工業(yè)機(jī)器人編程高手教程

前 言
第1章 安川機(jī)器人概述..............................................................................1
1.1 本體 ..................................................................................................................................3
1.2 柜體 ..................................................................................................................................5
1.3 安川機(jī)器人的選型 ..........................................................................................................9
1.4 知識(shí)擴(kuò)展與提升 ............................................................................................................12
第2章 安川機(jī)器人控制柜.........................................................................19
2.1 DX系列控制柜 .............................................................................................................21
2.2 DX100控制柜PCB詳解 ..............................................................................................22
2.2.1 電源輸入部件 ..........................................................................................................25
2.2.2 基本軸控制板 ..........................................................................................................26
2.2.3 CPU單元 .................................................................................................................26
2.2.4 CPS單元 ..................................................................................................................27
2.2.5 制動(dòng)板 ......................................................................................................................29
2.2.6 I/O單元 ....................................................................................................................29
2.2.7 機(jī)械安全部件 ..........................................................................................................30
2.3 知識(shí)擴(kuò)展與提升 ............................................................................................................31
第3章 安川機(jī)器人編程基礎(chǔ)......................................................................34
3.1 安川機(jī)器人的INFORMⅢ語(yǔ)言...................................................................................35
3.2 安川機(jī)器人編程的基本知識(shí)儲(chǔ)備 ................................................................................38
3.2.1 I/O板的認(rèn)識(shí) ............................................................................................................39
3.2.2 I/O板連接外部設(shè)備的注意事項(xiàng) ............................................................................40
3.3 知識(shí)擴(kuò)展與提升 ............................................................................................................42
第4章 編程流程圖...................................................................................47
4.1 流程圖 ............................................................................................................................47
4.2 編程流程示意圖 ............................................................................................................48
4.2.1 大框架 ......................................................................................................................48
4.2.2 小框架 ......................................................................................................................50
4.2.3 匯總 ..........................................................................................................................52
4.2.4 論證 ..........................................................................................................................53
4.2.5 編制編程流程圖 ......................................................................................................54
4.3 知識(shí)擴(kuò)展與提升 ............................................................................................................57
第5章 安川機(jī)器人編程進(jìn)階......................................................................60
5.1 程序結(jié)構(gòu) .................