User manual | ABB IRB 1400, 2400, 4400, 6600, 7600 Robot Basic Operation and Programming Training

基本操作及编程培训

IRC5 机器人系统

IRC5 Basic Operation and Programming Training

上海ABB工程有限公司 ABB Engineering (Shanghai) Ltd.

教材编号：S5-100

2006年03月

IRC5 Basic Operation And Programming Training 基本操作及编程培训

Content 目录

1 Overview 介绍 ....................................................................................................................................4

2 Safety and environment protection 系统安全及环境保护 ................................................................5

3 General 系统概述 ...............................................................................................................................6

3.1

IRC5 System IRC5系统 ........................................................................................................................... 6

3.2

Consist of the system 系统组成 ............................................................................................................... 7

4 Start the controller 启动......................................................................................................................9

4.1

Buttons on the Control module 控制单元柜按键 ................................................................................ 9

4.2

Buttons on the Drive module 驱动单元柜按钮 ................................................................................... 11

4.3

Start the controller 启动 ........................................................................................................................ 12

5 Shut down the controller 关机 ..........................................................................................................13

6 FlexPendant 示教器..........................................................................................................................14

6.1

Buttons on the FlexPendant 示教器按键.............................................................................................. 15

6.2

The ABB Menu ABB菜单.................................................................................................................... 17

6.3

Close Button 关闭键............................................................................................................................. 18

6.4

Task Bar 任务栏................................................................................................................................... 18

6.5

Status Bar 状态栏................................................................................................................................... 19

6.6

The Quickset menu 快捷菜单 ............................................................................................................... 19

6.7

Soft keyboard 软键盘............................................................................................................................ 21

6.8

Scrolling and Zooming 滚动与缩放.................................................................................................... 21

7 Jogging the robot using the Joystick 使用操纵摇杆移动机器人 ....................................................23

8 Precise positioning 精确定点 ...........................................................................................................29

8.1

Incremental movement 步进运动 ......................................................................................................... 29

9 Load a program 加载程序 ...............................................................................................................31

9.1

Load an existing program 加载一个已存在的程序............................................................................. 31

9.2

Start and test a program in Manual mode手动测试程序 ................................................................... 33

10 Stopping the program 停止程序 .......................................................................................................38

11 Running a program in Automatic mode自动运行程序 ....................................................................39

12 40

13 Rapid Programming Rapid编程........................................................................................................41

13.1

Consist of the program 程序的组成 ..................................................................................................... 41

13.2

Basic Movement Instructions 基本运动指令 ....................................................................................... 42

13.3 ...................................................................................................................................................................... 45

13.4

Input/Output Instructions 输入/输出指令 ........................................................................................... 45

13.5

Communication Instructions 通讯指令................................................................................................ 46

13.6

Program Fflow Control Instructions 程序流程指令 ........................................................................... 46

13.7 ...................................................................................................................................................................... 47

13.8

Other Common Instructions 其他常用指令 ........................................................................................ 47

14 Editing a program 编辑程序.............................................................................................................48

14.1

Modify positions (tune with motions) 修改位置点 .............................................................................. 48

2


14.2

Editing instruction arguments 编辑指令变量 ..................................................................................... 49

14.3

Adding instructions 增加指令 ............................................................................................................... 53

14.4

Programming a delay 编辑延迟............................................................................................................ 55

15 I/O Signals 输入/输出信号...............................................................................................................58

15.1

Programming an I/O instruction 编辑一条输入/输出指令 ................................................................ 58

16 Event log 事件纪录 ..........................................................................................................................61

16.1

What is a log? 什么是纪录？ ................................................................................................................ 61

16.2

What is an event? 什么是事件？ .......................................................................................................... 61

16.3

What is an event message? 什么是事件信息？ ................................................................................... 61

16.4

What is an information message? 什么是通知信息？ ........................................................................ 62

16.5

What is a warning? 什么是警告？ ....................................................................................................... 62

16.6

What is an error? 什么是错误？ .......................................................................................................... 62

16.7

What is "acknowledge"? 什么是确认？ ............................................................................................. 62

16.8

Open and close the event log 打开关闭事件纪录 ................................................................................ 62

16.9

View a message 查看信息 ...................................................................................................................... 64

17 Emergency stop 紧急停止................................................................................................................66

18 Operational modes 运行模式 ...........................................................................................................67

18.1

What is the manual mode? 什么是手动模式？ ................................................................................... 67

18.2

Manual mode 100% (Option, testing mode)手动全速（选项，测试模式） .................................... 67

18.3

Automatic mode (production mode) 自动模式（生产模式） ............................................................ 68

19

创建工具...........................................................................................................................................71

Maintenance 机器人保养检查表 ............................................................................................................78

19.1

Manipulator 机器人本体 ....................................................................................................................... 78

19.2

Controller 机器人控制柜....................................................................................................................... 78

19.3

Other 其它 .............................................................................................................................................. 78

在没有声明的情况下，文件中的信息会发生变化。上海ABB工程有限公司不对此承担责任。

对文件中可能出现的错误，上海ABB工程有限公司不对此承担责任。

对于使用此文件或者此文件提及的软硬件所导致的部分或者严重性错误, 上海ABB工程有限公司不对此承

担责任。

没有上海ABB工程有限公司书面允许，此文件的任何部分不得拷印或复制，并且其中内容也不能转于第

三方和用作非法目的。

此文件中如有不详尽处，请参阅<<User Guide>>、<<Product Manual >>、<< RAPID Reference Manual

>>等。

3


1 Overview 介绍

本手册解释ABB IRC5 工业机器人的基本操作、运行。

手册被分为章，各章分别描述一个特别的工作任务和实现的方法。

各章互相间有一定联系，因此应该按他们在书中的顺序阅读。

借助此手册学习如何操作机器人是我们的目的，但是仅仅阅读此手册也应该能帮助你理解机器人的基本

的操作。

此手册依照标准的安装而写，具体根据系统的配置会有差异。

请注意这手册仅仅描述实现通常的工作作业的某一种方法，如果你是经验丰富的用户，可以有其他的方

法。

其他的方法和更详细的信息看下列手册：

《使用指南》提供全部自动操纵功能的描述并描述程序设计语言。此手册是操作员和程序编制员的参考

手册。

《产品手册》提供机器人安装、机器人维护/维修等方面的信息。

《编程手册》详细描述程序设计语言。

4


2 Safety and environment protection 系统安全及环境

保护

机器人系统复杂而且危险性大，在训练期间里，或者任何别的操作过程都必须注意安全。无论任何时间

进入机器人周围的保护的空间都可能导致严重的伤害。只有经过培训认证的人员才可以进入该区域，请

严格注意。

以下的安全守则必须遵守：

万一发生火灾，请使用二氧化炭灭火器。

急停开关（E-Stop）不允许被短接。

机器人处于自动模式时，不允许进入其运动所及的区域。

意外或不正常情况下，均可使用E-Stop键，停止运行。

在编程，测试及维修时必须注意既使在低速时，机器人仍然是非常有力的，其动量很大,必须将机器人置

于手动模式。

气路系统中的压力可达0.7MP，任何相关检修都要切断气源。

在不用移动机器人及运行程序时，须及时释放使能器(Enable Device)。

调试人员进入机器人工作区时，须随身携带示教器，以防他人无意误操作。

在得到停电通知时，要预先关断机器人的主电源及气源。

突然停电后，要赶在来电之前预先关闭机器人的主电源开关。

维修人员必须保管好机器人钥匙，严禁非授权人员在手动模式下进入机器人软件系统，随意翻阅或修改

程序及参数。

安全事项在《用户指南》安全一章中有详细说明。

如何处理现场作业产生的废弃物

现场服务产生的危险固体废弃物有：废工业电池、废电路板、废润滑油和废油脂、粘油回丝或抹布、废

油桶。

普通固体废弃物有：损坏零件和包装材料。

现场服务产生的损坏零件由我公司现场服务人员或客户修复后再使用；废包装材料，我方现场服务人员

建议客户交回收公司回收再利用。

现场服务产生的废工业电池和废电路板，由我公司现场服务人员带回后交还供应商；或由客户保管，在

购买新电池时作为交换物。废润滑油及废油脂、废油桶、粘油废棉丝和抹布，由我方现场服务人员建议

客户分类收集后交给专业公司处理。

5


3 General 系统概述

3.1 IRC5 System IRC5

系统

IRB 指 ABB 机器人，

第一位数(1,2,4,6,7)指机器人大小

第二位数( 4 )指机器人研发顺序号。

无论何型号，机器人控制部分基本相同。

IRB 4400：承载较大，最大承载为60kg, 常用于搬运或大范围焊接。

IRB 7600：承载较大，最大承载为500kg，常用于搬运。

6


3.2 Consist of the system

系统组成

Part

A

B1

B2

C

D

E

7

Description

Manipulator (a generic model shown) 机器人本体

Control Module, IRC5, containing the control electronics of the robot system.

