机器人控制系统的说明书
新时达机器人系统说明书.
5.1.4点动运行(53
5.1.5机械终端限位(53
5.1.6软件限位开关(53
5.2相关人员(53
5.2.1操作人员资格要求(54
5.2.2设备操作规程的规定(54
5.3培训(54
5.4安全措施(55
5.5检查(56
1机器人系统
1.1机器人组成
1机器人
2机器人控制柜
图1. 3机器人各轴说明
图1. 4 SA1400机器人各关节运动示意图1.2.3各关节电机说明
图1. 5 1,2,3,4轴电机位置示意图
图1. 6 5,6轴电机在内部
1.2.4各轴机械零点说明
图1. 7一轴零点二轴零点
图1. 8三轴零点四轴零点
图1. 9五轴零点六轴零点可随意定
1.2.5机器人铭牌
图1. 10机器人铭牌位置图
1控制器及其安装板
2伺服驱动及其安装板
3电力安装板1
4断路器及其安装板
5接触器
6开关电源
7主电端子8控制电端子
9控制柜斜面板(可定制
图1. 13 SRC2控制柜内部示意图
1.3.3控制柜背面说明
下图是控制柜SRC2的背面结构示意图。
1示教器及其支架
2风扇及其安装板
3电力安装板2
4滤波器
5制动电阻(选配
2.2 STEP伺服说明(21
2.3安全逻辑板说明(27
2.4柜冷却装置说明(28
2.5 I/O模块(28
2.6软件功能介绍(29
3机器人标定和性能测试(30
3.1.1标定工具DynCal (30
3.1.2标定过程(30
3.2机器人性能测试(30
3.2.1性能测试工具CompuGauge (31
机器人轨迹控制系统维护手册说明书
7) An overflow occurred during parameter computation.
490 SERVO ALARM: 5TH AXIS OVER 5–axis, 6–axis overload signal is on. Refer to diagnosis display No.
4n4 SERVO ALARM: n–TH AXIS – DETECTION RELATED ERROR
N–th axis digital servo system fault. Refer to diagnosis display No. 720 and No.727 for details.
4n5 SERVO ALARM: n–TH AXIS – EX- A speed higher than 4000000 units/s was attempted to be set in the
4n0 SERVO ALARM: n–TH AXIS – EX- The position deviation value when the n–th axis stops is larger than
CESS ERROR
the set value.
Note) Limit value must be set to parameter for each axis.
1) The value set in Parameter No. 8n20 (motor form) is out of the
specified limit.
2) A proper value (111 or –111) is not set in parameter No. 8n22
(motor revolution direction).
爱普生 RC90 RC90-B 机器人控制器使用手册说明书
Rev.27C1M212C4575F机器人控制器RC90 / RC90-B(EPSON RC+ 7.0)机器人控制器RC90 / RC90-B (EPSON RC+ 7.0)Rev.27 ii机器人控制器RC90 / RC90-B(EPSON RC+ 7.0)Rev.27Copyright © 2013-2021 SEIKO EPSON CORPORATION. All rights reserved.RC90 / RC90-B (EPSON RC+ 7.0) Rev.27i前言感谢您购买本公司的机器人系统。
本手册记载了正确使用示教器所需的事项。
使用系统之前，请阅读本手册与相关手册，正确地进行使用。
阅读之后，请妥善保管，以便随时取阅。
保修本机及其选装部件是经过本公司严格的质量控制、测试和检查，并在确认性能满足本公司标准之后出厂交付的。
在交付产品的保修期内，本公司仅对正常使用时发生的故障进行免费修理。
(有关保修期方面的信息，请与当地销售商联系。
)但在以下情况下，将对客户收取修理费用（即使发生在保修期内）：1. 因不同于使用说明书内容的错误使用以及使用不当而导致的故障与损伤。
2. 客户擅自改造或拆卸造成的故障。
3. 因调整不当/擅自修理而导致的损坏。
4. 因地震、洪水等自然灾害导致的损坏警告、注意、使用：1. 如果机器人或相关设备的使用超出本手册所述的使用条件及产品规格，将导致保修无效。
2. 本公司对因未遵守本手册记载的“警告”与“注意”而导致的任何故障或事故，甚至是人身伤害或死亡均不承担任何责任，敬请谅解。
3. 本公司不可能完全预见危险与故障发生的所有状况，此可预见性存在局限性。
因此，本手册不能警告用户所有可能的危险。
ii RC90 / RC90-B (EPSON RC+ 7.0) Rev.27商标Microsoft、Windows、Windows 图标是美国Microsoft Corporation 在美国及其他国家的注册商标或商标。
纳博特20.06控制系统操作手册说明书
2020控制系统操作手册20.06纳博特目录第2章安全注意事项 (15)注意事项 (15)第3章产品组装 (16)3.1示教盒安装 (16)3.2控制柜安装 (16)3.2.1线缆要求 (17)3.2.2布线要求 (18)3.2.3接地要求 (18)3.2.4接线注意事项 (19)第4章新机器人配置步骤 (20)第5章机器人的坐标系与轴操作 (26)5.1控制组与坐标系 (26)5.1.1坐标系 (26)坐标系与轴操作 (27)5.1.2关节坐标系 (27)5.1.3直角坐标系 (28)5.1.4工具坐标系 (29)5.1.5用户坐标系 (30)5.2外部轴 (33)第6章示教器按键与界面简介 (34)6.1T20示教器物理按键 (34)6.2T30示教器物理按键 (35)6.3操作系统简介 (37)6.3.1基本说明 (37)6.3.2状态介绍 (37)6.4界面介绍 (38)6.4.1主页 (38)6.4.2用户 (39)6.4.3设置 (41)6.4.4用户坐标标定 (43)6.4.5系统设置 (44)6.4.6远程程序设置 (48)6.4.11Modbus设置 (69)6.4.12后台任务 (71)6.4.13网络设置 (72)6.4.14数据上传 (73)6.4.15程序自启动 (73)6.4.16操作参数 (74)6.4.17工艺 (75)6.4.18变量 (103)6.4.19状态 (105)6.4.20工程 (107)6.4.21程序 (108)6.4.22日志 (109)6.4.23监控 (110)第7章机器人示教与运行 (111)7.1机器人准备 (111)7.1.1开机与安全确认 (111)7.1.2示教器准备 (111)7.2点动操作 (111)7.2.1示教速度调节 (112)7.2.2坐标系说明与切换 (112)7.2.3点动操作 (113)7.3程序编写 (113)7.3.1程序新建/打开/删除/重命名/复制 (113)7.3.2指令操作 (118)7.3.3指令说明（指令规范） (122)7.4程序运行 (142)7.4.1示教模式 (143)7.4.2运行模式 (143)7.4.3远程模式 (143)7.4.4从当前行运行 (145)7.5.4远程IO速度修改方式 (147)第8章工具手与用户坐标 (149)8.1工具手标定 (149)8.1.1工具坐标系 (149)8.1.2TCP:TOOL CENTER POINT,即工具中心点 (149)8.1.3工具坐标系特点 (150)8.1.4工具手参数设置 (151)8.1.57点标定 (152)8.1.612/15点标定 (156)8.1.720点标定 (161)8.1.82点标定 (162)8.2用户坐标系 (163)8.2.1用户坐标系作用 (164)8.2.2用户坐标参数设置 (165)8.2.3用户坐标系标定 (165)第9章数值变量 (167)9.1变量的名称 (167)9.2全局数值变量 (167)9.3全局数值变量使用 (169)9.3.1定义全局数值变量 (169)9.3.2通过计算指令为全局数值变量赋值 (169)9.3.3直接变量赋值 (171)9.3.4使用全局数值变量来计数 (172)9.4局部数值变量 (172)9.5局部变量使用 (173)9.5.1定义局部数值变量 (173)9.5.2使用计算指令为局部变量赋值 (174)9.5.3直接为变量赋值 (174)第10章位置变量 (175)10.1全局位置变量 (175)10.3.4READPOS 指令 (179)10.3.5USERFRAME_SET 指令 (180)10.3.6TOOLFRAME_SET 指令 (180)10.3.7COPYPOS 指令 (180)10.44轴SCARA机器人左右手 (180)10.4.1全局变量设置左右手 (181)第11章条件判断类指令的使用 (183)11.1指令说明 (183)11.1.1CALL (183)11.1.2IF (183)11.1.3ELSE (184)11.1.4ELSEIF (185)11.1.5WHILE (187)11.1.6WAIT (188)11.1.7LABEL (189)11.1.8JUMP (190)11.1.9UNTIL (191)11.1.10CRAFTLINE (192)11.1.11CMDNOTE (192)11.1.12POS_REACHABLE (192)11.1.13CLKSTART (193)11.1.14CLKSTOP (193)11.1.15CLKRESET (193)第12章后台任务 (194)12.1限制 (194)12.2注：运行模式按暂停按钮、远程模式IO暂停只暂停主程序，不暂停后台任务 (194)12.3后台任务编程 (195)12.3.1注意 (195)12.4主程序编程 (195)12.4.1PTHREAD_START（开启线程） (195)12.4.4CONTINUERUN（继续线程） (197)12.4.5STOPRUN （停止运行） (197)12.4.6RESTARTRUN（重新运行） (198)第13章IO、Modbus与远程程序 (199)13.1IO (199)13.1.1输入输出指令 (199)13.1.2I/O功能选择设置 (200)13.1.3IO状态提示设置 (201)13.1.4IO安全设置 (202)13.1.5IO复位 (202)13.1.6IO配置 (203)13.1.7使能IO (204)13.1.8报警消息 (205)13.1.9端口名称 (205)13.1.10远程模式IO预约简要说明 (206)13.2远程程序设置 (208)13.3复位点设置 (208)13.4远程功能的使用（IO） (209)13.4.1远程功能概述 (209)13.4.2远程功能使用步骤 (209)13.4.3编写程序 (209)13.4.4设置远程程序 (209)13.4.5设置IO (210)13.4.6切换到远程模式 (210)13.4.7预约排序 (210)13.4.8运行 (211)13.5Modbus修改地址码 (211)13.6Modbus的使用 (214)13.6.1ModBus功能概述 (214)13.6.2Modbus触摸屏使用流程 (214)第14章多机模式与双机协作 (218)14.1设置机器人 (218)14.2切换机器人 (219)第15章视觉工艺 (222)15.1视觉参数设置 (222)15.2视觉范围设置 (224)15.3 (225)15.4视觉位置参数 (225)15.5位置调试 (226)15.6视觉运作方式 (226)15.7视觉指令 (226)15.7.1VISION_RUN (226)15.7.2VISION_TRG (227)15.7.3VISION_POSNUM (227)15.7.4VISION_POS (227)15.7.5VISION_CLEAR (227)15.7.6VISION_END (227)15.8使用示例 (228)15.8.1抓取应用 (228)第16章传送带跟踪 (229)16.1参数设置 (229)16.1.1基本信息 (229)16.1.2识别参数 (230)16.1.3传送带标定 (230)16.1.4传感器标定 (233)16.1.5位置设置 (235)16.2编写程序 (236)16.2.1CONVEYOR_ON指令 (236)16.2.2CONVEYOR_OFF指令 (237)16.2.3CONVEYOR_CHECKPOS指令 (237)16.2.4CONVEYOR_CHECKEND指令 (237)16.3示例 (237)16.3.1使用传感器、MOVJ走轨迹 (237)16.3.2使用传感器、外部发点功能走轨迹 (238)16.3.3视觉传送带跟踪 (238)第17章外部传输点 (240)17.2通讯方式 (241)17.2.1点位存放的数据 (241)17.2.2示例 (242)17.2.3指令 (242)第18章外部通讯 (243)18.1TCP协议 (243)18.1.1参数设置 (243)18.1.2指令 (243)18.1.3READCOMM (244)18.1.4OPENMSG (245)18.1.5CLOSEMSG (245)18.1.6PRINT (245)18.1.7MSG_CONN_ST (245)第19章数据上传 (246)19.1基本设置 (246)19.2数据格式 (246)19.2.1生成csv文件示例 (247)第20章机器人日志 (249)20.1示教器日志查看 (249)日志说明 (249)操作日志：此类型日志保存用户的基本操作，例如新建程序、重命名程序插入指令等。
CRP-S40 PLC说明书
CRP-S40工业机器人控制系统PLC使用手册注意机器人的调试必须在独立封闭的区域。
在机器人调试过程里，在机器人的活动区域不能有人员。
在机器人调试过程里，必须确保机器人周边空旷。
机器人调试过程必须注意用电安全。
成都卡诺普自动化控制技术有限公司1 概述S40控制系统具有软件PLC 功能。
可根据系统的可编程I/O、辅助继电器、定时器等资源可管理系统所有I/O 接口、内部辅助继电器在，进行逻辑判断、计数等处理实现对输入口的检测和对输出口的控制以及与系统内核进行数据交换。
针对不同的系统其PLC 的功能指标会有所区别，S40系统的PLC 指标如下。
编辑方式：梯形图 执行指令：指令表 程序容量：10000步 执行周期：10ms执行方式：顺序执行①、循环执行② 基本指令：内部继电器 定时器 计数器输入继电器X 输出继电器Y注：①顺序执行是指，PLC的执行是对指令表的程序文件一行一行逐步执行，所以和一般的继电器电路的工作原理不尽相。
②循环执行是指，PLC从梯形图（指令表）的开头执行直至梯形图的结束。
梯形图（指令表）结束之后，再次从梯形图（指令表）的开头重新开始执行。
2 梯形图中的基本元件符号在S40系统中为了便于梯形图的编辑，特设定如下基本元件符号序号 符号名称 符号图形 说 明1 常开触点 各元件（继电器）的常开触点2 常闭触点 各元件（继电器）的常闭触点3 直接输出线圈 各元件（继电器）的线圈4 置位输出线圈 各元件（继电器）的线圈（置位保持）5 复位输出线圈 各元件（继电器）的线圈（复位保持）6 水平连接线用于水平连接各继电器的触点和线圈7 垂直连接线用于垂直连接各继电器的触点和线圈（通常为分支用）3 指令表中的基本逻辑指令在S40系统中PLC 指令表中共有16条基本的逻辑指令，用于实现基本逻辑控制。
3.1 LD、LDI、OUT 指令LD：常开触点与母线连接指令。
LDI：常闭触点与母线连接指令。
OUT：继电器线圈输出指令。
工业机器人GR-C控制系统操作说明书
2.1 结构 .............................................................................................................................................. 3 2.2 控制柜 .......................................................................................................................................... 3 2.3 示教盒 .......................................................................................................................................... 4
2.3.1 示教盒的外观 ....................................................................................................................... 4 2.3.2 按键操作 ............................................................................................................................... 5 2.3.3 按键的功能 ........................................................................................................................... 6 2.4 示教盒画面显示......................................................................................................................... 12 2.4.1 快捷菜单区 ......................................................................................................................... 13 2.4.2 系统状态显示区 ................................................................................................................. 16 2.4.3 主菜单区 ............................................................................................................................. 19 2.4.4 文件列表区 ......................................................................................................................... 19 2.4.5 人机接口显示区 ................................................................................................................. 20 2.5 软键盘 ........................................................................................................................................ 20 2.6 输入数值 .................................................................................................................................... 22
