上海林肯电气有限公司 Fanuc ARC MATE 系列焊接机器人操作培训课程
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 4/8
1:J P[1] 100% CNT100 2:J P[2] 100% CNT100 3:J P[3] 100% FINE : Arc Start[1] 4:
5:L P[4] 20.0inch/min FINE : Arc End[1]
6:J P[5] 100% CNT100 7:J P[1] 100% CNT100
[ INST ] [EDCMD]> Instruction\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
1 Arc 5\\WAIT\\\\\\\\\\\\\\\\\\\\\\\\\\ 2 Registers 6 JMP/LBL 3 I/O 7 CALL 4 IF/SELECT 8 ---next page--- TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 4/8
3:J P[3] 100% FINE : Arc Start[1] 4:
5:L P[4] 20.0inch/min FINE : Arc End[1]
6:J P[5] 100% CNT100
[ INST ] [EDCMD]> Wait\\statements\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
\\1\\WAIT\\...\\(sec)\\\\ 5 WAIT ...<=... 2 WAIT ...=... 6 WAIT ...>... 3 WAIT ...<>... 7 WAIT ...>=... 4 WAIT ...<... 8 WAIT SEMAPHORE[]
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 4/8
3:J P[3] 100% FINE : Arc Start[1] 4:
5:L P[4] 20.0inch/min FINE : Arc End[1]
6:J P[5] 100% CNT100 Select item [CHOICE]
等待 指令
示教一个Wait 指令
首先插入1 个新的空白行，
按下F5 ED CMD 键，把这行放在 Arc Start 后面
移动光标到这个新的空白行，
按下 F1 INST 键，移动光标到Wait 选项 (如果需要按下#8), 按下Enter.
在该练习中选择 #1 然后Enter.
共 59 页 第 31 页
上海林肯电气有限公司 Fanuc ARC MATE 系列焊接机器人操作培训课程
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 4/8 1:J P[1] 100% CNT100 2:J P[2] 100% CNT100 3:J P[3] 100% FINE : Arc Start[1] 4: WAIT 0.0 (sec) 5:L P[4] 20.0inch/min FINE : Arc End[1] 6:J P[5] 100% CNT100 Enter value DIRECT INDIRECT[CHOICE] TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 8/8 1:J P[1] 100% CNT100 2:J P[2] 100% CNT100 3:J P[3] 100% FINE : Arc Start[1] 4: WAIT 5.00(sec) 5:L P[4] 20.0inch/min FINE : Arc End[1] 6:J P[5] 100% CNT100 7:J P[1] 100% CNT100 [End]
[ INST ] [EDCMD]>
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 1/9 1: 2: 3:J P[1] 100% CNT100 4:J P[2] 100% CNT100 5:J P[3] 100% FINE : Arc Start[1] 6:L P[4] 20.0inch/min FINE : Arc End[1] 7:J P[5] 100% CNT100 8:J P[1] 100% CNT100
[ INST ] [EDCMD]>
机器人在等一个特定的等候时间来示教，键入5 然后Enter. 最后的程序 TIMER 指令 示教 Timer 指令
移动光标到程序的第1行 通过使用 F5 ED 键在程序 的开始插入 2 新行 。程序会出现 如图所示。 共 59 页 第 32 页
上海林肯电气有限公司 Fanuc ARC MATE 系列焊接机器人操作培训课程
Instruction\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
\\1\\Miscellaneous\\\\\\\\ 5 Track/Offset
2 Weave 6 Offset/Frames
3 Skip 7 Multiple control
4 Payload 8 ---next page---
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
1/9
1:
2:
3:J P[1] 100% CNT100 4:J P[2] 100% CNT100 5:J P[3] 100% FINE [ INST ] [EDCMD]> Miscellaneous\\stat\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
\\1\\RSR[\\\\]\\\\\\\\\\\\\\\\\\ \\5 Remark
2 UALM[ ] 6 Message
3 TIMER[ ] 7 Parameter name
4 OVERRIDE 8 ---next page---
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
1/9
1:
2:
3:J P[1] 100% CNT100
4:J P[2] 100% CNT100
5:J P[3] 100% FINE
Select item
[CHOICE] TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 1/9
1: TIMER[...]=...
