裝配圖網(wǎng) > 裝配圖區(qū) > 其他格式圖 > 裝配圖ABB機(jī)器人基礎(chǔ)應(yīng)用培訓(xùn)資料

裝配圖ABB機(jī)器人基礎(chǔ)應(yīng)用培訓(xùn)資料

裝配圖ABB機(jī)器人基礎(chǔ)應(yīng)用培訓(xùn)資料,裝配,abb,機(jī)器人,基礎(chǔ),應(yīng)用,利用,運(yùn)用,培訓(xùn)資料 EA KABB5%0 Z? Z? ABB S* T CA#? V ) S* KNlA6(2 robotpartner , ) 4 4Nl.1 6 .4 ,XA .8 IOA nA .11 TCPA nA .16 $ ,XA nA .21 RAPID/ c4Ee .25 RAPID/ c S.29 7 |E ,X 0 .31 GCK |,XA .32 A A,X 8 !9Px.33 IRC5E J A .34 DSQC651 SA .37 LoadDataA nA 42 IRC5 . 0A :.45 ABB Engineering (Shanghai) Ltd. 3BCN700000 Issued by Division Date: Language: Revision: Page: Flexible Automation 08/11/20 CN 1 (3) Categor y: Approved IRC5 JOGGING 1 6 X Y Z 1 ABB Engineering (Shanghai) Ltd. 3BCN700000 Issued by Division Date: Language: Revision: Page: Flexible Automation 08/11/20 CN 2 (3) 4 5 6 1 2 3 IO d651 di1 do1 IO DO DI TCP RAPID module TESTMOD” Main MOVING MOVING MoveJ p1 p2 MoveJ p10,v100,z10,tool1Wobj:=wobj1; MoveL p20,v100,fine, tool1Wobj:=wobj1; 3 MoveJ p10,v100,z10, tool1Wobj:=wobj1; 2 ABB Engineering (Shanghai) Ltd. 3BCN700000 Issued by Division Date: Language: Revision: Page: Flexible Automation 08/11/20 CN 3 (3) WaitTime 3; MoveL p20,v100,fine, tool1Wobj:=wobj1; IO Set do1; Reset do1; MOVING MAIN pp (MAIN) pp (MOVING) pp / B P I 3 ABB Engineering (Shanghai) Ltd. CP A - $ Issued by Division Date: Language: Revision: Page: Flexible Automation 08/06/04 CN 1 (4) IRC524,X 6 24,X 6 24,X 6 24,X 6 !7 ( . 24 E Q,X D B 6 ,X 0 Efl ,X 0 Efl ,X 0 1 !91 !91 !91 !9 1 1 1 1 !9!9!9!9 4 ABB Engineering (Shanghai) Ltd. CP A - $ Issued by Division Date: Language: Revision: Page: Flexible Automation 08/06/04 CN 2 (4) 1 1 1 1 !9!9!9!9 1 fl1 fl1 fl1 fl!9!9!9!9 1 h1 h1 h1 h!9!9!9!9 Hd0a:backup Hd0a:backupBackup_20070112_1 5 ABB Engineering (Shanghai) Ltd. CP A - $ Issued by Division Date: Language: Revision: Page: Flexible Automation 08/06/04 CN 3 (4) Efl 6 ,X 0 Efl 6 ,X 0 Efl 6 ,X 0 Efl 6 ,X 0 1 1 1 1 !9!9!9!9 1 1 1 1 !9!9!9!9 1 1 1 1 !9!9!9!9 6 ABB Engineering (Shanghai) Ltd. CP A - $ Issued by Division Date: Language: Revision: Page: Flexible Automation 08/06/04 CN 4 (4) 1 fl1 fl1 fl1 fl!9!9!9!9 1 h1 h1 h1 h!9!9!9!9 1 A1 A1 A1 A!9!9!9!9 !9 !9 !9 !9 7 A B B U n i v e r s i t y - 2 ,XA ,XA ,XA ,XA A B B U n i v e r s i t y - 3 IRC5 Controller Maintenance !5B !5B !5B !5B / - 0 ! / - 0 ! / - 0 ! / - 0 ! A .BAx A .BAx A .BAx 0Efl 0Efl 0 5.& ” E “ 445.& ” !7 A B B U n i v e r s i t y - 7 IRC5 Controller Maintenance Eg 9 D!9PxEg 9 D!9PxEg 9 D!9PxEg 9 D!9Px 1.& ” D” 2.