Product specification Articulated robot

Transcription

1 Product specification Articulated robot IRB /1.2 IRB /1.45 IRB /1.2 IRB /1.45 M2004

2 1 Description Introduction Manipulator axes Axis 3 - Axis 4 + Axis Axis 6 Axis Figure 1 The IRB 1600 manipulator has 6 axes. + - Axis 1 6 Rev.1 3HAC

3 1 Description Different robot versions Different robot versions General The IRB 1600 is available in four versions and can be mounted on the floor, wall or inverted. Tilting of 30º of the robot base is allowed for the floor mounted with a rotation of axis 1 within ±45º. For the wall mounted robot the rotation of axis 1 is limited within ± 20º. Robot type Handling capacity Reach IRB kg 1.2 m IRB kg 1.45 m IRB kg 1.2 m IRB kg 1.45 m Manipulator weight Robot IRB X/1.2 IRB X/1.45 Weight 250 kg 250 kg Other technical data Data Description Note Airborne noise level The sound pressure level outside the working space < 70 db (A) Leq (acc. to Machinery directive 89/392 EEC) Power consumption Path E1-E2-E3-E4 in the ISO Cube, max.load. Power consumption (kw) Speed (mm/s) IRB x/1.2 IRB x/1.45 Max HAC Rev.1 7

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5 1 Description Operator s panel 1.3 Operation Operator s panel Control Module A B C D E F Figure 3 Control Module. Pos A B C D E F Name Mains switch and remote control of power to Drive Module(s) Emergency stop If pressed in, pull to release MOTORS ON Operating mode selector Safety chain LEDs (option) Service hatch -Ethernet connection -USB connection (option) 12 Rev.2 3HAC

6 1 Description Operator s panel Motors on MOTORS ON Operation Note Continuous light Fast flashing light (4Hz) Slow flashing light (1 Hz) Ready for program execution. The robot is not calibrated or the revolution counters are not updated. One of the protective space stops is active. The motors have been switched on. The motors have been switched off. Operating mode selector Using a key switch, the robot can be locked in two or three different operating modes (depending on chosen mode selector). Operating mode Description Signs Automatic mode Running production Manual mode at reduced speed Manual mode at full speed Programming and setup Max. speed 250 mm/s (600 inches/min.) Testing at full program speed Equipped with this mode, the robot is not approved according to ANSI/UL 100% Remote Control Both the operator s panel and the FlexPendant can be mounted externally, i.e. separated from the cabinet and the robot can then be controlled from there. The optional remote panel contains: Emergency stop MOTORS ON Operating mode selector FlexPendant connector Remaining on the Control Module: Mains switch Optional safety LEDs Service connections The robot can also be controlled remotely from a computer, PLC or from a customer s panel, using serial communication or digital system signals. For more information on how to operate the robot, see the Operating Manual FlexPendant and Operating manual RobotStudio Online 3HAC Rev.2 13

7 1 Description Operator s panel Drive Module A B Figure 4 Drive Module. C Pos A B C Description Mains isolator switch. Stand by lamp indicates that electronic supply is switched on by the Control Module mains switch. Duty Time Counter (option) accumulates the hours (up to h) when the motors are in operation. 14 Rev.2 3HAC

8 1 Description FlexPendant FlexPendant All operations and programming can be carried out using the portable FlexPendant (see Figure 3), the operator s panel (see Figure 5) and RobotStudio Online. A B C F E D Figure 5 The FlexPendant is equipped with a large touch screen color display, which displays different kinds of system information, plain language messages, pictures/graphs and areas for user interaction through finger touch. Pos A B C D E F Description Display User defined keys Emergency stop button Joystick Hold-to-run button (at the rear) Program execution keys Information is presented on the display in an intuitive way. No previous programming or computer experience is required to learn how to use the FlexPendant. All information is in English or, if preferred, some other language (available languages, see options in chapter 2). The user can choose two alternative languages besides English without reloading RobotWare. Feature Display Description A 7.7 color display which displays text as well as graphical information. User input is entered by pressing menu commands, push buttons etc on the display (no stylus required). Several windows can be open simultaneously. Zoom in and out is available in many views. Many properties of the display can be set by the user for a personalized look and feel. It is possible to invert the display and joystick directions to make the FlexPendant suitable for left handed users. The FlexPendant can house powerful user applications built on Microsoft.NET technology. 3HAC Rev.2 15

