机器人基础培训 tp51

1、Property of Comau - Duplication prohibitedMade in Comau机器人培训（基础篇）Robot trainingCautions during training培训期间注意事项1. 培训期间必须遵守培训安全事项手册Comply with the Training safety manual2. 操作机器人必须佩带相应的防护用具Wear safety device when operating robot3. 未经培训人员不得随意操作机器人Cant operating robot without the permission4. 进入工厂区域必须穿安

2、全鞋安全帽Wear safety device when you enter factory zoneMade in ComauProperty of Comau - Duplication prohibitedCOMAU in the world柯马全球网络Made in ComauProperty of Comau - Duplication prohibited24 Companies in 13 Countries13个国家/24个运营中心COMAU China柯马中国Operation 运营Engineering 工程设计R&D 研发中心Office 职能办公Aftersales 售

3、后服务SHANGHAI 上海KUNSHAN 昆山SHENZHEN 深圳CHONGQING 重庆CHANGSHA 长沙DALIAN 大连Made in ComauProperty of Comau - Duplication prohibitedBusiness unit of COMAU China柯马中国业务部门Made in ComauProperty of Comau - Duplication prohibitedBusiness unit of Comau China柯马中国事业部Body Structures Assembly车身结构装配Powertrain Systems动力总成

4、系统Robotics工业机器人Robot of COMAU柯马-机器人Made in ComauProperty of Comau - Duplication prohibitedExample of the type型号示例 SMART5 NM 45-2.0 off-setType型号Special45Payload2.0ReachMade in ComauProperty of Comau - Duplication prohibitedProductions产品分类Made in ComauProperty of Comau - Duplication prohibitedApplica

5、tion应用领域Made in ComauProperty of Comau - Duplication prohibitedDay 01第一天机器人硬件：HardwareC5G控制柜的组成 / Hardware in C5G1示教器的操作界面 / Interface of TP2机器人运动学基础 / Coordinate of Robot310Made in ComauProperty of Comau - Duplication prohibitedDay 01第一天机器人硬件：HardwareC5G控制柜的组成 / Hardware in C5G (短接回路/X30)1示教器的操作界面2

6、机器人运动学基础311Made in ComauProperty of Comau - Duplication prohibitedC5G OverviewC5G 控制器概览 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) 最大控制能力（标配）：11个轴 More features will be seen in the following 更多优势，等你发现12Made in ComauProper

7、ty of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G控制柜配置13Made in ComauProperty of Comau - Duplication prohibitedCommunication模块间通讯14Made in ComauProperty of Comau - Duplication prohibitedArchitectureof C5G cabinetC5G控制柜实物图Made in ComauProperty of Comau - Duplication prohibitedPower on

8、 / Shut down上电/断电Power on / 上电a. close the door of the robot cabinet / 关闭控制柜门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（控制柜）d. power the drive on / 机器人上电Shut down/ 断电a. set the system in DRIVE OFF / 机器人断电b. software shut down / 软件关机c. move the main switch to

9、 OFF / 将主开关（控制柜）关闭Made in ComauProperty of Comau - Duplication prohibited接线：Connection控制柜接线1X30(短接回路)217Made in ComauProperty of Comau - Duplication prohibited接线：Connection控制柜接线 / Connection between C5G &Robot1X30(短接回路)218Made in ComauProperty of Comau - Duplication prohibited接线Connection四根线 / Four

10、connectors1. 动力线（X2-X60）/ Power2. 信号线（X1-X10）/ Signal3. 地线 / Ground4. 380V电源线(需要自己接) / Power19Made in ComauProperty of Comau - Duplication prohibited接线：控制柜接线1X30(短接回路) / Safety connector220Made in ComauProperty of Comau - Duplication prohibitedSafety connectorX30短接回路Transport and installation P55-59

11、Function: Line safety signals and 24VdcMade in ComauProperty of Comau - Duplication prohibitedSafety connectorX30短接回路 Transport and installation P55-59Made in ComauProperty of Comau - Duplication prohibitedSafety connectorX30B短接回路 For Racer Made in ComauProperty of Comau - Duplication prohibited机器人硬

