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TITANITE機器人控制系統操作手冊安裝編程與調試手冊.zip
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下載附件
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目錄
1 安全...............................................................................................................................................1
1.1 關于本章 .......................................................................................................................................1
1.2 安全術語 .......................................................................................................................................2
1.2.1 安全標識................................................................................................................................2
1.2.2 潛在危險................................................................................................................................3
1.2.3 安全特性................................................................................................................................3
1.2.4 什么是緊急停止....................................................................................................................5
1.2.5 使能開關................................................................................................................................6
1.3 工作中的安全事項 .......................................................................................................................8
1.3.1 概述........................................................................................................................................8
1.3.2 關注自身安全........................................................................................................................8
1.3.3 操作示教器............................................................................................................................9
1.3.4 從急停狀態恢復....................................................................................................................9
1.3.5 手動模式的安全事項..........................................................................................................10
1.3.6 自動模式的安全事項..........................................................................................................10
1.3.7 緊急情況的處理..................................................................................................................11
1.4 操作及安全培訓 .........................................................................................................................13
1.4.1 概述......................................................................................................................................13目錄
1.4.2 操作人員要求......................................................................................................................13
1.4.3 維護人員的要求..................................................................................................................13
1.4.4 培訓......................................................................................................................................13
2 歡迎使用 TITANITE.......................................................................................................................14
2.1 關于本章 .....................................................................................................................................14
2.2 控制柜.........................................................................................................................................15
2.2.1 關于控制柜..........................................................................................................................15
2.2.2 控制柜布局..........................................................................................................................16
2.2.3 按鈕與接口..........................................................................................................................16
2.2.4 IO 及網口定義......................................................................................................................18
2.3 示教器.........................................................................................................................................23
2.3.1 關于示教器..........................................................................................................................23
2.3.2 按鈕與接口..........................................................................................................................23
2.3.3 如何握持示教器..................................................................................................................24
2.3.4 不使用示教器......................................................................................................................24
2.4 虛擬 HMI .....................................................................................................................................26
2.5 啟動系統 .....................................................................................................................................27
2.6 維護.............................................................................................................................................31
2.6.1 關于維護時的安全..............................................................................................................31
2.6.2 維修計劃..............................................................................................................................31
2.6.3 檢修間隔..............................................................................................................................31目錄
3 操作界面 .....................................................................................................................................32
3.1 界面布局 .....................................................................................................................................32
3.1.1 狀態欄..................................................................................................................................32
3.1.2 快捷設置..............................................................................................................................33
3.1.3 主要頁面..............................................................................................................................33
3.1.4 界面切換..............................................................................................................................39
3.2 基本設置 .....................................................................................................................................41
3.2.1 用戶登錄..............................................................................................................................41
3.2.2 設置軟限位..........................................................................................................................41
3.2.3 系統升級..............................................................................................................................42
3.2.4 備份恢復..............................................................................................................................43
3.2.5 恢復出廠設置......................................................................................................................45
3.2.6 姿態調整..............................................................................................................................46
4 JOG 操作.......................................................................................................................................48
4.1 什么是 JOG？ ...............................................................................................................................48
4.2 機器人坐標系統 .........................................................................................................................49
4.3 JOG 時的注意事項........................................................................................................................51
4.4 開始 JOG.......................................................................................................................................52
4.4.1 選擇 Jog 參數 ......................................................................................................................52
4.4.2 關節空間 Jog .......................................................................................................................53目錄
4.4.3 笛卡爾空間 Jog ...................................................................................................................54
4.4.4 查看位置與 IO .....................................................................................................................54
5 編程和調試..................................................................................................................................58
5.1 關于本章 .....................................................................................................................................58
5.2 工作模式 .....................................................................................................................................59
5.2.1 手動模式..............................................................................................................................59
5.2.2 自動模式..............................................................................................................................59
5.2.3 模式切換..............................................................................................................................61
5.3 工具.............................................................................................................................................64
5.3.1 什么是工具？ ......................................................................................................................64
