ABB機器人手册(ABB).doc

PROGRAM STANDARD ABB APPLICATION PSA NOTE USER  AUTHOR: O.NIZON ABB MC VERSION: 3.7 DATE: 20.02.2003 SYNOPSIS I - PRESENTATION 7 II - INSTALLATION AND CONFIGURATION 12 1 - Procedure of initial installation: 12 2 - The first Starting of the Program: 14 3 - Safeguard programs and data: 18 4 - Procedure of cold Reloading (Cold Start): 21 - Reloading starting from the Robot diskette has: 22 B - Reloading starting from a distant PC: 22 5 - Updates of the standard and restarting (P-start): 22 III - PROGRAMMING 24 1 – Creation of the remarkable points 24 2 – Creation of the trajectories of Service 25 3 – Creation of the trajectories of Work 27 4 – Creation and test of the Cycles, management of Except Zone 31 5 - Interference zones between robots: 36 6 – Creation of the trajectories of Recovery 38 7 – Creation of the trajectories of substitution 42 8 – Execution of routines on point of passage 43 9 – Development and Optimization 43 - Development has: 43 B - Optimization of the memory: 44 C - Optimization of the cycle times: 45 10 – Management of the cams of protection Operator. 46 IV – HAND DRIVE OPERATIONS 47 1 – If the robot is in Manuel mode and Except controls: 47 2 – If the robot is in automatic mode: 49 V – SMALL REGLAGES 52 1 - Substitution: 52 2 - Monitorings: 53 3 - Calibration/Definition of the Reference marks: 54 Calibration has 54 B - Definition of the Reference marks: 54 4 - Reloading of the manual actions: 54 VI - CASE OF The CHANGER D TOOLS 56 Trajectories of service, requests for tip dressing: 59 1 On request of the operator 59 2 - Automatic 60 3 – Programming 61 Detections of change of tool: 62 In the event of breakdown of a tool: 62 Resumptions of trajectory: 62 VII - OPERATION IN PRODUCTION 65 1 - Monitoring Communication Automat: 68 2 – Procedure of Stop Cycles 69 VIII - REQUESTS FOR SERVICE 70 IX - DETAIL OF THE VARIOUS PROCESSES 72 1 - Functions common to all the processes: 72 Management of t