《IRC5 机器人系统基本操作及编程-上海ABB》.pdf

基本操作及编程培训 IRC5 机器人系统 IRC5 Basic Operation and Programming Training 上海ABB工程有限公司 ABB Engineering (Shanghai) Ltd. 教材编号：S5-100 2006年03月 IRC5 Basic Operation And Programming Training 基本操作及编程培训 Content 目录 1 Overview 介绍4 2 Safety and environment protection 系统安全及环境保护 5 3 General 系统概述6 3.1 IRC5 System IRC5系统 6 3.2 Consist of the system 系统组成 7 4 Start the controller 启动9 4.1 Buttons on the Control module 控制单元柜按键 9 4.2 Buttons on the Drive module 驱动单元柜按钮 11 4.3 Start the controller 启动 12 5 Shut down the controller 关机13 6 FlexPendant 示教器14 6.1 Buttons on the FlexPendant 示教器按键 15 6.2 The ABB Menu ABB菜单 17 6.3 Close Button 关闭键 18 6.4 Task Bar 任务栏 18 6.5 Status Bar 状态栏 19 6.6 The Quickset menu 快捷菜单 19 6.7 Soft keyboard 软键盘 21 6.8 Scrolling and Zooming 滚动与缩放 21 7 Jogging the robot using the Joystick 使用操纵摇杆移动机器人 23 8 Precise positioning 精确定点 29 8.1 Incremental movement 步进运动 29 9 Load a program 加载程序 31 9.1 Load an existing program 加载一个已存在的程序 31 9.2 Start and test a program in Manual mode手动测试程序 33 10 Stopping the program 停止程序38 11 Running a program in Automatic mode 自动运行程序39 12 40 13 Rapid Programming Rapid编程41 13.1 Consist of the program 程序的组成 41 13.2 Basic Movement Instructions 基本运动指令 42 13.3 45 13.4 Input/Output Instructions 输入/输出指令 45 13.5 Communication Instructions 通讯指令 46 13.6 Program Fflow Control Instructions 程序流程指令 46 13.7 47 13.8 Other Common Instructions 其他常用指令 47 14 Editing a program 编辑程序48 14.1 Modify positions (tune with motions) 修改位置点 48 2 IRC5 Basic Operation And Programming Training 基本操作及编程培训 14.2 Editing ins