FANUC R-30iA控制装置ARC TOOL操作说明书.pdf
(28.74 MB, 售价: 3 E币)
目录
1 前言........................................................................................................................................... 1
1.1 有关说明书........................................................................................................................................... 2
1.2 作业人员的定义................................................................................................................................... 4
1.3 一般的警告标签................................................................................................................................... 5
1.4 安全预防措施....................................................................................................................................... 9
2 概要......................................................................................................................................... 14
2.1 应用工具软件..................................................................................................................................... 16
2.1.1 设定系统............................................................................................................................................16
2.1.2 机器人的 JOG 进给 ...........................................................................................................................16
2.1.3 程序....................................................................................................................................................17
2.1.4 测试运转（测试执行） ....................................................................................................................18
2.1.5 自动运转（操作执行） ....................................................................................................................18
2.2 机器人................................................................................................................................................. 19
2.3 控制装置............................................................................................................................................. 20
2.3.1 示教操作盘........................................................................................................................................21
2.3.2 操作面板............................................................................................................................................30
2.3.3 遥控装置............................................................................................................................................31
2.3.4 CRT/KB..............................................................................................................................................31
2.3.5 通信....................................................................................................................................................32
2.3.6 I/O.......................................................................................................................................................32
2.3.7 外围设备 I/O......................................................................................................................................32
2.3.8 机器人的动作 ....................................................................................................................................33
2.3.9 急停装置............................................................................................................................................33
2.3.10 附加轴................................................................................................................................................34
3 设定机器人系统..................................................................................................................... 35
3.1 I/O ....................................................................................................................................................... 36
3.1.1 数字 I/O..............................................................................................................................................42
3.1.2 组 I/O..................................................................................................................................................48
3.1.3 模拟 I/O..............................................................................................................................................52
3.2 机器人 I/O .......................................................................................................................................... 58
3.3 外围设备 I/O ...................................................................................................................................... 61
3.4 操作面板 I/O ...................................................................................................................................... 70
3.5 I/O Link 画面..................................................................................................................................... 73
3.5.1 I/O Link 一览画面..............................................................................................................................73
3.5.2 MODELＢ单元一览画面 ..................................................................................................................74
3.5.3 信号数设定画面 ................................................................................................................................76
3.6 I/O 连接功能...................................................................................................................................... 78
3.7 仿真跳过功能..................................................................................................................................... 81
3.8 设定自动运转..................................................................................................................................... 83
3.8.1 机器人启动请求（RSR）.................................................................................................................84
3.8.2 程序编号选择（PNS）.....................................................................................................................87
3.8.3 程序选择画面 ....................................................................................................................................91
3.8.4 单元接口 I/O......................................................................................................................................99
3.9 设定坐标系....................................................................................................................................... 104
3.9.1 设定刀具坐标系 ..............................................................................................................................107
3.9.2 设定用户坐标系 ..............................................................................................................................117
3.9.3 设定 JOG 坐标系 .............................................................................................................................127
3.10 设定基准点....................................................................................................................................... 133
3.11 关节可动范围................................................................................................................................... 137
3.12 用户报警........................................................................................................................................... 139
3.13 可变轴范围....................................................................................................................................... 141
3.14 特殊区域功能................................................................................................................................... 143
3.15 系统设定菜单................................................................................................................................... 147
3.16 设定一般事项................................................................................................................................... 154
3.17 其他设定........................................................................................................................................... 156
4 程序的构成........................................................................................................................... 157
4.1 程序详细信息................................................................................................................................... 160
4.1.1 程序名..............................................................................................................................................160
4.1.2 程序注释..........................................................................................................................................161
4.1.3 子类型..............................................................................................................................................161
4.1.4 运动组..............................................................................................................................................162
4.1.5 写保护..............................................................................................................................................162
4.1.6 中断忽略..........................................................................................................................................162
4.2 行编号、程序末尾记号和自变量................................................................................................... 165
4.3 动作指令........................................................................................................................................... 167
4.3.1 动作类型..........................................................................................................................................168