& ”4Ee+ #/” 3. B Eg 9 10 A B B U n i v e r s i t y - 1 D651 S D +Eg 9 S D +Eg 9 S D +Eg 9 S D +Eg 9/Eg Eg Eg Eg 4 4 4 4 Eg ,XA n Eg ,XA n Eg ,XA n Eg ,XA n A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance A nA nA nA nd651 S S S S DeviceNet 4 y !8 DeviceNet 4 y a0a2a1a0a2a1a0a2a1a0a2a1a3a5a4a5a6a8a7a5a9a5a10a12a11a14a13a5a15a3a5a4a5a6a8a7a5a9a5a10a12a11a14a13a5a15a17a16a18a16a18a16a18a16a18a20a19a8a21a19a8a21 a22a8a23a25a24a5a26a28a27a5a29a22a8a23a25a24a5a26a28a27a5a29a31a30a30a30a30a33a32 a3a5a34a8a35a32a32a32 a3a5a34a8a35a37a36 a36a36a36a39a38a38a38a38 a40a40a40a40a42a41a41a41a41a43a0a45a44a0a45a44a0a45a44a0a45a44a42a46a5a47a5a48a8a49a46a5a47a5a48a8a49a46a5a47a5a48a8a49a37a36a36a36a36a39a50a8a51 a27a5a29a50a8a51 a0a45a44a0a45a44a0a45a44a0a45a44 11 A B B U n i v e r s i t y - 3 IRC5 Controller Maintenance A nA nA nA nd651 S S S S a52a53a1a52a53a1a52a53a1a52a53a1a54a5a55a5a56a8a57a5a58a5a19 a59 a1 a59 a1 a59 a1 a59 a1a54a5a55a5a60a12a61 a62a53a1a62a53a1a62a53a1a62a53a1a13a5a63a5a64a8a65a13a5a63a5a64a8a65a43a16a66a18a16a66a18a16a66a18a16a66a18 a67 a1a67 a1a67 a1a67 a1a64a5a65a64a5a65a31a68a70a69a2a71a72a68a70a69a2a71a72a68a70a69a2a71a72a68a70a69a2a71a72 a73a53a1a73a53a1a73a53a1a73a53a1a64a5a65a64a5a65a31a74a74a74a74 a75a25a76a14a77a8a78a75a25a76a14a77a8a78a31a79a79a79a79 A B B U n i v e r s i t y - 4 IRC5 Controller Maintenance A nA nA nA nd651 S S S S a80 a1a80 a1a80 a1a80 a1a64a5a65a64a5a65a31a79a79a79a79 a81a5a82a81a5a82a31a74a74a74a74 a40a53a1a40a53a1a40a53a1a40a53a1a83a5a15a5a84a12a85 a26a28a86a5a87 a88a53a1a88a53a1a88a53a1a88a53a1a54a5a55a5a89a8a90 a91a8a92 a0a93a44a53a1a0a93a44a53a1a0a93a44a53a1a0a93a44a53a1a94a5a95a8a96 a23 a83a8a15a23a23a23 a97a99a98a97a99a98a97a99a98a97a99a98 a26a14a27a5a29 a36a36a36a36a39a100a5a101a100a5a101a100a5a101a100a5a101 a83a8a15 a27a5a29 a34a34a34a34a43a0a45a44a0a45a44a0a45a44a0a45a44 a0a102a0a2a1a0a102a0a2a1a0a102a0a2a1a0a102a0a2a1a54a5a55a8a13a5a15 a0a102a0a2a1a0a102a0a2a1a0a102a0a2a1a0a102a0a2a1a54a5a55a8a9 12 A B B U n i v e r s i t y - 5 IRC5 Controller Maintenance A n D +Eg 9A n D +Eg 9A n D +Eg 9A n D +Eg 9di1 a0a2a1a0a2a1a0a2a1a0a2a1a64a5a65a64a5a65a31a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107 a52a53a1a52a53a1a52a53a1a52a53a1a64a5a65a64a5a65a31a74a74a74a74 a75a25a76a14a77a8a78a75a25a76a14a77a8a78a31a79a79a79a79 a59 a1 a59 a1 a59 a1 a59 a1a64a5a65a64a5a65a31a74a74a74a74 a81a5a82a81a5a82a31a79a79a79a79 a62a53a1a62a53a1a62a53a1a62a53a1a83a5a15a5a84a12a85 a26a14a86a8a87 a67 a1a67 a1a67 a1a67 a1a54a5a55a5a13a8a15 a73a53a1a73a53a1a73a53a1a73a53a1a54a5a55a5a9 A B B U n i v e r s i t y - 6 IRC5 Controller Maintenance A n D +Eg A n D +Eg A n D +Eg A n D +Eg do1 a0a2a1a0a2a1a0a2a1a0a2a1a64a5a65a64a5a65a31a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107 a52a53a1a52a53a1a52a53a1a52a53a1a64a5a65a64a5a65a31a74a74a74a74 a75a25a76a14a77a8a78a75a25a76a14a77a8a78a31a79a79a79a79 