机器人基础培训

1、.1 Overview 1 概述A robot is made up of two principal parts:机器人主要由两部分组成：Controller: 控制器 Manipulator: 操纵器Figure 1 The controller and manipulator are connected by two cables.图1 控制器和操纵器由两根电缆连接在一起You can communicate with the robot using a teach pendant unit and/or the operators panel, located on the contr

2、oller (see Figure 2).用户可以使用示教屏和/或位于控制器上的操作面板（见图2）实现与机器人的人机对话。Figure 2 The teach pendant unit and the operators panel.图 2 示教屏和操作面板2 The Manipulator 2 操纵器Figure 3 shows in which directions the various axes of the manipulator can move and what these are called.图3显示操纵器上的各个轴可以移动的方向以及它们的名称Figure 3 6 axis

3、robot.图 3六轴机器人3 The Controller 3 控制器Figure 4 illustrates the principal parts of the controller.图4展示控制器的主要组成部分。Teach Pendant unit: 示教屏装置Operators panel: 操作面板Mains switch: 总开关Disk drive: 磁盘驱动器Figure 4 Robot controller. 图4 机器人控制器4 The Operators Panel 4 操作面板The functions of the operators panel are descr

4、ibed in Figure 5.图5描述的是操作面板的功能。Motors On button and indicating lamp:电机开动按钮及指示灯Operating mode selector: 操作模式选择器Emergency stop: 急停按钮If pressed in, pull to restore: 如果按进去了，拔出复位Duty time counter indicates the operating time for the manipulator:运行时间计时器显示操纵器的运行时间Figure 5 The operators panel is located on

5、the front of the cabinet.图5 操作面板位于机箱前面MOTORS ON：电机开动In the MOTORS ON state, the motors of the robot are activated and the Motors On button is continuously lit.在电机开动状态下，机器人的电机运行同时电机开动按钮指示灯一直亮着。Continuous light指示灯灯持续亮着Ready for program execution已做好准备执行程序Fast flashing light (4Hz)指示灯快速闪动（4Hz）The robot i

6、s not calibrated or the revolution counters are not updated. The motors have been switched on.机器人没有校准或者旋转计数器没有更新。电机已经接通电源。Slow flashing light (1Hz)指示灯缓慢闪动（4Hz）One of the safeguarded space tops is active.The motors have been switched off.其中一个保护空间启动。电机已被断开。Operating mode AUTOMATIC (production mode) 操作

7、模式：自动（生产模式）Used when running ready-made programs in production. It is not possible to move the robot with the joystick in this mode.在生产过程中运行现成程序时使用。在这个模式下不能使用操纵杆移动机器人。Operating mode MANUAL REDUCED SPEED (programming mode) 操作模式：手动减速度（编程模式）Used when working inside the robots working area and when prog

8、ramming the robot. Also used to set the robot in MOTORS OFF state.在机器人运行区间运行及设计机器人程序时使用。电机断开状态下也被用来设置机器人。Operating mode MANUAL FULL SPEED (Option, testing mode) 操作模式：手动全速（选项，测试模式）Used to test run the robot program at full programmed speed.用来以全速程控速度试运行机器人程序。Emergency stop 急停The robot stops regardless

9、 of which state or mode the system is in immediately when the emergency stop button is pressed. The button remains pressed in and, to turn to MOTORS ON again, must be returned to its original position.无论系统处于哪个状态或模式，急停按钮按下时机器人立即停止运行。按钮保持内陷状态，而要重新返回电机开动时，则按钮必须回到原始位置。Duty time counter：运行时间计时器Indicates

10、the operating time for the manipulator.显示操纵器的运行时间。5 The Teach Pendant unit 5 示教屏装置The teach pendant unit is described below (see Figure 6).示教屏装置如下图所示（见图6）Hold-to-run: 握紧运行 Enabling device: 启动装置Joystick: 操纵杆 Display: 显示器Emergency stop button: 急停按钮Figure 6 The teach pendant unit is used to operate the

11、 robot.图6 示教屏用于操作机器人Jogging: Opens the Jogging window.操控：打开操控窗口。Program: Opens the Programming and test window.程序：打开编程和测试窗口。Inputs/Outputs: Opens the Input and Output window. Used to manually operate the input and output signals connected to the robot.输入/输出：打开输入和输出窗口。用来手动操作连接在机器人上的输入和输出信号。Miscellane