机器人协作控制系统的说明书
机器人协作控制系统的说明书一、引言机器人协作控制系统（即Robot Collaborative Control System）是一种基于先进的机器人技术和控制算法的系统，旨在实现多台机器人之间的协同工作。
本说明书将详细介绍该系统的功能、特点和使用方法。
二、系统概述1. 功能机器人协作控制系统具备以下主要功能：- 实现机器人之间的协同工作，提高工作效率；- 提供实时的机器人位置和状态信息，以便进行准确的控制；- 能够根据工作要求对机器人的控制策略进行灵活调整；- 支持多种通信方式，方便与其他系统进行接口；- 具备安全性控制，保障操作人员的安全；- 可以对机器人进行远程监控和管理。
2. 特点机器人协作控制系统的特点如下：- 系统易于部署和集成，可以与各种类型的机器人和设备配合使用；- 系统具备高度的可扩展性，可以支持从少数几台机器人到大规模机器人团队的协同工作；- 系统具备较高的实时性和稳定性，能够满足各种复杂工作场景的需求；- 系统支持图形化界面，方便用户进行操作和监控。
三、系统组成机器人协作控制系统主要由以下几个组件组成：1. 控制器（Controller）：负责对机器人进行控制和调度，根据任务需求进行协同工作的规划和执行。
2. 通信模块（Communication Module）：实现机器人之间及机器人与其他设备之间的通信，确保实时的数据交换和命令传输。
3. 传感器（Sensors）：用于获取机器人位置、状态、环境等信息，并通过接口将数据传输给控制器进行处理。
4. 执行器（Actuators）：根据控制器的指令，控制机器人的动作和运动。
5. 用户界面（User Interface）：提供直观友好的图形化界面，方便用户进行系统操作和任务监控。
四、使用方法使用机器人协作控制系统的步骤如下：1. 确保各个机器人被正确连接并装备了相应的传感器和执行器。
2. 启动机器人协作控制系统，并进行相应的初始化设置。
SINUMERIK SINUMERIK ONE 机器人控制系统操作手册说明书
SINUMERIKSINUMERIK ONEMillingOperating ManualValid for:SINUMERIK ONESoftware versionCNC system software for SINUMERIK ONE V6.20 SINUMERIK Operate for PCU/PC V6.2007/2022A5E48384797B ADLegal information Warning notice systemThis manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according tothe degree of danger.DANGERindicates that death or severe personal injury will result if proper precautions are not taken.WARNINGindicates that death or severe personal injury may result if proper precautions are not taken.CAUTIONindicates that minor personal injury can result if proper precautions are not taken.NOTICEindicates that property damage can result if proper precautions are not taken.If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.Qualified PersonnelThe product/system described in this documentation may be operated only bypersonnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.Proper use of Siemens productsNote the following:WARNINGSiemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed.TrademarksAll names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.Disclaimer of LiabilityWe have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.Siemens AGDigital Industries Postfach 48 4890026 NÜRNBERG GERMANYA5E48384797B ADⓅ 06/2022 Subject to change Copyright © Siemens AG 2019 - 2022.All rights reservedTable of contents1Introduction (17)1.1About SINUMERIK (17)1.2About this documentation (18)1.3Documentation on the internet (20)1.3.1Documentation overview SINUMERIK ONE (20)1.3.2Documentation overview SINUMERIK operator components (20)1.4Feedback on the technical documentation (22)1.5mySupport documentation (23)1.6Service and Support (24)1.7Important product information (26)2Fundamental safety instructions (27)2.1General safety instructions (27)2.2Warranty and liability for application examples (28)2.3Security information (29)3Fundamentals (31)3.1Product overview (31)3.2Operator panel fronts (32)3.2.1Overview (32)3.2.2Keys of the operator panel (34)3.3Machine control panels (42)3.3.1Overview (42)3.3.2Controls on the machine control panel (42)3.4User interface (46)3.4.1Screen layout (46)3.4.2Status display (47)3.4.3Actual value window (49)3.4.4T,F,S window (51)3.4.5Operation via softkeys and buttons (53)3.4.6Entering or selecting parameters (54)3.4.7Pocket calculator (56)3.4.8Pocket calculator functions (57)3.4.9Context menu (59)3.4.10Changing the user interface language (59)3.4.11Entering Chinese characters (60)3.4.11.1Function - input editor (60)3.4.11.2Entering Asian characters (62)3.4.12Entering Korean characters (63)3.4.13Protection levels (65)MillingOperating Manual, 07/2022, A5E48384797B AD3Table of contents3.4.14Work station safety (67)3.4.15Cleaning mode (67)3.4.16Display live image from a camera (68)3.4.17Online help in SINUMERIK Operate (69)4Multitouch operation with SINUMERIK Operate (73)4.1Multitouch panels (73)4.2Touch-sensitive user interface (74)4.3Finger gestures (75)4.4Multitouch user interface (78)4.4.1Screen layout (78)4.4.2Function key block (79)4.4.3Further operator touch controls (80)4.4.4Virtual keyboard (80)4.4.5Special "tilde" character (81)4.5Expansion with side screen (82)4.5.1Overview (82)4.5.2Sidescreen with standard windows (82)4.5.3Standard widgets (84)4.5.4"Actual value" widget (84)4.5.5"Zero point" widget (85)4.5.6"Alarms" widget (85)4.5.7"NC/PLC