4.3.2 位置数据..........................................................................................................................................170
4.3.3 移动速度..........................................................................................................................................176
4.3.4 定位类型..........................................................................................................................................179
4.3.5 动作附加指令 ..................................................................................................................................180
4.4 码垛指令........................................................................................................................................... 192
4.4.1 码垛指令..........................................................................................................................................192
4.4.2 码垛动作指令 ..................................................................................................................................193
4.4.3 码垛结束指令 ..................................................................................................................................193
4.5 寄存器指令....................................................................................................................................... 194
4.5.1 寄存器指令......................................................................................................................................195
4.5.2 位置寄存器指令 ..............................................................................................................................197
4.5.3 位置寄存器要素指令 ......................................................................................................................198
4.5.4 码垛寄存器运算指令 ......................................................................................................................201
4.6 I/O 指令 ............................................................................................................................................ 203
4.6.1 数字 I/O 指令...................................................................................................................................203
4.6.2 机器人 I/O 指令...............................................................................................................................205
4.6.3 模拟 I/O 指令...................................................................................................................................206
4.6.4 组 I/O 指令.......................................................................................................................................207
4.7 转移指令........................................................................................................................................... 209
4.7.1 标签指令..........................................................................................................................................209
4.7.2 程序结束指令 ..................................................................................................................................210
4.7.3 无条件转移指令 ..............................................................................................................................210
4.7.4 条件转移指令 ..................................................................................................................................211
4.7.5 自变量..............................................................................................................................................215
4.8 待命指令........................................................................................................................................... 224
4.8.1 指定时间待命指令 ..........................................................................................................................224
4.8.2 条件待命指令 ..................................................................................................................................224
4.9 跳过条件指令................................................................................................................................... 228
4.10 位置补偿条件指令........................................................................................................................... 231
4.11 刀具补偿条件指令........................................................................................................................... 232
4.12 坐标系指令....................................................................................................................................... 233
4.13 程序控制指令................................................................................................................................... 235
4.13.1 暂停指令..........................................................................................................................................235
4.13.2 强制结束指令 ..................................................................................................................................236
4.14 其他指令........................................................................................................................................... 237
4.14.1 RSR 指令..........................................................................................................................................237
4.14.2 用户报警指令 ..................................................................................................................................238
4.14.3 计时器指令......................................................................................................................................238
4.14.4 倍率指令..........................................................................................................................................239
4.14.5 注释指令..........................................................................................................................................239
4.14.6 消息指令..........................................................................................................................................240
4.14.7 参数指令..........................................................................................................................................240
4.14.8 最高速度指令 ..................................................................................................................................243
4.15 多轴控制指令................................................................................................................................... 245
4.15.1 程序执行指令 ..................................................................................................................................245
4.16 动作组指令....................................................................................................................................... 246
4.16.1 非同步动作组指令 ..........................................................................................................................246
4.16.2 同步动作组指令 ..............................................................................................................................247
5 创建程序............................................................................................................................... 248
5.1 设计程序........................................................................................................................................... 250
5.1.1 动作指令..........................................................................................................................................250
5.1.2 预定位置..........................................................................................................................................253
5.2 接通电源和 JOG 进给..................................................................................................................... 254
5.2.1 接通和断开电源 ..............................................................................................................................254
5.2.2 3 方式开关 .......................................................................................................................................256
5.2.3 机器人的 JOG 进给 .........................................................................................................................261
5.3 创建程序........................................................................................................................................... 269
5.3.1 记录程序..........................................................................................................................................270
5.3.2 修改标准动作指令语句 ..................................................................................................................274
5.3.3 示教动作指令 ..................................................................................................................................277
5.3.4 示教动作附加指令 ..........................................................................................................................279
5.3.5 示教控制指令 ..................................................................................................................................282
5.3.6 TP 启动禁止.....................................................................................................................................287
5.4 修改程序........................................................................................................................................... 290
5.4.1 选择程序..........................................................................................................................................290
5.4.2 修改动作指令 ..................................................................................................................................292
5.4.3 修改控制指令 ..................................................................................................................................301
