三菱工業(yè)機(jī)器人CRnQ/CRnD控制器機(jī)能和操作的詳細(xì)解說文檔

三菱電機(jī)產(chǎn)業(yè)用機(jī)器人CRnQ/CRnD控制器機(jī)能和操作的詳細(xì)解說
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控制器 機(jī)能和操作的詳細(xì)解說.pdf (4.62 MB, 售價: 10 E幣)

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控制器 機(jī)能和操作的詳細(xì)解說
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目錄：

1 開始使用 ............................................................. 1-1
1.1 操作說明書的使用方法.................................. 1-1
1.1.1 各操作說明書的內(nèi)容 ..................................1-1
1.1.2 操作說明書中的用語和記號.......................1-2
1.2 安全上的注意...................................................1-3
1.2.1 勞動安全注意事項.......................................1-3
1.2.2 安全手冊注意事項.......................................1-4
2 機(jī)能的解說...........................................................2-6
2.1 操作面板（O/P）的機(jī)能................................2-6
2.2 教導(dǎo)盒 (T/B)的機(jī)能.........................................2-9
2.2.1 關(guān)于操作權(quán) ...................................................2-11
2.3 動作及控制相關(guān)連的機(jī)能...............................2-12
3 操作方法的解說 ..................................................3-14
3.1 教導(dǎo)盒的MENU畫面操作 ..............................3-14
(1) 畫面流程圖..........................................................3-14
(2) 數(shù)字/文字的輸入 ..............................................3-17
(3) MENU 的選擇方法 ...........................................3-18
3.2 JOG前 進(jìn) (概略說明) .......................................3-19
3.2.1 JOG前進(jìn)的種類 .............................................3-19
3.2.2 JOG前進(jìn)的速度 ..............................................3-20
3.2.3 關(guān)節(jié)JOG .... .....................................................3-21
3.2.4 直交JOG ..........................................................3-21
3.2.5 TOOL JOG .......................................................3-22
3.2.6 三軸直交JOG ...................................................3-22
3.2.7 圓筒JOG.............................................................3-23
3.2.8 TOOL資料的切換 ...........................................3-24
3.2.9 JOG操作中沖突 檢 知 . ..................................3-26
(1) JOG 操作時的沖突檢知Level調(diào)整....................3-26
3.3 HAND 開閉 ..........................................................3-27
3.4 HAND 整列 ................................................ 3-28
3.5 程 式連結(jié) ......................................................................... 3-29
3.5.1 桯式的 作 成 ..................... ....................................... 3-29
(1) 程序編 輯畫面的開啟 .............................................. 3-29
(2) 程序的 作 成 ................................................................................ 3-30
(3) 程序作 成的結(jié)束、儲存 .............................................................. 3-32
(4) 程序的 修正方法 .......................................................................... 3-33
(5) 現(xiàn)在位置的教示...................................................................... 3-35
(6) 位置變數(shù)的刪除...................................................... 3-38
(7) 位置資料的確認(rèn)..................................................................................... 3-39
(8) 位置資料的MDI(Manual Data Input)登錄(修正) ...................... 3-40
3.6 除錯操作...............................................................................................3-41
(1) STEP前 進(jìn) ...................................................................... 3-41
(2) STEP 返回 ..................................................................................... 3-43
(3) 在別的插槽的STEP前進(jìn) ........................................................... 3-44
(4) STEP JUMP ................................................................................3-46
3.7 自動運(yùn)轉(zhuǎn) ......................................................................................3-47
(1) 動作速度的設(shè)定 .......................................................................... 3-47
(2) 程序號 碼的選擇 ............................................. 3-47
(3) 自動運(yùn)轉(zhuǎn)的開始 ....................................................................................................... 3-48
(4) 停止 ................................................................................................ 3-48
(5) 從停止的自動運(yùn)轉(zhuǎn)再開啟 ............................................................... 3-49
(6) 程序重 置.................................................................................................... 3-50
3.8 伺服ON/OFF .................................................................................. 3-51
3.9 異警 重 置操作 ........................................................................................... 3-52頁
3.10 無法解除異警的暫時異警重置操作 ................................................... 3-52
3.11 管理編輯畫面的操作 ..................................................................................... 3-53
(1) 程序一覽表示 .................................................................3-53
(2) 程序復(fù)制 (Copy) ............................................................. 3-54
(3) 程序名稱變更 (Rename ) .......................................... 3-55
(4) 程序刪除 (Delete) ............................................................. 3-56
(5) 保護(hù) ( Protect ) ................................................................ 3-57