12、ous; Opens other windows as the System Parameters, Service, Production and File Manager windows.多重功能键：打开其他窗口，如系统参数，维护，生产和文件管理窗口等。Stop: Stops program execution.停止：停止执行程序。Contrast: Adjusts the contrast of the display.对比度：调整显示器的对比度。Menu keys: Press to display menus containing various commands.菜单键：按下后显示

13、含有各种命令的菜单。Function keys: Press to select the various commands directly.功能键：按下后直接选择各种命令。Motion Unit: Press to jog the robot or other mechanical units.移动装置：按下后慢慢移动机器人及其它机械装置。Motion Type: Press to select how the robot should be jogged, reorientation or linear.移动类型：按下后选择机器人的操控类型，是绕TCP点运动还是让TCP点走直线移动。Mot

14、ion Type: Axis by axis movement. 1 = axis 1-3, 2 = axis 4-6移动类型：操纵轴的移动类型 。1=轴13 , 2=轴46Incremental: Incremental jogging on/off递增：打开/关闭递增操控功能。List: Press to move the cursor from one part of the window to another (normally separated by a double line).表：按动将光标从窗口的一部分移到另一部分（通常由两条线分隔开）Previous/Next page:

15、Press to see the next/previous page.上一页/下一页：按动查看下一页/上一页。Delete: Deletes the data selected on the display.删除：删除在显示器上选择的数据。Enter: Press to input data.输入：按住输入数据。Up and Down arrows: Press to move the cursor up or down.向上和向下箭头：按住向上或向下移动光标。Left and Right arrows: Press to move the cursor to the left or rig

16、ht.向左和向右箭头：按住向左或向右移动光标。Programmable keys: How to define these, see Chapter 10 System Parameters - Topic: Teach Pendant可编程按键：怎样定义这些按键请参见第10章系统参数-主题：示教屏中的内容。5.1 Entering text using the Teach Pendant unit 5.1 使用示教屏装置输入文本内容When naming files, routines, data, etc., text can be entered using the teach pend

17、ant unit. As there is no character keyboard available, the numeric keyboard is used in a special way (see Figure 7).给文件、路径程序、数据之类命名时，可以使用示教屏装置输入文本内容。因为没有文字键盘可用，因而此时以特殊方式使用数字键盘（见图7）Figure 7 The dialog box used for entering text.图7 用于输入文本内容的对话框The keys on the numeric keyboard correspond to the selecte

18、d characters on the display.数字键盘上的按键与显示器上的选定的文字对应。 Select a group of characters by pressing the function key - or 或-选择一组字符。 Press the corresponding key on the numeric keyboard. If the third group is selected as shown in Figure 7, 7 corresponds to M, 8 to N, 9 to O, etc. 在数字键盘上按相应的按键。如果像图7所示选定第三组，则7对

19、应M，8对应N，9对应O，如此类推。 Move the cursor to the right or left using Arrow Left or Arrow Right 使用向左箭头或向右箭头左右移动光标。 Delete the character in front of the cursor by pressing Delete. 按删除键删除光标前面的字符。 Switch between upper and lower case letters by pressing A-a. 按A-a键切换大小写。 When you have finished entering text, pre

20、ss OK. 输入完成后，按OK键。5.2 Working with windows 5.2 窗口操作In this section, you will find out about the basics of working with windows. The following example shows the window for Inputs/Outputs (manual handling of inputs and outputs).在本节中，用户可以找到窗口操作的相关基本知识。下例显示的是输入/输出（手动处理输入和输出操作）窗口。 Press the Inputs/Output

21、s key to open the window. 按输入/输出键打开窗口。The window for manual I/O is now shown on the display, as in Figure 8. The appearance of the I/O list may vary depending on how the signals have been defined and how many I/O boards there are in the system.这时手动输入/输出窗口显示在显示器上，如图8。根据信号的不同定义方法和系统中的输入/输出板的数目，输入/输出表外

22、观可能各不相同。Figure 8 Window for manual I/O handling.图8 手动输入/输出处理窗口A - Menu keys 菜单键 B - Window title 窗口标题 C - I/O list name输入/输出表名称D - I/O list 输入/输出表 E - Function keys 功能键F - Line number（线条号码） G Cursor 光标When a digital output is selected, its status can be changed using the function keys.选择了数字输出时，使用功能键

