机器人培训基础d

1、Robotics Training培训（基础篇）July 2013Property of Comau - Duplication prohibited培训期间注意事项培训期间必须遵守培训安全事项手册1.2.3.4.操作培训必须佩带相应的防护用具不得随意操作进入工厂区域必须穿安全鞋安全帽2July 2013Property of Comau - Duplication prohibitedCOMAU in the world全球网络3July 2013Property of Comau - Duplication prohibited24 Companies in 13 Countries13个

2、/24个运营中心COMAUOperation 运营Engineering 工程设计R&D 研发中心Office 职能办公Aftersales 售后服务SHANGHAI 上海KUNSHAN 昆山SHENZHENCHONGQING 重庆CHANGSHA 长沙DALIAN 大连4July 2013Property of Comau - Duplication prohibitedBusiness unit of COMAU业务部门Business unit of Comau事业部Body Structures Assembly车身结构装配Powertrain Systems动力总成系统Rob

3、otics工业5July 2013Property of Comau - Duplication prohibitedRobot of COMAU-6July 2013Property of Comau - Duplication prohibitedProductions7July 2013Property of Comau - Duplication prohibitedSMART5 NM 45-2.0 off-set8July 2013Property of Comau - Duplication prohibitedApplication /应用领域9July 2013Property

4、 of Comau - Duplication prohibitedC5G OverviewC5G器概览state-of-the-art processor/ 2 core最先进的处理器/双核VxWorks operating system VxWorks 操作系统Off-line Program离线编程Up to Axes (11)能力（标配）：11个轴最大More features will be seen in the following优势，等你发现July 201310Property of Comau - Duplication prohibitedRobot & Axes

5、July 201311Property of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G柜硬件配置July 201312Property of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G柜硬件配置July 201313Property of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G柜实物图July 201314Property of Comau - Duplicati

6、on prohibitedCommunication模块间通讯July 201315Property of Comau - Duplication prohibitedTeach Pendant(TP)示教器control the robot movementsprogram , execute and modify 编写、调试并运行程序monitoring functions监测系统状态July 201316Property of Comau - Duplication prohibitedTP Parameters示教器参数表July 201317Property of Comau - D

7、uplication prohibitediTPWiTPDisplayLCD, 6.4, 640*480size360*210*80weight1.09 Kg1.47 Kgdistance30 m40 mOne to oneYesNoColourGreyBlueprocessorIntel® PXA 270Operating systemMicrosoft ®Windows® CETP overview示教器总览A: Modal selector switch(red)/模式选择旋钮（红色）B: emergency pushbutton (green)/急停按钮（

8、绿色）C: soft keys(yellow)/按键面板（黄色）D: Enabling Device (blue)/使能功能键（蓝色）E: USB Port/ USB 接口July 201318Property of Comau - Duplication prohibitedModal selector switch模式选择旋钮Program(T1) /编程模式low speed motion(250 mm/s - by the TCP centre)programme debuging低速运行、可以手动、调试编程Local automatic (AUTO) /当地自动模式working p

9、rogrammes moving at set speedtriggered from the Teach Pendant.工作模式/高速运行/示教器可使能Remote automatic (REMOTE) /Used to run programmes moving at set speed程序自动模式triggered from external devices (PLC, others).工作模式/高速运行/示教器不能使能程序July 201319Property of Comau - Duplication prohibitedBlue keys/蓝色键Function keys (r

10、ed highlighted)功能键（红色）LeftRightBottomkeys (L1.L6)/左菜单键keys (R1.R6)/右菜单键keys (F1.F6)/底部功能键General use keys (yellow highlighted)通用按键（黄色） SHIFT keys / SHIFT 键MORE keys / MORE 键HELP keys / HELP 键Navigation keys (blue highlighted)导航键（蓝色）PAGE UP and PAGE DOWN / 翻页键Cursor keys (up, down, lift and right) /

11、光标键ESC key / ESC 键ENTER key / ENTER 键SHIFT keys / SHIFT 键July 201320Property of Comau - Duplication prohibitedMotion keys/键Motion keys /键BACK Keys: movement backward /返回上一个位置COORD key : change reference system/变化参照系AUX key : auxiliary axis A/B motion / 辅助轴选择键ARM key : change the current arm /臂选择键+%

12、and -% key : speed control / 速度JOG keys : motion control / 黑色键1, 2 JPADlift two : z axis/ 左边 - 上下键right four up and down : x axis / 右边 - 上下键键right four lift and right: y axis / 右边 - 左右键July 201321Property of Comau - Duplication prohibitedOther keys/其它RESET (white) / 复原键（白色）reset the ALARM /清除（ ALARM

13、 ）START (green) / 开始键（绿色）in PROGR mode : execute movements在PROGR模式：单步执行命令In LOCAL status : start the program在LOCAL 模式 ：开始运行程序HOLD (yellow） / 暂停键（黄色）stop motion/continue motion暂停/继续执行程序July 201322Property of Comau - Duplication prohibitedHome page / 主页面状态栏栏Right右菜单栏Left左菜单栏Bottom底部菜单栏July 201323Prope

