UR 官方培训课程讲义解析

1、Distributor trainingAugust 20132005 2008: Development of UR52008:First commercial sales of UR52009: Distribution network established in Europe2011: Distribution network established in AsiaDevelopment of UR102012: Launch of UR10 in the marketDistribution network established in US2013: Distribution ne

2、twork established in Latin AmericaSubsidiaries established in New York + Shanghai History3EuropeAustria (AT)Belarus (RU)Belgium (BE)Croatia (HR)Czech Republic (CZ)Denmark (DK)Estonia (EE)Finland (FI)France (FR)Germany (DE)Hungary (HU)Iceland (IS)Italy (IT)Lithuania (LT)Luxembourg (LU)Netherlands (NL

3、)Norway (NO)Portugal (PT)Poland (PL)Republic Slovakia (SK)Romania (RO)Spain (ES)Slovenia (SI)Sweden (SE)Switzerland (CH)Turkey (TR)UK (GB)Other countriesArgentina (AR)Australia (AU)Brazil (BR)Canada (CA)Chile (CL)China (CN)Columbia (CO)Israel (IL)India (IN)Indonesia (ID)Japan (JP)Korea (KR)Malaysia

4、(MY)Marocco (MA)Mexico (MX)New Zealand (NZ)Singapore (SG)South Africa (ZA)Taiwan (TW)Thailand (TH)Vietnam (VN)USA (US)Global distribution 20134Initial setup Robot configurationGraphical User InterfaceTCP and payloadMountingI/O setupLoad/save installationBasic programmingCreate/open/save programsWayp

5、oints and movement typesDigital and analog signalsBasic CommandsProgram LogicVariablesThreads and eventsAuto StartService/troubleshootingAuto InitializeDef. programLog historyJoint replacementLow Level ControlCalibrate jointDay 1Intermediate/advancedForce ControlPosition variablesFeaturesScriptElect

6、rical interfaceMasterboardTool connectorCommunication interfacesSoftwareModbus TCPClientServerDashboard serverFTP serverEthernet socketEuromap67 (option)Wiki support pageSoftware updateFirmware updateURmagic filesURsimDay 2Initial setupRobot configurationGraphical User InterfaceTCP and payloadMounti

7、ngI/O setupLoad/save installationBasic programmingCreate/open/save programsWaypoints and movement typesDigital and analog signalsBasic CommandsProgram LogicVariables and typesThreads and eventsWaypoints and movement typesMovement typesMoveJMoveLMovePMoveCWaypoint typesFixedRelativeVariableParameters

8、SpeedAccelerationBlendJoint movementMoveJwp_1wp_2Robot Basewp_3Linear movementMoveLwp_1wp_2wp_3Robot BaseLinear movementMoveLwp_1wp_2wp_3blend radiusRobot BaseProcess movementMovePwp_1wp_2wp_3shared blendconstantTCP speedRobot BaseCircular movementMoveCMoveP wp_1MoveC wp_2MoveC wp_3Robot BaseDigital

9、 and analog signalsWaitSetControl boxTool connectorDigital input8 DI2 DIDigital output 8 DO 2 DOAnalog input2 AI2 AIAnalog output 2 AO-Basic commandsPopupHaltCommentFolderProgram logicLoopIf elseSubProgWizardsPalletSeekVariable typesAssignmentbooltrue/falseint16 bit, whole numberfloatreal number (de

10、cimal)stringASCII characters (text)poseposition variable px,y,z,rx,ry,rzlistarray of variablesvar typevalueThreads/eventsThreadParallel processContinuously runningEventParallel processTriggered by a conditionRobot prg Event ThreadDO0 = HIDO0 = LOStartTrigger: DO0 = HIStopAuto startAuto initializeDef

11、. programService/troubleshootingLog historyJoint replacementLow Level ControlCalibrate jointMaintenanceRobot armController boxNew calibration methodFor use after replacement of joint or entire robot armReplace jointCalibrate jointOpen existing programRe-teach the most important waypointscorrectionPA

