機(jī)器人培訓(xùn)課程 電氣培訓(xùn)

RoboticsTraining機(jī)器人培訓(xùn)（電氣篇）Cautionsduringtraining

培訓(xùn)期間注意事項1.培訓(xùn)期間必須遵守培訓(xùn)安全事項手冊ComplywiththeTrainingsafetymanual2.操作機(jī)器人必須佩帶相應(yīng)的防護(hù)用具

Wearsafetydevicewhenoperatingrobot3.未經(jīng)培訓(xùn)人員不得隨意操作機(jī)器人

Can’toperatingrobotwithoutthepermission4.進(jìn)入工廠區(qū)域必須穿安全鞋安全帽WearsafetydevicewhenyouenterfactoryzoneCOMAUintheworld

柯馬全球網(wǎng)絡(luò)24Companiesin13Countries13個國家/24個運(yùn)營中心COMAUChina

柯馬中國SHANGHAI上海KUNSHAN昆山SHENZHEN深圳CHONGQING重慶CHANGSHA長沙DALIAN大連Operation運(yùn)營Engineering

工程設(shè)計R&D研發(fā)中心Office

職能辦公Aftersales

售后服務(wù)BusinessunitofCOMAUChina

柯馬中國業(yè)務(wù)部門BodyStructuresAssembly車身結(jié)構(gòu)裝配PowertrainSystems動力總成系統(tǒng)Robotics工業(yè)機(jī)器人BusinessunitofComauChina柯馬中國事業(yè)部RobotofCOMAU

柯馬-機(jī)器人SMART5NM45-2.0off-setExampleofthetype

型號示例Type型號45PayloadReach2.0SpecialProductions

產(chǎn)品分類Application

應(yīng)用領(lǐng)域機(jī)器人硬件：

Hardware10示教器的型號/VersionofTP2C5G控制柜的型號/VersionofC5G1開機(jī)準(zhǔn)備/BeforeStartup3模塊介紹/AboutModual4機(jī)器人硬件：

Hardware11示教器的型號/VersionofTP2C5G控制柜的型號/VersionofC5G1開機(jī)準(zhǔn)備/BeforeStartup3模塊介紹/AboutModual412state-of-the-artprocessor/2core最先進(jìn)的處理器/雙核VxWorksoperatingsystemVxWorks操作系統(tǒng)Off-lineProgram離線編程UptoAxes(11)最大控制能力（標(biāo)配）：11個軸Morefeatureswillbeseeninthefollowing更多優(yōu)勢，等你發(fā)現(xiàn)C5GOverview

C5G控制器概覽運(yùn)輸

Transport儲存環(huán)境

Storagerequirement控制柜型號

VersionofControlUnit控制柜型號

VersionofControlUnit控制柜型號

VersionofControlUnit控制柜型號

VersionofControlUnit控制柜型號

VersionofControlUnit控制柜型號

VersionofControlUnit控制柜尺寸

SizeofControlUnit控制柜尺寸

SizeofControlUnit儲存環(huán)境

Storagerequirement機(jī)器人硬件：

Hardware24示教器的型號/VersionofTP2C5G控制柜的型號/VersionofC5G1開機(jī)準(zhǔn)備/BeforeStartup3模塊介紹/AboutModual4示教器

Teachpendant示教器

Teachpendant示教器

Teachpendant機(jī)器人硬件：

Hardware28示教器的型號/VersionofTP2C5G控制柜的型號/VersionofC5G1開機(jī)準(zhǔn)備/BeforeStartup3模塊介紹/AboutModual4開機(jī)準(zhǔn)備

Precautionbeforestart儲存環(huán)境

StoragerequirementSafetyconnector

X30短接回路31July2013PropertyofComau-DuplicationprohibitedFunction:Linesafetysignalsand24VdcTransportandinstallationP55-59TransportandinstallationP55-59Safetyconnector

X30短接回路Safetyconnector

X30B短接回路ForRacer四根線

/Fourconnectors1.動力線（X2-X60）/Power2.信號線（X1-X10）/Signal3.地線/Ground4.380V電源線(需要自己接)/Power接線

Connection整體內(nèi)容框架1.先看transportation2.Maintance3.technical1首先是機(jī)器人的型號，安裝，保存，運(yùn)輸2機(jī)器人的各部分硬件的功能，這個應(yīng)該要結(jié)合電路圖說明。每個模塊的介紹3如何更換模塊4報警代碼的識別和消除5重裝系統(tǒng)機(jī)器人硬件：

Hardware37示教器的型號/VersionofTP2C5G控制柜的型號/VersionofC5G1開機(jī)準(zhǔn)備/BeforeStartup3模塊介紹/AboutModual438ArchitectureofC5Gcabinet

C5G控制柜配置物料號

Partno例子：

Example：物料號

Partno41Communication

模塊間通訊

ArmControllerElectromechanical(ACE)TheArmControllerElectromechanical(ACE)controlstheelectricenergydistribution

fromthemainsandremovesthepossibleelectricaltroublesusingthenetworkfilter.