IRC5控制模块，包含机器人系统的控制元器件

Drive Module, IRC5, containing the power electronics of the robot system.

IRC5驱动模块，包含机器人系统的功率元器件

RobotWare CD containing all robot software

RobotWare光盘，包含所有的机器人系统软件

Documentation CD （option）手册光盘（选项）

Robot system software being run by the robot controller. The system has been loaded into the controller from the server on the local area network.


F

G

H

J

PC K

M

N

PC x

内置的机器人系统软件，系统由局域网服务器引导到机器人控制器中

RobotStudioOnline PC software installed on PC x. RobotStudioOnline is used for loading the RobotWare software to the server as well as configuring the robot system and then loading the complete robot system into the robot controller.

RobotStudioOnline电脑软件，安装于电脑x中。RobotStudioOnline电脑软件用于

安装RobotWare软件，也可配置机器人系统，然后引导整个系统到机器人控制器

中

Calibration data diskette for systems running the Absolute Accuracy option only.

Calibration data for systems without this option is normally delivered on the Serial

Measurement Board (SMB).

标定数据软盘，仅用于配置绝对精度选项的机器人系统。对于无绝对精度选项的

机器人系统，标定数据通常被保存在串行测量板（SMB）中

FlexPendant, which is connected to the controller

示教器，与控制器连接

Server on network (not included in the delivery). This may be used for manually

storing: 网络服务器（非供货范围），可用作手工存储器

• RobotWare 机器人软件

• complete robot systems 整个机器人系统

• documentation files 文件

In this context, the server may be considered as a storage unit used by the PC x, and may even be the same unit! The server may be disconnected when not transferring data between the server and controller!

此服务器也可被看作电脑PCx的一个存储器，当不需要在服务器及机器人控制柜

间传输数据时，此服务器可断开连接。

RobotWare license key. The original key strings are printed on a papers (one for the Control Module and one for the Drive Module) delivered inside the drive module. If ordered, the RobotWare license key is installed on delivery, so no further actions are required to get the system running.

机器人软件密匙，最初的密码字符串（共两个，分别用于控制模块及驱动模

块），被打印在纸上，位于驱动柜内。软件密匙将随机安装。

Serial Measurement board (SMB) handling resolver data and storing calibration data. For systems not running the Absolute Accuracy option, the calibration data is stored on the SMB on delivery.

串行测量板（SMB）处理编码器数据及保存标定数据。对于无绝对精度选项的机

器人系统，标定数据被保存在串行测量板

PC (not included in the delivery), may even be the same unit as the server J, shown above! The PC may be disconnected when not transferring data between the server and controller!

电脑（非供货范围），功能与服务器J相同，当不需要在电脑及机器人控制柜间

传输数据时，此电脑可断开连接。

8


4 Start the controller 启动

4.1 Buttons on the Control module

控制单元柜按键

A

B

Main power ON/OFF 主电源开/关

Emergency stop 紧急停止按钮

C

Motor Enable/Disable 马达上电/失电按钮

D

Mode switch 模式选择旋钮

Emergency stop: 紧急停止

The robot stops – regardless of which state or mode the system is in – immediately when the emergency stop button is pressed. The button remains pressed in and, to turn to MOTORS ON again, must be returned to its original position

机器人停止-不管在任何模式下，当急停按键被按下，机器人立即停止。按键必须恢复至原来位置，并且

马达需重新上电。

Motor Enable/Disable: 马达上电/失电

In the MOTORS ON state, the motors of the robot are activated and the Motors On button is continuously lit.

在马达上电状态，机器人的马达被激活，按键灯常亮。

Continuous light常亮 Ready for program execution 准备好执行程序。

Fast flashing light快闪 The robot is not calibrated or the revolution counters are not updated. The motors

have been switched on

机器人未同步（未标定或计数器未更新），但马达已激活。

Slow flashing light慢闪 One of the safeguarded space stops is active. The motors have been switched off.

至少一种安全停止有效，马达未激活。

9


Mode switch: 模式选择旋钮

C D C D E

100%

A

B

C

D

Manual reduced speed mode 手动减速模式

E

A

Function 功能

B

Two position mode switch 两位选择开关

Three position mode switch 三位选择开关

Automatic mode 自动模式

Manual mode 100% 手动全速模式

Info/Illustration 信息/图例

Used when running ready-made programs in production. It is not possible to move the robot with the joystick in this mode.

生产运行时使用，在此状态下，操纵摇杆不

能使用。

In manual mode the robot can only move in a reduced and safe speed, and only under manual control.

You need to press the enabling switch to activate the robot’s motors. The manual mode is most often used when creating programs and when commissioning a robot system.

手动状态下，机器人只能以低速，手动控制

运行。

必须按住使能器以激活电机。此模式常用于

创建或调试程序。

Use full speed manual mode when the program is to be tested in more natural conditions than the reduced speed that the manual mode offers, for instance to test synchronization between the robot and a conveyor or other external equipment.

The full speed manual mode allows you to run the program in full speed while still having access to all the available debugging functions of the program editor.

手动减速模式只提供低速，当在需要与实际

情况相接近的情况下调试程序时，就需要使

用手动全速模式。例如测试机器人与传送带

或其他外部设备同步运行时。

手动全速状态允许你在使用全速时，仍可以

有办法测试和编辑程序。

10


4.2 Buttons on the Drive module

驱动单元柜按钮

A Switch ON/OFF 电源开/关

11

12


4.3 Start the controller

启动

Start the system in manual mode when there is no process or program to be resumed or started or when you need to perform operations not possible in automatic mode such as program editing and jogging

当程序不需要继续执行，或需要修改程序，或手动操作机器人时，要在手动状态下启动系统。

Illustration 图例

Step 编

号

Action 步骤

1.

Set the mode switch in the manual mode reduced speed

position. 将工作模式选择开关置为手动减速状态

2.

Turn on the mains power by setting the switch in the on

position. 打开主电源（若驱动单元柜电源开关未打开，那

末首先打开）

3. After being started, the system will be in a safe standby state awaiting further actions. 启动后，系统将处于安全待机状态


5 Shut down the controller 关机

Step Action

1.

2

If the program is running, stop it by pressing the Stop button on the FlexPendant.

如果程序正在运行，按在示教器上的STOP停止键，停止

程序运行。

Set the mode switch in the manual mode reduced speed

position.

将工作模式选择开关置于手动减速模式

Illustration

3 Turn off the mains power by setting the switch in the off position.

关闭控制单元柜主电源及驱动单元柜主电源。

13

A

B

E

F

C

D


6 FlexPendant 示教器

The FlexPendant (occasionally called TPU, or teach pendant unit) is a device for handling many of the functions involved with operating the robot system; running programs, jogging the manipulator, producing and editing application programs, etc. It is connected to the controller module through an integrated cable and connector.

示教器包含了很多功能，如操作机器人系统，运行程序，手动移动机器人，编辑程序等。它与控制单元

柜以一根电缆单独连接。

The illustration below shows the main parts of the FlexPendant.

