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目录....................................................................................................................................................I
1 安全...............................................................................................................................................1
1.1 关于本章 .......................................................................................................................................1
1.2 安全术语 .......................................................................................................................................2
1.2.1 安全标识................................................................................................................................2
1.2.2 潜在危险................................................................................................................................3
1.2.3 安全特性................................................................................................................................3
1.2.4 什么是紧急停止....................................................................................................................5
1.2.5 使能开关................................................................................................................................6
1.3 工作中的安全事项 .......................................................................................................................8
1.3.1 概述........................................................................................................................................8
1.3.2 关注自身安全........................................................................................................................8
1.3.3 操作示教器............................................................................................................................9
1.3.4 从急停状态恢复....................................................................................................................9
1.3.5 手动模式的安全事项..........................................................................................................10
1.3.6 自动模式的安全事项..........................................................................................................10
1.3.7 紧急情况的处理..................................................................................................................11
1.4 操作及安全培训 .........................................................................................................................13
1.4.1 概述......................................................................................................................................13
1.4.2 操作人员要求......................................................................................................................13
1.4.3 维护人员的要求..................................................................................................................13
1.4.4 培训......................................................................................................................................13
2 欢迎使用 TITANITE.......................................................................................................................14
2.1 关于本章 .....................................................................................................................................14
2.2 控制柜.........................................................................................................................................15
2.2.1 关于控制柜..........................................................................................................................15
2.2.2 控制柜布局..........................................................................................................................16
2.2.3 按钮与接口..........................................................................................................................16
2.2.4 IO 及网口定义......................................................................................................................18
2.3 示教器.........................................................................................................................................23
2.3.1 关于示教器..........................................................................................................................23
2.3.2 按钮与接口..........................................................................................................................23
2.3.3 如何握持示教器..................................................................................................................24
2.3.4 不使用示教器......................................................................................................................24
2.4 虚拟 HMI .....................................................................................................................................26
2.5 启动系统 .....................................................................................................................................27
2.6 维护.............................................................................................................................................31
2.6.1 关于维护时的安全..............................................................................................................31
2.6.2 维修计划..............................................................................................................................31
2.6.3 检修间隔..............................................................................................................................31
3 操作界面 .....................................................................................................................................32
3.1 界面布局 .....................................................................................................................................32
3.1.1 状态栏..................................................................................................................................32
3.1.2 快捷设置..............................................................................................................................33
3.1.3 主要页面..............................................................................................................................33
3.1.4 界面切换..............................................................................................................................39
3.2 基本设置 .....................................................................................................................................41
3.2.1 用户登录..............................................................................................................................41
3.2.2 设置软限位..........................................................................................................................41
3.2.3 系统升级..............................................................................................................................42
3.2.4 备份恢复..............................................................................................................................43
3.2.5 恢复出厂设置......................................................................................................................45
3.2.6 姿态调整..............................................................................................................................46
4 JOG 操作.......................................................................................................................................48
4.1 什么是 JOG？ ...............................................................................................................................48
4.2 机器人坐标系统 .........................................................................................................................49
4.3 JOG 时的注意事项........................................................................................................................51
4.4 开始 JOG.......................................................................................................................................52
4.4.1 选择 Jog 参数 ......................................................................................................................52
4.4.2 关节空间 Jog .......................................................................................................................53
4.4.3 笛卡尔空间 Jog ...................................................................................................................54
4.4.4 查看位置与 IO .....................................................................................................................54
5 编程和调试..................................................................................................................................58
5.1 关于本章 .....................................................................................................................................58
5.2 工作模式 .....................................................................................................................................59
5.2.1 手动模式..............................................................................................................................59
5.2.2 自动模式..............................................................................................................................59
5.2.3 模式切换..............................................................................................................................61
5.3 工具.............................................................................................................................................64
5.3.1 什么是工具？ ......................................................................................................................64
5.3.2 什么是工具中心点？ ..........................................................................................................64
5.3.3 定义工具..............................................................................................................................64
5.3.4 标定工具坐标系..................................................................................................................65
5.3.5 定义工具负载......................................................................................................................67
5.3.6 使用工具..............................................................................................................................68
5.3.7 外部工具功能......................................................................................................................69
5.4 工件.............................................................................................................................................71
5.4.1 什么是工件？ ......................................................................................................................71
5.4.2 定义工件..............................................................................................................................71
5.4.3 使用工件..............................................................................................................................72
5.5 基坐标系 .....................................................................................................................................74
5.6 机械零点 .....................................................................................................................................74
5.6.1 关于机械零点......................................................................................................................74
5.6.2 零点标定..............................................................................................................................75
5.7 配置 IO ........................................................................................................................................77
5.8 可编程按键 .................................................................................................................................79
5.9 开始编程 .....................................................................................................................................81
5.9.1 管理程序文件......................................................................................................................81
5.9.2 创建一个工程......................................................................................................................82
5.9.3 编写程序..............................................................................................................................82
5.9.4 视觉......................................................................................................................................85
5.10 程序调试 ...................................................................................................................................92
5.10.1 调试功能菜单....................................................................................................................92
5.10.2 运行指针............................................................................................................................92
