ABB机器人基本培训教程

基本操作及編程培訓

IRC5 機器人系統

IRC5 Basic Operation and Programming Training

上海ABB 工程有限公司 ABB Engineering (Shanghai) Ltd. 教材編號：S5-100 2006年03月

IRC5 Basic Operation And Programming Training
4 Start the controller 啟動4.1 Buttons on the Control module 控制單元櫃按鍵
Main power ON/OFF Emergency stop
B C D
Motor Enable/Disable Mode switch
Emergency stop: The robot stops – regardless of which state or mode the system is in – immediately when the emergency stop button is pressed. The button remains pressed in and, to turn to MOTORS ON again, must be returned to its original position
電失 電上達馬 電失 電上達馬 電失 電上達馬 電失 電上達馬 。 電上新 重需達馬 且並， 置位來 原至複恢 須必 鍵按。 止停即 立人器機 ，下 按被鍵 按停急 當，下式 模何任 在管不 止 停人器機
-
Motor Enable/Disable: / In the MOTORS ON state, the motors of the robot are activated and the Motors On button is continuously lit. Ready for program execution
。 活激未達 馬， 效有止 停全安 種一少至 閃慢 。活 激已 達馬但 ，）新 更未器數 計或 定標未 （步同 未人器機 閃快 。 序程行 執好備准 亮常 。亮 常燈鍵 按，活 激被達馬 的人 器機， 態狀電 上達馬在
Continuous light
Fast flashing light
The robot is not calibrated or the revolution counters are not updated. The motors have been switched on One of the safeguarded space stops is active. The motors have been switched off.
Slow flashing light
10
鈕 旋擇選 式模 鈕按電 失 電上 達馬 鈕 按 止停急緊 關 開 源電 主
A
訓培 程編及作操本基/ /
止停急緊 止停急緊 止停急緊 止停急緊

IRC5 Basic Operation And Programming Training
Mode switch: C D
C
D
E
100%
A
B
Function A B C
Info/Illustration
/
Two position mode switch
Three position mode switch Automatic mode
Used when running ready-made programs in production. It is not possible to move the robot with the joystick in this mode.
Manual reduced speed mode
Manual mode 100%
。序程 輯編和 試測法辦 有 以可仍 ，時速全 用使 在你許 允態狀 速全動手 。時行 運步同 備設部外 他 其或帶 送傳與人 器機 試測如 例。式 模速全動 手 用使要 需就，時 序程 試調下 況情的 近接相況 情 際實與 要需在當 ，速 低供提 只式模 速減動手
式模速 全動手
E
。序程 試調或建 創 於用常 式模此。 機電 活激以 器能使 住按須必 。行 運 制控動 手，速低 以能 只人器 機，下 態狀動手
式模 速減動手
D
In manual mode the robot can only move in a reduced and safe speed, and only under manual control. You need to press the enabling switch to activate the robot’s motors. The manual mode is most often used when creating programs and when commissioning a robot system.
Use full speed manual mode when the program is to be tested in more natural conditions than the reduced speed that the manual mode offers, for instance to test synchronization between the robot and a conveyor or other external equipment. The full speed manual mode allows you to run the program in full speed while still having access to all the available debugging functions of the program editor.
訓培 程編及作操本基11
。用使能 不杆搖 縱操，下 態狀 此在， 用使時 行運產生
例圖 息信
式 模動自 關開 擇選位三 關 開擇選位 兩
鈕旋擇選式模 鈕旋擇選式模 鈕旋擇選式模 鈕旋擇選式模能功

IRC5 Basic Operation And Programming Training
4.2
Buttons on the Drive module 驅動單元櫃按鈕
A
Switch ON/OFF
/
12
訓培 程編及作操本基
關 開源電