图示为示教器的主要部件

A

B

C

D

E

F D

Connector 插头

Touch screen 触摸屏

Emergency stop button 急停按键

Enabling device 使能器

Joystick 操纵摇杆

Hold-to-run buttons 程序全速运行保持键

C

14


6.1 Buttons on the FlexPendant

示教器按键

Hold-to-run buttons: 程序全速运行保持键

The two hold-to-run buttons on the rear of the FlexPendant are used differently depending on which operational mode the system is in and what function is desired

在示教器背面的两个程序运行保持键在不同模式下使用情况

Operational mode 操作模式

Manual Mode 手动减速模式

Manual Mode Full Speed 手动全速模

式

Automatic Mode 自动模式

Function 功能

Normally, the hold-to-run buttons have no effect while in the

Manual Mode.一般，程序运行保持键在手动状态无效。

However, it is possible to activate the function during Manual

Mode operation by setting a parameter

然而，在手动模式下，设定参数时可能会用到。

Pressing one of the hold-to-run buttons AND pressing the enabling switch enables running the manipulator. It may be run manually (by jogging) or automatically (execution of a program).

手动操作机器人或运行程序时，按住一个程序运行保持键和使

能键。

Releasing the hold-to-run button in this mode immediately stops manipulator movement as well as program execution. When pressing it again, execution is resumed from that position.

放松程序运行保持键，机器人运动和程序运行将停止，再次按

下，程序会继续执行。

The hold-to-run buttons have no effect while in the Automatic

Mode.

程序运行保持键在自动状态下无效。

15


Hardware buttons: 其他按键

There are a number of dedicated hardware buttons on the FlexPendant. 在示教器上还有一些按键：

Programmable button 1. 自定义功能键1




RUN button. 开始键，连续运行程序

STEP BACKWARDS button. 单步向后运行程序

STEP FORWARDS button. 单步向前运行程序

STOP button. 停止键

Enable device: 使能按键：

自动模式下无效。

手动模式下，使动装置有三个位置。

起始为“0”，机器人马达不上电。

中间为“1”，机器人马达上电。

最终为“0”，机器人马达失电，机器人停止

16


6.2 The ABB Menu ABB

菜单

Custom process applications may be started from the ABB menu. Each application will be listed as a menu item

客户应用进程将从ABB主菜单开始，每项应用将在菜单中选择。

Tap the ABB button to display the ABB menu. 按ABB菜单键可以显示ABB主菜单。

Each started application has a button in the taskbar. The buttons act as channel buttons on a radio, you tap the button to switch between the started applications.

每项功能选择后，都会在任务栏中显示一个按钮。你可以按此按钮进行切换当前使用的画面（窗口）

1 2 3 4

The process applications running in this case is: 进程中运行的窗口是：

Jogging 操纵窗口

Program Data. 程序数据窗口

I/O 输入/输出窗口

MAIN/Main module. 编程窗口(主模块)

17


6.3 Close Button

关闭键

A

Close Button 关闭键

The Close Button close the current used window 按关闭键关闭当前窗口

6.4 Task Bar

任务栏

A

A

A Task Bar

The Task Bar displays quick-buttons to all opened views in the FlexPendant.

任务栏显示全部示教器打开的快捷键

18


6.5 Status Bar

状态栏

A

A

Status Bar 状态栏

6.6 The Quickset menu

快捷菜单

The QuickSet menu provides a quicker way to change jog properties rather than using the Jogging window.

快捷菜单提供较操作窗口更快捷的操作按键。

Each item of the menu uses a symbol to display the currently selected jogging property value or setting.

每项菜单使用一个图标显示当前的运行模式或设定。

Step

1

Action 步骤

Tap the Quickset button to access all functionality on the

Quickset menu. 打开快捷菜单显示所有功能

The Quickset menu is displayed.快捷菜单显示

B

C

Info/Illustration 信息/图例

These menus are available:

A: Quickset button 快捷键

B: Mechanical unit 机械单元

C: Increment 步长

D: Run Mode 连续运行

E: Step Mode 步进运行

F: Speed Mode 速度模式

D

E

F

2

A

After selecting the appropriate function, changes may be introduced directly from the Quickset menu or through the

Jogging button on the ABB menu.在选择相应功能后，快

19


捷菜单将做相应切换。

20


6.7 Soft keyboard

软键盘

The soft keyboard is used frequently when operating the system. The soft keyboard works as an ordinary keyboard with which you can place the insertion point, type and correct typing errors.

软键盘在系统操作时会经常用到。当你插入点，打入或修改错误时，它的功能和一般键盘是一样的。

6.8 Scrolling and Zooming

滚动与缩放

The entire content of a screen may not be visible at the same time. To see the entire contents, you may:

有时候整行语句不能看全，这时我们可以：

• Scroll up/down (and sometimes left/right) 向上/向下滚动光标（有时左/右滚动）

• Zoom in or out 放大或缩小

21


A

B

C

D

E

F

G

H

Zoom in (larger text) 放大

Scroll up (the height of one screen) 向上一屏

Scroll up (the height of one line) 向上一行

Scroll left 向左

Scroll right 向右

Zoom out (smaller text) 缩小

Scroll down (the height of one screen) 向下一屏

Scroll down (the height of one line) 向下一行

22


7 Jogging the robot using the Joystick 使用操纵摇

杆移动机器人

To jog is the procedure to manually position or move robots or external axes by means of the FlexPendant joystick.

You jog in manual mode. Jogging is possible regardless of what window is displayed on the FlexPendant, however you cannot jog during program execution.

In most cases you select to have the robot move along straight lines in space, in a “move from point A to point B” fashion. This is called linear motion.

Linear motion is relative to the selected coordinate system. Which coordinate system to select depends on what you want to do.

You can also select to orient a tool for best operation performance or to move the robot axis by axis. Axisby-axis motion is not relative to any coordinate system. You will also loose the tool orientation, which might affect any operations you would like to perform afterwards.

The path you jog may not be the same path used by the robot program to move between target positions.

The program will use the shortest and fastest straight or curved path possible between the two positions.

If a straight or curved path will be used depends on how the operation is programmed.

手动移动机器人是通过手动操作示教器上的摇杆将机器人移动到一定位置的一种方法。

不管示教器显示什么窗口，都可以手动操作机器人。但在程序执行时，不能手动操作机器人。

在大多数情况下，你选择从A点移动到B点时，机器人在空间走直线轨迹。这叫做直线运动。

直线运动与所选择的坐标系有关，根据你的需要，选择合适的坐标系。

为了更好的操作机器人，你也可以选择合适的工具坐标，或者选择单轴运动。单轴运动与坐标系没有关

系。如果需要的话，你也可以选择机器人沿工具中心旋转。

手动示教的路径，与程序执行时，机器人到达的点位是不尽相同的。程序中，机器人将采用两点间最

短，最快的直线或曲线运动。机器人是直线运动还是曲线运动取决于程序的编写。

The selected motion mode and/or coordinate system determines the way the robot moves.

选择的运动方式和坐标系决定了机器人的运动

In linear motion mode the tool center point moves along straight lines in space, in a “move from point A to point B” fashion. The tool center point moves in the direction of the selected coordinate system’s axes.

直线运动时，从A点移动到B点，工具中心点在空间沿所选坐标系的轴直线运动。

7.1 Make sure that the operating mode selector is in the manual mode position.

确认选择的模式为手动状态。

Step

1

Action

Set the mode switch in the manual position.

将模式开关置为手动状态

Info/Illustration

23


7.2 Select mechanical unit. 选择机械单元

Your robot system may not only consist of a single robot. There can also be other mechanical units such as work piece handlers or external axes mounted on the robot that you also want to jog.

You don't need to select what to jog if you only have a single robot.

Each mechanical unit that can be jogged is represented by a symbol and a name. The symbol and name is decided when the robot system is configured.

Please consult your plant or cell documentation to see which mechanical units are available in your robot system.