variables" widget (85)4.5.8"Axle load" widget (86)4.5.9"Tool" widget (86)4.5.10"Service life" widget (87)4.5.11"Program runtime" widget (87)4.5.12Widget "Camera 1" and "Camera 2" (87)4.5.13Sidescreen with pages for the ABC keyboard and/or machine control panel (88)4.5.14Example 1: ABC keyboard in the sidescreen (89)4.5.15Example 2: Machine control panel in the sidescreen (90)4.6SINUMERIK Operate Display Manager (91)4.6.1Overview (91)4.6.2Screen layout (92)4.6.3Operator controls (92)5Setting up the machine (97)5.1Switching on and switching off (97)5.2Approaching a reference point (98)5.2.1Referencing axes (98)5.2.2User agreement (99)5.3Operating modes (101)5.3.1General (101)5.3.2Modes groups and channels (103)5.3.3Channel switchover (103)5.4Settings for the machine (105)5.4.1Switching over the coordinate system (MCS/WCS) (105)5.4.2Switching the unit of measurement (105)Milling 4Operating Manual, 07/2022, A5E48384797B ADTable of contents5.4.3Setting the zero offset (107)5.5Measure tool (109)5.5.1Overview (109)5.5.2Manually measuring drilling and milling tools (109)5.5.3Measuring drilling and milling tools with the workpiece reference point (110)5.5.4Measuring drilling and milling tools with fixed reference point (111)5.5.5Measuring radius or diameter (112)5.5.6Fixed point calibration (113)5.5.7Measuring the drilling and milling tool length with electrical tool probe (113)5.5.8Calibrating the electrical tool probe (116)5.5.9Manually measuring a turning tool (for milling/turning machine) (117)5.5.10Manually measuring a turning tool using a tool probe (for milling/turning machine) (118)5.5.11Logging tool measurement results (120)5.6Measuring the workpiece zero (122)5.6.1Overview (122)5.6.2Sequence of operations (126)5.6.3Examples with manual swiveling (swiveling in JOG mode) (127)5.6.4Setting the edge (128)5.6.5Edge measurement (129)5.6.6Measuring a corner (134)5.6.7Measuring a pocket and hole (137)5.6.8Measuring a spigot (140)5.6.9Aligning the plane (145)5.6.10Defining the measurement function selection (147)5.6.11Logging measurement results for the workpiece zero (148)5.6.12Calibrating the electronic workpiece probe (149)5.6.12.1Calibration of length and radius or diameter (149)5.6.12.2Calibrate on sphere (151)5.7Settings for the measurement result log (153)5.8Zero offsets (155)5.8.1Display active zero offset (156)5.8.2Displaying the zero offset "overview" (157)5.8.3Displaying and editing base zero offset (158)5.8.4Displaying and editing settable zero offset (159)5.8.5Displaying and editing details of the zero offsets (160)5.8.6Deleting a zero offset (161)5.8.7Measuring the workpiece zero (162)5.9Monitoring axis and spindle data (164)5.9.1Specify working area limitations (164)5.9.2Editing spindle data (164)5.10Displaying setting data lists (166)5.11Handwheel assignment (167)5.12MDA (169)5.12.1Saving an MDA program (169)5.12.2Editing/executing a MDI program (170)5.12.3Deleting an MDA program (171)MillingOperating Manual, 07/2022, A5E48384797B AD5Table of contents6Execution in manual mode (173)6.1General (173)6.2Selecting a tool and spindle (174)6.2.1T, S, M windows (174)6.2.2Selecting a tool (176)6.2.3Starting and stopping a spindle manually (176)6.2.4Position spindle (177)6.3Traversing axes (179)6.3.1Traverse axes by a defined increment (179)6.3.2Traversing axes by a variable increment (180)6.4Positioning axes (181)6.5Swiveling (182)6.6Manual retraction (187)6.7Simple face milling of the workpiece (188)6.8Simple workpiece machining operations with milling/turning machines (191)6.8.1Simple workpiece face milling (milling/turning machine) (191)6.8.2Simple stock removal of workpiece (for milling/turning machine) (193)6.9Default settings for manual mode (197)7Machining the workpiece (199)7.1Starting and stopping machining (199)7.2Selecting a program (201)7.3Testing a program (202)7.4Displaying the current program block (203)7.4.1Displaying a basic block (203)7.4.2Display program level (203)7.5Correcting a program (205)7.6Repositioning axes (206)7.7Starting machining at a specific point (207)7.7.1Use block search (207)7.7.2Continuing program from search target (209)7.7.3Simple search target definition (210)7.7.4Defining an interruption point as search target (210)7.7.5Entering the search target via search pointer (211)7.7.6Parameters for block search in the search pointer (212)7.7.7Block