions306.9演示等待條件306.10Multitasking316.10多重任務解決316.11MANFSspeedlimit316.11手動全速速度限制316.12KeepOverride326.12保持優(yōu)先越權327SavingandPrintingPrograms337保存及打印程序337.1Savingtheprogramondisketteorsomeothertypeofmassmemory337.1將程序保存在磁盤或某些其它類型的大存儲量存儲器上337.2Printingaprogramfromtherobot347.2打印機器人上的程序347.3PrintingaprogramusingaPC347.3使用個人電腦將程序打印出來348ChangingtheProgram358修改程序358.1Selectinganinstructionoranargument358.1選擇一條指令或論據(jù)358.2Modifyingthepositioninapositioninginstruction368.2修改定位指令中的位置368.3Tuningpositionduringprogramexecution368.3程序執(zhí)行過程中調(diào)節(jié)位置368.4Changinganargument388.4修改論據(jù)388.5Addingoptionalarguments408.5添加選擇性論據(jù)408.6ChangingthestructureofanIF,FORorTESTinstruction408.6更改IF，F(xiàn)OR或TEST指令的構(gòu)造408.7Changingthenameordeclarationofaroutine418.7更改例行程序的名稱或闡明418.8Deletinganinstructionoranargument418.8刪除一條指令或論據(jù)418.9Deletingaroutine428.9刪除一種例行程序428.10Undolatestaction428.10撤銷前一次操作429SpecialEditingFunctions449特殊編輯功效449.1Search&replace449.1查找替代功效449.2Mirroringroutine459.2反射例行程序459.3Mirroringprogramormodule519.3反射程序或模塊5110CreatingData5410新建數(shù)據(jù)5410.1Whatisdata?5410.1何謂數(shù)據(jù)5410.2TheProgramDatawindow(usedtomanagedata)5410.2程序數(shù)據(jù)窗口（用于解決數(shù)據(jù)）5410.3Creatingnewdata5610.3新建數(shù)據(jù)5610.4Creatingnewarraydata5810.4新建數(shù)組數(shù)據(jù)5810.5Duplicatingdata5910.5復制數(shù)據(jù)5910.6Storingpositiondatausingtherobot5910.6使用機器人保存位置數(shù)據(jù)5910.7Routinedata5910.7例行程序數(shù)據(jù)5911ChangingData6011更改數(shù)據(jù)6011.1Viewingandpossiblychangingthecurrentvalue6011.1查看及如有必要更改現(xiàn)在值6011.2Changingdatanamesordeclarations6011.2更改數(shù)據(jù)名稱或闡明6011.3Deletingdata6111.3刪除數(shù)據(jù)6112ErrorHandling6212錯誤解決6213UsingModules6413使用模塊6413.1Whatisamodule?6413.1何謂模塊？6413.2Choosingmodules6513.2選擇模塊6513.3Creatinganewmodule6613.3新建模塊6613.4Changingthenameordeclarationofamodule6613.4更改模塊的名稱或闡明6613.5Readingaprogrammodulefromdisketteorsomeothertypeofmassmemory67從磁盤或某些其它類型的大存儲量存儲器讀取程序13.6Deletingprogrammodulesfromtheprogram67從程序中刪除程序模塊13.7Listingallroutinesinallmodules67列出全部模塊中的全部例行程序13.8Duplicatingaroutinefromonemoduletoanother68將例行程序從一種模塊復制到另一種模塊13.9Listingalldatainthecurrentmodule68列出現(xiàn)在模塊重的全部程序13.10Duplicatingdatafromonemoduletoanother68將數(shù)據(jù)從一種模塊復制到另一種模塊13.11Savingmodulesondisketteorsomeothertypeofmassmemory68將模塊保存在磁盤或某些其它類型的大存儲量存儲器上13.12Callingupthecompletemodulelist69調(diào)出整個模塊表14Preferences70引用14.1DefiningtheMostCommoninstructionpicklist70定義最慣用指令選擇表14.2DefaultdataGlobal/Local71設立全局/局部默認數(shù)據(jù)14.3Definingprogrammingruleforrobotpositions72定義機器人位置的設立規(guī)則7RAPID7-11ProgrammingaPosition3設立位置1.1Positioninginstructions3定位指令1.2Programminganoffset6設立靜差2ProgramminganI/Oinstruction8編制輸入/輸出指令2.1Setanoutput8設立輸出2.2Changethevalueofanoutput9更改輸出數(shù)值2.3Waitingforaninput10等待輸入3Programmingadelay12編制延遲指令3.1Waitingaspecificamountoftime12等待特定長度的一段時間4ControllingtheProgramFlow14控制程序流程4.1Callingasubroutine14調(diào)用子例行程序4.2Programcontrolwithinaroutine15例行程序內(nèi)的程序控制5AssigningaValuetoData(Registers)18數(shù)據(jù)賦值（寄存器）8CoordinateSystems8-11Overview31綜述31.1CoordinatesystemsusedtodeterminethepositionoftheTCP51.1用于擬定TCP位置的坐標系51.2Coordinatesystemsusedtodeterminethedirectionofthetool101.2用于擬定工具方向的坐標系102DefiningTools132定義工具132.1Creatinganewtool132.1建立新工具132.2ManuallyupdatingtheTCPandweightofatool142.2手動更新TCP和工具重量142.3Methodsofdefiningthetoolcoordinatesystem152.3定義工具坐標系的辦法152.4UsingtherobottochangetheTCPandorientationofatool172.4使用機器人更改TCP和工具的方位172.5Stationarytool192.5靜止工具193WorkObjectsandProgramDisplacements213運行對象和程序位移213.1General213.1總體介紹213.2Usingworkobjects223.2使用運行對象223.3Creatinganewworkobject223.3建立新的運行對象223.4Manuallyupdatingtheuserandobjectcoordinatesystemoftheworkobject233.4手動更新運行對象的顧客和對象坐標系233.5Methodsofdefiningaworkobject243.5定義運行對象的辦法243.6Usingtherobottochangetheworkobject243.6使用機器人更改運行對象243.7Definingamoveableobjectframe273.7定義移動對象坐標系273.8Howtousedifferentworkobjectstogetdifferentdisplacements273.8如何使用不同運行對象獲得不同的位移273.9Howtoadjusttheprogramverticallyusingtheobjectframe293.9如何使用縱向?qū)ο笞鴺溯S調(diào)節(jié)程序293.10Usingprogramdisplacement293.10使用程序位移293.11Creatinganewdisplacementframe303.11建立新位移坐標系303.12Manuallyupdatingadisplacementframe303.12手動更新位移坐標系303.13Methodsfordefiningadisplacementframe313.13定義位移坐標系的辦法313.14Usingtherobottochangeadisplacementframe313.14使用機器人更改位移坐標系314BaseFramefortheRobot344機器人的底座坐標系344.1DefiningtheBaseFramefortheRobot344.1定義機器人的底座坐標系345Coordinatedaxes385坐標化機器軸385.1Externalaxes,general385.1外軸介紹385.2Coordination385.2坐標化386Coordinatedtrackmotion406坐標化軌道運動406.1Howtogetstartedwithacoordinatedtrackmotion406.1如何啟動坐標化軌道運動406.2DefiningtheBaseFrameforatrackmotion406.2定義軌道運動的底座坐標系407Coordinatedexternalaxes457坐標化外軸457.1Howtogetstartedwithacoordinated(moveable)usercoordinatesystem457.1如何啟動坐標化（移動）顧客坐標系457.2DefiningtheUserFrameforarotationalaxis(single)457.2定義轉(zhuǎn)動軸（單型）的顧客坐標系457.3DefiningtheUserFrameforatwo-axesmechanicalunit,Method1497.3定義雙軸機械裝置的顧客坐標系，辦法1497.4DefiningtheUserFrameforatwo-axesmechanicalunit,Method2527.4定義雙軸機械裝置的顧客坐標系，辦法2529Production9-11Overview31綜述32TheProductionWindow32生產(chǎn)窗口33LoadingaProgram53程序載入54ChangingtheOverrideSpeed64更改正馳速度65ChangingtheProgramRunningMode75更改程序的運行模式76StartingtheProgram86運行程序…86.1Restartingafterastop…86.1停止后重啟…86.2Startingaprogramfromthebeginning…86.2從頭啟動程序……86.3Returntotheprogrammedpath…96.3返回程控途徑…97StoppingtheProgram97停止程序運行98TuningpositionswithHotEdit108使用熱編輯調(diào)節(jié)位置109OperatorDialogs159操作對話框1510SystemParameters10-11Overview31綜述32Changing,deletingandaddingParameters32更改，刪除添加參數(shù)32.1Subdivisionofparameters32.1參數(shù)的細分分類32.2Changingaparameter32.2更改參數(shù)32.3Deletingaparameter42.3刪除參數(shù)42.4Addingaparameter52.4添加參數(shù)52.5Generatingarestart52.5進行重啟52.6Viewingthelastchangesthatweremade62.6查看前一次所作的改動63SavingandLoadingParameters73保存及裝載參數(shù)73.1Savingparameterstodisketteorsomeothermassstoragedevice73.1將參數(shù)保存在磁盤或某些其它大存儲量存儲裝置中73.2Loadingparametersfromadisketteorsomeothermassstoragedevice83.2從在磁盤或某些其它大存儲量存儲裝置中裝載參數(shù)84Topic:Controller114主題：控制器114.1Specifyingregaindistances114.1規(guī)定恢復距離114.2Systemmiscellaneous124.2多重系統(tǒng)124.3ActivateHold-To-RunControl124.3啟動握緊運行控制124.4Activatedelayedsafeguardedspacestop134.4啟動安全保護區(qū)延遲停止134.5Definingeventroutines134.5定義事件例行程序134.6Automaticloadingofmodulesandprograms174.6模塊和程序的自動裝載174.7Definingmultitasking194.7定義多重任務195Topic:Communication235主題：通訊235.1Definingphysicalchannels235.1定義物理信道235.2DefiningTransmissionProtocol245.2定義傳輸合同245.3DefiningApplicationProtocol265.3定義應用合同266Topic:IOSignals296主題：IO信號296.1DefiningI/OUnits296.1定義I/O裝置296.2Additionalparametersforfieldbusunits316.2域總線裝置的其它參數(shù)316.3Defininginputandoutputsignals346.3定義輸入和輸出信號346.4Definingsignalgroups376.4定義信號組376.5Definingsysteminputs386.5定義系統(tǒng)輸入386.6Definingsystemoutputs426.6定義系統(tǒng)輸出426.7Controltherobotusingdigitalsignals.PLCCommunication446.7使用數(shù)字信號控制機器人。PLC通訊446.8Definingcrossconnections486.8定義交叉連接486.9ListallavailableI/OUnitTypes526.9列出全部I/O裝置類型526.10IOBuses546.10IO母線546.11PhysicalSignalConfiguration566.11物理信號配備567Topic:Manipulator617主題：操縱器617.1Definingsupervisionlevel617.1定義監(jiān)控等級617.2Definingteachmodespeed627.2定義示教模式速度627.3Definingindependentjoints627.3定義獨立軸節(jié)627.4Definingthebasecoordinatesystem637.4定義底座坐標系637.5Definingatrackmotionwithcoordinatedmotion647.5使用坐標化移動定義軌道移動647.6Definingthecommutationoffsetandcalibrationoffsetofthemotors657.6定義電機的整流靜差和校準靜差657.7Definingtherangeofmovementandcalibrationpositionofeachaxis657.7定義移動范疇和每根軸的校準位置657.8Servoparameters667.8伺服參數(shù)667.9RemovingtheWarning:CornerPathFailure50024667.9移除警告信息：拐角途徑故障667.10Tuningthemotionsupervision677.10調(diào)節(jié)移動監(jiān)控677.11Definingarmload687.11定義機械臂負荷687.12Definingarmcheckpoint687.12定義機械臂檢查點687.13Definingexternaltorque707.13定義外部扭矩707.14Definingfrictioncompensation717.14定義摩擦賠償717.15Definingthejoystickdirectionsfortherobotandexternalmanipulator727.15定義機器人和外部操縱器操縱桿的方向727.16Definingkinematicparametersforgeneralkinematics757.16定義普通運動的運動參數(shù)757.17Installationoptimizationofdrivesystemparameters767.17傳動系統(tǒng)參數(shù)的安裝優(yōu)化767.18CPUOptimization777.18CPU優(yōu)化778Topic:TeachPendant818主題：示教屏818.1Definingauthorizationandconfirmation818.1定義權限及確認818.2ActivationofLimitedModPosFunction868.2限制位置修改功效的啟動868.3SpeedOptions878.3速度選項878.4DefiningOptionalPackages878.4定義選件包878.5DefiningFileExtensions888.5定義文獻擴展名888.6DefiningRunningModeSettings898.6定義運行模式設立898.7Programmablekeys898.7可編程按鍵89

