UR-官方培训课程讲义

DistributortrainingAugust20132005–2008:DevelopmentofUR52008:FirstcommercialsalesofUR52009:DistributionnetworkestablishedinEurope2011:DistributionnetworkestablishedinAsiaDevelopmentofUR102012:LaunchofUR10inthemarketDistributionnetworkestablishedinUS2013:DistributionnetworkestablishedinLatinAmericaSubsidiariesestablishedinNewYork+Shanghai

HistoryEurope

Austria(AT)Belarus(RU)Belgium(BE)Croatia(HR)Czech

Republic(CZ)Denmark(DK)Estonia(EE)Finland(FI)France(FR)Germany(DE)Hungary(HU)Iceland(IS)Italy(IT)Lithuania(LT)Luxembourg(LU)Netherlands(NL)Norway(NO)Portugal(PT)Poland(PL)Republic

Slovakia(SK)Romania(RO)Spain(ES)Slovenia(SI)Sweden(SE)Switzerland(CH)Turkey(TR)UK(GB)Other

countriesArgentina(AR)Australia(AU)Brazil(BR)Canada(CA)Chile(CL)China(CN)Columbia(CO)Israel(IL)India(IN)Indonesia(ID)Japan(JP)Korea(KR)Malaysia(MY)Marocco(MA)Mexico(MX)NewZealand(NZ)Singapore(SG)SouthAfrica(ZA)Taiwan(TW)Thailand(TH)Vietnam(VN)USA(US)Globaldistribution20133InitialsetupRobotconfigurationGraphicalUserInterfaceTCPandpayloadMountingI/OsetupLoad/saveinstallation

BasicprogrammingCreate/open/saveprogramsWaypointsandmovementtypesDigitalandanalogsignalsBasicCommandsProgramLogicVariablesThreadsandeventsAutoStartService/troubleshootingAutoInitializeDef.programLoghistoryJointreplacementLowLevelControlCalibratejointDay14Intermediate/advancedForceControlPositionvariablesFeaturesScriptElectricalinterfaceMasterboardToolconnectorCommunicationinterfacesSoftwareModbusTCPClientServerDashboardserverFTPserverEthernetsocketEuromap67(option)WikisupportpageSoftwareupdateFirmwareupdateURmagicfilesURsimDay2InitialsetupRobotconfigurationGraphicalUserInterfaceTCPandpayloadMountingI/OsetupLoad/saveinstallationBasicprogrammingCreate/open/saveprogramsWaypointsandmovementtypesDigitalandanalogsignalsBasicCommandsProgramLogicVariablesandtypesThreadsandeventsWaypointsandmovementtypesMovementtypesMoveJMoveLMovePMoveCWaypointtypesFixedRelativeVariableParametersSpeedAccelerationBlendJointmovementMoveJwp_1wp_2RobotBasewp_3LinearmovementMoveLwp_1wp_2wp_3RobotBaseLinearmovementMoveLwp_1wp_2wp_3blendradiusRobotBaseProcessmovementMovePwp_1wp_2wp_3sharedblendconstantTCPspeedRobotBaseCircularmovementMoveCMovePwp_1MoveCwp_2MoveCwp_3RobotBaseDigitalandanalogsignalsWaitSetControlboxToolconnectorDigitalinput8DI2DIDigitaloutput8DO2DOAnaloginput2AI2AIAnalogoutput2AO-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)WikisupportpageSoftwareupdateFirmwareupdateURmagicfilesURsim23ForceControlFeaturesSpecifyforcecontrolrelativetocoordinatesystemSpecifyforcecontrolrelativetomotionDefineforceinsingleaxisormultipleaxesLimittoolvelocityincompliantaxesEasytestingusingthebackrivebuttonSpecificationsForceprecision ±10NTorqueprecision ±5NmPositionprecision ±5mmOrientationprecision ±0.5°Forcetype: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_MODE0ROBOT_RUNNING_MODE(normalstate)1ROBOT_FREEDRIVE_MODE2ROBOT_READY_MODE3ROBOT_INITIALIZING_MODE4ROBOT_SECURITY_STOPPED_MODE5ROBOT_EMERGENCY_STOPPED_MODE6ROBOT_FAULT_MODE7ROBOT_NO_POWER_MODE8ROBOT_NOT_CONNECTED_MODE9ROBOT_SHUTDOWN_MODE10ROBOT_SAFEGUARD_STOP_MODESSH/SFTP(securefiletransferprotocol)FTPclientHost: IP-addressonrobotUser: rootPassword: easybotPort 22EthernetsocketsCommonlyusedcommands: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)socket_name: nameofsocket(string)Returnvalue:noreturnvalueEthernetsocketssocket_get_var(name,socket_name)Parameters:name:

variablename(string)socket_name: nameofsocket(string)Returnvalue:integervaluefromserverEthernetsocketssocket_read_ascii_float(number,socket_name)Parameters:number:

numberofvariablestoread