a59 a1 a59 a1 a59 a1 a59 a1a64a5a65a64a5a65a31a74a74a74a74 a81a5a82a81a5a82a31a79a79a79a79 a62a53a1a62a53a1a62a53a1a62a53a1a83a5a15a5a84a12a85 a26a14a86a8a87 a67 a1a67 a1a67 a1a67 a1a54a5a55a5a13a8a15 a73a53a1a73a53a1a73a53a1a73a53a1a54a5a55a5a9 13 A B B U n i v e r s i t y - 7 IRC5 Controller Maintenance A n D +4 Eg 9A n D +4 Eg 9A n D +4 Eg 9A n D +4 Eg 9gi1 a0a2a1a0a2a1a0a2a1a0a2a1a64a5a65a64a5a65a31a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107 a52a53a1a52a53a1a52a53a1a52a53a1a64a5a65a64a5a65a31a74a74a74a74 a75a25a76a14a77a8a78a75a25a76a14a77a8a78a31a79a79a79a79 a59 a1 a59 a1 a59 a1 a59 a1a64a5a65a64a5a65a31a74a74a74a74 a81a5a82a81a5a82a31a79a79a79a79 a62a53a1a62a53a1a62a53a1a62a53a1a83a5a15a5a84a12a85 a26a14a86a8a87a26a14a86a8a87a31a30a30a30a30 a100a8a101a100a8a101a100a8a101a100a8a101 a32 a83a5a15a32a32a32 a83a5a15a31a62 a62a62a62a42a108 a26a14a109a8a110a5a111 a34a8a35 a108a108a108 a67 a1a67 a1a67 a1a67 a1a54a5a55a5a13a8a15 a73a53a1a73a53a1a73a53a1a73a53a1a54a5a55a5a9 A B B U n i v e r s i t y - 8 IRC5 Controller Maintenance A n Eg A n Eg A n Eg A n Eg ao1 Eg 8 Eg 8 Eg 8 Eg 8 0-10V a0a2a1a0a2a1a0a2a1a0a2a1a64a5a65a64a5a65a31a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107a103a104a71a105a102a69a2a106a2a107 a52a53a1a52a53a1a52a53a1a52a53a1a64a5a65a64a5a65a31a74a74a74a74 a75a25a76a14a77a8a78a75a25a76a14a77a8a78a31a79a79a79a79 a59 a1 a59 a1 a59 a1 a59 a1a64a5a65a64a5a65a31a74a74a74a74 a81a5a82a81a5a82a31a79a79a79a79 a62a53a1a62a53a1a62a53a1a62a53a1a83a5a15a5a84a12a85 a26a14a86a8a87a26a14a86a8a87a31a30a30a30a30 a100a8a101a100a8a101a100a8a101a100a8a101 a32a32a32a32 a106a2a112a53a0 a106a2a112a53a0a106a2a112a53a0a106a2a112a53a0a113a34a5a35a34a5a35a34a5a35a37a36a36a36a36 a110a25a114a110a25a114 a0a45a44a102a115 a0a45a44a102a115a0a45a44a102a115a0a45a44a102a115a117a116a116a116a116a118a36a36a36a36 a21a8a119a5a120a25a85 a26a14a87 a9a26a14a87 a9a26a14a87 a9a26a14a87 a9a17a0a45a44a0a45a44a0a45a44a0a45a44 a67 a1a67 a1a67 a1a67 a1a54a5a55 a91a8a92 a62a53a1a62a53a1a62a53a1a62a53a1a83a5a15a5a84a12a85 a26a14a86a8a87a26a14a86a8a87a31a30a30a30a30 a100a8a101a100a8a101a100a8a101a100a8a101 a32a32a32a32 a106a2a112a53a0 a106a2a112a53a0a106a2a112a53a0a106a2a112a53a0a113a34a5a35a34a5a35a34a5a35a37a36a36a36a36 a110a25a114 a0a45a44a102a115 a0a45a44a102a115a0a45a44a102a115a0a45a44a102a115a117a116a116a116a116a118a36a36a36a36 a21a8a119a5a120a25a85 a26a14a87 a9a26a14a87 a9a26a14a87 a9a26a14a87 a9a17a0a45a44a0a45a44a0a45a44a0a45a44 a67 a1a67 a1a67 a1a67 a1a54a5a55a5a13a8a15 14 A B B U n i v e r s i t y - 9 IRC5 Controller Maintenance , , , , IO a0a2a1a0a2a1a0a2a1a0a2a1a64a5a65a64a5a65a31a79a79a79a79 a110a5a111a5a110a12a114 a74a74a74a74 