HW9482564(PMT功能).pdf.pdfHW9482564(PMT功能).pdfpdf,HW

文件名称: HW9482564(PMT功能).pdf.pdf

所属分类: 其它

开发工具:

文件大小: 142kb

下载次数: 0

上传时间: 2019-10-12

提供者: weixin_********

下载 (142kb)

不能下载？报告错误

详细说明：HW9482564(PMT功能).pdfpdf,HW9482564(PMT功能).pdfNOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC In this manual, the Notes for Safe Operation are classified as "WARNING, CAUTION “ MANDATORY,or”PROH|B|TED” WARNING Indicates a potentially hazardous situation which, if not avoided could result in death or serious injury to personnel ! Indicates a potentially hazardous situation which, if not avoided CAUTION could result in minor or moderate injury to personnel and dam- age to equipment. It may also be used to alert against unsafe practices. MANDATORY Ad sure to follow explicitly the items listed under this OPROHIBITED Must never be performed Even items described as Caution may result in a serious accident in some situations. at any rate, be sure to follow these important items NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as"CaUtION"and"WARNING lll WARNING Before operating the manipulator, check that servo power is turned off w hen the emergency stop buttons on the playback panel or program ming pendant are pressed When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the servo on led on the programming pendant are turned off Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function Emergency Stop BI Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator then turn the servo power oN Injury may result from unintentional or unexpected manipulator motion TURN Release of Emergency Stop Always set the Teach lock before entering the robot work envelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the follow ing precautions w hen performing teaching operations within the working envelope of the manipulator View the manipulator from the front w henever possible. Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury Confirm that no persons are present in the manipulator's work envelope and that you are in a safe location before Turning on the YASNAC XRC power Moving the manipulator with the programming pendant Running check operations Performing automatic operations Injury may result if anyone enters the working envelope of the manipulator during opera- tion Always press an emergency stop button immediately if there are problems.The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant CAUTION Perform the following ins pection procedures prior to conducting manip- ulator teaching. If problems are found repair them immediately, and be sure that all other necessary processing has been performed check for problems in manipulator movement Check for damage to insulation and sheathing of external wires. Always return the programming pendant to the hook on the Xrc cabinet after use The programming pendant can be damaged if it is left in the manipulator,s work area, on the floor or near fixtures Read and understand the explanation of the alarm dis play in the setup manual before operating the manipulator Definition of terms used often in this manual The MOTOMaN manipulator is the YasKaWa industrial robot product The manipulator usually consists of the controller, the playback panel, the programming pen dant, and supply cables The MOTOMAN manipulator is the YASKAWA industrial robot product In this manual, the equipment is designated as follows Equipment Manual Designation YASNAC XRC Controller XRC YASNAC XRC Playback Panel Playback Panel YASNAC XRC Programming Pendant Programming Pendant Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows Equipment Manual designation Programming Character Keys The keys which have characters printed on them are Penda denoted with ex ENTER Symbol Keys The keys which have a symbol printed on them are denoted with [ but depicted with a small picture ex page key The cursor key is an exception, and a picture is not shown Axis Keys Axis Keys" and"Number Keys" are generic names Number keys for the keys for axis operation and number input Keys pressed When two keys are to be pressed simultaneously, simultaneously the keys are shown with a +sign between them ex.[SHF门+ COORD] Displays The menu displayed in the programming pendant is denoted with ex. JOB] Playback PanelButtons Playback panel buttons are enclosed in brackets ex [tEACH]on the playback panel Description of the operation procedure In the explanation of the operation procedure, the expression "Select..means that the cursor is moved to the object item and the select key is pressed 1 PMT Function 2 Operating methods 1 PMT Function The PMt function corrects the position data when the tool is deformed during operation(PMT Position Modification for Tool Deformation). When a tool inadvertently collides with periph- eral jigs or walls during operation and is deformed the tool center point will be dislocated and the taught position of the job which has been set up is shifted: a great deal of time and effort will be needed for the correction in such a case the pmt function can be used to correct the position data easily and accurately By specifying the desired job, the position data of the taught tool dimensions before deforma tion are converted automatically to the position data of the tool dimensions after deformation In the Pmt function, the tool before deformation is called the original tool and the tool after deformation is called the orientation tool Tool at teaching(Original tool) Deformed tool (Orientation tool) Dislocation of tool center point 0016 MOVJ 0017WATN#(1)=0 Position data of the step taught by 0018 MOVL V=70 the original tool is converted For a job in which teaching is performed by using several types of tools, only the position noTE data obtained by the specified original tool is converted e The position variables are not converted in the pmt function 1-2

(系统自动生成,下载前可以参看下载内容)