12、TENT PENDINGkorrektion23Day 2Intermediate/advancedForce ControlPosition variablesFeaturesScriptElectrical interfaceMasterboardTool connectorCommunication interfacesSoftwareModbus TCPClientServerDashboard serverFTP serverEthernet socketEuromap67 (option)Wiki support pageSoftware updateFirmware update

13、URmagic filesURsimForce ControlFeaturesSpecify force control relative to coordinate systemSpecify force control relative to motionDefine force in single axis or multiple axesLimit tool velocity in compliant axesEasy testing using the backrive buttonSpecificationsForce precision 10 NTorque precision

14、5 NmPosition precision 5 mmOrientation precision 0.5 Force type: SimpleFeaturesOne axis in compliant modeForce direction in Z-axisLine feature, direction in Y-axisForce type: FrameFeaturesMultiple axes in compliant modeForce level individual for each axisDefine speed for axes in compliant modeBase,

15、Tool, user defined framesForce type: PointFeaturesSpecify Feature pointY-axis of task frame points towards Feature pointTask frame changes during runtimeForce type: MotionFeaturesTCP motion in X-axis of task frameTask frame changes during runtimeY-axis perpendicular to TCP motionX-axis not compliant

16、Teach mode not applicablePosition variablesDefinition of position variablepose_var = p x , y , z , rx , ry , rz variable namelinear coordsrotationFeaturesDefault featuresUser defined featuresBaseBase coordinate systemToolTool coordinate systemPointLinePlaneURscript languageScript codeSingle line scr

17、iptScript fileElectrical interfacesMasterboardTool connectorElectrical interfaceMasterboardElectrical interfaceTool connectorCommunication interfacesModbus TCPClientServerDashboard serverFTP serverEthernet socketEuromap67 (option)Modbus TCPRobot = clientModbus clientModbus serverEthernetExt. deviceM

18、odbus TCPRobot = serverFixed registersI/O statusTCP and joint positionsRobot and program stateUser defined registers128 registersModbus clientModbus serversEthernetDashboard serverloadLoads a programplayStarts programstopStops running programpausePauses running programquitCloses connectionshutdownSh

19、uts down and turns power offrunningExecution state enquiryrobotmodeRobot mode enquiryget loaded programLoaded program enquirypopupPopup boxclose popupCloses the popupRobotmode -1NO_CONTROLLER_MODE 0ROBOT_RUNNING_MODE (normal state) 1ROBOT_FREEDRIVE_MODE 2ROBOT_READY_MODE 3ROBOT_INITIALIZING_MODE 4RO

20、BOT_SECURITY_STOPPED_MODE 5ROBOT_EMERGENCY_STOPPED_MODE 6ROBOT_FAULT_MODE 7ROBOT_NO_POWER_MODE 8ROBOT_NOT_CONNECTED_MODE 9ROBOT_SHUTDOWN_MODE10ROBOT_SAFEGUARD_STOP_MODESSH / SFTP (secure file transfer protocol)FTP clientHost:IP-address on robotUser:rootPassword:easybotPort 22Ethernet socketsCommonly

21、 used commands:socket_open()socket_close()socket_set_var()socket_get_var()socket_read_ascii_float()Ethernet socketssocket_open(address, port, socket_name)Parameters:address:server address (string)port: port number (int)socket_name:name of socket (string)Return value:FALSE if failedTRUE if connection

22、 is establishedEthernet socketssocket_close(socket_name)Parameters:socket_name:name of socket (string)Return value:no return valueEthernet socketssocket_set_var(name, value, socket_name)Parameters:name:variable name (string)value:number to send (int)socket_name:name of socket (string)Return value:no

23、 return valueEthernet socketssocket_get_var(name, socket_name)Parameters:name:variable name (string)socket_name:name of socket (string)Return value:integer value from serverEthernet socketssocket_read_ascii_float(number, socket_name)Parameters:number:number of variables to read (int)socket_name:name of so