ABB机器人学习资料（PDF168页）

1©ABBGroupFebruary21,2013|Slide11.䈮〻ӻ㓽ƒ䈮〻޵ᇩ˖9㌫㔏ᆹޘ9IRC5㌫㔏ㆰӻ9᡻ࣘ᫽㓥ᵪಘӪ9㕆〻о⍻䈅9สᵜᤷԔ9䗃ޕ䗃ࠪ9㌫㔏༷ԭоᚒ༽9R.S.O9㌫㔏੟ࣘ9ṑ߶©ABBGroupFebruary21,2013|Slide21.䈮〻ӻ㓽ษ䇝৲࣐㘵˖ƒ⧠൪ᐕ〻ᐸƒ⧠൪㔤؞Ӫઈษ䇝৲࣐㘵⸕䇶㾱≲˖ƒสᵜ⭥㝁᫽֌㜭࣋ƒสᵜ㤡䈝䈫߉㜭࣋ษ䇝ⴞḷ˖ƒҶ䀓IRC5ᵪಘӪ㔃ᶴƒᵪಘӪⲴ⽪ᮉƒ㜭ཏ㕆߉ㆰঅᓄ⭘〻ᒿƒᆖՊ؞᭩઼ᇊѹI/OؑਧƒᆖՊᵪಘӪⲴ੟ࣘᯩᔿƒ㜭䈫៲ᵪಘӪ䘀㹼〻ᒿDŽ22㌫㔏ᆹޘо⧟ຳ؍ᣔƒ2.1.㌫㔏ᆹޘƒ2.2.⧟ຳ؍ᣔ©ABBGroupFebruary21,2013|Slide3©ABBGroupFebruary21,2013|Slide42.1.㌫㔏ᆹޘƒ⭡ҾᵪಘӪ㌫㔏༽ᵲ㘼фড䲙ᙗབྷˈ൘㓳Ґᵏ䰤ˈሩᵪಘӪ䘋㹼ԫօ᫽֌䜭ᗵ享⌘᜿ᆹޘDŽᰐ䇪ӰѸᰦى䘋ޕᵪಘӪᐕ֌㤳ത䜭ਟ㜭ሬ㠤ѕ䟽ⲴՔᇣˈਚᴹ㓿䗷ษ䇝䇔䇱ⲴӪઈ᡽ਟԕ䘋ޕ䈕४ฏDŽ32.1.㌫㔏ᆹޘƒᵪಘӪ൘ਁ⭏᜿ཆᡆ䘀㹼н↓ᑨㅹᛵߥлˈ൷ਟ֯⭘E-Stop䭞ˈڌ→䘀㹼DŽƒᙕڌਾˈ䴰᤹л⭥ᵪĀᔰā᤹䫞ˈᯩਟᚒ༽↓ᑨ᫽֌DŽƒᙕڌᔰޣ(E-Stop)нݱ䇨㻛⸝᧕DŽ©ABBGroupFebruary21,2013|Slide5©ABBGroupFebruary21,2013|Slide62.1.㌫㔏ᆹޘ䘀㹼⁑ᔿ˖ƒ㠚ࣘ⁑ᔿƒ᡻ࣘ⁑ᔿƒ᡻ࣘ߿䙏˖250mm/sƒ˄᡻ࣘޘ䙏˅˖100%㔤؞Ӫઈᗵ享؍㇑ྭᵪಘӪ䫕ॉˈѕ⾱䶎ᦸᵳӪઈ൘᡻ࣘ⁑ᔿл䘋ޕᵪಘӪ䖟Ԧ㌫㔏ˈ䲿᜿㘫䰵ᡆ؞᭩〻ᒿ৺৲ᮠDŽ42.1.㌫㔏ᆹޘƒ൘᡻ࣘ⁑ᔿлˈᗵ享䙊䗷֯㜭ಘ᡽㜭֯⭥ᵪк⭥DŽƒ֯㜭ಘᴹйњս㖞DŽƒ൘᡻ࣘ⁑ᔿл䈳䈅ᵪಘӪˈྲ᷌н䴰㾱〫ࣘᵪಘӪᰦˈᗵ享৺ᰦ䟺᭮֯㜭ಘDŽ©ABBGroupFebruary21,2013|Slide72.1.㌫㔏ᆹޘƒᵪಘӪ༴Ҿ㠚ࣘ⁑ᔿᰦˈԫօӪઈ䜭нݱ䇨䘋ޕަ䘀ࣘᡰ৺Ⲵ४ฏDŽƒഐѪᵪಘӪ൘㠚ࣘ⣦ᘱлˈণ֯䘀㹼䙏ᓖ䶎ᑨվˈަࣘ䟿ӽᖸབྷˈᡰԕ൘䘋㹼㕆〻ǃ⍻䈅৺㔤؞ㅹᐕ֌ᰦˈᗵ享ሶᵪಘӪ㖞Ҿ᡻ࣘ⁑ᔿDŽƒ䈳䈅Ӫઈ䘋ޕᵪಘӪᐕ֌४ฏᰦˈᗵ享䲿䓛ᩪᑖ⽪ᮉಘˈԕ䱢ԆӪ䈟᫽֌DŽƒзаਁ⭏⚛⚮ˈ䈧֯⭘Ҽ≗ॆ⻣⚝⚛ಘDŽ¾ᆹޘһ亩൘lj⭘ᡧᤷইUser’sGuideNJᆹޘ䘉аㄐ㢲ѝᴹ䈖㓶䈤᰾DŽ©ABBGroupFebruary21,2013|Slide85©ABBGroupFebruary21,2013|Slide92.2.