search mode (212)7.7.8Block search for position pattern (215)7.8Controlling the program run (217)7.8.1Program control (217)7.8.2Use Powerride for program control (219)7.8.3Skip blocks (219)7.9Overstore (221)7.10Editing a program (223)Milling 6Operating Manual, 07/2022, A5E48384797B ADTable of contents7.10.1Searching in programs (223)7.10.2Replacing program text (225)7.10.3Copying/pasting/deleting a program block (226)7.10.4Renumbering a program (228)7.10.5Creating a program block (229)7.10.6Opening additional programs (230)7.10.7Editor settings (231)7.11Working with DXF files (235)7.11.1Overview (235)7.11.2Displaying CAD drawings (236)7.11.2.1Open a DXF file (236)7.11.2.2Cleaning a DXF file (236)7.11.2.3Enlarging or reducing the CAD drawing (237)7.11.2.4Changing the section (238)7.11.2.5Rotating the view (238)7.11.2.6Displaying/editing information for the geometric data (239)7.11.3Importing and editing a DXF file in the editor (240)7.11.3.1General procedure (240)7.11.3.2Specifying a reference point (240)7.11.3.3Assigning the machining plane (241)7.11.3.4Setting the tolerance (241)7.11.3.5Selecting the machining range / deleting the range and element (242)7.11.3.6Saving the DXF file (243)7.11.3.7Transferring the drilling positions (244)7.11.3.8Accepting contours (246)7.12Importing shapes from CAD programs (250)7.12.1Reading in CAD data into an editor and processing (252)7.12.1.1General procedure (252)7.12.1.2Import from CAD (252)7.12.1.3Defining reference points (253)7.12.1.4Viewing point information (256)7.12.1.5Creating a new contour (257)7.12.1.6Accepting the machining steps (258)7.13Display and edit user variables (260)7.13.1Overview (260)7.13.2Global R parameters (261)7.13.3R parameters (262)7.13.4Displaying global user data (GUD) (264)7.13.5Displaying channel GUDs (265)7.13.6Displaying local user data (LUD) (266)7.13.7Displaying program user data (PUD) (267)7.13.8Searching for user variables (267)7.14Displaying G Functions and Auxiliary Functions (270)7.14.1Selected G functions (270)7.14.2All G functions (272)7.14.3G functions for mold making (272)7.14.4Auxiliary functions (273)7.15Displaying superimpositions (275)7.16Mold making view (278)MillingOperating Manual, 07/2022, A5E48384797B AD7Table of contents7.16.1Overview (278)7.16.2Starting the mold making view (280)7.16.3Adapting the mold making view (280)7.16.4Specifically jump to the program block (281)7.16.5Searching for program blocks (282)7.16.6Changing the view (283)7.16.6.1Enlarging or reducing the graphical representation (283)7.16.6.2Moving and rotating the graphic (284)7.16.6.3Modifying the viewport (284)7.17Displaying the program runtime and counting workpieces (286)7.18Setting for automatic mode (288)8Simulating machining (291)8.1Overview (291)8.2Simulation before machining of the workpiece (299)8.3Simultaneous recording before machining of the workpiece (300)8.4Simultaneous recording during machining of the workpiece (301)8.5Setting the model quality (302)8.6Different views of the workpiece (303)8.6.1Plan view (303)8.6.23D view (304)8.6.3Side view (304)8.6.4Turning view (305)8.6.5Half section (305)8.7Editing the simulation display (307)8.7.1Blank display (307)8.7.2Showing and hiding the tool path (307)8.8Program control during the simulation (308)8.8.1Changing the feedrate (308)8.8.2Simulating the program block by block (309)8.9Changing and adapting a simulation graphic (310)8.9.1Enlarging or reducing the graphical representation (310)8.9.2Panning a graphical representation (311)8.9.3Rotating the graphical representation (311)8.9.4Modifying the viewport (312)8.9.5Defining cutting planes (312)8.10Displaying simulation alarms (314)9Generating a G code program (315)9.1Graphical programming (315)9.2Program views (316)9.3Program structure (320)9.4Fundamentals (321)9.4.1Machining planes (321)9.4.2Current planes in cycles and input screens (321)Milling 8Operating Manual, 07/2022, A5E48384797B ADTable of contents9.4.3Programming a tool (T) (322)9.5Generating a G code program (323)9.6Blank input (324)9.7Machining plane, milling direction, retraction plane, safe clearance and feedrate (PL, RP,SC, F) (326)9.8Selection of the cycles via softkey (327)9.9Calling technology functions (331)9.9.1Hiding cycle parameters (331)9.9.2Setting data for cycles (331)9.9.3Checking cycle parameters (331)9.9.4Programming variables (332)9.9.5Changing