IRC5 Basic Operation And Programming Training
4.3
Start the controller 啟動
Start the system in manual mode when there is no process or program to be resumed or started or when you need to perform operations not possible in automatic mode such as program editing and jogging
Step 1.
Action
Illustration
Set the mode switch in the manual mode reduced speed position.
2.
Turn on the mains power by setting the switch in the on position.
3.
態 狀機 待全安 於處將 統系，後 動 啟
After being started, the system will be in a safe standby state awaiting further actions.
訓培 程編及作操本基13
。 統系動啟 下態 狀動手 在要， 時人器機 作操 動手或 ，序程 改修要需 或， 行執續 繼要需 不序程當 例圖 ）開 打 先首 末那， 開打未 關開源電 櫃元 單動驅 若（源 電主開打 態 狀速減動 手為 置關開 擇選式 模作工將 驟步 號編

IRC5 Basic Operation And Programming Training
5 Shut down the controller 關機Step 1. Action If the program is running, stop it by pressing the Stop button on the FlexPendant. STOP Illustration
2
Set the mode switch in the manual mode reduced speed position.
3
Turn off the mains power by setting the switch in the off position.
14
訓培 程編及作操本基 程止 停，鍵止停
。 源電主 櫃元單動 驅及 源電主 櫃元單 制控閉關
式 模速減動 手於 置關開 擇選式 模作工將 。行運序 的上器教 示在 按，行 運在正 序程果如

IRC5 Basic Operation And Programming Training
6 FlexPendant 示教器The FlexPendant Error! Reference source not found.(occasionally called TPUError! Reference source not found., or teach pendant unitError! Reference source not found.) is a device for handling many of the functions involved with operating the robot system; running programs, jogging the manipulator, producing and editing application programs, etc. It is connected to the controller module through an integrated cable and connector.
Connector
B C D E F
Touch screen
Emergency stop button Enabling device Joystick
Hold-to-run buttons
鍵持 保行運速 全序 程 杆搖縱 操 器能 使 鍵按 停急
屏摸觸 頭插
A
。接連 獨單纜 電根一以 櫃元單 制控與 它。等序 程輯 編，人 器機動 移動手， 序程 行運， 統系人 器機作操 如， 能功多 很了含 包器教示
The illustration below shows the main parts of the FlexPendant.
C A B D E
F
D
C
訓培 程編及作操本基15
件 部要主 的器教 示為示圖

IRC5 Basic Operation And Programming Training
6.1
Buttons on the FlexPendant 示教器按鍵
Hold-to-run buttons: The two hold-to-run buttons on the rear of the FlexPendant are used differently depending on which operational mode the system is in and what function is desired Operational mode Manual Mode
Manual Mode Full Speed
Automatic Mode
16
。鍵 能使和鍵 持保 行運序 程個一 住按，時 序程 行運或 人器機 作操動手
。行執 續繼會 序程，下 按次再 ，止 停將行 運序程 和動運人 器機 ，鍵持 保行運 序程松放
。到 用會能 可時數參 定設 ，下式 模動手 在，而然
。效 無態狀 動手在鍵 持保行 運序程，般一 式 模速減動手 能功 式 模作操 況情 用使 下式模 同不在 鍵持保行 運序 程個兩 的面背 器教示在
Function
Normally, the hold-to-run buttons have no effect while in the Manual Mode. However, it is possible to activate the function during Manual Mode operation by setting a parameter
Pressing one of the hold-to-run buttons AND pressing the enabling switch enables running the manipulator. It may be run manually (by jogging) or automatically (execution of a program).
Releasing the hold-to-run button in this mode immediately stops manipulator movement as well as program execution. When pressing it again, execution is resumed from that position.
The hold-to-run buttons have no effect while in the Automatic Mode.
。效無下 態狀 動自在 鍵持保 行運序程
訓培 程編及作操本基
鍵持保行運速全序程 鍵持保行運速全序程 鍵持保行運速全序程 鍵持保行運速全序程式 模速全動 手
式模動自

