YASKAWA安川机器人简明示教

1、安川机器人示教伍安全注意现场使用的安川MOTOMAN-ES165N机器人负载能力为165公斤（有效工具负载，实际各关节力量更大），操作不慎会引起严重安全事故，可能导致人员受伤或死亡。现场示教时，严格控制速度示教机器人，观察清楚机器人各关节位置，零件位置再动作，示教前对机器人区域清场，不许无关人员进入。机器人概述1，示教手柄按键nsertionsotforoca呂:zzI.：回车键日301C0003mCV.-J-S30C.-XCC_Xrr.-Xcc.ccGeneraI-purposedisplayarear0iverj/MotionNumerickeys/FunctionkeysCompactF

2、lash轨迹动作选择ssstoinputnumbers.L-axisU-axis)R-axis您)E翅is4(2)基础直角坐标系S-axisJointCoordinatesU-aj(isR-axis0-axisL-axts节坐标系JtX-axisxisVZ-axisfoolCoordinatesUserCoordinatesE-axisT-axisZ-axisZ-axiBX-axisCartesianCoordinatesr-ajcisCylindricalCoordinates工具坐标系3,程序Tabte3-1:InterpolationTypeforSingleCircularArcPoi

3、ntInterpolationTypeInstructionAutomaticallybecomesastraightline.*、A/POJointorLinearMOVJMOVLYP1P2P3CircularMOVCPOP1P3P4P4JointorLinearMOVJMOVLTable3-2InterpolationTypeforContinuousCircularArcsPointInterpolationTypeInstructionPOJointorLinearMOVJMOVLP1P2P3CircularMOVCP4JointorLinearMOVJMOVLP5P6P7Circul

4、arMOVCP8JointorLinearMOVJMOVL移动指令MOVJ关节移动，速度最快MOVL直线移动，MOVC圆弧轨迹移动MOVJFunctionMovestoataughtpointwithjointinterpolationtype.AdditionalItemPositiondata,Baseaxispositiondata,StationaxispositiondataThesedatadonotappearonthescreen.VJ=VJ:0.01to100.00%PL=PL：0to8NWAITUNTILstatementACC=(accelerationadjustmen

5、tratio)ACC：20to100%DEC=(decelerationadjustmentratio)DEC：20to100%ExampleMOVJVJ=5000PL=2NWAITUNTILIN#(16)=ONMOVLFunctionMovestoataughtpointwithlinearinterpolationtype.AdditionalItemPositiondata,Baseaxispositiondata,StationaxispositiondataThesedatadonotappearonthescreen.V=rVR=1VE=V:0.1to15000mm/s1to900

6、0.0cm/minVR:01to1800deg/sVE:001to100.00%PL=PL：0to8CR=(cornerradius)OR：1.0to6553.5mmNWAITUNTILstatementACC=(accelerationadjustmentratio)ACC：20to100%DEC=(decelerationadjustmentratioDEC：20to100%ExampleMOVLV=138PL=ONWAITUNTILIN#(16)=ONMOVCFunctionMovestoataughtpointwithcircularinterpolationtype.Addition

7、alItemPositiondata,Baseaxispositiondata,StationaxispositiondataThesedatadonotappearonthescreen.V=rVR=,VE=SameasMOVL.PL=PL:0to8NWAITACC=(accelerationadjustmentratio)ACC：20to100%DEC=(decelerationadjustmentratioDEC：20to100%ExampleMOVCV=138PL=0NWAIT三、手动调用执行程序1，选择程序下图为OP120设备现场的程序清单。阳I口回冈OT(F)巴回匡)鼻畐剧K)障仝

8、CQ)C：WDocumentsandSettingsWiOl8EU4WMyDocunrientsWJv祚昌里晉日孕習*DI昌3)ro：MASTER.JBi01=AH巳肓7|BQ1酗711Al主程序画1_TIGHTENING(DB58).JBI|2_TIGHTENING(DE08).JBIDE08拧紧J3_TIGHTENING(DL06).JBIJ4_TIGHTENING(DL08).JBIJ7_HOME_RETURN.JBIJ8_CLEAR_SIGNAL.JBIg9_HOME_POSITIOM,JBI10_MANUAL_TIGHTENING.JBI囲11_MANUAL_TIGHTENING(D

9、B58).JBI刮12_MANUAL_TIGHTEMING(DE08),JBIDE08手J13_MANUAL_TIGHTENING(DL06),JBIJM_MANUAL_TIGHTENING(DL08),JBI对20_AUTOMATIC_TIGHTENING,JBI自动拧gDB5B_TIGHTENING_POSITION_1,JBI到DB68_TIGHTENING_POSITION_2.J吕I囲DB5E_TIGHTENING_POSITION_3.JBIJDB5E_TIGHTENING_POSITION_4,JBIgDB5e_TIGHTENING_POSITION_5.JBIJDB5e_TIG

10、HTENING_POSITION_6,JBIJDEOB_TI6HTENING_POSITION_1.JBIDE08JDEO0_TIGHTENING_POSITION_2.JBIDE08画DEOB_TIGHTENING_POSITION_3,JBI到DE08_TIGHTENING_POSITION_4,JBI圖DEOE_TIGHTENING_POSITION_5,JBIgDEOe_TIGHTENING_POSITION_6,JBIJDL06_TIGHTENING_POSITION_1.JBIJDL06_TIGHTENING_POSITION_2.JBI園DL06_TIGHTENING_POSIT

11、ION_3.JBI国DL06_TIGHTENING_POSITION_4.JBI到DL06_TIGHTENING_POSITION_5.JBI團DLOB_TIGHTENING_POSITION_6.JBIJDL08_TIGHTENING_POSITION_1,JBIJDLO0_TIGHTENING_POSITION_2.JBIJDL08_TIGHTENING_POSITION_3.JBIJDLO0_TIGHTENING_POSITION_4.JBI刮DL08_TIGHTENING_POSITION_5.J日I到DL08_TIGHTENING_POSITION_6.JBITOOL-CHANGE,

12、JBIJTOOL_CHAMGE_POSITION_L1,JBIJTOOL_CHANGE_POSITION丄ZJEIJT00L_CHANGE_P0SITI0N_L3.JBI回T00l_CHAN6E_P0SITI0N_R1.JBIJT00L_CHAM6E_P0SITI0N_R2,JBI刮T00L_CHAN6E_P0SITI0N_R3,JBI回原位I/O信号初始化回原位位置换套筒套筒左：套筒左2J11LII1SelectJOBunderthemainmenu.SelectSELECTJOB.-TheJOBLISTwindowappearsSelectthedesiredjob当执行某个动作时，按照程序清单选择该程序。2，手动执行程序选择程序后，按光标上下键，移动到需要执行的程序步。MoveiriBtructiofiisregi