机器人培训课程 电气培训

RoboticsTraining机器人培训（电气篇）Cautionsduringtraining

培训期间注意事项1.培训期间必须遵守培训安全事项手册ComplywiththeTrainingsafetymanual2.操作机器人必须佩带相应的防护用具

Wearsafetydevicewhenoperatingrobot3.未经培训人员不得随意操作机器人

Can’toperatingrobotwithoutthepermission4.进入工厂区域必须穿安全鞋安全帽WearsafetydevicewhenyouenterfactoryzoneCOMAUintheworld

柯马全球网络24Companiesin13Countries13个国家/24个运营中心COMAUChina

柯马中国SHANGHAI上海KUNSHAN昆山SHENZHEN深圳CHONGQING重庆CHANGSHA长沙DALIAN大连Operation运营Engineering

工程设计R&D研发中心Office

职能办公Aftersales

售后服务BusinessunitofCOMAUChina

柯马中国业务部门BodyStructuresAssembly车身结构装配PowertrainSystems动力总成系统Robotics工业机器人BusinessunitofComauChina柯马中国事业部RobotofCOMAU

柯马-机器人SMART5NM45-2.0off-setExampleofthetype

型号示例Type型号45PayloadReach2.0SpecialProductions

产品分类Application

应用领域机器人硬件：

Hardware10示教器的型号/VersionofTP2C5G控制柜的型号/VersionofC5G1开机准备/BeforeStartup3模块介绍/AboutModual4机器人硬件：

Hardware11示教器的型号/VersionofTP2C5G控制柜的型号/VersionofC5G1开机准备/BeforeStartup3模块介绍/AboutModual412state-of-the-artprocessor/2core最先进的处理器/双核VxWorksoperatingsystemVxWorks操作系统Off-lineProgram离线编程UptoAxes(11)最大控制能力（标配）：11个轴Morefeatureswillbeseeninthefollowing更多优势，等你发现C5GOverview

C5G控制器概览运输

Transport储存环境

Storagerequirement控制柜型号

VersionofControlUnit控制柜型号

VersionofControlUnit控制柜型号

VersionofControlUnit控制柜型号

VersionofControlUnit控制柜型号

VersionofControlUnit控制柜型号

VersionofControlUnit控制柜尺寸

SizeofControlUnit控制柜尺寸

SizeofControlUnit储存环境

Storagerequirement机器人硬件：

Hardware24示教器的型号/VersionofTP2C5G控制柜的型号/VersionofC5G1开机准备/BeforeStartup3模块介绍/AboutModual4示教器

Teachpendant示教器

Teachpendant示教器

Teachpendant机器人硬件：

Hardware28示教器的型号/VersionofTP2C5G控制柜的型号/VersionofC5G1开机准备/BeforeStartup3模块介绍/AboutModual4开机准备

Precautionbeforestart储存环境

StoragerequirementSafetyconnector

X30短接回路31July2013PropertyofComau-DuplicationprohibitedFunction:Linesafetysignalsand24VdcTransportandinstallationP55-59TransportandinstallationP55-59Safetyconnector

X30短接回路Safetyconnector

X30B短接回路ForRacer四根线

/Fourconnectors1.动力线（X2-X60）/Power2.信号线（X1-X10）/Signal3.地线/Ground4.380V电源线(需要自己接)/Power接线

Connection整体内容框架1.先看transportation2.Maintance3.technical1首先是机器人的型号，安装，保存，运输2机器人的各部分硬件的功能，这个应该要结合电路图说明。每个模块的介绍3如何更换模块4报警代码的识别和消除5重装系统机器人硬件：

Hardware37示教器的型号/VersionofTP2C5G控制柜的型号/VersionofC5G1开机准备/BeforeStartup3模块介绍/AboutModual438ArchitectureofC5Gcabinet

C5G控制柜配置物料号

Partno例子：

Example：物料号

Partno41Communication

模块间通讯

ArmControllerElectromechanical(ACE)TheArmControllerElectromechanical(ACE)controlstheelectricenergydistribution

fromthemainsandremovesthepossibleelectricaltroublesusingthenetworkfilter.