IRC5 Basic Operation And Programming Training
Hardware buttons:
There are a number of dedicated hardware buttons on the FlexPendant. Programmable button 1.
1
Programmable button 2.
2
Programmable button 3.
3
Programmable button 4.
4
RUN button.
STEP BACKWARDS button. STEP FORWARDS button. STOP button.
止停人器機，電失達馬人器機，”0“為終最 。電上達馬人器機，”1“為間中 。電上不達馬人器機，”0“為始起 。置位個三有置裝動使，下式模動手 。效無下式模動自
? ?
訓培 程編及作操本基17
鍵 能功義定自 ： 鍵按些一 有還上 器教示 在 鍵能功義定自 鍵能功義定自 鍵 能功義定自
鍵止停 序 程行運 前向步單 序程行 運後向步單 序程行運 續連 ，鍵始開
：鍵按能使 :ecived elbanE
鍵按他其 鍵按他其 鍵按他其 鍵按他其

IRC5 Basic Operation And Programming Training
6.2
The ABB Menu ABB菜單 菜單ABB
Custom process applications may be started from the ABB menu. Each application will be listed as a menu item Tap the ABB button to display the ABB menu. ABB ABB
Each started application has a button in the taskbar. The buttons act as channel buttons on a radio, you tap the button to switch between the started applications.
） 口窗（ 面畫的用 使前 當換切 行進鈕 按此按以 可你 。鈕按 個一示 顯中欄務 任在 會都， 後擇選 能功項每
1
2
3
4
The process applications running in this case is: 1. 2. 3. 4. Jogging Program Data. I/O
/
MAIN/Main module.
(
)
18
。 單菜主
訓培 程編及作操本基
：是 口窗的行 運中 程進
示顯 以可鍵單菜 按 。擇選中 單菜 在將用 應項每 ，始開單 菜主 塊模主 口窗 程編 口窗出輸 入輸 口窗 據數序程 口窗縱操
從 將程進 用應戶客

IRC5 Basic Operation And Programming Training
6.3
Close Button 關閉鍵A
Close Button
The Close Button close the current used window
6.4
Task Bar 任務欄
A
A
Task Bar
The Task Bar displays quick-buttons to all opened views in the FlexPendant.
口窗前 當閉關鍵 閉關按
鍵閉關
A
訓培 程編及作操本基19
鍵捷快的 開打 器教示 部全示 顯欄務任

IRC5 Basic Operation And Programming Training
6.5
Status Bar 狀態欄A
Status Bar
6.6
The Quickset menu 快捷菜單
The QuickSet menu provides a quicker way to change jog properties rather than using the Jogging window.
Action
Info/Illustration
1
A: Quickset button B: Mechanical unit C: Increment D: Run Mode E: Step Mode
The Quickset menu is displayed.
B C D E F
F: Speed Mode
A 2 After selecting the appropriate function, changes may be introduced directly from the Quickset menu or through the Jogging button on the ABB menu.
20
元 單械機 鍵捷 快
Tap the Quickset button to access all functionality on the Quickset menu.
These menus are available:
例圖 息信
Step
式模度速 行運進步 行 運續連 長步
捷 快 ，後能 功應相 擇選在
驟步 。 定設或 式模行 運的前當 示顯 標圖個 一用使 單菜項每
示 顯單菜捷快 能功有 所示顯單 菜捷快 開打
。 鍵按作 操的捷快 更口 窗作操 較供提 單菜捷快
Each item of the menu uses a symbol to display the currently selected jogging property value or setting.
欄態狀
A
訓培 程編及作操本基/
。換 切應相 做將單菜