3.12 運(yùn)轉(zhuǎn)畫面的操作 ...................................................................... 3-59
3.12.1 執(zhí)行行的顯示 .................................................................. 3-59
(1) 確認(rèn)畫面的選擇 ..................................................... 3-59
(2) STEP運(yùn) 轉(zhuǎn) .................................................................................... 3-59
(3) STEP跳 躍 .................................................................................. 3-62
(4) 以其它插槽的STEP前進(jìn) ................................................................. 3-62
(5) 確認(rèn)畫面的結(jié)束 ...................................................................... 3-62
3.12.2 STEP運(yùn)轉(zhuǎn)畫面 .................................................... 3-63
(1) STEP運(yùn)轉(zhuǎn)畫面的選擇.................................................... 3-63
3.13 監(jiān)視畫面的操作 .................................................... 3-64
(1) 輸入信號監(jiān)視 ........................................... 3-64
(2) 輸出信號監(jiān)視 ......................................... 3-66
(3) 輸入Register監(jiān)視 ..................................... 3-68
(4) 輸出Register監(jiān)視 ............................................3-69
(5) 變數(shù)監(jiān)視 ..................................................3-72
(6) 異警 屨 歷 ................................................................3-74
3.14 參數(shù)畫面的操作 .................................................. 3-75
3.15 原點(diǎn)?剎車畫面的操作 ............................................... 3-77
(1) 原點(diǎn) ................................................................................3-77
(2) 剎車 ............................................................................................... 3-77
3.16 設(shè)定 ?初期化畫面的操作 ........................................................ 3-79
(1) 程序的初期化.......................................................................... 3-79
(2) 參數(shù)的初期化 ............................................................................ 3-80
(3) 電池的初期化 ....................................................................... 3-81
(4) 操作 .................................................................................... 3-82
(5) 時間設(shè)定 ................................................................................ 3-83
(6) 版本 ............................................................................ 3-83
3.17 初期設(shè)定畫面的操作 ................................................................ 3-84
(1) 顯示語言的設(shè)定 .................................................................. 3-84
(2) 對比的設(shè)定 ................................................................... 3-86
4 MELFA-BASIC V .................................................................................. 4-88
4.1 MELFA-BASIC V的機(jī)能 ........................................................................ 4-88
4.1.1 機(jī)器人的動作控制 ................................................................. 4-89
(1) 關(guān)節(jié)補(bǔ)間動作 ........................................................... 4-89
(2) 直線補(bǔ)間動作 ...................................................................................... 4-90
(3) 圓弧補(bǔ)間動作 ................................................................................... 4-91
(4) 連續(xù)動作 ............................................................................................................. 4-93
(5) 加減速時間和速度控制 ............................................................. 4-94
(6) 往目的位置的到達(dá)確認(rèn) ........................................................... 4-96
(7) 高軌跡精度控制 ............................................................................ 4-97
(8) HAND ?TOOL控 制 ....................................................................... 4-98
4.1.2 Pallet運(yùn)算 ................................................................................................... 4-99
4.1.3 程序控制 .......................................................................................... 4-104
(1) 無條件分岐?條件分岐?待機(jī) ...................................................... 4-104
(2) 重復(fù) ..................................................................... 4-106
(3) 插入 ....................................................................................... 4-107
(4) 子程序......................................................................... 4-108
(5) 定時器 .......................................................................... 4-109
(6) 停止 ............................................................................... 4-110頁
4.1.4 外部信號的輸出入 ................................................................ 4-111
(1) 信號輸入 ........................................................................ 4-111
(2) 信號輸出 ..................................................................... 4-111
4.1.5 通信 ................................................................................... 4-112
4.1.6 式和運(yùn)算 ................................................................................ 4-113
(1) 運(yùn)算子一覽 ....................................................................................... 4-113
(2) 位置資料的相對運(yùn)算（乘算） ............................. 4-114
(3) 位置資料的相對運(yùn)算（加算） ............................................. 4-114
