FANUC机器人培训教材

1/140FANUC1.11.21.31.42/1401.1FANUC(R--J3iMODELB).FANUCFANUCR--J3iMODELB5FANUCLEDB.3A.13/140WarningCautionNoteWarningCautionNoteNoteCaution4/1401.2FANUC5/1401.3----------.--------FANUCFANUC6/140--------FANUCFANUCFANUC----:----7/140FANUC8/1401.41--1.*FENCE()*SFSPD9/14010/14011/140FANUCFANUC12/14013/140Deadman14/140FANUC15/140FANUCFANUC,I/OFANUC(I/O).2--1Figure2--1.R--J2MateFANUCSYSTEMR--J2MateR--J2Mate16/1401.11.21.3217/140JOINT10%1/8ProgramnameLinenumberPrograminstructionsMotioninstructionMacroinstructionEndinstruction1.4()6.26.31.5()(3.116.8)(6.9)(***)(6.1)18/1402J1,J2,J319/140LRMAGTIG20/1403R--J2Mate(FANUCSYSTEMR--J2Mate)CPUCPUCMOSI/O21/1403.1J164011LED11LEDLRLED)6161LR3TeachpendantenableswitchdeadmanswitchdeadmanEmergencystopbuttonTeachpendantenableswitchEmergencystopbuttonDeadmanswitchDeanman22/140LEDLEDLEDLEDFAULTHOLDHOLDHOLDSTEPBUSYRUNNINGWELDENBLARCESTABDRYRUNJOINTJOINTXYZJGFRMWorldframeUSERTOOLTOOL23/1403.1.1LEDUTILITIESTESTCYCLEMANUALFCTNSALARMI/OSETUPFILEUSERSELECTEDITDATASTATUSPOSITIONSYSTEM24/140A.1FCTNLEDABORT(ALL)DisableFWD/BWDCHANGEGROUPTOGGLESUBGROUPTOGGLEWRISTJOGRELEASEWAITQUICK/FULLMENUSSAVEPRINTSCREEN25/140QUICK/FULLALARM/UTILITIES/Setup/DATA/MANUALFCTNSSTATUSI/O/I/OI/OI/OPOSITIONSELECTEDIT26/1403.2RS--232CPower--on/offbuttonEmergencystopbuttonAlarmreleasebuttonUser#1and#2buttonsThreemodeswitchLEDLEDAlarmalarmrelease27/1403.3CRT/KBRS--2323.5RS--232RS--2323.63.73.728/1403.8TCP169JOINTCircularLinearFineCnt3.93.106163.1I/OI/OI/OI/O[i]I/O[i]I/OI/OI/O29/140I/O0=I/O116=I/OA/BSLOTI/OI/OSLOT1SLOT2A/BI/OSLOT30/140I/OI/OI/O1820I/OI/OI/OI/O24VI/OI/OI/O1MENUS25[I/O].3F1[TYPE]..4Digital.I/OI/OI/OI/OA/BI/OI/OI/OI/O31/1405F3IN/OUT6I/O,F2,CONFIG,F2,MONITOR.32/140I/O7I/O8F2,MONITOR.9I/ONEXTF4,DETAIL101112I/OF3,NEXT.13PREV1415ONOFFI/O33/140I/O(AI/AO)I/OI/OI/O0=I/O116=I/OA/BI/OAI/OBRACK12SLOTI/OAI/OSLOTI/OSLOT1SLOT2AI/OSLOTBI/OSLOTDIPI/OI/OI/OI/OI/OI/O34/140I/OI/OI/OI/O.I/O88I/OI/ORI[1]*RDICOM0V+24V*HBK*HBK*HBK*PPABN*PPABN*PPABN*PPABN*ROT*ROT*ROT*ROT*HBK*ROTRDI[1to8]RDO[1to8]RDI[1to8]RDO[1to8]35/140I/OI/O(UI/UO)I/OI/OLRI/OI/OCRM52016(SDI/SDO)I/O1820I/O(*HOLD,ENBL)(SI[2])I/O*SFSPDENBLCMDENBLI/OEnableUIsignalsTRUEI/OI/OI/OI/OA/BI/OI/OI/OI/O36/140I/ORSRRSR1RSR8(PNS)RSR1RSR8PNSTROBFSTARTPROD_STARTinput)(CSTOPI)--ABORTCSTOPIFALSERSR--ABORTCSTOPITURERSRSTART--CONTINUESTARTFALSERSR--CONTINUESTARTTRUEI/O(SI[2])I/O*SFSPDENBL$RMT_MASTERCMDENBLSTARTforCONTINUEonlyTRUESTART37/140(RSR)8(RSR1RSR8)1RSR1RSR8RSR$RSR1$RSR8RSR1RSR8RSRRSRUIUITRUE,2RSR8RSRRSRRSR2()=(RSR2)+()RSR+()RSR+()RSR0121m4RSR121$SHELL_CFG.