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愛(ài)普生機(jī)器人控制器RC700_RC90選件示教器_TP2_Rev.2（中文）
功能與安裝
1. 安全 ................................................ 3
1.1 慣例 .............................................................. 3
1.2 安全注意事項(xiàng) ...................................................... 3
1.3 緊急停止 .......................................................... 6
1.4 模式選擇器鑰匙開(kāi)關(guān) ................................................ 7
1.5 安全防護(hù)區(qū)域內(nèi)的示教器的使用 ...................................... 7
2. 規(guī)格 ................................................ 8
2.1 部件名稱與功能 .................................................... 8
2.2 標(biāo)準(zhǔn)規(guī)格 .......................................................... 9
2.3 外形尺寸 ......................................................... 10
3. 安裝 ............................................... 11
3.1 安裝內(nèi)容 ......................................................... 11
3.2 環(huán)境條件 ......................................................... 11
3.3 操作注意事項(xiàng) ..................................................... 11
3.4 連接 ............................................................. 12
3.4.1 典型的電纜連接 ........................................... 12
3.4.2 與控制器的連接 ........................................... 13
3.5 電源 ............................................................. 13
4. 操作模式（TEACH/AUTO） ............................. 14
4.1 概述 ............................................................. 14
4.2 切換操作模式 ..................................................... 15
5. 操作面板（按鍵描述） ............................... 16
5.1 按鍵描述 ......................................................... 16
6. 啟用開(kāi)關(guān) ........................................... 19
操作
1. 示教程序 ........................................... 23
1.1 步進(jìn)操作 ......................................................... 23
1.2 示教 ............................................................. 24
1.3 直接示教 ......................................................... 25
2. TEACH 模式 ......................................... 26
2.1 Jog & Teach ...................................................... 27
2.1.1 當(dāng)前位置顯示 ............................................ 29
2.1.2 重置錯(cuò)誤 ................................................ 31
2.1.3 電機(jī)ON/OFF ............................................. 31
2.1.4 執(zhí)行返回起始點(diǎn) .......................................... 31
2.1.5 執(zhí)行MCal ............................................... 32
2.1.6 指定步進(jìn)速度 ............................................ 32
2.1.7 執(zhí)行步進(jìn)動(dòng)作 ............................................ 32
2.1.8 通過(guò)RST移動(dòng)機(jī)器人 ...................................... 33
2.1.9 更改Local/Tool/Arm/ECP ................................. 34
2.1.10 步進(jìn)模式 ................................................ 35
2.1.11 步進(jìn)距離 ................................................ 36
2.1.12 SFREE ................................................... 37
2.1.13 示教操作 ................................................ 37
2.1.14 更改點(diǎn)編號(hào) .............................................. 38
2.1.15 將點(diǎn)數(shù)據(jù)保存至文件 ...................................... 38
2.1.16 從文件中加載點(diǎn)數(shù)據(jù) ...................................... 38
2.1.17 切換機(jī)器人 .............................................. 39
2.2 點(diǎn)編輯器 ......................................................... 40
2.2.1 切換點(diǎn)編輯器顯示 ......................................... 41
2.2.2 編輯點(diǎn)數(shù)據(jù) ............................................... 42
2.2.3 刪除點(diǎn)數(shù)據(jù) ............................................... 44
2.3 I/O 命令 ......................................................... 45
2.3.1 輸入狀態(tài)顯示 ............................................. 45
2.3.2 更改輸出位 ............................................... 45
2.4 動(dòng)作命令 ........................................................ 46
2.4.1 執(zhí)行動(dòng)作命令 ............................................. 47
2.4.2 Go ....................................................... 49
2.4.3 Move ..................................................... 49
2.4.4 Arc3 ..................................................... 50
2.4.5 GoHereTLZ ................................................ 50
2.4.6 MoveHereTLZ .............................................. 51
2.4.7 GoAlignHere .............................................. 51
2.4.8 Jump Z(0) ................................................ 52
2.4.9 Jump ..................................................... 52
2.4.10 Arc ..................................................... 53
2.5 Free Joints ...................................................... 54
2.5.1 切換[Free Joint]顯示 ..................................... 55
2.5.2 各關(guān)節(jié)的 SFREE ............................................ 55
2.5.3 J7、J8 和J9的SFREE ...................................... 55
2.5.4 所有關(guān)節(jié)的 SFREE .......................................... 56
2.6 制動(dòng)器 ........................................................... 57
2.6.1 啟動(dòng)制動(dòng)器 ON ............................................. 57
2.6.2 制動(dòng)器 OFF ................................................ 57
2.7 機(jī)器人 ........................................................... 58
2.7.1 切換機(jī)器人 ............................................... 58
3. AUTO 模式 .......................................... 59
3.1 Auto ............................................................. 59
3.2 系統(tǒng)歷史 ......................................................... 60
3.3 錯(cuò)誤/警告 ........................................................ 61
4. 故障排查 ........................................... 62
5. 維護(hù)部件列表 ....................................... 63