4.1.7 附屬句 ..................................................................................... 4-115
4.2 MELFA-BASIC V 和MELFA-BASIC IV的不 同 ...................................... 4-116
4.2.1 關(guān)于MELFA-BASIC V....................................................................................................................................................... 4-116
4.2.2 MELFA-BASIC V的特點(diǎn).................................................................................................................................................. 4-116
4.2.3 與MELFA-BASIC IV的比較 ...................................................................................................................................... 4-116
4.3 多任務(wù)的機(jī)能 ........................................................................................................................................................................ 4-117
4.3.1 所謂多任務(wù) ...................................................................................................................................................................... 4-117
4.3.2 多任務(wù)的執(zhí)行方 法 ....................................................................................................................................................... 4-118
4.3.3 各任務(wù)插槽的運(yùn)轉(zhuǎn)狀態(tài) .................................................................................................................................................. 4-118
4.3.4 多任務(wù)程序作程 上 的注意點(diǎn) ................................................................................................................................ 4-120
(1) 任務(wù)本數(shù)和處理時間的關(guān)系 .................................................................................................................................... 4-120
(2) 并列執(zhí)行程序本數(shù)的最大值指定 .......................................................................................................................... 4-120
(3) 以外部數(shù)的程序間的資料的收付 .......................................................................................................................... 4-120
(4) 機(jī)器人(系統(tǒng))狀態(tài)變數(shù)的程序的運(yùn)轉(zhuǎn)狀態(tài)的確認(rèn) ............................................................................................ 4-120
(5) 機(jī)器人程序以基本的任務(wù)插槽1執(zhí)行 ................................................................................................................. 4-120
(6) 常時執(zhí)行程序的初期化處理 .................................................................................................................................. 4-120
4.3.5 多 任 務(wù)程序運(yùn)轉(zhuǎn)上的注意點(diǎn) ................................................................................................................................... 4-121
(1) 多任務(wù)的 開 始 ................................................................................ 4-121
(2) 運(yùn)轉(zhuǎn)狀態(tài)的表示 ....................................................................... 4-121
4.3.6 多任務(wù)插槽的使 用例 ....................................................................... 4-122
(1) 機(jī)器人的作業(yè)內(nèi)容 ........................................................................... 4-122
(2) 多任務(wù)執(zhí) 行為止的 步 驟 ............................................................................................ 4-123
4.3.7 關(guān)于程 式容量 ......................................................... 4-124
(1) 程序儲 存領(lǐng)域 .................................................................... 4-124
(2) 程序編 輯領(lǐng)域 ........................................................................ 4-124
(3) 程序執(zhí) 行領(lǐng)域 ................................................................... 4-124
4.4 MELFA-BASIC V 的詳細(xì)規(guī)格 ..................................................... 4-125
(1) 程序名 .................................................................................. 4-125
(2) 指令文 ......................................................................... 4-125
(3) 變數(shù) ................................................................................. 4-125
4.4.1 文............................................................................... 4-126
4.4.2 付隨文 ............................................................................................. 4-126
4.4.3 行 ............................................................................... 4-126
4.4.4 STEP號 碼 .................................................................. 4-126
4.4.5 Leve l ................................................................................ 4-126
4.4.6 程序里 可使用的文字種類 ........................................................................ 4-127
4.4.7 有特別意義的文字 .................................................. 4-128
(1) 大寫、小寫的區(qū)別 .................................................................. 4-128
(2) 底 線（＿） ......................................................................................... 4-128
(3) 撇 號（’） .................................................................... 4-128
(4) 星 號（＊） .............................................................. 4-128
(5) 小數(shù)點(diǎn)（，） ............................................................................. 4-128
