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首页 OTC机器人1L22150C-E-1_Synchromotion

OTC机器人1L22150C-E-1_Synchromotion.pdf

OTC机器人1L22150C-E-1_Synchromotion

俩萌娃他爹
2017-08-13 0人阅读 举报 0 0 暂无简介

简介:本文档为《OTC机器人1L22150C-E-1_Synchromotionpdf》,可适用于工程科技领域

NoLCEseriesINSTRUCTIONMANUALSYNCHROMOTIONSIMULTANEOUSCONTROL■Readandfollowtheseinstructionsandallsafetyblockscarefully■Haveonlytrainedandqualifiedpersonsinstall,operate,orservicethisunit■Givethismanualtotheoperator■Forhelp,callyourdistributorThankyouforselectingDAIHENarcweldingrobotAlmegaseriesAlmegaseriesaretherobotswithhighperformanceandvariousfunctionsdevelopedbymakingfulluseofthelatesttechnologySincetheknowledgeofweldingpeculiartoaweldingmachinemakerisappliedtobothhardwareandsoftware,wearesurethateachusercanbefullysatisfiedInordertousethesuperiorperformanceandtheabundantfunctionssafelyandfully,besuretoreadthefollowinginstructionmanualsincludingthismanualandotherattacheddocuments,andunderstandtheknowledgeofthemachines,safetyinformation,andnotesthoroughlyInstructionmanualsrelatedtothemanipulatorldquoVBHseriesrdquo,andtherobotcontrolunitldquoFDrdquoareasfollows■StandardManualsInstructionManualTypeInstructionManualNoMainContentsQUICKSTARTLAPointonSafety,TransportationandInstallation,Turningthepoweronoffandmanualoperation,etcSETUPLBSafetyprecautions,installingconnectingmethod,startingup,periodicalinspection,solutionatthetimeoffailureCONTROLLERMAINTENANCELKSpecificationsofcontroller,explanationofeachpartsandmaintenance,partslist,etcMANIPULATOR(NBNBLNVNVLNVNH)LASpecificationsormaintenanceofmanipulator,partslist,etcBASICOPERATIONSLCExplanationofmanualoperation,teaching,automaticoperation,fileutilities,backingupdata,basicoperationsofArcSpotweldingapplication,etcEXTERNALINPUTOUTPUTLHInterfacingmethodwithexternalcontroldevice,listofIOsignalsandstarthalttheautomaticoperation,etcSoftwarePLCLJCreateprogram,Inputoutputrelaylists,Listofcommandwords,etcCONTROLANDMAINTENANCEFUNCTIONLLEditlogging,UserCheck,Troubleshooting,etc■ApplicationManualsInstructionManualTypeInstructionManualNoMainContentsAPPLICATIONMANUAL(ARCWELDING)LFBasicsettings,functionsforarcwelding,teachingtechnic,etcAPPLICATIONMANUAL(SPOTWELDING)LEBasicsettings,functionsforarcwelding,teachingtechnic,etcInstructionmanualsareavailableotherthantheaboveforeachoptionalfunctionthatyouhavepurchasedNotesSpecificationsandinformationcontainedinthesemanualsaresubjecttochangeatanytimewithoutnoticeThescreendisplayofateachpendantshowninthemanualaredescribedasexamples,whichmaybedifferentfromtheactualonesAlthoughwecautiouslycompiledthisstandardspecificationstoeliminateasmucherroraspossible,wedonottakeanyresponsibilityfordamagesresultingfromneitherdirectnorindirecterrorsThemanualisapartofrobotproductsWhentransferringorsellingoffarobot,besuretoappendthemanualNopartofthismanualmaybereproducedwithoutpermissionProhibitedalteringorremodelingDonotalterorremodelourproductsYoumaygetinjuredorhaveyourequipmentdamagedbecauseoffire,failureormalfunctioncausedbyalteringorremodelingtheproductThewarrantydoesnotcoveranyalteredorremodeledproductsBeSuretoReadInstructionManualsBeforeUseNoticeNotesonSafetyBeforeinstallation,operation,besuretoreadChapterPointsonSafetyinSETUPmanualandotherattacheddocumentsthoroughlyandacquirealltheknowledgeofmachines,safetyinformation,andprecautionsFurthermore,beforemaintenance,inspection,andtroublescene,besuretoreadCONTROLLERMAINTENANCEmanualandMANIPULATORmanualandotherattacheddocumentsthoroughlyandacquirealltheknowledgeofmachines,safetyinformation,andprecautionsIfoperatingmachinesinawrongway,theaccidentresultinginvariousranksofinjuryordeath,ordamagemayoccurInordertocallattentiontowronghandling,thefollowingfourranksofsafetynotes(ldquoDANGERrdquo,ldquoWARNINGrdquo,ldquoCAUTIONrdquo,andldquoIMPORTANTrdquo)areprovidedDANGERCaseswhereamistakemadeinhandlingislikelytocausetheusertobeexposedtothedangerofdeathorseriousinjuryandwherethedegreeoftheurgency(imminence)ofthewarninggivenforthedangertooccurisatthehighendofthescale(includinghighleveldanger)WARNINGCaseswhereamistakemadeinhandlingislikelytocausetheusertobeexposedtothedangerofdeathorseriousinjuryCAUTIONCaseswhereamistakemadeinhandlingislikelytocausetheusertobeexposedtothedangerofminorinjuriesorofpropertydamageonlyThefollowingsymbolisalsousedforparticularlyimportantcheckpoints:IMPORTANTThisisaparticularlyimportantcheckpointNotethateventhematterswhicharedescribedasCAUTIONcanresultinseriousaccidentdependingontheconditionsBesuretokeepthesafetynotessincetheydescribeveryimportantmattersThemeaningsofldquoSeriousinjuryrdquo,ldquoMinorinjuryrdquo,andldquoDamagerdquodescribedaboveareasfollowsSeriousinjury:Injurywhichhastheaftereffectbylossofeyesight,aninjury,theburn(highlowtemperature),anelectricshock,fracture,poisoning,etcandthatwhichrequireshospitalizationandlongtermtreatmentasanoutpatientMinorinjury:Injurywhichdoesnotrequireeitherhospitalizationorlongtermtreatmentasanoutpatient,aburn(hightemperature,lowtemperature),andanelectricshockDamage:DirectandindirectdamageinconnectionwithdamageofpropertyandequipmentChapterIntroductionThischapterdescribesdefinitionsoftermsusedthroughoutthismanual,asimpleoutlineofcontrolprocesses(synchromotioncontrol,simultaneouscontrol,andmultiunitcontrol),andanexplanationofhowtousethismanualTermscommonlyusedinthismanualHowtoreadthismanualControlprocessesSynchromotioncontrolSimultaneouscontrolMultiunitcontrolThisisdummypageDONOTERASETermscommonlyusedinthismanualTermscommonlyusedinthismanualThistablecontainsexplanationsoftermsusedinthismanualTableFrequentlyusedtermsTermsExplanationMechanismThistermisusedtorefertoaunit,suchasamanipulator,positioner,slider,servogun,orservodrive,thatcannotbesubdividedfurtherasacontrolgroupMultimechanismAconfigurationsuchasamanipulatorequippedwithapositioner,slider,andservogunisreferredtoasamultimechanismIfamultimechanismistobeusedwithmanualoperation,itisfirstnecessarytodeclarewhichmechanismistobeoperatedUnitThisreferstotheincrementsinwhichaprogramiscreatedOnsomeoccasions,onlyonemechanismconfigurestheunitonotheroccasions,multiplemechanisms(multimechanism)areinvolvedMultiunitNormallytheentiresystemincorporatesasingleunit,butitispossibleforasystemtohavemultipleunitsinordertoprovidemoreefficientoperationforthesystemoverallwhenmultiplemechanismsareconnectedThetermmultiunitisusedtodescribethistypeofconfigurationInamultiunitsetupallofthemechanismsconnectedtoasinglecontrolleraredistributedamongseveralunitsOperationprogramscreatedusingthoseunitscanberunsimultaneouslyInotherwords,theindividualunitscanoperateinparallel,therebysubstantiallyincreasingtheworkefficiencyofthesystemasawholeNormally,unitsettingsareperformedinaccordancewiththecustomerrsquosinstructionsbyourservicepersonnelwhenequipmentisshippedfromthefactoryorupondeliverySynchromotion(cooperativecontrol)Thisisamethodofcontrollingthetoolposition,posture,andspeedrelativetoworklocatedonauxiliaryaxes,suchaspositionersItisalsocalledcooperativecontrolMultisynchromotion(multicooperation)ThistermreferstoafunctionforswitchingdynamicallybetweenauxiliaryaxesundercooperativecontrolSpecifically,iftherearemultiplepositionerslocatedaroundasinglemanipulator,itallowsoperationtoproceedcontinuouslywhileswitchingamongthepositionersundercooperativecontrolUsingthemultiunitfunction,cooperativecontroloperationprogramscreatedusingindividualunitscanbecalledoneafteranotherfromaldquoparentrdquooperationprogramSimultaneousControlThismethodallowsmultiplemechanismstobecontrolledatonceCooperativecontrolallowscontroloverposition,posture,andspeedrelativetotheworkSimultaneouscontrolpermitscontroltheposition,posture,andspeedoftoolsrelativetothegroundCollaboration(Thisfunctionisnotsupportedatthepresenttime)ThistermreferstoafunctionthatsupportstheuseofmultiplehandlingmanipulatorstotransportasinglepieceofworkTwinsynchromotion(twincooperation)ThisfunctionpermitstwomanipulatorstoperformcooperativecontrolonasinglepieceofworkSpecifically,thisfunctioncouldbeemployedtohavetwomanipulatorsperformarcweldingonbothendsofalongpieceofworkheldbyadoublesupportpositioneratthesametimeMultitaskThefunctionthatallowsmultipleoperationprogramstorunindependentlyandinparallelissometimesreferredtoasmultitaskHowtoreadthismanualHowtoreadthismanualThismanualdescribesoperationsandfunctionsthataredifferenttothoseofthemanipulatorasanindependentsystemItisintendedforpersonswhouseamultimechanismsystem(amethodwherebymultiplemechanismsarecontrolledbyasinglecontrolunit)Youcanreadilylearnhowtooperatethemanipulatorsystembyusingthismanualasfollows()LookatldquoControlprocessesrdquoonpage,andchecktherobotcontrolprocessandthemethodofuse()Next,followtheinstructionsinthetablebelowYoucanseehowtoreadthismanualForadescriptionofmulticooperationandmultitaskbasedonthemultiunitspecifications,seetheinstructionmanualldquoMultiunitrdquoTableHowtoreadthismanualNumberofunitsControlprocessmethodofuseChapterChapterChapterSimultaneouscontrol●●-Cooperativecontrol●●-(Singleunit)Twincooperation●●●●:Pleaseread-:ThereisnoneedtoreadThecontentsofeachchapterareasfollowsChapterIntroductionThisisthechapterthatyouarenowreadingItgivesabriefoutlineoffrequentlyusedtermsandcontrolprocess(synchromotioncontrol,simultaneouscontrolandmultiunitcontrol)ChapterTeachingwithcooperativecontrolandsimultaneouscontrolBesuretoreadthischapterregardlessofthecontrolprocessusedandthemethodofuseItdescribesthemethodofswitchingovertheunitandthemechanism,alsothemethodofcooperativemanualoperationandthemethodofteachingmovementcommandsChapterForoperatorsusingthetwincooperationThischapterdescribesmanualoperationandalsofunctions,suchasteachingsupportfunctions,whichareuniquetoatwincooperativesystemItisintendedtobereadbyworkerswhouseldquotwincooperationrdquoforperformingarcweldingusingtwomanipulatorssimultaneouslyControlprocessesControlprocessesThiscontrollerisequippedwiththefunctionsoutlinedbelowTheyallowthecontrollertocontrolmultiplemechanismsconnectedwithitsimultaneously,therebypermittingtherobotsystemtooperatemoreefficientlyoverallandproducinghighqualityweldingresultsEachofyourrobotsisconfiguredforoneofthefollowingcontrolprocessesTheyarealsooptimallyconfiguredandfinetunedfortheirspecificapplicationsandmodesofusebullSimultaneousControlbullSynchromotioncontrol(cooperativecontrol)bullMultiunitcontrolMultimechanismSimultaneouscontrolCooperativecontrolMultiplemechanismsstartoutsimultaneouslytowardtheirtargetstepandreachitsimultaneouslyControloftheposition,posture,andspeedoftoolsrelativetotheworkSingleunitControloftheposition,posture,andspeedoftoolsrelativetothegroundCooperativecontrolandsimultaneouscontrolsetupexampleMultiunitCooperativecontrol,simultaneouscontrol,orsinglemechanismcontrolforindividualunitsCooperativeoperationatsometimesDynamicswitchingoftargetsofcooperativecontrol(multicooperation)Manipulatorgripswork(jiglesscooperation)Twomanipulatorsweldsimultaneously(twincooperation)Multiplemanipulatorsworkincooperation(collaboration)Atsometimes,multipleunitsstartoperatinginparallelandeachworksindependently(multitask)Exampleofswitchingbetweenindependent,paralleloperationandcooperativeoperationCooperativecontrolofpositionersSimultaneouscontrolofpositionersSimultaneouscontrolofslidersCooperativecontrolofpositionersandslidersTwincooperationCollaborationJiglesscooperationMulticooperationExamplesoftheapplicationofcooperativecontrolControlprocessesSynchromotioncontrolSynchromotioncontrolisacontrolprocessinwhichmultiplemechanisms(manipulators,auxiliaryaxes,etc)operatesimultaneouslyandtheposition,posture,andspeedofthetoolsiscontrolledrelativetotheworkItisalsosometimesreferredtoascooperativecontrolForexample,inanarcweldingsystemconfiguredasshownbelow,themanipulatorcouldmaintainatalltimestheoptimaltorchpostureandspeed,relativetotheworkmountedonthepositionerFigArcweldingusingsynchromotioncontrolSimultaneouscontrolSimultaneouscontrolisacontrolprocessinwhichmultiplemechanisms(manipulators,auxiliaryaxes,etc)operatesimultaneouslyMultiplemechanismsbegintomovetowardtheirtargetstepatthesametimeandtheystopmovingatthesametimeCooperativecontrolallowscontroloverposition,posture,andspeedrelativetotheworkSimultaneouscontrolpermitscontroltheposition,posture,andspeedoftoolsrelativetothegroundSimultaneouscontrolissufficientforapplicationssuchasthefollowingbullCaseswhereitispossibleforthemanipulatorstomaintainanoptimalpostureatalltimesrelativetotheworkmountedonthepositionerbullControllingslidersonwhichmanipulatorsareconveyedControlprocessesMultiunitcontrolThemultiunitcontroldividesupallthemechanismsconnectedtoacontrolunitintoanumberofgroupscalledldquounitsrdquoandcontrolstherobotonaunitbyunitbasisTheunitsarepresetpriortoshipmentfromthefactoryorpriortodeliveryinaccordancewithwhattheuserhasspecifiedManipulatorPositionerAPositionerBUnitInthisgroup,themanipulatorexercisessynchromotioncontrolforpositionerAWiththemultiunitfunction,allthemechanismsconnectedaredividedupintoanumberofgroupscalledldquounitsrdquoNormally,theinitialsettingsfortheunitsareperformedpriortoshipmentfromthefactoryorpriortodeliveryinaccordancewiththeuser#sspecificationsTwounitsaredefinedinthisexample,butotherunitscanalsobedividedupintoothergroupsItisalsopossibletodivideuptheunitsintoanldquoonlymanipulatorsrdquoorldquoonlypositionersrdquogroupThetaskprogramiscreatedbyeachoftheunitsUnitInthisgroup,themanipulatorexercisessynchromotioncontrolforpositionerBUnitWhatisaunitUnitPrograminwhichthemanipulatorexercisessynchromotioncontrolforpositionerAUnitItispossiblenotonlyfortheprograms(units)tobestartedupindividuallybutalsotoprovideamainprogramandthenswitchbetweentheunitswhileoperationisinprogressbycallingaprogramofeachunitfromthemainprogramPrograminwhichthemanipulatorexercisessynchromotioncontrolforpositionerBUnitFigThinkingbehindthemultiunit(withmulticooperationrobots)ThisfigureshowsasimpleoutlinetheconceptofthemultiunitNotethatitisonlyoneexampleByusingamultiunit,youcanoperatetherobotsmoreflexiblyandefficientlyFordetails,seetheinstructionmanualldquoMultiunitrdquoControlprocessesNOTEChapterTeachingwithcooperativecontrolandsimultaneouscontrolThischapterdescribesdefinitionsofmanualoperations(switchingamongunitsandmechanisms)andworkcoordinatesonmultimechanismsystemsItalsodescribestheteachingmethodsusedwithcooperativecontrolandsimultaneouscontrolBeforeperformingteachingormanualoperationSwitchingbetweenunitsSwitchingbetweenmechanismsCoordinatesWorkcoordinatesWorldcoordinates(absolutecoordinates)RegisteringcoordinatesCooperativemanualoperationTeachingwithcooperativecontrolandsimultaneouscontrolThisisdummypageDONOTERASEBeforeperformingteachingormanualoperationBeforeperformingteachingormanualoperationIfmultiplemechanismsareconnectedtothesystem,itisnecessarytoswitchamongunitsormechanismswhenperformingteachingormanualoperationSwitchingbetweenunitsIfthesystemhasmultipleunitsdefined(multiunitspecification),itisnecessarytofirstselecttheunittobethetargetforteachingormanualoperationMotorpowermaybeeitheronoroffThisoperationisunnecessaryifmultipleunitsarenotdefined(Noswitchingtakesplaceeveniftheunitswitchingoperationisperformed)SwitchingbetweenunitsThecurrentlyselectedunitandthemechanismdefinedforitaredisplayedontheteachpendantConfirmthecurrentunitselectionbycheckingthedisplayoftheteachpendantMechanismsincludedinthecurrentlyselectedunitNumberofunitbeingselectedNumberandnameofmechanismbeingselectedENABLE+UNITMECHANISMWhileholdingdownENABLE,pressUNITMECHANISMTheunitselectionscreenisdisplayedwhileENABLEishelddownTheunitsareswitchedinsequencebypressingUNITMECHANISMwhileENABLEishelddownsoswitchtothedesiredunitBeforeperformingteachingormanualoperationSwitchingbetweenmechanismsAfterswitchingtheunit,selectthemechanismtobeusedformanualoperationMotorpowermaybeeitheronoroffPOINTWhenselectingthemechanismtobemanuallyoperated,beabsolutelysuretoswitchtotheunittowhichthemechanisminquestionbelongsMechanismswhicharenotdefinedfortheunitscannotbeoperatedmanuallyForinstance,itisassumedthatthecurrentunitisunitandthatNVistheonlymechanismdefinedInthiscase,mechanismsotherthanNVcannotbeoperatedmanuallywhileunitisselectedInaddition,whenthemanagingunithasbeendefined,anymechanismcannotbeoperatedmanuallysincethemanagingunitdoesnothavemechanismsSwitchingbetweenmechanismsThemechanismselectedformanualoperationisdisplayedontheteachpendantThecurrentlyselectedmechanismisdisplayedincolorUNITMECHANISMToswitchtheselectedmechanism,pressUNITMECHANISMTheselectedmechanismchanges(andthedisplayoftheteachpendantchanges)AnexampleofswitchinginaunitcomprisingamanipulatorandapositionerisshownbelowMechanismnumberManipulatornameMechanismnumberPositionernameAfterswitchingthemechanism,manualoperationusingthenewlyselectedmechanismispossibleWhileholdingthedeadmanswitches,presstheaxiskeystooperatethemechanismCoordinatesCoordinatesThecoordinatesusedformanualoperationofamanipulatoraregenerallyaxiscoordinatesandrobotcoordinates(machinecoordinates)Iftheunitsupportscooperativecontrol,manualoperationusingldquoworkcoordinatesrdquoisalsopossibleInaddition,ifmultiplemechanismsareconnectedtothesystem,ldquoworldcoordinates(absolutecoordinates)rdquothatareuniquetothesystemasawholemaybeselectedAxiscoordinatesDecaltcoordinatesystemRobotcoordinates(machinecoordinates)ToolcoordinatesWorkcoordinatesWorldcoordinates(absolutecoordinates)WorkcoordinatesWorkcoordinatescanbeselectedforunitssupportingcooperativecontrolOneexamplewouldbeacaseinwhichcooperativecontrolisusedforamanipulatorandanauxiliaryaxis(suchasapositioner)Workcoordinatescannotbeselectedforsimultaneouscontrolofthemanipulatorandauxiliaryaxis,orfortheunitwiththesinglemanipulatororsingleauxiliaryaxisWorkcoordinateshaveastartingpointandaxisdirectionsfixedatthemechanismontheworkside(suchasapositioner)Ifthemechanismontheworksidemoves,thestartingpointandaxisdirectionsoftheworkcoordinatesmovewithitXZYToolsideWorksideZXYWorksideToolsideWorkcoordinatesforstartingpointatpositionerWorkcoordinatesaftermovementofpositionerFigWorkcoordinatesAsshownintheillustrationatrightabove,movingthemechanismontheworksidecausestheworkcoordinatestomovetomatchWhenperformingmanualoperationinacasesuchasthis,withworkcoordinatesselected,themanipulatormustfollowtheworkcoordinates(X,Y,andZdirections)aftertheyhavemovedItisquiteusefulwhenperformingteachingforcooperativeoperationTherotationofthewristaxisperformsthesameactionastherobotcoordinates(machinecoordinates),relativetotheworkcoordinatesaftertheyhavemovedCoordinatesWorldcoordinates(absolutecoordinates)WorldcoordinatesarefixedataspecifiedpositionUnliketoolcoordinatesorworkcoordinates,thestartingpointandaxisdirectionsofworldcoordinatesdonotchangetomatchthepostureofindividualmechanismsIf,forexample,multiplemanipulatorsareconn

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