IRC5 Basic Operation And Programming Training
6.7
Soft keyboard 軟鍵盤
The soft keyboard is used frequently when operating the system. The soft keyboard works as an ordinary keyboard with which you can place the insertion point, type and correct typing errors.
6.8
Scrolling and Zooming 滾動與縮放
The entire content of a screen may not be visible at the same time. To see the entire contents, you may: Scroll up/down (and sometimes left/right) Zoom in or out
小 縮或大放
?
） 動滾右 左時 有（標光 動滾下 向 上向
?
/
/
訓培 程編及作操本基21
。 的樣一 是盤鍵般 一和 能功的 它，時 誤錯改修 或入 打，點 入插你 當。到用 常經 會時作 操統系 在盤鍵軟 ：以可 們我時這 ，全 看能不 句語行 整候時有

IRC5 Basic Operation And Programming Training
Zoom in (larger text)
Scroll up (the height of one screen) Scroll up (the height of one line) Scroll left Scroll right
C D E F G H
Zoom out (smaller text)
Scroll down (the height of one screen) Scroll down (the height of one line)
22
行一下向 屏一下向
行一上向 屏一上向
B
小縮
大放
A
訓培 程編及作操本基
右向 左向

IRC5 Basic Operation And Programming Training
7 Jogging the robot using the Joystick 使用操縱搖 杆移動機器人To jog is the procedure to manually position or move robots or external axes by means of the FlexPendant joystick. You jog in manual mode. Jogging is possible regardless of what window is displayed on the FlexPendant, however you cannot jog during program execution. In most cases you select to have the robot move along straight lines in space, in a “move from point A to point B” fashion. This is called linear motion. Linear motion is relative to the selected coordinate system. Which coordinate system to select depends on what you want to do. You can also select to orient a tool for best operation performance or to move the robot axis by axis. Axis-by-axis motion is not relative to any coordinate system. You will also loose the tool orientation, which might affect any operations you would like to perform afterwards. The path you jog may not be the same path used by the robot program to move between target positions. The program will use the shortest and fastest straight or curved path possible between the two positions. If a straight or curved path will be used depends on how the operation is programmed.
Step 1
。寫編 的序程 於決取動 運線 曲是還 動運線 直是人器 機。 動運線 曲或線 直的快最 ，短最 間點兩 用采將人 器機 ，中序 程。的 同相盡不 是位 點的達 到人器 機，時行 執序 程與， 徑路的 教示動手 。轉 旋心 中具工 沿人器 機擇選以 可也 你，話 的要需 果如。系 關有 沒系標 坐與動運 軸單 。動運 軸單擇 選者或， 標坐 具工的 適合擇 選以可也 你， 人器機 作操的 好更了為 。系標 坐的適合 擇選 ，要需 的你據 根，關有 系標 坐的擇 選所與 動運線直 。 動運線直 做叫 這。跡 軌線直 走間空在 人器 機，時點 到 動移點 從擇 選你， 下況情 數多大在 。 人器機作 操動 手能不 ，時行 執序程在 但。 人器機 作操動 手以可都 ，口 窗麼什 示顯器 教示管不 。法 方種 一的置 位定一 到動移人 器機 將杆搖 的上器 教示作操 動手 過通是 人器機 動移動手
A
B
The selected motion mode and/or coordinate system determines the way the robot moves.
In linear motion mode the tool center point moves along straight lines in space, in a “move from point A to point B” fashion. The tool center point moves in the direction of the selected coordinate system’s axes. A B
7.1 Make sure that the operating mode selector is in the manual mode position.
Action
Info/Illustration
Set the mode switch in the manual position.
訓培 程編及作操本基23
。動 運線直 軸的系 標坐選所 沿間空 在點心 中具工，點 到動 移點 從，時 動運線直 態 狀動手 為置關 開式模將
動 運的人 器機了定 決系 標坐和 式方動 運的擇選
。態狀動手為式模的擇選認確 。態狀動手為式模的擇選認確 。態狀動手為式模的擇選認確 。態狀動手為式模的擇選認確