(6) 句號（．） ...................................................................... 4-128
(7) 空 白 ............................................................................... 4-128
4.4.8 資料型 ................................................................................. 4-129
4.4.9 定數(shù) .............................................................................................. 4-129
4.4.10 數(shù)值定數(shù) ..................................................................... 4-129
(1) 10進(jìn)位 .......................................................................... 4-129
(2) 16進(jìn)位 ......................................................................................... 4-129
(3) 2進(jìn)位 ....................................................................................... 4-129頁
(4) 定數(shù)的型 ...................................................................................... 4-129
4.4.11 字符串定數(shù) ............................................................................................ 4-129
4.4.12 位置定數(shù) ....................................................................................... 4-130
(1) 坐標(biāo)?姿勢·附 加軸資 料的形 式和 意義 ................................................ 4-130
(2) 構(gòu)造Flag資料的形式和意義 ...................................................................... 4-130
4.4.13 關(guān)節(jié)定數(shù) ................................................................................... 4-131
(1) 各軸資料的形成和意義 ............................................................... 4-131
4.4.14 角度值 ................................................................................... 4-132
4.4.15 變數(shù) ..................................................................................... 4-132
4.4.16 數(shù)值變數(shù) .......................................................................................... 4-133
4.4.17 字符串變數(shù) ...................................................................................................... 4-133
4.4.18 位置變數(shù) ................................................................................................. 4-133
4.4.19 關(guān)節(jié)變數(shù) ........................................................................................... 4-134
4.4.20 輸出入變數(shù) .................................................................................. 4-134
4.4.21 排列變數(shù) ...................................................................................... 4-134
4.4.22 外部變數(shù) .......................................................................................... 4-135
4.4.23 程序外 部 變 數(shù) ................................................................................... 4-135
4.4.24 使用者定義外部變數(shù) ................................................................................... 4-136
4.4.25 使用者基本程序的作成 ..................................................................... 4-136
4.5 機(jī)器人（系 統(tǒng)）狀態(tài)變數(shù) ....................................................... 4-137
4.5.1 邏輯數(shù) ....................................................................................................... 4-139
4.6 函數(shù) ............................................................................................................. 4-139
(1) 使用者定義函數(shù) ....................................................................... 4-139
(2) 組合函數(shù) ........................................................................................................... 4-139
4.7 指令語的一覽 .......................................................................... 4-141
(1) 動作控制關(guān)連指令 .................................................................... 4-141
(2) 程序控 制關(guān)連的指令 ......................................................... 4-142
(3) 定義指令 ............................................................................................ 4-143
(4) 多任務(wù)關(guān) 連 ....................................................................... 4-143
(5) 其它 ................................................................................................. 4-143
4.8 表達(dá)式 .......................................................................... 4-144
4.9 運(yùn)算的優(yōu)先順位 ............................................................................. 4-145
4.11 予約語 ............................................................................................. 4-145
4.12 指令的詳細(xì)說明 ...................................................................... 4-146
4.12.1 記載項目的看法 ............................................................. 4-146
4.12.2 各指令語的說明 ................................................................................... 4-146
4.13 機(jī)器人 (系統(tǒng))狀態(tài)變數(shù)的詳細(xì)解說 .................................................... 4-251
4.13.1 記載項目的看法 ................................................................................... 4-251
4.13.2 各機(jī)器人狀態(tài)變數(shù)(系統(tǒng)狀態(tài)變數(shù))的說明 ............................ 4-251
4.14 函數(shù)的詳細(xì)說明 ................................................................................ 4-295
4.14.1 記載項目的看法 ........................................................... 4-295
4.14.2 各函數(shù)的說明 ..................................................................... 4-295