9 1 Description FlexPendant Feature Program execution keys User-defined keys Hold-to-run Enabling device Joystick Emergency stop button Description Keys for program start/stop and stepwise execution forward/backward. Four user-defined keys that can be configured to set or reset an output (e.g. open/close gripper) or to activate a system input. A button which must be pressed continuously when running the program in manual mode with full speed. A push button which, in manual mode, when pressed halfway in, takes the system to MOTORS ON. When the enabling device is released or pushed all the way in, the robot is brought to the MOTOR OFF state. The 3D joystick is used to jog (move) the robot manually; e.g. when programming the robot. The user determines the speed of this movement, large deflections of the joystick will move the robot quickly, smaller deflections will move it more slowly. The robot stops immediately when the button is pressed in. Example of FlexPendant window Figure 6 Example of a FlexPendant window; The jogging window with the quick bar menu open at the right side. 16 Rev.2 3HAC

10 1 Description Introduction 1.7 Programming Introduction General Programming the robot can be done both from the FlexPendant or RobotStudio Online. On the FlexPendant, instructions and arguments are picked from lists of appropriate alternatives. In RobotStudio Online, programs are typed in in a free text format and checked for errors when Apply Changes is clicked (if no errors, the changes immediately take effect in the robot memory). Programming environment The programming environment can be easily customized: Shop floor language can be used to name programs, signals, counters, etc New instructions with suitable names can be created The most common instructions can be collected in easy-to-use pick lists Positions, registers, tool data, or other data, can be created Programs, parts of programs and any modifications can be tested immediately without having to translate (compile) the program. Movements A sequence of movements is programmed as a number of partial movements between the positions to which you want the robot to move. End position The end position of a movement is selected either by manually jogging the robot to the desired position with the joystick, or by referring to a previously defined position. 26 Rev.2 3HAC

11 1 Description Introduction Position types A position can be defined either as: a stop point, i.e. the robot reaches the programmed position. or a fly-by point, i.e. the robot passes close to the programmed position. The size of the deviation is defined independently for the TCP, the tool orientation and the additional axes. Stop point Fly-by point (A) Figure 8 The fly-by point reduces the cycle time since the robot does not have to stop at the programmed point. The path is speed independent. Pos A Description User-definable distance (in mm). Velocity The velocity may be specified in the following units: mm/s seconds (time it takes to reach the next programmed position) degrees/s (for reorientation of the tool or for rotation of an additional axis) Program management For convenience, the programs can be named and stored in different directories. The mass memory can also be used for program storage. Programs can then be automatically downloaded using a program instruction. The complete program or parts of programs can be transferred to/from the network or a portable flash memory connected to a USB port. The program is stored as a normal PC text file, which means that it can be edited using a standard PC. Editing programs Programs can be edited using standard editing commands, i.e. cut-and-paste, copy, delete, etc. Individual arguments in an instruction can also be edited using these commands. A robot position can easily be changed either by: jogging the robot with the joystick to a new position and then pressing the ModPos key (this registers the new position) entering or modifying numeric values 3HAC Rev.2 27

12 1 Description Introduction To prevent unauthorized personnel from making program changes, passwords can be used. Testing programs Several helpful functions can be used when testing programs. For example, it is possible to: start from any instruction execute an incomplete program run a single cycle execute forwards/backwards step-by-step simulate wait conditions temporarily reduce the speed change a position For more information, see the Operating Manual FlexPendant and Operating manual RobotStudio Online. 28 Rev.2 3HAC

