機器人培訓基礎d

1、Robotics Training培訓（基礎篇）July 2013Property of Comau - Duplication prohibited培訓期間注意事項培訓期間必須遵守培訓安全事項手冊1.2.3.4.操作培訓必須佩帶相應的防護用具不得隨意操作進入工廠區(qū)域必須穿安全鞋安全帽2July 2013Property of Comau - Duplication prohibitedCOMAU in the world全球網(wǎng)絡3July 2013Property of Comau - Duplication prohibited24 Companies in 13 Countries13個

2、/24個運營中心COMAUOperation 運營Engineering 工程設計R&D 研發(fā)中心Office 職能辦公Aftersales 售后服務SHANGHAI 上海KUNSHAN 昆山SHENZHENCHONGQING 重慶CHANGSHA 長沙DALIAN 大連4July 2013Property of Comau - Duplication prohibitedBusiness unit of COMAU業(yè)務部門Business unit of Comau事業(yè)部Body Structures Assembly車身結構裝配Powertrain Systems動力總成系統(tǒng)Rob

3、otics工業(yè)5July 2013Property of Comau - Duplication prohibitedRobot of COMAU-6July 2013Property of Comau - Duplication prohibitedProductions7July 2013Property of Comau - Duplication prohibitedSMART5 NM 45-2.0 off-set8July 2013Property of Comau - Duplication prohibitedApplication /應用領域9July 2013Property

4、 of Comau - Duplication prohibitedC5G OverviewC5G器概覽state-of-the-art processor/ 2 core最先進的處理器/雙核VxWorks operating system VxWorks 操作系統(tǒng)Off-line Program離線編程Up to Axes (11)能力（標配）：11個軸最大More features will be seen in the following優(yōu)勢，等你發(fā)現(xiàn)July 201310Property of Comau - Duplication prohibitedRobot & Axes

5、July 201311Property of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G柜硬件配置July 201312Property of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G柜硬件配置July 201313Property of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G柜實物圖July 201314Property of Comau - Duplicati

6、on prohibitedCommunication模塊間通訊July 201315Property of Comau - Duplication prohibitedTeach Pendant(TP)示教器control the robot movementsprogram , execute and modify 編寫、調試并運行程序monitoring functions監(jiān)測系統(tǒng)狀態(tài)July 201316Property of Comau - Duplication prohibitedTP Parameters示教器參數(shù)表July 201317Property of Comau - D

7、uplication prohibitediTPWiTPDisplayLCD, 6.4, 640*480size360*210*80weight1.09 Kg1.47 Kgdistance30 m40 mOne to oneYesNoColourGreyBlueprocessorIntel® PXA 270Operating systemMicrosoft ®Windows® CETP overview示教器總覽A: Modal selector switch(red)/模式選擇旋鈕（紅色）B: emergency pushbutton (green)/急停按鈕（

8、綠色）C: soft keys(yellow)/按鍵面板（黃色）D: Enabling Device (blue)/使能功能鍵（藍色）E: USB Port/ USB 接口July 201318Property of Comau - Duplication prohibitedModal selector switch模式選擇旋鈕Program(T1) /編程模式low speed motion(250 mm/s - by the TCP centre)programme debuging低速運行、可以手動、調試編程Local automatic (AUTO) /當?shù)刈詣幽Ｊ絯orking p

9、rogrammes moving at set speedtriggered from the Teach Pendant.工作模式/高速運行/示教器可使能Remote automatic (REMOTE) /Used to run programmes moving at set speed程序自動模式triggered from external devices (PLC, others).工作模式/高速運行/示教器不能使能程序July 201319Property of Comau - Duplication prohibitedBlue keys/藍色鍵Function keys (r

10、ed highlighted)功能鍵（紅色）LeftRightBottomkeys (L1.L6)/左菜單鍵keys (R1.R6)/右菜單鍵keys (F1.F6)/底部功能鍵General use keys (yellow highlighted)通用按鍵（黃色） SHIFT keys / SHIFT 鍵MORE keys / MORE 鍵HELP keys / HELP 鍵Navigation keys (blue highlighted)導航鍵（藍色）PAGE UP and PAGE DOWN / 翻頁鍵Cursor keys (up, down, lift and right) /