5 參數(shù)的設(shè)定機(jī)能 .............................................................................. 5-333
5.1 動作參數(shù) ............................................................................ 5-333
5.2 信號參數(shù) ............................................................................. 5-340
5.3 操作參數(shù) ................................................................................. 5-342
5.4 程序參數(shù) .................................................................... 5-344
5.5 通信參數(shù) ......................................................................... 5-347
5.6 關(guān)于標(biāo)準(zhǔn)TOOL坐標(biāo) ............................................. 5-348
5.7 關(guān)于標(biāo)準(zhǔn)基本坐標(biāo) .......................................5-350
5.8 關(guān)于使用者定義領(lǐng)域 .......................................................................5-351
5.9 自由平面限制 ......................................................................................... 5-352
5.10 中斷時的JOG前進(jìn)后的自動復(fù)歸設(shè)定 ...................................5-353頁
5.11 在電源ON的程序自動執(zhí)行方法..........................................................5-354
5.12 關(guān)于HAND種類 ......................................................5-355
5.13 關(guān)于HAND初期狀態(tài) .............................................................5-356
5.14 關(guān)于輸出信號重置Pattern ........................................................5-357
5.15 關(guān)于通信設(shè)定 ............................................................................................ 5-359
5.16 關(guān)于HAND、工件條件設(shè)定（最佳加減速設(shè)定） ........................ 5-360
5.17 關(guān)于特異點(diǎn)接近警告 .......................................................................................... 5-362
5.18 關(guān)于暖機(jī)運(yùn)轉(zhuǎn)模式 ....................................................................................... 5-363
5.19 關(guān)于特異點(diǎn)通過機(jī)能 .............................................................................. 5-369
5.20 關(guān)于沖突檢知機(jī)能 .................................................................................. 5-374
(1) 機(jī)種的概要 ........................................................................................... 5-374
(2) 對應(yīng)機(jī)種 ..................................................................................... 5-375
(3) 關(guān)連參數(shù) ............................................................................................. 5-375
(4) 使用沖突檢知機(jī)能時 ............................................................. 5-376
6 外部輸出入的機(jī)能 ..................................................................................... 6-381
6.1 種類 ..................................................................................................... 6-381
6.2 PLC連結(jié)輸入機(jī)能 ...................................................................... 6-382
6.2.1 參數(shù)設(shè)定 ............................................................................... 6-382
(1) PLC CPU的參數(shù)設(shè) 定 ............................................................ 6-382
(2) 機(jī)器人CPU的參數(shù)設(shè)定..............................................6-383
6.2.2 CPU共有內(nèi)存和機(jī)器人輸出入信號的對應(yīng) ..................................... 6-385
6.2.3 PLC階 梯 圖 的 范例................................................................................... 6-386
6.2.4 專用輸出入信號的分配（工廠出貨時設(shè)定）......................................................... 6-387
6.2.5 CRnQ700 系列和CRn500系列的輸出入點(diǎn)數(shù)的比較 ........................ 6-390
6.3 專用輸出入 .................................................................... 6-391
6.4 信號的有效無效狀態(tài) ........................................................ 6-399
6.5 外部信號的時序圖............................................................. 6-400
6.5.1 各信號的個別時序圖 ................................................ 6-400
6.5.2 時序圖范例 ........................................................................... 6-408
(1) 外部信號操作時序圖（其1） ............................................ 6-408
(2) 外部信號操作時序圖（其2）...................................... 6-409
(3) 外部信號操作時序圖（其3）................................................ 6-410
(4) 外部信號操作時序圖（其4）..................................... 6-411
6.6 緊急停止輸入 ............................................................................................ 6-412
6.6.1 緊急停止輸入時的機(jī)器人的舉動 ............................................... 6-412
6.7 顯示器 (GOT1000系列)的連接(參考) ..................................... 6-413
(1) 使用例 ............................................................................... 6-413
(2) 規(guī)格 .................................................................................. 6-413
(3) 連接 .................................................................................. 6-414
(4) 設(shè)定 ............................................................................................. 6-415
7 附錄 ............................................................................................. 附錄 -420
7.1 關(guān)于構(gòu)造Flag ................................................................... 附錄 -420
7.2 技術(shù)咨詢 ............................................附錄 -424

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