5.4.4 程序编辑指令 ..................................................................................................................................303
5.5 程序操作........................................................................................................................................... 320
5.5.1 修改程序详细信息 ..........................................................................................................................320
5.6 后台编辑........................................................................................................................................... 325
5.7 特殊点检查功能............................................................................................................................... 336
6 执行程序............................................................................................................................... 337
6.1 程序的停止和恢复........................................................................................................................... 338
6.1.1 通过急停操作来停止和恢复程序...................................................................................................339
6.1.2 通过 HOLD 键来停止和恢复程序的方法......................................................................................340
6.1.3 通过报警来停止程序 ......................................................................................................................341
6.2 执行程序........................................................................................................................................... 345
6.2.1 启动程序..........................................................................................................................................345
6.2.2 机器人的动作 ..................................................................................................................................346
6.2.3 从暂停状态启动程序 ......................................................................................................................349
6.3 测试运转........................................................................................................................................... 354
6.3.1 设定测试执行 ..................................................................................................................................355
6.3.2 逐步测试运转 ..................................................................................................................................356
6.3.3 连续测试运转 ..................................................................................................................................360
6.3.4 程序确认／监控 ..............................................................................................................................362
6.4 I/O 的手动控制 ................................................................................................................................ 364
6.4.1 强制输出..........................................................................................................................................364
6.4.2 仿真输入/输出.................................................................................................................................366
6.4.3 待命解除..........................................................................................................................................367
6.5 机械手的手动操作........................................................................................................................... 368
6.6 自动运转........................................................................................................................................... 370
6.6.1 基于机器人启动请求（RSR）的自动运转 ...................................................................................371
6.6.2 基于程序编号选择（PNS）的自动运转 .......................................................................................373
6.6.3 外部倍率选择功能 ..........................................................................................................................375
6.7 联机位置修改................................................................................................................................... 378
7 状态显示............................................................................................................................... 385
7.1 示教操作盘 LED.............................................................................................................................. 386
7.2 用户画面........................................................................................................................................... 387
7.3 寄存器............................................................................................................................................... 388
7.4 位置寄存器....................................................................................................................................... 390
7.5 码垛寄存器....................................................................................................................................... 394
7.6 当前位置........................................................................................................................................... 395
7.7 系统变量........................................................................................................................................... 398
7.8 程序计时器....................................................................................................................................... 400
7.9 系统计时器....................................................................................................................................... 402
7.10 执行履历........................................................................................................................................... 403
7.11 存储器使用状态............................................................................................................................... 405
8 输入/输出文件...................................................................................................................... 407
8.1 文件输入/输出装置.......................................................................................................................... 408
8.1.1 存储卡..............................................................................................................................................411
8.1.2 USB 存储器......................................................................................................................................412
8.2 设定通信端口................................................................................................................................... 416
8.3 文件................................................................................................................................................... 420
8.3.1 程序文件..........................................................................................................................................420
8.3.2 标准指令文件 ..................................................................................................................................421
8.3.3 系统文件／应用程序文件 ..............................................................................................................421
8.3.4 数据文件..........................................................................................................................................421
8.3.5 ASCII 文件.......................................................................................................................................421
8.4 保存文件........................................................................................................................................... 422
8.4.1 从程序一览画面保存数据 ..............................................................................................................422
8.4.2 从文件画面保存数据 ......................................................................................................................424
8.4.3 通过辅助菜单来保存文件 ..............................................................................................................427
8.4.4 文件操作..........................................................................................................................................430
8.5 加载文件........................................................................................................................................... 433
8.5.1 从程序一览画面加载程序文件.......................................................................................................434
8.5.2 从文件画面加载文件 ......................................................................................................................435
8.6 打印文件........................................................................................................................................... 441
8.7 自动备份功能................................................................................................................................... 445
8.7.1 自动备份功能的特征 ......................................................................................................................445
8.7.2 可以使用的存储卡 ..........................................................................................................................446
8.7.3 设定自动备份功能 ..........................................................................................................................447
8.7.4 执行自动备份 ..................................................................................................................................448
8.7.5 管理多个备份 ..................................................................................................................................449
8.7.6 加载备份..........................................................................................................................................450
8.8 图像备份功能................................................................................................................................... 451