2:
3:J P[1] 100% CNT100
4:J P[2] 100% CNT100
5:J P[3] 100% FINE
Enter value
DIRECT INDIRECT[CHOICE]
移动光标到新的第一行，按下 F1 INST , 定位于Miscellaneous 选项 ( 按下 #8-next page 如果需要找的话) 按下Enter. 移动光标到 Timer [ ] 选项 Ent Timer 会出现在第一行, 机器人会等待一个特定计 时器号来示教，键入1然后Enter. 共 59 页 第 33 页
上海林肯电气有限公司 Fanuc ARC MATE 系列焊接机器人操作培训课程
Miscellaneous\\stat\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
\\1\\START\\\\\\\\\\\\\\\\\\\\\\\\ 5 2 STOP 6 3 RESET 7 4 8 TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 1/9 1: TIMER[1]=... 2: 3:J P[1] 100% CNT100 4:J P[2] 100% CNT100 5:J P[3] 100% FINE Select item [CHOICE] TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
2/9
1: TIMER[1]=RESET
2:
3:J P[1] 100% CNT100
4:J P[2] 100% CNT100
5:J P[3] 100% FINE
[ INST ] [EDCMD]>
注意子菜单; 选择 #3 Reset, 然后Enter. 第 1行现在 示教完了。. 在第 2行, 示教 TIMER [ 1 ] = 然后移动光标到 示教TIMER
这里不必插入新的一行) 使用这些步骤如上面所示 共 59 页 第 34 页
START END . [ 1 ] = STOP ( 上海林肯电气有限公司 Fanuc ARC MATE 系列焊接机器人操作培训课程
TEST1\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 1/10 1: TIMER[1]=RESET 2: TIMER[1]=START
3:J P[1] 100% CNT100
4:J P[2] 100% CNT100
5:J P[3] 100% FINE
: Arc Start[1]
6:L P[4] 20.0inch/min FINE
: Arc End[1]
7:J P[5] 100% CNT100
8:J P[1] 100% CNT100
9: TIMER[1]=STOP
END
[ INST ] [EDCMD]>
STATUS\\Weld\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\%
COMMAND FEEDBACK
__________________ 0.0 Volts
| 1\\Weld\\\\\\\\\\\\\\\\ | 0.0 Amps
| 2 Axis |
| 3 Version ID |
| 4 Safety Signl |
| 5 Exec-hist |
| 6 Memory | PROGRAM SELECT: 1
| 7 Prg Timer | [Program 1 ]
| 8 Sys Timer | 0: 9:24 H:M:S
| +----------
| TYPE | RESET HELP
PRG\\TIMER\\LISTING\\\\\\\\\\\\\\\\\\\\\\\\JOINT\\\\10\\% 1/10 count comment 1 Timer[ 1] 73.38(s)[\\\\\\\\\\\\\\\\\\\\\\\\\\] 2 Timer[ 2] 0.00(s)[ ] 3 Timer[ 3] 0.00(s)[ ] 4 Timer[ 4] 0.00(s)[ ] 5 Timer[ 5] 0.00(s)[ ] 6 Timer[ 6] 0.00(s)[ ] 7 Timer[ 7] 0.00(s)[ ] 8 Timer[ 8] 0.00(s)[ ] 9 Timer[ 9] 0.00(s)[ ] [ TYPE ] DETAIL
最后的程序
查看Timer- 按下示教盘底部的Status 键，然后按下 F1 Type; 在子菜单上，移动光标到 Prg timer这行,然后 Enter.
界面
留着示教的内容来测试，运行该程序3次 ， 一步步以100% 的速度; 第二与第三次再现应该同 第一次
几乎一样。 共 59 页 第 35 页
Timer