UR官方培训课程

UR官方培训课程优选UR官方培训课程讲义2026/7/92005–2008:DevelopmentofUR52008:FirstcommercialsalesofUR52009:DistributionnetworkestablishedinEurope2011:DistributionnetworkestablishedinAsiaDevelopmentofUR102012:LaunchofUR10inthemarketDistributionnetworkestablishedinUS2013:DistributionnetworkestablishedinLatinAmericaSubsidiariesestablishedinNewYork+Shanghai

HistoryGlobaldistribution2013InitialsetupRobotconfigurationGraphicalUserInterfaceTCPandpayloadMountingI/OsetupLoad/saveinstallation

BasicprogrammingCreate/open/saveprogramsWaypointsandmovementtypesDigitalandanalogsignalsBasicCommandsProgramLogicVariablesThreadsandeventsAutoStartService/troubleshootingAutoInitializeDef.programLoghistoryJointreplacementLowLevelControlCalibratejointDay1Intermediate/advancedForceControlPositionvariablesFeaturesScriptElectricalinterfaceMasterboardToolconnectorCommunicationinterfacesSoftwareModbusTCPClientServerDashboardserverFTPserverEthernetsocketEuromap67(option)WikisupportpageSoftwareupdateFirmwareupdateURmagicfilesURsimDay2InitialsetupRobotconfigurationGraphicalUserInterfaceTCPandpayloadMountingI/OsetupLoad/saveinstallationBasicprogrammingCreate/open/saveprogramsWaypointsandmovementtypesDigitalandanalogsignalsBasicCommandsProgramLogicVariablesandtypesThreadsandeventsWaypointsandmovementtypesMovementtypesMoveJMoveLMovePMoveCWaypointtypesFixedRelativeVariableParametersSpeedAccelerationBlendJointmovementMoveJwp_1wp_2RobotBasewp_3LinearmovementMoveLwp_1wp_2wp_3RobotBaseLinearmovementMoveLwp_1wp_2wp_3blendradiusRobotBaseProcessmovementMovePwp_1wp_2wp_3sharedblendconstantTCPspeedRobotBaseCircularmovementMoveCMovePwp_1MoveCwp_2MoveCwp_3RobotBaseDigitalandanalogsignalsWaitSetControlboxToolconnectorDigitalinput8DI2DIDigitaloutput

8DO

2DOAnaloginput2AI2AIAnalogoutput

2AO-BasiccommandsPopupHaltCommentFolderProgramlogicLoopIf…elseSubProgWizardsPalletSeekVariabletypesAssignmentbooltrue/falseint16bit,wholenumberfloatrealnumber(decimal)stringASCIIcharacters(text)posepositionvariablep[x,y,z,rx,ry,rz]listarrayofvariablesvartypevalueThreads/eventsThreadParallelprocessContinuouslyrunningEventParallelprocessTriggeredbyaconditionRobotprgEventThreadDO[0]=HIDO[0]=LOStartTrigger:DO[0]=HIStopAutostartAutoinitializeDef.programService/troubleshootingLoghistoryJointreplacementLowLevelControlCalibratejointMaintenanceRobotarmControllerboxNewcalibrationmethodForuseafterreplacementofjointorentirerobotarmReplacejointCalibratejointOpenexistingprogramRe-teachthemostimportantwaypointscorrectionPATENTPENDINGkorrektionDay2Intermediate/advancedForceControlPositionvariablesFeaturesScriptElectricalinterfaceMasterboardToolconnectorCommunicationinterfacesSoftwareModbusTCPClientServerDashboardserverFTPserverEthernetsocketEuromap67(option)WikisupportpageSoftwareupdateFirmwareupdateURmagicfilesURsimForcetype:SimpleFeaturesOneaxisincompliantmodeForcedirectioninZ-axisLinefeature,directioninY-axisForcetype:FrameFeaturesMultipleaxesincompliantmodeForcelevelindividualforeachaxisDefinespeedforaxesincompliantmodeBase,Tool,userdefinedframesForcetype:PointFeaturesSpecifyFeaturepointY-axisoftaskframepointstowardsFeaturepointTaskframechangesduringruntimeForcetype:MotionFeaturesTCPmotioninX-axisoftaskframeTaskframechangesduringruntimeY-axisperpendiculartoTCPmotionX-axisnotcompliantTeachmodenotapplicablePositionvariablesDefinitionofpositionvariablepose_var=p[x,y,z,rx,ry,rz]variablenamelinearcoord’srotationFeaturesDefaultfeaturesUserdefinedfeaturesBaseBasecoordinatesystemToolToolcoordinatesystemPointLinePlaneURscriptlanguageScriptcodeSinglelinescriptScriptfileElectricalinterfacesMasterboardToolconnectorElectricalinterfaceMasterboardElectricalinterfaceToolconnectorCommunicationinterfacesModbusTCPClientServerDashboardserverFTPserverEthernetsocketEuromap67(option)ModbusTCPRobot=clientModbusclientModbusserverEthernetExt.deviceModbusTCPRobot=serverFixedregistersI/OstatusTCPandjointpositionsRobotandprogramstateUserdefinedregisters128registersModbusclientModbusserversEthernetDashboardserverloadLoadsaprogramplayStartsprogramstopStopsrunningprogrampausePausesrunningprogramquitClosesconnectionshutdownShutsdownandturnspoweroffrunningExecutionstateenquiryrobotmodeRobotmodeenquirygetloadedprogramLoadedprogramenquirypopupPopupboxclosepopupClosesthepopupRobotmode

-1NO_CONTROLLER_MODE

0ROBOT_RUNNING_MODE(normalstate)

1ROBOT_FREEDRIVE_MODE

2ROBOT_READY_MODE

3ROBOT_INITIALIZING_MODE

4ROBOT_SECURITY_STOPPED_MODE

5ROBOT_EMERGENCY_STOPPED_MODE

6ROBOT_FAULT_MODE

7ROBOT_NO_POWER_MODE

8ROBOT_NOT_CONNECTED_MODE

9ROBOT_SHUTDOWN_MODE10ROBOT_SAFEGUARD_STOP_MODEEthernetsocketsCommonlyusedcommands:socket_open()socket_close()socket_set_var()socket_get_var()socket_read_ascii_float()Ethernetsocketssocket_open(address,port,socket_name)Parameters:address: serveraddress(string)port: portnumber(int)socket_name: nameofsocket(string)Returnvalue:FALSEiffailedTRUEifconnectionisestablishedEthernetsocketssocket_close(socket_name)Parameters:socket_name: nameofsocket(string)Returnvalue:noreturnvalueEthernetsocketssocket_set_var(name,value,socket_name)Parameters:name: variablename(string)value: numbertosend(int)so