9 应用....................................................................................................................................... 454
9.1 宏指令............................................................................................................................................... 455
9.1.1 设定宏指令......................................................................................................................................456
9.1.2 执行宏指令......................................................................................................................................461
9.2 位移功能........................................................................................................................................... 466
9.2.1 程序位移功能 ..................................................................................................................................467
9.2.2 镜像位移功能 ..................................................................................................................................473
9.2.3 角度输入位移功能 ..........................................................................................................................477
9.3 坐标系更换位移功能....................................................................................................................... 483
9.4 软浮动功能....................................................................................................................................... 489
9.5 连续旋转功能................................................................................................................................... 496
9.6 位置寄存器先执行功能................................................................................................................... 502
9.7 动作组ＤＯ输出功能....................................................................................................................... 505
9.8 先执行指令功能............................................................................................................................... 507
9.9 先执行距离指令............................................................................................................................... 513
9.9.1 概要..................................................................................................................................................513
9.9.2 规格..................................................................................................................................................513
9.9.3 设定..................................................................................................................................................514
9.9.4 指令..................................................................................................................................................514
9.9.5 指令的示教操作 ..............................................................................................................................523
9.9.6 限制事项/其他 ................................................................................................................................527
9.9.7 系统变量一览 ..................................................................................................................................528
9.9.8 错误代码列表 ..................................................................................................................................529
9.10 状态监视功能................................................................................................................................... 531
9.11 自动误差恢复功能........................................................................................................................... 541
9.11.1 概要..................................................................................................................................................541
9.11.2 自动错误恢复功能的概略 ..............................................................................................................541
9.11.3 记录再启动程序 ..............................................................................................................................544
9.11.4 示教 RETURN_PATH_DSBL 指令 ................................................................................................545
9.11.5 设定自动错误恢复功能 ..................................................................................................................545
9.11.6 暂停中的程序被再启动时的流程图...............................................................................................553
9.11.7 自动错误恢复功能的手动操作画面...............................................................................................554
9.11.8 从示教操作盘执行再启动程序和测试方式...................................................................................556
9.11.9 更改再启动程序的启动条件...........................................................................................................557
9.11.10 其他规格和制约 ..............................................................................................................................557
9.11.11 警告..................................................................................................................................................559
9.12 遥控 TCP 功能................................................................................................................................. 560
9.12.1 功能概要..........................................................................................................................................560
9.12.2 设定..................................................................................................................................................562
9.13 高感度冲撞检测功能....................................................................................................................... 565
9.13.1 概要..................................................................................................................................................565
9.13.2 规格..................................................................................................................................................565
9.13.3 高感度冲撞检测功能 ......................................................................................................................565
9.13.4 注意事项..........................................................................................................................................566
9.14 负载设定功能................................................................................................................................... 567
9.14.1 概要..................................................................................................................................................567
9.14.2 动作性能画面 ..................................................................................................................................567
9.14.3 程序指令..........................................................................................................................................569
9.15 负载推定功能................................................................................................................................... 570
9.15.1 概要..................................................................................................................................................570
9.15.2 操作步骤..........................................................................................................................................570
9.15.3 负载推定的步骤（面向 6 轴机器人）...........................................................................................570
9.15.4 校正的步骤（面向 6 轴机器人）...................................................................................................574
9.15.5 其他相关事项 ..................................................................................................................................577
9.16 附加轴冲撞检测功能....................................................................................................................... 578
9.16.1 概要..................................................................................................................................................578
9.16.2 注意事项..........................................................................................................................................578
9.16.3 初始设定..........................................................................................................................................578
9.16.4 调节检测感度 ..................................................................................................................................579
9.17 重力补偿功能................................................................................................................................... 581
9.17.1 系统变量..........................................................................................................................................581
9.17.2 动作性能画面 ..................................................................................................................................581
9.18 密码功能........................................................................................................................................... 584
9.18.1 密码功能概要 ..................................................................................................................................584
9.18.2 启动用户的密码操作 ......................................................................................................................585
9.18.3 使密码功能无效 ..............................................................................................................................588
9.18.4 示教用户以及设定用户的密码操作...............................................................................................589
9.18.5 密码配置文件 ..................................................................................................................................593