12、件：HardwareC5G控制柜的组成1示教器的操作界面 / Interface of TP2机器人运动学基础324Made in ComauProperty of Comau - Duplication prohibitedTeach Pendant(TP5)示教器Control the robotmovements / 控制机器人运动Program, execute and modify / 编写、调试并运行程序Monitoring functions / 监测系统状态25Made in ComauProperty of Comau - Duplication prohibitedTP o

13、verview示教器总览1. Modal selector switch2. Pushbutton3. Display4. Blue keys5. Other color keys6. LEDs7. JPAD8. JOG keys26Made in ComauProperty of Comau - Duplication prohibitedModal selector switch模式选择旋钮Programming (T1) /编程模式low speed motion(250 mm/s - by the TCP centre)programme debuging低速运行、可以手动控制机器人运

14、动、调试编程TPLocal automatic (AUTO) /当地自动模式working programmes moving at set speedtriggered from the Teach Pendant.工作模式/高速运行/示教器可使能机器人程序Remote automatic (REMOTE) /远程自动模式Used to run programmesmoving at set speedtriggered from external devices (PLC, others). 工作模式/高速运行/示教器不能使能机器人程序27Made in ComauProperty of

15、Comau - Duplication prohibitedStop Pushbutton急停按钮28Made in ComauProperty of Comau - Duplication prohibitedEnabling Device使能按钮Therightpushbuttonandtheleftpushbuttonoperatein toexactlythesameway. theEachoftheseisathree-positionsafetydevicethatisbekeptpressedinintermediateposition,toallowmovementswhent

16、hesystemisinProgrammingmode.When this pushbutton is pressed the motors are automatically activated (DRIVE ON).29Made in ComauProperty of Comau - Duplication prohibitedDisplay显示器30Made in ComauProperty of Comau - Duplication prohibitedDisplay显示器31Made in ComauProperty of Comau - Duplication prohibite

17、dBlue keys蓝色键32Made in ComauProperty of Comau - Duplication prohibitedOther color keys其他颜色按键Causes the movement backward, to the start position of the current movement, duringstep-by-step checking of a program.Selects the Reference SystemIn Multiarm systems, it is used to manage the index of the mai

18、n Arm and the synchronised ArmThey can be used to change the OVERRIDE33Made in ComauProperty of Comau - Duplication prohibitedLEDs Reset：重置 / Reset Alarm 红色：当机器人出现报警时，闪红色 Drive ON：上电 / Power up 绿色：当机器人上电，显示绿色34Made in ComauProperty of Comau - Duplication prohibitedRight menu右件菜单Made in ComauProperty

19、 of Comau - Duplication prohibitedLogon / Logout登录/退出 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d. Programmer : development / verification / 编程员e. Service : system updating and machine calibration

20、 / 服务f. Technology : depend on application / 技术员 Predefined user /有效登录号Username: PUUsername : MUUsername: ADMINPassword: PUPassword: MUPassword: ADMIN36Made in ComauProperty of Comau - Duplication prohibited状态栏启用设备和驱动的状态 “E” 启 用 设 备 未 按 下 “ED”具有绿色背景-启用设备按下“ED”具有红色背景-错误“ON”表示驱动的状态（Drive ON）前臂的数目A:21是

21、指Arm2是主臂，Arm1是同步臂，如果存在辅助臂，用J字段表示， 是AUX-A还是AUX-B进行了分配，如果没有关联轴则用破折号“-”表示。图中的意义是主臂是臂1（A:1）；Aux-A和Aux-B与任何轴都没有关联。Progr Local RemoteAuto/Remote*表示没有可暂停的程序运行RUN 表示至少有一个可暂停的程序正在运行T1*表示没有进行中的运动JOG 表示正在进行手动运动FORW 表示正在执行FORWARD运动BACK表示正在执行BACKWARD运动HOLD和ALARM的意义并不取决于选择开关的状态HOLD 表示按下HOLD按钮，其显示在黄色背景上。ALARM 显示红色

22、背景上TP Jog模式Base Tool Joint UframeWRIST模式Wr-Base Wr-Tool Wr-Uframe臂状态“-”臂配置正确，且随时可以移动“turn”臂需要转动设定操作 “no cal”臂无需校准“simu”模拟臂“dis”禁用臂“coop”臂-臂协调37Made in ComauProperty of Comau - Duplication prohibited机器人硬件：HardwareC5G控制柜的组成1示教器的操作界面2机器人运动学基础 / Coordinate of Robot338Made in ComauProperty of Comau - Dup

