码垛机器人操作说明书

1.2.3.E-Stop4.5.6.0.77.Enabledevice8.9.10.ABB.1.OFFON2.ONOFF3.101.2.3.OKMovePPtomainPP(“FWD”4.1.2.“OK”;;“OK”“ABB”MovePPtomainPP(;;3.1),“Yes”No,,4.“Yes”5.“Yes”“No”,“Yes”,No“Yes”,“No”bu6.7.8.“PPtoMain”,9.10.11.1.Z2.A.ABBPosnoffsXYZB.noffsXYZ50ZmmX+X-1.ABBPosnBagLWH,2.nBagLWH50XmmPos1.“2.“3.“PickPick1.ABB,PPrMoveHome2.ABBtGripperpprPickBagpPickpPick1.2.3.4.“+”“-1.2.0°180°90°90°90°3.XYZ270°270°104.XYZpBase1(6)0°pBase2(7)180°pBase3(45)90°pBase89,10270°5.rMoveHome6.rPickBag7.pprModPospBase1,pBase2,pBase3,pBase8,8.pp9.a).b).2.a).b).c).a).b).4.5.SMBPLC1.2.IOListIOList:1DO01_ClawOpen0XT5.1.12DO02_ClawClose1XT5.1.23DO03_PalletOK32XT5.2.14DO05_FixUp5XT5.2.35DO06_FixDown6XT5.2.46DO04_RobErr23XT5.2.47DO07_PickedOK6XT5.1.98DO10_ESTOP9XT5.1.10DI01_ClawOpened0XT5.1.3DI02_ClawClosed1XT5.1.4DI03_PickReq52XT5.1.5DI04_EjectPallet3XT5.1.6DI05_FixUped4XT5.3.1DI06_FixDowned5XT5.3.2DI07_PalletL14[e-mail]021——61056666021——61056918DefaultUserABB1.ABB/2.DefaultUser