⧟ຳ؍ᣔ⧠൪ᴽ࣑ӗ⭏Ⲵড䲙പփᓏᔳ⢙˖ƒᓏᐕъ⭥⊐ƒᓏ⭥䐟ᶯƒᓏ⏖━⋩ƒᓏ⋩㜲ƒ㋈⋩എэᡆᣩᐳƒᓏ⋩ẦƒᦏൿⲴ䴦Ԧƒव㻵ᶀᯉ©ABBGroupFebruary21,2013|Slide10ƒ©ABBGroupƒFebruary21,2013|Slide1063IRC5ᵪಘӪ㌫㔏ӻ㓽ƒ3.1.᧗ࡦಘƒ3.1.1.᧗ࡦಘⲴ⿽㊫ƒ3.1.2.᧗ࡦಘкⲴ᤹䫞ƒ3.1.3.ৼḌƒ3.1.4.অḌƒ3.2.ᵜփƒ3.3.⽪ᮉಘ©ABBGroupFebruary21,2013|Slide113.ᵪಘӪ㌫㔏ƒᵪಘӪ㌫㔏ᶴᡀ1.᧗ࡦಘ2.ᵜփ3.⽪ᮉಘ©ABBGroupFebruary21,2013|Slide1273.1.IRC5᧗ࡦಘ1.ৼḌ(Dualcabinet)2.অḌ(Singlecabinet)3.䶒ᶯᔿ(Panelmountedcontroller)4.(compactcontroller)©ABBGroupFebruary21,2013|Slide133.1.2.᧗ࡦಘкⲴ᤹䫞™᧗ࡦ⁑ඇкⲴ᤹䫞¾A—ѫ⭥Ⓚᔰ੟/ޣ䰝¾B—㍗ᙕڌ→᤹䫞¾C—⭥ᵪᔰ੟¾D—⁑ᔿᔰޣ™傡ࣘ⁑ඇкⲴ᤹䫞¾A—傡ࣘ⁑ඇу⭘Ⲵᔰ੟/ޣ䰝ᔰޣ©ABBGroupFebruary21,2013|Slide1483.1.3.IRC5㔃ᶴ˄ৼḌ˅ƒ᧗ࡦ⁑ඇ׋⭥⁑ඇƒCMpowersupplyƒ傡ࣘ⁑ඇ׋⭥⁑ඇƒDMpowersupplyƒѫ䇑㇇ᵪƒMaincomputerƒᆹޘ䶒ᶯƒPanelboardƒ䖤䇑㇇ᵪᶯƒAxiscomputerboardƒ傡ࣘঅݳƒDriveunit-ᵪಘӪᵜփManipulator-˄ཆ䖤˅ƒ䇑㇇ᵪ⭥ᇩƒComputerUltraCapƒ˄ᇒᡧ⭥Ⓚ⁑ඇ˅ƒ˄Customerpowersupply˅ƒ˄䗃ޕ/䗃ࠪᶯ˅ƒ˄I/OUnit˅ƒ᧕䀖ಘᶯƒContactorunit©ABBGroupFebruary21,2013|Slide153.1.4.IRC5㔃ᶴ˄অḌ˅ƒ᫽֌䶒ᶯOperator´spanelƒᴽ࣑ㄟਓServiceportsƒUSBਓƒԕཚ㖁ਓƒCustomer(I/O)spaceƒ⽪ᮉಘ䘎᧕ਓFlexPendantconnectionƒ䖤䇑㇇ᵪᶯAxiscomputerboardƒᆹޘ䶒ᶯPanelboardƒѫ䇑㇇ᵪMaincomputerƒ䇑㇇ᵪ⭥ᇩComputerUltraCapƒ傡ࣘঅݳDriveunitƒ⭥Ⓚ࠶䝽ᶯPowerdistributionboardƒ׋⭥⁑ඇPowersupplyƒ᧕䀖ಘᶯContactorunit©ABBGroupFebruary21,2013|Slide1693.2.ᵜփ©ABBGroupFebruary21,2013|Slide17ሿරᵪಘӪ–5kgto60kgƒIRB140ƒIRB1410ƒIRB1600ƒIRB1600IDƒIRB2400ƒIRB4400ƒIRB4450SƒIRB2400L©ABBGroupFebruary21,2013|Slide1810བྷරᵪಘӪ–125kgto630kgƒIRB6640ƒIRB7600ƒIRB6660ƒIRB6660ƒIRB6620ƒIRB6650SƒIRB6640©ABBGroupFebruary21,2013|Slide19ժᴽ傡ࣘ㌫㔏ƒRectifierƒMotorƒ⭥ᵪƒResolveƒ㕆⸱ಘƒTransformerƒਈ঻ಘƒGearƒ喯䖞㇡ƒAxisComputerƒ䖤䇑㇇ᵪƒMainComputerƒѫ䇑㇇ᵪƒSerialMeasurementBoardƒѢਓ⍻䟿ᶯƒDriveunitƒ傡ࣘᶯƒDriveunitƒ傡ࣘᶯƒDriveunitƒ傡ࣘঅݳ©ABBGroupFebruary21,2013|Slide20113.2.ᵜփᵪỠ᡻ᑖᴹѢਓ⍻䟿ᶯ(SMB)DŽѢਓ⍻䟿ᶯᑖᴹй㢲нਟݵ⭥Ⲵу⭘䬲⭥⊐ˈ䎧؍ᆈᮠᦞ֌⭘DŽᵪỠ᡻ᑖᴹ᡻ࣘᶮ䰨᤹䫞ˈ㔤؞ᰦ֯⭘ˈ䶎↓ᑨ֯⭘Պ䙐ᡀ䇮༷ᡆӪઈ㻛ՔᇣDŽᵪỠ᡻ᑖᴹᒣ㺑≄㕨ᡆᕩ㉗©ABBGroupFebruary21,2013|Slide213.3.⽪ᮉಘ(FlexPendant/TPU)©ABBGroupFebruary21,2013|Slide22123.3.⽪ᮉಘ©ABBGroupFebruary21,2013|Slide233.3.⽪ᮉಘ©ABBGroupFebruary21,2013|Slide24133.3.⽪ᮉಘ©ABBGroupFebruary21,2013|Slide253.3.