机器人基础培训概要1.docVIP

1 Overview 1 概述 A robot is made up of two principal parts: 机器人主要由两部分组成： Controller: 控制器 Manipulator: 操纵器 Figure 1 The controller and manipulator are connected by two cables. 图1 控制器和操纵器由两根电缆连接在一起 You can communicate with the robot using a teach pendant unit and/or the operator’s panel, located on the controller (see Figure 2). 用户可以使用示教屏和/或位于控制器上的操作面板（见图2）实现与机器人的人机对话。 Figure 2 The teach pendant unit and the operator’s panel. 图 2 示教屏和操作面板 2 The Manipulator 2 操纵器 Figure 3 shows in which directions the various axes of the manipulator can move and what these are called. 图3显示操纵器上的各个轴可以移动的方向以及它们的名称 Figure 3 6 axis robot. 图 3六轴机器人 3 The Controller 3 控制器 Figure 4 illustrates the principal parts of the controller. 图4展示控制器的主要组成部分。 Teach Pendant unit: 示教屏装置 Operator’s panel: 操作面板 Mains switch: 总开关 Disk drive: 磁盘驱动器 Figure 4 Robot controller. 图4 机器人控制器 4 The Operator’s Panel 4 操作面板 The functions of the operator’s panel are described in Figure 5. 图5描述的是操作面板的功能。 Motors On button and indicating lamp:电机开动按钮及指示灯 Operating mode selector: 操作模式选择器 Emergency stop: 急停按钮 If pressed in, pull to restore: 如果按进去了，拔出复位 Duty time counter indicates the operating time for the manipulator: 运行时间计时器显示操纵器的运行时间 Figure 5 The operator’s panel is located on the front of the cabinet. 图5 操作面板位于机箱前面 MOTORS ON： 电机开动 In the MOTORS ON state, the motors of the robot are activated and the Motors On button is continuously lit. 在电机开动状态下，机器人的电机运行同时电机开动按钮指示灯一直亮着。 Continuous light 指示灯灯持续亮着 Ready for program execution 已做好准备执行程序 Fast flashing light (4Hz) 指示灯快速闪动（4Hz） The robot is not calibrated or the revolution counters are not updated. The motors have been switched on. 机器人没有校准或者旋转计数器没有更新。电机已经接通电源。 Slow flashing light (1Hz) 指示灯缓慢闪动（4Hz） One of the safeguarded space tops is active. The motors have been switched off. 其中一个保护空间启动。电机已被断开。 Operating mode AUTOMATIC (production mode) 操作模式：自动（生产模式） Used when running ready-made programs in production. It is not possible to move the robot with