14、rty of Comau - Duplication prohibitedLogon / Logout登录/six categories 6个等级a. administrator : add new user /管理员b. Default : for operator running a production line /默认c. Maintenance : the integrator / 维修员d. Programmer : development / verification / 编程员e. Service : system updating and machine calibratio

15、n / 服务f. Technology : depend on application / 技术员Predefined user /有效登录号Programmer user :Maintenance user :Administrator user :Username: PUUsername : MUUsername: ADMINPassword: PUPassword: MUPassword: ADMINJuly 201324Property of Comau - Duplication prohibitedPower on / Shut down上电/断电Power on / 上电a.th

16、e door of the robot cabinet柜门关闭b. check that these cables are connected检查线缆是否连接正确c. turn on the electric打开主开关（柜）d. power the drive on上电Power off / 断电a. set the system in DRIVE OFF断电b. software shut down关机c. move the main switch to OFF将主开关（柜）关闭July 201325Property of Comau - Duplication prohibitedJOIN

17、T / 关节参照系Joint坐标系下键代表的轴：1X：2Y：3Z：的1轴的2轴的3轴的4轴的5轴的6轴456：July 201326Property of Comau - Duplication prohibitedBASE / 基础参照系July 201327Property of Comau - Duplication prohibitedTOOL / 工具参照系July 201328Property of Comau - Duplication prohibitedUFrame /用户参照系July 201329Property of Comau - Duplication prohib

18、ited练习在不同参照系下，熟练使用示教器（TP）July 201330Property of Comau - Duplication prohibitedPracticeControl the robot motion through TPToolframe坐标系的设定July 201331Property of Comau - Duplication prohibited工具坐标系标准法四点法工件坐标系三点法TOOL SET 4 POINTS工具参照系设定（四点法）四点法：Step-1 ：在点 （如图 P4 点）工作空间中选择恰当的参照Step-2 ：将带有操作工具的移动到参照点（姿态无要

19、求，尽可能靠近参照点）Step-3 ：下该点（如图，点1）Step-4 ：重复步骤2,、3，分别再点（如图点2，点3）Step-5 ：保存计算结果两个姿态July 201332Property of Comau - Duplication prohibitedTOOL SET STANDARD工具参照系设定（标准法）Step-1 ：在照点Step-2 ：检查否正确工作空间中选择恰当的参的标准量具是Step-3：将带有标准量具的移动到参照点（姿态无要求，尽可能靠近参照点）Step-4：将带有操作工具的移动到同一参照点（姿态无要求，尽可能靠近）Step-5：下该点（如图，点1）Step-6：保存计

20、算结果July 201333Property of Comau - Duplication prohibitedSet Uframe - 3 point用户参照系设定（3点法）1.原点Step-1 ：确定需要的用户坐标系Step-2 ：将带有操作工具的移动到坐标系的原点，并Step-3 ：将带有操作工具的该点。移动到坐标系的X轴上任意一点，并该点。Step-4 ：将带有操作工具的移动到坐标系的XY平面中属于第一象限的任意一点，并该点。2.X轴3.XY面Step-5 ：保存计算结果。July 201334Property of Comau - Duplication prohibitedSet

21、Uframe - 3 point示例：用户坐标系设定（3点法）July 201335Property of Comau - Duplication prohibitedUFrameToolFrameSetupUframe设定步骤：Set Uframe - 3 point用户坐标系设定（3点法）July 201336Property of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）July 201337Property of Comau - Duplication prohibitedSet Uframe - 3

22、point用户坐标系设定（3点法）July 201338Property of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）July 201339Property of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）July 201340Property of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）July 201341Property of Comau

23、 - Duplication prohibitedPracticeSet Tool and User Frame Then Check Them练习设定工具及工件坐标系并检查July 201342Property of Comau - Duplication prohibitedProg页面July 201343Property of Comau - Duplication prohibitedEnterProg_teachingProgIDE-编程界面July 201344Property of Comau - Duplication prohibitedIDE-编程界面1. 注释2. 编号

24、3. 关键字4. 保留文字5. 变量名称July 201345Property of Comau - Duplication prohibitedIDEProgJuly 201346Property of Comau - Duplication prohibitedIDEExecutionJuly 201347Property of Comau - Duplication prohibitedIDEPDL2July 201348Property of Comau - Duplication prohibitedIDESelectionJuly 201349Property of Comau -

25、 Duplication prohibitedTeaching position示教编程示教编程的步骤：1.Selection-REC setup 2.REC3.MOD4.Most common 指令的July 201350Property of Comau - Duplication prohibitedTeaching position示教编程July 201351Property of Comau - Duplication prohibitedTeaching position示教编程July 201352Property of Comau - Duplication prohibit

26、edTeaching position示教编程July 201353Property of Comau - Duplication prohibitedTeaching position示教编程July 201354Property of Comau - Duplication prohibitedTeaching position示教编程July 201355Property of Comau - Duplication prohibitedTeaching position示教编程July 201356Property of Comau - Duplication prohibitedTe