机器人系统可能不仅是由机器人本体单独构成的，它可能还有其他的机械单元，如安装在机器人系统中

的外轴。它们也需要操作。

如果只有一个机器人构成系统，我们就不需要选择机械单元。

每个机械单元都有一个标志或名字，这个名字在系统设定时进行定义。

机器人系统中的可用机械单元，可以查阅随机资料。

Step

1

Action 步骤

On the ABB menu, tap Jogging to display the jogging properties

在 ABB 菜单下，按. Jogging，显示操作属性

Info 信息

2

Tap Mechanical Unit: 按机械单元

A list of available mechanical units is displayed.

出现可用的机械单元列表

3 Tap the mechanical unit to be jogged, followed by OK.

选择需要操纵的单元，再按 OK

The selected mechanical unit is used until you choose another even if you close the Jogging window.

除非选择另一个机械单元，当

前的单元将一直被激活，包括

关闭手动操作窗口。

24


1

2

7.1.1.1.1 TIP! 提示！

Use the QuickSet menu to switch between mechanical units faster.使用快捷菜单按键，快速切换机械单元

Step

Action 步骤

Info/Illustration

Tap the Quickset Menu button. 按快捷菜单键

Tap the Mechanical unit button.按机械单元键

3

A

B

C

D

E

F

After tapping Mechanical unit, the following buttons are displayed:在

选择 Mechanical unit 后，以下的键会显示：

A: Mechanical unit menu button 机械单元按键

B: Selected mechanical unit 选择机械单元

C: Motion Mode Settings 运动模式设定

D: Tool Settings 工具设定

E: Work Object Settings 工件设定

F: Coordinate System Settings 坐标系设定

4

Select mechanical unit. 选择机械单元

5 Tap the Quickset Menu button to close the window.

再次按快捷菜单按钮关闭窗口

7.3 Select motion mode 选择运动模式

The Joystick Directions area shows how joystick axes correspond to the selected coordinate system’s axes.

The significance of the joystick directions depends on what motion mode has been selected. The following are available:

操纵杆方向窗口显示对应于所选择的坐标系的操作轴。操作的方向由选择的运动方式决定

• Linear 直线

• Axis 1-3 1-3轴

• Axis 4-6 4-6轴

• Reorient 旋转

The significance of the joystick directions are shown in Joystick direction after making the selection

25

26


7.1.1.1.2 CAUTION! 小心

The Directions properties are not intended to show the direction in which the mechanical unit will move.

Always try out jogging with small joystick movements so that you learn the true directions of the mechanical unit.

方向属性并不显示操作单元实际运动的方向，所以可以以轻微的摇动来辨别实际操作单元的运动方向。

操纵杆倾斜或/和旋转的角度与机器人的运动速度成正比

Step Action

1

Tap ABB, then Jogging to display the jogging properties. 按 ABB，再按 Jogging，显示操

作属性

2 Tap Motion Mode, and then tap Linear followed by OK.

选运行模式，再选直线运动，按 OK

7.4 坐标系，工具，速度设定

机器人可以建立的座标系有“World座标系”,“Base座标系”,“Tool座标系”，“Wobj工件坐标系”，

“Wrist腕坐标系”等。

其相互关系如下：


Coord：摇杆操作坐标系。

World大地坐标系。

Base基坐标系。

Tool工具坐标系。

Wobj工件坐标系。

Tool：工具选择。(tool0，即为腕坐标系)

Wobj：工件坐标系选择。

Incremental：点动速度选择。

No(Nomal正常)

Small(慢)

Medium(中等)

Large(快)

Jog coordinates

The point that will move linearly, along the axes of the coordinate system above, is called tool0. It is located at the front of the upper arm, in the centre of the robot’s faceplate.

那个沿着坐标系轴直线运动的点，叫做tool0，它位于上臂前面，机器人六轴面板的中心。

7.5 Jog the robot 移动机器人

27

Tool Centre Point 0


Step

1

2

Action

Press and hold the enabling button halfway in.

按住使能键，使其在中位

Move the joystick to make the mechanical unit to move.

摇动操作杆，使机械单元运动

Info/Illustration

If the enabling button is not pressed the unit’s motors will not be activated.

如果不按使能键，马达将不

被激活

The greater the deflection of the joystick, the faster the unit moves.摇杆偏转或偏斜越

多，机器人运动越快。

If you want to … 假如你想…

Move the robot along the X axis 沿 X 轴运动

… then … …那末…

Move the joystick towards or from you

操作方向为操作者前后方向

Move the robot along the Y axis 沿 Y 轴运动

Move the joystick to the left or right

操作方向为操作者的左右方向

Move the robot along the Z axis 沿 Z 轴运动

Twist the joystick to the left or right

操作方向为操纵杆正反旋转方向

As a safety precaution the mechanical unit can’t go faster than 250 mm/s.

为了安全起见，在手动状态下, 机械单元的移动速度将低于250 mm/s。

28


8 Precise positioning 精确定点

8.1 Incremental movement

步进运动

Incremental movement may be used to adjust the position of the robot. This means that each time the joystick is deflected; the robot moves one step (increment). If the joystick is deflected for one or more seconds, a sequence of steps, (at a rate of 10 steps per second), will be generated as long as the joystick is deflected.

调整机器人的点位时，可能会用到步进运动。这意味着每次操纵摇杆偏移或偏转，机器人运动一步。如

果操纵杆偏移一秒以上，机器人会持续的步进运动（一秒十步）.在操作杆偏移时，机器人始终移动。

Procedure: 操作步骤：

Step

Action 步骤

1 On the ABB menu, tap Jogging to display the jogging properties.按 ABB 菜单，显示

操纵属性、

2 Tap Increment:

按增量


The function keys are displayed.

3

4

Select the desired function key, and tap OK

选择希望的功能键，按 OK.

Try operating the robot using the joystick and note how the robot moves

试着摇动机器人，并注意它的运动方向.

5 Switch to continuous movement.

切换至连续运动

Choose between small, medium and large increments or define your own custom size

Increment 增量 Distance 距离 Angular 角度

Small 小

0,05 mm 0,005°

Medium 中

1 mm

5 mm

0,02°

0,2°

Large 大

*User defined 用户自定义

0,50 – 10,0 mm Axes轴: 0.01°-0.20°

29

4

5


Reorientation 旋转: 0.03°-0.50°

8.1.1.1.1 TIP! 提示！

Use the QuickSet menu to switch between continuous and incremental movement and to select increment

size faster使用. 快捷菜单键快速切换连续运动或步进运动，并设置增量大小。

Step

Action 步骤

Info/Illustration

1

Tap the Quickset Menu button.按 Quickset Menu 键

2

Tap the Increment button.按 Increment 键

3

A

B

C

D

E

G

After tapping Increment, the following buttons are displayed:

按增量键后，显示下列按钮：

A: No movement increments 没有增量

B: Small movement increments 增量为小

C: Medium movement increments 增量中等

D: Large movement increments 增量为大

E: Movement increments to be defined by the user. 增量用户自定义

Select increment size.

选择增量大小

Tap the Quickset Menu button to close the window.

按快捷菜单键关闭窗口

30


9 Load a program 加载程序

This chapter explains how to load a program. A program is usually made up of three different parts, one main routine (always present), a number of subroutines and program data. Only one main routine is permitted per program.

这节讲述如何加载一个程序。一个程序通常有三部分组成：一个主程序，若干个子程序和程序数据。在

程序中，只允许一个主程序存在。

RAPID-program

Program data

Robot positions

Counters etc.

main routine

MoveL.....

MoveL.....

subroutine 1 subroutine 2 subroutine 3

WaitTime 3;

MoveL....

Program structure.

If you load a program, that program replaces the program in the robot’s memory. When a program is loaded, the main routine will be shown on the display with the first instruction in the main routine selected

(highlighted).

当你加载一个程序时，此程序会代替当前内存中的程序。加载程序后，主程序会自动显示，并且指针在

主程序第一行。

9.1 Load an existing program

加载一个已存在的程序

Step

Action 步骤

1

2

3

4

5

On the ABB menu, tap Program Editor.

