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埃夫特机器人操作手册、编程手册

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KEBA优化了机械自动化，机器人以及移动终端。KEBA工业自动化针对客户的不同需求为机械及机器人控制系统提供快速有效的模块化的解决方案。埃夫特智能装备股份有限公司目录第一章基木交全预防措施章···垂垂音11安全责任…4着着12安全预防措施.…11111.21的12.2定义垂牵着,垂音垂垂音垂非音音;1123适用范围.第二章示教器硬件21示教器介绍622前视图·垂623后视图.24侧视图825显示与操作按键∴82.51按键.9第三章示教器界面1331示教器界面简介1332维护14321系统设置14322权限登录15323用户18324管理19325版本垂·看看垂垂垂213.2.6信息.22327网络2433菜单键……26331输入输出监测...126332变量监控31333位置.···-··::34334项目·看看垂垂36335执行40336程序界面…42337位置界面音垂音音垂看看着垂47338工具手对齐界面51339报警信息界面…5233.10报告界面54第四章指令详解5641运动指令……,56411运动56EFORT机器人C10系统编程手册4.1.1.1PTP,…564.1.1.2Lin.∴564.1.1.3CirC574.1.1.4 PTPRE|.584.1.1.5 Line|594.1.1.6 Move Robotaxis594.1.1.7Stop Robot604.1.1.8PTPSearch,······“·604.1.1.9Lin Search624.1.1.10Waitls Finished624.1.1.11 WaitjustInTime.………….62412归原点指令…624.1.2.1Refrobotaxis624.1.2.2 Refrobot axisasync.……624.1.2.3 WaitReffinished634.2设置指令634.2.1Dyn634.2.2 Dynovr.....................644,2.3ovl.644.2. 4 Ramp…674.2.5 Refsys.,,,,,,,,,,,,,,……………694.2 6ExternalTCP714.2.7Too|.714.2.8 OriMode724.3系统功能指令···724.31时钟计量指令72431.1 CLOCK Reset音·,音··看音音。音·看看番。着番音普DD·音番。音垂。音音自音着看番垂1724,3.1.2CLOCK Start724.3.1.3 CLOCK. .Stop……724.3. 1. 4CLOCK Read724.3.1.5 CLOCK.ToString7243.1. 6 TIMER Start724.3.1.7 TIMERStop·+···724.3. 1.8 SysTime724.3.1.9 SysTime Tostring724.32数学运算指令3埃夫特智能装备股份有限公司4.3.2.1S|N734.3.2.2COS734.3.2.3TAN.734.3.2.4COT.734.3.2.5AS|N734.3.2.6ACOS.734.3.2.7ATAN.734.3.2.8ACOT734.3.2.9ATAN234.3.2.10LN····734.3.2.11EXP34.3.2.12ABS734.3.2.13SQRT.744.33位运算及转换指令744.3.3.1SHR..744.3.3.2SHL744.3.3.3ROR..744.3.3.4ROL.744.3.3.5 SetBit..7443.3. 6Reset bit744.3.3.7CheckBit744.3.3.8STR..…..…1…1…744.34系统功能指令D·垂音垂·非∴744341…:=.(赋值744342//.(注解)…754.3.4.3WaitTime754.3.44Stop754.3.4.5|nfo.764.3.4.6 Warning7643.4 Error774.3.4.8 Random7744流程控制指令组.…774.4.1CALL774.4,2WA|T78EFORT机器人C10系统编程手册4.4.3 SYNC. Sync784.4.4F..end F, ElSIF.THEN, ELSE94.45 WHILE DO,END WHILE7944. 6LOOPDO.END LOOP794.4. 7RUN, KILL…804.4 8RETURN814.4.9G0To…,|F.GOTo…, LABEL…8245输入输出指令组……834.51数宇量输入输出指令组.···········834.5.1.1DN.Wait.……834.5.1.2 DOUTPulse8445.13 DOUTConnect85···4.5.1.4DOUTPulse864.5.1.5 DINWWait Bit874.5.1.6D| NWWait.....874.5.1.7 DOUTWSet.874.5.2模拟量输入输出指令.….音音垂音音垂音垂··;看垂垂884.5.2.1 AIN Waitless.884.5.2.2AINWaitgreater884.5.2.3 AIN. WaitInside音音番音看音音看垂番4音面音自番音番4面。面看音894.5.2.4AIN Waitoutside8945.25AQUTSet9046功能指令904.61触发指令.垂,垂,垂904.6.1.1 On distance.,,,,,,,,904.6.1.2 On Parameter,914.6.1.3 On plane.…924.6.1. 4 On Position垂D音音.音垂音垂。音着,垂垂音D音音看93第五章常用功能9451准备工作….1945.2机器人运动方向认识955.2.1关节模式下的运动方向.955.22世界坐标系模式下的运动方向1005.2.3工具坐标系模式下的运动方向10153开/关机操作1015.31开机步骤.….1015.32关机步骤.…102埃夫特智能装备股份有限公司54手动模式下操作札器人运动.10355创建简单程序并使其自动运行.∴10456机器人信息145.7碰撞监测11658编码器清零…...1185.81编码器清零..1185.82机器人标零操作12059用户自定1235.91外部启动机器人运行123592自定义各轴运动范围.·············.··········126510快速运行机器人至指定位置...1275.11添加|O指令…130512机器人位詈信息查看.1325.13添加WHLE.DO. END WHILE指令.1335.14添加…:=(赋值)指令……4普,垂.垂,.垂垂···音垂··垂垂音看·垂∴1385.15用户坐标系1455151用户坐标系的设置1.1455152用户坐标系的应用1535.16工具坐标系1575.161工具坐标系的设置垂·。看着看垂垂D··。看·音。1575.162工具坐标系的应用.1665163工具手对齐1685.17区域监控1715.171区域监控的设置.1715.,17.2区域监控的应用177518码垛.1795.181简单码垛的设冒1795182码垛应用.····1864183错误信息.1935.19高级码垛..1945191高级码垛的设置.1945192高级码垛的应用.2015.20负载辨识、.2045.21动力学碰撞检测2115.22零点恢复·,着·垂番·番垂音音垂·垂·看·垂着垂音垂音垂音垂看215EFORT机器人C10系统编程手册序言本说明于册中使川的符号参考文献修订记录本说明手册中使用的符号警告、小心和注释的符号及含义标示如下△该符号表示操作程序、技术资料和预防措施被忽略或操作不当可能引起人身伤害宁该符号表示操作程序、技术资料和预防措施被忽略或操作不当可能对设备造成损坏。圖该符号表示梁作程序、技术资料和预防措施中,该项非常重要,应引起重视参考文献本文件引白埃夫特C10系列说明手册C10系列全套说明手册如下埃夫特C10控制系统编程手册电气手册机械手册修订记录版本修订日期修订人V2.0201508-13李勋2016-03-01徐亮V3.12016-07-07徐亮V4.02016-10-21C10

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