27、aching position示教编程July 201357Property of Comau - Duplication prohibitedProgramJuly 201358Property of Comau - Duplication prohibitedTeaching position示教编程练习Practice 1Create and debug a program in IDE (using teaching postion)练在IDE环境下，示教点 ，观察轨迹July 201359Property of Comau - Duplication prohibitedPracti

28、ce 2July 201360Property of Comau - Duplication prohibitedProgramPromotingJuly 201361Property of Comau - Duplication prohibitedMOVE、MOVEFLYJuly 201362Property of Comau - Duplication prohibitedMOVE、MOVEFLYJuly 201363Property of Comau - Duplication prohibitedMOVE、MOVEFLYJuly 201364Property of Comau - D

29、uplication prohibitedSpeed、Acceleration Control1.2.3.4.$GEN_OVR$ARM_OVR$ARM_SPD_OVR$PRG_SPD_OVR1.2.3.4.5.6.$GEN_OVR$ARM_OVR$PRG_ACC_OVR$PRG_DEC_OVR$ARM_ACC_OVR$ARM_DEC_OVRJuly 201365Property of Comau - Duplication prohibitedMotion TerminationJuly 201366Property of Comau - Duplication prohibitedPract

30、ice练习July 201367Property of Comau - Duplication prohibitedCOMAUFile SystemJuly 201368Property of Comau - Duplication prohibitedBackup file备份文件July 201369Property of Comau - Duplication prohibitedBackup file备份文件July 201370Property of Comau - Duplication prohibitedBackup file备份文件July 201371Property of

31、 Comau - Duplication prohibitedBackup file备份文件July 201372Property of Comau - Duplication prohibitedBackup file备份文件July 201373Property of Comau - Duplication prohibitedBackup file备份文件July 2013Property of Comau - Duplication prohibitedBackup file备份文件July 2013Property of Comau - Duplication prohibitedB

32、ackup file备份文件July 201376Property of Comau - Duplication prohibitedBackup file备份文件July 201377Property of Comau - Duplication prohibitedBackup file备份文件July 2013Property of Comau - Duplication prohibitedBackup file备份文件July 2013Property of Comau - Duplication prohibitedBackup file备份文件July 2013Property

33、of Comau - Duplication prohibitedPractice Bakeup files 练习将指定文件备份到特定的July 201381Property of Comau - Duplication prohibitedConnections to C5GJuly 201382Property of Comau - Duplication prohibitedEthernet portsJuly 201383Property of Comau - Duplication prohibitedSerial RS232/422RS232CRS422Can not be use

34、d contemporaneouslyJuly 201384Property of Comau - Duplication prohibitedInputs and OutputsInputs and Outputs on the SDM：Inputs /Outputs and Field Bus on X20：July 201385Property of Comau - Duplication prohibitedI/O on the SDM8 inputs4 outputsJuly 201386Property of Comau - Duplication prohibitedI/O on

35、 X20July 201387Property of Comau - Duplication prohibitedI/O ConfigurationJuly 201388Property of Comau - Duplication prohibitedI/O configurationJuly 201389Property of Comau - Duplication prohibitedI/O configurationJuly 201390Property of Comau - Duplication prohibitedI/O configurationJuly 201391Prope

36、rty of Comau - Duplication prohibitedI/O configurationJuly 201392Property of Comau - Duplication prohibitedI/O configurationJuly 201393Property of Comau - Duplication prohibitedI/O configurationJuly 201394Property of Comau - Duplication prohibitedI/O configurationJuly 201395Property of Comau - Dupli

37、cation prohibitedI/O configurationJuly 201396Property of Comau - Duplication prohibitedI/O configurationJuly 201397Property of Comau - Duplication prohibitedI/O configurationJuly 201398Property of Comau - Duplication prohibitedI/O MapJuly 201399Property of Comau - Duplication prohibitedI/O MapJuly 2

38、013100Property of Comau - Duplication prohibitedI/O MapJuly 2013101Property of Comau - Duplication prohibitedI/O MapJuly 2013102Property of Comau - Duplication prohibitedI/O MapJuly 2013103Property of Comau - Duplication prohibitedI/O MapJuly 2013104Property of Comau - Duplication prohibitedI/O MapJ

39、uly 2013105Property of Comau - Duplication prohibitedI/O MapJuly 2013106Property of Comau - Duplication prohibitedPracticeI/O Configure and MapJuly 2013107Property of Comau - Duplication prohibitedwinC5GJuly 2013108Property of Comau - Duplication prohibitedwinC5G Connect to PCJuly 2013109Property of

40、 Comau - Duplication prohibitedTurn set and Calibration转数设定和校准NUMBER OF TRANSDUCER TURNS编码器转数CALIBRATION POSITION校验位置CALIBRATION CONSTANTS校验常数: (-0.5 , 0.5)July 2013110Property of Comau - Duplication prohibitedTurn set转数设定axis movement with the control off轴在断电后发生了59411 - 08 Ax <num_ax> Arm <num_arm> movement after shut-downevents take place that cause the loss of the number of turns only.只有转数丢失时Ar : TURN1. Align the notches correctly / 尽可能对齐凹槽5409 - 02 Ax <num_asse> Arm <num_arm> joint position not sufficient accurate2. Record the position /d Completed下当前位置*1: CA