在 ABB 主菜单上，选程序编辑器。

Tap Task and Program. 选任务与程序

If no program is loaded into the task, a dialog box is displayed.

如果任务中没有程序，显示下列对话框

Tap New if no program is available and one is to be created.

如果没有程序，需要创建，按新建

Tap Load if a previously written program is to be used.

如果有程序，按加载程序

After tapping Load, a file-searching tool is displayed.

按加载程序后，显示文件搜索工具。

In order to make room for the new program, first delete any previously loaded program.

为了给新程序滕出空间，可以先删除先前加载的程序

Use the file-searching tool to locate the program file to be loaded. Then tap

OK. The program is loaded and the following screen is displayed:

使用搜索找出需要加载的程序。按确认，程序被加载，显示下列程序

Info/Illustration

31


The main routine for the selected program is displayed.选择的程序的主程序显示了。

The routines consist of different types of instructions, such as move instructions, wait instructions, etc. Each instruction is followed by different arguments. Arguments can, depending on their type, be changed or omitted altogether.

A B C D E

例行程序由不同的语句组成，如运动指令，等待指令等。每句指令又由不同的变量组成，变量视它们自

己的类型，可改变或省略。

A

B

The name of the instruction which moves the robot linearly 直线运动指令名称

Hide the values of the instruction’s position 被隐藏值的点位

C

D

Determines the velocity of the robot. 定义运动速度

E

Determines the precision of the robot’s position.定义运动点为精确点

Specifies which tool is active. 指定有效工具

32


1

2

9.2 Start and test a program in Manual mode

手动测试程序

You are now going to start the program you just opened. It should first be run step-by-step using reduced velocity, then continuously.

现在开始运行刚才打开的程序，先用手动低速，单步执行，再连续执行

The program consists of four motion instructions and includes positions near the robot’s “calibration position”

程序包含四句运动指令，包括在机器人零点位置附近的点

TCP 0

(TOOL0)

1

2

4

3

Step

Action 步骤

Info/Illustration

3

Switch the robot to Manual Mode 将机器人切换至手动模式

Before starting the program move axis 5, manually with the joystick, downwards about 45°.

在开始执行程序时，将 5 轴手动向下摇 45 度

Select the program to be started.

选择运行程序

How to load a program is detailed described in section 9.1 Load an existing program

怎样加载程序，在 9.1

中详细说明

33

A


A

Program pointer 程序指针

The program point (PP) indicates the instruction with which the program will start when you press one of the function keys on the FlexPendant: RUN, FWD or BWD.

程序指针指出当你使用

连续运行, 单步向前和单步向后.键时，程序开始执行的位置

34


2

3

Before we start the program we need to reduce the speed to 75%. 在开始运行程序前，我们将速度调整到

75%

Step Action Info/Illustration

1

Tap the Quickset Menu button.按快捷菜单键

Tap the Speed Mode button.按速度模式键

A

B C

E D

4

5

F G H

After tapping Speed Mode, the following buttons are displayed:在选速

度模式后，显示下列按钮。

A: Actual running speed (in relation to max) 实际运行速度

B: Decrease running speed in steps of 1% 每次减少 1%速度

C: Increase running speed in steps of 1% 每次增加 1%速度

D: Increase running speed in steps of 5% 每次增加 5%速度

E: Decrease running speed in steps of 5% 每次减少 5%速度

F: Run at quarter speed 以 25%速度运行

G: Run at half speed 以 50%速度运行

H: Run at full speed 以 100%速度运行

Reduce the speed to 75% 以 75%速度运行

Tap the Quickset Menu button to close the window.按快捷菜单键关闭

窗口

35


The program can now be started. Make sure that no one is inside the safeguarded space around the robot.

程序现在可以运行，确认机器人周边，非安全区域内没有人。

Step

1

2

Action

Press the enabling device on the FlexPendant.按住示教器中的使能键

Press the function key FWD (step-by-step program execution forwards).

按单步向前，单步执行程序

Info/Illustration

The robot will carry out one instruction, then it will stop 机器人执行完

一句指令，然后停止

3

4

Go through all the program instructions step by step. Press FWD repeatedly after the robot is in position.单步执行完程序后，机器人到

位后，重按

单步向前。

Let the robot move to position number 4 让机器人移动到 4 号点。

If you press FWD when the program comes to the final instruction, the program will start from the beginning again.

当按 FWD，程序到了

最后一句，将从第一

句执行起

36


2

You are now going to change from continuous to single cycle execution.切换连续运行到单循环


1

Tap the Quickset Menu button.按快捷菜单键

Tap the Run Mode button.按运行模式键

A

B

6

7

4

5

8

After tapping Run Mode, the following buttons are displayed:

选择运行模式后，显示下列窗口

A: Single cycle running 单循环运行

B: Continuous running 连续运行

Tap the Single Cycle button. 按单循环运行

Tap the Quickset Menu button to close the window.按快捷菜单键选择

关闭窗口

Press the enabling device on the FlexPendant.按下使能键

Start the program by pressing the RUN button on the FlexPendant.

按示教器上的连续运行键，开始程序

Select Continuous running again.选择连续运行模式

When Single Cycle is selected the program will be executed once, and then will stop in position 4 (one cycle).

选择单循环运行时，

程序将会运行一个循

环，停在 4 号点。

37


10 Stopping the program 停止程序

Program execution may be stopped in a number of ways depending on the operational mode.根据操作方式

的不同，停止程序有多种方法


1 When running in Continuously mode:

Press the STOP button on the FlexPendant

当系统在连续运行模式时按示教器上的停止键。

2 When running in step-by-step mode, the robot will stop after executing each instruction..

当使用单步运行时，机器人在每句指令执行完后停止

Execute next instruction by pressing FWD or

BWD again.

按单步向前或单步向

后执行下一句指令

38


11 Running a program in Automatic mode自动运行程序

Automatic mode is used to execute ready-made programs

自动模式用于执行已有的经过调试的程序。

Step

1

Action

Set the mode switch in the automatic position

.

插入钥匙，将运转模式切换到自动模式。

A mode change dialog is displayed on the FlexPendant.

示教器上显示状态切换对话框

Info/Illustration

2

3

Tap OK to close the dialog.

按确定关闭对话框

You have now changed to automatic mode and the Production window appears on the FlexPendant

切换到自动后，示教器上显示生产窗口

If you change the switch back to manual mode the dialog will be closed automatically

如果重新切换回手动模

式，对话框自动关闭

4 Press the Motors Enable/Disable button on the Controller module to activate the robot

39


5

6

7

按马达上电/失电按钮激活电机

Press the RUN button on the FlexPendant to start the program.

按连续运行键开始执行程序

Press the STOP button on the FlexPendant to stop the program

按停止键停止程序

Switch back to Manual mode.