11、光標鍵ESC key / ESC 鍵ENTER key / ENTER 鍵SHIFT keys / SHIFT 鍵July 201320Property of Comau - Duplication prohibitedMotion keys/鍵Motion keys /鍵BACK Keys: movement backward /返回上一個位置COORD key : change reference system/變化參照系AUX key : auxiliary axis A/B motion / 輔助軸選擇鍵ARM key : change the current arm /臂選擇鍵+%

12、and -% key : speed control / 速度JOG keys : motion control / 黑色鍵1, 2 JPADlift two : z axis/ 左邊 - 上下鍵right four up and down : x axis / 右邊 - 上下鍵鍵right four lift and right: y axis / 右邊 - 左右鍵July 201321Property of Comau - Duplication prohibitedOther keys/其它RESET (white) / 復原鍵（白色）reset the ALARM /清除（ ALARM

13、 ）START (green) / 開始鍵（綠色）in PROGR mode : execute movements在PROGR模式：單步執(zhí)行命令In LOCAL status : start the program在LOCAL 模式 ：開始運行程序HOLD (yellow） / 暫停鍵（黃色）stop motion/continue motion暫停/繼續(xù)執(zhí)行程序July 201322Property of Comau - Duplication prohibitedHome page / 主頁面狀態(tài)欄欄Right右菜單欄Left左菜單欄Bottom底部菜單欄July 201323Prope

14、rty of Comau - Duplication prohibitedLogon / Logout登錄/six categories 6個等級a. administrator : add new user /管理員b. Default : for operator running a production line /默認c. Maintenance : the integrator / 維修員d. Programmer : development / verification / 編程員e. Service : system updating and machine calibratio

15、n / 服務f. Technology : depend on application / 技術員Predefined user /有效登錄號Programmer user :Maintenance user :Administrator user :Username: PUUsername : MUUsername: ADMINPassword: PUPassword: MUPassword: ADMINJuly 201324Property of Comau - Duplication prohibitedPower on / Shut down上電/斷電Power on / 上電a.th

16、e door of the robot cabinet柜門關閉b. check that these cables are connected檢查線纜是否連接正確c. turn on the electric打開主開關（柜）d. power the drive on上電Power off / 斷電a. set the system in DRIVE OFF斷電b. software shut down關機c. move the main switch to OFF將主開關（柜）關閉July 201325Property of Comau - Duplication prohibitedJOIN

17、T / 關節(jié)參照系Joint坐標系下鍵代表的軸：1X：2Y：3Z：的1軸的2軸的3軸的4軸的5軸的6軸456：July 201326Property of Comau - Duplication prohibitedBASE / 基礎參照系July 201327Property of Comau - Duplication prohibitedTOOL / 工具參照系July 201328Property of Comau - Duplication prohibitedUFrame /用戶參照系July 201329Property of Comau - Duplication prohib

18、ited練習在不同參照系下，熟練使用示教器（TP）July 201330Property of Comau - Duplication prohibitedPracticeControl the robot motion through TPToolframe坐標系的設定July 201331Property of Comau - Duplication prohibited工具坐標系標準法四點法工件坐標系三點法TOOL SET 4 POINTS工具參照系設定（四點法）四點法：Step-1 ：在點 （如圖 P4 點）工作空間中選擇恰當?shù)膮⒄誗tep-2 ：將帶有操作工具的移動到參照點（姿態(tài)無要

19、求，盡可能靠近參照點）Step-3 ：下該點（如圖，點1）Step-4 ：重復步驟2,、3，分別再點（如圖點2，點3）Step-5 ：保存計算結果兩個姿態(tài)July 201332Property of Comau - Duplication prohibitedTOOL SET STANDARD工具參照系設定（標準法）Step-1 ：在照點Step-2 ：檢查否正確工作空間中選擇恰當?shù)膮⒌臉藴柿烤呤荢tep-3：將帶有標準量具的移動到參照點（姿態(tài)無要求，盡可能靠近參照點）Step-4：將帶有操作工具的移動到同一參照點（姿態(tài)無要求，盡可能靠近）Step-5：下該點（如圖，點1）Step-6：保存計