23、可以改变其状态。You can select a signal in the list (move the cursor) in several ways:用户可以用以下几种方式在表中选择信号（移动光标）：Movement 移动动作Select 选择One line up 上移一行ArrowUp 向上的箭头One line down 下移一行ArrowDown 向下的箭头To the first line in the list移到表的第一行Goto top from the Edit menu编辑菜单中的Goto top（移到顶端）To the last line in the list移到

24、表的最后一行Goto bottom from the Edit menu编辑菜单中的Goto bottom（移到底端）To the next page移到下一页NextPage 下一页To the previous page移到上一页PreviousPage 前一页To select a specific line in the list 在表中选择特定行Goto from the Edit menu; enter the desired line number and press OK在编辑菜单中的Goto（移到）选项输入想要的行数并按OK键Windows are sometimes div

25、ided in two by a double line (see Figure 9).有时窗口会被双行线（见图9）分成两部分。When an output is selected, two function keys will be displayed (see Figure 9).选定输出后，将显示两个功能键（见图9）Figure 9 A window with two parts. 一个窗口分成两部分A - Double line 双行线 B - Function keys 功能键In some windows, you can move the cursor between the d

26、ifferent parts of the window.一些窗口中，用户可以在两个不同部分之间移动光标。In these windows, move the cursor using the List key.在这些窗口中，用表键移动光标。There are four window keys on the teach pendant unit (see Figure 10).示教屏装置上具有四个窗口按键（见图10）。Figure 10 The four window keys. 四个窗口按键A - Window keys 窗口按键When you press a window key, th

27、e active window will be hidden under the new one. Each time you select a window, it will look the same as it did the last time you worked with it.当用户按窗口按键后，当前活动窗口就会隐藏在新的活动窗口下面。每次选择，窗口都会以与前一次操作的相同界面出现。6 Emergency Stops 6 急停6.1 The emergency stop button 6.1 急停按钮Emergency stop buttons are located on th

28、e operators panel and on the teach pendant unit. There are often other ways of activating an emergency stop, but these depend on the robot installation.急停按钮位于操作面板和示教屏装置上。常常可用其它方式启动急停功能，不过这得看机器人的安装。When the emergency stop button is activated, the power supply to the motors is shut off and program exe

29、cution stops.启动急停按钮后，电机电源断开同时程序执行被停止。6.2 Recover from emergency stop 6.2 急停的复位 Fix the problem that caused the emergency stop. 解决引起急停的问题。 Confirm the emergency stop event in the event log. 在事件日志中确定急停事故。 Locate and reset the emergency stop button that gave the emergency stop condition. Pull or twist

30、to release the button. 找到产生急停状况的急停按钮并重置。拔出或拧出按钮使之脱扣。 Press the Motors On button to recover from the emergency stop condition (see Figure 11). 按下电机开动按钮，从急停状态中恢复。Motors On:电机开动Figure 11 The emergency stop must be reset before setting the robot in the MOTOR ON state.图11：在电机开动状态下设置机器人之前必须重置急停按钮。7 Starti

31、ng up the robot 7 启动机器人Before switching on the power supply, check that no-one is in the safeguarded space around the robot.接通电源以前，检查确定机器人周围的保护空间内没有人逗留。 Switch on the mains switch 打开主开关。The robot hardware is then automatically checked. When the check is complete and if no errors have been detected,

32、a message will appear on the teach pendant unit (see Figure 12).随后机器人硬件自检。完成检测时如果没有发现错误，示教屏装置上就会出现一条信息（见图12）。Figure 12 The welcome message after start-up.图12 启动后的欢迎使用信息In automatic mode, the Production window will appear after a few seconds.在自动模式下，生产窗口几秒钟后就会出现。The robot is started up with the same s

33、tatus as when the power was switched off. The program pointer remains unchanged and all digital outputs are set to the value before power off, or to the value specified in the system parameters. When the program is restarted, this is considered to be a normal stop - start:机器人会以与电源断开时同样的界面启动。程序指针点不变并

34、且所有的数字输出被设为切断电源前的数值，或设为系统参数规定的数值。如果程序是被重启的，这将被视为正常的停止启动：- The robot moves back slowly to the programmed path (if there is a deviation) and then continues on the programmed path.- 机器人慢慢移动回到程序的起始位置（如果有偏离的时候）然后才继续运行程序。- Motion settings and data are automatically set to the same values as before power o