插入钥匙, 运转模式返回手动状态。

12

40


13 Rapid Programming Rapid编程

13.1 Consist of the program

程序的组成

应用程序是由三个不同部分组成：

一个主程序。

几个子程序（例行程序）。

程序数据。

除此之外，程序储存器还包括系统模块。USER模块与BASE模块在机器人冷启动后自动生成。

41


13.2 Basic Movement Instructions

基本运动指令

MoveL p1，v100，z10，tool1;

Move L: 线性运动。（Linear）

Move J：关节轴运动。（Joint）

Move C：圆周运动。（Circular）

目标位置。

规定在数据中的速度。

规定在转弯区尺寸。

工具。（TCP）

在光标指在此指令时，打回车，再按可选项键，可选择参变量。

〔 \ Conc 〕

协作运动。机器人未移动至目标点，已经开始执行下一个指令。

〔To Point〕

在采用新指令时，目标点自动生成*。

〔\V〕

定义速度mm/s。

〔\T〕

定义时间s。不管速度只考虑时间。

〔\Z〕

定义转弯区尺寸mm。

〔\Wobj〕

采用工件系坐标系统。

速度选择：mm/s

将光标移至速度数据处，回车，进入窗口。选择所需速度.

vmax速度为v5000,可自定义速度。

最大可定义至v7000，但机器人未必能达到。

转弯区尺寸选择：mm

将光标移至转弯区尺寸数据处，回车，进入窗口。

选择所需转弯区尺寸，可自定义。

42

43


fine指机器人TCP达到目标点，在目标点速度降为零。机器人动作有停顿，焊接时必须用。

zone指机器人TCP不达到目标点，机器人动作圆滑、流畅。


为了精确确定p1、p2、p3、p4点，可以采用函数offs，反馈一个参变量。

offs(p，x，y，z)代表一个离p1点X轴偏差量为x，Y轴偏差量为y，Z轴偏差量为z的点。

将光标移至目标点，回车，选择Func，采用切换键选择所用函数。

MoveC p1，p2，v100，z1，tool1;

P0

P1

P2

44


画一个半径为80mm的圆：

P

MoveJ p0，v500，z1，tool1;

MoveL offs(p，80，0，0)，v500，z1，tool1;

MoveC offs(p，0，80，0)，offs(p，-80，0，0)，v500，z1，tool1;

MoveC offs(p，0，-80，0)，offs(p，80，0，0)，v500，z1，tool1;

MoveJ p0，v500，z1，tool1;

13.3

13.4 Input/Output Instructions

输入

/

输出指令

do指机器人输出信号。

di指输入机器人信号。

输入输出信号有两种状态，1为接通，0为断开。

Wait DI di1/maxtime:=5/Timeflag:=flag1;

等待输入信号Di1值为1，等待时间为5秒，5秒内得到相应信号则执行下一句指令，并将flag1置为flase。

超过5秒未得到相应信号则将flag1置为ture，不执行下面的指令，并显示相应信息。

最大等待时间单位为秒，最大等待时间为300秒。

Wait Until di1=1;

等待一个输入信号值为1，才执行下一行指令。

45


13.5 Communication Instructions

通讯指令

TPERASE;

TPWRITE

TPWRITE “ ABB ”;

清屏指令。

书写指令。

显示ABB。

显示所赋于ABB的值。

TP Read num “reg1”;

在示教板上赋予机器人变量数据。

等待一断时间，再执行下一行指令。时间单位为秒。

13.6 Program Fflow Control Instructions

程序流程指令

IF < exp > THEN

“ Yes-part ”

ENDIF

符合<exp>条件，

执行“Yes-part” 指令。

IF < exp > THEN

“ Yes-part ”

ELSE

“ Not-part ”

ENDIF

符合<exp>条件，

执行“Yes-part”指令。

不符合<exp>条件，

执行“Not-part” 指令。

IF < exp1 > THEN

符合<exp1>条件，

执行“Yes-part1”指令。

ELSEIF < exp2 > THEN 符合<exp2>条件，

执行“Yes-part2”指令。

ELSE

不符合<exp1>、<exp2>条件，

“ Not-part ”

ENDIF

执行“Not-part”指令。

WHILE 循环至不满足条件后，执行 END WHILE 以下指令。

WHILE reg1< 5 DO

循环至符合条件reg1> 5，

ENDWHILE应

避免进入死循环。

46


13.7

13.8 Other Common Instructions

其他常用指令

:=

赋值指令。

ABB := 5;

ABB := reg1+reg3;

ABB := “ WELCOME ”;

47


14 Editing a program 编辑程序

This chapter explains some of the ways in which you can change the program you opened and started in the preceding chapters. You will:

本节介绍怎样修改打开的程序：

Run the program step by step until you get to the position you want to modify

单步运行程序到希望修改的点位

Modify this position 修改这个点

Change an argument in an instruction 修改这句指令

Enter a new instruction (position) 加入一个新指令

Program a time delay (WaitTime) 编辑一个延迟

14.1 Modify positions (tune with motions)

修改位置点

Use this procedure to tune the single position argument of instructions such as

MoveL

and

MoveJ or individual position arguments of instructions such as

MoveC and have the robot positioned at all positions to be tuned.


1 On the ABB menu, tap Program Editor.

在 ABB 菜单中，选程序编辑器

2

3

4

5

Stop the program if running.

如果程序正在运行，停止它

Single step the program so that the robot or external axis reaches the position you want to change.

单步运行程序直到机器人或外轴运行到希望修改的点位

或附近

Jog the robot or external axis to the new position or change orientation.

摇动机器人或外轴到新的位置或改变方位

Tap Modify Position. 按修改位置

A confirmation dialog appears. 显示一个确认框。

The work object and tool of the instruction whose argument you want to change is automatically selected for jogging.

指令中的工件和工具已自动选择

48


6

7

8

9

Tap Modify to use the new position.按 Modify 修改

Cancel to keep the original.

保留原有点按“取消”。

Repeat step 3 through 6 for each position argument you want to change.

重复步骤 3-6，修改另外你需要修改的点

Test run the program step-by-step.

单步运行，测试程序。

Tap Close to close the program editor.

选关闭关闭程序编辑

14.2 Editing instruction arguments

编辑指令变量

You are now going to change one of the arguments of the first move instruction (MoveL), which should be

highlighted.现在修改第一句MoveL指令

You are going to change the precision of the position fine to z10. 改变精确点为转弯半径z10

Step

1

Action 步骤


在 ABB 菜单下，选程序编辑器


2

Tap Edit .

选编辑

49


Tap to select the program steep you want to change.

选择你要修改的程序

50

3


Tap Change Selected to access the Current instruction menu

.

按

Change Selected 进入当前语句菜单

4

.

Tap Zone to access the Current argument menu.

点 Zone 进入当前变量菜单

5

Tap z10 to change the argument.改变为 z10

51


52


6 When the arguments are changed tap OK.

改变后按 OK

Tap OK 按 OK

7

14.3 Adding instructions

增加指令

You are now going to add a movement instruction to the program after the first instruction.

现在在第一句指令后增加一句运动指令。

Step

1

Action 步骤



Info/Illustration 信息

2

Tap Edit.按编辑.

3 Tap on the argument or instruction you want to copy and then copy.

53

4


首先选择需要复制的变量或指令，再按复制

Tap Paste to insert the copied instruction.

按粘贴插入被复制的指令。

The new instruction will be inserted directly under the instruction that was highlighted.新的语句会

插在光标行的下面

5

6

Tap Edit to close the Edit menu按Edit，选择编辑菜单

Using the joystick, move the robot to the position to which you want it moved.使用摇杆，将机器人移动到需要的位置。

Tap Modify Position.按修改位置

A confirmation dialog appears.会显示一个确认框

7

8

Tap Modify to use the new position.按 Modify 记录修改点

Cancel to keep the original.保留原来点按取消

Test run the program in Continuously mode.

在连续运行状态下测试

54


14.4 Programming a delay

编辑延迟

You are now going to program a delay, i.e. make the robot wait a specified amount of time. The new

instruction will be inserted after the fourth instruction. 编辑延迟，例如需要机器人等待一段时间。一句新

的语句将被插在第四行后。

Step

1

Action



Info/Illustration

2

Tap Add Instruction .

按增加指令

3

Tap the fourth instruction in the program.将光标移到第四行

Tap Next at the bottom of the list of instructions.

在指令列中选择 Next(下一个)

Tap Common to display a scrollable list of the available categories.

选择 Common(常用)显示滚

动的指令类别列表。

55

4


Tap WaitTime.按WaitTime

5

Tap Show 123 and then 3 on the numeric soft keyboard

按Show 123，然后按数字键3

6 Tap OK and the Add Instruction to close the Add instruction menu.

按 OK，再按增加指令，关闭菜单

56


7

8

A delay of 3 seconds is now added to the program.现在程序中增加

了延迟 3 秒

Test run the program in Continuously mode

在连续运行状态下测试程序

57


15 I/O Signals 输入/输出信号

This chapter describes how you can program an instruction, which activates a digital output signal.