11FileManager11-11Overview31綜述32Program/DataStorage32程序/數(shù)據(jù)保存33TheFileManagerWindow43文獻管理器窗口43.1Choosingadirectory43.1選擇目錄43.2Viewingfileinformation53.2查看文獻信息54CreatingorMovingFilesandDirectories64建立或移動文獻及目錄64.1Creatinganewdirectory64.1建立新目錄64.2Renamingafileoradirectory64.2文獻或目錄重命名64.3Deletingafileordirectory74.3刪除文獻或目錄74.4Copyingfilesanddirectories74.4復制文獻及目錄74.5Movingfilesanddirectories84.5移動文獻及目錄84.6Printingfiles84.6打印文獻85FormattingaDiskette95磁盤格式化96Filehierarchy96文獻等級912Service12-11Overview31綜述32TheServiceWindow32維護窗口33ChangingtheCurrentDateandTime43更改現(xiàn)在日期和時間44Logs54日志54.1Whatisalog?54.1何謂日志？54.2Whattypesoflogsarethere?54.2存在什么類型的日志？54.3Viewingalllogs54.3查看全部的日志54.4Viewingmessagesinalog64.4查看日志中的消息64.5Erasingthecontentsofalog74.5消除一條日志中的內(nèi)容74.6Erasingthecontentsofalllogs74.6消除全部日志中的內(nèi)容74.7Updatingthecontentsofalogautomaticallyorbymeansofacommand74.7自動更新或通過一種命令更新一條日志的內(nèi)容...74.8Avoidingnormalerrorreports74.8避免常規(guī)錯誤報告74.9Savingoneofthelogsondisketteorsomeothermassstoragedevice84.9在磁盤上或某些其它大存儲量存儲裝置中保存其中一條日志84.10Savingalllogsondisketteorsomeothermassstoragedevice84.10在磁盤上或某些其它大存儲量存儲裝置中保存全部的日志85Calibration105校準105.1Whatiscalibration?105.1何謂校準105.2Viewingthecalibrationstatus105.2查看校準狀態(tài)105.3Checkingthecalibration115.3校準的檢查115.4Updatingrevolutioncounters115.4更新轉(zhuǎn)數(shù)計數(shù)器116Commutation136整流136.1Whatiscommutation?136.1何謂整流137FrameDefinition137坐標系定義138TwoAxesDefinition138雙軸定義139Obtaininginformationontherobotsystem139從機器人系統(tǒng)中獲得信息1310BackupandRestore1510備份和恢復1510.1PerformaBackup1610.1進行備份1610.2PerformaRestore1610.1進行恢復1611Restart1711重啟1711.1Normalrestart(warmstart)1711.1正常重啟（熱啟動）1711.2I-start1811.2I-啟動1811.3P-start(reinstallationofRAPID)1911.3P-啟動（RAPID的重新安裝）1911.4C-start(coldstart,deletetheactivesystem)2011.4C-啟動（冷啟動，刪除活動系統(tǒng)）11.5X-start(changeactivesystem)2111.5X-啟動（更改活動系統(tǒng)）2113ScreenViewer13-11Overview31綜述32Userscreen32顧客顯示屏33TheScreenViewerWindow33屏幕閱讀器窗口34TheScreenOptions44顯示屏選件45TheScreenLoading55顯示屏裝載56TheScreenInformation66顯示屏信息67TheScreenDisplay77屏幕顯示屏714SystemandErrorMessages14-115Examples15-11SimpleMaterialHandling31簡樸原料解決31.1Createanewprogram41.1新建程序41.2Addsubroutinecallstoroutinemain41.2向主程序中添加子程序調(diào)用命令41.3Addinstructionstothesubroutines51.3向子程序中添加指令51.4Operatingthegripper91.4操作機械爪91.5Testtheprogram101.5測試程序101.6Savetheprogram111.6保存程序111.7Documentation121.7文獻提供122MaterialHandling132原料解決132.1Createanewprogram152.1新建程序152.2Addsubroutinecallstoroutinemain152.2向主程序中添加子程序調(diào)用命令152.3Addinstructionstothesubroutines162.3向子程序中添加指令162.4Operatingthegripper222.4操作機械爪222.5Testtheprogram232.5測試程序232.6Savetheprogram242.6保存程序242.7Documentation252.7文獻提供2516Index16-117Glossary17-1