儲存環(huán)境

StoragerequirementAMS-APC820/830module更換APC

APCChangenotice串口通訊

Serialconnection串口通訊

Serialconnection串口通訊

Serialconnection串口通訊

SerialconnectionCF卡

CompactFlash以太網(wǎng)

EthernetnetworkportUSB口

USBportLED指示燈

StatueLEDAMS-PPS8

端口

PortsAMS-ASM32moduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmodule端口

PortsC5G-HSK5:HighSpeedInputKitPurpose

TheC5G-HSK5(HighSpeedKit)optionmakesavailabletwohigh-speedinputsfor

applications,commonlyusedtoacquireagiventechnologicalitem(e.g.weldingline

check)X2ofIAM1C5G-OTK:AxisOverTravelkitX2ofIAM1C5G-SMK:SignalMachineKitX2ofIAM1HeatsinkAMS-FMP14TheFMP14heatsink(Feed-throughMountingPlate14slot)isanaluminiumplateused

alsoassupportbasewhereallactuationmodulesandtheSafetyDistributionModule

(SDM)arefastenedSafetyDistributionModule(SDM)急停距離

Stopingspace設(shè)置時間

Selectorposition設(shè)置時間

Selectorposition端口

Ports端口

Ports端口

Ports端口

Ports示教器端口

PortsrelatetoTP端口

PortsI/O端口

I/OPortsI/O端口

I/OPortsI/O端口

I/OPortsI/O端口

I/OPortsI/O端口

用途

I/OPortsUninterruptiblePowerSupply(UPS)OperatorPanelDevices(OPD)ConnectorInterfacePanel(CIP)其他備件

otherpartsX10-EXTconnector:structureX61..X63connectorsTheX31..X32isamultipolarconnectorthatgathersoneormoresolutionswithdigital

I/O,24Vdcpowersourcesandsafetysignalsreplicationaimingatprovidingthe

interfacingwiththeapplicationsX31..X32TheconnectorfortheMasterFieldBusallowstoconnecttheFieldBusbetweenthe

mastermoduleinsidetheControlUnitandtheslavemodulesavailableonthetooling

and/orRobotborderarea.X93..X94connector:structureInternalventilationsystem啟?？刂?/p>

StartandStopcontrol啟?？刂?/p>

StartandStopcontrol啟停控制

StartandStopcontrol啟?？刂?/p>

StartandStopcontrol啟?？刂?/p>

StartandStopcontrol啟?？刂?/p>

StartandStopcontrolX20X20X20X20地址

Address最低需求

Minimumrequirement模塊介紹

ModualIntroduction模塊介紹

ModualIntroduction模塊介紹

ModualIntroduction總線模塊

FieldBus總線模塊

FieldBus總線模塊

FieldBus主站模塊鏈接示例

ReferencediagramfortheconnectiontoMastermodules從站模塊鏈接示例

ReferencediagramfortheconnectiontoSlavemodulesI/O模塊

I/OmodulesonX20機(jī)器人硬件：

Hardware113模塊更換/ReplaceModual2報警處理/Alarm1重裝系統(tǒng)/ReloadSW3機(jī)器人硬件：

Hardware114模塊更換/ReplaceModual2報警處理/Alarm1重裝系統(tǒng)/ReloadSW3報警等級

Alarmlevel報警等級

Alarmlevel報警等級

Alarmlevel報警等級

Alarmlevel報警等級

Alarmlevel64051-11-DRIVEOFFAXIS<Axis_numb>ARM<arm_numb>WrongcurrentendscaleDescription:ThedriveinstalledprovidesacurrentrangedifferentfromwhatisrequiredfromthemotororincongruencehasbeenfoundbetweenthedeclaredcurrentvalueinthefeaturingfileandtheIAMsize.報警示例

AlarmExample60940-11-DRIVEOFFAxis<axis_numb>Arm<arm_numb>-7014:Encoder-errorCRContheencoderline報警示例

AlarmExample60937-11-DRIVEOFFAxis<axis_numb>Arm<arm_numb>-6057:inspectionofpositionloop,erroronencoder報警示例

AlarmExample60945-11-DRIVEOFFAxis<Axis_numb>Arm<arm_numb>-7032/31:<transducerType>-notpowersupplied報警示例

AlarmExample62007–10:Axis<axis_numb>Arm<arm_numb>highcurrentrequest報警示例

AlarmExample60956-10-DRIVEOFFAxis<axis_numb>Arm<arm_numb>-Enablingnotpresent報警示例

AlarmExample64037-11:ACOPOS:errorEPL_ACP_StartupAllNodes<10530>報警示例

AlarmExample60934-11:Shortcircuitmotorphase報警示例

AlarmExample60933-11:-6048:faxisbrakingphase,errorpositiontoohigh報警示例

AlarmExample28959-10-DRIVEOFFSDMoverload8AV24powersupplyI/O-SAFE-$SDI[113]報警示例

AlarmExample28960-10-DRIVEOFFSDMoverload5AV24powersuppl