本章节主要描述怎样编辑一条输出信号的指令

After you have test run the program, you will manually open the I/O list and look at the signal in question.

当你运行程序后，你需要手动打开输入/输出列表进行检查。

15.1 Programming an I/O instruction

编辑一条输入

/

输出指令

Step

1

Action

On the ABB menu, tap Program Editor. 在 ABB 菜单下，选 Program

Editor

Info/Illustration

2

Tap Add Instruction

.按

增加指令

58

Tap the third instruction in the program.将光标移动到第三行。


3 Tap Common to display a scrollable list of the available categories.

A large number of instructions, divided into several categories, are available.

按 Common(常用)显示滚动列表，所有指令被分为几大类。

4

Tap I/O and then Set 选择 I/O，选择 Set

5 After you have selected the function Set, the dialog box appears.

当选择 SET 后，会显示下面的对话框

All instructions are listed in

RAPID reference manual - part 1, Instructions A-Z

RAPID 参考手册的一部分

有从 A-Z 排列的所有指令

6

7

Tap USERDO4 in the list and then OK

选择 USERDO4，按 OK

Close the Add Instruction menu and the following window appears.

关闭增加指令菜单，显示下列窗口

59


8 Test run the program, one instruction at a time, so that the program can read the “Set USERDO4” instruction.

单步运行程序，程序可以运行到 Set USERDO4 指令

You are now going to manually check the state of the signal.你现在可以手动检查信号状态

Step

1

2

Action

On the ABB menu Tap Inputs and Outputs 在 ABB 菜单下，选择 Inputs and Outputs

Tap on USERDO4 to view the state of the signal.

选择 USERDO4，观察其状态

Info/Illustration

You can change the value by tap on 0 or 1

你可以通过按 0 或 1 来

改变其状态。

3

4

Change the value of the signal 检查信号状态

Test run the program once more and check the value of the signal again.

再次运行程序，并观察此信号的值

60


16 Event log 事件纪录

16.1 What is a log?

什么是纪录？

A log is a written account of events within the robot system. A log has entries, one for each event, tagged with the time of its occurrence.

log是机器人系统生成纪录信息，log包含每个事件的发生的时间。

A

B

C

D

The event type (error, warning, information)事件类型（错误，警告，信息）

The event code 事件代码

The event title 事件标题

The date and time of occurrence 发生时间

16.2 What is an event?

什么是事件？

An event is a specific occurrence, which generates an item in the log. For instance, if the manipulator collides with an obstacle, this will cause a message to be sent to the log. A message of the occurrence is displayed along with a time marker, etc. This is the event.

事件是特殊发生的情况，它产生一条记录。例如，如果机器人与障碍物发生碰撞，就会有信息输送给记

录文件。并且显示发生时间，这就是事件。

16.3 What is an event message?

什么是事件信息？

An event message is the actual wording, describing what has happened, what consequences this will have on the system, etc.

事件信息描述发生的状况和系统产生的反应。

Event messages are divided into three categories, information, warning and error. These are described below.

61


事件信息分为三类：通知，警告，错误。如下：

16.4 What is an information message?

什么是通知信息？

An information message is an entry in the log corresponding to normal system events such as:

一条通知消息是log对常规系统事件的响应

Starting and stopping programs. 启动或停止程序

Change in operational mode. 切换操作模式

Motors on and off. 马达是否上电

16.5 What is a warning?

什么是警告？

A warning is an event that you need to be aware of but is not so severe that the process or RAPID program needs to be stopped.

一个警告是提醒你注意，但不太严重。RAPID程序需要停止。

Warnings must sometimes be acknowledged. Warnings often indicate underlying problems that sooner or later need to be solved.

警告有时需要确认。警告通常指出潜在的，或迟早要解决的问题。

16.6 What is an error?

什么是错误？

An error is an event that prevents the robot system from proceeding. The running process or RAPID program cannot continue and is stopped.

一个错误将阻止机器人系统进程，运行的程序将停止。

All errors must be acknowledged. Most errors also require some immediate action from you in order to be solved.

所有的错误必须确认，绝大多数错误需要立刻采取行动解决。

16.7 What is "acknowledge"?

什么是确认？

Certain events, mainly errors, require the operator to acknowledge them, before being able to proceed with the program execution.

特定的事件，主要的错误，都需要操作者在程序继续执行前进行确认。

This is done by tapping Acknowledge or OK on the FlexPendant. 方法是按示教器上的Acknowledge或

OK。

16.8 Open and close the event log

打开关闭事件纪录

Step

1

2

3

4

Action

Tap the status bar. 按状态栏

The status window is displayed. 状态窗口显示

Tap Event Log. 按Event Log

The event log is displayed.

显示事件纪录

If the log contents do not fit into a single screen, it can be scrolled and/or zoomed. 如果纪录目录单屏显示不下，可

以滚动光标或缩放字体

Info/Illustration

.

Tap a log entry to view the event message.按一条事件进入

事件信息

How to do this is detailed in section

15.9 View a message 详细参阅 15.9

章

62


5

Tap the status bar again to close the log.再按状态栏关闭状

态栏

63


16.9 View a message

查看信息

Each entry is accompanied by a message that describes the event in detail and often contains advice on how

to solve the problem.每个条目都有描述事件详细情况的信息，并且通常给出解决的方法

A

B

C

D

E

F

G

H

64

Event number. All error events are listed in accordance with this number 事件代

码，所有的错误事件都按事件代码排列。.

Event title. Briefly states what has happened.事件标题，简要阐述事件发生情况

Event time marker. Specifies exactly when the event occurred. 事件时间，事件发

生时的精确时间

Description. A brief description of the event. Intended to assist in understanding the

causes and implications of the event. 描述。事件的简要描述，有助于了解发生的

事件。

Consequences. A brief description of any consequences inflicted on the system, transition to other operation mode, emergency stop, caused by the particular event.

Intended to assist in understanding the causes and implications of the event.

推论，主要描述对系统产生影响的情况，切换操作模式，特殊事件造成的紧急停

止，有助于了解事件产生的影响

Probable causes. A list of probable causes, listed in order of probability.

可能原因。列表显示可能造成问题的原因

Recommended actions. A list of the recommended correcting actions, based on the

“Probable causes” specified above. These may range from “Replace the xx...” to

“Run test program xx...”, i.e. may be actions to isolate the problem as well as correcting it.

推荐方法。基于上述的可能原因，列表推荐修正的方法。可能从更换xx到运行程

序xx,可以找到问题所在并解决他

Acknowledge or OK button. Acknowledge 或OK键


Step

1

2

3

4

Action

Tap a log entry to view its message.

按log查看信息

Tap Next to view the subsequent message in the list

按下一个查看下一条信息

Tap Previous to view the previous message in the list.

按上一个查看上一条信息

Tap Close to close the message

按Close关闭信息

Info/Illustration

65


17 Emergency stop 紧急停止

Emergency stop buttons are located on the FlexController panel and on the FlexPendant. There are often other ways of activating an emergency stop, but these depend on the robot installation.

When the emergency stop button is activated, the power supply to the motors is shut off and program execution stops.

紧急停止键分别位于示教器上，和控制柜上。视安装情况的不同，还经常有其他形式的紧急停止。

Recover from Emergency Stops

急停的恢复:

Recovering from an emergency stop condition is a simple but important procedure. This procedure ensures that the robot system is not returned to production while maintaining a hazardous condition.

紧急停止的恢复简单但是重要。恢复时必须确保机器人系统不处于危险状态

Reset the latch of emergency stop buttons:

恢复机器人的紧急停止开关。

All push-button style emergency stop devices have a latching feature that must be released in order to remove the emergency stop condition of the device.

所有压按式的急停开关都有一个闭锁装置，恢复时需要释放紧急停止。

In many cases twisting the push-button as marked does this, but there are also devices where you pull the button to release the latch.