a52a53a1a52a53a1a52a53a1a52a53a1a64a5a65a64a5a65a31a79a79a79a79 a121a25a122a121a25a122a123a74a74a74a74 a59 a1 a59 a1 a59 a1 a59 a1a64a5a65a64a5a65a31a79a79a79a79a124a16a18a16a18a16a18a16a18a20a125a8a126a125a8a126a125a8a126a125a8a126a31a74a74a74a74 a59 a1 a59 a1 a59 a1 a59 a1a64a5a65a64a5a65a31a79a79a79a79a124a16a18a16a18a16a18a16a18a20a125a8a126a125a8a126a125a8a126a125a8a126a31a74a74a74a74 a52a53a1a52a53a1a52a53a1a52a53a1a64a5a65 a79a79a79a79 a127a53a18a129a128a104a130a99a97a14a0a93a44a127a53a18a129a128a104a130a99a97a14a0a93a44a127a53a18a129a128a104a130a99a97a14a0a93a44a127a53a18a129a128a104a130a99a97a14a0a93a44a131a74a74a74a74 a62a53a1a62a53a1a62a53a1a62a53a1a64a5a65 a79a79a79a79 a127a53a18a129a128a104a130a99a97a14a0a93a44a127a53a18a129a128a104a130a99a97a14a0a93a44a127a53a18a129a128a104a130a99a97a14a0a93a44a127a53a18a129a128a104a130a99a97a14a0a93a44a131a74a74a74a74 15 A B B U n i v e r s i t y - 1 TCP,XA nA ,XA nA ,XA nA ,XA nA A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance 1 AEH D,X K 1 AEH D,X K 1 AEH D,X K 1 AEH D,X K A nA nA nA n 7 & 3,X,X ,X !5B ,X,X ,X !5B ,X,X ,X !5B ,X,X ,X !5B A A A A 5 A 6 5 A 6 5 A G n !,X | 0 4- Efl G n !,X | 0 4- Efl G n !,X | 0 16 A B B U n i v e r s i t y - 3 IRC5 Controller Maintenance TCP,XA n s) ,XA n s) ,XA n s) ,XA n s) A B B U n i v e r s i t y - 4 IRC5 Controller Maintenance A / - / - / - / - tool1NM,NM,NM,NM, 1.E “ K $ ” 2.E “ ” 3.E “.B n” A n D A n D A n D A n D 17 A B B U n i v e r s i t y - 5 IRC5 Controller Maintenance B n n n n TCP 1.E “4Ee” ,X“ n ” 2.!8 E !8NM 3.1 & ,X1 & ,X1 & ,X1 & ,X 4.E “& 1 & “ !5B” A B B U n i v e r s i t y - 6 IRC5 Controller Maintenance B n n n n TCP 5.1 & ,X1 & ,X1 & ,X1 & ,X 6.E “& 2 & “ !5B” 7.1 & ,X1 & ,X1 & ,X1 & ,X 6.E “& 3 & “ !5B” 18 A B B U n i v e r s i t y - 7 IRC5 Controller Maintenance B n n n n TCP 8.1 fl & ,X 1 fl & ,X 1 fl & ,X 1 fl & ,X NJ V, NJ V, NJ V, NJ V, 9.E “& 4 & “ !5B” 11.E “X & “ !5B” X 10.1 h & ,X 1 h & ,X 1 h & ,X 1 h & ,X NJ NJ NJ NJ X / | / | / | / | V V V V50 l2G l2G l2G l2G A B B U n i v e r s i t y - 8 IRC5 Controller Maintenance B n n n n TCP Z 12.1 h & ,X 1 h & ,X 1 h & ,X 1 h & ,X NJ V, NJ V, NJ V, NJ V, CK V CK V CK V CK V50 l2G l2G l2G l2G 13.E “Z & “ !5B” 14.& “.B n” 19 A B B U n i v e r s i t y - 9 IRC5 Controller Maintenance n K,XGG n K,XGG n K,XGG n K,XGG 1.& “ ” 2.Eg 9 K,X , rGG 3.