23、lication prohibitedJOINT关节参照系Joint坐标系下运动键代表的轴：1X：机器人的1轴 / AIX12Y：机器人的2轴 / AIX23Z：机器人的3轴 / AIX34 ：机器人的4轴 / AIX45 ：机器人的5轴 / AIX56 ：机器人的6轴 / AIX639Made in ComauProperty of Comau - Duplication prohibitedBASE基础参照系40Made in ComauProperty of Comau - Duplication prohibitedTOOL工具参照系41Made in ComauProperty of

24、 Comau - Duplication prohibitedUFrame用户参照系42Made in ComauProperty of Comau - Duplication prohibitedPractice练习 Practice Control the robot motion through TP 练习 在不同参照系下，熟练使用示教器（TP）控制机器人运动43Made in ComauProperty of Comau - Duplication prohibitedDay 02第二天坐标系&IDE&程序结构Coord & IDE &Program Structure工具坐标系&工件

25、坐标系 / Tool & Uframe1IDE界面（编程界面）/ Program Interface2程序结构 / Program Structure344Made in ComauProperty of Comau - Duplication prohibited坐标系&IDE&程序结构Coord & IDE &Program Structure工具坐标系&工件坐标系 / Tool & Uframe1IDE界面（编程界面）2程序结构345Made in ComauProperty of Comau - Duplication prohibited坐标系的设定方法四点法 / 4 points

26、method标准法 / Standard工具坐标系Tool工件坐标系Uframe三点法 / 3 points methodMade in ComauProperty of Comau - Duplication prohibited工具坐标系设定（四点法）Step-1 ：在外部选择一个参考点R，在工具上选择一个参考点T。Step-2 ：将工具上的T点，移动到参考点R（姿态无要求，尽可能靠近参考点）Step-3 ：记录下该点（如图，p1）Step-4 ：重复步骤2和3，分别再记录两个姿态点（如图p2，p3，如果记录准确只需三个点，否则需要记录更多的点，才能到下一步骤，超过5个点，需重做。）Ste

27、p-5 ：确定工具坐标系的Z的正方向，即Z+_ToolStep-6 ：确定工具坐标系的X的正方向，即X+_ToolStep-7 ：保存计算结果p2Tp1Rp347Made in ComauProperty of Comau - Duplication prohibited工具坐标系设定（标准法）整体操作过程如下：Step-1 ：在机器人工作空间中选择恰当的参照点Step-2 ：检查机器人记录的标准量具尺寸是否正确Step-3：将带有标准量具的机器人移动到参照点（姿态无要求，尽可能靠近参照点）/Standard ToolmasterStep-4：将带有操作工具的机器人移动到同一参照点（姿态无要求

28、，尽可能靠近）Step-5：记录下该点（如图，点1）Step-6：保存计算结果48Made in ComauProperty 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 Decide the UframeStep-2 ：将带有操作工具的机器人移动到坐标系的原点，并记录该点。/ Move the robot to original point系的X轴Step-3 ：将带有操作工具的机器人移动到坐标上任意一点，并记录该点。/ Move to one point on

29、the XStep-4 ：将带有操作工具的机器人移动到坐标系的XY平面中属于第一象限的任意一点，并记录该点。/ Move to point in Xy PlaneStep-5 ：保存计算结果。 Save the Results2.X轴3.XY面49Made in ComauProperty of Comau - Duplication prohibitedSet Uframe - 3 point示例：用户坐标系设定（3点法）Uframe设定步骤：50Made in ComauProperty of Comau - Duplication prohibitedUframeFramesMotion

30、SetupSet Uframe - 3 point用户坐标系设定（3点法）Choose the Tool51Made in ComauProperty of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）Move to Origin Point52Made in ComauProperty of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）Move to Xpos53Made in ComauProperty of Comau - Dup

31、lication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）Move to XYpos54Made in ComauProperty of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）Get the Result55Made in ComauProperty of Comau - Duplication prohibitedSet Uframe - 3 point用户坐标系设定（3点法）Save the Result56Made in ComauProperty of Co

32、mau - Duplication prohibitedPractice练习 Practice Set Tool and User Frame Then Check Them 练习 设定工具及工件坐标系并检查57Made in ComauProperty of Comau - Duplication prohibited坐标系&IDE工具坐标系&工件坐标系1IDE界面（编程界面）/ Program Interface2程序结构358Made in ComauProperty of Comau - Duplication prohibitedIDE示教编程示教编程涉及的界面:IDE & Prog

33、ramming1. Motion-运动参数 / Parameters & Position2. Prog-新建、加载程序 / Creat &Load Program3. IDE-编程环境 / Modify the ProgramMade in ComauProperty of Comau - Duplication prohibitedMotion PageMotion页面Position / Coord, etc60Made in ComauProperty of Comau - Duplication prohibitedProg PageProg页面Create &Load Progra

34、m61Made in ComauProperty of Comau - Duplication prohibitedIDE PageIDE页面Modify Program62Made in ComauProperty of Comau - Duplication prohibitedIDE PageIDE页面63Made in ComauProperty of Comau - Duplication prohibitedIDE PageIDE页面64Made in ComauProperty of Comau - Duplication prohibitedIDE PageIDE页面65Mad

35、e in ComauProperty of Comau - Duplication prohibitedIDE PageIDE页面66Made in ComauProperty of Comau - Duplication prohibitedIDE PageIDE页面67Made in ComauProperty of Comau - Duplication prohibitedCommonly Used常用指令最常用的指令：Commonly Used1.REC setup 2.REC3.MOD4.Insert68Made in ComauProperty of Comau - Duplic

36、ation prohibitedREC SetupREC 设置REC setup(常按REC)为了设置轨迹的类型 / set the type of the trajectory69Made in ComauProperty of Comau - Duplication prohibitedREC SetupREC 设置Press the REC a little longer, then you will see the REC setup70Made in ComauProperty of Comau - Duplication prohibitedREC SetupREC 设置71Mad

37、e in ComauProperty of Comau - Duplication prohibitedRECRECREC为了记录轨迹，前提是REC Setup已设置Record the position of the robot72Made in ComauProperty of Comau - Duplication prohibitedRECRECMove robot to the desired position73Made in ComauProperty of Comau - Duplication prohibitedRECRECPress the REC,Then you ca

38、n record the positionMade in ComauProperty of Comau - Duplication prohibitedTeaching position示教点MOD为了修改点，即更新点的位置Modify the position75Made in ComauProperty of Comau - Duplication prohibitedMod修改点Move Robot to a new position.76Made in ComauProperty of Comau - Duplication prohibitedPress MOD.Then A New

39、 page turn up. Choose the pnt0001J Then Press OKMade in ComauProperty of Comau - Duplication prohibitedInsert插入点Insert为了插入常用的一些命令，如速度百分比，等Insert some Common variables78Made in ComauProperty of Comau - Duplication prohibitedInsert插入点79Made in ComauProperty of Comau - Duplication prohibitedInsert插入点80

40、Made in ComauProperty of Comau - Duplication prohibitedInsert插入点81Made in ComauProperty of Comau - Duplication prohibitedInsert插入点82Made in ComauProperty of Comau - Duplication prohibitedInsert插入点83Made in ComauProperty of Comau - Duplication prohibitedInsert插入点84Made in ComauProperty of Comau - Dup

41、lication prohibitedInsert插入点85Made in ComauProperty of Comau - Duplication prohibited坐标系&IDE&程序结构工具坐标系&工件坐标系1IDE界面（编程界面）2程序结构 / Program Structure386Made in ComauProperty of Comau - Duplication prohibitedProgram Structure程序结构87Made in ComauProperty of Comau - Duplication prohibitedDay 03第三天轨迹控制&文件操作&

42、Winc5G:Control tracjectory& File operation & Winc5GMOVEFLY中的轨迹控制 / MOVEFLY1速度与加速度的控制 / Speed & Acceleration2精度控制 / Motion Termination文件的基本操作 / File Termination Winc5G与机器人的链接 / Winc5G34588Made in ComauProperty of Comau - Duplication prohibited轨迹控制&文件操作&Winc5GMOVEFLY中的轨迹控制 / MOVEFLY1速度与加速度的控制2精度控制文件的基