IRC5 Basic Operation And Programming Training
7.2 Select mechanical unit.
Your robot system may not only consist of a single robot. There can also be other mechanical units such as work piece handlers or external axes mounted on the robot that you also want to jog. You don't need to select what to jog if you only have a single robot. Each mechanical unit that can be jogged is represented by a symbol and a name. The symbol and name is decided when the robot system is configured. Please consult your plant or cell documentation to see which mechanical units are available in your robot system.
Step 1
2
3
息信 驟步 。 料資機 隨閱查 以可，元 單械 機用可 的中統 系人器機 。義定 行進時定 設統 系在字 名個這 ，字名或 志標 個一有 都元單 械機個每 。元單 械機 擇選要 需不就 們我，統 系成 構人器 機個一 有只果如 。 作操要 需也們 它。軸外 的中統 系人器 機在裝安 如， 元單械 機的他 其有還能 可它 ，的成 構獨單 體本人器 機由 是僅不 能可統 系人器機
Action
On the ABB menu, tap Jogging to display the jogging properties ABB
. Jogging
Tap Mechanical Unit:
Tap the mechanical unit to be jogged, followed by OK.
OK
24
。口窗 作操動手 閉關 括包 ，活激 被直一 將元單的 前當 ，元 單械機 個一另 擇選非除
表 列元單 械機的 用可現出
訓培 程編及作操本基Info A list of available mechanical units is displayed. The selected mechanical unit is used until you choose another even if you close the Jogging window.
元單 械機 按 ， 性屬作操示顯， ， ， 按， 下單菜
元單械機擇選 元單械機擇選 元單械機擇選 元單械機擇選
按再 ，元單 的縱操 要需擇選
在

IRC5 Basic Operation And Programming Training
TIP! 提示！Use the QuickSet menu to switch between mechanical units faster. Action
Tap the Quickset Menu button.
2 3
Tap the Mechanical unit button.
B
C D E
F
After tapping Mechanical unit, the following buttons are displayed: Mechanical unit A: Mechanical unit menu button B: Selected mechanical unit C: Motion Mode Settings D: Tool Settings E: Work Object Settings
F: Coordinate System Settings 4 5 Select mechanical unit.
Tap the Quickset Menu button to close the window.
7.3 Select motion mode The Joystick Directions area shows how joystick axes correspond to the selected coordinate system’s axes. The significance of the Error! Reference source not found.joystick directions depends on what motion mode has been selected. The following are available:
轉旋 軸 軸 線直 向方杆縱操 向方杆縱操 定決式方動運的擇選由向方的作操。軸作操的系標坐的擇選所於應對示顯口窗向方杆縱操 向方杆縱操
?
Linear
? ?
Axis 1-3 1-3 Axis 4-6 4-6
? Reorient The significance of the joystick directions are shown in Joystick direction after making the selection
選在
元 單械機擇 選 定設系標坐 定設件 工 定設 具工 定 設式模動 運 元單 械機擇選 鍵按 元單械機 ：示顯 會鍵的下以，後
鍵元單 械機按 鍵單菜 捷快按
1
口 窗閉 關鈕按 單菜捷 快按次再
式模動運 擇選 式模動運 擇選 式模動運 擇選 式模動運 擇選
驟步
Step
Info/Illustration
A
訓培 程編及作操本基25
，鍵按單菜捷快 ，鍵按單菜捷快 元單械機換切速快，鍵按單菜捷快用使 ，鍵按單菜捷快
擇

IRC5 Basic Operation And Programming Training
CAUTION! 小心The Directions properties are not intended to show the direction in which the mechanical unit will move. Always try out jogging with small joystick movements so that you learn the true directions of the mechanical unit.
Step 1 2
比 正成度 速動運 的人器機 與度角 的轉旋 和 或 斜傾杆縱 操。向 方動運 的元單作 操際 實別辨 來動搖 的微輕以 以可 以所， 向方的 動運際實 元單 作操示 顯不並 性屬向方
/
Action Tap ABB, then Jogging to display the jogging properties. ABB Jogging
Tap Motion Mode, and then tap Linear followed by OK.
OK
：下如系關互相其 。等”系標坐腕tsirW“，”系標坐件工 jboW“，”系標座looT“,”系標座esaB“,”系標座dlroW“有系標座的立建以可人器機 定設度速，具工，系標坐 定設度速，具工，系標坐 定設度速，具工，系標坐 定設度速，具工，系標坐
7.4
26
， 作操示顯， ， ，
按再，
訓培 程編及作操本基 按
動運線直 式模行運 動運線直 式模行運 按，動運線直選再，式模行運選 動運線直 式模行運
性屬