13 5 Jogging Quickset menu, Mechanical unit Continued 2. If you want to view/change any motion mode functionality, tap the Motion mode settings button. en The following buttons are displayed: A: Axes 1-3 motion mode B: Axes 4-6 motion mode C: Linear motion mode D: Reorient motion mode E: Close motion mode settings Continues on next page 129

14 5 Jogging Quickset menu, Mechanical unit Continued 3. If you want to view/change the available tools, tap the Tool settings button. en A list of all available, defined tools is shown. Tap the one to use. 4. If you want to view/change the available work objects, tap the Work object settings button. en A list of all available, defined work objects is shown. Tap the one to use. 130 Continues on next page

15 5 Jogging Quickset menu, Mechanical unit Continued 5. If you want to view/change any Coordinate system functionality, tap the Coordinate system settings button. en The following buttons are displayed: World coordinate system Base coordinate system Tool coordinate system Work object coordinate system 131

16 5 Jogging Quickset menu, Increment Quickset menu, Increment Increment All functions under this button may also be reached from the Jogging menu. 1. If you want to view/change any increment functionality, tap the increment button. en Tap to select increment size: None for no increments Small movement increments Medium movement increments Large movement increments User for movement increments defined by the user. Tap Show values to display the increment values. 132

17 6 Programming and testing Handling of programs Continued Loading an existing program This section describes how to load an existing program. 1. On the ABB menu, tap Program Editor. 2. Tap Tasks and Programs. 3. Tap File, then Load Program. If there was already a program loaded, a warning dialog appears. Tap Save to save the loaded program. Tap Don t save to close loaded program without saving it, i.e. delete from program memory. Tap Cancel to leave the program loaded. 4. Use the file searching tool to locate the program file to be loaded (file type pgf). Then tap OK. The program is loaded and the program code is displayed. en Saving a program This section describes how to save a loaded program to the controller s hard disk. A loaded program is automatically saved in the program memory, but saving to the controller hard disk is an extra precaution. 1. On the ABB menu, tap Program Editor. 2. Tap Tasks and Programs. 166 Continues on next page

18 6 Programming and testing Handling of instructions Handling of instructions Instructions Undo and redo Adding instructions A RAPID program consists of instructions. An instruction can, for example, move the robot, set an I/O signal, or write a message to the operator. A large number of instructions are available, and these are listed in RAPID reference manual - Instructions. The basic procedure for adding instructions are, however, identical. When editing programs in the Program editor, you can undo and redo up to three steps. This function is available in the Edit menu. This section describes how to add instructions. 1. On the ABB menu, tap Program Editor. 2. Tap to highlight the instruction under which you want to add a new instruction. 3. Tap Add instruction. A category of instructions is displayed. en A large number of instructions, divided into several categories, are available. The default category is Common, where the most common instructions are listed. You can create three personalized lists using the system parameters of the type Most Common Instruction in the topic Man-machine Communication. The system parameters are described in Technical reference manual - System parameters. 176 Continues on next page

19 6 Programming and testing Handling of instructions Continued 4. Tap Common to display a list of the available categories. You can also tap Previous/Next at the bottom of the list of instructions to move to the next/previous category. 5. Tap the instruction you want to add. The instruction is added to the code. Editing instruction arguments This section describes how to edit instruction arguments. 1. Tap the instruction to edit. en Continues on next page 177

20 6 Programming and testing Handling of instructions Continued 2. Tap Edit. en Tap Change Selected. Depending on the type of instruction, the arguments have different data types. Use the soft keyboard to change string values or proceed to the next steps for other data types or multiple argument instructions. en Continues on next page