CONTENTS目錄Page頁碼1Overview31綜述32HowtoUsethisManual42該手冊的使用辦法42.1Organizationofchapters42.1章節(jié)構(gòu)造42.2Typographicconventions62.2打印商定63OtherManuals73其它手冊7

Introduction介紹1Overview綜述ThismanualcontainsinstructionsfordailyoperationofS4C+basedrobotsystems.本使用手冊包含S4C＋基礎上機器人系統(tǒng)的日常操作闡明。Thismanualwillhelpyouwheneveryouusetherobot.Itprovidesstep-by-stepinstructionsonhowtoperformvarioustasks,suchashowtomovetherobotmanually,howtoprogramorhowtostartaprogramwhenrunningproduction.使用機器人過程中顧客任何時候都能夠從本闡明書中獲得協(xié)助。本手冊提供完畢不同任務的逐步闡明，例如如何手動移動機器人及在正常生產(chǎn)過程中如何編程或啟動程序。Thismanualisintendedfor本手冊合用下列使用者：-operators－操作者-producttechnicians－生產(chǎn)技術員-servicetechnicians－維護技術員-robotprogrammers－機器人程序設計員Themanualiswrittentosuitastandardinstallation.Differencescanthereforeoccur,dependingontheconfigurationofthesystem.本手冊是根據(jù)原則安裝編寫的。因此根據(jù)系統(tǒng)的配備可能會有不同之處。Beforeyoustartworkingwiththerobot,itisessentialthatyoureadChapter2-Safety.使用機器人運行之前，顧客必須閱讀本文第二章的內(nèi)容－安全。2HowtoUsethisManual2如何使用本手冊2.1Organizationofchapters2.1本文的章節(jié)構(gòu)造Themanualisorganizedinthefollowingchapters:本手冊按下列章節(jié)組織編制：1IntroductionContainsashortintroduction.1介紹含有介紹。2SafetyCoverssafetyfunctions,principlesandprocedurestobeusedwhenarobotorrobotsystemisoperated.Itdoesnotcoverhowtodesignforsafety,norhowtoinstallsafetyrelatedequipment.ThesetopicsarecoveredintheProductManual.2安全涉及操作單個機器人或機器人系統(tǒng)時要用到的安全功效，原理和程序。本文不涉及安全布局辦法和有關安全設備的安裝辦法。這些內(nèi)容涉及在產(chǎn)品闡明中。3BasicOperationContainsageneraldescriptionoftherobot.Thisincludeswhathappensduringstartup,descriptionoftheoperatorspanelandteachpendant,andalsosomebasicoperationsontherobot.3基本操作含有機器人的總體闡明。涉及啟動過程中會發(fā)生的狀況，操作面板闡明，示教屏闡明以及機器人的某些有關基本操作。4JoggingDescribeshowtojogtherobotandexternalaxeswithdifferentmotionsettingsintheJoggingwindow.4操控功效描述如何使用操控窗口中不同的移動設立使機器人和外軸慢慢移動。5InputsandOutputsDescribestheInput/Outputwindow,howtochangesignalvaluesanddisplayinformationfordifferentsignaltypes.5輸入輸出描述輸入/輸出窗口，闡明如何更改信號值及如何顯示不同信號類型的有關信息。6ProgrammingandtestingContainsinstructionshowtocreatenewprograms,routines,instructions,dataandmodulesandanexplanationofwhatthedifferentpartsmeans.Howtotestprogramsisalsodescribedhere.6編程及測試含有建立新程序，例行程序，指令，數(shù)據(jù)和模塊的指導闡明，并解釋不同部分的意思。同時闡明如何進行程序測試。7TheprogramminglanguageRAPIDContainsdescriptionsforsomeoftheRAPIDinstructions.ForamoredetaileddescriptiononthedifferentRAPIDinstructions,seeRAPIDReferenceManual.7RAPID編程語言含有某些RAPID指令的有關描述。有關其它不同RAPID指令的具體闡明請參見RAPID參考手冊8CoordinateSystemsDescribeshowtodefinetools,workobjects,programdisplacements,baseframeandothercoordinatesystems.8坐標系描述如何定義工具，運行對象，程序位移，底座框架以及其它坐標系。