& .B n A n A B B U n i v e r s i t y - 1 0 IRC5 Controller Maintenance D # A# A# A# A A n D A n D A n D A n D # A K,XG# A K,XG# A K,XG# A K,XG n !2 z n !2 z n !2 z n !2 z 20 A B B U n i v e r s i t y - 1 $ ,XA nA $ ,XA nA $ ,XA nA $ ,XA nA A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance ,X $ 24 ,X $ 24 / -,X ! A n $ Efl / -,X ! A n $ Efl / -,X ! ,X/ - 4 8F4 8F4 8F4 8F .B,X $ .B,X $ .B,X $ .B,X $ S S S S B5 ,X B5 ,X B5 ,X B5 ,X / | k L / | k L / | k L / | k L .B,X $ .B,X $ .B,X $ .B,X $ S S S S B5 ,XB5 ,XB5 ,XB5 ,XX/Y / / / / | kEO R | kEO R | kEO R | kEO R A B B U n i v e r s i t y - 4 IRC5 Controller Maintenance A / - / - / - / - wobj1NM,NM,NM,NM, A n D A n D A n D A n D 1.E “ $ ”E $ 2.E “ ” 3.E “.B n” 22 A B B U n i v e r s i t y - 5 IRC5 Controller Maintenance B n $ n $ n $ n $ 1.E “4Ee” ,X“ n ” 2.A n ”3& “ X Y 3. /7 /7 /7 /7 !8 !8 !8 !8 X1& & & & 4.E “X1 & “ !5B” A B B U n i v e r s i t y - 6 IRC5 Controller Maintenance B n $ n $ n $ n $ X Y 5. /7 /7 /7 /7 !8 !8 !8 !8 X2& & & & 6.E “X2 & “ !5B” 7. /7 /7 /7 /7 !8 !8 !8 !8 Y1& & & & Y X 8.E “Y1 & “ !5B” 23 A B B U n i v e r s i t y - 7 IRC5 Controller Maintenance B n $ n $ n $ n $ PA $ .B zPA $ .B zPA $ .B zPA $ .B z 9.& “.B n” 1 A n D A n D A n D A n D 2 $ 4 $ 4 $ 4 $ 4 / | / | / | / | 24 A B B U n i v e r s i t y - 1 / c + / c / c + / c / c + / c / c + / c $/ c $/ c $/ c $/ c A A A A A A A A A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance ,X + ,X + ,X + ,X + 1.E / c4Ee / c” 7. “ ” E “ _ / c” 8. /“main”Eg 9 .B n A B B U n i v e r s i t y - 4 IRC5 Controller Maintenance MOVING _ / c _ / c _ / c _ / c 1. “ ” E “ _ / c” 2. /“MOVING” Eg 9 .B n 3.E “MOVING”Eg 9 / _ / c 26 A B B U n i v e r s i t y - 5 IRC5 Controller Maintenance _ / c # t ,X _ / c # t ,X _ / c # t ,X _ / c # t ,X 1.& “# t ” / c” / c J 4?UA A,X _ / c 2.E “Routine1” & ”.B n“ 27 A B B U n i v e r s i t y - 7 IRC5 Controller Maintenance J/7 / c J/7 / c J/7 / c J/7 / c & “PP/7Main” / c J / c,X A B B U n i v e r s i t y - 8 IRC5 Controller Maintenance , + , + , + , + hd0a U, & “ +” J E “?U ,X + & “ ” , + ” E n, ) “.B n” 28 RAPID/ c / c / c / c S S S S % VERSION:1 LANGUAGE:ENGLISH % MODULE mainprg / c + , D B CONST robtarget pHome:=517.87,-0.01,708.53,0.506292,-0.4935,0.509881,-0.490049,-1,0,-1,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; PROC main() / c !* ! Main program for !* Initall; A * Initall $/ c WHILE TRUE DO / c ) ; IF DI011=1 THEN V pDI01=1 ; rP1 $/ c rP1; ELSEIF DI02=1 THEN V pDI02=1 ; rP2 $/ c rP2; ENDIF WaitTime 0.3; K1 Y ENDWHILE ENDPROC PROC Initall() $/ c * b D B ( AccSet 100,100; tE zA n VelSet 100, 2000; E zA n rCheckHOMEPos; A * rCheckHOMEPos $/ c ENDPROC PROC rCheckHOMEPos() $/ c * b 1 Y !5B IF NOT CurrentPos(pHome,tool0) THEN TPErase; TPWrite Robot is not in the Wait-Position; TPWrite Please jog the robot around the Wait position in manual; TPWrite And execute the aHome routine.; WaitTime 0.5; EXIT; ENDIF ENDPROC 29 FUNC bool CurrentPos( robtarget ComparePos, INOUT tooldata TCP) s6 s6 