通常情况下，转动按钮就可以恢复了。也有些情况需要将按钮拉出。

Reset automatic emergency stop device:

恢复自动急停装置

All automatic emergency stop devices have also some kind of latching feature that must be released. Please consult your plant or cell documentation to see how your robot system is configured.

所有的自动急停装置也带有闭锁装置，可以通过查阅资料来了解。

Procedure:

Step

1

Action

Make sure the hazardous situation that resulted in the emergency stop condition no longer exists

确认造成急停的危险情况已经解除

2

3

4

Locate and reset the device or devices that gave the emergency stop condition

恢复急停按钮，或造成急停的设备。

Acknowledge the emergency stop event (20202) in the event log

在事件信息中确认。

Press the Motors On button to recover from the emergency stop condition

在恢复急停后，重新上电，按马达上电键

66


18 Operational modes 运行模式

18.1 What is the manual mode?

什么是手动模式？

In manual mode the robot can only move in a reduced and safe speed, and only under manual control.

You need to press the enabling switch to activate the robot’s motors. The manual mode is most often used when creating programs and when commissioning a robot system.

在手动模式，机器人只能用安全，低速模式运行，并只能手动控制。需要按住使能键来激活马达上电。

手动模式常在创建程序，或测试程序时使用。

In manual mode you normally: 在手动模式下

• Jog the robot back on its path when you return to operation after an emergency stop

紧急停止后，重新操作机器人回到他的路径上。

• Correct the value of I/O signals after error conditions 错误发生后，修改I/O值

• Create and edit RAPID programs 创建RAPID程序

• Tune programmed positions.调整点位

Procedure:


1

Set the mode switch in the manual position.将运转模式

设定为手动

18.1.1.1.1

18.1.1.1.2 NOTE!注意

If your specific system uses a distributed operator’s panel, controls and indicators may not be placed exactly as described in this manual. Please consult your plant or cell documentation for details.

如果你的系统使用一个以上操作盘，操作或指示可能与本资料不同，请参阅你们自己的具体资料。

Controls and indicators do however look and function the same way.

但其功能与本资料介绍的是一样的

18.2 Manual mode 100% (Option, testing mode)

手动全速（选项，测试模

式）

Use full speed manual mode when the program is to be tested in more natural conditions than the reduced speed that the manual mode offers, for instance to test synchronization between the robot and a conveyor or other external equipment.

手动模式只提供低速，当在需要与实际情况相接近的情况下调试程序时，就需要使用手动全速模式。例

如测试机器人与传送带或其他外部设备同步运行时。

The full speed manual mode allows you to run the program in full speed while still having access to all the available debugging functions of the program editor.

手动全速状态允许你在使用全速时，仍可以有办法测试编辑程序。

67


18.2.1.1.1

18.2.1.1.2 DANGER! 危险！

Testing in full speed is dangerous. 在全速下运行是很危险的

Make sure no personnel are in safeguarded space when starting the program. 确认没有人进入

危险区域后，再开始程序运行。

Procedure:


1 Set the mode switch in the full speed manual position.

将运行模式打到手动全速运行模式

2

Tap OK to close the dialog. 按 OK 关闭对话框

If you change the switch back to manual mode the dialog will be closed automatically.

如果切换到手动减速模式，对话框自动关闭

18.3 Automatic mode (production mode)

自动模式（生产模式）

In automatic mode the enabling switch is disconnected so that the robot can move without human intervention.

在自动模式下，使能键失效。所以机器人不受人为干涉。

A robot system in production normally runs in the automatic mode. This mode enables controlling the robot system remotely, for instance by using the controller's I/O signals. An input signal may be used to start and stop a RAPID program, another to activate the robot's motors.

在生产时，机器人通常使用自动模式。这种模式下可以遥控机器人。例如，使用控制器的输

入输出信号。一个输入信号就可以用于控制RAPID程序的开始或停止。另一个信号激活电

机。

There are also additional safeguarding mechanisms active in automatic mode, not used in manual mode, to increase safety.

在自动状态下，也有一些在手动状态下不用的安全处理信号来增加安全性。

Limitations限制

Jogging is not possible in automatic mode. There may also be other specific tasks that you should perform in manual mode to make sure only you are in control of the robot and its movements.

自动状态下不允许手动操作机器人。还有一些其他的任务，需要你在手动状态下，确认机器人的运动轨

迹。

In automatic mode you normally: 自动状态下，通常

• Start and stop processes. 启动或停止进程

• Load, start and stop RAPID programs. 加载，启动，停止RAPID程序

• Return the robot to it's path when you return to operation after an emergency stop.

当急停后，将机器人回归他的路径

• Backup the system. 备份系统

• Restore backups. 恢复备份

• Tune paths. 微调路径

• Clean tools. 清洁工具

• Prepare or replace work objects. 准备或替换工件

68


• Perform other process-oriented tasks.执行其他进程任务

A well-designed system allows you to perform tasks safely and without affecting the running process. In such a system you can at any time enter safeguarded space temporarily having the process stopped by safeguarding mechanisms while you perform the tasks necessary. When you leave safeguarded space the process is resumed.

Please consult your plant or cell documentation for details on process oriented tasks.

18.3.1.1.1 CAUTION!小心

If the robot system is under remote control actions such as starting or stopping process applications and

RAPID programs may be overridden. Path tuning may also be disturbed.

In such case perform the mentioned tasks in manual mode.

When should I put the system in automatic mode? 什么时候可以进入自动运转状态？

Switch the system to automatic mode when you have a process application or a RAPID program that is

ready to be run in production. 当完成编程工作，并已经过手动测试后，可切换系统到自动状态。

18.3.1.1.2 DANGER!危险

When put in automatic mode the robot may move without warning. 当在自动状态时，机器人可能在没有

警告的情况下运动

Make sure no personnel is in safeguarded space before you change operating mode.

当改变运转模式时，确认无人在危险区

Procedure:


1 Set the mode switch in the automatic position.

将运行模式切换到自动模式

A mode change dialog is displayed on the FlexPendant.

示教器上显示模式转换对话框

2

Tap OK to close the dialog. 按确定关闭对话框

If you change the switch back to manual mode the dialog will be closed automatically.

如果切换到手动模式，对话框自动关闭

18.3.1.1.3 NOTE!注意

If your specific system uses a distributed operator’s panel, controls and indicators may not be placed exactly as described in this manual. Please consult your plant or cell documentation for details.

Controls and indicators do however look and function the same way.

如果你的系统使用一个以上操作面板，操作或指示可能与本资料不同，请参阅你们自己的具体资料。

When can I start using the robot system? 我什么时候可以使用这个机器人系统？

69


As long as the mode change dialog is displayed, programs cannot be started and the robot’s motors cannot be activated neither manually or remote.

当模式切换对话框显示时，手动或遥控都无法启动程序，或激活马达。

Exceptions 例外

In automatic mode it is possible to start a process or RAPID program and turn motors on remote. This means that the system will never enter a safe standby state and the robot may move at any time.

Please consult your plant or cell documentation for details on how your system is configured.

在自动模式下，可以通过遥控启动程序，激活电机。这意味着系统将处于待命状态，机器人随时可能运

动。

具体情况视工厂附属文件。

70

71


19 创建工具


72

73


74


编辑工具：


编辑工具数据

75

76



删除工具：

77


Maintenance 机器人保养检查表

19.1 Manipulator

机器人本体

检查动力电缆与通讯电缆。

检查各轴运动状况。

检查各轴密封

检查机器人零位。

检查机器人标定数据

检查串行测量板供电电池。(大于7.2V)

检查机器人各轴马达与刹车

检查机器人各轴电缆

机器人各轴加润滑油

19.2 Controller

机器人控制柜

检测控制柜温度。

检查主机板、存储板、计算板以及驱动板。

检查变压器以及保险丝

检查机器人三相电源。

检查I/O板以及保险丝

检查安全链

检测示教板操作

检查电扇或空调

19.3 Other

其它

清洁机器人。

机器人软件备份。

检查机器人工作位置。

78

No results