9ProductionRunningDescribeshowto:-startandstoptheprogramduringproduction-changetheoverridespeedandprogramrunningmode-tunearobotpathwiththeHotEditfunctionintheProductionwindow.9生產(chǎn)流程描述在生產(chǎn)窗口中：－如何于生產(chǎn)過程中啟動和停止程序－如何變化過馳速度和程序運行模式－如何使用HotEditfunction（熱編輯功效）調(diào)節(jié)機器人的行走途徑10SystemParametersDescribestheparametersfunctionsandhowtodefine,change,saveandloadparametersandparametertypes.10系統(tǒng)參數(shù)描述多種參數(shù)功效以及如何定義，更改，保存和裝載參數(shù)及參數(shù)類型。11FileManagerContainsinformationhowto:-viewfileinformation-copy,deleteormovefilesanddirectories-createorrenamingdirectories-printingfilesorformattingadiskette.11文獻管理器含有下列有關信息：－如何查看文獻信息－如何復制，刪除和移動文獻及目錄－如何建立目錄或進行重命名－如何打印文獻或格式化磁盤12ServiceDescribeshowto:-changedateandtimeofthesystem-viewingamessageinalog-testandcalibratethemeasuringsystemfortherobotorexternalaxes-obtaininformationonthesystem-performabackup/restore-performarestart.12維護描述如何－更改系統(tǒng)的數(shù)據(jù)和時間－查看日志中的消息－測試校準機器人或外軸的測量系統(tǒng)－獲取系統(tǒng)的有關信息－進行備份/恢復－進行重啟13ScreenViewerContainsinformationabouttheoptionScreenViewer.Foramoredetaileddescription,seetheProductSpecificationRobotWare.13屏幕閱讀器含有選件屏幕閱讀器的有關信息。具體介紹請參見產(chǎn)品規(guī)格機器人軟件中的內(nèi)容。14ErrorManagement,SystemandErrorMessagesDescribeshowtomanageerrormessagesandincludesalistoferrorcodeswithdescriptions,causesandactions.14錯誤解決，系統(tǒng)和錯誤消息描述如何解決錯誤消息，包含一種帶闡明，因素和解決方法的錯誤代碼表。15ProgramExamplesContainsanumberofRAPIDprogramsthatarebuiltup,stepbystep.Hereyoucanlearnalittleabouthowtoprogram,andalsoseetheinstructionsintheircorrectcontext.15程序示例包含逐步建立起來的若干RAPID程序。這里你能夠?qū)W到一點編程知識，同時也能夠看到應用在對的的上下文中的指令。16Index索引17Glossary術語匯編2.2Typographicconventions2.2打印商定ThecommandslocatedunderanyofthefivemenukeysatthetopoftheteachpendantdisplayarewrittenintheformofMenu:Command.Forexample,toactivatethePrintcommandintheFilemenu,youchooseFile:Print.示教屏顯示屏頂端有五個菜單鍵。任何一種菜單下的命令都是以菜單：命令的形式編寫的。例如，要在文獻菜單中激活打印命令，就選擇文獻：打印。Thenamesonthefunctionkeysandintheentryfieldsarespecifiedinbolditalictypeface,e.g.Modpos.功效鍵上的和登陸欄里的名字以黑斜體字顯示，例如，ModposWordsbelongingtotheactualprogramminglanguage,suchasinstructionnames,arewritteninitalics,e.g.MoveL.屬于實際編程語言的詞語，例如指令名稱之類，用斜體字編寫，如Movel。Examplesofprogramsarealwaysdisplayedinthesamewayastheyareoutputtodisketteoraprinter.Thisdiffersfromwhatisdisplayedontheteachpendantinthefollowingways:-Certaincontrolwordsthataremaskedintheteachpendantdisplayareprinted,e.gwordsindicatingthestartandendofaroutine.-Dataandroutinedeclarationsareprintedintheformalform,e.g.VARnumreg1;.程序示例經(jīng)常以與輸出到磁盤和打印機上信息相似的方式顯示出來。這與示教屏上顯示的內(nèi)容有下列區(qū)別：示教屏顯示屏中某些隱藏的控制詞語會被打印出來，如表達例行程序開始和結(jié)束的詞語。數(shù)據(jù)和例行程序闡明以正式體打印，如VARnumreg1;