s6 s6 * b # !5B * b # !5B * b # !5B * b # ComparePos.trans.x-25 AND ActualPos.trans.xComparePos.trans.y-25 AND ActualPos.trans.yComparePos.trans.z-25 AND ActualPos.trans.zComparePos.rot.q1-0.1 AND ActualPos.rot.q1ComparePos.rot.q2-0.1 AND ActualPos.rot.q2ComparePos.rot.q3-0.1 AND ActualPos.rot.q3ComparePos.rot.q4-0.1 AND ActualPos.rot.q4ComparePos.rot.q4+0.1 Counter:=Counter+1; RETURN Counter=7; ENDFUNC PROC aHome() $/ c 1 Y !5B* MoveJ pHome, v30, fine, tool0; ENDPROC PROC rP1() $/ c , 0EE !Insert the moving routine to here ENDPROC PROC rP2() $/ c , 0EE !Insert the moving routine to here ENDPROC ENDMODULE 30 A B B U n i v e r s i t y - 1 7 |E ,XA 7 |E ,XA 7 |E ,XA 7 |E ,XA A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance 1. Jy 7“7 |” 2. / - ( 6,X.BAx 3.& ”PP/ 7MAIN” 4. “+ + ” J 5. “/ c |” J 31 A B B U n i v e r s i t y - 1 G |24,XE NMG |24,XE NMG |24,XE NMG |24,XE NM A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance 1.E “G |” 2.& “P4” J 3.& “.B n” J # J W |,X # J W |,X # J W |,X # J W |,X ! ! ! ! A AA AA AA A 6 E 6 E 6 E 6 E 24 $W24 $W24 $W24 $W 32 1 A B B U n i v e r s i t y - 1 A A 8 !9Px A A 8 !9Px A A 8 !9Px A A 8 !9Px A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance 1 . 3 B(= 3 # 2 B 1 ) (= U$ 3 B ,XA 8 M4 y 7 + $d + Z 8 + AOj Efl ,X 0 9 I/O,XA n V p L ?U,XA 10 , G,X K 4/ A A 33 A B B U n i v e r s i t y - 1 IRC5 Controller Maintenance IRC5 J E J E J E J A B B U n i v e r s i t y - 2 IRC5 Controller Maintenance Run Chains E J E J E J E J Run Chain E J ! E J , C 1. Emergency Stop 0 (ES) 2. Superior Stop 0!6 (SS) 3. General Stop 8 0!6 (GS) L$ ! G (! EH 0 ) EHAu1k E Jy G !5B n,X : Auto Stop 7 | 0!6 (AS) / - J , 4z 1 2/ ,X( 34 A B B U n i v e r s i t y - 3 IRC5 Controller Maintenance Run Chains E J E J E J E J Panel Board M6 S Run Chain Status E J ( Connection terminals for the Run Chains E J ,XE y 0 $ A B B U n i v e r s i t y - 4 IRC5 Controller Maintenance Key Switch and Indicators Jy G / J ( 35 A B B U n i v e r s i t y - 5 IRC5 Controller Maintenance 0 Eg / _ 0 Eg / _ 0 Eg / _ 0 Eg / _ X1 X2 YF NC?”& Eg 0 YF NC?”& Eg 0 0 Eg 9 ES1 0 Eg 9 ES2 1 1 36 ,X- y( CK 9 2 ES1 ES2 )( y 9 NC F y& 3 V p?UEg 9 0 NO S * ES1 ES2. s) 3-4 K Efl 9 0( 1-2,X NC?”& A B B U n i v e r s i t y - 6 IRC5 Controller Maintenance 7 |( 0!6 / _7 |( 0!6 / _7 |( 0!6 / _7 |( 0!6 / _ a0a2a1a0a2a1a0a2a1a0a2a1 a0a2a3a0a2a3a0a2a3a0a2a3 a0a2a4a0a2a4a0a2a4a0a2a4 a0a0a0a0a4a4a4a4a3a3a3a3a1a1a1a1a5a5a5a5a6a6a6a6a7a7a7a7a8a8a8a8a9a9a9a9a0a2a10a0a2a10a0a2a10a0a2a10a0a11a0a0a11a0a0a11a0a0a11a0X5 7 |( 0 !6 AS27 |( 0!6 AS1 1 1 5 116 ,X- y( CK 9 2 AS1 AS2 )( y 9 NC F y& 3 V p?U y 97 |( 0!6 NO S* AS1 AS2. s) 5-6 11-12 K 7 |( ,X Efl 9 0!6( 36