21 6 Programming and testing Handling of instructions Continued 4. Tap the argument to be changed. A number of options are displayed. en Tap an existing data instance to select and then tap OK to complete, or tap Insert Expression... See more about expressions in section Editing instruction expressions and declarations on page 188. To edit a particular data instance, see Editing instruction expressions and declarations on page 188. TIP! Tapping twice on an instruction will automatically launch the Change selected option. Tapping twice on an instruction argument will automatically launch the argument editor. Copying and pasting instructions or arguments This section describes how to paste instructions or arguments. 1. Tap to select the argument or instruction you want to copy and then tap Edit. 2. Tap Copy. 3. Place the cursor on the instruction above where you want to paste the instruction or argument, or tap on the argument or instruction you want to change and tap Paste. Continues on next page 179

22 6 Programming and testing Handling of instructions Continued Cutting an instruction This section describes how to cut an instruction. 1. Tap to select the instruction you want to cut and then tap Edit. 2. Tap Cut. Changing motion mode for a move instruction This section describes how to change the motion mode for a move instruction. 1. Tap to select the move instruction you want to change and then tap Edit. 2. Tap Change to Joint or Change to Linear. The change is performed. Commenting instruction rows Instruction rows can be commented, i.e. skipped in the program execution. The comment/ uncomment command is found under the Edit menu in the Program editor. 180

23 6 Programming and testing Example: Add movement instructions Example: Add movement instructions Overview In this example you will create a simple program that makes the robot move in a square. You need four movement instructions to complete this program. A B C en A B C First point Robot movement Speed data v50 = speed 50mm/s Zone z50 = (50mm) Add movement instructions This section details how to add movement instructions. Info 1. Jog the robot to the first point. Tip: Use only left-right/updown joystick movements to jog in a square. 2. In the program editor, tap Add Instruction. 3. Tap MoveL to insert a MoveL instruction. 4. Repeat for the next three positions of the square. 5. Tap on z50 in the last instruction. Tap Edit and then Change selected. 6. Tap Fine to make the square end in a stop point. Tap OK. Result Your program code should look like this: Proc main() MoveL *, v50, z50, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, fine, tool0; End Proc; 181

24 6 Programming and testing Quickset menu, Run Mode Quickset menu, Run Mode Run mode Select run mode By setting run mode you define if the program execution should run once and then stop, or run continuously. Under the Run mode menu, you can also select which tasks should be active or deactivated if you have the Multitasking option installed. Select task is also available under the Quickset mode menu. This section describes how to select run mode using the Quickset menu. 1. If you want to view/change any Run mode functionality, tap the Run Mode button. en The following buttons are displayed: Single cycle running Continuous running The Show tasks button opens the list with available tasks. Continues on next page 201

25 6 Programming and testing Quickset menu, Run Mode Continued 2. If you want to view/change which tasks that are active, tap the Show Tasks button. To select tasks you must be in manual mode. en The following is displayed: A list of all available tasks. Tap to activate or deactivate tasks. Hide tasks will hide the task list. 202

26 6 Programming and testing Quickset menu, Mode Quickset menu, Mode mode Select step mode By setting step mode you define how the step-by-step program execution should function. Under the mode menu, you can also select which tasks should be active or deactivated if you have the Multitasking option installed. Select task is also available under the Quickset Run mode menu. This section describes how to select step mode using the Quickset menu. 1. If you want to view/change any mode functionality, tap the Mode button. en After tapping Mode, the following buttons are displayed: into. s into called routines and executes them step-by-step. out. Executes the remains of the current routine and then stops at the next instruction in the routine from which the current routine was called. Not possible to use in the Main routine. over. Called routines are executed in one single step. Next move instruction. s to the next move instruction. Stops before and after movement instructions to allow e.g. modifying positions. Show tasks opens the list of available tasks. Continues on next page 203

27 6 Programming and testing Quickset menu, Mode Continued 2. If you want to view/change which tasks that are active, tap the Show Tasks button. To select tasks you must be in manual mode. en The following is displayed: A: A list of all available tasks. Tap to activate or deactivate tasks. B: Hide tasks will hide the task list. Related information Modifying positions on page