⽪ᮉಘƒᐢ੟ࣘⲴᓄ⭘〻ᒿՊ൘ԫ࣑ḿᱮ⽪ањᘛᦧ᤹䫞DŽƒ⛩᤹ࠫ䫞ਟԕ൘ᓄ⭘〻ᒿ઼㿶മѻ䰤࠷ᦒDŽ©ABBGroupFebruary21,2013|Slide26143.3.⽪ᮉಘƒਟ൘ᚦ࣓⧟ຳл֯⭘ƒਟṩᦞ䴰㾱ᴤᦒ⭥㔶䮯ᓖƒབྷቪረ䀖᪨ቿ:ƒ7.7inchƒ640x480pixelsƒਟᯩׯⲴ䘋㹼ᐖਣ᡻᫽֌࠷ᦒƒ᭟ᤱཊ⿽䈝䀰©ABBGroupFebruary21,2013|Slide273.3.⽪ᮉಘƒ⽪ᮉಘ&R.S.O©ABBGroupFebruary21,2013|Slide28154᡻ࣘ᫽㓥ƒ4.1.᡻ࣘ᫽㓥デਓƒ4.1.1.ᵪỠঅݳƒ4.1.2.ࣘ֌⁑ᔿ¾4.1.2.1অ䖤䘀ࣘ¾4.1.2.2䟽ᇊս䘀ࣘ¾4.1.2.3㓯ᙗ䘀ࣘƒ4.1.3.඀ḷ㌫ƒ4.1.4.ᐕާ඀ḷƒ4.1.5.ᐕԦ඀ḷƒ4.1.6.ᴹ᭸䖭㦧ƒ4.1.7.᧗ࡦᵶ䬱ᇊƒ4.1.8.໎䟿ƒ4.2.ᘛᦧ㨌অƒ4.3.඀ḷ㌫ƒ4.3.1.ᐕާ඀ḷ㌫¾4.3.1.1ᇊѹᐕާ඀ḷ㌫Ⲵᯩ⌅¾4.3.1.2ᇊѹᐕާ඀ḷ㌫Ⲵ↕僔ƒ4.3.2.ᐕԦ඀ḷ㌫¾4.3.2.1ᇊѹᐕԦ඀ḷ㌫Ⲵᯩ⌅¾4.3.2.2ᇊѹᐕԦ඀ḷ㌫Ⲵ↕僔©ABBGroupFebruary21,2013|Slide294.1.᡻ࣘ᫽㓥デਓ↕僔ࣘ֌1ሶᵪಘӪ᫽֌⁑ᔿ䘹ᤙಘ㖞Ҿ᡻ࣘ䲀䙏⁑ᔿDŽ2൘ABB㨌অѝˈঅࠫ᡻ࣘ᫽㓥DŽᢃᔰ᡻ࣘ᫽㓥デਓDŽ©ABBGroupFebruary21,2013|Slide30164.1.1.ᵪỠঅݳ↕僔ࣘ֌1ᢃᔰ᡻ࣘ᫽㓥デਓˈᒦ⛩ࠫᵪỠঅݳDŽ©ABBGroupFebruary21,2013|Slide314.1.1.ᵪỠঅݳ↕僔ࣘ֌2൘ᕩࠪⲴデਓѝ䘹ᤙ䴰㾱䘋㹼᧗ࡦⲴᵪỠঅݳˈ❦ਾ⛩ࠫ⺞ᇊDŽ©ABBGroupFebruary21,2013|Slide32174.1.2.䘀ࣘ⁑ᔿ↕僔ࣘ֌1ᢃᔰ᡻ࣘ᫽㓥デਓˈᒦ⛩ࠫࣘ֌⁑ᔿDŽ2൘ᕩࠪⲴデਓѝ䘹ᤙᡰ䴰⁑ᔿˈ❦ਾ⛩ࠫ⺞ᇊDŽ©ABBGroupFebruary21,2013|Slide334.1.2.1.অ䖤䘀ࣘƒAxis1-3䖤1-3ᵪಘӪаǃҼǃй⇿њ䖜䖤অ⤜䖜ࣘDŽƒAxis4-6䖤4-6ᵪಘӪഋǃӄǃޝ⇿њ䖜䖤অ⤜䖜ࣘDŽ™ᵪಘӪཆ䖤䘀ࣘᗵ享Ѫঅ䖤䘀ࣘDŽ©ABBGroupFebruary21,2013|Slide34184.1.2.1.অ䖤䘀ࣘօᰦ֯⭘˖9ሶᵪỠঅݳ〫ࠪড䲙ս㖞DŽ9ሶᵪಘӪ〫ࠪཷ⛩DŽ9ᇊսᵪಘӪ䖤ˈԕׯ䘋㹼ṑ߶DŽ©ABBGroupFebruary21,2013|Slide354.1.2.2.