CORSO OPERATORE - INSTALLAZIONE REV. B.2 (12/16) Sistema robot Note: Unità meccanica J5 Modello robot J4 J6 J3 Connettore pinza J2 J1 ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Sistema robot Note: Identificativo robot (Fanuc Number) E - 12345 ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Sistema robot Scheda emergenze Controllore Modello Controllore Emergenza esterna Apertura porte Spegnimento servo-amplificatore Note: ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Sistema robot Note: Controllore Selettore a chiave Selettore Teach Pendand Modalità Manuale Selettore a chiave in T1 o T2 Selettore teach pendant ON Modalità automatica Selettore a chiave in AUTO Selettore teach pendant OFF ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Teach Pendant Note: ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ End Effector (RI/RO) MENU → 5 – I/O → 6 – Robot Segnali del connettore End Effector F3 – IN/OUT: passa a ingressi F4 – ON: forza uscita F5 – OFF: forza uscita SIM: abilita o disabilita simulazione segnali Note: 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_______________________ Modalità Jog World Joint Tool User Note: ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Tool Frame Note: MENU → 6 – SETUP → Frames → F3 – Other → 1 – Tool Frame Sistemi di riferimento utensile F2 – DETAIL: pagina di configurazione del Tool Frame selezionato F2 – METOHD: selezione metodo di configurazione Direct Entry: impostazione manuale delle coordinate del Tool Frame Three Point: calcolo del TCP tramite la registrazione di 3 punti Tool Frame attivo ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ User Frame Note: MENU → 6 – SETUP → Frames → F3 – Other → 3 – User Frame Sistemi di riferimento utente F2 – DETAIL: pagina di configurazione dello User Frame selezionato F2 – METOHD: selezione metodo di configurazione Direct Entry: impostazione manuale delle coordinate dello User Frame Three Point: calcolo dello User Frame tramite registrazione di Origine, Asse X, Asse Y User Frame attivo ____________________________________ ____________________________________ 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del programma attivo Pagina delle variabili (registri) robot Select Selezione del programma con ENTER F2 – CREATE: creazione nuovo programma F3 – DELETE: cancellazione programma selezionato Conferma con F4 – YES ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Programmazione Movimento Note: TOUCHUP: registrazione punto Da utilizzare quando un punto del programma è sbagliato e lo si vuole correggere F1 – POINT: creazione nuovo punto Traiettorie L: traiettoria lineare J: movimento assi robot L J ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Programmazione Movimento Note: FINE – CNT: percorso di approccio al punto FINE: punto raggiunto CNT: punto raccordato ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Programmazione Note: EDCMD: modifica programma Insert: inserimento riga vuota prima della riga corrente Delete: cancellazione righe Undo: annulla ultima operazione INST: istruzioni di logica Registers: utilizzo registri I/O: utilizzo ingressi/uscite IF/SELECT: controllo condizioni WAIT: attese 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_______________________ Programmazione - Registri Note: Registri PR: variabili di posizione Offset (es. J P[1] 20% FINE Offset, PR[1]) Posizione (es. J PR[2] 20% FINE) Vanno inizializzati con PR[1] = LPOS – LPOS I valori si scrivono con PR[i,j] = … i: numero PR Registri R: variabili numeriche j: campo PR Contatori (es. R[1] = R[1] + 1) 1: X Velocità parametrizzate (es. J P[1] R[2]% FINE) 2: Y 3: Z 4: W 5: P 6: R ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Esecuzione Manuale Programmi Note: Il robot deve essere in modalità manuale Selettore a chiave T1 o T2 Selettore Teach Pendant ON Tasto SELECT Scegliere programma da eseguire ENTER per selezione Premere DEADMAN Premere RESET Premere SHIFT Premere FWD ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Backup Note: Restore Backup Cancellare file SYSMAST.SV Avviare il controllore in modalità Controlled Start MENU → 5 – FILE F4 – RESTORE 6 – All of Above F4 – SKIP quando richiesto Avvio Controlled Start Spegnere il controllore MENU → 7 – FILE Backup su chiavetta USB Premere contemporaneamente i tasti PREV e NEXT F5 – UTIL Selezionare la voce Controlled Start 1 – Set Device Confermare con ENTER Selezionare USB on TP (UT1) F4 – BACKUP 8 – All of Above Riavvio controllore FCTN → Start (Cold) ____________________________________ ____________________________________ ____________________________________ 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Allarme MENU → 4 – ALARM Lista completa allarmi attivi F3 – HIST Lista completa ultimi 100 allarmi ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ _______________________ Contatti FANUC Centralino 02 36 015 015 Assistenza tecnica 02 36 015 101 service.it@fanuc.eu Ricambi: 02 36 015 102 ricambi.it@fanuc.eu Contratti di assistenza 02 36 015 103 aftersales.it@fanuc.eu Training training.it@fanuc.eu 02 36 015 103 Note: ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ ____________________________________ 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