9.18.5.1 概要.................................................................................................................................................... 593
9.18.6 密码配置文件的 XML 句法............................................................................................................595
9.18.7 密码日志..........................................................................................................................................599
9.18.8 对应密码级别的画面限制 ..............................................................................................................601
9.18.9 密码自动登入功能 ..........................................................................................................................604
9.19 软面板............................................................................................................................................... 605
9.19.1 应用程序固有的软面板功能...........................................................................................................605
9.19.2 自定义 I/O........................................................................................................................................606
9.20 复合运算功能................................................................................................................................... 608
9.21 PMC 监控功能................................................................................................................................. 627
9.22 PMC 编辑功能................................................................................................................................. 630
9.23 操作记录功能(选项功能) ................................................................................................................ 633
9.23.1 概要..................................................................................................................................................633
9.23.2 将被记录的事件 ..............................................................................................................................637
9.23.3 设定操作记录簿 ..............................................................................................................................641
9.23.4 操作..................................................................................................................................................642
9.23.5 扩展的报警履历 ..............................................................................................................................648
9.23.5.1 设定方法............................................................................................................................................ 648
9.24 原始路径再继续功能....................................................................................................................... 651
9.25 程序工具箱....................................................................................................................................... 656
9.25.1 简易镜像位移 ..................................................................................................................................656
9.25.2 机械手腕反转 ..................................................................................................................................659
9.25.3 软极限设定......................................................................................................................................662
10 码垛功能............................................................................................................................... 665
10.1 码垛功能........................................................................................................................................... 666
10.2 码垛指令........................................................................................................................................... 669
10.3 示教码垛........................................................................................................................................... 671
10.3.1 选择码垛指令 ..................................................................................................................................672
10.3.2 输入初始数据 ..................................................................................................................................673
10.3.3 示教堆叠模式 ..................................................................................................................................679
10.3.4 设定路径模式条件 ..........................................................................................................................686
10.3.5 示教路径模式 ..................................................................................................................................689
10.3.6 码垛示教时的注意事项 ..................................................................................................................693
10.4 执行码垛........................................................................................................................................... 694
10.4.1 码垛寄存器......................................................................................................................................695
10.4.2 控制基于码垛寄存器的码垛...........................................................................................................697
10.5 修改码垛........................................................................................................................................... 698
10.6 带有附加轴的码垛........................................................................................................................... 700
10.7 码垛全点示教................................................................................................................................... 701
11 FANUC i Pendant................................................................................................................ 703
11.1 概要................................................................................................................................................... 704
11.2 外观和操作方法............................................................................................................................... 705
11.2.1 外观和开关......................................................................................................................................705
11.2.2 键控开关..........................................................................................................................................706
11.2.3 状态窗口..........................................................................................................................................707
11.2.4 画面的分割方法 ..............................................................................................................................708
11.2.5 操作对象画面的移动方法 ..............................................................................................................710
11.2.6 因特网画面......................................................................................................................................711
11.2.7 画面选择以及菜单编辑画面的画面菜单.......................................................................................714
11.2.8 状态辅助窗口 ..................................................................................................................................715
11.2.8.1 当前位置显示....................................................................................................................................716
11.2.8.2 操作面板状态显示............................................................................................................................ 716
11.2.8.3 安全信号状态显示............................................................................................................................ 717
11.2.9 根据每一报警重要程序的彩色显示...............................................................................................718
11.3 触控板............................................................................................................................................... 719
11.4 iPendant 设定................................................................................................................................... 720
11.5 限制事项........................................................................................................................................... 733
目录（第２巻／全２巻）
12 ARC TOOL.......................................................................................................................... 734
12.1 设定................................................................................................................................................... 735
12.1.1 ARC TOOL 软件..............................................................................................................................735
12.1.2 弧焊顺序..........................................................................................................................................736
12.1.3 设定 ARC TOOL .............................................................................................................................737
12.1.4 设定弧焊系统 ..................................................................................................................................741
12.1.5 设定弧焊装置 ..................................................................................................................................745
12.1.6 弧焊条件..........................................................................................................................................748
12.1.6.1 焊接条件参考说明画面.................................................................................................................... 750
12.1.7 处理条件..........................................................................................................................................754
12.2 I/O ..................................................................................................................................................... 757
12.2.1 焊接输入信号 ..................................................................................................................................758
12.2.2 焊接输出信号 ..................................................................................................................................759
12.2.3 模拟输入输出 ..................................................................................................................................763
12.2.3.1 增减模拟输入输出信号数量............................................................................................................ 763
12.2.3.2 设定模拟输入输出信号指令用的基准值和指令值的范围 ........................................................... 765
12.3 指令................................................................................................................................................... 767
12.3.1 电弧指令..........................................................................................................................................767
12.3.1.1 弧焊开始指令....................................................................................................................................767
12.3.1.2 弧焊结束指令....................................................................................................................................768
12.3.1.3 示教弧焊指令....................................................................................................................................770
12.3.2 焊接速度指令 ..................................................................................................................................773
12.3.2.1 示教焊接速度指令............................................................................................................................ 775
12.4 手动操作........................................................................................................................................... 777
12.4.1 手动金属线进给/回绕 .....................................................................................................................777
12.4.2 焊接有效..........................................................................................................................................777
12.4.3 焊枪缓进功能 ..................................................................................................................................778
12.5 测试执行........................................................................................................................................... 781
12.5.1 测试执行的设定 ..............................................................................................................................781
12.6 状态................................................................................................................................................... 783
12.6.1 示教操作盘 LED .............................................................................................................................783
12.6.2 弧焊状态..........................................................................................................................................784
12.6.3 电弧图表..........................................................................................................................................785
13 ARC TOOL 应用................................................................................................................. 787
13.1 电弧多装置功能............................................................................................................................... 788
13.1.1 设定多装置......................................................................................................................................788
13.1.2 多装置中的焊接有效/无效 .............................................................................................................792
13.1.3 创建多装置中的程序 ......................................................................................................................793
13.1.4 与动作组联动 ..................................................................................................................................795
13.1.5 设定电弧多焊接装置同步功能.......................................................................................................796
13.1.6 电弧多焊接装置同步功能的使用示例...........................................................................................798
13.1.7 电弧多焊接装置同步功能的规格和限制事项...............................................................................799
13.2 横摆功能........................................................................................................................................... 800
13.2.1 概要..................................................................................................................................................800
13.2.2 设定横摆..........................................................................................................................................800
13.2.3 横摆条件..........................................................................................................................................803
13.2.4 横摆指令..........................................................................................................................................805
13.3 焊接微调功能................................................................................................................................... 811
13.3.1 焊接微调画面 ..................................................................................................................................811
13.3.2 横摆微调画面 ..................................................................................................................................813
13.4 焊炬姿势变换功能........................................................................................................................... 816
13.5 焊炬微调功能................................................................................................................................... 826
13.6 电弧传感器功能............................................................................................................................... 830
13.6.1 什么是电弧传感器 ..........................................................................................................................830
13.6.2 影响电弧传感器的要因 ..................................................................................................................833
13.6.3 使用电弧传感器时的指南 ..............................................................................................................833
13.6.4 设定电弧传感器条件 ......................................................................................................................834
13.6.5 偏置量的继续 ..................................................................................................................................840
13.6.6 调整电弧传感器条件 ......................................................................................................................841
13.6.7 电弧传感器指令 ..............................................................................................................................842
13.6.8 故障排除..........................................................................................................................................843
13.7 TIG 电弧长度控制功能................................................................................................................... 845
13.7.1 路径补偿..........................................................................................................................................845
13.7.2 影响 TIG 电弧长度控制的主要因素 ..............................................................................................848
13.7.3 对 TIG 电弧长度控制装置的要求 ..................................................................................................849
13.7.4 设定 TIG 电弧长度控制条件..........................................................................................................849
13.8 多层堆焊功能................................................................................................................................... 854
13.8.1 概要..................................................................................................................................................854
13.8.2 跟踪路径数据指令 ..........................................................................................................................855
13.8.3 多层堆焊指令 ..................................................................................................................................858
13.8.4 程序例..............................................................................................................................................862
13.9 数据监视功能................................................................................................................................... 865
13.9.1 数据监视的设定 ..............................................................................................................................867
13.9.2 数据监视条件 ..................................................................................................................................871
13.9.3 程序..................................................................................................................................................875
13.9.4 数据监视图......................................................................................................................................875
13.10 接触式传感器功能........................................................................................................................... 877
13.10.1 概要..................................................................................................................................................877
13.10.2 分配接触式传感器 I/O ....................................................................................................................878