䟽ᇊս䘀ࣘƒ䟽ᇊս䘀ࣘ˄ုᘱ䘀ࣘ˅ReorientᵪಘӪTCPս㖞нਈˈᵪಘӪᐕާ⋯ᓗḷ䖤䖜ࣘˈ᭩ਈုᘱDŽ™䟽ᇊս䘀ࣘᰦˈᗵ享ݸ䘹ᤙᐕާ඀ḷ˄䈧৲䰵lj4.1.4ᐕާ඀ḷNJ˅DŽ©ABBGroupFebruary21,2013|Slide36194.1.2.2.䟽ᇊս䘀ࣘ©ABBGroupFebruary21,2013|Slide374.1.2.3.㓯ᙗ䘀ࣘƒ㓯ᙗ䘀ࣘLinearᵪಘӪᐕާုᘱнਈˈᵪಘӪTCP⋯ᓗḷ䖤㓯ᙗ〫ࣘDŽ™㓯ᙗ䘀ࣘⲴ䘀ࣘᯩੁ䘋㹼ᴹཊ⿽䘹ᤙ˖1.བྷൠ඀ḷ2.ส඀ḷ3.ᐕާ඀ḷ1)tool02)…….4.ᐕԦ඀ḷ1)wobj02)…….©ABBGroupFebruary21,2013|Slide38204.1.2.3.1㓯ᙗ䘀ࣘ—ส඀ḷƒօᰦ֯⭘˖ᖃ䴰㾱ሶਟ亴⍻Ⲵ䘀ࣘ䖫㘼᱃Ѯൠ䖜ॆѪ᧗ࡦᵶ䘀ࣘᰦˈਟԕ൘ส඀ḷ㌫ѝ䘋㹼ᗞࣘ᧗ࡦDŽ൘䇨ཊᛵߥлˈส඀ḷ㌫ᱟ֯⭘ᴰѪᯩׯⲴа⿽඀ḷ㌫ˈഐѪᆳሩᐕާǃᐕԦᡆަᆳᵪỠঅݳ⋑ᴹ׍䎆ᙗDŽ©ABBGroupFebruary21,2013|Slide394.1.2.3.2㓯ᙗ䘀ࣘ—བྷൠ඀ḷƒօᰦ֯⭘˖ֻྲˈᴹєњᵪಘӪˈањᆹ㻵Ҿൠ䶒ˈањق㖞DŽԓ㺘ഒᵪಘӪⲴส඀ḷ㌫ҏሶкл仐قDŽྲ᷌൘ق㖞ᵪಘӪⲴส඀ḷ㌫ѝ䘋㹼ᗞࣘ᧗ࡦˈࡉᖸ䳮亴⍻〫ࣘᛵߥDŽ↔ᰦਟ䘹ᤙޡӛབྷൠ඀ḷ㌫DŽ©ABBGroupFebruary21,2013|Slide40214.1.2.3.3㓯ᙗ䘀ࣘ—ᐕԦ඀ḷƒօᰦ֯⭘˖ֻྲˈᛘᢃ㇇⺞ᇊа㌫ࡇᆄⲴս㖞ˈԕׯ⋯⵰ᐕԦ䗩㕈䫫ᆄDŽᛘᢃ㇇൘ᐕԦ㇡Ⲵє䶒䳄ᶯѻ䰤✺᧕DŽ©ABBGroupFebruary21,2013|Slide414.1.2.3.4㓯ᙗ䘀ࣘ—ᐕާ඀ḷƒօᰦ֯⭘˖֯⭘ᐕާփ㌫ሩクǃ䫫ǃ䬓ǃ䭟ㅹ䘋㹼㕆〻઼䈳ᮤ©ABBGroupFebruary21,2013|Slide42224.1.3.඀ḷ㌫↕僔ࣘ֌1ᢃᔰ᡻ࣘ᫽㓥デਓˈᒦ⛩ࠫ඀ḷ㌫DŽ2൘ᕩࠪⲴデਓѝ䘹ᤙ䴰㾱Ⲵ඀ḷ㌫ᒦ⛩ࠫ⺞ᇊˈTCPሶ൘䘹ᇊⲴ඀ḷ㌫ѝ䘀ࣘDŽ©ABBGroupFebruary21,2013|Slide434.1.4.ᐕާ඀ḷ↕僔ࣘ֌1ᢃᔰ᡻ࣘ᫽㓥デਓˈᒦ⛩ࠫᐕާ඀ḷDŽ2൘ᕩࠪⲴデਓѝ䘹ᤙ䴰㾱Ⲵᐕާ਽〠ˈ❦ਾ⛩ࠫ⺞ᇊDŽ©ABBGroupFebruary21,2013|Slide44234.1.