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愛普生機(jī)器人控制器RC700-A選件示教器_TP3_r2（中文）
功能與安裝
1. 關(guān)于安全............................................................................................... 3
1.1 關(guān)于正文中的符號.......................................................................................... 3
1.2 安全注意事項(xiàng) ................................................................................................. 3
1.2.1 安裝注意事項(xiàng).....................................................................................3
1.2.2 安全遵守事項(xiàng).....................................................................................5
1.3 緊急停止 ........................................................................................................ 6
1.4 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 ......................................................................................................10
1.4 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 ......................................................................................................10
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 墻壁托架（選件）........................................................................................12
3.4.1 外形尺寸..........................................................................................12
3.4.2 示教器的安裝及使用方法 ................................................................12
3.5 連接..............................................................................................................13
3.5.1 與控制器的連接...............................................................................13
3.5.2 連接示例..........................................................................................14
3.6 電源..............................................................................................................15
4. 操作模式（TEACH、AUTO、TEST） ............................................... 16
4.1 操作模式概述 ...............................................................................................16
4.2 操作模式切換 ...............................................................................................18
5. 步進(jìn)鍵與 EXE.鍵................................................................................ 19
6. 啟用開關(guān)............................................................................................. 21
7. 接觸屏 ................................................................................................ 21
7.1 接觸屏的操作 ...............................................................................................21
7.2 面板的操作...................................................................................................21
7.3 軟鍵盤的操作...............................................................................................22
7.3.1 浮動(dòng)模式 .........................................................................................23
8. 警告音 (嗶嗶聲) ................................................................................. 24
操作
1. 示教程序 ............................................................................................ 27
1.1 步進(jìn)操作 ......................................................................................................28
1.1.1 分布步進(jìn)操作 ..................................................................................28
1.1.2 連續(xù)步進(jìn)操作 ..................................................................................28
1.2 示教 .............................................................................................................28
1.3 直接示教 ......................................................................................................29
2. 常用功能 ............................................................................................ 30
2.1 當(dāng)前機(jī)器人...................................................................................................31
2.2 狀態(tài)欄..........................................................................................................31
2.3 子菜單..........................................................................................................32
2.3.1 I/O 監(jiān)視器 .......................................................................................32
2.3.2 機(jī)器人 3D 視圖 ...............................................................................33
2.3.3 制動(dòng)器設(shè)置......................................................................................35
2.3.4 命令窗口 .........................................................................................36
2.3.5 步進(jìn)鍵調(diào)整......................................................................................37
2.3.6 任務(wù)管理器......................................................................................38
2.3.7 系統(tǒng)歷史 .........................................................................................39
2.4 錯(cuò)誤消息 ......................................................................................................41
3. TEACH/T1 模式 ................................................................................. 42
3.1 控制面板 ......................................................................................................42
3.1.1 電機(jī)................................................................................................. 43
3.1.2 自由關(guān)節(jié) .........................................................................................43
3.1.3 命令按鈕 .........................................................................................43
3.2 在線示教 ......................................................................................................44
3.2.1 模式................................................................................................. 45
3.2.2 速度................................................................................................. 45
3.2.3 坐標(biāo)系.............................................................................................45
3.2.4 當(dāng)前位置 .........................................................................................46
3.2.5 機(jī)械臂當(dāng)前位置 ..............................................................................46
3.2.6 步進(jìn)距離 .........................................................................................46
3.2.7 記錄機(jī)器人位置...............................................................................47
3.2.8 命令.................................................................................................47
3.2.9 步進(jìn)鍵說明......................................................................................48
3.3 編程..............................................................................................................49
3.3.1 當(dāng)前項(xiàng)目管理 ..................................................................................49
3.3.2 編輯程序..........................................................................................49
3.3.3 管理點(diǎn)文件......................................................................................50
3.3.4 編輯點(diǎn)數(shù)據(jù)......................................................................................50
3.4 測試..............................................................................................................52
3.4.1 單任務(wù)程序驗(yàn)證...............................................................................53
3.4.2 多任務(wù)程序驗(yàn)證...............................................................................55
3.4.3 TEST 模式操作方法 ........................................................................58
3.5 機(jī)器人參數(shù)...................................................................................................59
3.5.1 本地坐標(biāo)系設(shè)置...............................................................................59
3.5.2 工具坐標(biāo)系設(shè)置...............................................................................60
3.5.3 附加機(jī)械臂設(shè)置...............................................................................61
4. TEACH/T2 模式..................................................................................62
4.1 測試 2 ...........................................................................................................63
5. AUTO 模式.........................................................................................64
5.1 操作員面板...................................................................................................65
5.1.1 程序執(zhí)行..........................................................................................66
5.2 維護(hù)..............................................................................................................67
5.2.1 備份.................................................................................................67
5.2.2 恢復(fù).................................................................................................68
5.3 設(shè)置..............................................................................................................69
5.3.1 參數(shù)選擇..........................................................................................69
5.3.2 系統(tǒng)信息..........................................................................................70
5.3.3 固件更新..........................................................................................70
5.3.4 關(guān)機(jī).................................................................................................71
6. 密碼設(shè)置.............................................................................................72
7. 故障排查.............................................................................................73
8. 維護(hù)部件表 .........................................................................................74