20、算結果July 201333Property of Comau - Duplication prohibitedSet Uframe - 3 point用戶參照系設定（3點法）1.原點Step-1 ：確定需要的用戶坐標系Step-2 ：將帶有操作工具的移動到坐標系的原點，并Step-3 ：將帶有操作工具的該點。移動到坐標系的X軸上任意一點，并該點。Step-4 ：將帶有操作工具的移動到坐標系的XY平面中屬于第一象限的任意一點，并該點。2.X軸3.XY面Step-5 ：保存計算結果。July 201334Property of Comau - Duplication prohibitedSet

21、Uframe - 3 point示例：用戶坐標系設定（3點法）July 201335Property of Comau - Duplication prohibitedUFrameToolFrameSetupUframe設定步驟：Set Uframe - 3 point用戶坐標系設定（3點法）July 201336Property of Comau - Duplication prohibitedSet Uframe - 3 point用戶坐標系設定（3點法）July 201337Property of Comau - Duplication prohibitedSet Uframe - 3

22、point用戶坐標系設定（3點法）July 201338Property of Comau - Duplication prohibitedSet Uframe - 3 point用戶坐標系設定（3點法）July 201339Property of Comau - Duplication prohibitedSet Uframe - 3 point用戶坐標系設定（3點法）July 201340Property of Comau - Duplication prohibitedSet Uframe - 3 point用戶坐標系設定（3點法）July 201341Property of Comau

23、 - Duplication prohibitedPracticeSet Tool and User Frame Then Check Them練習設定工具及工件坐標系并檢查July 201342Property of Comau - Duplication prohibitedProg頁面July 201343Property of Comau - Duplication prohibitedEnterProg_teachingProgIDE-編程界面July 201344Property of Comau - Duplication prohibitedIDE-編程界面1. 注釋2. 編號

24、3. 關鍵字4. 保留文字5. 變量名稱July 201345Property of Comau - Duplication prohibitedIDEProgJuly 201346Property of Comau - Duplication prohibitedIDEExecutionJuly 201347Property of Comau - Duplication prohibitedIDEPDL2July 201348Property of Comau - Duplication prohibitedIDESelectionJuly 201349Property of Comau -

25、 Duplication prohibitedTeaching position示教編程示教編程的步驟：1.Selection-REC setup 2.REC3.MOD4.Most common 指令的July 201350Property of Comau - Duplication prohibitedTeaching position示教編程July 201351Property of Comau - Duplication prohibitedTeaching position示教編程July 201352Property of Comau - Duplication prohibit

26、edTeaching position示教編程July 201353Property of Comau - Duplication prohibitedTeaching position示教編程July 201354Property of Comau - Duplication prohibitedTeaching position示教編程July 201355Property of Comau - Duplication prohibitedTeaching position示教編程July 201356Property of Comau - Duplication prohibitedTe

27、aching position示教編程July 201357Property of Comau - Duplication prohibitedProgramJuly 201358Property of Comau - Duplication prohibitedTeaching position示教編程練習Practice 1Create and debug a program in IDE (using teaching postion)練在IDE環(huán)境下，示教點 ，觀察軌跡July 201359Property of Comau - Duplication prohibitedPracti

28、ce 2July 201360Property of Comau - Duplication prohibitedProgramPromotingJuly 201361Property of Comau - Duplication prohibitedMOVE、MOVEFLYJuly 201362Property of Comau - Duplication prohibitedMOVE、MOVEFLYJuly 201363Property of Comau - Duplication prohibitedMOVE、MOVEFLYJuly 201364Property of Comau - D

29、uplication prohibitedSpeed、Acceleration Control1.2.3.4.$GEN_OVR$ARM_OVR$ARM_SPD_OVR$PRG_SPD_OVR1.2.3.4.5.6.$GEN_OVR$ARM_OVR$PRG_ACC_OVR$PRG_DEC_OVR$ARM_ACC_OVR$ARM_DEC_OVRJuly 201365Property of Comau - Duplication prohibitedMotion TerminationJuly 201366Property of Comau - Duplication prohibitedPract