a cycle call (332)9.9.6 Compatibility for cycle support (333)9.9.7Additional functions in the input screens (333)9.10Measuring cycle support (334)10Creating a ShopMill program (335)10.1Program views (336)10.2Program structure (341)10.3Fundamentals (342)10.3.1Machining planes (342)10.3.2Polar coordinates (342)10.3.3Absolute and incremental dimensions (343)10.4Creating a ShopMill program (346)10.5Program header (347)10.6Program header (for milling/turning machine) (349)10.7Generating program blocks (352)10.8Tool, offset value, feed and spindle speed (T, D, F, S, V) (353)10.9Defining machine functions (355)10.10Call work offsets (357)10.11Repeating program blocks (358)10.12Specifying the number of workpieces (360)10.13Changing program blocks (361)10.14Changing program settings (362)10.15Selection of the cycles via softkey (364)10.16Calling technology functions (369)10.16.1Additional functions in the input screens (369)10.16.2Checking input parameters (369)10.16.3Setting data for technological functions (369)10.16.4Changing a cycle call (370)10.16.5Programming variables (370)10.16.6 Compatibility for cycle support (371)MillingOperating Manual, 07/2022, A5E48384797B AD9Table of contents10.17Measuring cycle support (372)10.18Example, standard machining (373)10.18.1Workpiece drawing (374)10.18.2Programming (374)10.18.3Results/simulation test (386)10.18.4G code machining program (388)11Programming technological functions (cycles) (391)11.1Know-how protection (391)11.2Drilling (392)11.2.1General (392)11.2.2Centering (CYCLE81) (393)11.2.3Drilling (CYCLE82) (394)11.2.4Reaming (CYCLE85) (398)11.2.5Deep-hole drilling 1 (CYCLE83) (399)11.2.6Deep-hole drilling 2 (CYCLE830) (405)11.2.7Boring (CYCLE86) (415)11.2.8Tapping (CYCLE84, 840) (417)11.2.9Drill and thread milling (CYCLE78) (424)11.2.10Positioning and position patterns (428)11.2.11Arbitrary positions (CYCLE802) (430)11.2.12Row position pattern (HOLES1) (433)11.2.13Grid or frame position pattern (CYCLE801) (434)11.2.14Circle or pitch circle position pattern (HOLES2) (436)11.2.15Displaying and hiding positions (438)11.2.16Repeating positions (440)11.3Milling (441)11.3.1Face milling (CYCLE61) (441)11.3.2Rectangular pocket (POCKET3) (443)11.3.3Circular pocket (POCKET4) (450)11.3.4Rectangular spigot (CYCLE76) (457)11.3.5Circular spigot (CYCLE77) (462)11.3.6Multi-edge (CYCLE79) (466)11.3.7Longitudinal groove (SLOT1) (470)11.3.8Circumferential groove (SLOT2) (476)11.3.9Open groove (CYCLE899) (482)11.3.10Long hole (LONGHOLE) - only for G code programs (491)11.3.11Thread milling (CYCLE70) (493)11.3.12Engraving (CYCLE60) (497)11.4Contour milling (504)11.4.1General (504)11.4.2Representation of the contour (504)11.4.3Creating a new contour (506)11.4.4Creating contour elements (507)11.4.5Changing the contour (512)11.4.6Contour call (CYCLE62) - only for G code program (513)11.4.7Path milling (CYCLE72) (514)11.4.8Contour pocket/contour spigot (CYCLE63/64) (519)11.4.9Predrilling contour pocket (CYCLE64) (521)11.4.10Milling contour pocket (CYCLE63) (524)Milling 10Operating Manual, 07/2022, A5E48384797B ADTable of contents 11.4.11Residual material contour pocket (CYCLE63) (529)11.4.12Milling contour spigot (CYCLE63) (530)11.4.13Residual material contour spigot (CYCLE63) (534)11.5Turning - milling/turning machine (537)11.5.1General (537)11.5.2Stock removal (CYCLE951) (537)11.5.3Groove (CYCLE930) (541)11.5.4Undercut form E and F (CYCLE940) (545)11.5.5Thread undercut (CYCLE940) (551)11.5.6Thread turning (CYCLE99), only for G code (557)11.5.6.1Special aspects of the selection alternatives for infeed depths (584)11.5.7Thread chain (CYCLE98) (585)11.5.7.1Special aspects of the selection alternatives for infeed depths (594)11.5.8Cut-off (CYCLE92) (595)11.6Contour turning - Milling/turning machine (599)11.6.1General information (599)11.6.2Representation of the contour (600)11.6.3Creating a new contour (601)11.6.4Creating contour elements (603)11.6.5Changing the contour (610)11.6.6Contour call (CYCLE62) (611)11.6.7Stock removal (CYCLE952) (612)11.6.8Stock removal residual (CYCLE952) (627)11.6.9Grooving (CYCLE952) (630)11.6.10Grooving residual material (CYCLE952) (641)11.6.11Plunge turning (CYCLE952) (645)11.6.12Plunge turning residual material (CYCLE952) (655)11.7Further cycles and functions (660)11.7.1Swivel plane (CYCLE800) (660)11.7.1.1Cylinder surface transformation with