5.3.2 什么是工具中心點？ ..........................................................................................................64
5.3.3 定義工具..............................................................................................................................64
5.3.4 標定工具坐標系..................................................................................................................65
5.3.5 定義工具負載......................................................................................................................67
5.3.6 使用工具..............................................................................................................................68
5.3.7 外部工具功能......................................................................................................................69
5.4 工件.............................................................................................................................................71
5.4.1 什么是工件？ ......................................................................................................................71
5.4.2 定義工件..............................................................................................................................71
5.4.3 使用工件..............................................................................................................................72
5.5 基坐標系 .....................................................................................................................................74目錄
5.6 機械零點 .....................................................................................................................................74
5.6.1 關于機械零點......................................................................................................................74
5.6.2 零點標定..............................................................................................................................75
5.7 配置 IO ........................................................................................................................................77
5.8 可編程按鍵 .................................................................................................................................79
5.9 開始編程 .....................................................................................................................................81
5.9.1 管理程序文件......................................................................................................................81
5.9.2 創建一個工程......................................................................................................................82
5.9.3 編寫程序..............................................................................................................................82
5.9.4 視覺......................................................................................................................................85
5.10 程序調試 ...................................................................................................................................92
5.10.1 調試功能菜單....................................................................................................................92
5.10.2 運行指針............................................................................................................................92
5.10.3 前瞻機制............................................................................................................................94
5.10.4 移動程序指針....................................................................................................................94
5.10.5 單步運行............................................................................................................................95
5.10.6 重回路徑............................................................................................................................95
5.10.7 變量管理............................................................................................................................96
5.10.8 機器人的奇異性................................................................................................................97
5.10.9 VREP 仿真 ...........................................................................................................................99
6 工藝包 ....................................................................................................................................... 100目錄
6.1 料盤...........................................................................................................................................100
6.1.1 概述....................................................................................................................................100
6.1.2 料盤管理............................................................................................................................100
7 RL 編程語言................................................................................................................................ 103
7.1 關于 RL 語言 .............................................................................................................................103
7.2 程序結構 ...................................................................................................................................104
7.2.1 概述....................................................................................................................................104
7.2.2 程序模塊............................................................................................................................104
7.2.3 函數....................................................................................................................................105
7.3 變量...........................................................................................................................................107
7.3.1 基本概念............................................................................................................................107
7.3.2 變量聲明............................................................................................................................109
7.3.3 變量類型............................................................................................................................110
7.4 運算符.......................................................................................................................................136
7.4.1 優先級................................................................................................................................138
7.5 指令...........................................................................................................................................139
7.5.1 AccSet ..................................................................................................................................139
7.5.2 ActUnit ................................................................................................................................140
7.5.3 BitAnd..................................................................................................................................140
7.5.4 BitCheck...............................................................................................................................141
7.5.5 BitClear................................................................................................................................141
7.5.6 BitLSh...................................................................................................................................142
7.5.7 BitNeg..................................................................................................................................142
7.5.8 BitOr ....................................................................................................................................143
7.5.9 BitRSh ..................................................................................................................................143目錄
7.5.10 BitSet .................................................................................................................................144
7.5.11 BitXOr ................................................................................................................................145
7.5.12 Break .................................................................................................................................145
7.5.13 ByteToStr ...........................................................................................................................146
7.5.14 CalcJointT ..........................................................................................................................146
7.5.15 CalcRobT............................................................................................................................147
7.5.16 ClkRead..............................................................................................................................148
7.5.17 ClkReset .............................................................................................................................148
7.5.18 ClkStart ..............................................................................................................................149
7.5.19 ClkStop...............................................................................................................................149
7.5.20 CONNECT...........................................................................................................................150
7.5.21 Continue ............................................................................................................................150
7.5.22 CRobT ................................................................................................................................151