5.10.3 前瞻机制............................................................................................................................94
5.10.4 移动程序指针....................................................................................................................94
5.10.5 单步运行............................................................................................................................95
5.10.6 重回路径............................................................................................................................95
5.10.7 变量管理............................................................................................................................96
5.10.8 机器人的奇异性................................................................................................................97
5.10.9 VREP 仿真 ...........................................................................................................................99
6 工艺包 ....................................................................................................................................... 100
6.1 料盘...........................................................................................................................................100
6.1.1 概述....................................................................................................................................100
6.1.2 料盘管理............................................................................................................................100
7 RL 编程语言................................................................................................................................ 103
7.1 关于 RL 语言 .............................................................................................................................103
7.2 程序结构 ...................................................................................................................................104
7.2.1 概述....................................................................................................................................104
7.2.2 程序模块............................................................................................................................104
7.2.3 函数....................................................................................................................................105
7.3 变量...........................................................................................................................................107
7.3.1 基本概念............................................................................................................................107
7.3.2 变量声明............................................................................................................................109
7.3.3 变量类型............................................................................................................................110
7.4 运算符.......................................................................................................................................136
7.4.1 优先级................................................................................................................................138
7.5 指令...........................................................................................................................................139
7.5.1 AccSet ..................................................................................................................................139
7.5.2 ActUnit ................................................................................................................................140
7.5.3 BitAnd..................................................................................................................................140
7.5.4 BitCheck...............................................................................................................................141
7.5.5 BitClear................................................................................................................................141
7.5.6 BitLSh...................................................................................................................................142
7.5.7 BitNeg..................................................................................................................................142
7.5.8 BitOr ....................................................................................................................................143
7.5.9 BitRSh ..................................................................................................................................143
7.5.10 BitSet .................................................................................................................................144
7.5.11 BitXOr ................................................................................................................................145
7.5.12 Break .................................................................................................................................145
7.5.13 ByteToStr ...........................................................................................................................146
7.5.14 CalcJointT ..........................................................................................................................146
7.5.15 CalcRobT............................................................................................................................147
7.5.16 ClkRead..............................................................................................................................148
7.5.17 ClkReset .............................................................................................................................148
7.5.18 ClkStart ..............................................................................................................................149
7.5.19 ClkStop...............................................................................................................................149
7.5.20 CONNECT...........................................................................................................................150
7.5.21 Continue ............................................................................................................................150
7.5.22 CRobT ................................................................................................................................151
7.5.23 DeactUnit ..........................................................................................................................151
7.5.24 DecToHex...........................................................................................................................151
7.5.25 DoubleToByte ....................................................................................................................152
7.5.26 DoubleToStr .......................................................................................................................152
7.5.27 EulerToQuaternion ............................................................................................................152
7.5.28 HexToDec...........................................................................................................................153
7.5.29 DropWobj ..........................................................................................................................153
7.5.30 EXIT....................................................................................................................................153
7.5.31 FCAct .................................................................................................................................154
7.5.32 FCCalib...............................................................................................................................155
7.5.33 FCCondForce......................................................................................................................155
7.5.34 FCCondOrient ....................................................................................................................157
7.5.35 FCCondPosBox ...................................................................................................................158
7.5.36 FCCondPosCylinder ............................................................................................................158
7.5.37 FCCondPosSphere..............................................................................................................159
7.5.38 FCCondReoriSpeed.............................................................................................................160
7.5.39 FCCondTCPSpeed...............................................................................................................161
7.5.40 FCCondTorque....................................................................................................................162
7.5.41 FCCondWaitWhile..............................................................................................................163
7.5.42 FCDeact .............................................................................................................................164
7.5.43 FCLoadID ...........................................................................................................................164
7.5.44 FCRefCircle.........................................................................................................................165
7.5.45 FCRefForce.........................................................................................................................166
7.5.46 FCRefLine ...........................................................................................................................166
7.5.47 FCRefRot ............................................................................................................................167
7.5.48 FCRefSpiral ........................................................................................................................168
7.5.49 FCRefStart..........................................................................................................................168
7.5.50 FCRefStop ..........................................................................................................................169
7.5.51 FCRefTorque.......................................................................................................................169
7.5.52 FCSetSDPara ......................................................................................................................170
7.5.53 FCSupvForce ......................................................................................................................171
7.5.54 FCSupvOrient .....................................................................................................................172
7.5.55 FCSupvPosBox....................................................................................................................173
7.5.56 FCSupvPosCylinder ............................................................................................................174
7.5.57 FCSupvPosSphere ..............................................................................................................174
7.5.58 FCSupvReoriSpeed .............................................................................................................175
7.5.59 FCSupvTCPSpeed ...............................................................................................................176
7.5.60 FCSupvTorque ....................................................................................................................177
7.5.61 IDisable..............................................................................................................................178
7.5.62 IEnable...............................................................................................................................178
7.5.63 IF…ELSE…...........................................................................................................................178
7.5.64 IntToByte ...........................................................................................................................179
7.5.65 IntToStr ..............................................................................................................................180
7.5.66 ISignalDI ............................................................................................................................180
7.5.67 MemIn ...............................................................................................................................181
7.5.68 MemSw..............................................................................................................................181