43、本操作Winc5G与机器人的链接34589Made in ComauProperty of Comau - Duplication prohibitedMade in ComauProperty of Comau - Duplication prohibited 注解MOVE LINEAR TO pnt0001P该指令的含义是，将机器人移动到pnt0001P点。MOVEFLYMOVE-连续运动，不经过pnt0001P-单步运动，到达pnt0001PTOMOVELINEARpnt0001PLINEARJOINTCIRCULAR-直线-关节-圆弧JOINTPOS关节变量POSITION位置变量XT

44、NDPOS位置变量（含外部轴）Made in ComauProperty of Comau - Duplication prohibitedBMOVETOBMOVEFLYTOBADVANCEMOVEFLY需和ADVANCE配合使用， ADVANCE的作用是预读下一个点的信息，方便其平滑运动。上图显示了MOVE和MOVEFLY的区别。如果使用MOVE，机器人到达B点时的速度降为0，之后再移动到下一个点。如果使用MOVEFLY，机器人将不会到达B点，将会以一个速度绕过B点。MOVE 的优点是，机器人一定会到达指定的B点，缺点是运动不连贯。MOVEFLY的优点是，机器人可以连续平滑的移动，缺点是不会

45、到达指定的B点。使用建议：一般在抓取点时用MOVE，在一些不重要的过渡点，使用MOVEFLY。Made in ComauProperty of Comau - Duplication prohibited运动语句MOVE和MOVEFLYMOVELINEARTOBABMOVEJOINTTOB上图显示了JOINT和LINEAR的区别。如果使用LINEAR，则机器人的轨迹会是一条直线，机器人将从A点以直线轨迹运行到B点。如果使用JOINT，AB两点之间的轨迹就不一定是直线了。因为如果选择LINEAR，控制器进行插补，机器人的各轴将互相配合，走出直线轨迹。如果选择JOINT，各轴将不互相配合，所以走出

46、的轨迹就不一定是直线了。使用建议：JOINT运行速度相对比LINEAR快。在一些过渡点可以使用JOINT，在一些抓取点建议使用LINEAR。或者是对于轨迹要求低的可以使用JOINT，对于轨迹要求高的可以用LINEAR。Made in ComauProperty of Comau - Duplication prohibited轨迹类型JOINT和LINEARMOVEFLYMOVEFLY 轨迹控制94Made in ComauProperty of Comau - Duplication prohibitedMOVEFLYMOVEFLY 轨迹控制95Made in ComauProperty o

47、f Comau - Duplication prohibitedMOVEFLYMOVEFLY 轨迹控制96Made in ComauProperty of Comau - Duplication prohibited轨迹控制&文件操作&Winc5GMOVEFLY中的轨迹控制1速度与加速度的控制 / Speed & Acceleration2精度控制文件的基本操作Winc5G与机器人的链接34597Made in ComauProperty of Comau - Duplication prohibitedSpeed、Acceleration Control1. $GEN_OVR2. $ARM_

48、OVR3. $ARM_SPD_OVR4. $PROG_SPD_OVR.5.6.$GEN_OVR$ARM_OVR$PROG_ACC_OVR$PROG_DEC_OVR$ARM_ACC_OVR$ARM_DEC_OVR98Made in ComauProperty of Comau - Duplication prohibited轨迹控制&文件操作&Winc5GMOVEFLY中的轨迹控制1速度与加速度的控制2精度控制/ Motion Termination文件的基本操作Winc5G与机器人的链接34599Made in ComauProperty of Comau - Duplicati

49、on prohibitedMotion Termination运动命令结束条件100Made in ComauProperty of Comau - Duplication prohibited轨迹控制&文件操作&Winc5GMOVEFLY中的轨迹控制1速度与加速度的控制2精度控制文件的基本操作/ File Termination Winc5G与机器人的链接345101Made in ComauProperty of Comau - Duplication prohibitedSave Program保存程序102Made in ComauProperty of Comau - Duplica

50、tion prohibitedThe types of file、C5G文件种类103Made in ComauProperty of Comau - Duplication prohibitedBackup file备份文件Made in ComauProperty of Comau - Duplication prohibitedBackup file备份文件105Made in ComauProperty of Comau - Duplication prohibitedBackup file备份文件106Made in ComauProperty of Comau - Duplication prohibitedBackup file备份文件Made in