swivel plane (667)11.7.2Swiveling tool (CYCLE800) (671)11.7.2.1Swiveling tool/preloading milling tools - only for G code program (CYCLE800) (671)11.7.2.2Aligning turning tools (CYCLE800) - millling/turning machine (672)11.7.3High-speed settings (CYCLE832) (677)11.7.4Subroutines (681)11.7.5Adapt to load (CYCLE782) (683)11.7.6Interpolation turning (CYCLE806) (685)11.7.6.1Function (685)11.7.6.2Selecting/deselecting interpolation turning - CYCLE806 (686)11.7.6.3Calling the cycle (687)11.7.6.4Parameter (687)11.8Additional cycles and functions in ShopMill (688)11.8.1Transformations (688)11.8.2Translation (689)11.8.3Rotation (689)11.8.4Scaling (690)11.8.5Mirroring (691)11.8.6Cylinder surface transformation (691)11.8.7Straight or circular machining (694)11.8.8Programming a straight line (696)Table of contents11.8.9Programming a circle with known center point (697)11.8.10Programming a circle with known radius (698)11.8.11Helix (699)11.8.12Polar coordinates (700)11.8.13Straight polar (701)11.8.14Circle polar (701)11.8.15Obstacle (702)12Multi-channel view (705)12.1Multi-channel view (705)12.2Multi-channel view in the "Machine" operating area (706)12.3Multi-channel view for large operator panels (709)12.4Setting the multi-channel view (711)13Collision avoidance (713)13.1Activate collision avoidance (715)13.2Set collision avoidance (716)14Tool management (719)14.1Lists for the tool management (719)14.2Magazine management (721)14.3Tool types (722)14.4Tool dimensioning (725)14.5Tool list (732)14.5.1Additional data (735)14.5.2Creating a new tool (736)14.5.3Measuring the tool (738)14.5.4Managing several cutting edges (738)14.5.5Delete tool (739)14.5.6Loading and unloading tools (739)14.5.7Selecting a magazine (741)14.5.8Code carrier connection (742)14.5.9Managing a tool in a file (744)14.6Tool wear (747)14.6.1Reactivating a tool (749)14.7Tool data OEM (751)14.8Magazine (752)14.8.1Positioning a magazine (754)14.8.2Relocating a tool (754)14.8.3Deleting / unloading / loading / relocating all tools (755)14.9Tool details (757)14.9.1Displaying tool details (757)14.9.2Tool data (757)14.9.3Cutting edge data (758)14.9.4Monitoring data (760)14.10Changing a tool type (761)Table of contents14.11Graphic display (762)14.12Sorting tool management lists (764)14.13Filtering the tool management lists (765)14.14Specific search in the tool management lists (767)14.15Multiple selection in the tool management lists (769)14.16Settings for tool lists (770)14.17Working with Multitool (771)14.17.1Tool list for multitool (771)14.17.2Create multitool (772)14.17.3Equipping multitool with tools (774)14.17.4Removing a tool from multitool (775)14.17.5Deleting multitool (776)14.17.6Loading and unloading multitool (776)14.17.7Reactivating the multitool (777)14.17.8Relocating a multitool (778)14.17.9Positioning a multitool (779)15Managing programs (781)15.1Overview (781)15.1.1NC memory (784)15.1.2Local drive (784)15.1.3USB drives (786)15.1.4FTP drive (786)15.2Opening and closing the program (788)15.3Executing a program (790)15.4Creating a directory / program / job list / program list (792)15.4.1File and directory names (792)15.4.2Creating a new directory (792)15.4.3Creating a new workpiece (793)15.4.4Creating a new G code program (794)15.4.5Creating a new ShopMill program (794)15.4.6Storing any new file (795)15.4.7Creating a job list (796)15.4.8Creating a program list (798)15.5Creating templates (799)15.6Searching directories and files (800)15.7Displaying the program in the Preview (802)15.8Selecting several directories/programs (803)15.9Copying and pasting a directory/program (805)15.10Deleting a program/directory (807)15.10.1Deleting a program/directory (807)15.11Changing file and directory properties (808)15.12Set up drives (810)Table of contents15.12.1Overview (810)15.12.2Setting up drives (810)15.13Viewing PDF documents (816)15.14EXTCALL (819)15.15Execution from external memory (EES) (821)15.16Backing up data (822)15.16.1Generating an archive in the Program Manager (822)15.16.2Generating an archive via the system data (823)15.16.3Reading in an archive in the Program Manager (825)15.16.4Read in archive from system data (826)15.17Setup data (828)15.17.1Backing up setup data (828)15.17.2Reading-in set-up data (830)15.18Recording tools and determining the demand (832)15.18.1Overview (832)15.18.2Opening tool data (833)15.18.3Checking the