ABB机器人操作培训手册--中文版

ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision1-561---------------------------------------------22---------------------------------------------33---------------------------------------------54--------------------------------------------125--------------------------------------------256--------------------------------------------277--------------------------------------------328--------------------------------------------509--------------------------------------------5210--------------------------------------------54™ABB™ABB™,ABB™ABB™UserGuideProductManualRAPIDReferenceManualABBABB(Shanghai)EngineeringCo.Ltd.ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision2-56•ABB•••••••()User’sGuideProductManualABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision3-562.12.1.1••(E-Stop)••••E-Stop••0.6MP•(EnableDevice)••ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision4-56•••User’sGuide2.22.2.12.2.2••••ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision5-563.13.1.1S419941996S4C19971999S4Cplus20003.1.2IRB14005kgIRB240016kgIRB440060kgIRB6400200kgIRB6400RIRB640019992000IRB6400IRB640160kgABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision6-56IRB1405kg1200kgIRB3401kg3.1.3IRB1400IRB2400IRB4400IRB6400•IRBABB•(1,2,4,6)•(4)S4•3.1.4ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision7-563.23.2.(Manipulator)••AC•()0.05mm0.2mm•••(SMB)3.2.2(Controller)ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision8-563.2.2.1MainsSwitchTeachPendantOperator’sPanelDiskdrive3.2.2.1Robotcomputerboard/MemoryboardMaincomputerboard8MOptionalboardsCommunicationboards3.2.2.2DClinkABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision9-56Drivemodule2-33.2.2.3Transformer:Supplyunit3.2.2.4LithiumbatteriesPanelunitI/Ounits/3.3(RobotWare)RobotWareABBRobotWareBaseWare,BaseWareABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision10-56Option,ProcessWare,DeskWareFactoryWare3.3.1S4•IRBIRB•3.3.2S4C•KeyKey•3.3.3S4Cplus•KeyKey•RobInstallFTP3.3.4RobotStadio•RobotStadioABBPCABB•CADRobotStadioABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision11-56•RobotStadioConfigEditProgramMakerRobInstall•RobotStadioLite•RobotStadioLite•PC3.4ABB•User’sGuide•ProductManual•RAPIDReferenceABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision12-564.1Operator’sPanelTeachPendant4.24.2.1()(1Hz)(4Hz)4.2.24.2.3()ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision13-56250mm/s()4.2.44.3Emergencystopbutton(E-Stop):Enablingdevice:Joystick:Display:ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision14-564.3.1(Windowkeys)Jogging-Program-Input/Outputs-Misc.ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision15-564.3.2(Navigationkeys)List()NextPagePreviousPageUparrows-Downarrows-Leftarrows-Rightarrows-4.3.3(Motionkeys)MotionUnit-()ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision16-56MotionType1-1•TCPXYZ•TCPXYZXYZMotionType2-2•123•456Incremental-4.3.4(Otherkeys)Stop-Contrast-MenuKeys-()Functionkeys-()ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision17-56Delete-Enter-4.3.5(Programmablekeys)P1-P54.44.4.14.4.24.4.2.1ExternalUnit-Robot-••ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision18-564.4.2.2Linear-•TCP•Reorientation-•TCPAxes-•Axes1,2,3-•Axes4,5,6-4.4.34.4.3.1•Worldcoordinates•Basecoordinates•Toolcoordinates•WorkobjectcoordinatesABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision19-564.4.3.2CoordWorldBaseToolWobj4.4.3.3ToolOK4.4.3.4WobjOKCoordWobjABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision20-564.4.4JoysticklockNone4.4.5IncrementalNoneSmallMediumLargeUser•No(Normal)•Small0.05mm0.005•Medium1mm0.02•Large5mm0.2•UserABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision21-564.4.6Robotpos•XYZQ1Q2Q3Q4TCP•4.4.7•••0•1•0ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision22-564.4.84.4.8.1Base4.4.8.2Tool4.4.8.3Wobj4.4.8.4WorldABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision23-564.4.9(TCP)4.4.10ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision24-564.4.115ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision25-565.1()5.25.2.1•••oooABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision26-56•()••••5.2.2•()•0()••••(CPU)5.2.3•••ABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision27-566.16.1.16.1.2OK6.1.2.1(Windowtitle)ProductionInfoABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCustomerServiceDivision28-566.1.2.2(Robotvelocity)Speed:=6.1.2.3(Programpointer)•(PP)•---Edit---2StartfromBeginning---OK6.1.2.4(Programlist)6.1.2.5(Programname)6.1.2.6(Runningmode)ListContinuousCycle•Continuous•CycleABBENGINEERING(SHANGHAI)LTD.ABBFLEXIBLEAUTOMATIONCus