Sách hướng dẫn sử dụng ROBOT STAUBLI
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Robotics Val3 software
application training
- Level 2
1
TABLE OF CONTENT
Robot range
3
Digital Inputs / outputs control
90
System presentation
4
Approach on Cartesians Points
99
Installation
10
Structured Programming
104
System start up
14
User interface
116
Movement mode
21
Local Variables
123
Main menu
29
Local Coordinate system
128
Arm Calibration
36
Multitasking
136
Application Control
41
Libraries
142
Application Structure
52
SRS Emulator
151
Cell Teaching
62
File Transfer
158
Movements
70
VAL3 Studio
164
Program Edition
80
Remote Maintenance
170
Task Manager & Debugger
86
Integration
173
2
ROBOT RANGE
RX
TX
CS8
/
RS
CS8C
Cabinet
3
Robotics Val3 software application training
SYSTEM
PRESENTATION
4
ROBOT SYSTEM
Manual control
pendant
Controller
Arm
5
ARM
3
4
5
6
2
1
6
CANTROLLER
1. AMPLIFIER
6. MAIN SWITCH
2. RPS(ROBOT POWER SUPPLY)
7. PSM(POWER SUPPLY MODULE)
3. ARPS(AUXILIARY ROBOT POWER SUPPLY)
4. RSI(ROBOT SAFTY INTERFACE)
5. PROCESSOR
7
SP1 (STAUBLI PENDANT)
1 Working mode
2 Arm power on
3 E-stop
4 Movement keys
5 Movement mode
6 Speed adjust
7 User keys
8 Alphaumerical key
9 Navigation keys
10 Application cantrol
11 Dead man
12 Digital output
13 Mini jog
8
BRAKE RELEASE
BRAKE SELECTION
RELEASE BUTTON
IF≠ 0 => ARM NOT POWER ON
9
Robotics Val3 software application training
INSTALLATION
10
CONNECTION TO POWER SUPPLY
!!! Power tolerance : ±10%
1.
POWER TERMINAL STRIP
3.
SWITCH
2.
SCREWS
4.
COLLAR
11
CONNECTION TO SIGNALS
2. Connection for SP1
5. BIO
9. USB links
3. Fast IO
6. Ethernet links
10. anti-static wrist strap
4. Connection with cell(estop,door,etc)
7. Serial link
11. Coder input
12
AIR CIRCULATION
!!! AIRFLOW IS UPWARD.
DOWNWARD IS OPTION
EXCEPT RX160.
1.
OUTLET
3.
INLET
2.
INLET
4.
OUTLET
13
Robotics operation training
SYSTEM
START UP
14
ROBOT STARTUP
1
Power up controller
2
Wait for main
menu
ABOUT 3 MINUTES
3
An application can be automatically
loaded and/or executed
15
SYSTEM STOP
1
Arm power off
2
Main switch OFF
16
WORKING MODES
AUTOMATIC
MANUAL
New：WMS
Local
Remote
Manual slow
Joint
Frame
Tool
Test
full speed
17
ARM POWER ON (LOCAL)
1
2
Cell door closed (DOOR ES chain)
Press Arm Power ON
Arm power
ON
18
ARM POWER ON (MANU)
Cell opened
1
SP1 on park
2
Remove and place it
on
if > 15 seconds
3
SP1 on hands
Release and maintain
Dead Man
if > 15 seconds
Arm power ON button
19
EMERGENCY STOP PROCEDURE
Emergency stop situations :
• Estop pressed on MCP
• Robot cell Estop
• Brake select button turned
• Limit switch on joint
In Manual working mode and after Estop, MCP has
to be park on its base to enable Arm Power
sequence.
The base must be fix outside the cell
20
Robotics operation training
MOVEMENT
MODE
21
MOVEMENT MODE
- +
1
! Requested !
JOINT
Frame
linear
Tool
linear
Point
- +
2 Speed
3
22
JOINT MOVEMENT
3
- +
4
-JT1
5
2
1
! Requested !
6
-JT2
1
JOINT
-JT3
-JT4
-JT5
-JT6
- +
2
speed
3
23
FRAME MOVEMENT
Z+
X-
Z+
Fixed
FRAME
! Requested !
« world»
Y+
Y+
Translation
X+
X+
linear
Z-
1
FRAME
Linear
- +
2 speed
3
!! Right Hand !!
24
- +
SP1 (Rotation)
RX+
X
+
Screw
Y
RYUnscrew
Rotation
25