13.10.3 设定接触式传感器功能 ..................................................................................................................880
13.10.4 创建接触式传感器程序 ..................................................................................................................895
13.10.5 接触感测调校 ..................................................................................................................................901
13.11 电弧轻松高速恢复功能................................................................................................................... 909
13.11.1 概要..................................................................................................................................................909
13.11.2 规格..................................................................................................................................................909
13.11.3 焊炬保护功能 ..................................................................................................................................910
13.11.4 注意事项..........................................................................................................................................913
13.11.5 相关的报警......................................................................................................................................913
13.11.6 焊炬恢复功能 ..................................................................................................................................914
13.12 电弧模拟输出多换算系数功能....................................................................................................... 931
13.12.1 功能概略..........................................................................................................................................931
13.12.2 操作步骤..........................................................................................................................................932
13.13 焊接条件倾斜指定功能................................................................................................................... 935
13.13.1 概要..................................................................................................................................................935
13.13.2 使功能有效／无效的变更方法.......................................................................................................935
13.13.3 焊接条件倾斜指定 ..........................................................................................................................936
13.13.4 速度倾斜指定 ..................................................................................................................................941
13.13.5 横摆倾斜指定 ..................................................................................................................................942
13.13.6 报警恢复时的倾斜指定动作...........................................................................................................944
13.13.7 与其他功能并用 ..............................................................................................................................945
13.14 焊接装置程序选择功能................................................................................................................... 946
13.14.1 概要..................................................................................................................................................946
13.14.2 功能的有效／无效切换 ..................................................................................................................946
13.14.3 分配焊接装置程序选择输出信号...................................................................................................947
13.14.4 选择焊接装置程序 ..........................................................................................................................950
13.14.5 设定焊接条件中的焊接装置程序...................................................................................................951
13.15 伺服焊炬控制功能........................................................................................................................... 952
13.15.1 功能概要..........................................................................................................................................952
13.15.2 使用上的注意事项及限制事项.......................................................................................................952
13.15.3 功能细节..........................................................................................................................................953
13.15.3.1 示教弧焊指令....................................................................................................................................953
13.15.3.2 手动金属线寸动................................................................................................................................953
13.15.3.3 气洗功能............................................................................................................................................ 953
13.15.4 设定伺服焊炬 ..................................................................................................................................955
13.15.4.1 设定伺服焊炬轴................................................................................................................................955
13.15.4.2 焊接装置设定画面............................................................................................................................ 957
13.15.4.3 伺服焊炬设定画面............................................................................................................................ 958
13.16 伺服焊炬金属线速度指令微调整功能........................................................................................... 960
13.16.1 6 点修正 ...........................................................................................................................................960
13.16.2 直接设定..........................................................................................................................................963
13.17 焊炬维修自动调整功能................................................................................................................... 965
13.17.1 设置焊炬维修站 ..............................................................................................................................965
13.17.2 准备焊炬维修自动调整功能...........................................................................................................970
13.17.3 焊嘴更换夹具的修正 ......................................................................................................................970
13.17.4 执行焊嘴更换自动程序 ..................................................................................................................975
13.17.5 喷嘴清洁夹具的修正 ......................................................................................................................977
13.17.6 执行焊炬清洁自动程序 ..................................................................................................................982
13.17.7 喷嘴清洁动作的旋转方向 ..............................................................................................................983
13.17.8 寄存器..............................................................................................................................................984
13.17.9 创建焊炬维修系统程序 ..................................................................................................................986
13.17.10 与双焊炬等的对应 ..........................................................................................................................988
13.18 用户自定义型横摆功能................................................................................................................... 991
13.18.1 用户自定义型横摆指令 ..................................................................................................................991
13.18.2 横摆模式设定 ..................................................................................................................................992
13.18.3 基于 KAREL 的横摆模式设定 .......................................................................................................999
13.18.4 扩展横摆条件 ................................................................................................................................1002
13.19 弧焊时倍率控制功能..................................................................................................................... 1004
13.19.1 概要................................................................................................................................................1004
13.19.2 功能的有效／无效切换方法.........................................................................................................1004
13.19.3 程序的执行....................................................................................................................................1005
13.19.4 规格细节........................................................................................................................................1006
13.20 热波功能......................................................................................................................................... 1009
13.20.1 概要................................................................................................................................................1009
13.20.2 热波功能的初始设定 ....................................................................................................................1010
13.20.3 热波同步方式 ................................................................................................................................1010
13.20.4 热波焊接条件 ................................................................................................................................1011
附录
A R-J3iB 和 R-30iA 的差异.................................................................................................. 1017
A.1 ARC TOOL 设定画面................................................................................................................... 1018
