FANUC外轴添加以及协调功能.docVIP

FANUC机器人调试添加外部轴“PREV” key and “NEXT” → CONTROLLED START → MENUS → MAINTENANCE1. You will see similar screen to the following one .Setup Robot system variables (设置机器人系统变量)Group Robot Library/option (选择机器群组)1 ARC Mate 120ic *2 Basic positioner (远程位置调节器) Extended Axis ControlType ORD-NO Auto MANUAL2. Press arrow (上下键) keys and move the cursor to “Basic positioner”. Then press F4. MANUAL. 变位机9、10轴“Extended Axis Control”. Then press F4. MANUAL. 滑台7、8轴输入1，按ENTER 进行滑台7、8轴的添加输入2，按ENTER 进行滑台,9、10轴的添加3.You will see similar to the following Hardware start axis setting - (开始安装轴部件)enter Hardware start axis (1~16) ?Default value=1 (省略补充) (7. 8)行走轴7作为“Extended Axis Control”---- Group1机器人的第七轴，所以输入7，按ENTER旋转轴9作为“Basic positioner”----Group 2的第九轴，所以输入9，按ENTER旋转轴会出现下面4、5界面4.You will see similar screen to the followingFSSB configuration settingFSSB line1 (main axis card)FSSB line2 (main axis card)FSSB line3 (Auxiliary axis board)FSSB line5 (Auxiliary axis board) 默认输入1，按ENTER5.运动类型选择kinematics Type setting –1.known kinematics 2.unknown kinematics select kinematics Type ? (选择运动类型)default value=2 (省略补充等于2)输入2，未知类型6.You will see simlar screen to following one .集成轴（7、8轴）出现以下画面旋转轴（9、10）稍微有些区别七轴与九轴添加完八轴和十轴添加回到上画面继续添加第7组直线轴1 .Motor=aiF8/3000 40A2.Gear Ratio=8.63 .Direction=+Y EXTENDED AXIS TYPE=Integrated Rail(Linear Axis)4.Joint Max Speed=160.000 (mm/sec) （可改变附加轴的转动速度）5 .Motion sign= FALSE （可改变附加轴的转动方向）6 .Upper Limit=700 mm7 .Lower Limit=-700 mm8 .Master position=0.000 mm9 .Accel Time 1=256 Accel Time2=12811 .Exp Filter Valid= 12812 .Minimum Accel Time=38413 .Load Ratio=5.000 14 .axis amp Number=2 axis amp type=215.Brake Number=216 .Servo off valid=FALSE (Disable) Servo off Time=10.000第8组直线轴:1 .Motor=aiF8/3000 40A2.Gear Ratio=23 .Direction=+Z EXTENDED AXIS TYPE=Integrated Rail(Linear Axis)4.Joint Max Speed=100.000 (mm/sec) （可改变附加轴的转动速度）5 .Motion sign= FALSE (TRUE)