$JOB_BASERSR3RSR1RSR8RSRACK1ACK8ACK1ACK8RSR4RSR5CSTOPIPNSPNS[6(SETUP).RSR/PNS].PNSProgramselectmodeRSRPNSBasenumberPNSPNSAcknowledgefunctionRSRACK1ASK8AcknowledgepulsewidthPNS(SNACK)ACK1ASK8PNS1MENUS.26(SETUP).3F1TYPE.4RSR/PNS.RSR/PNS5Programselectmode.F4[CHOICE]RSR,F3DETAIL.PNS38/14067RSRPNS39/140x,y,zX--,Y--,Zw,p,r(w,p,r)3--28.(w,p,r)5Xu,Yu,ZuXt,Yt,Zt40/140()(TCP)41/14042/140TCPTCPZ(x,y,z)TCP(w,p,r)X,YZTCPW,PRX--,YZZXYZ+--+--+--XYWPRToolcenterpointMechanicalinterfacecoordinatesystemInthefigureontheright,thecoordinatesofthetoolcoordinatesystemare:x50.0mm10F$MNUTOOL[1,i](i=110)F$MNUTOOLNUM[group]3(TCP)[Optionalfunction]TCP)TCPTCPxyzwpr00043/140TCPReferencepoint2wprwprxXZ44/140TCPx,y,zx--,yzw,p,r,TCP()1MENUS2t6(SETUP).3F14Frames.5F3,OTHERToolFrame.45/14067F2,DETAIL.8F2,METHODThreePoint.46/1409aENTERbcdENTER10abcSHIFTF5,RECORDRECORDEDdUSED11SHIFTF4,MOVE_TO.12ENTERPREV47/14013PREV14F5,SETIND.15F4,CLEAR.48/140(x,y,z)(w,p,r)X-,Y-Z49/140Usercoordinatesystem2Usercoordinatesystem1GlobalcoordinatesystemXYZXYZXYZ+--+--+--WorldcoordinatesystemUsercoordinatesystemUsercoordinatesystem2Intherightfigure,thecoordinatesofusercoordinatesystem1arex:70.0mmy:--2500.0mmz9F$MNUFRAME[1,i](i=19).F$MNUFRAMENUM[1]1250/140xx-x-y1MENUS.26(SETUP).3F1TYPE.4Frames.5F3,OTHERUserFrame.51/14067F2,DETAIL.7F2,METHODThreePoint.52/1409aENTERbcdENTER10abcSHIFTF5,RECORDRECORDEDdUSED11SHIFTF4,MOVE_TO12ENTERPREV53/14013PREV14(SETIND),15F4CLEAR.54/1403SDODO1I/O(ATPERCH)[6(SETUP).RefPosition]55/1403safe:dangerousSETUPSpace56/140Space/DETAILEDSCREEN()(AreaDetailsScreen)Enable/disableComment10OutputsignalInputsignalDriorityHighLowHighLow1234inside/outsideRectangularSpace/SPACESETUP(AreaSettingScreen)BASISVERTEXSIDELENGTH/SECONDVERTEXSIDELENGTHX,Y,ZSECONDVERTEX57/140Step1MENUS2SETUP.3F1TYPE.4Spacefnct.5a.Enterb.c.d.Enter6Enb/DsblCommentF3(DETAIL).758/1408SPACE.9Ta.X,YZb.SHIFT+F5RECORDUFUT,bUFUTSHIFT+F5RECORD10PREVPREV59/140[6SETUPGeneral]BreakonholdCurrentlanguageIgnoreOffsetcommandIgnoreTool--offsetBreakonholdHOLDDISABLEDHOLD()ENABLEHOLDCurrentlanguageDEFAULTIgnoreOffsetcommandDISABLEDENABLEDIgnoreTool--offsetDISABLEDENABLED60/14061/14062/1401809_at@*AHAND_ARSRPNSRSRRSRnnnnnnnn4RSR0001.PNSPNSnnnnnnnn4PNS0001.63/140ONONONOFFOFFrobottool4-564/140JLCJstartposition:destinationposition:example:L(TCP)mm/sec/cm/min/inch/mm(/)65/140.startpointtargetpointexamplestartpositiondestinationpositiondeg/sec/66/140startpointpassingpointtargetpointstartpositiondestinationpositionexamp