35、ff.- 移动设置和数据被自动设为按电源断开前的数值。- The robot will continue to react on interrupts.- 机器人将继续从中断点开始工作。- The mechanical units that was active before power off will automatically be activated at program start.- 程序启动时将自动启动断电前运行中的机械装置。-Limitations: 限制- All files and serial channels are closed (this can be handle

36、d by the user program).- 所有的文件和串行信道均是关闭的（这可以由用户程序处理）。- All analog outputs are set to 0 and the Soft servo/Tune servo is set to default values (can be handled by the user program).- 所有的模拟输出被设为0，同时软伺服/微调伺服被设为缺省值（可由用户程序处理）。- WeldGuide cannot be restarted.- 焊接引导装置无法重启。- Independent axes cannot be restar

37、ted.- 独立轴无法重启。- If the power failure occurs during a movement in an interrupt routine or error handler, the restart of the path is not possible.- 如果在中断路径程序的移动动作中或错误处理器断电，则无法重启程控行走路径。7.1 Errors at start-up7.1 启动错误During the entire start-up sequence, the robot functions are checked extensively. If an

38、error occurs, it is reported as a message in plain text on the teach pendant unit, and recorded in the robots event log. For more information on troubleshooting, see the Product Manual.整个启动程序中，机器人的功能被广泛检查。如果有错误发生，一条纯文本信息就会被报告到示教屏上并记录在机器人的事件日志里。有关故障检修的详细资料请见产品说明。7.2 Switching the Power Supply to the

39、MOTORS ON7.2 接通电机开动装置的电源 In automatic mode, press the Motors On button on the operators panel. 在自动模式下，按动操作面板的电机开动按钮。 In manual mode, turn to MOTORS ON mode by pressing the enabling device on the teach pendant unit halfway in. 在手动模式下，将下按示教屏上的启动装置以转到电机开动模式。If the enabling device is released and presse

40、d again within half a second, the robot will not return to the MOTORS ON state. If this happens, first release the enabling device, then push it halfway in again.如果半秒钟内释放又重新按下启动装置，机器人将不会返回电机开动状态。如果发生这样的情况，先释放启动装置，然后再按下按钮。Enabling Device 启动装置8 Switching the robot off 8 关闭机器人All output signals will be

41、 set to zero when the robot is switched off. This may affect the gripper and peripheral equipment. So, before switching the robot off, check first that the equipment, and any people in the area, will not come to any harm.关掉机器人时，所有的输出信号都被设为0。这可能会影响到机械爪和外围设备。因此关闭机器人之前首先必须检查设备和区域内的是否有人，确定他们不会受到伤害。- If

42、the program is running, stop it by pressing the Stop button on the teach pendant unit.如果正在运行程序，按下示教屏装置上的停止按钮使程序停止运行。- After you have done this, switch off the mains switch.完成此步骤，关掉主开关。The robots memory is battery-backed and is thus not affected when the system is switched off.因为机器人存储器由电池供电，所以系统切断电源时

43、不会受到影响。9 Selecting the Operating Mode 9 选择操作模式The operating mode is selected using the operating mode selector.使用操作模式选择器选择操作模式。9.1 Automatic mode (production mode) 9.1 自动模式（生产模式）When the robot is in the automatic operating mode, it is essential that nobody enters the safeguarded space around it. Car

44、elessness may cause personal injury.当机器人处于自动操作模式时，最基本的一点是保证无人进入其保护空间附近。丝毫的粗心大意就可能造成人身伤害。 Turn the operating mode selector to 将操作模式选择器转到自动模式。Automatic mode is used when running complete programs with programmed speed in production operation. In this mode, the enabling device on the teach pendant unit

45、 is disconnected and the functions used to edit programs are locked.自动模式被用在以程控速度运行整个程序的生产操作中。在这种模式下，示教屏上的气动装置被断开。同时用于编辑程序的功能也被锁定。9.2 Manual mode with reduced speed (programming mode)9.2手动减速模式（编程模式） Turn the operating mode selector to 将操作模式选择器转到手动模式。If the hold-to-run function is active (the function

46、 is available by means of a system parameter), program execution will stop as soon as you release the Hold-to-run key on the teach pendant unit.如果握紧运行功能有效（设定一个系统参数就可以使用该功能），那么这种情况下只要操作者松开示教屏上的握紧运行键，程序执行就会马上停止。Manual mode with reduced speed is used when programming and when working in the robot worki

47、ng space. In this mode, external units cannot be controlled remotely.手动减速模式用在程序设计及机器人运行空间内作业的场合。在这个模式下不能使用遥控功能控制外部装置。9.3 Manual mode with full speed (Option, testing mode)9.3 手动全速模式（选项，测试模式）In Manual 100% mode, the robot moves at full speed. This operating mode may only be used by trained personnel.