7.5.69 MemOff .............................................................................................................................182
7.5.70 MemOn .............................................................................................................................182
7.5.71 MemOut ............................................................................................................................182
7.5.72 MotionSup.........................................................................................................................183
7.5.73 MoveAbsJ ..........................................................................................................................184
7.5.74 MoveJ ................................................................................................................................185
7.5.75 MoveL................................................................................................................................186
7.5.76 MoveC ...............................................................................................................................188
7.5.77 MoveT................................................................................................................................189
7.5.78 Offs ....................................................................................................................................191
7.5.79 Pause .................................................................................................................................191
7.5.80 Print...................................................................................................................................192
7.5.81 PulseDO .............................................................................................................................192
7.5.82 QuaternionToEuler ............................................................................................................193
7.5.83 RelTool ...............................................................................................................................193
7.5.84 RestoPath ..........................................................................................................................194
7.5.85 RETURN .............................................................................................................................195
7.5.86 SetDO ................................................................................................................................195
7.5.87 SetGO ................................................................................................................................195
7.5.88 SocketCreate......................................................................................................................196
7.5.89 SocketClose........................................................................................................................196
7.5.90 SocketSendByte .................................................................................................................197
7.5.91 SocketSendString ...............................................................................................................197
7.5.92 SocketReadBit....................................................................................................................198
7.5.93 SocketReadDouble.............................................................................................................199
7.5.94 SocketReadInt....................................................................................................................199
7.5.95 SocketReadString...............................................................................................................200
7.5.96 StartMove..........................................................................................................................200
7.5.97 StopMove ..........................................................................................................................201
7.5.98 StorePath...........................................................................................................................201
7.5.99 StrFind ...............................................................................................................................202
7.5.100 StrLen ..............................................................................................................................202
7.5.101 StrMap.............................................................................................................................203
7.5.102 StrMatch..........................................................................................................................203
7.5.103 StrMemb..........................................................................................................................204
7.5.104 StrOrder...........................................................................................................................205
7.5.105 StrPart .............................................................................................................................205
7.5.106 StrToByte .........................................................................................................................206
7.5.107 TestAndSet.......................................................................................................................207
7.5.108 TriggC ..............................................................................................................................207
7.5.109 TriggIO.............................................................................................................................209
7.5.110 TriggJ ...............................................................................................................................211
7.5.111 TriggL...............................................................................................................................212
7.5.112 WHILE ..............................................................................................................................213
7.5.113 Wait.................................................................................................................................214
7.5.114 WaitSyncTask...................................................................................................................214
7.5.115 WaitUntil .........................................................................................................................215
7.5.116 WaitWobj ........................................................................................................................216
7.5.117 数学指令........................................................................................................................216
7.6 中断...........................................................................................................................................219
7.6.1 概述....................................................................................................................................219
7.6.2 中断的识别和响应............................................................................................................219
7.6.3 安全中断............................................................................................................................219
7.6.4 使用中断............................................................................................................................219
7.6.5 TRAP 作用域 .......................................................................................................................220
7.6.6 INTNO..................................................................................................................................220
7.6.7 TRAP 中有运动指令 ...........................................................................................................220
8 可选功能 ................................................................................................................................... 222
8.1 功能授权 ...................................................................................................................................222
8.2 外部导轨 ...................................................................................................................................223
8.2.1 概述....................................................................................................................................223
8.2.2 Jog 导轨 ..............................................................................................................................223
8.2.3 导轨编程............................................................................................................................224
8.2.4 使用限制............................................................................................................................224
8.3 碰撞检测 ...................................................................................................................................225
8.3.1 概述....................................................................................................................................225
8.3.2 注意事项............................................................................................................................225
8.3.3 参数配置............................................................................................................................226
8.3.4 系统输出............................................................................................................................228
8.3.5 避免误报............................................................................................................................228
8.4 协作模式 ...................................................................................................................................229
8.4.1 概述....................................................................................................................................229
8.4.2 参数配置............................................................................................................................229
8.4.3 注意事项............................................................................................................................230
8.5 拖动回放 ...................................................................................................................................232
8.5.1 概述....................................................................................................................................232
8.5.2 模式切换............................................................................................................................232
8.5.3 参数配置............................................................................................................................232
8.5.4 基于路径的拖动回放........................................................................................................233
8.5.5 基于时间的拖动回放........................................................................................................234
8.5.6 注意事项............................................................................................................................237
8.6 PROFINET....................................................................................................................................238
8.7 ETHERNET/IP.................................................................................................................................239
8.8 外部通信 ...................................................................................................................................240
8.9 多任务.......................................................................................................................................242
8.9.1 概述....................................................................................................................................242
8.9.2 新建任务............................................................................................................................242
8.9.3 任务看板............................................................................................................................243
8.9.4 启动和运行任务................................................................................................................244
8.9.5 任务间通信........................................................................................................................245
9 故障排查 ................................................................................................................................... 246
9.1 按故障现象 ...............................................................................................................................247
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