IRC5 Basic Operation And Programming Training
Jog in Base coordinates The point that will move linearly, along the axes of the coordinate system above, is called tool0. It is located at the front of the upper arm, in the centre of the robot’s faceplate. tool0
Tool Centre Point 0
訓培 程編及作操本基27
， 。心中的板面軸六人器機，面前臂上於位它， ， ，
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IRC5 Basic Operation And Programming Training
7.5 Jog the robot Step 1 Action
Press and hold the enabling button halfway in.
2
Move the joystick to make the mechanical unit to move.
If you want to …
…
… then … …
…
Move the robot along the X axis
X
Move the joystick towards or from you
Move the robot along the Y axis
Y
Move the joystick to the left or right
Move the robot along the Z axis
Z
Twist the joystick to the left or right
As a safety precaution the mechanical unit can’t go faster than 250 mm/s. , 250 mm/s
28
活激 被 不將 達馬， 鍵能使 按不果如
。 快越動 運人器機 ， 多越斜 偏或轉 偏杆搖
向方 轉旋 反正杆 縱操為 向方作操
向 方右 左的者 作操為 向方作操
向方 後前者 作操為 向方作操
。
訓培 程編及作操本基Info/Illustration If the enabling button is not pressed the unit’s motors will not be activated. The greater the deflection of the joystick, the faster the unit moves.
末那
於低 將度速 動移的 元單械機 下 態狀 動手在 ，見起 全安了為
動 運軸 沿
動運軸 沿
動運 軸 沿
動 運元 單械機 使，杆 作操動搖
位 中在其 使，鍵 能使住按 想你如 假
人器機動移 人器機動移 人器機動移 人器機動移

IRC5 Basic Operation And Programming Training
8 Precise positioning 精確定點8.1 Incremental movement 步進運動Incremental movement may be used to adjust the position of the robot. This means that each time the joystick is deflected; the robot moves one step (increment). If the joystick is deflected for one or more seconds, a sequence of steps, (at a rate of 10 steps per second), will be generated as long as the joystick is deflected.
Step 1
2
3
4
5
Increment Small
Medium Large
*User defined
例圖 息信 驟步 ： 驟步作操 。動移 終始人器 機， 時移偏 杆作操 在 ）步十 秒一 （動運 進步的 續持會人 器機 ，上以 秒一移 偏杆縱操 果如。 步一動 運人器機 ，轉 偏或移 偏杆搖 縱操次每 著味 意這。 動運進 步到用會 能可 ，時位 點的人 器機整調
.
Procedure:
Action
Info/Illustration
/
Tap Increment:
Select the desired function key, and tap OK
OK.
Try operating the robot using the joystick and note how the robot moves
Switch to continuous movement.
Choose between small, medium and large increments or define your own custom size Distance 0,05 mm 1 mm 5 mm 0,50 – 10,0 mm Angular 0,005° 0,02° 0,2° Axes
: 0.01°-0.20°
Reorientation
轉旋
度角
軸
屬縱操 示顯，單菜
On the ABB menu, tap Jogging to display the jogging properties. ABB
The function keys are displayed.
.
: 0.03°-0.50°
訓培 程編及作操本基29
離距
向 方動運的 它意 注並， 人器機 動搖著試
按，鍵 能功的 望希擇選
按
義定 自戶用
動運續 連至換切
量增按 量增 中 小 大
、性

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