储存环境

StoragerequirementAMS-APC820/830module更换APC

APCChangenotice串口通讯

Serialconnection串口通讯

Serialconnection串口通讯

Serialconnection串口通讯

SerialconnectionCF卡

CompactFlash以太网

EthernetnetworkportUSB口

USBportLED指示灯

StatueLEDAMS-PPS8

端口

PortsAMS-ASM32moduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmoduleAMS-IAMmodule端口

PortsC5G-HSK5:HighSpeedInputKitPurpose

TheC5G-HSK5(HighSpeedKit)optionmakesavailabletwohigh-speedinputsfor

applications,commonlyusedtoacquireagiventechnologicalitem(e.g.weldingline

check)X2ofIAM1C5G-OTK:AxisOverTravelkitX2ofIAM1C5G-SMK:SignalMachineKitX2ofIAM1HeatsinkAMS-FMP14TheFMP14heatsink(Feed-throughMountingPlate14slot)isanaluminiumplateused

alsoassupportbasewhereallactuationmodulesandtheSafetyDistributionModule

(SDM)arefastenedSafetyDistributionModule(SDM)急停距离

Stopingspace设置时间

Selectorposition设置时间

Selectorposition端口

Ports端口

Ports端口

Ports端口

Ports示教器端口

PortsrelatetoTP端口

PortsI/O端口

I/OPortsI/O端口

I/OPortsI/O端口

I/OPortsI/O端口

I/OPortsI/O端口

用途

I/OPortsUninterruptiblePowerSupply(UPS)OperatorPanelDevices(OPD)ConnectorInterfacePanel(CIP)其他备件

otherpartsX10-EXTconnector:structureX61..X63connectorsTheX31..X32isamultipolarconnectorthatgathersoneormoresolutionswithdigital

I/O,24Vdcpowersourcesandsafetysignalsreplicationaimingatprovidingthe

interfacingwiththeapplicationsX31..X32TheconnectorfortheMasterFieldBusallowstoconnecttheFieldBusbetweenthe

mastermoduleinsidetheControlUnitandtheslavemodulesavailableonthetooling

and/orRobotborderarea.X93..X94connector:structureInternalventilationsystem启停控制

StartandStopcontrol启停控制

StartandStopcontrol启停控制

StartandStopcontrol启停控制

StartandStopcontrol启停控制

StartandStopcontrol启停控制

StartandStopcontrolX20X20X20X20地址

Address最低需求

Minimumrequirement模块介绍

ModualIntroduction模块介绍

ModualIntroduction模块介绍

ModualIntroduction总线模块

FieldBus总线模块

FieldBus总线模块

FieldBus主站模块链接示例

ReferencediagramfortheconnectiontoMastermodules从站模块链接示例

ReferencediagramfortheconnectiontoSlavemodulesI/O模块

I/OmodulesonX20机器人硬件：

Hardware113模块更换/ReplaceModual2报警处理/Alarm1重装系统/ReloadSW3机器人硬件：

Hardware114模块更换/ReplaceModual2报警处理/Alarm1重装系统/ReloadSW3报警等级

Alarmlevel报警等级

Alarmlevel报警等级

Alarmlevel报警等级

Alarmlevel报警等级

Alarmlevel64051-11-DRIVEOFFAXIS<Axis_numb>ARM<arm_numb>WrongcurrentendscaleDescription:ThedriveinstalledprovidesacurrentrangedifferentfromwhatisrequiredfromthemotororincongruencehasbeenfoundbetweenthedeclaredcurrentvalueinthefeaturingfileandtheIAMsize.报警示例

AlarmExample60940-11-DRIVEOFFAxis<axis_numb>Arm<arm_numb>-7014:Encoder-errorCRContheencoderline报警示例

AlarmExample60937-11-DRIVEOFFAxis<axis_numb>Arm<arm_numb>-6057:inspectionofpositionloop,erroronencoder报警示例

AlarmExample60945-11-DRIVEOFFAxis<Axis_numb>Arm<arm_numb>-7032/31:<transducerType>-notpowersupplied报警示例

AlarmExample62007–10:Axis<axis_numb>Arm<arm_numb>highcurrentrequest报警示例

AlarmExample60956-10-DRIVEOFFAxis<axis_numb>Arm<arm_numb>-Enablingnotpresent报警示例

AlarmExample64037-11:ACOPOS:errorEPL_ACP_StartupAllNodes<10530>报警示例

AlarmExample60934-11:Shortcircuitmotorphase报警示例

AlarmExample60933-11:-6048:faxisbrakingphase,errorpositiontoohigh报警示例

AlarmExample28959-10-DRIVEOFFSDMoverload8AV24powersupplyI/O-SAFE-$SDI[113]报警示例

AlarmExample28960-10-DRIVEOFFSDMoverload5AV24powersuppl