机器人培训教程

1/140FANUC1.11.21.31.42/1401.1FANUC(R--J3iMODELB).FANUCFANUCR--J3iMODELB






5FANUCLEDB.3A.13/140”Warning””Caution””Note””Warning””Caution””Note””Note””Warning””Caution”4/1401.2FANUC




5/1401.3----------.--------FANUCFANUC6/140--------FANUCFANUCFANUC----:----7/140FANUC8/1401.4
1--1.
*FENCE()*SFSPD
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10/140
11/140
FANUC


FANUC12/140
deadman.deadman13/140Deadman

14/140FANUC15/140FANUCFANUC,I/OFANUC

(I/O).2--1Figure2--1.R--J2MateFANUCSYSTEMR--J2Mate
R--J2Mate
16/140




1.11.21.32—3













17/140SAMPLE1JOINT10%1/81:JP[1]100%FINE2:HAND1CLOSE3:JP[2]70%CNT504:LP[3]500mm/secCNT105:HAND1OPEN6:LP[4]500mm/secCNT107:HAND1CLOSE8:ABORT[End]POINTTOUCHUPProgramnameLinenumberPrograminstructionsMotioninstructionMacroinstructionEndinstruction1.4()6.26.31.5()
(3.116.8)
(6.9)
(***)
(6.1)18/1402J1,J2,J319/140LRMAGTIG20/1403R--J2Mate(FANUCSYSTEMR--J2Mate)CPUCPUC—MOSI/O21/1403.1J




1640
11LED
11LEDLRLED)
61
61LR3TeachpendantenableswitchdeadmanswitchdeadmanEmergencystopbuttonTeachpendantenableswitchEmergencystopbuttonDeadmanswitchDeanman22/140LEDLEDLEDLEDFAULTHOLDHOLDHOLDSTEPBUSYRUNNINGWELDENBLARCESTABDRYRUNJOINTJOINTXYZJGFRMWorldframeUSERTOOLTOOL23/1403.1.1LEDUTILITIESTESTCYCLEMANUALFCTNSALARMI/OSETUPFILEUSERSELECTEDITDATASTATUSPOSITIONSYSTEM24/140A.1FCTNLEDABORT(ALL)DisableFWD/BWDCHANGEGROUPTOGGLESUBGROUPTOGGLEWRISTJOGRELEASEWAITQUICK/FULLMENUSSAVEPRINTSCREEN25/140QUICK/FULL
ALARM/
UTILITIES/
Setup/
DATA/
MANUALFCTNS
STATUS
I/O/I/OI/OI/O
POSITIONSELECTEDIT26/1403.2RS--232CPower--on/offbuttonEmergencystopbuttonAlarmreleasebuttonUser#1and#2buttonsThreemodeswitchLEDLEDAlarmalarmrelease27/1403.3CRT/KBRS--232—C3.5
RS--232—C
RS--232—C3.63.73.7



28/1403.8TCP169JOINTCircularLinearFineCnt3.9

3.10616

3.1I/OI/OI/OI/O[i]I/O[i]I/O
I/O
I/O29/140I/O0=I/O116=I/OA/BSLOTI/O
I/OSLOT1SLOT2
A/BI/OSLOT30/140I/OI/OI/O1820I/OI/OI/OI/O24VI/OI/OI/O1MENUS25[I/O].3F1[TYPE]..4“Digital.”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/OSLOT
I/OSLOT1SLOT2
AI/OSLOTBI/OSLOTDIPI/OI/OI/OI/OI/OI/O34/140I/OI/O
I/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*SFSPD
ENBL
CMDENBL


I/O”EnableUIsignals”TRUEI/OI/OI/OI/OA/BI/OI/OI/OI/O36/140I/O
RSRRSR1RSR8
(PNS)RSR1RSR8PNSTROBFSTART
PROD_STARTinput)
(CSTOPI)--ABORTCSTOPIFALSERSR--ABORTCSTOPITURERSR
START--CONTINUESTARTFALSERSR--CONTINUESTARTTRUEI/O

(SI[2])I/O*SFSPD
ENBL
$RMT_MASTER
CMDENBL


”STARTforCONTINUEonly”TRUESTART37/140(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/PNS5”Programselectmode”.F4[CHOICE]RSR,F3DETAIL.PNS38/14067RSRPNS39/140x,y,zX--,Y--,Z—w,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--,Y—Z—ZXYZ+--+--+--XYWPRToolcenterpointMechanicalinterfacecoordinatesystemInthefigureontheright,thecoordinatesofthetoolcoordinatesystemare:x50.0mm10F$MNUTOOL[1,i](i=110)F$MNUTOOLNUM[group]3(TCP)[Optionalfunction]TCP)TCPTCPxyzwpr00043/140TCPReferencepoint2wprwprxXZ44/140TCPx,y,zx--,y—z—w,p,r,TCP()1MENUS2t“6(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.2“6(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.3F1”TYPE.”4Spacefnct.5a.Enterb.c.d.Enter6Enb/DsblCommentF3(DETAIL).758/1408SPACE.9Ta.X,YZb.SHIFT+F5RECORDUFUT,bUFUTSHIFT+F5RECORD10PREVPREV59/140[6SETUPGeneral]
Breakonhold
Currentlanguage
IgnoreOffsetcommand
IgnoreTool--offsetBreakonholdHOLDDISABLEDHOLD()ENABLEHOLDCurrentlanguageDEFAULTIgnoreOffsetcommandDISABLEDENABLEDIgnoreTool--offsetDISABLEDENABLED60/140

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