7.5.23 DeactUnit ..........................................................................................................................151
7.5.24 DecToHex...........................................................................................................................151
7.5.25 DoubleToByte ....................................................................................................................152
7.5.26 DoubleToStr .......................................................................................................................152
7.5.27 EulerToQuaternion ............................................................................................................152
7.5.28 HexToDec...........................................................................................................................153
7.5.29 DropWobj ..........................................................................................................................153
7.5.30 EXIT....................................................................................................................................153
7.5.31 FCAct .................................................................................................................................154
7.5.32 FCCalib...............................................................................................................................155
7.5.33 FCCondForce......................................................................................................................155
7.5.34 FCCondOrient ....................................................................................................................157
7.5.35 FCCondPosBox ...................................................................................................................158
7.5.36 FCCondPosCylinder ............................................................................................................158
7.5.37 FCCondPosSphere..............................................................................................................159
7.5.38 FCCondReoriSpeed.............................................................................................................160
7.5.39 FCCondTCPSpeed...............................................................................................................161
7.5.40 FCCondTorque....................................................................................................................162
7.5.41 FCCondWaitWhile..............................................................................................................163
7.5.42 FCDeact .............................................................................................................................164
7.5.43 FCLoadID ...........................................................................................................................164
7.5.44 FCRefCircle.........................................................................................................................165
7.5.45 FCRefForce.........................................................................................................................166
7.5.46 FCRefLine ...........................................................................................................................166
7.5.47 FCRefRot ............................................................................................................................167
7.5.48 FCRefSpiral ........................................................................................................................168
7.5.49 FCRefStart..........................................................................................................................168
7.5.50 FCRefStop ..........................................................................................................................169
7.5.51 FCRefTorque.......................................................................................................................169目錄
7.5.52 FCSetSDPara ......................................................................................................................170
7.5.53 FCSupvForce ......................................................................................................................171
7.5.54 FCSupvOrient .....................................................................................................................172
7.5.55 FCSupvPosBox....................................................................................................................173
7.5.56 FCSupvPosCylinder ............................................................................................................174
7.5.57 FCSupvPosSphere ..............................................................................................................174
7.5.58 FCSupvReoriSpeed .............................................................................................................175
7.5.59 FCSupvTCPSpeed ...............................................................................................................176
7.5.60 FCSupvTorque ....................................................................................................................177
7.5.61 IDisable..............................................................................................................................178
7.5.62 IEnable...............................................................................................................................178
7.5.63 IF…ELSE…...........................................................................................................................178
7.5.64 IntToByte ...........................................................................................................................179
7.5.65 IntToStr ..............................................................................................................................180
7.5.66 ISignalDI ............................................................................................................................180
7.5.67 MemIn ...............................................................................................................................181
7.5.68 MemSw..............................................................................................................................181
7.5.69 MemOff .............................................................................................................................182
7.5.70 MemOn .............................................................................................................................182
7.5.71 MemOut ............................................................................................................................182
7.5.72 MotionSup.........................................................................................................................183
7.5.73 MoveAbsJ ..........................................................................................................................184
7.5.74 MoveJ ................................................................................................................................185
7.5.75 MoveL................................................................................................................................186
7.5.76 MoveC ...............................................................................................................................188
7.5.77 MoveT................................................................................................................................189
7.5.78 Offs ....................................................................................................................................191
7.5.79 Pause .................................................................................................................................191
7.5.80 Print...................................................................................................................................192
7.5.81 PulseDO .............................................................................................................................192
7.5.82 QuaternionToEuler ............................................................................................................193
7.5.83 RelTool ...............................................................................................................................193
7.5.84 RestoPath ..........................................................................................................................194
7.5.85 RETURN .............................................................................................................................195
7.5.86 SetDO ................................................................................................................................195
7.5.87 SetGO ................................................................................................................................195
7.5.88 SocketCreate......................................................................................................................196
7.5.89 SocketClose........................................................................................................................196
7.5.90 SocketSendByte .................................................................................................................197
7.5.91 SocketSendString ...............................................................................................................197