loading (833)15.19Backing up parameters (835)15.20RS-232-C (838)15.20.1Reading-in and reading-out archives via a serial interface (838)15.20.2Setting V24 in the program manager (839)15.21Multiple clamping (841)15.21.1Multiple clamping (841)15.21.2Program header setting, "Clamping" (842)15.21.3Creating a multiple clamping program (843)16Service and diagnostics (845)16.1Alarm, error, and system messages (845)16.1.1Displaying alarms (845)16.1.2Displaying an alarm log (847)16.1.3Displaying messages (848)16.1.4Sorting, alarms, faults and messages (848)16.1.5Deactivating system alarms (849)16.2PLC and NC variables (851)16.2.1Displaying and editing PLC and NC variables (851)16.2.2Saving and loading screen forms (855)16.3Creating screenshots (856)16.4Version (857)16.4.1Displaying version data (857)16.4.2Save information (858)16.5Logbook (860)16.5.1Displaying and editing the logbook (860)16.5.2Making a logbook entry (861)16.6Remote diagnostics (863)16.6.1Setting remote access (863)Table of contents16.6.2Permit modem (864)16.6.3Request remote diagnostics (865)16.6.4Exit remote diagnostics (866)17Working with Manual Machine (867)17.1Manual Machine (867)17.2Measuring the tool (869)17.3Measuring the workpiece zero (870)17.4Setting the zero offset (871)17.5Set limit stop (872)17.6Simple workpiece machining (873)17.6.1Traversing axes (873)17.6.2Angular milling (874)17.6.3Straight and circular machining (875)17.6.3.1Straight milling (875)17.6.3.2Circular milling (876)17.7More complex machining (878)17.7.1Drilling with Manual Machine (879)17.7.2Milling with Manual Machine (880)17.7.3Contour milling with manual machine (881)17.7.4Turning with manual machine - milling/turning machine (881)17.8Simulation and simultaneous recording (883)18Teaching in a program (885)18.1Overview (885)18.2Select teach in mode (887)18.3Processing a program (888)18.3.1Inserting a block (888)18.3.2Editing a block (888)18.3.3Selecting a block (889)18.3.4Deleting a block (889)18.4Teach sets (891)18.4.1Input parameters for teach-in blocks (892)18.5Settings for teach-in (894)19Handheld terminals for multi-touch operation (895)19.1HT 8 (895)19.1.1HT 8 overview (895)19.1.2Traversing keys (897)19.1.3Machine control panel menu (898)19.1.4Virtual keyboard (900)19.2HT 10 (902)19.2.1HT 10: Overview (902)19.2.2Machine control panel menu (904)19.2.3Virtual keyboard (906)19.3Calibrating the touch panel (907)Table of contents20Ctrl-Energy (909)20.1Functions (909)20.2Ctrl-E analysis (910)20.2.1Displaying energy consumption (910)20.2.2Displaying the energy analyses (911)20.2.3Measuring and saving the energy consumption (912)20.2.4Tracking measurements (913)20.2.5Tracking usage values (913)20.2.6Comparing usage values (914)20.2.7Long-term measurement of the energy consumption (915)20.3Ctrl-E profiles (916)20.3.1Creating and editing energy-saving profiles (916)20.3.2Using the energy-saving profile (919)Index (921)。
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
机器人控制系统的说明书
1. 系统概述
机器人控制系统是一种用于控制机器人运动和执行任务的软件及硬件系统。
本系统基于先进的控制算法和传感器技术，为用户提供了可靠、高效的机器人控制和操作平台。
2. 硬件组成
2.1 主控制器
主控制器是机器人控制系统的核心部件，负责接收指令、计算控制算法并控制机器人的运动。
主控制器采用高性能的处理器和内存，能够快速处理复杂的控制任务，并确保机器人的稳定性和精确性。
2.2 传感器
机器人控制系统配备多种传感器，包括视觉传感器、力觉传感器、环境感知传感器等。
这些传感器能够实时获取机器人周围的信息，包括物体位置、姿态、力量等，为机器人的自主决策和运动提供必要的数据支持。
2.3 执行器
执行器负责根据主控制器的指令，控制机器人的关节运动或执行其他任务。
执行器根据不同机器人的设计和需要，可以采用电机、液压或气动等不同类型的驱动。
2.4 用户界面
机器人控制系统提供直观友好的用户界面，方便用户操作和监控机
器人的状态。
用户界面可以通过计算机、触摸屏或其他设备进行交互，用户可以通过界面发送指令、调整参数、实时监测机器人运动等。
3. 软件功能
3.1 运动规划
机器人控制系统具备先进的运动规划算法，能够根据用户设定的任
务要求，自动规划机器人的运动轨迹和姿态，以最小化能耗和时间的
同时，确保运动的安全和准确性。
3.2 路径优化
系统支持路径优化功能，能够根据环境的变化和实时传感器数据，
动态调整机器人的路径，避开障碍物或遵循特定的安全规则，以保证
机器人的运动安全性并提高效率。
3.3 自主避障
机器人控制系统具备自主避障功能，能够实时识别并避开障碍物，
保护机器人和周围环境的安全。
系统通过与环境感知传感器的协作，
能够智能地调整机器人的运动路径和速度，以避免潜在的碰撞风险。
3.4 远程控制
机器人控制系统支持远程控制功能，用户可以通过网络连接，远程
监控和操作机器人。
远程控制功能提供了灵活便捷的操作方式，用户
可以随时随地控制机器人，进行任务操作或进行实时监测。
4. 使用指南
4.1 系统安装
将机器人控制系统软件和硬件按照提供的安装指南进行安装。
确保软件和硬件的安装正确无误，并与机器人设备正常连接。
4.2 初始化
在系统安装完成后，根据提供的初始化操作步骤，对机器人控制系统进行初始化设置。
初始化操作包括系统参数设定、传感器校准等步骤。
4.3 运行控制
通过用户界面选择相应的运动模式或任务模式，系统将根据用户设定进行机器人的运动控制。
用户可以实时监测机器人的状态，并在需要时进行相应的调整和干预。
5. 安全注意事项
5.1 在操作机器人时，请务必遵循相关的安全操作规程，确保操作人员和周围环境的安全。
5.2 在进行系统配置和参数调整时，请确保操作人员具备相关的技术知识，以免误操作导致机器人损坏或事故发生。
5.3 在远程控制机器人时，请确保网络连接的稳定性和安全性，以免被未授权的人员进行非法访问和操作。
6. 故障排除
机器人控制系统在使用过程中可能会出现故障或异常情况。
请参考
故障排除指南，根据具体故障现象，进行相应的排查和修复。
7. 技术支持
如有任何使用问题或技术支持需求，请联系我们的技术支持团队。
我们将全力提供及时、专业的支持。
本说明书为机器人控制系统的使用指南，如有任何规格或功能调整，恕不另行通知。