3OtherManuals3其它手冊ProductManual產(chǎn)品手冊TheProductManualprovidesinformationon:installationrobotstructuresuchasit’scomputersystem,inputandoutputsignalspreventivemaintenancetroubleshootinghowtocarryoutrepairsonthemanipulatorandcontroller.產(chǎn)品闡明書提供下列有關信息：安裝機器人的構(gòu)造，如其計算機系統(tǒng)，輸入輸出信號等。防止性維護故障探測及修理如何修理操縱器和控制器。ThismanualalsocontainsProductSpecificationsofthemanipulator,controllerandRobotWareOptions,whichprovideanoverviewofthecharacteristicsandperformanceoftherobot.產(chǎn)品闡明也涉及操縱器，控制器和機器人軟件選件的產(chǎn)品規(guī)格闡明，對機器人的特點和性能作出了一種概述。RAPIDReferenceManualRAPID參考手冊TheRAPIDReferenceManualcontainsadetailedexplanationoftheprogramminglanguageaswellasalldatatypes,instructionsandfunctions.Theyaredescribedinalphabeticalorderforyourconvenience.Ifyouareprogrammingoff-line,theRAPIDReferenceManualwillbeparticularlyusefulinthisrespect.RAPID參考手冊含有程序語言以及全部數(shù)據(jù)類型，指令和功效等的具體闡明。其內(nèi)容按字母表次序排序，方便閱讀查找。如果顧客脫機編程，RAPID參考手冊則在這方面特別有用。CONTENTS目錄Page頁碼1Overview31概述31.1Introduction31.1闡明32ApplicableSafetyStandards32應用安全原則33Fire-Extinguishing43消防44DefinitionsofSafetyFunctions44安全功效的定義45SafeWorkingProcedures55安全運行程序55.1Normaloperations55.1常規(guī)操作56Programming,TestingandServicing56編程，測試和維護67SafetyFunctions67安全功效67.1Thesafetycontrolchainofoperation67.1操作的安全控制鏈67.2Emergencystops77.2急停7.7.3Modeselectionusingtheoperatingmodeselector77.3使用操作模式選擇器選擇操作模式77.4Enablingdevice87.4啟動裝置87.5Hold-to-runcontrol87.5握緊運行控制87.6GeneralModeSafeguardedStop(GS)connection97.6通用模式的安全保護停止（GS）連接97.7AutomaticModeSafeguardedStop(AS)connection107.7自動模式的安全保護停止（AS）連接107.8Limitingtheworkingspace107.8限制運行空間107.9Supplementaryfunctions107.9補充功效108SafetyRisksRelatedtoEndEffectors108尾效應器的安全風險108.1Gripper108.1機械爪108.2Tools/workpieces118.2工具/工件118.3Pneumatic/hydraulicsystems118.3氣動/液壓系統(tǒng)119RisksduringOperationDisturbances119操作干擾過程中的安全風險1110RisksduringInstallationandService1110安裝維護過程中的安全風險1111RisksAssociatedwithLiveElectricParts1311帶電零件的有關安全風險1312EmergencyReleaseofMechanicalArm1312機械臂的緊急釋放1313LimitationofLiability1413責任限制1414RelatedInformation1414有關信息14

1Overview1概述Thisinformationonsafetycoversfunctionsthathavetodowiththeoperationoftheindustrialrobot.本文的安全信息包含工業(yè)機器人操作的有關功效。Theinformationdoesnotcoverhowtodesign,installandoperateacompletesystem,nordoesitcoverallperipheralequipment,whichcaninfluencethesafetyofthetotalsystem.本文信息不涉及如何設計，安裝和操作整個系統(tǒng)，也不涉及影響整個系統(tǒng)安全的外圍設備。Toprotectpersonnel,thecompletesystemhastobedesignedandinstalledinaccordancewiththesafetyrequirementssetforthinthestandardsandregulationsofthecountrywheretherobotisinstalled.機器人在某一國家安裝后，為了保護員工安全，整個系統(tǒng)應當按照該國的有關原則和規(guī)定里提出的安全規(guī)定設計安裝。TheusersofABBindustrialrobotsareresponsibleforensuringthattheapplicablesafetylawsandregulationsinthecountryconcernedareobservedandthatthesafetydevicesnecessarytoprotectpeopleworkingwiththerobotsystemhavebeendesignedandinstalledcorrectly.ABB工業(yè)機器人顧客有責任確保恪守有關國家的應用安全法規(guī)，并且對的設計安裝必需的安全設備以保護使用本機器人系統(tǒng)的工作人員。Peoplewhoworkwithrobotsmustbefamiliarwiththeoperationandhandlingoftheindustrialrobot,described