7.5.92 SocketReadBit....................................................................................................................198
7.5.93 SocketReadDouble.............................................................................................................199目錄
7.5.94 SocketReadInt....................................................................................................................199
7.5.95 SocketReadString...............................................................................................................200
7.5.96 StartMove..........................................................................................................................200
7.5.97 StopMove ..........................................................................................................................201
7.5.98 StorePath...........................................................................................................................201
7.5.99 StrFind ...............................................................................................................................202
7.5.100 StrLen ..............................................................................................................................202
7.5.101 StrMap.............................................................................................................................203
7.5.102 StrMatch..........................................................................................................................203
7.5.103 StrMemb..........................................................................................................................204
7.5.104 StrOrder...........................................................................................................................205
7.5.105 StrPart .............................................................................................................................205
7.5.106 StrToByte .........................................................................................................................206
7.5.107 TestAndSet.......................................................................................................................207
7.5.108 TriggC ..............................................................................................................................207
7.5.109 TriggIO.............................................................................................................................209
7.5.110 TriggJ ...............................................................................................................................211
7.5.111 TriggL...............................................................................................................................212
7.5.112 WHILE ..............................................................................................................................213
7.5.113 Wait.................................................................................................................................214
7.5.114 WaitSyncTask...................................................................................................................214
7.5.115 WaitUntil .........................................................................................................................215
7.5.116 WaitWobj ........................................................................................................................216
7.5.117 數學指令........................................................................................................................216
7.6 中斷...........................................................................................................................................219
7.6.1 概述....................................................................................................................................219
7.6.2 中斷的識別和響應............................................................................................................219
7.6.3 安全中斷............................................................................................................................219
7.6.4 使用中斷............................................................................................................................219
7.6.5 TRAP 作用域 .......................................................................................................................220
7.6.6 INTNO..................................................................................................................................220
7.6.7 TRAP 中有運動指令 ...........................................................................................................220
8 可選功能 ................................................................................................................................... 222目錄
8.1 功能授權 ...................................................................................................................................222
8.2 外部導軌 ...................................................................................................................................223
8.2.1 概述....................................................................................................................................223
8.2.2 Jog 導軌 ..............................................................................................................................223
8.2.3 導軌編程............................................................................................................................224
8.2.4 使用限制............................................................................................................................224
8.3 碰撞檢測 ...................................................................................................................................225
8.3.1 概述....................................................................................................................................225
8.3.2 注意事項............................................................................................................................225
8.3.3 參數配置............................................................................................................................226
8.3.4 系統輸出............................................................................................................................228
8.3.5 避免誤報............................................................................................................................228
8.4 協作模式 ...................................................................................................................................229
8.4.1 概述....................................................................................................................................229
8.4.2 參數配置............................................................................................................................229
8.4.3 注意事項............................................................................................................................230
8.5 拖動回放 ...................................................................................................................................232
8.5.1 概述....................................................................................................................................232
8.5.2 模式切換............................................................................................................................232
8.5.3 參數配置............................................................................................................................232
8.5.4 基于路徑的拖動回放........................................................................................................233目錄
8.5.5 基于時間的拖動回放........................................................................................................234
8.5.6 注意事項............................................................................................................................237
8.6 PROFINET....................................................................................................................................238
8.7 ETHERNET/IP.................................................................................................................................239
8.8 外部通信 ...................................................................................................................................240
8.9 多任務.......................................................................................................................................242
8.9.1 概述....................................................................................................................................242
8.9.2 新建任務............................................................................................................................242
8.9.3 任務看板............................................................................................................................243
8.9.4 啟動和運行任務................................................................................................................244
8.9.5 任務間通信........................................................................................................................245
9 故障排查 ................................................................................................................................... 246
9.1 按故障現象 ...............................................................................................................................247
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