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Robotics Products Se-7概述 ............................................................................................................................................. 7 产品文档，IRC5 ................................................................................................................................. 9 安全 .................................................................................................................................................... 11
3.2.1 Controller参数域集合 ................................................................................ 30 3.2.2 Motion参数域集合 .................................................................................... 32 3.2.3 I/O参数域集合 ......................................................................................... 33 3.3 配置示例 .......................................................................................................... 34 3.3.1 “UnsyncArc”的配置示例 ............................................................................ 34 3.3.2 “SyncArc”的配置示例 ............................................................................... 36 3.3.3 输入/输出配置示例 ................................................................................... 38
4 校准
39
4.1 校准概述 .......................................................................................................... 39 4.2 相对校准 .......................................................................................................... 40 4.3 校准链 ............................................................................................................. 42 4.4 坐标系示例 ....................................................................................................... 43
4.4.1 “UnsyncArc”示例 ..................................................................................... 43 4.4.2 “SyncArc”示例 ........................................................................................ 44
1.3.1 关于示例应用 .......................................................................................... 15 1.3.2 “UnsyncArc”示例 ..................................................................................... 16 1.3.3 “SyncArc”示例 ........................................................................................ 17
2.2 软件安装 .......................................................................................................... 27 2.2.1 软件安装 ................................................................................................ 27
6 编程
53
6.1 RAPID语言部分 ................................................................................................. 53 6.2 任务 和编程方法 ................................................................................................ 55 6.3 联动对象 .......................................................................................................... 56 6.4 独立移动 .......................................................................................................... 57
应用手册 MultiMove
Trace back information: Workspace R15-2 version a20 Checked in 2015-10-22 Skribenta version 4.6.176
应用手册 MultiMove
RobotWare 6.02 文档编号: 3HAC050961-010
5 MultiMove特定用户界面
45
5.1 MultiMove 系统的FlexPendant示教器 .................................................................... 45 5.2 状态栏指示 ....................................................................................................... 46 5.3 打开程序编辑器 ................................................................................................. 47 5.4 “生产（Production）”窗口 ................................................................................... 48 5.5 机械单元菜单 .................................................................................................... 49 5.6 选择用“启动”按钮启动哪项任务 ............................................................................. 50
1 简介
13
1.1 关于MultiMove .................................................................................................. 13 1.2 术语 ................................................................................................................ 14 1.3 示例应用 .......................................................................................................... 15
2 安装
19
2.1 硬件安装 .......................................................................................................... 19 2.1.1 关于硬件安装 .......................................................................................... 19 2.1.2 控制模块的连接 ....................................................................................... 20 2.1.3 驱动模块的连接 ....................................................................................... 25