48、 Carelessness may cause personal injury.在手动全速模式下机器人以全速运行。因此只有受过训练的专业人员才能使用这个模式。丝毫的粗心大意就可能造成人身伤害。 Turn the operating mode selector to 将操作模式选择器转到The hold-to-run function is now active, i.e. program execution will stop as soon as you release the Start key on the teach pendant unit.此时握紧运行功能有效，即只要操作者松开示教

49、屏上的启动键，程序执行就会马上停止。Manual mode with full speed is only used when testing the robot program at full speed.In this mode, external units cannot be remotely controlled.手动全速模式仅在以全速测试机器人程序时使用。在这个模式下不能使用遥控功能控制外部装置。10 Jogging the Robot Using the Joystick 10 用操纵杆操控机器人You can move (jog) the robot using the joy

50、stick on the teach pendant unit. This chapter describes how to jog the robot linearly (i.e. in a straight line) and in small steps, to make it easier to position the robot exactly (known as incremental jogging).借助示教屏装置上的操纵杆，操作者可以使机器人移动（操控）。本章讲述怎样使机器人直线（即沿一条直线）一小步一小步地慢慢移动。这样，精确定位机器人就变得容易些（被称为步长调整操控）。

51、10.1 Linear jogging 10.1 直线操控 Make sure that the operating mode selector is in the manual mode position, as shown in Figure 13. 确定操作模式选择器处于手动模式，如图13所示。Figure 13 Manual mode. 图13手动模式 Check that the Robot motion unit and the Linear motion type are selected (see Figure 14). 检查确定机器人移动装置和直线移动类型已选(见图14).M

52、otion unit:移动装置 motion type:移动类型Figure 14 Motion keys, Leds shows the current settings.图14移动键，发光二极管显示当前设置With the Motion type key, you can choose the way you want the robot to move when you use the joystick during manual operation.借助移动类型按键，操作者可以在手动操作过程中使用操纵杆时选择想要机器人以何种方式移动。You can choose:- linear mo

53、vement- reorientation of a particular end-effector- axis-by-axis movement (group 1: axes 1-3; group 2: axes 4-6)用户可以选择：- 直线移动- 特殊尾效应器的重新定位- 逐个轴移动（第一组：轴13；第二组：46）We will use linear motion for the purposes of this exercise.为了达到练习的目的，这里将使用直线移动。When linear type motion is selected, the robot will move as

54、 shown in Figure 15.选择直线型移动时，机器人将会以如图15所示方式移动。The point that will move linearly, along the axes of the coordinate system above, is called tool0. It is located at the front of the upper arm, in the centre of the robots face plate (see Figure 16).沿以上坐标系坐标轴直线移动的点叫做tool0，位于机器人上臂的前面，机器人面板加大的中心位置（见图16）。To

55、ol Centre Point 0 工具中心点0Figure 16 The centre of the face plate is called TCP 0.图16 机器人面板的中心叫做TCP 0（工具中心点0） Press the enabling device halfway in to switch the MOTORS ON. 把启动装置按钮按进去一半，开动电机。 Now, jog the robot using the joystick. 然后使用操纵杆慢慢移动机器人。Standing in front of the robot, tool0 will move linearly a

56、long the X-, Y- and Z-axes (see Figure 17).竖立在机器人前面，too10将沿X-,Y-和Z-轴移动（见图17）。Figure 17 Robot movements with different joystick deflections.图17操纵杆向不同方向偏离，机器人随之移动Try jogging the robot in the directions corresponding to X, Y and Z above. You can also combine the various movements of the joystick and move in several directions simultaneously. Note that the speed of the robot depends on how much you move the joystick. The more you move the joystick the faster the robot mo