A.2 电弧多装置功能............................................................................................................................. 1020
A.3 横摆................................................................................................................................................. 1023
A.4 焊接建议画面................................................................................................................................. 1025
A.5 菜单显示......................................................................................................................................... 1027
A.6 其他的追加和变更功能................................................................................................................. 1029
B 画面和程序指令................................................................................................................. 1030
B.1 菜单一览......................................................................................................................................... 1031
B.2 画面的种类..................................................................................................................................... 1039
B.3 程序指令一览................................................................................................................................. 1058
B.4 程序指令......................................................................................................................................... 1062
B.4.1 动作指令........................................................................................................................................1062
B.4.2 动作附加指令 ................................................................................................................................1062
B.4.3 寄存器指令和 I/O 指令 .................................................................................................................1064
B.4.4 条件转移指令 ................................................................................................................................1066
B.4.5 待命指令........................................................................................................................................1067
B.4.6 无条件转移指令 ............................................................................................................................1068
B.4.7 程序控制指令 ................................................................................................................................1068
B.4.8 其他指令........................................................................................................................................1069
B.4.9 跳过和位置补偿指令 ....................................................................................................................1070
B.4.10 坐标系设定指令 ............................................................................................................................1071
B.4.11 宏指令............................................................................................................................................1071
B.4.12 多轴控制指令 ................................................................................................................................1071
B.4.13 位置寄存器先执行指令 ................................................................................................................1072
B.4.14 软浮动指令....................................................................................................................................1072
B.4.15 状态监视指令 ................................................................................................................................1072
B.4.16 动作组指令....................................................................................................................................1073
B.4.17 码垛指令........................................................................................................................................1073
C 特殊操作............................................................................................................................. 1074
C.1 启动方式......................................................................................................................................... 1075
C.1.1 启动方式的种类 ............................................................................................................................1075
C.1.2 初始化启动....................................................................................................................................1076
C.1.3 控制启动........................................................................................................................................1077
C.1.4 冷启动............................................................................................................................................1079
C.1.5 热启动............................................................................................................................................1081
C.2 调校................................................................................................................................................. 1082
C.2.1 夹具位置调校 ................................................................................................................................1084
C.2.2 零位调校（对合标记调校）.........................................................................................................1086
C.2.3 简易调校........................................................................................................................................1088
C.2.4 1 轴调校 .........................................................................................................................................1091
C.2.5 输入调校数据 ................................................................................................................................1094
C.3 软件版本数..................................................................................................................................... 1096
C.4 机器人各轴状态............................................................................................................................. 1099
C.5 诊断画面......................................................................................................................................... 1105
C.5.1 概要................................................................................................................................................1105
C.5.2 有关减速机诊断 ............................................................................................................................1105
C.5.3 操作步骤........................................................................................................................................1106
C.5.4 各条目............................................................................................................................................1108
C.6 世界坐标系原点............................................................................................................................. 1111
C.7 设定 I/O 模块 ................................................................................................................................. 1112
C.8 有关 FSSB 路径设定...................................................................................................................... 1118
C.8.1 FSSB 路径的定义 ..........................................................................................................................1118
C.8.2 设定 1（FSSB 路径） ...................................................................................................................1119
C.8.3 设定 2（FSSB 第 1 路径的总轴数）............................................................................................1119
C.8.4 设定 3（硬件开始轴编号）..........................................................................................................1120
C.8.5 设定例............................................................................................................................................1121
C.8.5.1 设定例 1...........................................................................................................................................1121
C.8.5.2 设定例 2...........................................................................................................................................1122
C.8.5.3 设定例 3...........................................................................................................................................1123
C.9 定位器启动步骤............................................................................................................................. 1124
C.10 附加轴启动步骤............................................................................................................................. 1131
C.11 独立附加轴（Nobot Axis）启动步骤.......................................................................................... 1138
D 报警代码............................................................................................................................. 1143
D.1 报警代码表的查阅方法................................................................................................................. 1144
D.2 报警代码......................................................................................................................................... 1153
E 系统变量............................................................................................................................. 1356
E.1 系统变量表的查阅方法................................................................................................................. 1357
E.2 系统变量......................................................................................................................................... 1359
F 术语表................................................................................................................................. 1378
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