Académique Documents
Professionnel Documents
Culture Documents
ABB
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82IRC5 Programao Bsica
Tpicos
Jogging
Criao e Edio de Programas
Instrues de Movimento
Velocidade e Zona
Sistema de coordenadas
Mudana de velocidade
Execuo Passo a Passo
Execuo em modo manual
Criao e utilizao de ferramentas
Instrues Lgicas
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84IRC5 Programao Bsica
Z Z
Y Y
X WorkObject
Base coordinates
X
Z
Y
ABB University -4
X
World coordinates
ABB
84
IRC5 Programao Bsica
PROC Routine2()
MoveL;
ABB
ENDPROC
ENDMODULE
85
86IRC5 Programao Bsica
Mesmo nome
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86
IRC5 Programao Bsica
Carregar programa
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88IRC5 Programao Bsica
Carregar Programa
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88
IRC5 Programao Bsica
o posio no ar
x posio no papel
ROBOT
o pHome
o p60
p40 x x p10
x p50
p30 x x p20
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90IRC5 Programao Bsica
Step-by-step
FlexPendant
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IRC5 Programao Bsica
Passo Ao Info/Ilustrao
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92IRC5 Programao Bsica
Passo Ao Info/Ilustrao
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IRC5 Programao Bsica
Iniciando a execuo
Procedimento
Passo Ao Info/Ilustrao
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94IRC5 Programao Bsica
Execuo Step-by-Step
Em manual possvel executar passo-a-passo atravs
de Forward e Backward
Tecla Programvel1.
Tecla Programvel2.
Tecla Programvel3.
Tecla Programvel4.
as instrues anteriores
STEP FORWARDS button. Execuo passo-a-passopara
as instrues posteriores
STOP button. Pra a execuo do programa
ABB
94
IRC5 Programao Bsica
Execuo step-by-step
Seleo do modo
Passo Ao Info/Ilustrao
1 Seleo do modo passo-a-passo
forward
Passo Ao Info/Ilustrao
1 Pressionar o button FWD no FlexPendant
backward
Passo Ao Info/Ilustrao
1 Pressionar o button BWD no FlexPendant
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96IRC5 Programao Bsica
Parada do programa
Procedimento
Passo Ao Info/Ilustrao
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IRC5 Programao Bsica
Exerccio
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98IRC5 Programao Bsica
z
MoveL p40, v1000, z40, tool0;
ABB
98
IRC5 Programao Bsica
p40
p30 p20
DT
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100IRC5 Programao Bsica
TCP Z
Y
X
Tool coordinates
Benefcio:
Movimentao
Re-orientao
Z
Y Fcil de mudar
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ABB
Base coordinates
100
IRC5 Programao Bsica
Ferramentas diferentes
TCP
TCP
TCP
TOOL0
TCP
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102IRC5 Programao Bsica
tPen
Tool 0
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104IRC5 Programao Bsica
No FlexPendant
Declare a ferramenta
Program Data / Tooldata
Tap New
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ABB
Teste a ferramenta
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Toggle doGripper
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106IRC5 Programao Bsica
Exerccios
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106
IRC5 Programao Bsica
Programao RAPID
Criar um programa RAPID
Editar um programa RAPID (editor de texto )
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108IRC5 Programao Bsica
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IRC5 Programao Bsica
Inicialize o RSO:
Start / Program / ABB Industrial IT / Robot Studio Online.
Criar novo Robot View:
File / New Robot View.
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110IRC5 Programao Bsica
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IRC5 Programao Bsica
Adicionar controlador.
Robot View / Add Controller OU Right click / Add
Controller.
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112IRC5 Programao Bsica
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114IRC5 Programao Bsica
Exerccios
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