30、ice練習July 201367Property of Comau - Duplication prohibitedCOMAUFile SystemJuly 201368Property of Comau - Duplication prohibitedBackup file備份文件July 201369Property of Comau - Duplication prohibitedBackup file備份文件July 201370Property of Comau - Duplication prohibitedBackup file備份文件July 201371Property of

31、 Comau - Duplication prohibitedBackup file備份文件July 201372Property of Comau - Duplication prohibitedBackup file備份文件July 201373Property of Comau - Duplication prohibitedBackup file備份文件July 2013Property of Comau - Duplication prohibitedBackup file備份文件July 2013Property of Comau - Duplication prohibitedB

32、ackup file備份文件July 201376Property of Comau - Duplication prohibitedBackup file備份文件July 201377Property of Comau - Duplication prohibitedBackup file備份文件July 2013Property of Comau - Duplication prohibitedBackup file備份文件July 2013Property of Comau - Duplication prohibitedBackup file備份文件July 2013Property

33、of Comau - Duplication prohibitedPractice Bakeup files 練習將指定文件備份到特定的July 201381Property of Comau - Duplication prohibitedConnections to C5GJuly 201382Property of Comau - Duplication prohibitedEthernet portsJuly 201383Property of Comau - Duplication prohibitedSerial RS232/422RS232CRS422Can not be use

34、d contemporaneouslyJuly 201384Property of Comau - Duplication prohibitedInputs and OutputsInputs and Outputs on the SDM：Inputs /Outputs and Field Bus on X20：July 201385Property of Comau - Duplication prohibitedI/O on the SDM8 inputs4 outputsJuly 201386Property of Comau - Duplication prohibitedI/O on

35、 X20July 201387Property of Comau - Duplication prohibitedI/O ConfigurationJuly 201388Property of Comau - Duplication prohibitedI/O configurationJuly 201389Property of Comau - Duplication prohibitedI/O configurationJuly 201390Property of Comau - Duplication prohibitedI/O configurationJuly 201391Prope

36、rty of Comau - Duplication prohibitedI/O configurationJuly 201392Property of Comau - Duplication prohibitedI/O configurationJuly 201393Property of Comau - Duplication prohibitedI/O configurationJuly 201394Property of Comau - Duplication prohibitedI/O configurationJuly 201395Property of Comau - Dupli

37、cation prohibitedI/O configurationJuly 201396Property of Comau - Duplication prohibitedI/O configurationJuly 201397Property of Comau - Duplication prohibitedI/O configurationJuly 201398Property of Comau - Duplication prohibitedI/O MapJuly 201399Property of Comau - Duplication prohibitedI/O MapJuly 2

38、013100Property of Comau - Duplication prohibitedI/O MapJuly 2013101Property of Comau - Duplication prohibitedI/O MapJuly 2013102Property of Comau - Duplication prohibitedI/O MapJuly 2013103Property of Comau - Duplication prohibitedI/O MapJuly 2013104Property of Comau - Duplication prohibitedI/O MapJ

39、uly 2013105Property of Comau - Duplication prohibitedI/O MapJuly 2013106Property of Comau - Duplication prohibitedPracticeI/O Configure and MapJuly 2013107Property of Comau - Duplication prohibitedwinC5GJuly 2013108Property of Comau - Duplication prohibitedwinC5G Connect to PCJuly 2013109Property of

40、 Comau - Duplication prohibitedTurn set and Calibration轉數(shù)設定和校準NUMBER OF TRANSDUCER TURNS編碼器轉數(shù)CALIBRATION POSITION校驗位置CALIBRATION CONSTANTS校驗常數(shù): (-0.5 , 0.5)July 2013110Property of Comau - Duplication prohibitedTurn set轉數(shù)設定axis movement with the control off軸在斷電后發(fā)生了59411 - 08 Ax <num_ax> Arm <num_arm> movement after shut-downevents take place that cause the loss of the number of turns only.只有轉數(shù)丟失時Ar : TURN1. Align the notches correctly / 盡可能對齊凹槽5409 - 02 Ax <num_asse> Arm <num_arm> joint position not sufficient accurate2. Record the position /d Completed下當前位置*1: CA