ABB机器人学习资料

ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------1E-StopE-Stop,0.6MP(EnableDevice)S4CIRB1400IRB2400IRB4400IRB6400IRBABBABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------2(1,2,4,6)(4)S4S4CIRB14005kgIRB24007kgIRB440060kgIRB6400200kgController:Manipulator:ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------3TeachPendant(OperatorsPanel)1(Manipulator)AC()0.05mm0.2mm24VDC()1.2VABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------4Axis1:Axis2:Axis3:Axis4:Axis5:Axis6:2(Controller)MainsSwitch:TeachPendant:OperatorsPanel:Diskdrive:ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------5S41700915530mm1300915530mmS4C1300915530mm950800540mm3MOTORSON:Operatingmodeselector:ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------6AUTOMATIC:MANUALREDUCEDSPEED:MANUALFULLSPEED:Dutytimecounter:(RoborWare)RoborWareABBRoborWareBaseWare.BaseWareOption.ProcessWare,DeskWare,FactoryWareIRBKeyIRBKeyUserGuideProductManulRAPIDRefurenceInstatlationManulABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------7Emergencystopbutton(E-Stop):Enablingdevice:Joystick:Display:JoggingProgramInput/Outputs/Misc.ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------8List:Previous/NextPage:UpandDownarrows:LeftandRightarrows:ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------9MotionUnit:()MotionType:TCPTCPTCPXYZTCPMotionType:123456Incremental:ON/OFFABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------10Stop:Contrast:MenuKeys:Functionkeys:Delete:Enter:P1-P5ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------11I/OS4CABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------121.0-1,380V2.,/,,S4ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------130101.2.ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------143.Motionunit,MotiontypeUnit:IRBMotionLinearReorientTCPAxes(Group1,2)ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------15CoordWorldBaseToolWobjToolWobjJoysticklockIncrementalNo(Nomal)Small()Medium()Large()User()4.CoordJoystickdirection()WorldWorld,Base,ToolWobjWirstWobjcoordinatesWristcoordinatesABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------16WorldBaseToolToolTCP(ToolControlPoint)ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------17RAPIDProgramMainroutineSubroutine:ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------18Programdata:Controllerparmenters,\DemoExercise.prg,1.2.3.File1.Open4.UnitRAMABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------195.OK6.ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------201.2.Test3.PPStartFWDBWDInstr-4.List5.StartFWDABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------211.ABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------222.OKProgramnameRoutinenameProgrampointer3.MOTORON4.StartFWDABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------23ErrorcodenumberCategoryoferrorReasonforerrorMessagelogCheck1.2.1-0380VABBENGINEERING(SHANGHAI)S4CIRB----------------------------------------------------------------------------------------------------------------24TCP(ToolCenterPoint)TCPTCP1.2.3.TCP1.2.3.4.TCP45Z6XZ