裝配圖ABB機(jī)器人基礎(chǔ)應(yīng)用培訓(xùn)資料.zip

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14-1LoadData使用說明p42-44.pdf---(點(diǎn)擊預(yù)覽)

13DSQC651 DESCRIPTIONp37-41.pdf---(點(diǎn)擊預(yù)覽)

12IRC5運(yùn)行鏈說明p34-36.pdf---(點(diǎn)擊預(yù)覽)

11新機(jī)調(diào)試一般步驟p33.pdf---(點(diǎn)擊預(yù)覽)

10重起動(dòng)的說明p32.pdf---(點(diǎn)擊預(yù)覽)

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08程序樣板p29-30.pdf---(點(diǎn)擊預(yù)覽)

07新建程序模塊p25-28.pdf---(點(diǎn)擊預(yù)覽)

06工件坐標(biāo)的設(shè)定說明p21-24.pdf---(點(diǎn)擊預(yù)覽)

05TCP的設(shè)定說明p16-20.pdf---(點(diǎn)擊預(yù)覽)

03校準(zhǔn)的說明p8-10.pdf---(點(diǎn)擊預(yù)覽)

02備份與恢復(fù)p4-7.pdf---(點(diǎn)擊預(yù)覽)

01BASIC_exerciseP1-3.pdf---(點(diǎn)擊預(yù)覽)

00目錄.pdf---(點(diǎn)擊預(yù)覽)

00初級(jí)封面.pdf---(點(diǎn)擊預(yù)覽)

15IRC5 Basic Training traditional.pdf

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ABB機(jī)器人基礎(chǔ)應(yīng)用培訓(xùn)資料
- 00初級(jí)封面.pdf--點(diǎn)擊預(yù)覽
- 00目錄.pdf--點(diǎn)擊預(yù)覽
- 01BASIC_exerciseP1-3.pdf--點(diǎn)擊預(yù)覽
- 02備份與恢復(fù)p4-7.pdf--點(diǎn)擊預(yù)覽
- 03校準(zhǔn)的說明p8-10.pdf--點(diǎn)擊預(yù)覽
- 04EIO相關(guān)說明p11-15.pdf--點(diǎn)擊預(yù)覽
- 05TCP的設(shè)定說明p16-20.pdf--點(diǎn)擊預(yù)覽
- 06工件坐標(biāo)的設(shè)定說明p21-24.pdf--點(diǎn)擊預(yù)覽
- 07新建程序模塊p25-28.pdf--點(diǎn)擊預(yù)覽
- 08程序樣板p29-30.pdf--點(diǎn)擊預(yù)覽
- 09自動(dòng)運(yùn)行的說明p31.pdf--點(diǎn)擊預(yù)覽
- 10重起動(dòng)的說明p32.pdf--點(diǎn)擊預(yù)覽
- 11新機(jī)調(diào)試一般步驟p33.pdf--點(diǎn)擊預(yù)覽
- 12IRC5運(yùn)行鏈說明p34-36.pdf--點(diǎn)擊預(yù)覽
- 13DSQC651 DESCRIPTIONp37-41.pdf--點(diǎn)擊預(yù)覽
- 14-1LoadData使用說明p42-44.pdf--點(diǎn)擊預(yù)覽
- 15IRC5 Basic Training traditional.pdf
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